CN113910444A - Segment beam short line method prefabricating method matched with trolley automatic adjustment - Google Patents
Segment beam short line method prefabricating method matched with trolley automatic adjustment Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B28—WORKING CEMENT, CLAY, OR STONE
- B28B—SHAPING CLAY OR OTHER CERAMIC COMPOSITIONS; SHAPING SLAG; SHAPING MIXTURES CONTAINING CEMENTITIOUS MATERIAL, e.g. PLASTER
- B28B23/00—Arrangements specially adapted for the production of shaped articles with elements wholly or partly embedded in the moulding material; Production of reinforced objects
- B28B23/02—Arrangements specially adapted for the production of shaped articles with elements wholly or partly embedded in the moulding material; Production of reinforced objects wherein the elements are reinforcing members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B28—WORKING CEMENT, CLAY, OR STONE
- B28B—SHAPING CLAY OR OTHER CERAMIC COMPOSITIONS; SHAPING SLAG; SHAPING MIXTURES CONTAINING CEMENTITIOUS MATERIAL, e.g. PLASTER
- B28B17/00—Details of, or accessories for, apparatus for shaping the material; Auxiliary measures taken in connection with such shaping
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B28—WORKING CEMENT, CLAY, OR STONE
- B28B—SHAPING CLAY OR OTHER CERAMIC COMPOSITIONS; SHAPING SLAG; SHAPING MIXTURES CONTAINING CEMENTITIOUS MATERIAL, e.g. PLASTER
- B28B17/00—Details of, or accessories for, apparatus for shaping the material; Auxiliary measures taken in connection with such shaping
- B28B17/0063—Control arrangements
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The invention discloses a segment beam short line method prefabricating method matched with trolley automatic adjustment, which comprises the following steps of: matching and aligning the matching trolley with a jacking action point on a bottom die of the matching beam; adjusting the longitudinal position of the matching trolley according to the length of the central axis of the beam section to be cast; the displacement calculation module establishes the correlation between the parameters of the monitoring points and the displacement parameters of the displacement executing elements and calculates the regulating quantity of each displacement executing element; the logic control module controls each displacement execution element to act cooperatively, so that the displacement of the matching beam is automatically adjusted; and (4) re-measuring the position coordinates of each monitoring point by a measurer, and if each monitoring point is not adjusted within the target range, inputting the parameters of each monitoring point again for adjustment until each monitoring point is adjusted within the target range. During specific application, the problems that in the existing construction, the trolley matching operation is long in time consumption, large in labor amount, high in operation requirement and high in safety risk in the matching process are solved, and the precision of matching beam adjustment is ensured.
Description
Technical Field
The invention relates to the field of bridge segment prefabrication construction, in particular to a segment beam short line prefabrication method capable of automatically adjusting by matching with a trolley.
Background
In the prefabrication construction of the segmental beam by the short line method, each segment needs to be prefabricated in a matching way with the previous segment, and the overall line type of the bridge is controlled by adjusting the space attitude of the previous segment (matching beam).
The adjustment mode that present matching beam usually adopted does:
1) a surveyor measures monitoring points on a beam surface on a measuring tower through a total station, and compares and converts the monitoring points with bridge linear target data to give adjustment quantities of a first monitoring point in x, y and z directions;
2) a worker sequentially operates the vertical oil cylinder, the horizontal oil cylinder and the longitudinal oil cylinder on the matching trolley to perform matching adjustment according to the adjustment amount of the first monitoring point and experience;
3) a measurer repeatedly measures the adjustment data of the first monitoring point and tells workers operating the matching trolley to adjust until the first monitoring point is adjusted in place;
4) the measurer measures a second monitoring point again and gives the adjustment quantity of the second monitoring point in three directions;
5) a worker operates vertical, horizontal, rotary and longitudinal oil cylinders on the matched trolley in sequence according to experience to adjust a second monitoring point;
6) the surveyor and the worker respectively repeat the measurement and the adjustment in the same way until the second monitoring point is adjusted in place;
7) repeating the steps, and continuously adjusting other monitoring points behind until the adjustment of all six monitoring points is completed;
since the monitoring points on the matching beam surface are associated with each other, when the position of the next monitoring point is adjusted, the position of the previously positioned monitoring point is changed, so that the adjustment is started from the first point, the next cycle is continued, and the target is continuously approached until all the points are adjusted to the target range.
In the process of operating and matching the trolley by workers, because the extension amount of the oil cylinder on the trolley and the displacement amount of the monitoring point of the beam surface have no direct relation, the adjustment amount of the monitoring point on the beam surface cannot be directly converted into the action amount of the oil cylinder, and the adjustment amount completely depends on the experience of the workers. Under the condition, it usually takes a long time to adjust one matching beam, the adjustment process needs cooperation of a plurality of persons, and the requirement on the operation level of an operator is extremely high.
In addition, the sectional beam is heavy in weight and large in height-to-width ratio, the accuracy of manual adjustment matching completely depends on the operation experience of workers, and inexperienced operators can lead to longer time for reaching a target range and risk of overturning the matching beam due to improper operation. Therefore, the existing problems can be solved by a mode which can save manpower, is simple and convenient to operate, can realize quick matching of segments and has high safety.
Chinese patent publication No. CN209086756U discloses an intelligent automatic adjustment device for a prefabricated template mobile cart by a segmental beam stub method, which acquires the mobile parameters of a hydraulic controller (displacement actuator), compares the mobile parameters with the design parameters to form control feedback, and realizes the intelligent automatic adjustment of the mobile cart (matching cart), that is, the patent compares the design parameters of a certain point of the displacement actuator execution end with the real-time mobile parameters, that is, the monitoring point (reference point) of the patent is a certain point of the displacement actuator execution end, and has the following disadvantages: the monitoring points depend on displacement executing elements, the number of the monitoring points and the coverage comprehensiveness of a monitoring area are limited, and the accuracy of adjustment of the matching beam is influenced, so that the accuracy of linear control of the beam body is influenced.
Disclosure of Invention
In view of the above, the invention aims to provide a segment beam short-line prefabricating method for automatically adjusting a matching trolley, so that the accuracy of adjusting the matching beam is ensured while the problems of long time consumption, large labor amount, high operation requirement and safety risk in the matching process of trolley matching operation in the existing construction are solved.
The invention solves the problems through the following technical means: a segment beam short line method prefabricating method matched with trolley automatic adjustment comprises the following steps:
s1: arranging a displacement executing element on the matching trolley, wherein the displacement executing element comprises a jacking executing element, a transverse moving executing element, a rotary executing element and a longitudinal moving executing element; matching and aligning a jacking execution element on the matching trolley with a jacking action point on a bottom die of the matching beam;
s2: starting a matching preparation button of a central control platform according to the length of a central axis of the beam section to be cast, enabling a jacking execution element, a transverse movement execution element and a rotary execution element on a matching trolley to cooperatively act, jacking a bottom die of the matching beam and the matching beam, and driving the matching trolley to longitudinally move to a matching position of the beam section to be cast by a longitudinal movement execution element;
s3: after a measurer finishes measuring parameters of monitoring points on a matched beam, inputting the parameters of the monitoring points to a central console, acquiring displacement parameters of a jacking execution element, a transverse movement execution element, a rotary execution element and a longitudinal movement execution element through a displacement monitoring module, reading the displacement parameters of the displacement execution element by the central console, establishing association between the parameters of the monitoring points and the displacement parameters of the jacking execution element, the transverse movement execution element, the rotary execution element and the longitudinal movement execution element through a displacement calculation module of the central console, and calculating adjustment quantities of the jacking execution element, the transverse movement execution element, the rotary execution element and the longitudinal movement execution element;
s4: starting a matching adjusting button of a central console, and controlling the cooperative action of a jacking execution element, a transverse movement execution element, a rotary execution element and a longitudinal movement execution element by a logic control module of the central console according to the adjusting quantity to realize the automatic adjustment of jacking, rotating, transverse moving and longitudinal moving of the matching beam;
s5: after the adjustment is finished, the surveyor retests the position coordinates of each monitoring point, and if each monitoring point is not adjusted within the target range, the parameters of each monitoring point are input again for adjustment;
s6: and repeating the steps S4-S5 until each monitoring point is adjusted to be within the target range.
Further, in step S3, the displacement calculation module includes a matching beam monitoring point parameter and displacement actuator displacement parameter association unit and a displacement actuator adjustment amount calculation unit, where the matching beam monitoring point parameter and displacement actuator displacement parameter association unit establishes a position association between the monitoring point on the matching beam and the displacement actuator by setting a custom coordinate system; the displacement execution element regulating quantity calculating unit converts the displacement vector values of all the monitoring points into vector values which are referred to by a user-defined coordinate system, displacement calculation is carried out in the user-defined coordinate system, a plane equation where target coordinates of the monitoring points are located is calculated through initial position coordinates and the displacement vector values of at least three monitoring points, regulating quantities of all the displacement execution elements are calculated, and then the action of the displacement execution elements is controlled through the logic control module.
Further, the specific calculation steps of the displacement calculation module are as follows:
s31: the matching beam monitoring point parameter and displacement executing element displacement parameter association unit takes the intersection point of a fixed end mold working surface of a fixed end mold, a top surface of a longitudinal displacement rail of a matching trolley and a rail symmetrical central plane as an original point, the transverse direction of a beam body as an x axis, the longitudinal direction of the beam body as a y axis and the vertical direction as a z axis to establish a self-defined coordinate system, and expresses the position of each displacement executing element on the matching trolley, the reading calibrated by a displacement monitoring module and the initial position of the monitoring point through self-defined coordinates according to the structural theoretical size and the reading of the displacement monitoring module, so as to establish the relative position relationship between the monitoring point and each displacement executing element;
s32: the displacement vector value of the monitoring point is obtained by bridge beam surface line type control software, and data can be input or directly transmitted to the displacement calculation module through measuring personnel. The displacement executive component regulating quantity calculating unit calculates a plane equation where target coordinates of the monitoring points are located after data are superposed according to the provided theoretical initial coordinates of at least three monitoring points and the displacement vector quantity value;
s33: the displacement executive component adjustment quantity calculating unit calculates a target plane equation of the jacking executive component action point according to a target plane equation of the monitoring point, the beam height size and the initial coordinate of the jacking executive component action point, substitutes the initial x and y coordinate values of each jacking executive component action point to obtain a z coordinate value of each jacking executive component action point on a target plane, and obtains the adjustment quantity of the jacking executive component by subtracting the calculated z coordinate value and the initial z coordinate value of each jacking executive component action point;
s34: projecting the initial coordinate connecting lines of the two monitoring points and the corresponding target coordinate connecting lines to the xoy plane, and calculating to obtain an included angle of the two projection lines, wherein the included angle is the rotating angle of the matched beam; calculating an initial included angle corresponding to the initial installation distance of the rotary actuating element according to the initial installation distance of the rotary actuating element and the distance from the action points at the two ends of the rotary actuating element to the rotation center of the matched trolley respectively, adding the angle to the calculated rotation angle, and reversely deducing the target installation distance of the rotary actuating element, wherein the difference value of the two installation distances is the adjustment quantity of the rotary actuating element;
s35: and calculating the coordinate value of the xoy plane of the monitoring point after rotation according to the obtained rotation angle of the matching beam, wherein the difference value of the coordinate value and the target coordinate value of the monitoring point is the adjustment amount of the transverse moving executing element and the longitudinal moving executing element.
Furthermore, an anti-overturning monitoring device is arranged above the matching trolley, and the anti-overturning detection device is electrically connected with the logic control module.
Further, the jacking execution elements are jacking oil cylinders arranged at four corners of the top of the matching trolley, the transverse movement execution elements are transverse movement oil cylinders arranged at the front end and the rear end of the matching trolley, the rotary execution elements are rotary oil cylinders arranged between the upper layer and the lower layer of the matching trolley, and the longitudinal movement execution elements are longitudinal movement oil cylinders or walking motors.
Furthermore, the displacement monitoring module comprises a jacking action displacement sensor, a transverse moving action displacement sensor, a rotating action displacement sensor and a longitudinal moving action displacement sensor.
Furthermore, the jacking motion displacement sensor is installed on the jacking execution element, the transverse motion displacement sensor is installed on the transverse moving oil cylinder, the rotary motion displacement sensor is installed on the rotary oil cylinder, and the longitudinal moving motion displacement sensor is installed between the fixed end die and the matching trolley.
Further, the displacement calculation module and the logic control module are integrated on a central console, and the central console is provided with a control panel and/or an external remote controller.
Further, the central console also comprises a memory and a counter.
Furthermore, the central console comprises a main control cabinet for arranging the displacement calculation module, the logic control module and the overturn prevention monitoring device.
Furthermore, the central console also comprises a sub-control cabinet arranged at the fixed end mould.
The invention has the beneficial effects that:
the method for prefabricating the segment beam automatically adjusted by the matching trolley by the short line method comprises the following steps: s1: matching and aligning a jacking execution element on the matching trolley with a jacking action point on a bottom die of the matching beam; s2: starting a matching preparation button of a central control platform according to the length of a central axis of the beam section to be cast, enabling a jacking execution element, a transverse movement execution element and a rotary execution element on a matching trolley to cooperatively act, jacking a bottom die of the matching beam and the matching beam, and driving the matching trolley to longitudinally move to a matching position of the beam section to be cast by a longitudinal movement execution element; s3: after a measurer finishes measuring parameters of monitoring points on a matched beam, inputting the parameters of the monitoring points to a central console, acquiring displacement parameters of a jacking execution element, a transverse movement execution element, a rotary execution element and a longitudinal movement execution element through a displacement monitoring module, reading the displacement parameters of the displacement execution element by the central console, establishing association between the parameters of the monitoring points and the displacement parameters of the jacking execution element, the transverse movement execution element, the rotary execution element and the longitudinal movement execution element through a displacement calculation module of the central console, and calculating adjustment quantities of the jacking execution element, the transverse movement execution element, the rotary execution element and the longitudinal movement execution element; s4: starting a matching adjusting button of a central console, and controlling the cooperative action of a jacking execution element, a transverse movement execution element, a rotary execution element and a longitudinal movement execution element by a logic control module of the central console according to the adjusting quantity to realize the automatic adjustment of jacking, rotating, transverse moving and longitudinal moving of the matching beam; s5: after the adjustment is finished, the surveyor retests the position coordinates of each monitoring point, and if each monitoring point is not adjusted within the target range, the parameters of each monitoring point are input again for adjustment; s6: and repeating the steps S4-S5 until each monitoring point is adjusted to be within the target range. When the intelligent automatic adjustment device is specifically applied, on one hand, the intelligent automatic adjustment of the matched trolley is realized, the problems that the trolley matching operation in the existing construction is long in time consumption, large in labor amount and high in operation requirement and the safety risk exists in the matching process are solved, on the other hand, monitoring points are constructed on the matched beam, the association between the parameters of the monitoring points and the displacement parameters of the displacement executing element is established again, finally, the adjustment amount or the displacement amount of the displacement executing element is controlled through the displacement amount of the monitoring points through feedback action, compared with the method that the monitoring points are established at the displacement executing element, the number of the monitoring points can be increased according to needs, the comprehensive coverage of a monitoring area is improved, the precision of the displacement adjustment of the matched beam is effectively ensured, and further the precision of the linear control of the beam body is ensured.
Drawings
The invention is further described below with reference to the figures and examples.
FIG. 1 is a schematic structural diagram of a preferred embodiment of the present invention;
FIG. 2 is a schematic structural view of a matching trolley;
FIG. 3 is a logic control schematic;
FIG. 4 is a schematic view of an operating state;
FIG. 5 is a schematic structural view of a bottom die of the matching beam;
FIG. 6 is a diagram illustrating relationships of a custom coordinate system.
Detailed Description
The present invention will be described in detail below with reference to the drawings and examples.
As shown in fig. 1 to 3, the embodiment provides a segment beam short-line prefabrication system with an automatic adjustment function by a matching trolley, which includes a fixed end die 1, a matching trolley 5, a matching beam bottom die 6, a displacement actuator for adjusting the displacement of the matching beam bottom die 6, a displacement monitoring module for acquiring the displacement parameters of the displacement actuator, a displacement calculation module, and a logic control module.
The matching trolley 5 longitudinally moves along the longitudinal moving track 4, the displacement executing elements are installed on the matching trolley 5 and comprise jacking executing elements 51, transverse moving executing elements 53, rotating executing elements 52 and longitudinal moving executing elements 54, the jacking executing elements 51 are jacking oil cylinders installed at four corners of the top of the matching trolley, the transverse moving executing elements 53 are transverse moving oil cylinders installed at the front end and the rear end of the matching trolley, the rotating executing elements 52 are rotating oil cylinders installed between the upper layer and the lower layer of the matching trolley, and the longitudinal moving executing elements 54 are longitudinal moving oil cylinders or walking motors.
The displacement monitoring module comprises a jacking motion displacement sensor 55, a transverse motion displacement sensor 57, a rotary motion displacement sensor 56 and a longitudinal motion displacement sensor 58. The jacking motion displacement sensor 55 is installed on the jacking execution element, the transverse motion displacement sensor 57 is installed on the transverse motion oil cylinder, the rotary motion displacement sensor 56 is installed on the rotary oil cylinder, the longitudinal motion displacement sensor 58 is installed between the fixed end die and the matching trolley, and the longitudinal motion displacement sensor is a laser sensor.
The displacement calculation module comprises a matching beam monitoring point parameter and displacement actuator displacement parameter association unit and a displacement actuator adjustment amount calculation unit. The working principle of the matching beam monitoring point parameter and displacement actuator displacement parameter association unit is as follows: by setting a custom coordinate system, the position association between the monitoring point 31 on the matching beam 3 and the displacement actuator is established. The working principle of the displacement actuator regulating quantity calculating unit is as follows: and converting the displacement vector values of all the monitoring points into vector values which are referred to by a user-defined coordinate system, performing displacement calculation in the user-defined coordinate system, calculating a plane equation (target position of the monitoring point) where a target coordinate of the monitoring point is located according to the initial position coordinates and the displacement vector values of at least three monitoring points, and then calculating the regulating quantity of all the displacement executing elements, and controlling the action of the displacement executing elements through a logic control module.
The displacement monitoring module is electrically connected with the displacement calculation module, and the logic control module is respectively electrically connected with the displacement monitoring module, the displacement calculation module and the displacement execution element. The displacement monitoring module transmits the acquired parameters to the displacement calculation module, the displacement calculation module calculates the adjustment quantity of each displacement execution element, and then the signals are fed back to the logic control module, and the logic control module controls the action of the displacement execution elements. In addition, control feedback is formed between the displacement monitoring module and the logic control module, so that the displacement of the displacement execution element is collected in real time, the action of the displacement execution element is adjusted in real time through the displacement, and the start and stop of the displacement execution element are controlled.
The displacement calculation module and the logic control module are integrated on a central console 7, and the central console is provided with a control panel and/or an external remote controller; both of which can control the execution of all calculation steps and adjustment actions.
The central console 7 also includes a memory and a counter, which allows a second adjustment if the desired target value is not reached due to the accumulated error in each aspect after the first adjustment. The storage stores position coordinates of the monitoring points and action points of the execution elements under a user-defined coordinate system after the first adjustment, the counter records the adjustment times, the displacement calculation module calculates the theoretical coordinates of the beam surface monitoring points after the first adjustment as initial values according to displacement vector values of the second monitoring points provided by beam surface linear control software, calculates the second adjustment amount of the displacement execution elements, and then executes adjustment actions through the logic control module to achieve the target.
An anti-overturning monitoring device is arranged above the matching trolley 5, and the anti-overturning monitoring device is electrically connected with the logic control module and is used for monitoring the inclination angle and the jacking action of the matching beam, and when abnormality is detected, the system automatically stops.
The central control console 7 comprises a main control cabinet for arranging a displacement calculation module, a logic control module and an anti-overturn monitoring device, and a control panel is arranged on the main control cabinet and used for displaying the state of the system and performing interface operation; the main control cabinet also comprises a signal receiving device which is used for receiving the data of the laser sensor (longitudinal movement displacement sensor) transmitted from the fixed end die.
The central control console 7 further comprises a sub-control cabinet arranged at the fixed end die and used for processing and transmitting data of the laser sensors arranged on the fixed end die, a wireless signal transmitting device is arranged on the sub-control cabinet, the collected and processed data of the laser sensors are transmitted to the main control cabinet, and a signal line for data transmission is not required to be arranged.
As shown in fig. 4, after the position of the matching beam 3 is adjusted, the beam section 2 to be poured is formed between the matching beam 3 and the fixed end mold 1.
The embodiment also provides a segment beam short line method prefabricating method matched with trolley automatic adjustment, which comprises the following steps:
s1: matching and aligning the jacking actuating element 51 on the matching trolley 5 with a jacking action point 61 on the matching beam bottom die 6 shown in fig. 5;
s2: according to the length of the central axis of the beam section to be cast, starting a matching preparation button of a central control platform, enabling a jacking execution element 51, a transverse movement execution element 53 and a rotary execution element 52 on a matching trolley to cooperatively act, jacking the matching beam bottom die 6 and the matching beam 3, and driving the matching trolley to longitudinally move to the matching position of the beam section to be cast by a longitudinal movement execution element 54;
s3: after completing the parameter measurement of the monitoring point 31 on the matching beam 3, a surveyor inputs the monitoring point parameters to a central console, collects the displacement parameters of a jacking actuating element 51, a transverse moving actuating element 53, a rotating actuating element 52 and a longitudinal moving actuating element 54 through a displacement monitoring module, reads the displacement parameters of the displacement actuating element by the central console, establishes the correlation of the monitoring point parameters and the displacement parameters of the jacking actuating element, the transverse moving actuating element, the rotating actuating element and the longitudinal moving actuating element through a displacement calculating module of the central console, and calculates the regulating variables of the jacking actuating element, the transverse moving actuating element, the rotating actuating element and the longitudinal moving actuating element;
s4: starting a matching adjusting button of a central console, and controlling the cooperative action of a jacking execution element 51, a transverse movement execution element 53, a rotary execution element 52 and a longitudinal movement execution element 54 by a logic control module of the central console according to the adjusting quantity to realize the automatic adjustment of jacking, rotating, transverse moving and longitudinal moving of the matching beam;
s5: after the adjustment is finished, the surveyor retests the position coordinates of each monitoring point, and if each monitoring point is not adjusted within the target range, the parameters of each monitoring point are input again for adjustment;
s6: and repeating the steps S4-S5 until each monitoring point is adjusted to be within the target range.
In step S3, the displacement calculation module includes a matching beam monitoring point parameter and displacement actuator displacement parameter association unit and a displacement actuator adjustment amount calculation unit, and the specific calculation steps are as follows:
s31: as shown in fig. 6, the matching beam monitoring point parameter and displacement executing element displacement parameter associating unit uses the intersection point of the fixed end mold working surface 11 of the fixed end mold 1, the top surface of the matching trolley longitudinal displacement rail and the rail symmetry center plane as the origin, uses the beam body transverse direction as the x axis, the beam body longitudinal direction as the y axis and the vertical direction as the z axis to establish a custom coordinate system, uses the structure theoretical size and the displacement monitoring module reading as the basis, expresses the position of each displacement executing element on the matching trolley, the reading calibrated by the displacement monitoring module and the initial position of the monitoring point through the custom coordinate, and establishes the relative position relationship between the monitoring point and each displacement executing element;
s32: the displacement vector value of the monitoring point is obtained by bridge beam surface line type control software, and data can be input or directly transmitted to the displacement calculation module through measuring personnel. The displacement executive component regulating quantity calculating unit calculates a plane equation where target coordinates of the monitoring points are located after data are superposed according to the provided theoretical initial coordinates of at least three monitoring points and the displacement vector quantity value;
s33: the displacement executive component adjustment quantity calculating unit calculates a target plane equation of the jacking executive component action point according to a target plane equation of the monitoring point, the beam height size and the initial coordinate of the jacking executive component action point, substitutes the initial x and y coordinate values of each jacking executive component action point to obtain a z coordinate value of each jacking executive component action point on a target plane, and obtains the adjustment quantity of the jacking executive component by subtracting the calculated z coordinate value and the initial z coordinate value of each jacking executive component action point;
s34: projecting the initial coordinate connecting lines of the two monitoring points and the corresponding target coordinate connecting lines to the xoy plane, and calculating to obtain an included angle of the two projection lines, wherein the included angle is the rotating angle of the matched beam; calculating an initial included angle corresponding to the initial installation distance of the rotary actuating element according to the initial installation distance of the rotary actuating element and the distance from the action points at the two ends of the rotary actuating element to the rotation center 59 of the matching trolley respectively, adding the angle to the calculated rotation angle, and reversely deducing the target installation distance of the rotary actuating element, wherein the difference value of the two installation distances is the adjustment quantity of the rotary actuating element;
s35: and calculating the coordinate value of the xoy plane of the monitoring point after rotation according to the obtained rotation angle of the matching beam, wherein the difference value of the coordinate value and the target coordinate value of the monitoring point is the adjustment amount of the transverse moving executing element and the longitudinal moving executing element.
After the displacement calculation is completed, the action sequence of each execution element controlled by the logic control module is as follows: the method comprises the steps of firstly starting a jacking oil cylinder to perform jacking adjustment, stopping jacking when the adjustment quantity of the jacking oil cylinder is equal to a calculated value, then simultaneously performing adjustment of rotation, transverse movement and longitudinal movement, and stopping movement when the actual adjustment quantity of any one movement is equal to the calculated value.
In conclusion, by adopting the segment beam short-line prefabricating method for automatically adjusting the matching trolley, on one hand, intelligent automatic adjustment of the matching trolley is achieved, the problems that trolley matching operation in the existing construction is long in time consumption, large in labor capacity, high in operation requirement and safe in the matching process are solved, on the other hand, monitoring points are constructed on the matching beam, association between parameters of the monitoring points and displacement parameters of displacement executing elements is established, and finally, the adjustment amount or the displacement amount of the displacement executing elements is controlled through feedback action of the displacement amount of the monitoring points.
Finally, the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting, although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all of them should be covered in the claims of the present invention.
Claims (10)
1. A segment beam short line method prefabricating method matched with trolley automatic adjustment is characterized by comprising the following steps:
s1: arranging displacement executing elements on a matching trolley (5), wherein the displacement executing elements comprise a jacking executing element (51), a transverse moving executing element (53), a rotating executing element (52) and a longitudinal moving executing element (54); matching and aligning a jacking execution element on the matching trolley with a jacking action point (61) on a bottom die (6) of the matching beam;
s2: according to the length of the central axis of the beam section to be cast, starting a matching preparation button of a central control platform, enabling a jacking execution element (51), a transverse movement execution element (53) and a rotary execution element (52) on a matching trolley to act cooperatively, jacking a matching beam bottom die (6) and a matching beam (3), and driving the matching trolley to move longitudinally to a matching position of the beam section to be cast by a longitudinal movement execution element (54);
s3: after a measurer finishes measuring parameters of a monitoring point (31) on a matching beam (3), inputting the parameters of the monitoring point to a central console, acquiring displacement parameters of a jacking actuating element (51), a transverse moving actuating element (53), a rotating actuating element (52) and a longitudinal moving actuating element (54) through a displacement monitoring module, reading the displacement parameters of the displacement actuating element by the central console, and finally establishing association between the parameters of the monitoring point and the displacement parameters of the jacking actuating element, the transverse moving actuating element, the rotating actuating element and the longitudinal moving actuating element through a displacement calculation module of the central console, and calculating adjustment quantities of the jacking actuating element, the transverse moving actuating element, the rotating actuating element and the longitudinal moving actuating element;
s4: starting a matching adjusting button of a central console, and controlling the cooperative action of a jacking execution element (51), a transverse movement execution element (53), a rotary execution element (52) and a longitudinal movement execution element (54) by a logic control module of the central console according to the adjusting amount to realize the automatic adjustment of jacking, rotating, transverse moving and longitudinal moving of the matching beam;
s5: after the adjustment is finished, the surveyor retests the position coordinates of each monitoring point, and if each monitoring point is not adjusted within the target range, the parameters of each monitoring point are input again for adjustment;
s6: and repeating the steps S4-S5 until each monitoring point is adjusted to be within the target range.
2. The matching trolley self-adjusting segmental beam line-shortening prefabrication method according to claim 1, characterized in that: in step S3, the displacement calculation module includes a matching beam monitoring point parameter and displacement actuator displacement parameter association unit and a displacement actuator adjustment amount calculation unit, where the matching beam monitoring point parameter and displacement actuator displacement parameter association unit establishes a position association between a monitoring point on a matching beam and a displacement actuator by setting a custom coordinate system; the displacement execution element regulating quantity calculating unit converts the displacement vector values of all the monitoring points into vector values which are referred to by a user-defined coordinate system, displacement calculation is carried out in the user-defined coordinate system, a plane equation where target coordinates of the monitoring points are located is calculated through initial position coordinates and the displacement vector values of at least three monitoring points, regulating quantities of all the displacement execution elements are calculated, and then the action of the displacement execution elements is controlled through the logic control module.
3. The matching trolley automatic adjustment segment beam short-line prefabrication method as claimed in claim 2, wherein the specific calculation steps of the displacement calculation module are as follows:
s31: the matching beam monitoring point parameter and displacement executing element displacement parameter association unit takes the intersection point of a fixed end mold working surface (11) of a fixed end mold (1), the top surface of a longitudinal displacement rail (4) of a matching trolley and a rail symmetry center plane as an original point, the transverse direction of a beam body as an x axis, the longitudinal direction of the beam body as a y axis and the vertical direction as a z axis to establish a custom coordinate system, and expresses the position of each displacement executing element on the matching trolley, the reading calibrated by a displacement monitoring module and the initial position of a monitoring point through custom coordinates according to the structural theoretical size and the reading of the displacement monitoring module to establish the relative position relationship between the monitoring point and each displacement executing element;
s32: the displacement vector value of the monitoring point is obtained by bridge beam surface line type control software, and data can be input or directly transmitted to the displacement calculation module through measuring personnel. The displacement executive component regulating quantity calculating unit calculates a plane equation where target coordinates of the monitoring points are located after data are superposed according to the provided theoretical initial coordinates of at least three monitoring points and the displacement vector quantity value;
s33: the displacement executive component adjustment quantity calculating unit calculates a target plane equation of the jacking executive component action point according to a target plane equation of the monitoring point, the beam height size and the initial coordinate of the jacking executive component action point, substitutes the initial x and y coordinate values of each jacking executive component action point to obtain a z coordinate value of each jacking executive component action point on a target plane, and obtains the adjustment quantity of the jacking executive component by subtracting the calculated z coordinate value and the initial z coordinate value of each jacking executive component action point;
s34: projecting the initial coordinate connecting lines of the two monitoring points and the corresponding target coordinate connecting lines to the xoy plane, and calculating to obtain an included angle of the two projection lines, wherein the included angle is the rotating angle of the matched beam; calculating an initial included angle corresponding to the initial installation distance of the rotary actuating element according to the initial installation distance of the rotary actuating element and the distance from the action points at the two ends of the rotary actuating element to a rotation center (59) of the matching trolley respectively, adding the angle to the calculated rotation angle, and reversely deducing the target installation distance of the rotary actuating element, wherein the difference value of the two installation distances is the adjustment quantity of the rotary actuating element;
s35: and calculating the coordinate value of the xoy plane of the monitoring point after rotation according to the obtained rotation angle of the matching beam, wherein the difference value of the coordinate value and the target coordinate value of the monitoring point is the adjustment amount of the transverse moving executing element and the longitudinal moving executing element.
4. The matching trolley self-adjusting segmental beam line-shortening prefabrication method according to claim 3, characterized in that: an anti-overturning monitoring device is arranged above the matching trolley (5), and the anti-overturning monitoring device is electrically connected with the logic control module.
5. The matching trolley self-adjusting segmental beam line-shortening prefabrication method according to claim 4, characterized in that: the jacking actuating elements (51) are jacking oil cylinders arranged at four corners of the top of the matching trolley, the transverse moving actuating elements (53) are transverse moving oil cylinders arranged at the front end and the rear end of the matching trolley, the rotary actuating elements (52) are rotary oil cylinders arranged between the upper layer and the lower layer of the matching trolley, and the longitudinal moving actuating elements (54) are longitudinal moving oil cylinders or walking motors.
6. The matching trolley self-adjusting segmental beam line-shortening prefabrication method according to claim 5, characterized in that: the displacement monitoring module comprises a jacking action displacement sensor (55), a transverse moving action displacement sensor (57), a rotary action displacement sensor (56) and a longitudinal moving action displacement sensor (58); the jacking motion displacement sensor (55) is installed on the jacking execution element, the transverse motion displacement sensor (57) is installed on the transverse moving oil cylinder, the rotary motion displacement sensor (56) is installed on the rotary oil cylinder, and the longitudinal motion displacement sensor (58) is installed between the fixed end die and the matching trolley.
7. The matching trolley automatic adjustment segment beam short-line prefabrication method according to any one of claims 1 to 6, characterized in that: the displacement calculation module and the logic control module are integrated on a central console (7), and the central console is provided with a control panel and/or an external remote controller.
8. The matching trolley self-adjusting segmental beam line-shortening prefabrication method according to claim 7, characterized in that: the central console (7) further comprises a memory and a counter.
9. The matching trolley self-adjusting segmental beam line-shortening prefabrication method according to claim 8, characterized in that: the central control console (7) comprises a main control cabinet for arranging a displacement calculation module, a logic control module and an anti-overturn monitoring device.
10. The matching trolley self-adjusting segmental beam line-shortening prefabrication method of claim 9, wherein: the central control console (7) further comprises a sub-control cabinet arranged at the fixed end die.
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