CN112813834B - Beam piece mounting system and mounting method - Google Patents
Beam piece mounting system and mounting method Download PDFInfo
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- CN112813834B CN112813834B CN202011639047.4A CN202011639047A CN112813834B CN 112813834 B CN112813834 B CN 112813834B CN 202011639047 A CN202011639047 A CN 202011639047A CN 112813834 B CN112813834 B CN 112813834B
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01D—CONSTRUCTION OF BRIDGES, ELEVATED ROADWAYS OR VIADUCTS; ASSEMBLY OF BRIDGES
- E01D21/00—Methods or apparatus specially adapted for erecting or assembling bridges
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Abstract
The invention relates to the field of bridge construction, aims to solve the problems of difficulty and low efficiency of alignment and installation of the conventional bridge, and provides a beam piece installation system and an installation method. The beam piece mounting system comprises a bridge girder erection machine, a control system and a distance measuring device; the bridge girder erection machine comprises a first support component, a second support component, a third support component and a machine arm; the control system is electrically connected with the distance measuring device and used for receiving the data information of the distance measuring device. The invention has the advantages of greatly improving the positioning precision and the installation precision of the target beam piece, greatly improving the installation efficiency of the beam piece, increasing the quality and the speed of bridge construction, and simultaneously reducing the occurrence of safety accidents in the bridge construction to a certain extent.
Description
Technical Field
The invention relates to the field of bridge construction, in particular to a beam piece mounting system and a beam piece mounting method.
Background
With the increasing demand of bridge construction in China and the increasing level of bridge construction, bridge erecting machines are increasingly adopted to install precast beam pieces on piers in the current bridge construction.
At present, in the installation of beam piece, need the staff to remove the beam piece that needs the installation through controlling the frame bridge crane under the general condition and align with the base stone that corresponds on the pier, at the in-process that the base stone on beam piece and the pier aligns, need the staff constantly to observe the distance of beam piece terminal surface and beam piece side for the base stone on the pier through the naked eye respectively, control the frame bridge crane many times according to the distance observed and adjust the beam piece of being installed for corresponding base stone position on the pier repeatedly, until the relative position relation between the two of the base stone that needs the beam piece of installation and needs the alignment after the installation demand of full seat beam piece, staff operation frame bridge crane makes the beam piece that needs the installation drop to the base stone that corresponds on, realize the roof beam that falls promptly.
The above prior art solutions have the following drawbacks: 1. the working efficiency is low when a worker observes the position of the beam piece relative to the base stone on the bridge pier through naked eyes; 2. the positioning precision of the beam piece which is installed relative to the cushion stone to be aligned is low when the beam piece falls under the observation of human eyes; 3. the staff is observing the beam piece for the in-process of pier base stone position, and the staff is nearer from the beam piece position, has certain ground potential safety hazard.
Disclosure of Invention
The invention aims to provide a beam piece mounting system and a beam piece mounting method so as to solve the technical problems.
The embodiment of the invention is realized by the following steps:
a blade installation system for installing a target blade on a target pier in alignment with a target keystone, the blade installation system comprising a bridge girder erection machine, and further comprising: a control system and a distance measuring device;
the bridge girder erection machine comprises a first support component, a second support component, a third support component and a machine arm, wherein the second support component is positioned between the first support component and the third support component;
the first support assembly, the second support assembly and the third support assembly are all located at the lower end of the machine arm and are all used for supporting the machine arm, and the first support assembly is close to a target cushion stone to be installed and aligned on a target beam piece;
the first support assembly comprises a first support column, a first slide rail and a first roller, the first support column is in rolling connection with the lower end face of the horn, the first roller is fixedly connected with the lower end face of the first support column, the first slide rail is in static contact with the upper end face of the pier, and the first roller is in rolling connection with the first slide rail;
the control system is electrically connected with the ranging device and used for receiving data information of the ranging device; the distance measuring device includes: first range finding module, second range finding module, third range finding module, fourth range finding module and fifth range finding module, first range finding module fixed connection be in on the first slide rail, second range finding module fixed connection be in on the first support column, third range finding module fixed connection be in on the first slide rail, fourth range finding module fixed link be in on the first slide rail, fifth range finding module fixed connection be in on the horn, first range finding module the second range finding module the third range finding module the fourth range finding module with fifth range finding module is used for confirming the target beam piece for the position of target base stone.
In one embodiment:
the target pier is provided with a second end surface and a second side surface, the end surface of the target pier corresponding to the first distance measuring module is the second end surface, and the side surface of the target pier corresponding to the third distance measuring module is the second side surface; the target beam piece is provided with a third end face and a third side face, in the installation process of the target beam piece, the end face of the target beam piece corresponding to the first support column is the third end face, the side face of the target beam piece corresponding to the fifth ranging module is the third side face, the third end face is provided with a third central line, and the vertical central line of the third end face is the third central line; the first roller comprises a first side surface, the side surface of the first roller corresponding to the fourth ranging module is the first side surface, and the first side surface is a plane;
the first distance measuring module comprises a first measuring surface, the first measuring surface is a reference surface used for measuring by the first distance measuring module, and the first measuring surface is opposite to the second end surface; the second distance measuring module comprises a second measuring surface, the second measuring surface is a reference surface used for measuring by the second distance measuring module, and the second measuring surface can be right opposite to the third end surface; the third distance measuring module comprises a third measuring surface, the third measuring surface is a reference surface used for measuring by the third distance measuring module, and the third measuring surface is opposite to the second side surface; the fourth distance measuring module comprises a fourth measuring surface, the fourth measuring surface is a reference surface used for measuring by the fourth distance measuring module, and the fourth measuring surface is opposite to the first side surface; the fifth distance measuring module comprises a fifth measuring surface, the fifth measuring surface is a reference surface used for measuring by the fifth distance measuring module, and the fifth measuring surface is opposite to the third side surface.
In one embodiment:
the first measuring surface is parallel to the second end surface, the second measuring surface is parallel to the third end surface, the third measuring surface is parallel to the second side surface, the fourth measuring surface is parallel to the first side surface, and the fifth measuring surface is parallel to the third side surface.
In one embodiment:
the first measuring surface, the second end surface and the third end surface are parallel to each other, and the third measuring surface, the fourth measuring surface, the fifth measuring surface, the second side surface, the first side surface and the third side surface are parallel to each other.
In one embodiment:
the third ranging module, the fourth ranging module and the fifth ranging module are all located on the same side of the bridge girder erection machine.
In one embodiment:
the third measuring surface, the fourth measuring surface and the fifth measuring surface are located on the same side close to the first side surface.
In one embodiment:
the bridge girder erection machine also comprises a front hanging beam trolley and a rear hanging beam trolley, wherein the front hanging beam trolley and the rear hanging beam trolley are positioned at the upper end of the machine arm, the front hanging beam trolley and the rear hanging beam trolley are respectively connected with the target beam piece through ropes, and the front hanging beam trolley and the rear hanging beam trolley are both electrically connected with the control system;
the first ranging module, the second ranging module, the third ranging module, the fourth ranging module and the fifth ranging module are electrically connected with a data transmission assembly, and the data transmission assembly is used for transmitting received data to the control system;
the target cushion stone comprises a first central line, a vertical straight line passing through the body center of the target cushion stone is the first central line, the control system controls the front hanging beam trolley and the rear hanging beam trolley to drive the target beam piece to move according to the received data, so that the target beam piece can be controlled to move towards the direction close to the first central line, and finally the third central line is controlled to be coincident with the first central line, namely the target beam piece and the target cushion stone are controlled to be aligned as required.
The invention also provides a beam piece mounting method based on the beam piece mounting system, which comprises the following steps:
s1: installing the first ranging module, the second ranging module, the third ranging module, the fourth ranging module and the fifth ranging module;
s2: measuring a vertical distance y3 from the first center line to the second end face, and measuring a vertical distance x4 from the first center line to the second side face;
s3: measuring the width L of the cross section of the lower end of the target beam piece;
s4: measuring a vertical distance y4 from the measuring surface of the first ranging module to the second measuring surface, measuring a vertical distance x5 from the fifth ranging module to the first side surface, and measuring a vertical distance x6 from the measuring surface of the third ranging module to the measuring surface of the fourth ranging module;
s5: transmitting the data y3, y4, x5, x6 and L obtained in S1 to S3 to the control system;
s6: the vertical distance y1 from the first measuring surface to the second end surface measured by the first distance measuring module is automatically synchronized to the control system, the vertical distance y2 from the second measuring surface to the third end surface measured by the second distance measuring module is automatically synchronized to the control system, the vertical distance x1 from the third measuring surface to the second side surface measured by the third distance measuring module is automatically synchronized to the control system, the vertical distance x2 from the fourth measuring surface to the first side surface measured by the fourth distance measuring module is automatically synchronized to the control system, and the vertical distance x3 from the fifth measuring surface to the third side surface measured by the fifth distance measuring module is automatically synchronized to the control system;
s7: in the installation process of the target beam piece, the vertical distance from the third end face to the first center line is recorded as y5, the vertical distance y6 from the first measuring surface to the first center line meets the formula y6= y2+ y4-y5, and the vertical distance y6 from the first measuring surface to the first center line also meets the formula y6= y1+ y3, so that the vertical distance y5 from the third end face to the first center line meets the formula y5= y2+ y4-y1-y3;
s8: the control system obtains a vertical distance y5 from the third end face to the first center line according to a formula y5= y2+ y4-y1-y3;
s9: the control system controls the front hanging beam trolley and the rear hanging beam trolley to simultaneously move y5 towards the direction close to the first central line along the length direction of the machine arm, so that the front hanging beam trolley and the rear hanging beam trolley drive the target beam piece to move y5 towards the direction close to the first central line along the length direction of the machine arm, and the third end face is superposed with the first central line;
s10: note that a vertical distance from the third centerline to the first centerline is x7, a vertical distance x8 from the fourth measuring plane to the fifth measuring plane satisfies a formula x8= x2-x5, a vertical distance x9 from the fourth measuring plane to the first centerline satisfies a formula x9= x1+ x4, and a vertical distance x9 from the fourth measuring plane to the first centerline further satisfies a formula x9= x7+ L/2+ x3+ x8-x6, so that a vertical distance x7 from the third centerline to the first centerline satisfies a formula x7= x1-x2-x3+ x4+ x5+ x6-L/2;
s11: the control system obtains the perpendicular distance x7 from the third center line to the first center line according to the formula x7= x1-x2-x3+ x4+ x5+ x6-L/2;
s12: the control system controls the front hanging beam trolley and the rear hanging beam trolley to simultaneously move x7 in the direction perpendicular to the length direction of the machine arm and close to the target cushion stone, so that the front hanging beam trolley and the rear hanging beam trolley drive the target beam piece to move x7 in the direction perpendicular to the length direction of the machine arm and close to the first center line, the third center line is overlapped with the first center line, and the target beam piece is aligned with the target cushion stone as required.
In conclusion, the beneficial technical effects of the invention are as follows: the invention can accurately measure the position of the target beam piece relative to the target cushion stone, and the control system can automatically control the target beam piece to be accurately aligned with the target cushion stone according to the measured data, thereby greatly improving the positioning precision and the installation precision of the target beam piece, greatly improving the installation efficiency of the beam piece, increasing the quality and the speed of bridge construction, and simultaneously reducing the occurrence of safety accidents in the bridge construction to a certain extent.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings referred to in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and those skilled in the art can also obtain other related drawings based on the drawings without inventive efforts.
FIG. 1 is a schematic structural view of a beam panel mounting system in an embodiment of the present invention;
FIG. 2 is an enlarged view at A of FIG. 1;
FIG. 3 is an elevation view of a beam blade mounting system in an embodiment of the present invention;
FIG. 4 is an enlarged view at B of FIG. 3;
FIG. 5 is a left side view of a beam panel mounting system in an embodiment of the present invention;
fig. 6 is an enlarged view at C of fig. 5.
Icon: 1. a bridge girder erection machine; 11. a first support assembly; 111. a first support column; 112. a first slide rail; 113. a first roller; 1131. a first side; 12. a second support assembly; 13. a third support assembly; 14. a horn; 15. a front hanging beam trolley; 16. a rear hoisting beam trolley; 2. a bridge pier; 21. a target bridge pier; 211. a second side surface; 212. a second end face; 3. a cushion stone; 31. a target pad stone; 311. a first centerline; 4. a target beam piece; 41. a third end face; 411. a third centerline; 42. a third side; 5. a control system; 61. a first ranging module; 611. a first measuring plane; 62. a second ranging module; 621. a second measuring plane; 63. a third ranging module; 631. a third measuring surface; 64. a fourth ranging module; 641. a fourth measuring surface; 65. a fifth ranging module; 651. and (5) measuring the fifth measurement surface.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Examples
As shown in fig. 1, the present embodiment provides a beam piece installation system, which can implement a full-automatic intelligent monitoring of an installation process of a target beam piece based on the internet of things, and ensure that the target beam piece is quickly and accurately aligned with a target pad stone and installed on a target bridge pier.
The beam piece installation system in the embodiment comprises a bridge girder erection machine 1, piers 2, a cushion 3, a target beam piece 4 and a control system 5, wherein the bridge girder erection machine 1 comprises a first support component 11, a second support component 12, a third support component 13, a machine arm 14, a front hanging beam trolley 15 and a rear hanging beam trolley 16, the target beam piece 4 is connected under the front hanging beam trolley 15 and the rear hanging beam trolley 16 through ropes by the front hanging beam trolley 15 and the rear hanging beam trolley 16, the lower end face of the target beam piece 4 is ensured to be parallel to the horizontal plane, the control system 5 can control the front hanging beam trolley 15 and the rear hanging beam trolley 16 to move along the length direction of the machine arm 14, and can also control the front hanging beam trolley 15 and the rear hanging beam trolley 16 to move along the length direction perpendicular to the machine arm 14, and therefore the control system 5 can control the target beam piece 4 to move along the length direction of the machine arm 14 and the length direction perpendicular to the machine arm 14.
The first support assembly 11 and the third support assembly 13 are respectively arranged at two sides of the second support assembly 12, the first support assembly 11, the second support assembly 12 and the third support assembly 13 are all used for supporting the machine arm 14, and the control system 5 controls the target beam piece 4 to move towards the direction close to the first support assembly 11. The first support assembly 11 includes a first support column 111, a first slide rail 112 and a first roller 113, the upper end of the first support column 111 is slidably connected to the lower end surface of the horn 14, the lower end of the first support column 111 is fixedly connected to the first roller 113, the first roller 113 is connected to the first slide rail 112 in a rolling manner, the first slide rail 112 falls on the pier 2, the pad stone 3 includes a target pad stone 31, and the target pad stone 31 is the pad stone 3 to be aligned to the target beam piece 4.
As shown in fig. 1 and fig. 2, the system further includes a first ranging module 61, a second ranging module 62, a third ranging module 63, a fourth ranging module 64 and a fifth ranging module 65, where the first ranging module 61 is fixedly connected to a surface of the first slide rail 112 away from the target beam piece 4, the second ranging module 62 is fixedly connected to a surface of the first support column 111 away from the target beam piece 4, the third ranging module 63 is fixedly connected to a lower end surface of the first slide rail 112, the fourth ranging module 64 is fixedly connected to an upper end surface of the first slide rail 112, the fifth ranging module 65 is fixedly connected to a side surface of the horn 14, the first ranging module 61 and the second ranging module 62 are located on a same side of the first support assembly 11 away from the target beam piece 4, and the third ranging module 63, the fourth ranging module 64 and the fifth ranging module 65 are located on a same side of the horn 14 away from the target beam piece 4. The first roller 113 comprises a first side surface 1131, the first side surface 1131 is a side surface of the first roller 113 close to the fourth distance measuring module 64, the pier 2 comprises a target pier 21, the target pier 21 is a pier 2 which needs to be measured by the first distance measuring module 61 and the third distance measuring module 63, the target pier 21 comprises a second side surface 211 and a second end surface 212, the second side surface 211 is a side surface of the target pier 21 close to the third distance measuring module 63, the second end surface 212 is an end surface of the target pier 21 close to the first distance measuring module 61, the target beam 4 comprises a third end surface 41 and a third side surface 42, the third end surface 41 is an end surface of the target beam 4 close to the second distance measuring module 62, and the third side surface 42 is a side surface of the target beam 4 close to the fifth distance measuring module 65. The first ranging module 61 is opposite to the second end surface 212, the second ranging module 62 is opposite to the third end surface 41, the third ranging module 63 is opposite to the second side surface 211, the fourth ranging module 64 is opposite to the first side surface 1131, and the fifth ranging module 65 is opposite to the third side surface 42.
Referring to fig. 3 and 4, the target cushion stone 31 includes a first center line 311, the first center line 311 is a vertical straight line passing through a center of the target cushion stone 31, the first distance measuring module 61 includes a first measuring surface 611, the first measuring surface 611 is a reference surface used by the first distance measuring module 61 for measurement, the second distance measuring module 62 includes a second measuring surface 621, the second measuring surface 621 is a pseudo-reference surface used by the second distance measuring module 62 for measurement, and the first measuring surface 611, the second end surface 212, the second measuring surface 621, the third end surface 41 and the first center line 311 are parallel to each other. The first distance measuring module 61 measures the vertical distance from the first measuring surface 611 to the second end surface 212, which is denoted as y1; the second distance measuring module 62 measures the vertical distance from the second measuring surface 621 to the third end surface 41, which is recorded as y2; the vertical distance from the second end surface 212 to the first center line 311 can be directly obtained according to a design drawing of a corresponding bridge pier and is marked as y3; the vertical distance from the first measuring surface 611 to the second measuring surface 621 can be directly measured after the first ranging module 61 and the second ranging module 62 are installed as required, and is marked as y4, and the distance is fixed and unchanged after the first ranging module 61 and the second ranging module 62 are installed; in the process of mounting the target beam piece 4, the vertical distance from the third end surface 41 to the first center line 311 changes along with the movement of the target beam piece 4, and is marked as y5; after the first distance measuring module 61 is installed as required, the vertical distance from the first measuring surface 611 to the first center line 311 is fixed and is denoted by y6.
As is apparent from fig. 4, the perpendicular distance y6 of the first measurement surface 611 from the first center line 311 satisfies both the formulas y6= y2+ y4-y5 and y6= y1+ y3, so that it can be concluded that the perpendicular distance y5 of the third end surface 41 from the first center line 311 satisfies the formula y5= y2+ y4-y1-y3.
After the vertical distance y3 from the second end surface 212 to the first center line 311 and the vertical distance y4 from the first measuring surface 611 to the second measuring surface 621 are synchronized to the control system 5, when the target beam 4 is installed, the first distance measuring module 61 automatically synchronizes the vertical distance y1 from the first measuring surface 611 to the second end surface 212 to the control system 5, and simultaneously, the second distance measuring module 62 automatically synchronizes the vertical distance y2 from the second measuring surface 621 to the third end surface 41 to the control system 5, so that the control system 5 can obtain the vertical distance y5 from the third end surface 41 to the first center line 311 according to the formula y5= y2+ y4-y1-y3, and then the control system 5 controls the front suspension beam trolley 15 and the rear suspension beam trolley 16 to drive the target beam 4 to move y5 in the direction close to the first center line 311 along the length direction of the boom 14, so that the third end surface 41 can coincide with the first center line 311.
As shown in fig. 5 and fig. 6, the third end surface 41 includes a third center line 411, the third center line 411 is a vertical center line of the third end surface 41, and the first side surface 1131, the second side surface 211, the third center line 411, the third measuring surface 631, the fourth measuring surface 641, and the fifth measuring surface 651 are parallel to each other. The third distance measuring module 63 measures the vertical distance from the third measuring surface 631 to the second side surface 211, which is marked as x1; the fourth distance measuring module 64 measures a vertical distance, denoted as x2, from the fourth measuring surface 641 to the first side surface 1131; the fifth distance measuring module 65 measures a vertical distance from the fifth measuring plane 651 to the third side surface 42, and the distance is marked as x3; the vertical distance from the second side surface 211 to the first center line 311 can be directly obtained according to the design drawing of a pier and is marked as x4; the vertical distance from the fifth measuring surface 651 to the first side surface 1131 can be directly measured after the fifth ranging module 65 is installed as required, and is marked as x5, and the distance is fixed and unchanged after the fifth ranging module 65 is installed; the vertical distance from the third measuring surface 631 to the fourth measuring surface 641 can be directly measured after the third ranging module 63 and the fourth ranging module 64 are installed as required, and is marked as x6, and the distance is fixed after the third ranging module 63 and the fourth ranging module 64 are installed; in the installation process of the target beam piece 4, the vertical distance from the third side surface 42 to the first center line 311 changes along with the movement of the target beam piece 4, and is marked as x7; the vertical distance from the fourth measuring surface 641 to the fifth measuring surface 651 dynamically changes with the movement of the horn 14 relative to the first slide rail 112, and is denoted as x8; the vertical distance from the third ranging module 63 to the first center line 311 is fixed and unchanged after the third ranging module 63 is installed, and is marked as x9; the width of the cross section of the lower end of the target beam piece 4 is a fixed value, and is marked as L, and the vertical distance from the third side surface 42 to the center line of the third end surface 41 is L/2.
As is apparent from fig. 6, the vertical distance x8 from the fourth measurement plane 641 to the fifth measurement plane 651 always satisfies the formula x8= x2-x5, and the vertical distance x9 from the third measurement plane 631 to the first center line 311 simultaneously satisfies the formulas x9= x1+ x4 and x9= x7+ L/2+ x3+ x8-x6, so that it can be inferred that the vertical distance x7 from the third center line 411 to the first center line 311 satisfies the formula x7= x1-x2-x3+ x4+ x5+ x6-L/2.
After synchronizing the vertical distance x4 from the second side surface 211 to the first center line 311, the vertical distance x5 from the fifth measuring surface 651 to the first side surface 1131, the vertical distance x6 from the third measuring surface 631 to the fourth measuring surface 641, and the width L of the cross section at the lower end of the target beam 4 to the control system 5, during the installation of the target beam 4, the third ranging module 63 automatically synchronizes the vertical distance x1 from the third measuring surface 631 to the second side surface 211 to the control system 5, the fourth ranging module 64 automatically synchronizes the vertical distance x2 from the fourth measuring surface 641 to the first side surface 1131 to the control system 5, and simultaneously, the fifth ranging module 65 automatically synchronizes the vertical distance x3 from the fifth measuring surface 651 to the third side surface 42 to the control system 5, so that the control system 5 can obtain the vertical distance x7 from the third center line 411 to the first center line 311 according to the formula x7= x1-x2-x3+ x4+ x5+ x6-L/2, and then the control system 5 can control the front and rear suspension beams 15 to move the third suspension beam along the vertical center line 311 direction of the first trolley 16 to bring the first trolley down to the target beam 411.
Through the steps, in the installation process of the target beam piece 4, the control system 5 can automatically control the third central line 411 to be completely superposed with the first central line 311 according to the synchronous data of the first ranging module 61, the second ranging module 62, the third ranging module 63, the fourth ranging module 64 and the fifth ranging module 65, namely, the control system 5 automatically controls the target beam piece 4 to be aligned with the target cushion stone 31 as required, so that the automatic installation of the target beam piece 4 is realized, the installation efficiency and the installation precision of the beam piece are greatly improved, the speed of bridge construction is integrally accelerated, and the bridge construction level is improved to a certain extent.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (3)
1. A slab mounting system for mounting a target slab on a target pier in alignment with a target keystone, the slab mounting system comprising a bridge girder erection machine, characterized in that:
further comprising: a control system and a distance measuring device;
the bridge girder erection machine comprises a first support component, a second support component, a third support component and a machine arm, wherein the second support component is positioned between the first support component and the third support component;
the first support assembly, the second support assembly and the third support assembly are all located at the lower end of the machine arm and are all used for supporting the machine arm, and the first support assembly is close to a target cushion stone to be installed and aligned on a target beam piece;
the first support assembly comprises a first support column, a first slide rail and a first roller, the first support column is in rolling connection with the lower end face of the horn, the first roller is fixedly connected with the lower end face of the first support column, the first slide rail is in static contact with the upper end face of the pier, and the first roller is in rolling connection with the first slide rail;
the control system is electrically connected with the ranging device and used for receiving data information of the ranging device; the distance measuring device includes: the first ranging module is fixedly connected to the first sliding rail, the second ranging module is fixedly connected to the first supporting column, the third ranging module is fixedly connected to the first sliding rail, the fourth ranging module is fixedly connected to the first sliding rail, the fifth ranging module is fixedly connected to the machine arm, and the first ranging module, the second ranging module, the third ranging module, the fourth ranging module and the fifth ranging module are used for determining the position of the target beam piece relative to the target cushion stone;
the first ranging module is fixedly connected to one surface, far away from the target beam piece, of the first sliding rail, the second ranging module is fixedly connected to the surface, far away from the target beam piece, of the first supporting column, the third ranging module is fixedly connected to the lower end face of the first sliding rail, the fourth ranging module is fixedly connected to the upper end face of the first sliding rail, the fifth ranging module is fixedly connected to the side face of the machine arm, the first ranging module and the second ranging module are located on the same side, far away from the target beam piece, of the first supporting assembly, and the third ranging module, the fourth ranging module and the fifth ranging module are located on the same side, far away from the target beam piece, of the machine arm;
the first idler wheel comprises a first side face, the first side face is a side face of the first idler wheel close to the fourth distance measuring module, the bridge pier comprises a target bridge pier, the target bridge pier is a bridge pier which needs to be measured by the first distance measuring module and the third distance measuring module, the target bridge pier comprises a second side face and a second end face, the second side face is a side face of the target bridge pier close to the third distance measuring module, the second end face is an end face of the target bridge pier close to the first distance measuring module, the target beam piece comprises a third end face and a third side face, the third end face is an end face of the target beam piece close to the second distance measuring module, and the third side face is a side face of the target beam piece close to the fifth distance measuring module;
the first ranging module is right opposite to the second end face, the second ranging module is right opposite to the third end face, the third ranging module is right opposite to the second side face, the fourth ranging module is right opposite to the first side face, and the fifth ranging module is right opposite to the third side face;
the target cushion stone comprises a first central line, the first central line is a vertical straight line passing through the center of the body of the target cushion stone, the first distance measuring module comprises a first measuring surface, the first measuring surface is a datum plane used for measuring by the first distance measuring module, the second distance measuring module comprises a second measuring surface, the second measuring surface 621 is a false datum plane used for measuring by the second distance measuring module, and the first measuring surface, the second end surface, the second measuring surface, the third end surface and the first central line are parallel to each other;
the first distance measuring module measures the vertical distance from the first measuring surface to the second end surface, and the distance is recorded as y1; the second distance measuring module measures the vertical distance from the second measuring surface to the third end surface, and the vertical distance is recorded as y2; the vertical distance from the second end face to the first center line can be directly obtained according to a design drawing of a corresponding pier and is marked as y3; the vertical distance from the first measuring surface to the second measuring surface can be directly measured after the first ranging module and the second ranging module are installed according to requirements and is marked as y4, and the distance is fixed and unchanged after the first ranging module and the second ranging module are installed; in the process of mounting the target beam piece, the vertical distance from the third end face to the first center line is changed along with the movement of the target beam piece and is marked as y5; after the first ranging module is installed as required, the vertical distance between the first measuring surface and the first central line is fixed and is marked as y6;
the third end surface comprises a third central line, the third central line is a vertical central line of the third end surface, and the first side surface, the second side surface, the third central line, the third measuring surface, the fourth measuring surface and the fifth measuring surface are parallel to each other;
the third distance measuring module measures the vertical distance from the third measuring surface to the second side surface, and the distance is marked as x1; the fourth distance measuring module measures the vertical distance from the fourth measuring surface to the first side surface, and the vertical distance is marked as x2; the fifth distance measuring module measures the vertical distance from the fifth measuring surface to the third side surface, and the vertical distance is marked as x3; the vertical distance from the second side surface to the first center line can be directly obtained according to a design drawing of a pier and is marked as x4; the vertical distance from the fifth measuring surface to the first side surface can be directly measured after the fifth distance measuring module is installed as required and is marked as x5, and the distance is fixed and unchanged after the fifth distance measuring module is installed; the vertical distance from the third measuring surface to the fourth measuring surface can be directly measured after the third ranging module and the fourth ranging module are installed according to requirements and is marked as x6, and the distance is fixed and unchanged after the third ranging module and the fourth ranging module are installed; in the installation process of the target beam piece, the vertical distance from the third side face to the first center line is changed along with the movement of the target beam piece and is marked as x7; the vertical distance from the fourth measuring surface to the fifth measuring surface changes dynamically along with the movement of the arm relative to the first slide rail, and is marked as x8; the vertical distance from the third ranging module to the first central line is fixed and unchanged after the third ranging module is installed, and is marked as x9; the width of the cross section of the lower end of the target beam piece is a fixed value and is marked as L, and the vertical distance from the third side face to the center line of the third end face is L/2;
the first side surface is a plane;
the first measuring surface is opposite to the second end surface; the second measuring surface can be opposite to the third end surface; the third measuring surface is opposite to the second side surface; the fourth measuring surface is opposite to the first side surface; the fifth measuring surface is opposite to the third side surface.
2. The beam panel mounting system of claim 1, wherein:
the bridge girder erection machine further comprises a front hanging beam trolley and a rear hanging beam trolley, the front hanging beam trolley and the rear hanging beam trolley are positioned at the upper end of the machine arm, the front hanging beam trolley and the rear hanging beam trolley are respectively connected with the target beam piece through ropes, and the front hanging beam trolley and the rear hanging beam trolley are both electrically connected with the control system;
the first ranging module, the second ranging module, the third ranging module, the fourth ranging module and the fifth ranging module are electrically connected with a data transmission assembly, and the data transmission assembly is used for transmitting received data to the control system;
the target cushion stone comprises a first central line, a vertical straight line passing through the body center of the target cushion stone is the first central line, the control system controls the front hanging beam trolley and the rear hanging beam trolley to drive the target beam piece to move according to the received data, so that the target beam piece can be controlled to move towards the direction close to the first central line, and finally the third central line is controlled to be coincident with the first central line, namely the target beam piece and the target cushion stone are controlled to be aligned as required.
3. A beam panel installation method, characterized in that the beam panel installation method is based on the beam panel installation system of any one of claims 1-2, and the beam panel installation method comprises the following steps:
s1: installing the first ranging module, the second ranging module, the third ranging module, the fourth ranging module and the fifth ranging module;
s2: measuring a vertical distance y3 from the first center line to the second end face, and measuring a vertical distance x4 from the first center line to the second side face;
s3: measuring the width L of the cross section of the lower end of the target beam piece;
s4: measuring a vertical distance y4 from the measuring surface of the first ranging module to the second measuring surface, measuring a vertical distance x5 from the fifth ranging module to the first side surface, and measuring a vertical distance x6 from the measuring surface of the third ranging module to the measuring surface of the fourth ranging module;
s5: transmitting the data y3, y4, x5, x6 and L obtained in S1 to S3 to the control system;
s6: the vertical distance y1 from the first measuring surface to the second end surface measured by the first distance measuring module is automatically synchronized to the control system, the vertical distance y2 from the second measuring surface to the third end surface measured by the second distance measuring module is automatically synchronized to the control system, the vertical distance x1 from the third measuring surface to the second side surface measured by the third distance measuring module is automatically synchronized to the control system, the vertical distance x2 from the fourth measuring surface to the first side surface measured by the fourth distance measuring module is automatically synchronized to the control system, and the vertical distance x3 from the fifth measuring surface to the third side surface measured by the fifth distance measuring module is automatically synchronized to the control system;
s7: in the installation process of the target beam piece, the vertical distance from the third end face to the first center line is recorded as y5, and the vertical distance y6 from the first measuring face to the first center line satisfies a formula
And the vertical distance y6 from the first measuring surface to the first central line also satisfies the formula
Such that the perpendicular distance y5 from the third end surface to the first centerline satisfies the formula
；
S8: the control system is based on a formula
Obtaining a vertical distance y5 from the third end surface to the first central line;
s9: the control system controls the front hanging beam trolley and the rear hanging beam trolley to simultaneously move y5 towards the direction close to the first central line along the length direction of the machine arm, so that the front hanging beam trolley and the rear hanging beam trolley drive the target beam piece to move y5 towards the direction close to the first central line along the length direction of the machine arm, and the third end face is superposed with the first central line;
s10: note that the perpendicular distance from the third center line to the first center line is x7, and the perpendicular distance x8 from the fourth measuring surface to the fifth measuring surface satisfies the formula
A perpendicular distance x9 from the fourth measuring surface to the first center line satisfies the formula
And the vertical distance x9 from the fourth measuring surface to the first central line also satisfies the formula
So that a perpendicular distance x7 from the third center line to the first center line satisfies the formula
；
S11: the control system is based on a formula
Obtaining a vertical distance x7 from the third center line to the first center line;
s12: the control system controls the front hanging beam trolley and the rear hanging beam trolley to simultaneously move x7 in the direction perpendicular to the length direction of the machine arm and towards the direction close to the target cushion stone, so that the front hanging beam trolley and the rear hanging beam trolley drive the target beam piece to move x7 in the direction perpendicular to the length direction of the machine arm and towards the direction close to the first center line, the third center line is overlapped with the first center line, and the target beam piece is aligned with the target cushion stone according to requirements.
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