CN113910444B - Segment beam stub method prefabricating method capable of automatically adjusting matching trolley - Google Patents
Segment beam stub method prefabricating method capable of automatically adjusting matching trolley 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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Abstract
The invention discloses a segmental beam stub method prefabrication method automatically adjusted by a matching trolley, which comprises the following steps of: matching and aligning the matching trolley with a jacking action point on the bottom die of the matching beam; according to the central axis length of the beam section to be poured, the longitudinal position of the matching trolley is adjusted; the displacement calculation module establishes association between the monitoring point parameters and the displacement parameters of the displacement execution elements, and calculates the adjustment quantity of each displacement execution element; the logic control module controls the cooperative action of each displacement executing element to realize the automatic adjustment of the displacement of the matched beam; and the measurer retests the position coordinates of the monitoring points, and if the monitoring points are not regulated within the target range, inputting the parameters of the monitoring points again for regulation until the monitoring points are regulated within the target range. When the method is specifically applied, the problems that the 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, and the accuracy 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 stub method prefabrication method with automatic adjustment of a matching trolley.
Background
In the segmental beam stub method prefabrication construction, each segmental beam is prefabricated in a matched mode with the previous segmental beam, and the integral linear shape of the bridge is controlled by adjusting the spatial posture of the previous segmental beam (matched beam).
The adjustment mode that matching beam adopted at present generally is:
1) Measuring monitoring points on a beam surface by a measurer on a measuring tower through a total station, and comparing and converting the monitoring points with bridge line type target data to obtain adjustment amounts of the first monitoring point in the x, y and z directions;
2) According to the adjustment quantity of the first monitoring point, a worker sequentially operates the vertical, horizontal and longitudinal oil cylinders on the matching trolley according to experience to carry out matching adjustment;
3) The measurer repeatedly measures the adjustment quantity 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) Measuring a second monitoring point by a measurer and giving out adjustment amounts of the second monitoring point in three directions;
5) The worker sequentially operates the vertical, horizontal, rotary and longitudinal oil cylinders on the matching trolley according to experience to adjust a second monitoring point;
6) The surveyor and the worker repeatedly measure and adjust in the same way respectively until the second monitoring point is adjusted in place;
7) Repeating the steps, and continuously adjusting other monitoring points until all six monitoring points are adjusted;
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 monitoring point which is in place before the next monitoring point is changed, so that the adjustment needs to be started from the first point, the next cycle is continued, and the targets are continuously approached until all the points are adjusted to the target range.
In the process of operating the matching trolley by workers, the elongation of the oil cylinder on the trolley is not directly related to the displacement of the monitoring point on the beam surface, and the adjustment of the monitoring point on the beam surface cannot be directly converted into the action of the oil cylinder, so that the adjustment is completely dependent on the experience of the workers. In this case, it often takes a long time to adjust a piece of the matching beam, and the adjustment process requires a plurality of persons to cooperate, and requires a very high level of operation for the operator.
In addition, the segmental beams are heavy in weight and large in height-width ratio, the accuracy of manual adjustment matching is completely dependent on the operation experience of workers, operators with insufficient experience can consume longer time to reach a target range, and risk that the matched beams topple due to improper operation exists. Therefore, the method is urgent to need a way which can save labor, is simple and convenient to operate, can realize rapid segment matching and has high safety so as to solve the existing problems.
The Chinese patent with publication number of CN209086756U discloses an intelligent automatic adjusting device of a prefabricated template mobile trolley by a segmental beam stub method, which is used for comparing a mobile parameter of a hydraulic controller (a displacement executing element) with a design parameter to form control feedback so as to realize intelligent automatic adjustment of the mobile trolley (a matched trolley), namely the intelligent automatic adjusting device compares the design parameter of a certain point of an executing end of the displacement executing element with a real-time mobile parameter, namely a monitoring point (a reference point) of the intelligent automatic adjusting device is a certain point of the executing end of the displacement executing element, and the intelligent automatic adjusting device has the following defects that: the monitoring points depend on the displacement executing elements, the number of the monitoring points and the coverage of the monitoring area are limited, and the accuracy of adjustment of the matched beam is affected, so that the accuracy of linear control of the beam body is affected.
Disclosure of Invention
In view of the above, the invention aims to provide a segmental beam stub method prefabrication method for automatically adjusting a matching trolley, so as to ensure the accuracy of matching beam adjustment while solving the problems of long time consumption, large labor capacity, high operation requirement and safety risk in the matching process of the trolley in the existing construction.
The invention solves the problems by the following technical means: a segmental beam stub method prefabrication method for automatically adjusting a matching trolley comprises the following steps:
s1: the displacement executing element comprises a jacking executing element, a traversing executing element, a rotating executing element and a longitudinal moving executing element; matching and aligning a jacking executing element on the matching trolley with a jacking action point on a bottom die of the matching beam;
s2: according to the central axis length of the beam section to be poured, a matching preparation button of a central control console is started, a jacking execution element, a traversing execution element and a rotating execution element on the matching trolley act cooperatively, a matching beam bottom die and a matching Liang Dingqi are matched, and a longitudinal movement execution element drives the matching trolley to longitudinally move to a matching position of the beam section to be poured;
s3: after the measurer finishes parameter measurement of the monitoring points on the matched beam, inputting the monitoring point parameters to a central control console, acquiring displacement parameters of the jacking executive element, the transverse moving executive element, the rotating executive element and the longitudinal moving executive element through a displacement monitoring module, reading the displacement parameters of the displacement executive element by the central control console, finally establishing association between the monitoring point parameters and the displacement parameters of the jacking executive element, the transverse moving executive element, the rotating executive element and the longitudinal moving executive element through a displacement calculation module of the central control console, and calculating adjustment amounts of the jacking executive element, the transverse moving executive element, the rotating executive element and the longitudinal moving executive element;
s4: starting a matching adjusting button of a central control console, and controlling a jacking executing element, a traversing executing element, a rotating executing element and a longitudinal moving executing element to act cooperatively by a logic control module of the central control console according to the adjusting quantity so as to realize the automatic jacking, rotating, traversing and longitudinal moving adjustment of the matching beam;
s5: after the adjustment is finished, the measurer retests the position coordinates of each monitoring point, and if each monitoring point is not adjusted to be within the target range, the parameters of each monitoring point are input again for adjustment;
s6: repeating 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 execution element displacement parameter association unit and a displacement execution element adjustment amount calculation unit, where the matching beam monitoring point parameter and displacement execution element displacement parameter association unit establishes a position association between a monitoring point on the matching beam and the displacement execution element by setting a custom coordinate system; the displacement executing element adjustment amount calculation unit converts the displacement vector values of all monitoring points into vector values taking a self-defined coordinate system as a reference, performs displacement calculation in the self-defined coordinate system, calculates a plane equation in which target coordinates of the monitoring points are located through initial position coordinates and the displacement vector values of at least three monitoring points, calculates adjustment amounts of all the displacement executing elements, and controls actions of the displacement executing elements through the logic control module.
Further, the specific calculation steps of the displacement calculation module are as follows:
s31: the method comprises the steps that a matching beam monitoring point parameter and displacement executing element displacement parameter association unit takes an intersection point of a fixed end die working surface of a fixed end die, a longitudinal moving track top surface of a matching trolley and a track symmetry center surface as an origin, takes a beam transverse direction as an x axis, takes a beam longitudinal direction as a y axis, and takes a vertical direction as a z axis to establish a custom coordinate system, and takes a structural theoretical size and a displacement monitoring module reading as references, the positions 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 are expressed through custom coordinates, so that the relative position relation between the monitoring point and each displacement executing element is established;
s32: the displacement vector value of the monitoring point is obtained by bridge Liang Mianxian type control software, and can be input by a measuring person or directly transmitted to a displacement calculation module. The displacement executive component adjustment quantity calculation unit calculates a plane equation where the target coordinates of the monitoring points are located after superposing the data according to the provided theoretical initial coordinates and displacement vector values of at least three monitoring points;
s33: the displacement executive component adjustment quantity calculation unit calculates a target plane equation of an action point of the jacking executive component according to the target plane equation of the monitoring point, the beam height dimension and the initial coordinate of the action point of the jacking executive component, substitutes the initial x and y coordinate values of the action point of each jacking executive component to obtain the z coordinate value of the action point of each jacking executive component on the target plane, and calculates the difference between the calculated z coordinate value and the initial z coordinate value of the action point of the jacking executive component to obtain the adjustment quantity of the jacking executive component;
s34: projecting initial coordinate connecting lines of the two monitoring points and corresponding target coordinate connecting lines to an xoy plane, and calculating to obtain an included angle of the two projection lines, wherein the included angle is the rotation angle of the matching beam; according to the initial installation distance of the rotary execution element and the distances from the acting points at the two ends of the rotary execution element to the rotation center of the matching trolley, calculating an initial included angle corresponding to the initial installation distance of the rotary execution element, adding the initial included angle to the calculated rotation angle, and reversely pushing out the target installation distance of the rotary execution element, wherein the difference value of the two installation distances is the adjustment quantity of the rotary execution element;
s35: according to the obtained rotation angle of the matching beam, the coordinate value of the xoy plane of the monitoring point after rotation can be calculated, and the difference value between the coordinate value and the target coordinate value of the monitoring point is the adjustment quantity of the transverse moving executing element and the longitudinal moving executing element.
Further, an anti-overturning monitoring device is arranged above the matching trolley and is electrically connected with the logic control module.
Further, the jacking actuating element is a jacking oil cylinder arranged at four corners of the top of the matching trolley, the traversing actuating element is a traversing oil cylinder arranged at the front end and the rear end of the matching trolley, the rotating actuating element is a rotating oil cylinder arranged between the upper layer and the lower layer of the matching trolley, and the longitudinal moving actuating element is a longitudinal moving oil cylinder or a traveling motor.
Further, the displacement monitoring module comprises a jacking motion displacement sensor, a transverse motion displacement sensor, a rotary motion displacement sensor and a longitudinal motion displacement sensor.
Further, the jacking action displacement sensor is arranged on the jacking execution element, the transverse movement action displacement sensor is arranged on the transverse movement oil cylinder, the rotary action displacement sensor is arranged on the rotary oil cylinder, and the longitudinal movement action displacement sensor is arranged 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 includes a memory and a counter.
Further, the center console comprises a main control cabinet for arranging the displacement calculation module, the logic control module and the anti-overturning monitoring device.
Further, the center console also comprises a sub-control cabinet arranged at the fixed end die.
The invention has the beneficial effects that:
the segment beam stub method prefabrication method for automatically adjusting the matching trolley comprises the following steps of: s1: matching and aligning a jacking executing element on the matching trolley with a jacking action point on a bottom die of the matching beam; s2: according to the central axis length of the beam section to be poured, a matching preparation button of a central control console is started, a jacking execution element, a traversing execution element and a rotating execution element on the matching trolley act cooperatively, a matching beam bottom die and a matching Liang Dingqi are matched, and a longitudinal movement execution element drives the matching trolley to longitudinally move to a matching position of the beam section to be poured; s3: after the measurer finishes parameter measurement of the monitoring points on the matched beam, inputting the monitoring point parameters to a central control console, acquiring displacement parameters of the jacking executive element, the transverse moving executive element, the rotating executive element and the longitudinal moving executive element through a displacement monitoring module, reading the displacement parameters of the displacement executive element by the central control console, finally establishing association between the monitoring point parameters and the displacement parameters of the jacking executive element, the transverse moving executive element, the rotating executive element and the longitudinal moving executive element through a displacement calculation module of the central control console, and calculating adjustment amounts of the jacking executive element, the transverse moving executive element, the rotating executive element and the longitudinal moving executive element; s4: starting a matching adjusting button of a central control console, and controlling a jacking executing element, a traversing executing element, a rotating executing element and a longitudinal moving executing element to act cooperatively by a logic control module of the central control console according to the adjusting quantity so as to realize the automatic jacking, rotating, traversing and longitudinal moving adjustment of the matching beam; s5: after the adjustment is finished, the measurer retests the position coordinates of each monitoring point, and if each monitoring point is not adjusted to be within the target range, the parameters of each monitoring point are input again for adjustment; s6: repeating 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, intelligent automatic adjustment of the matching trolley is realized, the problems that in the existing construction, the trolley is long in matching operation time, large in labor capacity, high in operation requirement and safe in matching process are solved, on the other hand, by constructing the monitoring points on the matching beam, correlation between the parameters of the monitoring points and the displacement parameters of the displacement actuating element is established, finally, the adjustment quantity or the displacement quantity of the displacement actuating element is controlled through the displacement quantity of the monitoring points in a feedback mode, compared with the situation that the monitoring points are established at the displacement actuating element, the number of the monitoring points can be increased as required, the coverage comprehensiveness of a monitoring area is improved, the displacement adjustment precision of the matching beam is effectively ensured, and the linear control precision of the beam body is further ensured.
Drawings
The invention is further described below with reference to the drawings and examples.
FIG. 1 is a schematic view of a preferred embodiment of the present invention;
FIG. 2 is a schematic view of the structure 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 view of the structure of a matched beam bottom die;
FIG. 6 is a schematic diagram of the relationship of the 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. 1-3, the embodiment provides a segment beam stub method prefabrication system with automatic adjustment of a matching trolley, which comprises a fixed end die 1, a matching trolley 5, a matching beam bottom die 6, a displacement executing element for adjusting displacement of the matching beam bottom die 6, a displacement monitoring module for collecting displacement parameters of the displacement executing element, a displacement calculating module and a logic control module.
The matching trolley 5 longitudinally moves along the longitudinal moving track 4, the displacement executing element is arranged on the matching trolley 5 and comprises a lifting executing element 51, a transverse moving executing element 53, a rotary executing element 52 and a longitudinal moving executing element 54, the lifting executing element 51 is a lifting cylinder arranged at four corners of the top of the matching trolley, the transverse moving executing element 53 is a transverse moving cylinder arranged at the front end and the rear end of the matching trolley, the rotary executing element 52 is a rotary cylinder arranged between the upper layer and the lower layer of the matching trolley, and the longitudinal moving executing element 54 is a longitudinal moving cylinder or a travelling motor.
The displacement monitoring module includes a lift-up motion displacement sensor 55, a lateral motion displacement sensor 57, a rotational motion displacement sensor 56, and a longitudinal motion displacement sensor 58. The jacking action displacement sensor 55 is installed on the jacking execution element, the transverse movement action displacement sensor 57 is installed on the transverse movement oil cylinder, the rotary action displacement sensor 56 is installed on the rotary oil cylinder, the longitudinal movement action displacement sensor 58 is installed between the fixed end die and the matching trolley, and the longitudinal movement action displacement sensor is a laser sensor.
The displacement calculation module comprises a matching beam monitoring point parameter and displacement executive element displacement parameter association unit and a displacement executive element adjustment amount calculation unit. The working principle of the matching beam monitoring point parameter and displacement executing element displacement parameter association unit is as follows: by setting a custom coordinate system, a positional relationship between the monitoring point 31 on the matching beam 3 and the displacement actuator is established. The working principle of the displacement executive element adjustment quantity calculating unit is as follows: converting the displacement vector values of all the monitoring points into vector values taking a custom coordinate system as a reference, carrying out displacement calculation in the custom coordinate system, calculating a plane equation (monitoring point target position) where the monitoring point target coordinates are located through initial position coordinates and displacement vector values of at least three monitoring points, calculating the adjustment 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 electrically connected with the displacement monitoring module, the displacement calculation module and the displacement execution element respectively. The displacement monitoring module transmits the acquired parameters to the displacement calculation module, the displacement calculation module calculates the adjustment values of the displacement execution elements, and then feeds back signals 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 as to acquire the displacement of the displacement executing element in real time, and the action of the displacement executing element is regulated in real time through the displacement, so as to control the start and stop of the displacement executing element.
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 can control the execution of all calculation steps and adjustment actions.
The central console 7 also comprises a memory and a counter, and if after the first adjustment the desired target value is not reached due to accumulated errors in all aspects, a second adjustment may be performed. The memory stores the position coordinates of the monitoring points after the first adjustment and the action points of the execution elements under a self-defined coordinate system, the counter records the adjustment times, the theoretical coordinates of the monitoring points on the back face of the beam after the first adjustment of the displacement calculation module are initial values, the calculation is carried out according to the displacement vector value of the second monitoring points provided by Liang Mianxian type control software, the second adjustment quantity of the displacement execution elements is calculated, and the logic control module executes the adjustment action to achieve the target.
The anti-overturning monitoring device is arranged above the matching trolley 5 and is electrically connected with the logic control module and used for monitoring the inclination angle and the jacking action of the matching beam, and when an abnormality is detected, the system automatically stops.
The center console 7 comprises a main control cabinet for arranging a displacement calculation module, a logic control module and an anti-overturning 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 for receiving laser sensor (longitudinal movement is used as a displacement sensor) data transmitted from the fixed end die.
The center console 7 further comprises a sub-control cabinet arranged at the fixed end die and used for processing and transmitting data of the laser sensor arranged on the fixed end die, a wireless signal transmitting device is arranged on the sub-control cabinet and used for transmitting the collected and processed data of the laser sensor to the main control cabinet, and a signal line for data transmission is not required to be arranged.
After the position of the matching beam 3 is adjusted, a beam section 2 to be poured is formed between the matching beam 3 and the fixed end die 1 as shown in fig. 4.
The embodiment also provides a segmental beam stub method prefabricating method for automatically adjusting the matching trolley, which comprises the following steps of:
s1: matching and aligning the jacking actuating element 51 on the matching trolley 5 with the jacking action point 61 on the matching beam bottom die 6 shown in fig. 5;
s2: according to the central axis length of the beam section to be poured, a matching preparation button of a central control console is started, a jacking execution element 51, a traversing execution element 53 and a rotating execution element 52 on the matching trolley act cooperatively to jack up a matching beam bottom die 6 and a matching beam 3, and a longitudinal movement execution element 54 drives the matching trolley to longitudinally move to a matching position of the beam section to be poured;
s3: after the measurer finishes measuring parameters of the monitoring points 31 on the matching beam 3, inputting the parameters of the monitoring points to a central control console, acquiring displacement parameters of the jacking executive element 51, the transverse moving executive element 53, the rotating executive element 52 and the longitudinal moving executive element 54 through a displacement monitoring module, reading the displacement parameters of the displacement executive element by the central control console, and finally establishing association between the parameters of the monitoring points and the displacement parameters of the jacking executive element, the transverse moving executive element, the rotating executive element and the longitudinal moving executive element through a displacement calculation module of the central control console, and calculating adjustment amounts of the jacking executive element, the transverse moving executive element, the rotating executive element and the longitudinal moving executive element;
s4: starting a matching adjusting button of the central console, and controlling the jacking actuating element 51, the traversing actuating element 53, the rotating actuating element 52 and the longitudinal moving actuating element 54 to act cooperatively by a logic control module of the central console according to the adjusting quantity so as to realize the automatic jacking, rotating, traversing and longitudinal moving adjustment of the matching beam;
s5: after the adjustment is finished, the measurer retests the position coordinates of each monitoring point, and if each monitoring point is not adjusted to be within the target range, the parameters of each monitoring point are input again for adjustment;
s6: repeating 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 execution element displacement parameter association unit and a displacement execution element 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 association unit uses the intersection point of the fixed end die working surface 11 of the fixed end die 1, the longitudinal moving track top surface of the matching trolley and the track symmetry center surface as an origin, uses the beam body transverse direction as an x axis, uses the beam body longitudinal direction as a y axis, and uses the vertical direction as a z axis to establish a custom coordinate system, and uses the structural theoretical size and the reading of the displacement monitoring module as the basis, and 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 custom coordinates, so as to establish the relative position relation between the monitoring point and each displacement executing element;
s32: the displacement vector value of the monitoring point is obtained by bridge Liang Mianxian type control software, and can be input by a measuring person or directly transmitted to a displacement calculation module. The displacement executive component adjustment quantity calculation unit calculates a plane equation where the target coordinates of the monitoring points are located after superposing the data according to the provided theoretical initial coordinates and displacement vector values of at least three monitoring points;
s33: the displacement executive component adjustment quantity calculation unit calculates a target plane equation of an action point of the jacking executive component according to the target plane equation of the monitoring point, the beam height dimension and the initial coordinate of the action point of the jacking executive component, substitutes the initial x and y coordinate values of the action point of each jacking executive component to obtain the z coordinate value of the action point of each jacking executive component on the target plane, and calculates the difference between the calculated z coordinate value and the initial z coordinate value of the action point of the jacking executive component to obtain the adjustment quantity of the jacking executive component;
s34: projecting initial coordinate connecting lines of the two monitoring points and corresponding target coordinate connecting lines to an xoy plane, and calculating to obtain an included angle of the two projection lines, wherein the included angle is the rotation angle of the matching beam; according to the initial installation distance of the rotary actuator and the distances from the action points at the two ends of the rotary actuator to the rotation center 59 of the matching trolley, calculating an initial included angle corresponding to the initial installation distance of the rotary actuator, adding the initial included angle to the calculated rotation angle, and reversely pushing out the target installation distance of the rotary actuator, wherein the difference value between the two installation distances is the adjustment quantity of the rotary actuator;
s35: according to the obtained rotation angle of the matching beam, the coordinate value of the xoy plane of the monitoring point after rotation can be calculated, and the difference value between the coordinate value and the target coordinate value of the monitoring point is the adjustment quantity of the transverse moving executing element and the longitudinal moving executing element.
After the displacement calculation is completed, the logic control module controls the action sequence of each execution element to be as follows: firstly, starting the jacking oil cylinder to conduct jacking adjustment, stopping jacking when the adjustment quantity of the jacking oil cylinder is equal to a calculated value, then conducting adjustment of rotation, transverse movement and longitudinal movement at the same time, and stopping action when the actual adjustment quantity of any action is equal to the calculated value.
In summary, by adopting the segment beam stub method prefabricating method for automatically adjusting the matching trolley, on one hand, intelligent automatic adjustment of the matching trolley is realized, the problems that the trolley matching operation is long in time consumption, large in labor capacity, high in operation requirement and safe in the matching process in the existing construction are solved, on the other hand, by constructing the monitoring points on the matching beam, the association of the monitoring point parameters and the displacement parameters of the displacement actuating element is established again, and finally, the adjustment quantity or the displacement quantity of the displacement actuating element is controlled through the displacement quantity of the monitoring points, and compared with the situation that the monitoring points are established at the displacement actuating element, the number of the monitoring points can be increased as required, the coverage of a monitoring area is improved, the accuracy of the matching beam displacement adjustment is effectively ensured, and the accuracy of beam body linear control is further ensured.
Finally, it is noted that the above embodiments are only for illustrating the technical solution of the present invention and not for limiting the same, and 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 and equivalents may be made thereto without departing from the spirit and scope of the technical solution of the present invention, which is intended to be covered by the scope of the claims of the present invention.
Claims (9)
1. A segmental beam stub method prefabricating method with automatic adjustment of a matching trolley is characterized by comprising the following steps of:
s1: a displacement executing element is arranged on the matching trolley (5), and comprises 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 executing element on the matching trolley with a jacking action point (61) on the matching beam bottom die (6);
s2: according to the central axis length of the beam section to be poured, a matching preparation button of a central control console is started, a jacking actuating element (51), a traversing actuating element (53) and a rotating actuating element (52) on the matching trolley act cooperatively to jack up a matching beam bottom die (6) and a matching beam (3), and a longitudinal moving actuating element (54) drives the matching trolley to longitudinally move to a matching position of the beam section to be poured;
s3: after the measurer finishes parameter measurement of the monitoring points (31) on the matching beam (3), inputting the parameters of the monitoring points to a central control console, collecting displacement parameters of the jacking executive element (51), the transverse moving executive element (53), the rotating executive element (52) and the longitudinal moving executive element (54) through a displacement monitoring module, reading the displacement parameters of the displacement executive element by the central control console, and finally establishing association between the parameters of the monitoring points and the displacement parameters of the jacking executive element, the transverse moving executive element, the rotating executive element and the longitudinal moving executive element through a displacement calculation module of the central control console, and calculating adjustment amounts of the jacking executive element, the transverse moving executive element, the rotating executive element and the longitudinal moving executive element;
s4: starting a matching adjusting button of a central console, and controlling a jacking actuating element (51), a traversing actuating element (53), a rotating actuating element (52) and a longitudinal moving actuating element (54) to act cooperatively by a logic control module of the central console according to the adjusting quantity so as to automatically adjust jacking, rotating, traversing and longitudinal moving of the matching beam;
s5: after the adjustment is finished, the measurer retests the position coordinates of each monitoring point, and if each monitoring point is not adjusted to be within the target range, the parameters of each monitoring point are input again for adjustment;
s6: repeating the steps S4-S5 until each monitoring point is regulated to be within the target range;
in step S3, the displacement calculation module includes a matching beam monitoring point parameter and displacement execution element displacement parameter association unit and a displacement execution element adjustment amount calculation unit, where the matching beam monitoring point parameter and displacement execution element displacement parameter association unit establishes a position association between a monitoring point on the matching beam and the displacement execution element by setting a custom coordinate system; the displacement executing element adjustment amount calculation unit converts the displacement vector values of all monitoring points into vector values taking a self-defined coordinate system as a reference, performs displacement calculation in the self-defined coordinate system, calculates a plane equation in which target coordinates of the monitoring points are located through initial position coordinates and the displacement vector values of at least three monitoring points, calculates adjustment amounts of all the displacement executing elements, and controls actions of the displacement executing elements through the logic control module.
2. The method for prefabricating the automatically adjusted segment beam by using the matching trolley according to claim 1, wherein the specific calculation steps of the displacement calculation module are as follows:
s31: the method comprises the steps that a matching beam monitoring point parameter and displacement executing element displacement parameter association unit takes an intersection point of a fixed end die working surface (11) of a fixed end die (1), the top surface of a longitudinal moving track (4) of a matching trolley and a track symmetry center surface as an origin, takes the transverse direction of a beam body as an x axis, takes the longitudinal direction of the beam body as a y axis, and takes the vertical direction as a z axis to establish a custom coordinate system, and takes the theoretical size of a structure and the reading of a displacement monitoring module as the basis, the position of each displacement executing element on the matching trolley, the reading calibrated by the displacement monitoring module and the initial position of a monitoring point are expressed through custom coordinates, and the relative position relation between the monitoring point and each displacement executing element is established;
s32: the displacement vector values of the monitoring points are obtained by bridge Liang Mianxian type control software, data can be input by a measurer or directly transmitted to a displacement calculation module, and a displacement execution element adjustment quantity calculation unit calculates a plane equation in which target coordinates of the monitoring points are positioned after superposing the data according to the provided theoretical initial coordinates and displacement vector values of at least three monitoring points;
s33: the displacement executive component adjustment quantity calculation unit calculates a target plane equation of an action point of the jacking executive component according to the target plane equation of the monitoring point, the beam height dimension and the initial coordinate of the action point of the jacking executive component, substitutes the initial x and y coordinate values of the action point of each jacking executive component to obtain the z coordinate value of the action point of each jacking executive component on the target plane, and calculates the difference between the calculated z coordinate value and the initial z coordinate value of the action point of the jacking executive component to obtain the adjustment quantity of the jacking executive component;
s34: projecting initial coordinate connecting lines of the two monitoring points and corresponding target coordinate connecting lines to an xoy plane, and calculating to obtain an included angle of the two projection lines, wherein the included angle is the rotation angle of the matching beam; according to the initial installation distance of the rotary execution element and the distances from the action points at the two ends of the rotary execution element to the rotation center (59) of the matching trolley, calculating an initial included angle corresponding to the initial installation distance of the rotary execution element, adding the initial included angle to the rotation angle obtained by calculation, and then reversely pushing out the target installation distance of the rotary execution element, wherein the difference value of the two installation distances is the adjustment quantity of the rotary execution element;
s35: according to the obtained rotation angle of the matching beam, the coordinate value of the xoy plane of the monitoring point after rotation can be calculated, and the difference value between the coordinate value and the target coordinate value of the monitoring point is the adjustment quantity of the transverse moving executing element and the longitudinal moving executing element.
3. The method for prefabricating the automatically adjusted segment beam by using the matching trolley according to claim 2, wherein the method comprises the following steps of: and an anti-overturning monitoring device is arranged above the matching trolley (5), and is electrically connected with the logic control module.
4. A method of prefabricating a matched trolley automatically adjusted segmented beam stub according to claim 3, wherein: the jacking actuating element (51) is a jacking oil cylinder arranged at four corners of the top of the matching trolley, the transverse moving actuating element (53) is a transverse moving oil cylinder arranged at the front end and the rear end of the matching trolley, the rotary actuating element (52) is a rotary oil cylinder arranged between the upper layer and the lower layer of the matching trolley, and the longitudinal moving actuating element (54) is a longitudinal moving oil cylinder or a traveling motor.
5. The method for prefabricating the automatically adjusted segment beam by using the matching trolley according to claim 4, wherein the method comprises the following steps of: 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 lifting motion displacement sensor (55) is arranged on the lifting execution element, the transverse motion displacement sensor (57) is arranged on the transverse motion oil cylinder, the rotary motion displacement sensor (56) is arranged on the rotary oil cylinder, and the longitudinal motion displacement sensor (58) is arranged between the fixed end die and the matching trolley.
6. The method for prefabricating the automatically adjusted segment beam by using the matching trolley according to any one of claims 1-5, wherein the method comprises the following steps of: the displacement calculation module and the logic control module are integrated on a central control console (7), and the central control console is provided with a control panel and/or an external remote controller.
7. The method for prefabricating the automatically adjusted segment beam by using the matching trolley according to claim 6, wherein the method comprises the following steps of: the central console (7) further comprises a memory and a counter.
8. The method for prefabricating the automatically adjusted segment beam stubs of the matching trolley according to claim 7, wherein the method comprises the steps of: the central control console (7) comprises a main control cabinet for arranging a displacement calculation module, a logic control module and an anti-overturning monitoring device.
9. The method for prefabricating the automatically adjusted segment beam stubs of the matching trolley according to claim 8, wherein the method comprises the steps of: the center console (7) further comprises a sub-control cabinet arranged at the fixed end die.
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