CN111908376B

CN111908376B - Method for loading and unloading heavy construction

Info

Publication number: CN111908376B
Application number: CN202010641703.8A
Authority: CN
Inventors: 梁丰; 刘斌; 李海方; 谢小琴; 阮明华; 纪岩; 王虎臣
Original assignee: CCCC Wuhan Harbour Engineering Design and Research Institute Co Ltd
Current assignee: CCCC Wuhan Harbour Engineering Design and Research Institute Co Ltd
Priority date: 2020-07-06
Filing date: 2020-07-06
Publication date: 2022-04-05
Anticipated expiration: 2040-07-06
Also published as: CN111908376A

Abstract

The invention provides a heavy construction loading and unloading method, which comprises the following steps: arranging a walking track near the installation position, wherein the walking track at least passes through an installation station and a loading and unloading station; moving the loading and unloading trolley to an installation station, and hoisting the heavy construction on a bearing seat of the heavy construction; moving the loading and unloading trolley to an installation station, and adjusting the space position of a heavy construction by the loading and unloading trolley to assist in installation of the heavy construction; the steps of disassembly are reversed from those of installation; through the steps, the loading trolley is used for assisting accurate loading and unloading of the heavy construction. Through the structure that adopts the loading and unloading platform truck, and the loading and unloading platform truck adopts the structure of can finely tuning all around and every single move angle, has eliminated cantilever structure's scheme, under the prerequisite of guaranteeing the atress reliable, can also the accurate spatial position who adjusts heavy structure to adapt to the needs of heavy structure installation and dismantlement work, reduce the occupation time of the hoist of job site by a wide margin, improve the efficiency of construction.

Description

Method for loading and unloading heavy construction

Technical Field

The invention relates to the field of installation and disassembly of heavy constructions, in particular to a method for loading and unloading heavy constructions.

Background

Heavy constructions, as referred to in this example, include constructions that are difficult or inconvenient to handle by human force, such as steel end shutoffs for underground sinkers or galleries; fabricated shear walls, fabricated beams, fabricated columns or other fabricated components; large integrated glass curtain wall units and the like. Taking immersed tube steel end sealing door as an example, the current installation mostly adopts the traditional construction method: the method is characterized in that a bracket, a steel beam and an installed member are firstly installed, and finally the end sealing door is positioned and installed by utilizing a lifting appliance and a chain block, so that the method is also a main installation mode of a plurality of heavy-duty constructions. The construction method has the advantages of large input of manpower, more required materials, high safety risk, difficult guarantee of engineering quality, poor civilized construction conditions and unfavorable environmental protection requirements.

Some improvements are available in the prior art, for example, chinese patent document CN206972279U describes a two-arm two-basket steel arch installing machine for tunnel, which adopts a mechanical arm structure for auxiliary installation, but the structure adopts more cantilever structures, and is not suitable for the field requiring load bearing, such as installation of heavy construction. Similarly, CN 108131153 a is a structure of a multifunctional tunnel construction vehicle. In the chinese patent document CN 110735652 a, a single-side wall form trolley is disclosed, which is used for form construction and can greatly reduce the labor intensity. However, the problem that the control precision is insufficient, the stress is insufficient and the heavy construction is difficult to bear in the installation process when the structure is applied to the installation field of the heavy construction exists, and the problem that how to quickly connect and fix the structure with the heavy construction is also large. Similar to this, the structure disclosed in chinese patent document CN 108533290 a silicon walking type light single-side wall form trolley is also provided.

Disclosure of Invention

The invention aims to solve the technical problem of providing a heavy construction loading and unloading method, which can reduce the occupation of a hoisting device and realize the accurate position adjustment of a load-bearing heavy construction in the installation process. In the preferred scheme, automatic accurate positioning can be realized. The stress structure is reliable, the rapid installation and disassembly of a heavy construction can be greatly shortened, and the construction period is shortened.

In order to solve the technical problems, the technical scheme adopted by the invention is as follows: a method of loading and unloading a heavy construction comprising the steps of:

s1, arranging a walking rail near the installation position, wherein the walking rail at least passes through an installation station and a loading and unloading station;

the loading and unloading trolley is movably arranged on the traveling track, a bearing seat used for being connected with a heavy construction is arranged on the loading and unloading trolley, and an adjusting mechanism used for adjusting the space position of the heavy construction is also arranged on the loading and unloading trolley;

s2, moving the loading and unloading trolley to an installation station, and hoisting the heavy construction object on a bearing seat of the loading and unloading trolley;

s3, moving the loading and unloading trolley to an installation station, and adjusting the space position of the heavy construction by the loading and unloading trolley to assist the installation of the heavy construction;

the steps of disassembly are reversed from those of installation;

through the steps, the loading trolley is used for assisting accurate loading and unloading of the heavy construction.

In the preferred scheme, a plurality of barb devices are preset on a heavy construction, a plurality of bearing seats are arranged on the loading and unloading trolley, bearing pins are arranged on the bearing seats, and the barb devices correspond to the bearing pins one by one. The barb devices and the carrier pins are used for quick loading and unloading of heavy constructions from the loading trolley.

In a preferred embodiment, the loading/unloading trolley has a structure in which: the bottom of the walking frame is provided with a walking wheel and a jacking oil cylinder, the top of the walking frame is provided with a sliding seat for transverse displacement along the walking frame, and the top of the sliding seat is provided with a telescopic frame for longitudinal displacement along the walking frame;

the telescopic frame is provided with a loading and unloading frame, the front end of the bottom of the loading and unloading frame is hinged with the front end of the telescopic frame, the rear end of the bottom of the loading and unloading frame is hinged with the loading and unloading frame through an inclination angle adjusting rod, and the inclination angle adjusting rod is used for adjusting the pitching angle of the loading and unloading frame.

In the preferred scheme, at least four groups of travelling wheels are arranged at the bottom of the travelling frame, and the travelling wheels are rail-type travelling wheels and are used for travelling along a laid travelling rail;

part of the travelling wheels are connected with a driving device, and the driving device is used for driving the travelling wheels to travel;

at least four groups of jacking oil cylinders are arranged on the outer sides of the travelling wheels, and the jacking oil cylinders are communicated with the hydraulic station and used for driving the whole travelling frame to lift.

In the preferred scheme, a plurality of longitudinal sliding clamping plates are arranged at the top of the sliding seat, and the longitudinal sliding clamping plates hook the bottom beam of the telescopic frame from two sides and the top;

a longitudinal friction reducing plate is arranged between the sliding seat and the bottom beam of the telescopic frame and is used for reducing the friction force between the sliding seat and the bottom beam of the telescopic frame;

a telescopic cylinder is further arranged between the sliding seat and the telescopic frame, two ends of the telescopic cylinder are respectively hinged with the sliding seat and the telescopic frame, and the telescopic cylinder is used for driving the telescopic frame to move longitudinally along the walking frame;

and a counterweight is also arranged at one end of the telescopic frame far away from the loading and unloading frame.

In the preferred scheme, the bottom of the sliding seat is provided with a plurality of transverse sliding clamping plates which hook sliding beams at the top of the walking frame from two sides and the bottom;

a transverse friction reducing plate is arranged between the bottom of the sliding seat and the sliding beam and is used for reducing the friction force between the bottom of the sliding seat and the sliding beam;

and a deviation-correcting oil cylinder is arranged between the sliding seat and the walking frame, two ends of the deviation-correcting oil cylinder are respectively hinged with the sliding seat and the walking frame, and the deviation-correcting oil cylinder is used for driving the sliding seat to transversely displace along the walking frame.

In the preferred scheme, the top of the travelling frame and two sides of the sliding seat are also provided with deviation-rectifying limiting devices, and the deviation-rectifying limiting devices are used for limiting the transverse displacement of the sliding seat;

the structure of the deviation-rectifying limiting device is that a nut seat is fixedly arranged at the top of the walking frame, a bolt is in threaded connection with the nut seat, and the bolt abuts against a sliding seat. The sliding seat can be pushed to realize micro displacement by rotating the bolt.

In a preferred scheme, the structure of the loading and unloading frame is as follows: the side surface of the loading and unloading frame is in an A shape, the top of the cross section of the loading and unloading frame is a triangular frame, inclined struts are arranged among the triangular frames, a plurality of bearing devices are arranged on the front end surface of each triangular frame, the bearing devices obtain stable relative positions, and the bearing devices are detachably connected with a heavy construction;

the bottom of the front end of the tripod is hinged with the front end of the telescopic frame, the bottom of the rear end of the tripod is hinged with the telescopic frame through an inclination angle adjusting rod, the inclination angle adjusting rod comprises two mutually sleeved pipes, and the two mutually sleeved pipes are respectively hinged with one end of the tilting cylinder so as to adjust the sleeving length of the two mutually sleeved pipes through the stretching of the tilting cylinder;

still be equipped with the slope telescoping device on one section of tilt angle pole, the slope telescoping device adopts the double threaded screw structure, and the both ends of double threaded screw respectively with a sleeve nut threaded connection, the screw thread at double threaded screw both ends is revolved to opposite, adjusts the distance between two sleeve nuts through rotating double threaded screw.

In a preferred scheme, a base is fixedly arranged on the loading and unloading frame and is associated with one of a horizontal plane and a vertical plane, and an inclination angle sensor is arranged on the base and is used for feeding back the pitching angle of the loading and unloading frame.

In a preferable scheme, a positioning sensor is arranged at a position on the loading and unloading frame or the sliding seat, which is not shielded by a heavy construction, and the positioning sensor adopts a laser sensor, a photoelectric sensor or a camera;

an auxiliary positioning target for auxiliary positioning is further arranged, the auxiliary positioning target is associated with one or more of the parameters of the installation position of the heavy construction, and the auxiliary positioning target is arranged at a position corresponding to the positioning sensor;

the corresponding positions refer to the offset parameters of the installation positions of the auxiliary positioning targets and the heavy-duty construction and the offset parameters of the positioning sensors and the fixed positions of the heavy-duty construction on the loading and unloading frame.

According to the heavy construction loading and unloading method provided by the invention, the structure of the loading and unloading trolley is adopted, and the loading and unloading trolley adopts the structure capable of finely adjusting the vertical, front, rear, left and right angles and the pitching angle, so that the scheme of a cantilever structure is eliminated, the space position of the heavy construction can be accurately adjusted on the premise of ensuring reliable stress, the requirements of the installation and disassembly work of the heavy construction are met, the occupied time of a hanger with scarce resources on a construction site is greatly reduced, and the construction efficiency is improved. In the preferred scheme, the structure of the bearing seat and the bearing pin is matched and fixedly arranged on the barb device of the heavy construction object, so that the construction efficiency is further greatly improved by quickly fixing and disconnecting the heavy construction object through accurate positioning between the structures on the premise of ensuring the fixation reliability. The structure of the sliding seat, the transverse sliding clamping plate and the longitudinal sliding clamping plate is greatly reduced in complexity on the premise of ensuring precision, and the cost of equipment is favorably reduced. The counterweight ensures reliable stress of the loading and unloading frame. The structure of the telescopic cylinder, the tilting cylinder and the deviation-correcting oil cylinder can accurately adjust the position of a heavy construction in a hydraulic mode. The inclination angle sensor and the positioning sensor can assist in feeding back the position of a heavy construction, and the observation steps of operators are reduced, so that the mounting and dismounting precision is further ensured, the loading and unloading efficiency is improved, and the safety risk is greatly reduced.

Drawings

The invention is further illustrated by the following examples in conjunction with the accompanying drawings:

FIG. 1 is a schematic side view of the present invention.

Fig. 2 is a schematic front view of the present invention.

Fig. 3 is a schematic top view of the traveling carriage, the sliding seat and the telescopic frame of the invention.

Fig. 4 is a schematic structural diagram of an auxiliary positioning target according to the present invention.

Fig. 5 is a partially enlarged schematic view of the position of the load-bearing seat of the present invention.

Fig. 6 is a schematic view of the construction of the heavy construction handling method of the present invention in an initial position.

Fig. 7 is a schematic structural view of the heavy construction hoisted by the heavy construction loading and unloading method of the present invention.

Fig. 8 is a schematic structural view illustrating a method of loading and unloading a heavy construction according to the present invention when moving to an installation position along a travel rail and adjusting an inclination angle of a loading and unloading frame.

Fig. 9 is a schematic structural view illustrating a telescopic frame extended into an installation position according to a method for loading and unloading a heavy construction according to the present invention.

Fig. 10 is a schematic view of the construction of the heavy construction loading and unloading method of the present invention when detached from the installed heavy construction.

Fig. 11 is a schematic representation of a heavy construction attachment structure of the present invention.

Figure 12 is a side schematic view of the attachment structure of the barb apparatus of the present invention.

Figure 13 is a schematic front view of the attachment structure of the barb apparatus of the present invention.

Figure 14 is a schematic front view of the barb apparatus of the present invention installed on a heavy construction.

In the figure: the device comprises a walking frame 1, a jacking oil cylinder 101, a sliding beam 102, a walking wheel 103, a driving device 104, a walking track 2, a sliding seat 3, a transverse sliding clamping plate 31, a longitudinal sliding clamping plate 32, a longitudinal friction reducing plate 33, a transverse friction reducing plate 34, a telescopic cylinder 4, a telescopic frame 5, a tilting cylinder 6, a tilting telescopic device 7, a loading and unloading frame 8, a tilt angle adjusting rod 9, a base 10, a tilt angle sensor 11, a loading seat 12, a loading pin 13, a barb device 14, a barb bottom plate 141, a barb plate 142, a tensile rib 143, a heavy construction 15, a positioning sensor 16, a deviation-rectifying limiting device 17, a deviation-rectifying oil cylinder 18, a counterweight 19, a hydraulic station 20, a distance sensor 21, an auxiliary positioning target 22, a pre-embedded base plate nut 23, a base plate 24, a connecting bolt 25, a hole 26 and a loading and unloading frame front end face 27.

Detailed Description

In this example, the vertical direction is the left-right direction in fig. 1, the front end is the left end in fig. 1, the horizontal direction is the left-right direction in fig. 2, and the vertical direction is the vertical direction in fig. 1 and 2.

As shown in fig. 6 to 10, a method for loading and unloading a heavy construction includes the following steps:

s1, arranging a walking rail 2 near the installation position, wherein the walking rail 2 at least passes through an installation station and a loading and unloading station; the installation station refers to a position near an installation position for installing the heavy construction 15. A difficulty that is often encountered is also the narrow space near the installation site. The loading and unloading station is a position which is wide and is convenient for hoisting the heavy construction 15.

The loading and unloading trolley is movably arranged on the traveling track 2, a bearing seat 12 used for being connected with a heavy construction 15 is arranged on the loading and unloading trolley, and an adjusting mechanism used for adjusting the space position of the heavy construction 15 is also arranged on the loading and unloading trolley;

s2, moving the loading and unloading trolley to an installation station, and hoisting the heavy construction 15 on the bearing seat 12 of the loading and unloading trolley;

s3, moving the loading and unloading trolley to an installation station, adjusting the space position of the heavy construction 15 by the loading and unloading trolley, and assisting the installation of the heavy construction 15;

the steps of disassembly are reversed from those of installation;

through the above steps, precise loading and unloading of the heavy construction 15 with the loading and unloading trolley is achieved.

In a preferred embodiment, as shown in fig. 12 to 14, a plurality of barb devices 14 are preset on a heavy construction 15, a plurality of bearing seats 12 are arranged on a loading and unloading trolley, bearing pins 13 are arranged on the bearing seats 12, and the barb devices 14 correspond to the positions of the bearing pins 13 one by one. In a preferred embodiment, as shown in fig. 1, 2 and 14, a plurality of the carrying devices are arranged on the mounting/demounting frame 8, and the distance and the relative position between the plurality of carrying devices are fixed. This configuration facilitates the creation of standards to correspond to different heavy constructions 15 and ensures a one-to-one correspondence with the attachment structures, such as the barb means 14, on the heavy construction 15, thereby ensuring accurate attachment during handling of the heavy construction 15. And each bearing device is reliably stressed, so that the problem that the weight is borne on a small number of bearing devices is avoided.

As another alternative, as shown in fig. 11, the bearing device includes a connecting bolt 25, and the connecting bolt 25 is used for being in threaded connection with the embedded backing plate nut 23 on the heavy construction 15; as shown in fig. 11, the advantage of using this solution is that the structure is simple, construction is convenient, but efficiency is low in the process of mounting and dismounting the connecting bolt 25.

In a preferred embodiment, the loading/unloading trolley has a structure in which: the bottom of the walking frame 1 is provided with a walking wheel 103 and a jacking oil cylinder 101, the top of the walking frame 1 is provided with a sliding seat 3 for transverse displacement along the walking frame 1, and the top of the sliding seat 3 is provided with a telescopic frame 5 for longitudinal displacement along the walking frame 1;

the telescopic frame 5 is provided with a loading and unloading frame 8, the front end of the bottom of the loading and unloading frame 8 is hinged with the front end of the telescopic frame 5, the rear end of the bottom of the loading and unloading frame 8 is hinged with the loading and unloading frame 8 through an inclination angle adjusting rod 9, and the inclination angle adjusting rod 9 is used for adjusting the pitching angle of the loading and unloading frame 8. With the structure, after the assembly and disassembly frame 8 is fixedly connected with the heavy construction 15, the vertical, horizontal, front and back and pitch positions of the heavy construction 15 can be conveniently adjusted. Therefore, the installation position of the heavy construction 15 is accurately corresponded, and particularly for the end sealing door structure shown in the figures 7-10, the position of the end sealing door structure can be accurately adjusted up, down, left, right, front and back, and an inclination angle can be adjusted, so that the end sealing door structure is convenient to install on site.

In a preferred scheme, as shown in fig. 1 and 2, at least four groups of traveling wheels 103 are arranged at the bottom of a traveling frame 1, and the traveling wheels 103 are rail-type traveling wheels and are used for traveling along a laid traveling rail 2;

part of the travelling wheels 103 are connected with a driving device 104, and the driving device 104 is used for driving the travelling wheels 103 to travel;

at least four groups of jacking oil cylinders 101 are arranged on the outer sides of the travelling wheels 103, and the jacking oil cylinders 101 are communicated with the hydraulic station 20 and used for driving the whole travelling frame 1 to ascend and descend.

The preferable scheme is as shown in fig. 1 and 2, a plurality of longitudinal sliding clamping plates 32 are arranged at the top of the sliding seat 3, and the longitudinal sliding clamping plates 32 hook the bottom beams of the telescopic frame 5 from two sides and the top; from this structure, simplified the structure that sets up the slide rail by a wide margin to can play better spacing effect.

A longitudinal friction reducing plate 33 is arranged between the sliding seat 3 and the bottom beam of the telescopic frame 5 and is used for reducing the friction force between the sliding seat 3 and the bottom beam of the telescopic frame 5; the longitudinal friction reducing plate 33 is preferably a teflon plate.

A telescopic cylinder 4 is further arranged between the sliding seat 3 and the telescopic frame 5, two ends of the telescopic cylinder 4 are respectively hinged with the sliding seat 3 and the telescopic frame 5, and the telescopic cylinder 4 is used for driving the telescopic frame 5 to move longitudinally along the walking frame 1;

a counterweight 19 is also arranged at one end of the telescopic frame 5 far away from the loading and unloading frame 8. The weight of the counterweight 19 is such that the bottom of the telescopic carriage 5 does not fall off the upper surface of the drift seat 3 after the heavy construction 15 is installed on the carriage 8 and the telescopic carriage 5 with the carriage 8 and heavy construction 15 is moved longitudinally to the limit of travel away from the end of the counterweight 19. Therefore, the structure ensures safety. A hydraulic station 20 is also provided on the telescopic frame 5, the hydraulic station 20 also being part of the counterweight 19.

The preferable scheme is as shown in fig. 1, a plurality of transverse sliding clamping plates 31 are arranged at the bottom of the sliding seat 3, and the transverse sliding clamping plates 31 hook the sliding beam 102 at the top of the walking frame 1 from two sides and the bottom;

a transverse friction reducing plate 34 is arranged between the bottom of the sliding seat 3 and the sliding beam 102 and is used for reducing the friction force between the bottom of the sliding seat 3 and the sliding beam 102; the lateral friction reducing plate 34 is preferably a teflon plate.

A deviation-correcting oil cylinder 18 is further arranged between the sliding seat 3 and the traveling frame 1, two ends of the deviation-correcting oil cylinder 18 are respectively hinged with the sliding seat 3 and the traveling frame 1, and the deviation-correcting oil cylinder 18 is used for driving the sliding seat 3 to transversely displace along the traveling frame 1. Although the walking wheels 103 can also move along the transverse direction, the moving accuracy of the walking wheels 103 is low, if the transverse displacement needs to be adjusted again in the installation process, the jacking oil cylinder 101 needs to be lowered first, then the walking wheels 103 are driven to walk, and then the jacking oil cylinder 101 is lifted, so that the installation efficiency is greatly reduced, and in some installation positions, the lifting spatial position may not exist, for example, in the installation position of fig. 9. Therefore, the structure of the sliding seat 3 is necessary for the installation of the heavy construction 15.

In the preferred scheme as shown in fig. 2 and 3, on the top of the traveling carriage 1, both sides of the sliding seat 3 are further provided with deviation-rectifying limit devices 17, and the deviation-rectifying limit devices 17 are used for limiting the transverse displacement of the sliding seat 3; the deviation-rectifying limiting device 17 is used for fixing the transverse position of the sliding seat 3, or provides fine adjustment in the installation process, so that the assembly efficiency can be greatly improved. Compared with the deviation-rectifying oil cylinder 18, the deviation-rectifying limiting device 17 has the displacement control precision reaching 0.1 mm.

The structure of the deviation-rectifying limiting device 17 is that a nut seat is fixedly arranged at the top of the walking frame 1, a bolt is in threaded connection with the nut seat, and the bolt abuts against the sliding seat 3. With the structure, the clearance in the adjusting process is further reduced, and the device can be used as a supplementary means for manually fine-adjusting the position and can improve the safety. The sliding seat 3 can be pushed to realize micro displacement by rotating the bolt. After the adjustment is in place, the opposite deviation-rectifying limiting device 17 is tightly pushed. The positioning of the sliding seat 3 is realized, and the transverse movement of the sliding seat 3 is avoided in the pitching process of the loading and unloading frame 8.

In a preferred embodiment, as shown in fig. 1, the mounting/dismounting frame 8 has a structure in which: the side surface of the loading and unloading frame 8 is in an A shape, the top of the cross section of the loading and unloading frame 8 is a tripod, an inclined strut is arranged between every two tripods, the front end surface of each tripod is provided with a plurality of bearing devices, the bearing devices obtain stable relative positions, and the bearing devices are detachably connected with a heavy construction object 15; the tripod and the diagonal bracing are configured to provide sufficient stiffness to the handling frame 8 at a lower weight to facilitate transfer of the load bearing device datum to the tripod to assist in positioning.

The bottom of the front end of the tripod is hinged with the front end of the telescopic frame 5, the bottom of the rear end of the tripod is hinged with the telescopic frame 5 through an inclination angle adjusting rod 9, the inclination angle adjusting rod 9 comprises two mutually sleeved pipes, and the two mutually sleeved pipes are respectively hinged with one end of the tilting cylinder 6 so as to adjust the sleeving length of the two mutually sleeved pipes through the stretching of the tilting cylinder 6; the tilt angle is substantially adjusted by the tilt cylinder 6.

Still be equipped with slope telescoping device 7 on one section of tilt angle pole 9, slope telescoping device 7 adopts the double threaded screw structure, and the both ends of double threaded screw respectively with a sleeve nut threaded connection, the screw thread at double threaded screw both ends is revolved to the opposite direction, adjusts the distance between two sleeve nuts through rotating the double threaded screw. The inclination angle of the loading and unloading frame 8 is accurately adjusted through a double-threaded screw.

Preferably, as shown in fig. 1, a base 10 is fixedly arranged on the handling frame 8, the base 10 is associated with one of a horizontal plane and a vertical plane, the association includes that the upper surface of the base 10 is parallel to the horizontal plane or the vertical plane or is kept at a fixed included angle, and an inclination angle sensor 11 is arranged on the base 10 for feeding back the pitch angle of the handling frame 8. The tilt sensor 11 is preferably a gyroscope.

Preferably, as shown in fig. 1 and 2, a positioning sensor 16 is arranged at a position on the assembly and disassembly frame 8 or the sliding seat 3 which is not shielded by the heavy construction 15, and the positioning sensor 16 adopts a laser sensor, a photoelectric sensor or a camera; preferably, the positioning sensor 16 is provided with a positioning point which is arranged in relation to a reference point of the heavy construction 15, for example a positioning point which is at a fixed spatial distance from the reference point of the heavy construction 15. According to the scheme, the distance between the heavy construction 15 and the installation position can be controlled by the transferred positioning points, and rigid collision is avoided, so that the construction is damaged.

As shown in fig. 4 and 8, an auxiliary positioning target 22 for auxiliary positioning is further provided, the auxiliary positioning target 22 is associated with one or more of the installation position parameters of the heavy construction 15, and the auxiliary positioning target 22 is arranged at a position corresponding to the positioning sensor 16; the corresponding positions are the offset parameters of the mounting positions of the auxiliary positioning targets 22 and the heavy construction 15 and the offset parameters of the fixing positions of the positioning sensors 16 and the heavy construction 15 on the handling frame 8. The auxiliary positioning targets 22 are aligned with the positioning sensors 16 even if the heavy construction 15 is aligned with the installation location. According to the scheme, the auxiliary installation can be conveniently carried out at certain installation positions which are not easy to observe.

The corresponding positions are the offset parameters of the mounting positions of the auxiliary positioning targets 22 and the heavy construction 15 and the offset parameters of the fixing positions of the positioning sensors 16 and the heavy construction 15 on the handling frame 8.

In a preferred embodiment, the positioning sensor 16 further comprises a distance sensor, such as a laser range finder or an ultrasonic range finder. The structure is used for assisting in observing the telescopic distance between the heavy construction 15 and the installation position, and mainly used for controlling the telescopic distance of the telescopic frame 5. In order to avoid rigid collisions.

The method of using the heavy construction handling method of the present invention will now be described in the best mode of practice.

Example 1:

the method comprises the steps of arranging the barb devices 14 on the heavy construction 15, as shown in fig. 11 and 12, arranging the barb devices 14 at positions, arranging an independent template, wherein the template is in a splicing template structure, a plurality of holes are formed in the template, a plurality of connecting bolts 25 are respectively fixedly connected with embedded backing plate nuts 23 through the holes, and at least 4 embedded backing plate nuts 23 are arranged on each template in the embodiment, so that the structure ensures that the distance between the embedded backing plate nuts 23 is a fixed value, and correspondingly, the distance between the bearing pins 13 or the bearing seats 12 on the assembly and disassembly frame 8 is also a fixed value corresponding to the distance between the connecting bolts 25. So that the subsequent connection to the handling frame 8 is secure. The template is positioned near the center of mass of the heavy construction 15 when the formwork is erected. And after the die is erected, welding and connecting the embedded backing plate nut 23 and the reinforcing bars of the heavy construction 15. If the heavy construction 15 is of steel construction, it is welded directly to the heavy construction 15, whereby the construction, after removal of the form, facilitates the mounting of the barb means 14 by means of the connecting bolts 25 and ensures that each barb means 14 is stressed reliably. The barb device 14 has a structure in which at least two bolt holes are formed in a barb base plate 141, a barb plate 142 is welded to the middle of the barb base plate 141, and the barb plate 142 is welded to the barb base plate 141 through a tensile rib 143 at the bottom of the barb plate 142. The structure of the tensile ribs 143 can effectively improve the bearing capacity of the entire barb device 14. After installation, the barb means 14 on the heavy construction 15 may be removed to ensure that the surface of the heavy construction 15 is level. And the barb means 14 can also be reused.

Example 2:

the assembling and disassembling frame 8 is provided with a bearing pin 13, a frame mould is adopted, a double-lug plate corresponding to the position of the bearing pin 13, such as 4 double-lug plates, is arranged on the mould, a bearing seat 12 is connected with the double-lug plates through the bearing pin 13 so as to fix the relative position of the bearing seat 12, the whole mould is placed on the front end surface of the assembling and disassembling frame 8, the bearing seat 12 is contacted with the assembling and disassembling frame 8, the bearing seat 12 is connected with the assembling and disassembling frame 8 through spot welding, the bearing pin 13 is disassembled, the bearing seat 12 is fully welded with the assembling and disassembling frame 8, and the deformation of the bearing seat 12 is controlled through staggered welding seams in the welding process. By the above manner, the bearing pin 13 and the barb device 14 are ensured to be corresponding in position, and stress is reliable mutually, so that stress concentration is avoided.

Example 3:

and arranging an auxiliary positioning target 22, and offsetting the auxiliary positioning target 22 by a corresponding spatial distance to be arranged near the position to be arranged according to the parameters of the spatial distance between the position of the positioning sensor 16 and the installation position. The travelling carriage 1 is located at a hoisting station of the travelling rail 2, as shown in fig. 6. The lifting means hoist a heavy structure 15, such as an end-sealing door of an underground immersed tube, onto the handling frame 8 with the barb means 14 hooked over the bearing pin 13. After the installation and fixation, the driving device 104 drives the traveling carriage 1 to travel to the installation station along the traveling rail 2. According to the inclination angle of the installation position, hydraulic oil output by the hydraulic station 20 controls the extension and contraction of the piston rod of the inclination cylinder 6, so that the inclination angle adjusting rod 9 extends and contracts, and the loading and unloading frame 8 rotates along the hinged position at the bottom of the front end. The tilt cylinder 6 is stopped after the tilt of the attachment/detachment frame 8 is positioned according to the tilt sensor 11 by feeding back the tilt of the attachment/detachment frame 8 until the tilt of the attachment/detachment frame 8 coincides with the tilt of the attachment position, as shown in fig. 8.

The hydraulic oil output by the hydraulic station 20 controls the jacking cylinder 101 to act, so that the jacking cylinder 101 jacks up, and the travelling wheels 103 are separated from the travelling track 2. Preferably, the positioning sensor 16 determines the jacking height through the auxiliary positioning target 22. For example, the sight of the position sensor 16 is aligned with the horizontal line in fig. 4. The positioning sensor 16 observes whether the alignment is aligned with the vertical line in fig. 4, if there is a difference, the hydraulic station 20 outputs hydraulic oil to extend and retract the piston rod of the deviation-correcting cylinder 18, so that the sliding seat 3 slides along the sliding beam 102 for fine adjustment until the alignment star of the positioning sensor 16 is aligned with the vertical line in fig. 4. After the sliding seat is in place, the deviation-rectifying limiting device 17 is adjusted to tightly push the sliding seat 3, so that the displacement in the installation process is avoided. The hydraulic station 20 controls the telescopic cylinder 4 to act, and the telescopic frame 5 slides forwards along the sliding seat 3 until the heavy construction 15 reaches the installation position, as shown in fig. 9. During the telescoping process, the telescoping distance is fed back by the distance sensor 21. The tilt angle of the attachment/detachment frame 8 can be finely adjusted by the tilt telescopic device 7 as necessary by observing whether or not the mounting position is reached. The transverse position of the loading and unloading frame 8 is finely adjusted by a deviation-rectifying limit device 17. The height position of the attachment/detachment frame 8 is finely adjusted by the lift cylinder 101, and the front and rear positions are finely adjusted by the telescopic cylinder 4. After the heavy construction 15 is installed in place. The jacking oil cylinder 101 controls the whole walking frame 1 to descend for a certain distance, and the telescopic cylinder 4 controls the telescopic frame 5 to move backwards for a certain distance, so that the barb device 14 is separated from the bearing pin 13. The jacking oil cylinder 101 continues to retract, the travelling wheels 103 fall onto the travelling rails 2 and travel to the initial position, and the installation operation of the heavy construction 15 is completed. As shown in fig. 10. The heavy structure 15 in this example comprises heavy elements such as end gates, fabricated shear walls, fabricated beams and fabricated columns which are not conducive to handling. When the lifting device is detached, the walking frame 1 is firstly walked to the mounting position, then the lifting oil cylinder 101 is matched with the telescopic cylinder 4 in a lifting mode to extend out for a certain distance, and the inclined cylinder 6 is adjusted to be at a proper inclination angle. The barb means 14 are connected to the bearing pin 13, the heavy construction 15 is substantially force-bearing on the handling frame 8, the connecting structure of the installation site of the heavy construction 15 is removed, the telescopic frame 5 is retracted and the heavy construction 15 is removed. The inclined cylinder 6 drives the loading and unloading frame 8 to return to the vertical state, the jacking oil cylinder 101 descends to drop the walking wheel 103 on the walking track 2, the walking wheel 103 drives the walking frame 1 to move to a hoisting position, and the hoisting device hoists the heavy construction object 15 from the loading and unloading frame 8, so that the whole operation of disassembling the heavy construction object 15 is completed.

The above-described embodiments are merely preferred embodiments of the present invention, and should not be construed as limiting the present invention, and features in the embodiments and examples in the present application may be arbitrarily combined with each other without conflict. The protection scope of the present invention is defined by the claims, and includes equivalents of technical features of the claims. I.e., equivalent alterations and modifications within the scope hereof, are also intended to be within the scope of the invention.

Claims

1. A method for loading and unloading heavy construction is characterized by comprising the following steps:

s1, arranging a walking rail (2) near the installation position, wherein the walking rail (2) at least passes through an installation station and a loading and unloading station;

the loading and unloading trolley is movably arranged on the walking track (2), the loading and unloading trolley is provided with a bearing seat (12) used for being connected with a heavy construction (15), a plurality of barb devices (14) are preset on the heavy construction (15), the loading and unloading trolley is provided with a plurality of bearing seats (12), bearing pins (13) are arranged on the bearing seats (12), and the barb devices (14) correspond to the bearing pins (13) in position one by one; the barb device (14) and the bearing pin (13) are used for quickly loading and unloading the heavy construction (15) and the loading trolley;

the loading and unloading trolley is also provided with an adjusting mechanism for adjusting the space position of the heavy construction (15);

the structure of the loading and unloading trolley is as follows: the bottom of the walking frame (1) is provided with a walking wheel (103) and a jacking oil cylinder (101), the top of the walking frame (1) is provided with a sliding seat (3) for transverse displacement along the walking frame (1), and the top of the sliding seat (3) is provided with a telescopic frame (5) for longitudinal displacement along the walking frame (1);

a loading and unloading frame (8) is arranged on the telescopic frame (5), the front end of the bottom of the loading and unloading frame (8) is hinged with the front end of the telescopic frame (5), the rear end of the bottom of the loading and unloading frame (8) is hinged with the loading and unloading frame (8) through an inclination angle adjusting rod (9), and the inclination angle adjusting rod (9) is used for adjusting the pitching angle of the loading and unloading frame (8);

at least four groups of travelling wheels (103) are arranged at the bottom of the travelling frame (1), and the travelling wheels (103) are rail-type travelling wheels and are used for travelling along the laid travelling rail (2);

part of the travelling wheels (103) are connected with a driving device (104), and the driving device (104) is used for driving the travelling wheels (103) to travel;

at least four groups of jacking oil cylinders (101) are arranged on the outer side of the walking wheels (103), and the jacking oil cylinders (101) are communicated with the hydraulic station (20) and are used for driving the whole walking frame (1) to lift;

the top of the sliding seat (3) is provided with a plurality of longitudinal sliding clamping plates (32), and the longitudinal sliding clamping plates (32) hook the bottom beams of the telescopic frame (5) from two sides and the top;

a longitudinal friction reducing plate (33) is arranged between the sliding seat (3) and the bottom beam of the telescopic frame (5) and is used for reducing the friction force between the sliding seat (3) and the bottom beam of the telescopic frame (5);

a telescopic cylinder (4) is further arranged between the sliding seat (3) and the telescopic frame (5), two ends of the telescopic cylinder (4) are respectively hinged with the sliding seat (3) and the telescopic frame (5), and the telescopic cylinder (4) is used for driving the telescopic frame (5) to longitudinally displace along the walking frame (1);

a counterweight (19) is arranged at one end of the telescopic frame (5) far away from the loading and unloading frame (8);

the bottom of the sliding seat (3) is provided with a plurality of transverse sliding clamping plates (31), and the transverse sliding clamping plates (31) hook sliding beams (102) at the top of the walking frame (1) from two sides and the bottom;

a transverse friction reducing plate (34) is arranged between the bottom of the sliding seat (3) and the sliding beam (102) and is used for reducing the friction force between the bottom of the sliding seat (3) and the sliding beam (102);

a deviation-correcting oil cylinder (18) is also arranged between the sliding seat (3) and the traveling frame (1), two ends of the deviation-correcting oil cylinder (18) are respectively hinged with the sliding seat (3) and the traveling frame (1), and the deviation-correcting oil cylinder (18) is used for driving the sliding seat (3) to transversely displace along the traveling frame (1);

the top of the walking frame (1) and two sides of the sliding seat (3) are also provided with deviation-rectifying limiting devices (17), and the deviation-rectifying limiting devices (17) are used for limiting the transverse displacement of the sliding seat (3);

the structure of the deviation-rectifying limiting device (17) is that a nut seat is fixedly arranged at the top of the walking frame (1), a bolt is in threaded connection with the nut seat, and the bolt is propped against the sliding seat (3); the sliding seat (3) can be pushed to realize micro displacement by rotating the bolt;

the structure of the loading and unloading frame (8) is as follows: the side surface of the loading and unloading frame (8) is in an A shape, the top of the cross section of the loading and unloading frame (8) is provided with triangular frames, inclined struts are arranged among the triangular frames, the front end surfaces of the triangular frames are provided with a plurality of bearing devices, the bearing devices obtain stable relative positions, and the bearing devices are detachably connected with a heavy construction (15);

the bottom of the front end of the tripod is hinged with the front end of the telescopic frame (5), the bottom of the rear end of the tripod is hinged with the telescopic frame (5) through an inclination angle adjusting rod (9), the inclination angle adjusting rod (9) comprises two mutually sleeved pipes, the two mutually sleeved pipes are respectively hinged with one end of the inclined cylinder (6), and the sleeving length of the two mutually sleeved pipes is adjusted through the expansion of the inclined cylinder (6);

an inclined telescopic device (7) is further arranged on one section of the inclination angle adjusting rod (9), the inclined telescopic device (7) adopts a double-threaded screw structure, two ends of the double-threaded screw are respectively in threaded connection with one sleeve nut, the thread turning directions of the two ends of the double-threaded screw are opposite, and the distance between the two sleeve nuts is adjusted by rotating the double-threaded screw;

a base (10) is fixedly arranged on the loading and unloading frame (8), the base (10) is associated with one of a horizontal plane and a vertical plane, and an inclination angle sensor (11) is arranged on the base (10) and used for feeding back the pitching angle of the loading and unloading frame (8);

s2, moving the loading and unloading trolley to an installation station, and hoisting the heavy construction (15) on a bearing seat (12) of the loading and unloading trolley;

s3, moving the loading and unloading trolley to an installation station, and adjusting the space position of the heavy construction (15) by the loading and unloading trolley to assist the installation of the heavy construction (15);

a positioning sensor (16) is arranged at a position on the loading and unloading frame (8) or the sliding seat (3) which is not shielded by a heavy construction (15), and the positioning sensor (16) adopts a laser sensor, a photoelectric sensor or a camera;

an auxiliary positioning target (22) for auxiliary positioning is further arranged, the auxiliary positioning target (22) is associated with one or more of the installation position parameters of the heavy construction (15), and the auxiliary positioning target (22) is arranged at a position corresponding to the positioning sensor (16);

the corresponding positions refer to that the offset parameters of the installation positions of the auxiliary positioning targets (22) and the heavy construction (15) correspond to the offset parameters of the fixed positions of the positioning sensors (16) and the heavy construction (15) on the assembling and disassembling frame (8);

the steps of disassembly are reversed from those of installation;

through the steps, accurate loading and unloading of the heavy construction (15) are assisted by the loading and unloading trolley.