A beam transporting apparatus and a beam transporting method

Abstract

The application discloses a beam conveying device and a beam conveying method, wherein the beam conveying device is characterized in that a limiting assembly is arranged on a main vehicle and an auxiliary vehicle, the limiting assembly comprises a bearing frame, a preset position for receiving a prefabricated beam is arranged on the surface of the bearing frame, a telescopic frame is arranged on both sides of the bearing frame which are parallel to the moving direction of the main vehicle or the auxiliary vehicle, the telescopic frame is in sliding fit with the bearing frame, a first power device is arranged to drive the telescopic frame to reciprocate linearly in the direction which is perpendicular to the moving direction of the main vehicle or the auxiliary vehicle, and a limiting plate is arranged at the end of the telescopic frame which is far away from the bearing frame. The application can be adapted to different specifications and models of prefabricated beams, reduces the material consumption of I-shaped steel and other sectional materials, and reduces the comprehensive construction cost.

Description

Technical Field

[0001] This invention relates to the field of bridge engineering technology, and in particular to a beam transport equipment and method. Background Technology

[0002] During the transportation of precast beams, factors such as bumpy road conditions, vehicle turning, and acceleration / deceleration can easily cause lateral shifts or swaying. This swaying can not only lead to quality problems such as damage to the beam itself, but also pose a safety risk of the precast beam falling.

[0003] Currently, the commonly used anti-displacement measure in the industry is to place rigid limiting frames welded from I-beams on the transport flatbed truck. These limiting frames are fixed to both sides of the truck by welding or bolting, and their inner baffles mechanically block the bottom or web of the precast beam to limit horizontal displacement during transportation. However, once these welded limiting frames are manufactured, their limiting width, height, and baffle spacing are fixed values ​​and cannot be adjusted according to the cross-sectional dimensions of the precast beam (such as beam height, flange width, web thickness, etc.). When multiple specifications and models of precast beams need to be transported to the construction site, the construction party has to manufacture corresponding limiting frames for each type of beam. This not only increases the cost of profiles and processing time, but also prolongs the transportation preparation cycle due to the repeated manufacture and replacement of limiting frames, thus increasing the overall construction cost. Summary of the Invention

[0004] Therefore, in order to overcome the above-mentioned shortcomings, the present invention provides a beam transport equipment and a beam transport method to adapt to precast beams of different specifications and models, reduce the consumption of materials such as I-beams, and reduce the overall construction cost.

[0005] On one hand, the present invention provides a beam transport device, wherein limiting components are provided on both the main vehicle and the auxiliary vehicle. The limiting components include a bearing frame, the surface of which is used to receive a precast beam at a preset position. Telescopic frames are provided on both sides of the bearing frame parallel to the movement direction of the main vehicle or the auxiliary vehicle. The telescopic frames are slidably engaged with the bearing frame. A first power device drives the telescopic frames to reciprocate linearly in a direction perpendicular to the movement direction of the main vehicle or the auxiliary vehicle. A limiting plate is provided at the end of the telescopic frame away from the bearing frame.

[0006] Furthermore, the limiting plate is rotatably connected to the support frame, and the limiting plate is rotated by the second power device.

[0007] Furthermore, the beam transport equipment also includes a winding assembly, which is fixedly installed on both sides of the main vehicle or auxiliary vehicle parallel to its direction of movement. The winding assembly includes: Third power unit; A winding drum, which is connected to a third power device, which drives the winding drum to rotate around its own axis. The hanging ring is fixed to the circumference of the winding drum and is used to tie the end of the binding rope.

[0008] Furthermore, a pulley is also provided on the limiting plate.

[0009] Furthermore, the beam transport equipment also includes a controller, which is electrically connected to the first power unit, the second power unit, and the third power unit.

[0010] On the other hand, the present invention also provides a beam transport method using the above-described beam transport equipment, the beam transport method comprising: Obtain parameter information of the precast beam, including at least the width, height, and mass of the precast beam; calculate the rotational clearance extension of each limiting component based on the width of the precast beam; The gantry crane or other beam-moving equipment lifts the precast beam off the ground and moves it above the main vehicle and auxiliary vehicle. The orientation of the precast beam is adjusted according to its preset position so that the preset position of the precast beam is aligned with the bearing surface of each support frame. Then, the gantry crane or other beam-moving equipment is controlled to lower the precast beam so that the bottom of the precast beam rests on the bearing surface of the support frame. Control the first power device to drive the telescopic frame to extend to the rotational avoidance extension amount, control the second power device to drive the limiting plate to rotate from the horizontally laid-down state to the vertical state, control the first power device to drive the telescopic frame to retract until the inner side of the limiting plate contacts the side of the precast beam, and the retraction stops when the contact pressure detected by the pressure sensor set on the inner side of the limiting plate reaches the preset threshold. One end of the binding rope is fixed to the hanging ring of the winding assembly on the main vehicle or auxiliary vehicle side, and the other end is successively passed over the pulley on the limit plate on the same side, the top of the precast beam, and the pulley on the limit plate on the other side, and fixed to the hanging ring of the winding assembly on the other side. The target preload is calculated based on the mass of the precast beam, and the target winding length is calculated based on the target preload. The third power device is controlled to drive the winding drum to rotate and wind and tighten the binding rope. When the winding length reaches the target winding length and the tension of the binding rope reaches the target preload, the third power device is controlled to stop winding. During the movement of the beam transport equipment, the contact pressure between the limit plate and the side of the precast beam and the tension of the binding rope are monitored in real time. When the contact pressure is lower than the preset lower limit and the duration exceeds the first preset time, an early warning signal is issued. When the tension of the binding rope is lower than the preset lower limit and the duration exceeds the second preset time, the third power device is activated for compensation winding. When a sudden change in contact pressure or binding rope tension is detected and the change exceeds the preset threshold, the beam transport equipment is controlled to decelerate or brake, and an audible and visual alarm is issued.

[0011] Furthermore, the calculation method for the rotational avoidance extension amount is as follows: ; in, L 0 represents the amount of rotational avoidance extension; W 0 represents the width of the support frame; W Width of the precast beam; ∆ Allowance for rotation to be accommodated by the limit plate.

[0012] Furthermore, the target preload is calculated as follows: ; in, F 0 represents the target preload; F v The constraint force required for longitudinal sliding; F h The required restraint force for lateral overturning; n The number of binding ropes on a single vehicle; K The safety factor of the binding rope; α The angle between the binding rope and the horizontal plane.

[0013] Furthermore, the target winding length is calculated as follows: ; in, L 1 represents the target winding length; L 2. To eliminate the extra winding length required to eliminate rope slack; K b The equivalent stiffness of the binding rope; F 0 is the target preload.

[0014] The present invention has the following advantages: This invention, by setting up a telescopic frame that slides with the support frame and using a first power device to drive the telescopic frame to reciprocate linearly along a direction perpendicular to the vehicle's movement, can flexibly adjust the limiting distance between the limiting plates on both sides according to the actual width, flange size, and other cross-sectional parameters of the precast beam. It can adapt to precast beams of different specifications and models, reduce the material consumption of I-beams and other profiles, and also save the labor costs of repeated processing and manufacturing, thereby reducing the overall construction cost. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the auxiliary vehicle structure of the beam transport equipment; Figure 2 yes Figure 1 A schematic diagram of the limiting component in the beam transport equipment shown; Figure 3 yes Figure 2 A front view of the limiting component shown; Figure 4 yes Figure 1A schematic diagram of the winding assembly in the beam transport equipment shown; In the picture: 100. Sub-vehicle; 200, Limiting assembly; 210, Support frame; 220, Limiting plate; 230, Telescopic frame; 240, Pulley; 250, First power unit; 300. Winding assembly; 310. Third power unit; 320. Winding drum; 330. Hanging ring. Detailed Implementation

[0016] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.

[0017] In this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, without necessarily requiring or implying any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus.

[0018] As described in the background section, once a welded retaining frame is manufactured, its retaining width, height, and baffle spacing are fixed values ​​and cannot be adjusted according to the cross-sectional dimensions of the precast beam (such as beam height, flange width, web thickness, etc.). When multiple specifications and models of precast beams need to be transported to the construction site, the construction party has to manufacture corresponding retaining frames for each type of beam. This not only increases the material cost and processing time but also prolongs the transportation preparation cycle due to the repeated manufacture and replacement of retaining frames, thus increasing the overall construction cost.

[0019] Example 1: Therefore, in order to solve the above-mentioned technical problems existing in the prior art, this embodiment provides a beam transport device, such as... Figure 1 As shown, both the main vehicle and the auxiliary vehicle 100 are equipped with limit components 200, such as... Figure 2 , 3As shown, the limiting component includes a support frame 210, the surface of which is used to receive the precast beam at a preset position. Telescopic frames 230 are provided on both sides of the support frame parallel to the movement direction of the main vehicle or the auxiliary vehicle. The telescopic frames are slidably engaged with the support frame. The first power device 250 drives the telescopic frames to reciprocate linearly in a direction perpendicular to the movement direction of the main vehicle or the auxiliary vehicle. A limiting plate 220 is provided at the end of the telescopic frame away from the support frame.

[0020] Specifically, the support frame is fixedly installed on the frame of the main vehicle or auxiliary vehicle, and its top forms a horizontal bearing surface for supporting the bottom surface of the precast beam. The support frame can be a box-type or H-shaped steel welded structure, with sliding guide grooves or slide rail pairs provided on both sides of the upper surface of the support frame for sliding engagement with the telescopic frame along its width. There are two telescopic frames, located on the left and right sides of the support frame. The telescopic frames can be frame-type or beam-type structures, with their inner ends extending into the sliding guide grooves of the support frame and forming a sliding engagement with the support frame along its width. The outer ends of the telescopic frames extend outward from the side edges of the support frame for installing limiting plates. The first power device can be any one of a hydraulic cylinder, an electric push rod, or a pneumatic cylinder. In this invention, the first power device uses a motor and transmission mechanism to drive the telescopic frame to reciprocate, and each telescopic frame is independently equipped with one first power device. Specifically, the two telescopic frames on each main vehicle or auxiliary vehicle are independently driven by their respective drive motors, thereby flexibly adapting to the width deviations of different precast beams or the need for unilateral fine-tuning under off-center loading conditions. The transmission mechanism can be a lead screw and nut transmission pair or a gear and rack transmission pair.

[0021] The limiting plate can be a vertically arranged plate-like component, with its surface normal parallel to the width direction of the main vehicle or auxiliary vehicle. The inner side of the limiting plate (i.e., the side facing the precast beam) can be provided with an elastic pad or anti-slip liner, which can reduce scratches on the side of the precast beam during contact and increase the coefficient of friction between the limiting plate and the precast beam, thus improving the limiting effect. A pressure sensor or thin-film pressure sensor can also be embedded on the inner side of the limiting plate to detect the contact pressure in real time when the limiting plate contacts the side of the precast beam.

[0022] Before actual use, the beam transport equipment provided in this embodiment first hoists the precast beam to the limiting components on the main vehicle and auxiliary vehicle, where the bottom of the precast beam is supported by the bearing frame. After the precast beam is placed in place, the first power unit on each limiting component is activated. At this time, the telescopic frames on both sides are initially in the extended position (i.e., the limiting plates are away from the center line of the bearing frame, leaving enough space for the placement of the precast beam). The motor drives the telescopic frames to retract (i.e. slide into the bearing frame), and the telescopic frames drive the limiting plates at their ends to move towards and contact the sides of the precast beam. As the telescopic frames continue to retract, the contact pressure between the limiting plates and the sides of the precast beam gradually increases. The operator or control system can determine whether the limiting plates have applied sufficient preload to the precast beam based on the feedback value of the pressure sensor. When the detected pressure reaches the preset threshold, it means that the limiting plates on both sides have formed a stable lateral clamping limit on the precast beam. At this time, the drive of the first power unit is stopped, and the current position of the telescopic frames (i.e., the amount of retraction) is maintained.

[0023] During transportation, two sets of limiting components on the main vehicle and the auxiliary vehicle work synchronously. The limiting plates on both sides mechanically block the sides of the precast beam, limiting lateral displacement caused by road bumps, vehicle steering, and acceleration / deceleration. Upon arrival at the destination, the first power unit is restarted and the motor reverses direction. This drives the telescopic frames on both sides to extend (slide outwards) through the transmission mechanism. The limiting plates disengage from the sides of the precast beam, releasing the clamping and limiting action, and the precast beam can then be lifted off the support frame. If precast beams of different widths need to be transported, the retraction stroke of the telescopic frames (i.e., the distance the limiting plates move inwards) can be adjusted by controlling the first power unit, allowing the limiting plates to automatically adapt to the new beam width for rapid switching. Throughout the process, the retraction of the telescopic frames corresponds to the clamping action of the limiting plates approaching the precast beam, and the extension action corresponds to the releasing action of the limiting plates moving away from the precast beam.

[0024] This embodiment sets up a telescopic frame that slides with the support frame, and uses a first power device to drive the telescopic frame to reciprocate linearly along a direction perpendicular to the vehicle's movement. This allows for flexible adjustment of the limiting distance between the two limiting plates according to the actual width, flange size, and other cross-sectional parameters of the precast beam. It can adapt to precast beams of different specifications and models, reducing the consumption of materials such as I-beams and also saving the labor costs of repeated processing and manufacturing, thus reducing the overall construction cost.

[0025] In this embodiment, the limiting plate is rotatably connected to the support frame, and the limiting plate is rotated by a second power device.

[0026] Specifically, a connecting ear plate can be provided at the end of the limiting plate near the telescopic frame, and a U-shaped connecting seat can be provided at the outer end of the telescopic frame, with the connecting ear plate embedded in the U-shaped connecting seat. A hinge shaft parallel to the direction of movement of the main vehicle or auxiliary vehicle passes horizontally through the shaft holes of the two side walls of the U-shaped connecting seat and the connecting ear plate, rotatably connecting the limiting plate to the telescopic frame. Based on this hinge shaft, the limiting plate can freely rotate between a horizontally folded state and a vertically upright state around its pivot axis—in the horizontally folded state, the limiting plate is placed flat above or to the side of the telescopic frame, with its overall height reduced to avoid the hoisting path of the precast beam; in the vertically upright state, the limiting plate faces the side of the precast beam, forming a lateral barrier and limiting position. The second power unit can be a rotary motor with a reduction gear transmission mechanism, with its fixed end installed on the telescopic frame and its output end connected to the hinge shaft through a transmission component (such as a coupling or gear pair). When it is necessary to hoist the precast beam, the second power unit drives the limiting plate to flip to a horizontal position, so that the limiting plate makes room above the support frame. After the precast beam is in place, the second power unit drives the limiting plate to flip to a vertical position, so that the plate surface faces the side of the precast beam. Then, in conjunction with the first power unit, the telescopic frame is retracted, so that the limiting plate fits and clamps the precast beam from the side.

[0027] In this embodiment, the beam transport equipment further includes a winding assembly 300, which is fixedly installed on both sides of the main vehicle or auxiliary vehicle parallel to its direction of movement, such as... Figure 4 As shown, the winding assembly includes: Third power unit 310; The winding drum 320 is connected to a third power device, which drives the winding drum to rotate around its own axis. Hanging ring 330, which is fixed to the circumference of the winding drum and used to tie the end of the binding rope.

[0028] Specifically, the winding assembly is fixedly installed on both sides of the main vehicle or auxiliary vehicle parallel to its direction of movement (i.e., the outer side of the frame longitudinal beam or the two sides of the vehicle width direction). After the limiting assembly forms a lateral clamp on the precast beam, it further applies vertical and longitudinal binding constraints to the upper part or sides of the precast beam, reducing vertical jumping or longitudinal movement of the precast beam during transportation. Specifically, at least one set of winding assemblies is provided on each side of the main vehicle or auxiliary vehicle where each limiting assembly is located, with the winding assemblies arranged in pairs. The winding cylinder is a cylindrical or tubular rotating body with its axis parallel to the direction of movement of the main vehicle or auxiliary vehicle (i.e., parallel to the direction of the frame longitudinal beam). Both ends of the winding cylinder are rotatably supported on fixed brackets via bearing seats, which are welded or bolted to the side of the frame of the main vehicle or auxiliary vehicle. The circumferential surface of the winding cylinder is smooth or has annular grooves along its axial direction to accommodate and guide the binding rope. The hanging ring is one or more annular components (such as D-rings, U-rings, or eye bolts) fixed to the circumference of the winding drum. Its fixed end is embedded or welded to the circumference of the winding drum, and its annular hole protrudes from the surface of the winding drum for the end of a binding rope (such as a wire rope, synthetic fiber sling, or chain) to pass through and secure it. The third power unit is fixedly installed on the frame of the main vehicle or auxiliary vehicle, located at one end of the winding drum. This third power unit can be any one of a hydraulic motor, pneumatic motor, or servo motor, and its output shaft is coaxially connected to one end of the winding drum via a coupling or gear transmission pair. After the third power unit is started, it outputs rotational torque to drive the winding drum to rotate forward or backward around its own axis. When the winding drum rotates clockwise, the hanging rings on its circumference rotate with the winding drum, causing the binding ropes tied to the hanging rings to gradually wrap around the circumference of the winding drum, thereby gradually tightening the binding ropes and applying downward pressure and lateral binding force to the precast beam; when the winding drum rotates counterclockwise, the binding ropes are released circumferentially from the winding drum, realizing the loosening of the ropes.

[0029] In this embodiment, a pulley 240 is also provided on the limiting plate.

[0030] Specifically, the pulley is installed on the side of the limiting plate opposite to the precast beam (i.e., the outer surface) or at the top edge of the limiting plate, and is used to guide and turn the binding rope during the binding process across the beam. When the limiting plate is flipped to a vertical position under the drive of the second power device, the pulley is simultaneously positioned with the limiting plate, and its rope groove direction is aligned with the tangent direction of the circumferential surface of the winding drum, so that the binding rope led out from the hanging ring 330 can smoothly transition through the rope groove of the pulley and then extend upward across the top of the precast beam to the opposite side. The pulley is fixedly installed on the outer surface of the limiting plate by a bracket, which protrudes outward from the surface of the limiting plate. The pulley is rotatably installed on the bracket by a pin perpendicular to the surface of the limiting plate or parallel to the hinge axis, so that the pulley can rotate freely around its own axis. The pulley has a concave arc-shaped rope groove on its circumference. The cross-sectional shape of the rope groove matches the diameter of the binding rope (such as a semi-circular or trapezoidal groove) to accommodate and restrain the binding rope and prevent the binding rope from coming off the pulley during the process of being stressed.

[0031] In actual binding operations, taking the winding assembly on the main vehicle or auxiliary vehicle side as an example: one end of the binding rope is tied and fixed to the hanging ring on the circumference of the winding drum. After the main body of the binding rope is led out from the hanging ring, it extends upward along the outer surface of the limiting plate and is embedded in the rope groove of the pulley. After being turned by the pulley, it crosses the top of the precast beam and extends to the limiting plate and winding assembly on the opposite side. When the third power unit drives the winding drum to rotate and tighten, the winding drum applies tension to the binding rope. This tension is transmitted to the binding rope through the hanging ring, causing the binding rope to slide in the rope groove of the pulley. The pulley rotates around its own pin as the binding rope moves, converting the sliding friction between the binding rope and the edge of the limiting plate into rolling friction, reducing the resistance during the rope winding and unwinding process, avoiding wear or breakage caused by direct friction between the binding rope and the edge of the limiting plate, and extending the service life of the binding rope. At the same time, the guiding effect of the pulley causes the binding rope to move along a preset path during the tightening process, which can make the binding force direction more stable. When the transport is completed and the binding needs to be released, the third power unit reverses the winding drum to release the binding rope. The operator can then remove the binding rope from the pulley groove or detach the entire binding rope from the hanging ring. During the process of the limiting plate flipping to a horizontal position, the pulley rotates with the limiting plate and does not interfere with the lowering action. The pulley can be made of engineering plastics (such as nylon or polyurethane) or steel, and its surface can be coated with a wear-resistant coating to reduce wear on the rope groove during long-term use.

[0032] In this embodiment, the beam transport equipment further includes a controller, which is electrically connected to the first power unit, the second power unit, and the third power unit.

[0033] Specifically, the controller can be located in the cab of the main vehicle or the auxiliary vehicle, or independently installed in a control box on the chassis. The controller employs any of the following: a programmable logic controller (PLC), an industrial microcontroller, or an embedded industrial control computer, integrating a processor module, a storage module, and multiple input / output interfaces. The controller's input terminals are electrically connected to a pressure sensor (or thin-film pressure sensor) located on the inner side of the limit plate, an angle sensor located at the end of the hinge shaft, and a tension sensor or motor current detection module located on the winding assembly. These sensors are used to collect in real-time contact pressure signals between the limit plate and the side of the precast beam, the current rotation angle signal of the limit plate, and the drive current or binding rope tension signal of the third power unit. The controller's output terminals are electrically connected to the drive control terminals (such as motor drivers, solenoid valves, or relays) of each of the first, second, and third power units. These output terminals are used to output control commands to drive each power unit to perform actions such as starting, stopping, forward / reverse rotation, and speed adjustment. Furthermore, the controller is also connected to a warning device (such as an audible and visual alarm) and the vehicle's braking system signal of the beam transport equipment.

[0034] The controller internally stores preset control programs and process parameters. The control programs include a rotation avoidance extension calculation module, a target preload calculation module, a target winding length calculation module, and a real-time transportation status monitoring module. The rotation avoidance extension calculation module calculates the rotation avoidance extension of each limiting component based on the precast beam width input by the operator through an input interface (such as a touchscreen or button panel), and pre-stored bearing frame width and limit plate avoidance rotation allowance. The target preload calculation module calculates the target preload based on the input precast beam mass, and pre-stored longitudinal sliding constraint force, lateral overturning constraint force, number of binding ropes per vehicle, binding rope safety factor, and the angle between the binding rope and the horizontal plane. The target winding length calculation module calculates the target winding length according to a formula based on the target preload, pre-stored equivalent stiffness of the binding rope, and the additional winding length to eliminate rope slack.

[0035] During the actual beam transportation operation, the operator inputs the parameter information (including width, height and mass) of the precast beam to be transported through the input interface of the controller. The controller automatically calculates the rotation avoidance extension amount based on the input width parameter and stores the value. After the precast beam is hoisted onto the support frame, the operator triggers the "limit preparation" command. The controller then outputs a positive drive signal to each of the first power units, causing the telescopic frames on both sides to extend from their initial retracted position to the rotational clearance extension amount, moving the limit plate outward to the clearance position to reserve space for the limit plate's flipping. Subsequently, the controller outputs a flipping drive signal to each of the second power units, driving the limit plate to flip from a horizontally laid-down state around the hinge axis to a vertically upright state. During the flipping process, the controller continuously receives real-time angle signals from the angle sensor. When the angle signal reaches the preset vertical upright target angle (e.g., 90°), the controller outputs a stop signal to the second power units, completing the upright positioning of the limit plate. Next, the controller outputs a reverse drive signal to each of the first power units, causing the telescopic frames to retract, gradually bringing the limit plate closer to the side of the precast beam. During the retraction process, the controller continuously receives contact pressure signals from the pressure sensor. When the contact pressure reaches a preset threshold, the controller outputs a stop signal to the first power units, completing the lateral clamping limit.

[0036] After lateral clamping, the operator attaches the binding rope to the hanging ring, pulley, and top of the precast beam along a predetermined path. Once attached, the operator triggers the "winding and tightening" command. The controller, based on the calculated target preload and target winding length, outputs drive signals to each third power unit, driving the winding drum to rotate and tighten the binding rope. During winding, the controller monitors the number of rotations of the winding drum (converted to winding length via a motor encoder or angle sensor) and the drive current of the third power unit (or directly obtains the binding rope tension via a tension sensor). When the winding length reaches the target winding length and the binding rope tension reaches the target preload, the controller outputs a stop signal to the third power unit and simultaneously activates the built-in brake of the third power unit, locking the winding drum in its current position and completing the binding operation.

[0037] During the transport of the beam, the controller enters real-time monitoring mode. The controller continuously collects contact pressure signals and binding rope tension signals from the inner surfaces of each limit plate at a preset sampling frequency (e.g., 10Hz~100Hz), and makes judgments according to preset logic: when the contact pressure of a limit plate is detected to be lower than a preset lower limit and this state lasts for more than a first preset time (e.g., 5 seconds), the controller determines that the limit plate may be loose or displaced, and immediately sends a warning signal to the warning device, reminding the operator to stop and check; when the tension of a binding rope is detected to be lower than a preset lower limit and this state lasts for more than a second preset time (e.g., 3 seconds), the controller determines that the binding rope... If slack occurs, the controller will automatically output a compensation drive signal to the corresponding third power unit to start compensation winding until the tension is restored to the target preload range and then automatically stop. When the controller detects a sudden change in the contact pressure or binding rope tension signal (i.e., the rate of change or the magnitude of change per unit time exceeds the preset threshold), the controller determines that the transportation status is abnormal (such as the precast beam shaking or impacting violently), and immediately outputs a braking signal to the vehicle braking system of the beam transport equipment to control the beam transport equipment to decelerate or brake urgently. At the same time, it outputs an alarm signal to the audible and visual alarm to alert the surrounding personnel.

[0038] In addition, the controller is equipped with a data logging module to store precast beam parameters, power unit operation parameters, and real-time pressure and tension monitoring data for each transportation operation in an internal memory or external memory card. This facilitates data traceability and quality analysis after construction. The controller can also interact with a remote monitoring platform via its communication interface (such as CAN bus, RS485, or wireless communication module) to achieve remote real-time monitoring of the transportation status and fault diagnosis. The entire control process is highly automated, eliminating the need for repeated manual measurements and adjustments, thus ensuring transportation safety while further enhancing the intelligence and ease of operation of the beam transportation operation.

[0039] This invention, through electrical connection between the controller and the first, second, and third power units, and with built-in preset control programs and process parameters, can automatically complete the entire process of rotational avoidance extension calculation, limit plate flipping and positioning, telescopic frame clamping and retraction, and quantitative tightening of the winding drum according to a preset sequence. This simplifies the beam transport operation and reduces the risk of human error. The controller's built-in rotational avoidance extension calculation module automatically calculates the extension of each limit component based on the actual width of the precast beam, ensuring the limit plate moves precisely to the avoidance position before flipping. This provides sufficient space for the limit plate's rotation and avoids structural interference or limit failure caused by excessive or insufficient extension of the telescopic frame. Simultaneously, based on the precast beam's mass, the target preload and target winding length are calculated to match the tightening degree of the binding rope with the beam's weight, ensuring the limit constraint force meets safety requirements without excessive pressure. The controller continuously collects contact pressure and binding rope tension signals during the beam transport equipment's operation and has preset multi-level response logic. When the contact pressure or tension slowly decreases to the lower limit due to factors such as vibration and creep, the controller can issue a timely warning or automatically initiate compensating winding to restore the constraint state to a safe range, thus improving the problem of limit loosening caused by long-term transportation. When a sudden change in pressure or tension is detected (such as impact load caused by sudden braking or severe bumps), the controller can immediately trigger deceleration braking and audible and visual alarms, forming a multi-layered dynamic protection mechanism and enhancing the proactive response capability to sudden working conditions.

[0040] Example 2: This embodiment also provides a beam transport method using a beam transport device described in Embodiment 1. The beam transport method includes: Obtain parameter information of the precast beam, including at least the width, height, and mass of the precast beam; calculate the rotational clearance extension of each limiting component based on the width of the precast beam; Specifically, before hoisting the precast beam, the operator inputs the basic parameters of the precast beam to be transported through the controller's input interface (such as a touch screen, button panel, or data interface for communication with the host computer), including but not limited to the beam's width, height, and mass. The width determines the final position of the lateral clamping of the limiting plate and the travel of the telescopic frame required for tilting and avoidance; the height provides a basis for calculating the angle of the subsequent binding rope's path across the beam; and the mass serves as the basis for calculating the target preload. After input, the controller, based on the pre-stored width of the support frame (a fixed design parameter determined by the structural dimensions of the support frame) and the preset limit plate avoidance rotation allowance (a manually set safety margin value used to ensure that the limiting plate does not interfere with the side of the precast beam during tilting, typically 20mm to 50mm), calls the built-in rotation avoidance extension calculation module to calculate the required rotation avoidance extension for each limiting component. This extension amount represents the distance the telescopic frame needs to extend outward from its initial position, allowing the limiting plate to retract to the outside of the precast beam side when horizontally lowered, providing sufficient space for the subsequent flipping of the limiting plate from the horizontally lowered state to the vertically upright state. After calculation, the controller temporarily stores the value in its internal memory for later use in subsequent control processes.

[0041] The gantry crane or other beam-moving equipment lifts the precast beam off the ground and moves it above the main vehicle and auxiliary vehicle. The orientation of the precast beam is adjusted according to its preset position so that the preset position of the precast beam is aligned with the bearing surface of each support frame. Then, the gantry crane or other beam-moving equipment is controlled to lower the precast beam so that the bottom of the precast beam rests on the bearing surface of the support frame. Specifically, after the precast beam parameters are entered and the extension is calculated, on-site operators use a gantry crane or other beam-moving equipment (such as a bridge erecting machine, beam lifting machine, or truck crane) to slowly lift the precast beam from the storage area or beam-making platform off the ground. After the precast beam is lifted, the gantry crane or beam-moving equipment moves the precast beam horizontally along a preset path to above the main vehicle and auxiliary vehicle. During the movement, the operator or the equipment's automatic positioning system compares the preset position marks (such as centerline marks or positioning holes) on the bottom of the precast beam with the alignment marks on the bearing surfaces of each support frame on the main vehicle and auxiliary vehicle. The longitudinal and transverse movement mechanisms of the gantry crane or beam-moving equipment fine-tune the orientation of the precast beam in the air so that the length direction of the precast beam is parallel to the movement direction of the main vehicle and auxiliary vehicle, and the preset positions of each support point on the bottom of the precast beam correspond vertically to the center position of the bearing surface of each support frame. The operator controls the gantry crane or beam-moving equipment to slowly lower the precast beam until the bottom surface of the precast beam rests on the bearing surfaces of each support frame. After the precast beam is lowered into place, the operator checks whether there is any gap or tilt between the bottom of the precast beam and the bearing surface. Once the problem is confirmed, the next step of the limiting operation can be carried out.

[0042] Control the first power device to drive the telescopic frame to extend to the rotational avoidance extension amount, control the second power device to drive the limiting plate to rotate from the horizontally laid-down state to the vertical state, control the first power device to drive the telescopic frame to retract until the inner side of the limiting plate contacts the side of the precast beam, and the retraction stops when the contact pressure detected by the pressure sensor set on the inner side of the limiting plate reaches the preset threshold. Specifically, after the precast beam is placed in place on the support frame, the operator triggers a "limit preparation" command through the controller. Upon receiving this command, the controller outputs a positive drive signal to each of the first power units. Each of the first power units (motors) starts operating, and through the transmission mechanism (screw-nut transmission pair or gear-rack transmission pair), the rotational motion is converted into linear motion, driving the telescopic frames on both sides to extend outward synchronously from the initial retracted position along the width direction of the support frame. The extension distance is the target value (i.e., the rotational avoidance extension amount). During the extension of the telescopic frames, the controller monitors the drive current of each motor or the displacement signal fed back by the encoder in real time. When the target value is reached, the drive is immediately stopped, so that the limit plate accurately stops at the avoidance position—at this time, the limit plate is in a horizontally laid-down state, located on the outside of the side of the precast beam, with sufficient horizontal clearance between them for the limit plate to flip. Subsequently, the controller outputs a flipping drive signal to each of the second power units. Each of the second power units (rotary motors with reduction transmission mechanisms) starts, driving the limit plate to rotate around the hinge axis from the horizontally laid-down state (0° position) to the vertically upright state (90° position). During the flipping process, the controller continuously receives real-time angle signals from the angle sensor at the end of the hinge shaft. When the detected angle reaches the preset vertical target angle (e.g., 90°±1°), the controller outputs a stop signal to the second power unit. Subsequently, the controller outputs a reverse drive signal to each of the first power units, causing the telescopic frames on both sides to retract (i.e., slide inwards towards the support frame), causing the limiting plate to gradually move closer to the side of the precast beam from its avoidance position. As the telescopic frames retract, the distance between the inner side of the limiting plate and the side of the precast beam continuously decreases until the elastic pad or anti-slip liner on the inner side of the limiting plate contacts the side of the precast beam. After contact occurs, as the telescopic frames continue to retract, the contact pressure gradually increases. At this point, the pressure sensor embedded in the inner side of the limiting plate begins to generate an effective pressure signal and transmits this signal to the controller in real time. The controller compares the received current contact pressure value with a preset threshold stored internally (this threshold is the minimum clamping pressure required to ensure transportation safety, determined by the mass of the precast beam and the estimated lateral load). When the contact pressure is detected to reach the preset threshold, the controller immediately outputs a stop signal to the first power unit. The telescopic frame stops retracting and maintains its current extension length. The side limit plates use a constant clamping force to firmly limit the precast beam laterally.

[0043] One end of the binding rope is fixed to the hanging ring of the winding assembly on the main vehicle or auxiliary vehicle side, and the other end is successively passed over the pulley on the limit plate on the same side, the top of the precast beam, and the pulley on the limit plate on the other side, and fixed to the hanging ring of the winding assembly on the other side. Specifically, after the lateral clamping and limiting are completed, the operator begins the attachment of the binding rope. The operator takes a binding rope (which can be any of the following: steel wire rope, synthetic fiber sling, or chain, with a breaking strength that meets the safety requirements for transporting precast beams), and first passes one end of the binding rope through the hanging ring hole of the winding assembly on one side of the main vehicle (or auxiliary vehicle). The end is then reliably secured to the hanging ring using a knot, loop, or matching rope clip / shackle. After securing it, the operator pulls the main body of the binding rope upwards, embedding it into the arc-shaped rope groove of the pulley on the outer surface of the limiting plate on the same side, and uses this pulley for the first turn. Subsequently, the binding rope continues to extend upwards and crosses the top of the precast beam (in actual operation, a rubber pad or wooden block can be placed on top of the precast beam to prevent the binding rope from directly contacting the beam surface and causing edge wear or damage), then extends downwards from the other side of the precast beam, embedding itself into the pulley rope groove on the opposite limiting plate. After a second turn, the end of the binding rope is pulled to the winding assembly on the opposite side, passing through the ring hole of the opposite hanging ring in the same way and securing it firmly. Following the above operation method, according to the preset number of binding ropes on a single vehicle, each binding rope is sequentially hooked up. After hooking up, each binding rope forms a cross-beam loop with the precast beam, and the binding rope on each side is guided by the pulley on the limiting plate to ensure that the binding rope can move smoothly along the preset path without direct friction with the edge of the limiting plate during subsequent tightening. After hooking up, the operator triggers the "winding tightening" command through the controller to proceed to the next step.

[0044] The target preload is calculated based on the mass of the precast beam, and the target winding length is calculated based on the target preload. The third power device is controlled to drive the winding drum to rotate and wind and tighten the binding rope. When the winding length reaches the target winding length and the tension of the binding rope reaches the target preload, the third power device is controlled to stop winding. Specifically, after the operator triggers the "winding and tightening" command, the controller calls the built-in target preload calculation module and target winding length calculation module to perform parameter calculations. First, the controller calculates the target preload required for each binding rope based on the precast beam mass, the precast stored longitudinal sliding constraint force (calculated from the precast beam mass and road surface adhesion coefficient, used to prevent longitudinal sliding during acceleration and deceleration), the lateral overturning constraint force (calculated from the precast beam center of gravity height, lateral acceleration, and support span, used to prevent lateral overturning during turning), the number of binding ropes on a single vehicle (a preset value, corresponding to the number of binding ropes arranged on each vehicle), the binding rope safety factor (a preset value, determined according to the binding rope specifications and operating conditions), and the angle between the binding rope and the horizontal plane (determined by the precast beam height and the geometric relationship of the span path). Next, the controller calculates the target winding length based on the target preload, the pre-stored equivalent stiffness of the binding rope (determined by the rope's material, diameter, and free length), and the additional winding length required to eliminate rope slack (an empirical value used to compensate for initial slack and minor deformation of the joint). After calculation, the controller outputs drive signals to each third power unit, which then starts operating, driving the winding drum to rotate clockwise around its own axis to tighten the attached binding rope. During winding, the controller monitors the number of rotations of the winding drum in real time via a motor encoder or an angle sensor at the end of the winding drum shaft, and calculates the current winding length based on the drum's circumference. Simultaneously, it monitors the current binding rope tension in real time via the drive current of the third power unit (calibrated and converted to output torque) or an independently installed binding rope tension sensor. The controller compares the real-time collected winding length with the target winding length and the real-time collected binding rope tension with the target preload. When both conditions are met simultaneously—that is, the winding length has been reached and the tension of the binding rope has been reached—the controller determines that the binding rope has been tightened to a safe state and then outputs a stop signal to the third power unit. At this point, the binding rope has been tightened, forming vertical compression and longitudinal restraint on the precast beam. During the movement of the beam transport equipment, the contact pressure between the limit plate and the side of the precast beam and the tension of the binding rope are monitored in real time. When the contact pressure is lower than the preset lower limit and the duration exceeds the first preset time, an early warning signal is issued. When the tension of the binding rope is lower than the preset lower limit and the duration exceeds the second preset time, the third power device is activated for compensation winding. When a sudden change in contact pressure or binding rope tension is detected and the change exceeds the preset threshold, the beam transport equipment is controlled to decelerate or brake and an audible and visual alarm is issued.

[0045] Specifically, after all the bundling work is completed, the beam transport equipment (main vehicle towing auxiliary vehicle) starts and enters driving mode, beginning the transport of precast beams from the beam fabrication yard to the erection site. During the journey, the controller switches to real-time transport monitoring mode, continuously and cyclically collecting contact pressure signals fed back by the pressure sensors on the inner side of each limit plate and the drive current signals of the tension sensors or third power units installed at each winding assembly at a preset sampling frequency (e.g., 10Hz~100Hz), and the built-in monitoring module makes real-time judgments. When the controller detects that the current contact pressure of a certain limit plate is lower than the preset lower limit value, and this state lasts for more than a first preset time (e.g., 5 seconds, this time value is used to filter pressure fluctuations caused by instantaneous road bumps to avoid false alarms), the controller determines that the limit system may be loose or the telescopic frame may have shifted, and then sends an audible and visual warning signal to the warning device to remind the driver to stop in time and check the limit status. When the controller detects that the current tension of a binding rope is lower than the preset lower limit, and this state lasts for more than the second preset time (e.g., 3 seconds, which is less than the first preset time because the binding rope has relatively high stiffness, and a drop in tension usually means that there has been significant slack or joint slippage, requiring a faster response), the controller determines that the binding rope has become slack. At this time, without relying on manual intervention, the controller automatically outputs a compensation drive signal to the corresponding third power device, which starts the third power device to perform compensation winding—that is, drives the winding drum to rotate an additional angle in the forward direction to slightly tighten the binding rope until the current tension value fed back by the tension sensor returns to the target pre-tightening force. Then, the controller automatically stops the compensation winding and relocks the winding drum, realizing adaptive dynamic compensation of binding constraints. When the controller detects a drastic change in the contact pressure signal or the tension signal of the binding rope—that is, when the change in a certain parameter exceeds a preset threshold within a very short time (e.g., within 0.5 seconds) (e.g., a sudden drop in pressure exceeding 30% or a sudden increase in tension exceeding 50%)—the controller determines that the beam transport equipment has encountered a sudden abnormal working condition (e.g., emergency braking of the vehicle, severe bumps, or significant impact displacement of the precast beam). At this time, the controller immediately outputs an emergency braking signal to the vehicle's braking system, controlling the beam transport equipment to actively decelerate or implement emergency braking to reduce the vehicle speed and dynamic load as quickly as possible. Simultaneously, it outputs an alarm signal to the audible and visual alarm, emitting a high-decibel audible and visual alarm to warn nearby workers to take timely evasive action. Throughout the entire transportation process, the above monitoring and response mechanism continues to operate until the beam transport equipment safely arrives at its destination.

[0046] Specifically, the calculation method for the rotational avoidance extension amount is as follows: ; in, L 0 represents the amount of rotational avoidance extension; W 0 represents the width of the support frame; W Width of the precast beam; ∆Allowance for rotation to be accommodated by the limit plate.

[0047] Specifically, the target preload is calculated as follows: ; in, F 0 represents the target preload; F v The constraint force required for longitudinal sliding; F h The required restraint force for lateral overturning; n The number of binding ropes on a single vehicle; K The safety factor of the binding rope; α The angle between the binding rope and the horizontal plane.

[0048] The angle between the binding rope and the horizontal plane α This refers to the angle between the inclined section of the binding rope on the side of the precast beam (i.e., outside the limiting plate) and the horizontal plane after the rope crosses the top of the precast beam. This angle is determined by the height of the precast beam, the installation height of the pulley on the limiting plate, and the height of the fixing point of the binding rope on the winding drum. In actual calculations, this angle can be taken as the average angle between the inclined section of the binding rope and the horizontal plane, and its geometric relationship is as follows: ; in, H The height of the top binding point of the precast beam; h 1 represents the height at the hanging ring of the winding drum; h 2 is the horizontal distance from the side pulley of the precast beam to the winding drum.

[0049] It should be noted that, α The value is not a fixed constant, but is automatically obtained by the controller when calculating the target preload, based on the actual beam-crossing path of each binding rope. The controller pre-stores the relative position parameters (including height difference and horizontal spacing) between the pulley and the hanging ring. After obtaining the height H of the currently transported precast beam, it automatically calculates the corresponding binding rope using its built-in geometric calculation module. α horn.

[0050] Specifically, the target winding length is calculated as follows: ; in, L 1 represents the target winding length; L 2. To eliminate the extra winding length required to eliminate rope slack; K b The equivalent stiffness of the binding rope; F 0 is the target preload.

[0051] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A beam transport device, characterized in that, Both the main vehicle and the auxiliary vehicle are equipped with limiting components. The limiting components include a support frame, the surface of which is used to receive the precast beam at a preset position. Telescopic frames are provided on both sides of the support frame parallel to the movement direction of the main vehicle or the auxiliary vehicle. The telescopic frames are slidably engaged with the support frame. The telescopic frames are driven by a first power device to reciprocate linearly in a direction perpendicular to the movement direction of the main vehicle or the auxiliary vehicle. A limiting plate is provided at the end of the telescopic frame away from the support frame.

2. The beam transport equipment according to claim 1, characterized in that, The limiting plate is rotatably connected to the support frame, and the limiting plate is driven to rotate by the second power device.

3. The beam transport equipment according to claim 1, characterized in that, The beam transport equipment also includes a winding assembly, which is fixedly installed on both sides of the main vehicle or auxiliary vehicle parallel to its direction of movement. The winding assembly includes: Third power unit; A winding drum, which is connected to a third power device, which drives the winding drum to rotate around its own axis. The hanging ring is fixed to the circumference of the winding drum and is used to tie the end of the binding rope.

4. The beam transport equipment according to claim 3, characterized in that, The limiting plate is also equipped with pulleys.

5. A beam transport device according to claim 4, characterized in that, The beam transport equipment also includes a controller, which is electrically connected to the first power unit, the second power unit, and the third power unit.

6. A method for transporting beams, characterized in that, The beam transport equipment according to claim 5 is used, and the beam transport method includes: Obtain parameter information of the precast beam, including at least the width, height, and mass of the precast beam; calculate the rotational clearance extension of each limiting component based on the width of the precast beam; The gantry crane or other beam-moving equipment lifts the precast beam off the ground and moves it above the main vehicle and auxiliary vehicle. The orientation of the precast beam is adjusted according to its preset position so that the preset position of the precast beam is aligned with the bearing surface of each support frame. Then, the gantry crane or other beam-moving equipment is controlled to lower the precast beam so that the bottom of the precast beam rests on the bearing surface of the support frame. Control the first power device to drive the telescopic frame to extend to the rotational avoidance extension amount, control the second power device to drive the limiting plate to rotate from the horizontally laid-down state to the vertical state, control the first power device to drive the telescopic frame to retract until the inner side of the limiting plate contacts the side of the precast beam, and the retraction stops when the contact pressure detected by the pressure sensor set on the inner side of the limiting plate reaches the preset threshold. One end of the binding rope is fixed to the hanging ring of the winding assembly on the main vehicle or auxiliary vehicle side, and the other end is successively passed over the pulley on the limit plate on the same side, the top of the precast beam, and the pulley on the limit plate on the other side, and fixed to the hanging ring of the winding assembly on the other side. The target preload is calculated based on the mass of the precast beam, and the target winding length is calculated based on the target preload. The third power device is controlled to drive the winding drum to rotate and wind and tighten the binding rope. When the winding length reaches the target winding length and the tension of the binding rope reaches the target preload, the third power device is controlled to stop winding. During the movement of the beam transport equipment, the contact pressure between the limit plate and the side of the precast beam and the tension of the binding rope are monitored in real time. When the contact pressure is lower than the preset lower limit and the duration exceeds the first preset time, an early warning signal is issued. When the tension of the binding rope is lower than the preset lower limit and the duration exceeds the second preset time, the third power device is activated for compensation winding. When a sudden change in contact pressure or binding rope tension is detected and the change exceeds the preset threshold, the beam transport equipment is controlled to decelerate or brake, and an audible and visual alarm is issued.

7. A beam transport method according to claim 6, characterized in that, The calculation method for the rotational avoidance extension amount is as follows: ； in, L 0 represents the amount of rotational avoidance extension; W 0 represents the width of the support frame; W Width of the precast beam; ∆ Allowance for rotation to be accommodated by the limit plate.

8. A beam transport method according to claim 6, characterized in that, The target preload is calculated as follows: ； in, F 0 represents the target preload; F v The constraint force required for longitudinal sliding; F h The required restraint force for lateral overturning; n The number of binding ropes on a single vehicle; K The safety factor of the binding rope; α The angle between the binding rope and the horizontal plane.

9. A beam transport method according to claim 6, characterized in that, The target winding length is calculated as follows: ； in, L 1 represents the target winding length; L 2. To eliminate the extra winding length required to eliminate rope slack; K b The equivalent stiffness of the binding rope; F 0 is the target preload.

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