CN-121976476-A - Bridge girder erection machine trolley transverse moving hydraulic device and automatic girder falling control method

CN121976476ACN 121976476 ACN121976476 ACN 121976476ACN-121976476-A

Abstract

The application discloses a bridge girder erection machine trolley sideslip hydraulic device and an automatic girder dropping control method, wherein the bridge girder erection machine trolley sideslip hydraulic device comprises a bridge girder erection machine girder, a girder dropping trolley, a sideslip driving mechanism, a hydraulic control system, a double-redundancy displacement detection unit, a central control unit, a hydraulic locking module and a self-adaptive deviation compensation module; the girder of the bridge girder erection machine is arranged along the longitudinal extension, and a longitudinally moving track extending along the longitudinal direction is arranged at the top of the girder of the bridge girder erection machine. According to the application, the two-stage sliding assembly structure is matched with the chain transmission transverse movement design, so that the problem of lateral deflection of the traditional single-cylinder direct-pushing structure is thoroughly solved, the lateral stress in the transverse movement process is effectively counteracted by the matching of the deflection-preventing sliding guide assembly and the sliding guide pushing seat, the abrasion of a rail and a transmission part is reduced, the straightness and the overall structural stability of transverse movement sliding are greatly improved, the service life of equipment is prolonged, and the equipment failure rate and the maintenance cost in the construction process are reduced.

Inventors

DING JIAN
XIE BIN
XU GUANGXING
Lin Shangkun

Assignees

无锡瑞盛高铁科技有限公司

Dates

Publication Date: 20260505
Application Date: 20260323

Claims (9)

1. The trolley transverse hydraulic device of the bridge girder erection machine is characterized by comprising a girder of the bridge girder erection machine, a girder falling trolley, a transverse driving mechanism, a hydraulic control system, a double-redundancy displacement detection unit, a central control unit, a hydraulic locking module and a self-adaptive deviation compensation module; The girder erection machine is characterized in that the girder of the girder erection machine is arranged along the longitudinal extension, a longitudinally extending longitudinally moving track is arranged at the top of the girder erection machine, the girder dropping trolley is longitudinally and slidably assembled on the longitudinally moving track of the girder erection machine, a transversely extending transversely moving track is arranged on a top platform of the girder dropping trolley, and the transversely moving trolley is transversely and slidably assembled on the transversely moving track of the girder dropping trolley; The transverse moving driving mechanism comprises a transverse moving oil cylinder, a sliding guide type pushing seat, an anti-deflection sliding guide assembly, a first sprocket, a second sprocket and a transmission chain, wherein the transverse moving oil cylinder is transversely arranged on a top platform of the girder-falling trolley, the cylinder body end of the transverse moving oil cylinder is hinged and fixed on the side wall of the end part of the girder-falling trolley, and the piston rod end of the transverse moving oil cylinder extends towards one side of the transverse moving trolley and is rigidly and fixedly connected with the end face of the bottom end of the sliding guide type pushing seat; the sliding guide type pushing seat is embedded in the transverse moving track of the girder falling trolley to form limit sliding fit, the first sprocket is rotatably assembled on the upper side wall of the sliding guide type pushing seat through a rotating shaft, the second sprocket is rotatably assembled on the side wall of the transverse moving trolley through the rotating shaft, the second sprocket and the first sprocket are positioned on the same transverse transmission plane, the transmission chain is wound on the peripheries of the first sprocket and the second sprocket to form a closed loop chain type transmission structure, and two ends of the transmission chain are respectively locked and fixed with corresponding fixed positions of the girder falling trolley; The double-redundancy displacement detection unit comprises a main detection module and an auxiliary verification module, wherein the main detection module is a non-contact displacement sensor, the main detection module is fixedly arranged on the surface of the girder-dropping trolley and is close to the end part position of a transverse track of the girder-dropping trolley, the detection end of the main detection module is arranged towards the transverse side wall of the transverse trolley and acquires transverse displacement data in real time along with the sliding of the transverse trolley; The hydraulic control system is arranged on a side frame of a girder of the bridge girder erection machine or a side frame of the girder falling trolley, a hydraulic execution end of the hydraulic control system is communicated with the traversing cylinder through a hydraulic pipeline, the hydraulic locking module is connected in series into the hydraulic pipeline between the traversing cylinder and the hydraulic control system, the central control unit is arranged in a cab console of the bridge girder erection machine, and the self-adaptive deviation compensation module is integrated in a control main board of the central control unit; The self-adaptive deviation compensation module is internally provided with an environment interference correction algorithm, the environment interference correction algorithm is suitable for processing construction working condition data, hydraulic circuit state data and displacement detection data, eliminating displacement deviation caused by temperature drift, mechanical clearance and oil path leakage, the central control unit is suitable for receiving real-time feedback signals of the dual-redundancy displacement detection unit, regulating and controlling the output of the hydraulic control system in a closed loop mode according to preset target displacement parameters, and linking the hydraulic locking module to achieve in-place self-locking of the transverse movement, limiting the sliding deviation and the sliding of the transverse movement trolley, and meeting the requirements of bridge girder dropping precision of the bridge girder erection machine.
2. The bridge girder erection machine trolley sideslip hydraulic device according to claim 1, wherein the main detection module is a laser displacement sensor which is fixedly arranged on the upper surface of the girder dropping trolley, and the detection end is arranged opposite to the transverse side wall of the sideslip trolley; The auxiliary verification module is a magnetostrictive displacement sensor which is coaxially assembled with the traversing oil cylinder, and the detection end is synchronously linked with a piston rod of the traversing oil cylinder; The hydraulic control system comprises a hydraulic pump station, an electromagnetic proportional reversing valve, a pressure overflow valve, a flow regulating valve and a multipath signal feedback unit, wherein an oil outlet of the hydraulic pump station is sequentially communicated with the flow regulating valve and the electromagnetic proportional reversing valve and then is communicated with an oil cavity of the traversing oil cylinder, and the pressure overflow valve is connected in parallel with an oil outlet oil way of the hydraulic pump station to realize overload pressure relief; The multi-path signal feedback unit comprises a pressure feedback subunit and a flow feedback subunit, wherein the pressure feedback subunit collects hydraulic loop oil pressure signals, and the flow feedback subunit collects hydraulic oil path flow signals; The electromagnetic proportional reversing valve is in bidirectional communication with the central control unit and is used for receiving a control instruction to adjust the telescopic speed and the telescopic stroke of the transverse moving oil cylinder, and simultaneously, oil pressure and flow signals acquired by the multipath signal feedback unit are transmitted back to the central control unit in real time.
3. The bridge girder erection machine trolley sideslip hydraulic device according to claim 1, wherein the central control unit is electrically connected with a cab man-machine interaction terminal, and the cab man-machine interaction terminal is fixedly arranged on a control table surface of a cab of the bridge girder erection machine; The driver's cabin man-machine interaction terminal comprises a parameter input module, a state display module, a calibration regulation module and an emergency control module, wherein the parameter input module, the state display module, the calibration regulation module and the emergency control module are electrically connected with a main control board of the driver's cabin man-machine interaction terminal; The parameter input module is used for inputting transverse displacement and working condition parameter signals to the central control unit, the state display module is used for receiving and displaying displacement data and hydraulic working condition signals returned by the central control unit, the calibration regulation and control module is used for sending displacement calibration and parameter correction instructions to the central control unit, and the emergency control module is used for sending emergency stop and manual fine adjustment instructions to the central control unit; And the central control unit is configured with an automatic control mode, a manual displacement setting mode and an emergency fine tuning mode, and is switched to the automatic control mode through a cab man-machine interaction terminal under normal construction working conditions, is switched to the manual displacement setting mode under parameter calibration working conditions, and is switched to the emergency fine tuning mode under fault early warning working conditions.
4. The bridge girder erection machine trolley traversing hydraulic device according to claim 1, wherein the hydraulic locking module is a bidirectional hydraulic lock, and the bidirectional hydraulic lock is connected in series with a hydraulic oil path between a traversing oil cylinder and a hydraulic control system and is used for locking the traversing oil cylinder oil path when traversing in place, maintaining the constant pressure of a hydraulic loop and limiting the traversing trolley displacement.
5. The automatic girder dropping control method of the bridge girder erection machine is realized based on the trolley traversing hydraulic device of the bridge girder erection machine according to any one of claims 1 to 4, and is characterized by comprising the following steps: S1) parameter calibration and system self-checking before construction The bridge girder erection machine operator inputs the girder body specification to be erected, the girder falling transverse target displacement and the construction environment parameters through a cab man-machine interaction terminal, after receiving the parameters, the central control unit completes the initial position return-to-zero of the transverse trolley and the no-load self-check of the hydraulic control system, calculates the operation parameters and the displacement deviation allowable range of the transverse oil cylinder, and preloads a closed-loop control instruction; s2) longitudinal movement, positioning and locking of girder falling trolley The central control unit controls the girder falling trolley to travel to a girder falling longitudinal target point along a longitudinal moving track of the girder erection machine girder so as to finish longitudinal positioning locking and fix the girder falling trolley; S3) transverse movement grading starting and chain transmission sliding The central control unit issues a transverse movement starting instruction to the hydraulic control system, an electromagnetic proportional reversing valve is controlled to be opened gradually in a step-up mode, displacement deviation caused by instantaneous hydraulic impact is reduced, the transverse movement oil cylinder stretches and contracts according to a preset speed, the sliding guide type pushing seat is pushed and pulled to slide along the transverse movement track of the girder-falling trolley, the transverse movement trolley is driven to slide towards a transverse target point through chain transmission of a first chain wheel, a transmission chain and a second chain wheel, and the transverse movement prevention sliding guide component counteracts lateral deflection force in the whole course; S4) dual redundant displacement real-time acquisition and fusion verification In the whole process of transverse movement, the main detection module acquires transverse absolute displacement signals of the transverse movement trolley relative to the girder falling trolley in real time, the auxiliary verification module synchronously acquires telescopic travel signals of the transverse movement oil cylinder, the central control unit carries out filtering noise reduction and cross comparison verification on two paths of detection signals, eliminates environmental interference signals, acquires actual displacement data and synchronously monitors pressure and flow working conditions of a hydraulic circuit in real time; S5) multidimensional adaptive closed loop bias correction The central control unit calls the self-adaptive deviation compensation module, compares actual displacement data with preset target displacement data, calculates dynamic displacement deviation, adopts a corresponding correction algorithm to compensate various deviations caused by temperature drift, mechanical clearance, oil path leakage and chain transmission clearance in real time, dynamically adjusts the opening degree and hydraulic flow of the electromagnetic proportional reversing valve, and eliminates displacement deviation; S6) speed reduction buffering and accurate alignment self-locking When the actual displacement data is close to the target displacement data to a preset interval, the central control unit issues a deceleration instruction, controls the traversing oil cylinder to reduce the running speed, enters a buffer alignment state, reduces impact offset generated by high-speed in-place, cuts off hydraulic power output when the actual displacement data is matched with the target displacement data, and synchronously triggers the hydraulic locking module to lock the traversing oil cylinder oil way and lock the position of the traversing trolley; s7) accurate beam falling and data archiving And after the transverse movement trolley is positioned and locked, the beam falling operation is executed, and after the beam falling operation is completed, the central control unit stores the transverse movement displacement parameters, the hydraulic working conditions and deviation correction data, so that a standardized construction file is formed for one-key multiplexing of the same type of working conditions.
6. The automatic girder dropping control method of the bridge girder erection machine according to claim 1, wherein the environmental interference correction algorithm of the adaptive deviation compensation module in the step S5 is specifically implemented by adopting PID closed loop adjustment and working condition matching logic: Calculating displacement deviation Wherein For the preset target displacement to be reached, For actually detecting displacement; Then the regulating and controlling quantity is output through a basic PID formula Wherein Is a proportional coefficient, Is an integral coefficient, Aiming at environmental interference such as temperature drift, mechanical clearance and oil way leakage in a construction scene, the bridge girder erection machine is combined with a PID coefficient in a self-adaptive matching way under heavy load and light load working conditions, a deviation correction response threshold value is lifted under the heavy load working condition, and the correction rate and the operation rate are balanced under the light load working condition, so that various interference influences are offset, and displacement deviation real-time compensation is completed.
7. The automatic girder dropping control method of the bridge girder erection machine according to claim 1, wherein the central control unit monitors the pressure of the hydraulic circuit in real time in the whole process of the transverse movement operation, automatically reduces the speed and checks faults when the pressure is abnormal, and recovers the preset speed after the pressure is recovered, thereby realizing fault pre-judgment and flexible treatment.
8. The automatic girder dropping control method of the bridge girder erection machine according to claim 1, wherein the central control unit monitors the pressure of the hydraulic circuit in real time in the whole process of the traversing operation, automatically reduces the speed and checks faults when the pressure is abnormal, and restores the preset running speed after the pressure is restored.
9. The automatic girder dropping control method of the bridge girder erection machine according to claim 1, wherein an operator can intervene in a manual displacement setting mode to perform fine adjustment displacement when the automatic control mode is operated, the central control unit still monitors displacement deviation in real time in the manual displacement setting mode, and an emergency locking mechanism is started when the displacement exceeds a standard.

Description

Bridge girder erection machine trolley transverse moving hydraulic device and automatic girder falling control method Technical Field The invention relates to the technical field of bridge construction, in particular to a trolley transverse moving hydraulic device of a bridge girder erection machine and an automatic girder dropping control method. Background The bridge girder erection machine is used as core equipment for road and bridge engineering construction and is widely applied to precast beam erection operation of expressways and railway bridges, wherein a trolley transverse hydraulic system is a key execution component for realizing accurate alignment and stable girder falling of girder bodies. The conventional bridge girder erection machine at the present stage mostly adopts a single-cylinder direct-pushing type transverse moving structure, realizes displacement driving of the transverse moving trolley by matching with a simple hydraulic control loop, acquires data by a single sensor in the displacement detection, and completes displacement adjustment and positioning locking by manually controlling a cab handle. The transverse moving structure and the control mode of the existing bridge girder erection machine trolley have the technical defects that firstly, a single oil cylinder straight pushing structure is easy to generate lateral deflection force, rail abrasion, loosening and chain release are easy to occur in long-term operation, sliding straightness and transmission stability are poor, secondly, a single sensor is adopted for displacement detection to collect signals, interference such as temperature drift, mechanical clearance and oil path leakage of a construction site is easy to occur, detection data errors are large, positioning accuracy is difficult to guarantee, thirdly, a hydraulic control loop has no redundant locking and self-adaptive correction functions, control parameters cannot be flexibly switched under heavy load and light load working conditions, in-place impact is large, slipping and offset problems are easy to occur, fourthly, mode switching is hard, manual intervention is inconvenient in automatic operation, fault early warning and emergency treatment mechanisms are imperfect, construction safety and continuity are poor, in addition, the existing equipment has no working condition data iterative optimization function, similar construction working conditions cannot multiplex accurate parameters, and operation efficiency and girder falling accuracy are difficult to synchronously promote. Based on the defects of the prior art, the bridge construction field is urgent to need a bridge girder erection machine trolley sideslip hydraulic device which is stable in structure, accurate in detection and intelligent in control, different load working conditions can be adapted, environmental interference is counteracted, self-adaptive correction and accurate self-locking of sideslip displacement are achieved, meanwhile, the bridge girder erection machine trolley sideslip hydraulic device has the functions of mode seamless switching and fault early warning treatment, the problems of poor precision, weak stability, low safety and insufficient efficiency of existing equipment are solved in two aspects of structural design and control logic, and the girder dropping construction requirement of high-standard bridge engineering is met. Disclosure of Invention The invention aims to provide a bridge girder erection machine trolley sideslip hydraulic device and an automatic girder dropping control method, which are used for solving the problems of the existing bridge girder erection machine trolley sideslip hydraulic device in the background technology. In order to achieve the above purpose, the invention provides a technical scheme that a trolley traversing hydraulic device of a bridge girder erection machine comprises a girder of the bridge girder erection machine, a girder falling trolley, a traversing driving mechanism, a hydraulic control system, a dual-redundancy displacement detection unit, a central control unit, a hydraulic locking module and a self-adaptive deviation compensation module; The girder of the bridge girder erection machine is arranged along the longitudinal extension, a longitudinally extending longitudinally moving track is arranged at the top of the girder of the bridge girder erection machine, the girder dropping trolley is longitudinally and slidably assembled on the longitudinally moving track of the girder of the bridge girder erection machine, a transversely extending transversely moving track is arranged on a top platform of the girder dropping trolley, and the transversely moving trolley is transversely and slidably assembled on the transversely moving track of the girder dropping trolley to form a secondary sliding assembly structure for longitudinally moving the girder of the bridge girder erection machine and bearing and transversely moving the girder dropping tr