CN101786577B - Dual-machine loading-and-walking type hydraulic numerical control deck erection gantry and control system and control method - Google Patents

Abstract

The invention provides a dual-machine loading-and-walking type hydraulic numerical control deck erection gantry, which comprises two sets of loading-and-walking type hydraulic numerical control deck erection gantries and a control system, wherein each set of the loading-and-walking type hydraulic numerical control deck erection gantries comprises the following four parts: a transverse truss girder, two sets of walking type loading-and-walking devices arranged at two ends of the transverse truss girder, a hydraulic lifting device and a carrying pole of a hanger; each set of the walking type loading-and-walking devices consists of a guideway, a walking mechanism steel framework, m traction jacks, 4n load conversion jacks, a supporting pull rod, a walking roller bracket and P guideway walking jacks; all the components are connected with one another by pin shafts; and the control system of the deck erection gantry is a distributed computer network control system which consists of a main control station, Y field controllers, Y pump stations, Y pump station starting boxes, a data acquisition system, and a plurality of data wires and communication wires. The deck erection gantry has the advantages of great lifting force and high work efficiency and stability; and when the deck erection gantry walks with load, the control system of the deck erection gantry can effectively and synchronously control every jack.

Description

Dual-machine loading-and-walking type hydraulic numerical control deck erection gantry and control system and control method

Technical field:

The present invention relates to a kind of large-span suspension bridge mechanized construction equipment, particularly a kind of girder of suspension bridge spanning equipment and control system and control method thereof that can solve suspension bridge transverse truss girder section horizontal transport.

Background technology:

" the special-purpose spanning equipment of girder of suspension bridge " across the cable loop wheel machine, through over 100 years constantly Improvement and perfection become the safest, the failure-free setting up girder, separate unit lifting power across the cable loop wheel machine has reached 500t at present, traditional girder of suspension bridge erection method is for adopting the unit list to hang hydraulic pressure across the cable loop wheel machine, the function that this unit list hangs across the cable loop wheel machine is only vertical lifting, the horizontal transport of suspension bridge transverse truss girder section is mainly by rivers straits shipping, end bay adopts rope traction to swing and moves, namely at first make across the unloaded walking of cable loop wheel machine to the appropriate location, then utilize boats and ships to transport the beam section to its below, allow again across setting up girder after the vertical beam section of cable loop wheel machine.

Along with Suspension Bridges is more and more large, uses the unit list to hang hydraulic pressure and exist inconvenience across the construction party rule that the cable loop wheel machine sets up girder of suspension bridge: 1, lifting sections length is short, total hop count is many, long in time limit; Reversing and lateral runout easily appears in poor work stability when 2, adopting the separate unit lifting with crane, girder, if meet in hoisting process that strong wind attacks the safety of beam section will be difficult to guarantee; 3, applicable area is narrow, can not solve horizontal transport suspension bridge transverse truss girder section to the needs of the Summarized Account of Bridge Erection Construction of specifying the main beam supporting position: along with the development of Chinese transportation cause, it is with a varied topography that plan builds a bridge, the suspension bridge that particularly sets up on mountain area, shoal and other places, the horizontal transport of suspension bridge transverse truss girder section (that is: suspension bridge transverse truss girder section is transported to intend the below set up bridge) is very difficult, has a strong impact on main beam supporting.

Summary of the invention:

The object of the present invention is to provide that a kind of lifting power is large, high efficiency, good stability, erecting suspension bridge girder dual-machine loading-and-walking type hydraulic numerical control deck erection gantry, with solution suspension bridge transverse truss girder section horizontal transport hard problem; Another object of the present invention is: the control system when providing this dual-machine loading-and-walking type hydraulic numerical control deck erection gantry to be used for lifting suspension bridge steel truss girder section erecting suspension bridge girder and this control system synchronisation control means to jack.

The technical scheme that solves the problems of the technologies described above is: a kind of dual-machine loading-and-walking type hydraulic numerical control deck erection gantry, comprise 2 cover loading-and-walking type hydraulic numerical control deck erection gantry and control system, every cover loading-and-walking type hydraulic numerical control deck erection gantry comprises the transverse truss girder, is arranged on two cover walking heavy burden running gears, hydraulic lifting device and suspender shoulder pole four parts at transverse truss girder two ends;

Described transverse truss girder is that the truss two ends by H shaped steel welding connect respectively two-door font heavy burden beam and consist of, and the space of truss is useful on the workplatform of laying take-up reel, hydraulic power unit and main console desk and workmen; The top of two-door font heavy burden beam is provided with bearing pin;

Every cover walking heavy burden running gear is comprised of guide rail, traveling gear steel framework, m platform traction jack, 4n platform load conversion jack, tie-strut, walking roller support and P platform guide rail walking jack, adopts bearing pin to connect between each parts; The guide rail bottom surface is provided with for three semi arch feets that coordinate, ride over main push-towing rope on main push-towing rope, and axis hole, bottom, two ends that traveling gear steel framework top is provided with the bearing pin running-fit respectively are provided with a support cord clip that is used for holding tightly main push-towing rope; The cylinder head of 4n platform load conversion jack is hinged with four drift angles of traveling gear steel framework respectively, the piston rod top of 4n platform load conversion jack is hinged with four walking roller supports respectively, one end of each walking roller support and tie-strut is hinged, the other end of tie-strut and traveling gear steel framework are hinged, and the lower end of walking roller support is provided with the townhouse roller that rolls along guide rail; The cylinder head of guide rail walking jack and the middle part of traveling gear steel framework are hinged, and piston tip and the guide rail termination of guide rail walking jack are hinged; One end and the traveling gear steel framework of traction jack are hinged, and the traction jack other end is connected with the anchor ear that is fixed on main push-towing rope by the traction steel strand;

when installing and using, the horizontal center line of the two-door font heavy burden beam of transverse truss girder is parallel to main push-towing rope, consists of the current cat road be parallel to main push-towing rope, and the symmetrical main push-towing rope of the 2q platform hydraulic lifting jack of hydraulic lifting device is arranged on two-door font heavy burden beam across the cat road, the two ends of suspender shoulder pole are connected across the piston rod top of the hydraulic lifting jack in cat road by promoting steel strand and symmetrical main push-towing rope, the center of suspender shoulder pole is connected with suspension bridge steel truss girder section to be lifted by connecting pin, the traveling gear steel framework of walking heavy burden running gear is hinged by bearing pin and two-door font heavy burden beam, the m platform traction jack of described walking heavy burden running gear, 4n platform load conversion jack, the 2q platform hydraulic lifting jack of p platform guide rail walking jack and hydraulic lifting device is respectively with the circuit of control system and hydraulic tubing is connected and controlled by it, the span of above-mentioned m, n, p, q is: m be 1,2 or 3, n be 1,23, p be 1,2 or 3, q be 1,2,3 or 4.

The distributed computer network (DCN) control system that the control system of described dual-machine loading-and-walking type hydraulic numerical control deck erection gantry is comprised of 1 main console desk, a Y field controller, a Y pumping plant, a Y pumping plant starter box and data acquisition system, some data lines and order wire;

Described main console desk is to realize the main control computer of system monitoring and data management with monitoring software, comprise 1 as Programmable Logic Controller and an industrial computer of master controller, data exchange by data cable in Programmable Logic Controller and industrial computer;

Described field controller is comprised of a Programmable Logic Controller that has write logic control main program and synchronization regulation subprogram, each a pumping plant field controller of configuration and a pumping plant starter box, the starting that the pumping plant starter box is responsible for large small machine stops, and each field controller can be controlled 2q platform lifting jack, m platform traction jack, P platform guide rail walking jack, 4n platform load conversion jack; Y field controller is arranged on respectively on Y hydraulic power unit, and is connected with main console desk by real-time network;

Described data acquisition system comprises that being arranged on each jack master pushes up the displacement pickup for detection of piston displacement, the pressure sensor of detection inlet pressure, and be arranged on the ground tackle of up and down for detection of the approach switch group of ground tackle degree of tightness state, displacement pickup, pressure sensor, the approach switch group is connected with field controller by control cables respectively, and all detections and control signal are sent to main control computer through communication unit; The position signal that main control computer collects according to various sensors, pressure signal according to certain control program and algorithm, determine the operation program of oil cylinder, complete the co-ordination of cluster jack; The size of control ratio valve opening, drive oil cylinder and stretch cylinder or contracting cylinder with the speed of regulation, thereby realize the synchro control of jack simultaneously, the span of above-mentioned m, n, p, q and Y is: m be 1,2 or 3, n be 1,2 or 3, p be 1,2 or 3, q be 1,2,3 or 4, Y be 4,8,12 or 16.

Another technical scheme of the present invention is: when a dual-machine loading-and-walking type hydraulic numerical control deck erection gantry is used for bearing a heavy burden walking, the control method of its control system to jack, described control system is that a kind of system controls to the control of jack, comprises distance control mode and master mode on the spot:

distance control mode is the superlative degree of system, all operations are all at upper computer namely: main control computer is completed, this moment, the operation of all field controllers was invalid, can be to Y * 2q platform lifting jack under this mode, Y * m platform platform traction jack, Y * P platform guide rail walking jack, Y * 4n platform load conversion jack, do to control manually or automatically, complete the lifting to lifting jack, descend, tight anchor, the pine anchor, advancing of traction jack, retreat, advancing namely of guide rail walking jack: pushing tow, move back, the lifting of load conversion jack or effective control of decline, can set the top pressure on each top, guarantee security of system, thus also can change by the size that changes the apportioning valve opening jack stretch cylinder, contracting cylinder speed,

Master mode is on the spot: after the supervisory control computer mandate, lower computer namely: field controller is controlled on the spot, and the site operation personnel can reach M/C automatically to top and the pump of having authorized.

The further technical scheme of this control method is: described system control by means of upper computer and lower computer and write upper computer and lower computer in system software complete;

Described upper computer software adopts configuration software, comprises the total picture of technological process, each jack and the display frame of pumping plant real-time parameter, setting parameter picture, system's operation screen, warning picture, history curve picture, report capability, data base querying function; Configuration software has been realized the system management authority of different stage, and the Systems Operator can select operating mode, checks trend curve and form etc.; The system engineer can modify to upper computer software and slave computer software according to actual conditions, the operating personal of obtaining authority can be in independent operation or the on-line operation of centralized control room realization to any jack and pumping plant, M/Cs all under automatic running state is inoperative, effectively prevents maloperation;

Described slave computer software is programmed with the ladder diagram mode, comprises automatic control, manually controls, adjusts and control; Automatically be controlled to be the main operation scheme of control system, normal lifting, traction, load transfer and guide rail walking are all completed by automatic control mode; Manually be controlled to be the auxiliary operation scheme of system, being mainly used in need to be to wherein certain 1 or several jacks promote, traction, load transfer and guide rail walking operation at work progress, or to a certain apportioning valve flow regulate, a certain pressure sensor carries out the operations such as pressure setting; Adjust and control installation and the releasing that is used for system;

Comprise again in automatic control program that subprogram is controlled in logic control main program, displacement, pressure reduction is controlled subprogram, pressure control subroutine and overpressure protection and controlled subprogram.

When dual-machine loading-and-walking type hydraulic numerical control deck erection gantry of the present invention and this loop wheel machine were used for bearing a heavy burden walking, its control system to the beneficial effect of the control method of jack was:

One, large, the high efficiency of dual-machine loading-and-walking type hydraulic numerical control deck erection gantry lifting power of the present invention, good stability, degree of safety are high.

1. large, the high efficiency of lifting power, degree of safety are high: dual-machine loading-and-walking type hydraulic numerical control deck erection gantry of the present invention is erecting suspension bridge specialized equipment modern, that adopt the numerical control hydraulic technology, adopt the two-shipper synchronous working high more than the degree of safety of other unit work, embody " people-oriented ".

2. good stability, degree of safety are high: for the suspension bridge that is arranged in the mountain valley, in main truss installation process and suspension rod suspension status, must suffer from fitful wind attack in the mountain valley, this is the place, key of main truss construction safety, adopt the dual-machine loading-and-walking type hydraulic numerical control deck erection gantry good stability, thereby degree of safety is high.

3. multiple functional, quality is guaranteed: dual-machine loading-and-walking type hydraulic numerical control deck erection gantry of the present invention has can complete vertical, two kinds of functions of level run; Convenient operation and management easily form the Detroit automation face, improve workman's skill level by the technique that repeats, and quality is guaranteed.

4. economical rationality: dual-machine loading-and-walking type hydraulic numerical control deck erection gantry of the present invention only adopts a set of equipment (4 across cable loop wheel machine unit) when being used for the erecting suspension bridge main girder construction, its additional equipment is few, comprehensive and the remarkable specialized equipment of this cover performance, can be in all kinds suspension bridge repeated usage, cost can constantly reclaim, and is very economical.

When two, dual-machine loading-and-walking type hydraulic numerical control deck erection gantry of the present invention was used for the erecting suspension bridge girder, its control system to characteristics and the beneficial effect of the control method of jack was:

1, controllability is high; each jack of dual-machine loading-and-walking type hydraulic numerical control deck erection gantry being control effectively, comprising: promote synchro control, two synchronisms across the walking of cable loop wheel machine---traction synchro control, the balanced control of load transfer and overpressure protection are controlled.

2, system configuration is reasonable, has long-range controllability and real-time, and is easy and simple to handle, can Long-distance Control, also can control on the spot.

The control system of dual-machine loading-and-walking type hydraulic numerical control deck erection gantry of the present invention is that a kind of system controls to the control of jack, comprise distance control mode and master mode on the spot, thereby use this both can allow easily user's remote starter, the flow that stops pumping plant, remote adjustment pumping plant, pressure and control pumping plant and complete exercises (as the stretching of master cylinder, contracting cylinder across cable loop wheel machine control system; Tight and the pine of upper and lower holder etc.).After the supervisory control computer mandate, lower computer namely: field controller just can be controlled on the spot, and the site operation personnel can reach M/C automatically to top and the pump of having authorized.

3, adopt distributed frame, design function is powerful, fault-tolerant ability is strong, and reliability is high, and safety is good.

The control system of dual-machine loading-and-walking type hydraulic numerical control deck erection gantry of the present invention is comprised of upper computer and lower computer.Upper computer (main control computer) uses industrial computer, completes the design and development of configuration software, realizes monitoring and the Data Detection of whole system.

Lower computer (field controller) adopts the Programmable Logic Controller powerful, that reliability is high, easy to maintenance and antijamming capability is strong.Field controller is dispersed on each hydraulic power unit, is connected with main control computer by real-time network.This is a kind of network that uses token bus communication, and each node in network can be used as the sending and receiving that main website carries out data.Under on line state, all operations are completed by main control computer, and field controller can only carry out urgency and stop operation; Under off line state, each field controller can carry out the operations such as automatic, manual to any one or more in 2q platform lifting jack, m platform traction jack, P platform guide rail walking jack, 4n platform load conversion jack.

Can automatically complete data link between supervisory control computer and field controller by the data link table is set, this bus type topological structure has larger alerting ability, is easy to expand and safeguard, has satisfied system expandability requirement.

Owing to having adopted distributed control technology, can guarantee that whole network can not collapse because of certain website fault, has improved Systems balanth.The computing machine of remote monitor and control simultaneously, field controller are equipped with the emergency braking key and realize emergent stopping, guarantee security of system.

Configuration software has been realized the system management authority of different stage, and the Systems Operator can select operating mode, checks trend curve and form etc.; The system engineer can modify to monitoring software and slave computer software according to actual conditions.The operating personal of obtaining authority can be in independent operation or the on-line operation of centralized control room realization to any jack and pumping plant, and M/Cs all under automatic running state is inoperative, effectively prevents maloperation.

4, extendability, strong adaptability:

Owing to having adopted distributed frame, can carry out hardware configuration according to the specific requirement of each engineering, can on-the-spot carry out " logical combination " to hardware configuration by software simultaneously, greatly improved the comformability of control system.

5, man-machine interface is friendly

The various states of system as stretch cylinder, the contracting cylinder all is presented on screen, and shows in real time the displacement on every top and the force value of each pumping plant.But modify by the opening value of interface Comparative Examples valve simultaneously; thereby regulate the uninterrupted of its apportioning valve output; can also be by the top pressure on every top of interface setting; reach its setting pressure as a certain top; system alarm also quits work, to play safe, the protection to whole system and member.

Below, in conjunction with the accompanying drawings and embodiments the present invention's dual-machine loading-and-walking type hydraulic numerical control deck erection gantry and the technical characterictic of control system and control method thereof are further described.

Description of drawings:

Fig. 1: dual-machine loading-and-walking type hydraulic numerical control deck erection gantry structure and use view;

Fig. 2: walking heavy burden running gear structural representation;

Fig. 3: traveling gear steel framework structure schematic diagram;

Fig. 4: guide rail structure schematic diagram;

Fig. 5: transverse truss main beam structure schematic diagram;

Fig. 6: transverse truss girder and the hinged schematic diagram of walking heavy burden running gear;

Fig. 7: transverse truss girder and walking heavy burden running gear combination schematic diagram;

The described dual-machine loading-and-walking type hydraulic numerical control deck erection gantry control system of Fig. 8: embodiment one block diagram;

A pumping plant hydraulic schematic diagram of the described dual-machine loading-and-walking type hydraulic numerical control deck erection gantry control system of Fig. 9: embodiment one;

Figure 10: the system software composition frame chart of dual-machine loading-and-walking type hydraulic numerical control deck erection gantry control system of the present invention;

The program flow diagram of the process of advancing of the lifting process of the lifting program of the control system in the PLC of Figure 11: write lower computer---each field controller or traction program;

The program flow diagram of the fallback procedures of the decline process of the lifting program of the control system in the PLC of Figure 12: write lower computer---each field controller or traction program;

The program flow diagram of the pushing tow sequence of operation of the load transfer program of the control system in the PLC of Figure 13: write lower computer---each field controller or guide rail walking jack;

Figure 14: subprogram A diagram of circuit is controlled in the displacement in the process of advancing of the lifting process of lifting program or traction program;

Figure 15: subprogram B diagram of circuit is controlled in the displacement in the fallback procedures of the decline process of lifting program or traction program;

Figure 16: the pressure reduction of traction program is controlled subroutine flow chart;

Figure 17: the pressure control subroutine diagram of circuit in load transfer program or pushing tow operation program;

Figure 18: the overpressure protection subroutine flow chart in lifting program, traction program, load transfer program and pushing tow operation program.

In figure:

the hinged gun iron link bar of 1-, 2-walking heavy burden running gear, the 3-cord clip, 4-suspension rod fixture, 5-promotes steel strand, 6-suspender shoulder pole, 7-steel truss girder section, the 8-hydraulic lifting device, 9-transverse truss girder, the 10-main push-towing rope, the 11-guide rail, 12-guide rail walking jack, 13-load conversion jack, 14-traveling gear steel framework, the 15-bearing pin, 16-draws jack, the 17-tie-strut, 18-walking roller support, the 19-axis hole, 20-supports cord clip, the feet of 21-guide rail, the 22-truss, the two-door font heavy burden of 23-beam, 24-draws steel strand, the 25-hydraulic lifting jack, the 26-take-up reel.

The specific embodiment:

Embodiment one:

A kind of dual-machine loading-and-walking type hydraulic numerical control deck erection gantry, comprise that 2 covers are across cable loop wheel machine and control system, described is loading-and-walking type hydraulic numerical control deck erection gantry across the cable loop wheel machine, and every cover loading-and-walking type hydraulic numerical control deck erection gantry comprises transverse truss girder 9, is arranged on two cover walking heavy burden running gears 2, hydraulic lifting device 8 and suspender shoulder pole 6 four parts (referring to Fig. 1) at transverse truss girder 9 two ends;

Described transverse truss girder 9 is that truss 22 two ends by H shaped steel welding connect respectively two-door font heavy burden beam 23 and consist of, and the space of truss is useful on the workplatform of laying take-up reel 26, hydraulic power unit and main console desk and workmen; The top of two-door font heavy burden beam 23 is provided with bearing pin 15 (referring to Fig. 5);

Every cover walking heavy burden running gear 2 is comprised of guide rail 11,14,1 traction jack 16 of traveling gear steel framework, 4 load conversion jacks 13, tie-strut 17, walking roller support 18 and 1 guide rail walking jack 12, adopts bearing pin to connect between each parts; Guide rail 11 bottom surfaces are provided with for coordinating, ride over three semi arch feets 21 on main push-towing rope with main push-towing rope 10, and axis hole 19, bottom, two ends that traveling gear steel framework 14 tops are provided with bearing pin 15 running-fits respectively are provided with a support cord clip 20 that is used for holding tightly main push-towing rope 10; The cylinder head of 4 load conversion jacks 13 is hinged with four drift angles of traveling gear steel framework 14 respectively, the piston rod top of 4 loads conversion jacks 13 is hinged with four walking roller supports 18 respectively, each walking roller support 18 is hinged with an end of tie-strut 17, the other end of tie-strut 17 and traveling gear steel framework 14 are hinged, and the lower end of walking roller support 18 is provided with the townhouse roller that rolls along guide rail; The cylinder head of guide rail walking jack 12 and the middle part of traveling gear steel framework 14 are hinged, and piston tip and guide rail 11 terminations of guide rail walking jack 12 are hinged; One end and the traveling gear steel framework 14 of traction jack 16 are hinged, and the traction jack other end is connected with the anchor ear that is fixed on main push-towing rope 10 by drawing steel strand 24 (referring to Fig. 2-Fig. 4, Fig. 6-Fig. 7);

When installing and using, the horizontal center line of the two-door font heavy burden beam 23 of transverse truss girder is parallel to main push-towing rope 10, consist of the current cat road be parallel to main push-towing rope 10, the symmetrical main push-towing rope 10 of two hydraulic lifting jacks 25 of hydraulic lifting device 8 is arranged on two-door font heavy burden beam 23 across the cat road; The two ends of suspender shoulder pole 6 are connected across the piston rod top of the hydraulic lifting jack 25 in cat road by promoting steel strand 5 and symmetrical main push-towing rope 10, the center of suspender shoulder pole 6 is connected with suspension bridge steel truss girder section 7 to be lifted by promoting steel strand 5, the traveling gear steel framework 14 of walking heavy burden running gear 2 pass through bearing pin 15 and two-door font heavy burden beam 23 hinged (referring to Fig. 2-Fig. 4, Fig. 6-Fig. 7); Two hydraulic lifting jacks of the traction jack 16 of described walking heavy burden running gear, 4 loads conversion jack 13, guide rail walking jack 12 and hydraulic lifting devices 8 are respectively with the circuit of control system and hydraulic tubing is connected and controlled by it.

As Fig. 8, shown in Figure 9: as described in the distributed computer network (DCN) control system that formed by main console desk, 4 field controllers, 4 pumping plants, 4 pumping plant starter boxs and data acquisition system and data line of the control system of dual-machine loading-and-walking type hydraulic numerical control deck erection gantry; Each a pumping plant field controller of configuration and a pumping plant starter box, the starting that this pumping plant starter box is responsible for large small machine stops;

Described main console desk is to realize the main control computer of system monitoring and data management with monitoring software, comprise 1 as Programmable Logic Controller and an industrial computer of master controller, data exchange by data cable in Programmable Logic Controller and industrial computer; The operation of system all can be carried out on monitored picture, and the various states of system all are presented on screen, and shows in real time the displacement on every top and the force value of each pumping plant; But modify by the opening value of interface Comparative Examples valve simultaneously; thereby regulate the uninterrupted of its apportioning valve output; can also be by the top pressure on every top of interface setting; reach its setting pressure as a certain top; system alarm also quits work, to play the safety guard-safeguard to whole system and member.Also can switch to mode on the spot, by the field control case on pumping plant, this pumping plant be carried out execute-in-place.

Described field controller is comprised of a Programmable Logic Controller that has write logic control main program and synchronization regulation subprogram; Each field controller all can detect and control 2 and promote top, 1 traction top, 1 guide rail walking jack, 4 loads conversion tops; Simultaneously all data are sent to main console desk.Emergency stop switch, long-range/select switch, control button, warning indicator lamp, status indicator lamp etc. on the spot are installed on panel; Under the Long-distance Control state, the field control case can only carry out shut-down operation; Under state of a control on the spot, the field control case can to all the jacking row on this pumping plant automatically, M/C.

Described data acquisition system comprises the various sensors that are arranged on each jack master top:

1. pressure sensor: in operating process, the load change that a pressure sensor monitors this top is installed on every top;

2. displacement pickup: 1 displacement pickup is installed for detection of piston displacement on every jack;

3. approach switch: be arranged on and promote the upper position probing on main top and the state-detection of upper and lower holder of being used in top and traction top;

The displacement pickup of data acquisition system, pressure sensor, the approach switch group is connected with field controller by control cables respectively, and all detections and control signal are sent to main control computer through communication unit; The position signal that main control computer collects according to various sensors, pressure signal according to certain control program and algorithm, determine the sequence of operation of oil cylinder, complete the co-ordination of cluster jack; The size of while control ratio valve opening, drive oil cylinder and stretch cylinder or contracting cylinder with the speed of regulation, thereby realize the synchro control of jack, adopt communication unit communication between each field controller, all detections and control signal are sent to main control computer through communication unit; The position signal that main control computer collects according to various sensors, pressure signal according to certain control program and algorithm, determine the sequence of operation of oil cylinder, complete the co-ordination of cluster jack; The size of control ratio valve opening, drive oil cylinder and stretch cylinder or contracting cylinder with the speed of regulation, thereby realize the synchro control of jack simultaneously.

As a kind of conversion of the embodiment of the present invention, the described quantity Y that has write the Programmable Logic Controller of logic control main program and synchronization regulation subprogram can increase, and is generally multiple, its span of 4 to be: Y is 4,8,12 or 16; The quantity of corresponding hydraulic power unit and pumping plant starter box also can increase or reduce, and is generally a hydraulic power unit field controller of configuration and a pumping plant starter box; The starting that this pumping plant starter box is responsible for large small machine stops;

The number of units of the lifting jack that each field controller is controlled, traction jack, guide rail walking jack, load conversion jack also can increase or reduce, and generally each field controller can be controlled 2q platform lifting jack, m platform traction jack, P platform guide rail walking jack, 4n platform load conversion jack; Y field controller is arranged on respectively on Y hydraulic power unit, and is connected with main console desk by real-time network.

The span of above-mentioned m, n, p, q and Y is: m be 1,2 or 3, n be 1,23, p be 1,2 or 3, q be 1,2,3 or 4, Y be 4,8,12 or 16.

As a kind of conversion of the embodiment of the present invention, the emergency stop switch of safety effect has been installed all on main control computer of the present invention and field controller.

Embodiment two:

A kind of dual-machine loading-and-walking type hydraulic numerical control deck erection gantry is used for the erecting suspension bridge girder and bears a heavy burden when walking, the control method of its control system to jack.

Described control service system is that a kind of system controls to the control of jack, comprises distance control mode and master mode on the spot:

Distance control mode is the superlative degree of system, all operations are all at upper computer namely: main control computer is completed, this moment, the operation of all field controllers was invalid, can be to Y * 2q platform lifting jack, Y * m platform traction jack, Y * P platform guide rail walking jack, Y * 4n platform load conversion jack under this mode, do to control manually or automatically, complete lifting, decline, tight anchor, loose anchor to lifting jack, draw advancing, retreating of jack, advancing namely of guide rail walking jack: pushing tow, move back the lifting of load conversion jack or effective control of decline; Can set the top pressure on each top, guarantee security of system, thus also can change by the size that changes the apportioning valve opening jack stretch cylinder, contracting cylinder speed;

Master mode is on the spot: after the supervisory control computer mandate, lower computer namely: field controller is controlled on the spot, and the site operation personnel can reach M/C automatically to top and the pump of having authorized.

Described system control by means of upper computer and lower computer and write upper computer and lower computer in system software complete;

Described upper computer software adopts configuration software, comprises the total picture of technological process, each jack and the display frame of pumping plant real-time parameter, setting parameter picture, system's operation screen, warning picture, history curve picture, report capability, data base querying function; Configuration software has been realized the system management authority of different stage, and the Systems Operator can select operating mode, checks trend curve and form etc.; The system engineer can modify to upper computer software and slave computer software according to actual conditions, the operating personal of obtaining authority can be in independent operation or the on-line operation of centralized control room realization to any jack and pumping plant, M/Cs all under automatic running state is inoperative, effectively prevents maloperation;

Described slave computer software is programmed with the ladder diagram mode, comprises automatic control, manually controls, adjusts and control; Automatically be controlled to be the main operation scheme of control system, normal lifting, traction, load transfer and guide rail walking are all completed by automatic control mode; Manually be controlled to be the auxiliary operation scheme of system, being mainly used in need to be to wherein certain 1 or several jacks promote, traction, load transfer and guide rail walking operation at work progress, or to a certain apportioning valve flow regulate, a certain pressure sensor carries out the operations such as pressure setting; Adjust and control installation and the releasing that is used for system;

Comprise again in automatic control program that subprogram is controlled in logic control main program, displacement, pressure reduction is controlled subprogram, pressure control subroutine and overpressure protection and controlled subprogram.

The described logic control main program of being completed by the lower computer field controller is mainly that jack cluster action control and work flow are controlled, comprise cluster interlock, local interlock, single-point single action, namely according to lifting program, traction program, load transfer program, guide rail walking program correct carry out stretch cylinder, contracting cylinder, tightly go up anchor, Song Shangmao, tightly cast anchor, Panasonic's anchor instruction, also to control simultaneously the length of each opening time.

As shown in figure 11: the enhancing action program of the described control lifting jack of being completed by the lower computer field controller is:

1. tightly cast anchor until cast anchor tight, 2. the contracting cylinder is to piston arrives 1# position: if piston arrives 3# position anchor limit contracting cylinder on the pine of limit in contracting cylinder process, 3. the upper anchor of pine is until upper anchor pine: carry out simultaneously with step 2, 4. tightly go up anchor until upper anchor is tight, 5. stretch cylinder until piston arrives 4# position: this step is stretched cylinder for band carries, require the piston displacement of synchronization regulation Y * 2q platform lifting jack, take lifting jack wherein as the 1# lifting jack, if the piston displacement of certain lifting jack enters the displacement control subprogram A corresponding with the lifting program when surpassing setting range with 1# lifting jack piston displacement is poor, stretch cylinder in Panasonic's anchor limit in limit if stretch in the cylinder process piston arrives 2# position, 6. Panasonic's anchor is until the pine of casting anchor: carry out simultaneously with step 5,7. get back to step 1.,

Subprogram A (referring to Figure 14) is controlled in the described displacement corresponding with the lifting program: carrying out step 5. in process, if controlling the apportioning valve on this top when the difference of certain lifting jack and 1# lifting jack amount of piston displacement surpasses setting value carries out PID and regulates, increase or reduce the apportioning valve openings of sizes, stretch cylinder speed thereby change jack, until difference goes to zero;

In above-mentioned lifting process, the 1# position refers to jack master cylinder lower limit, the 2# position refers to that the jack master cylinder stretches that in the cylinder process, load is transformed into the load transfer position of upper clamper by lower gripper, the 3# position refers to that in jack master cylinder contracting cylinder process, load is transformed into the load transfer position of lower gripper by upper clamper, and the 4# position refers to jack master cylinder upper limit.

As shown in figure 12: the down maneuver program of the described control lifting jack of being completed by the lower computer field controller is:

1. tightly cast anchor until cast anchor tight, 2. the contracting cylinder is to piston arrives 1# position, 3. pine goes up anchor, delay time after upper anchor pine until on completing steps 4 piston arrives 3# positions the anchor pine is only, 4. stretch cylinder to piston arrives 3# position, 5. tightly go up anchor until upper anchor is tight, 6. stretch cylinder to piston arrives 4# position, 7. Panasonic's anchor, cast anchor time-delay after pine until pine is only casted anchor in completing steps 8 piston arrives 2# positions, 8. the contracting cylinder is to piston arrives 2# position: this step is carried the contracting cylinder for band, therefore require the piston displacement of synchronization regulation Y * 2q platform lifting jack, take lifting jack wherein as the 1# lifting jack, if the piston displacement of certain lifting jack enters the displacement control subprogram B corresponding with letdown procedure when surpassing setting range with 1# lifting jack piston displacement is poor, 9. get back to step 1,

Subprogram B (referring to Figure 15) is controlled in the displacement corresponding with letdown procedure: carrying out step 8. in process, when if the difference of certain lifting jack and 1# lifting jack amount of piston displacement surpasses setting value, the apportioning valve of controlling this top carries out PID to be regulated, increase or reduce the apportioning valve openings of sizes, stretch cylinder speed thereby change jack, until difference goes to zero;

In above-mentioned decline process, the 1# position refers to jack master cylinder lower limit, the 2# position refers to that in jack master cylinder contracting cylinder process, load is by the load transfer position of upper clamper to the lower gripper conversion, the 3# position refers to that the jack master cylinder stretches load in the cylinder process by the make progress load transfer position of clamper conversion of lower gripper, and the 4# position refers to jack master cylinder upper limit.

as shown in figure 11, the forward motion program that the traction program of jack is drawn in the described control of being completed by the lower computer field controller is: 1. tightly cast anchor until cast anchor tight, 2. the contracting cylinder is to piston arrives 1# position: if piston arrives 3# position anchor limit contracting cylinder on the pine of limit in contracting cylinder process, 3. the upper anchor of pine is until upper anchor pine: carry out simultaneously with step 2, 4. tightly go up anchor until upper anchor is tight, 5. stretch cylinder until piston arrives 4# position: this step is stretched cylinder for band carries, therefore require to carry out difference of pressure and control the also piston displacement of synchronization regulation Y * m platform traction jack, take traction jack wherein as 1# traction jack, if the piston displacement of certain traction jack enters the displacement corresponding with drawing the program forward motion when surpassing setting range with 1# traction jack piston displacement difference and controls subprogram A, stretch cylinder in Panasonic's anchor limit in limit if stretch in the cylinder process piston arrives 2# position, 6. Panasonic's anchor is until the pine of casting anchor: carry out simultaneously with step 5,7. get back to step 1.,

The described displacement corresponding with traction program forward motion controlled subprogram A (referring to Figure 14) and is: carrying out step 5. in process, carry out the PID adjusting if control the apportioning valve on this top when the difference of certain traction jack and 1# traction jack piston displacement surpasses setting value, increase or reduce the apportioning valve openings of sizes, stretch cylinder speed thereby change jack, until difference goes to zero;

Above-mentioned traction jack advances in process, the 1# position refers to jack master cylinder lower limit, the 2# position refers to that the jack master cylinder stretches that in the cylinder process, load is transformed into the load transfer position of front clamp device by rear clamper, the 3# position refers to that in jack master cylinder contracting cylinder process, load is transformed into the load transfer position of rear clamper by the front clamp device, and the 4# position refers to jack master cylinder upper limit.

As shown in figure 12, the backward movement program of the described control traction jack of being completed by the lower computer field controller is:

1. tightly cast anchor until cast anchor tight, 2. the contracting cylinder is to piston arrives 1# position, 3. pine goes up anchor, delay time after upper anchor pine until on completing steps 4 piston arrives 3# positions the anchor pine is only, 4. stretch cylinder to piston arrives 3# position, 5. tightly go up anchor until upper anchor is tight, 6. stretch cylinder to piston arrives 4# position, 7. Panasonic's anchor, cast anchor time-delay after pine until pine is only casted anchor in completing steps 8 piston arrives 2# positions, 8. the contracting cylinder is to piston arrives 2# position: this step is carried the contracting cylinder for band, therefore require to carry out difference of pressure and control the also piston displacement of synchronization regulation Y * m platform traction jack, take traction jack wherein as 1# traction jack, if the piston displacement of certain traction jack enters the displacement control subprogram B corresponding with back-off procedure when surpassing setting range with 1# traction jack piston displacement difference, 9. get back to step 1,

Controlling subprogram B (referring to Figure 15) with the displacement corresponding to back-off procedure of traction program is: carrying out step 8. in process, if the difference of certain traction jack and 1# traction jack piston displacement is during over setting value, the apportioning valve of controlling this top carries out PID to be regulated, increase or reduce the apportioning valve openings of sizes, stretch cylinder speed thereby change jack, until difference goes to zero;

In above-mentioned traction jack fallback procedures, the 1# position refers to jack master cylinder lower limit, the 2# position refers to that load in jack master cylinder contracting cylinder process is by the front clamp device load transfer position of clamper conversion backward, the 3# position refers to that the jack master cylinder stretches load in the cylinder process by the rear clamper load transfer position of clamper conversion forward, and the 4# position refers to jack master cylinder upper limit.

5. stretch cylinder until the band of piston arrives 4# position carries and stretches the cylinder process in the forward motion program step of the traction program of above-mentioned traction jack, or in the back-off procedure step of the traction program of traction jack during 8. contracting cylinder to the band of piston arrives 2# position carries contracting cylinder process, due to a variety of causes, the pressure of every traction jack is not identical, for guaranteeing effectively to avoid system's unbalance loading, control the subprogram adjustment with entering respectively pressure reduction;

Described and traction program advance program step 5. or the back-off procedure step 8. corresponding pressure reduction control subprogram (referring to Figure 16) be:

Pressure P with maximum that traction jack of pressure _maxDeduct the pressure P of minimum that traction jack of pressure _minBe pressure differential deltap P1, if when the pressure differential deltap P1 of all in running order Y * m platform traction jack set less than setting value Δ P, system continued operation; When pressure differential deltap P1 set more than or equal to setting value Δ P, system-down also showed relevant information.This pressure reduction is controlled subprogram C and is played the differential pressure security effect, effectively avoids system's unbalance loading.

as shown in figure 13, the operation program of the program of the load transfer of the described control Y that is completed by the lower computer field controller * 4n platform load conversion jack is: 1. stretch cylinder to the piston arrives upper limit, this step is stretched cylinder for band carries, require the pressure of synchronization regulation Y * 4n platform load conversion jack, take load conversion jack wherein as 1# load conversion jack, if the pressure of certain load conversion jack enters the pressure control subroutine corresponding with the load transfer program when surpassing setting range with the difference of pressure of 1# load conversion jack, 2. the contracting cylinder is to lower limit, 3. get back to step 1.,

The described pressure control subroutine corresponding with the load transfer program (referring to Figure 17) is: in the control load switching process, make a little as main take 1# load conversion jack, the pressure of all the other Y * 4n-1 platform load conversion jack compares with it, band carries to be stretched in the cylinder process, carry out the PID adjusting if control the apportioning valve on this top when the difference of certain load conversion jack and 1# load conversion jack pressure surpasses setting value, increase or reduce the apportioning valve openings of sizes, thereby change the pressure of load conversion jack, until difference goes to zero; Set simultaneously the difference of pressure of Y * 4n platform load conversion jack, if difference of pressure goes beyond the scope, system's automatic alarm prompting.

The operation program of the described control Y that is completed by the lower computer field controller * P platform guide rail walking jack forward and back is: 1. stretch cylinder to the piston arrives upper limit, this step is stretched cylinder for band carries, require the pressure of synchronization regulation Y * P platform guide rail walking jack, take guide rail walking jack wherein as 1# guide rail walking jack, if walking, the pressure of certain guide rail walking jack and 1# guide rail enter when jack pressure is poor surpasses setting range and the corresponding pressure control subroutine of guide rail walking program, 2. 1. the contracting cylinder to lower limit, 3. gets back to step;

Described and the guide rail walking corresponding pressure control subroutine of program (referring to Figure 17) is: in controlling guide rail walking program process, make a little as main take 1# guide rail walking jack, the pressure of all the other Y * P-1 platform guide rail walking jack compares with it, band carries to be stretched in the cylinder process, carry out the PID adjusting if control the apportioning valve on this top when the difference of certain guide rail walking jack and 1# guide rail walking jack pressure surpasses setting value, increase or reduce the apportioning valve openings of sizes, thereby change the pressure of guide rail walking jack, until difference goes to zero; Set simultaneously the difference of pressure of Y * P platform guide rail walking jack, if difference of pressure goes beyond the scope, system's automatic alarm prompting.

Described overpressure protection is controlled subprogram as shown in figure 18: be used for erecting suspension bridge girder or heavy burden walking process at whole dual-machine loading-and-walking type hydraulic numerical control deck erection gantry; in whole working process; to comprise the highest setting pressure comparison of pressure and this jack of every jack of lifting jack, traction jack, guide rail walking jack and load conversion jack; if less than setting value system work on, if more than or equal to setting value system-down and show relevant information on screen, the signal of reporting to the police.

In the present embodiment, the quantity Y of described field controller is 4, and these 4 field controllers are arranged on respectively on 4 hydraulic power units, and each hydraulic power unit also is furnished with a pumping plant starter box; The number of units of the lifting jack that each field controller is controlled is that 2, the number of units of traction jack are that 1, the number of units of guide rail walking jack are that 1, the number of units of load conversion jack are 4; The value that is above-mentioned m, n, p and q is that m is that 1, n is that 1, p is that 1, q is 1.

As a kind of conversion of the embodiment of the present invention, the number of units of the quantity Y of described field controller and each field controller controollable lifting jack, traction jack, guide rail walking jack, load conversion jack can also increase; General each hydraulic power unit is equipped with a field controller, and each field controller can be controlled 2q platform lifting jack, m platform traction jack, P platform guide rail walking jack, 4n platform load conversion jack; Y field controller is arranged on respectively on Y hydraulic power unit, and is connected with main console desk by real-time network.

The span of above-mentioned m, n, p, q and Y is: m be 1,2 or 3, n be 1,23, p be 1,2 or 3, q be 1,2,3 or 4, Y be 4,8,12 or 16.

As another conversion of the embodiment of the present invention, described dual-machine loading-and-walking type hydraulic numerical control deck erection gantry also can be used for other weights of lifting, and its control system also is applicable to the synchro control to jack in its heavy burden walking process.

When dual-machine loading-and-walking type hydraulic numerical control deck erection gantry of the present invention was used for the erecting suspension bridge girder, its control system was to the control policy (principle) of jack following (data of the various jacks of its field controller and control are take embodiment one, two described as example):

1, promote synchro control:

Main console desk also must guarantee the synchronous of 8 every strokes of lifting jack except the unified action of controlling 8 lifting jacks.Namely in the telescoping cylinder process of the every stroke of jack, the difference of the displacement of each jack is controlled in allowed band; Its control method is for making a little as main take 1 top wherein, and compare with it on all the other tops, and is very fast if cylinder is stretched on certain top, reduces the flow of corresponding apportioning valve, otherwise, increase the flow of corresponding proportion valve.This is one and is controlled to be main synchro control with displacement.

2, two synchronisms across the walking of cable loop wheel machine---traction synchro control:

The traction jack is the person of applying of heavy burden walking power, and 4 tractions are pushed up and are distributed in two covers across on the cable loop wheel machine.Due to be two the cover across cable loop wheel machine synchronous walking, so require traveling gear to have certain synchronism.And main push-towing rope is flexible structure, corresponding distortion can occur along with the variation of lift heavy, when walking, two covers are constantly changing across the diff-H of cable loop wheel machine, (particularly near king-tower part) can cause steel truss girder and horizontal position to be equipped with certain angle, so requires lifting jack position to steel truss girder in certain to carry out horizontal adjustment.Under the state of steel truss girder level of approximation, in 4 traction tops take wherein 1 make a little as main, all the other 3 are compared with it, it is very fast that cylinder is stretched on which platform top, reduces the flow of corresponding apportioning valve, otherwise the flow that increases the corresponding proportion valve is to guarantee the synchronous of traction top; The difference of pressure that simultaneously 4 tractions is pushed up is controlled in the scope of setting, if difference of pressure goes beyond the scope, and system's automatic alarm prompting.This is one and is controlled to be the master with displacement, and pressure reduction is controlled to be auxiliary synchro control.

3, load transfer is balanced controls:

Owing to every load transfer top pressure sensor being housed all, therefore in the load transfer process, make a little as main take 1 load transfer top wherein, the pressure that all the other 15 load transfer are pushed up compares with it, if which platform pressure on top surface is little, increase the opening amount of corresponding proportion valve, otherwise, corresponding proportion valve opening amount reduced.Set simultaneously the difference of pressure on 16 tops, if difference of pressure goes beyond the scope, system's automatic alarm prompting.This is one and is controlled to be main synchro control with pressure.

4, overpressure protection is controlled

In order to improve the safety of member, (comprise that lifting jack, traction jack, guide rail walking jack, load conversion are very heavy) on every all tops and all arranged oil pressure sensor, Real-Time Monitoring load change situation; In operating process, prevent that by the top pressure of setting every top the load of jack from having abnormal sudden change.If certain toplap is pressed, computing machine meeting auto-stop, and the signal of reporting to the police.

Claims (14)

1. dual-machine loading-and-walking type hydraulic numerical control deck erection gantry, it is characterized in that: it comprises 2 cover loading-and-walking type hydraulic numerical control deck erection gantry and control system thereof, and the described loading-and-walking type hydraulic numerical control deck erection gantry of every cover comprises transverse truss girder (9), is arranged on two cover walking heavy burden running gear (2), hydraulic lifting device (8) and suspender shoulder pole (6) four parts at transverse truss girder (9) two ends;

Described transverse truss girder (9) is that truss (22) two ends by H shaped steel welding connect respectively two-door font heavy burden beam (23) and consist of, and the space of truss is useful on the workplatform of laying take-up reel (26), hydraulic power unit and main console desk and workmen; The top of two-door font heavy burden beam (23) is provided with bearing pin (15);

Every cover walking heavy burden running gear (2) is comprised of guide rail (11), traveling gear steel framework (14), m platform traction jack (16), 4n platform load conversion jack (13), tie-strut (17), walking roller support (18) and P platform guide rail walking jack (12), adopts bearing pin to connect between each parts; Guide rail (11) bottom surface is provided with for coordinating, ride over three semi arch feets (21) on main push-towing rope with main push-towing rope (10), and axis hole (19), bottom, two ends that traveling gear steel framework (14) top is provided with bearing pin (15) running-fit respectively are provided with a supporting cord clip (20) that is used for holding tightly main push-towing rope (10); The cylinder head of 4n platform load conversion jack (13) is hinged with four drift angles of traveling gear steel framework (14) respectively, the piston rod top of 4n platform load conversion jack (13) is hinged with four walking roller supports (18) respectively, each walking roller support (18) is hinged with an end of tie-strut (17), the other end of tie-strut (17) and traveling gear steel framework (14) are hinged, and the lower end of walking roller support (18) is provided with the townhouse roller that rolls along guide rail; The cylinder head of guide rail walking jack (12) and the middle part of traveling gear steel framework (14) are hinged, and piston tip and guide rail (11) termination of guide rail walking jack (12) are hinged; One end and the traveling gear steel framework (14) of traction jack (16) are hinged, and the traction jack other end is connected with the anchor ear that is fixed on main push-towing rope (10) by traction steel strand (24);

when installing and using, the horizontal center line of the two-door font heavy burden beam (23) of transverse truss girder is parallel to main push-towing rope (10), consist of the current cat road be parallel to main push-towing rope (10), the symmetrical main push-towing rope of 2q platform hydraulic lifting jack (25) (10) of hydraulic lifting device (8) is arranged on two-door font heavy burden beam (23) across the cat road, the two ends of suspender shoulder pole (6) are connected across the piston rod top of the hydraulic lifting jack (25) in cat road by promoting steel strand (5) and symmetrical main push-towing rope (10), the center of suspender shoulder pole (6) is connected with suspension bridge steel truss girder section (7) to be lifted by connecting pin, the traveling gear steel framework (14) of walking heavy burden running gear (2) is hinged by bearing pin (15) and two-door font heavy burden beam (23), the m platform traction jack (16) of described walking heavy burden running gear, 4n platform load conversion jack (13), the 2q platform hydraulic lifting jack of p platform guide rail walking jack (12) and hydraulic lifting device (8) is respectively with the circuit of control system and hydraulic tubing is connected and controlled by it, the span of above-mentioned m, n, p, q is: m be 1,2 or 3, n be 1,23, p be 1,2 or 3, q be 1,2,3 or 4.

2. dual-machine loading-and-walking type hydraulic numerical control deck erection gantry according to claim 1, is characterized in that: the distributed computer network (DCN) control system that the control system of described dual-machine loading-and-walking type hydraulic numerical control deck erection gantry is comprised of 1 main console desk, a Y field controller, a Y pumping plant, a Y pumping plant starter box and data acquisition system, some data lines and order wire;

Described main console desk is to realize the main control computer of system monitoring and data management with monitoring software, comprise 1 as Programmable Logic Controller and an industrial computer of master controller, data exchange by data cable in Programmable Logic Controller and industrial computer;

Described field controller is comprised of a Programmable Logic Controller that has write logic control main program and synchronization regulation subprogram, each a pumping plant field controller of configuration and a pumping plant starter box, the starting that the pumping plant starter box is responsible for large small machine stops, and each field controller can be controlled 2q platform lifting jack, m platform traction jack, P platform guide rail walking jack, 4n platform load conversion jack; Y field controller is arranged on respectively on Y hydraulic power unit, and is connected with main console desk by real-time network;

Described data acquisition system comprises that being arranged on each jack master pushes up the displacement pickup for detection of piston displacement, the pressure sensor of detection inlet pressure, and be arranged on the ground tackle of up and down for detection of the approach switch group of ground tackle degree of tightness state, displacement pickup, pressure sensor, the approach switch group is connected with field controller by control cables respectively, and all detections and control signal are sent to main control computer through communication unit; The position signal that main control computer collects according to various sensors, pressure signal according to certain control program and algorithm, determine the sequence of operation of oil cylinder, complete the co-ordination of cluster jack; The size of control ratio valve opening, drive oil cylinder and stretch cylinder or contracting cylinder with the speed of regulation, thereby realize the synchro control of jack simultaneously, the span of above-mentioned m, n, p, q and Y is: m be 1,2 or 3, n be 1,2 or 3, p be 1,2 or 3, q be 1,2,3 or 4, Y be 4,8,12 or 16.

3. dual-machine loading-and-walking type hydraulic numerical control deck erection gantry according to claim 2, is characterized in that: be equipped with the emergency braking key that can realize emergent stopping on the main control computer of described dual-machine loading-and-walking type hydraulic numerical control deck erection gantry control system and field controller.

4. one kind when be used for bearing a heavy burden walking as claim 2 to 3 any one dual-machine loading-and-walking type hydraulic numerical control deck erection gantry, the control method of its control system to jack, it is characterized in that: described control system is that a kind of system controls to the control of jack, comprises distance control mode and master mode on the spot:

distance control mode is the superlative degree of system, all operations are all at upper computer namely: main control computer is completed, this moment, the operation of all field controllers was invalid, can be to Y * 2q platform lifting jack under this mode, Y * m platform platform traction jack, Y * P platform guide rail walking jack, Y * 4n platform load conversion jack, do to control manually or automatically, complete the lifting to lifting jack, descend, tight anchor, the pine anchor, advancing of traction jack, retreat, advancing namely of guide rail walking jack: pushing tow, move back, the lifting of load conversion jack or effective control of decline, can set the top pressure on each top, guarantee security of system, thus also can change by the size that changes the apportioning valve opening jack stretch cylinder, contracting cylinder speed,

Master mode is on the spot: after the supervisory control computer mandate, lower computer namely: field controller is controlled on the spot, and the site operation personnel can reach M/C automatically to top and the pump of having authorized.

5. when one kind dual-machine loading-and-walking type hydraulic numerical control deck erection gantry is used for the heavy burden walking as claimed in claim 4, the control method of its control system to jack is characterized in that: described system control by means of upper computer and lower computer and write upper computer and lower computer in system software complete;

Upper computer software adopts configuration software, comprises the total picture of technological process, each jack and the display frame of pumping plant real-time parameter, setting parameter picture, system's operation screen, warning picture, history curve picture, report capability, data base querying function; Configuration software has been realized the system management authority of different stage, and the Systems Operator can select operating mode, checks trend curve and form etc.; The system engineer can modify to upper computer software and slave computer software according to actual conditions, the operating personal of obtaining authority can be in independent operation or the on-line operation of centralized control room realization to any jack and pumping plant, M/Cs all under automatic running state is inoperative, effectively prevents maloperation;

Slave computer software is programmed with the ladder diagram mode, comprises automatic control, manually controls, adjusts and control; Automatically be controlled to be the main operation scheme of control system, normal lifting, traction, load transfer and guide rail walking are all completed by automatic control mode; Manually be controlled to be the auxiliary operation scheme of system, being mainly used in need to be to wherein certain 1 or several jacks promote, traction, load transfer and guide rail walking operation at work progress, or to a certain apportioning valve flow regulate, a certain pressure sensor carries out the operations such as pressure setting; Adjust and control installation and the releasing that is used for system;

Comprise again logic control main program, displacement control subprogram, pressure control subroutine and overpressure protection control subprogram in automatic control program.

6. when one kind dual-machine loading-and-walking type hydraulic numerical control deck erection gantry is used for the erecting suspension bridge girder as claimed in claim 5, the control method of its control system to jack, it is characterized in that: the logic control main program of being completed by the lower computer field controller is mainly that jack cluster action control and work flow are controlled, comprise the cluster interlock, local interlock, the single-point single action, namely according to the lifting program, the traction program, the load transfer program, the correct execution of guide rail walking program stretched cylinder, the contracting cylinder, tight upper anchor, anchor on pine, tightly cast anchor, Panasonic's anchor instruction, also to control simultaneously the length of each opening time.

7. when one kind dual-machine loading-and-walking type hydraulic numerical control deck erection gantry is used for the erecting suspension bridge girder as claimed in claim 6, the control method of its control system to jack, it is characterized in that: the enhancing action program of the control lifting jack of being completed by the lower computer field controller is: 1. tightly cast anchor until cast anchor tight, 2. the contracting cylinder is to piston arrives 1# position: if piston arrives 3# position anchor limit contracting cylinder on the pine of limit in contracting cylinder process, 3. the upper anchor of pine is until upper anchor pine: carry out simultaneously with step 2, 4. tightly go up anchor until upper anchor is tight, 5. stretch cylinder until piston arrives 4# position: this step is stretched cylinder for band carries, require displacement synchronous to regulate the piston displacement of Y * 2q platform lifting jack, take lifting jack wherein as the 1# lifting jack, if the piston displacement of certain lifting jack enters the displacement control subprogram A corresponding with the lifting program when surpassing setting range with 1# lifting jack piston displacement is poor, stretch cylinder in Panasonic's anchor limit in limit if stretch in the cylinder process piston arrives 2# position, 6. Panasonic's anchor is until the pine of casting anchor: carry out simultaneously with step 5,7. get back to step 1.,

Subprogram A is controlled in the described displacement corresponding with the lifting program: carrying out step 5. in process, if controlling the apportioning valve on this top when the difference of certain lifting jack and 1# lifting jack amount of piston displacement surpasses setting value carries out PID and regulates, increase or reduce the apportioning valve openings of sizes, stretch cylinder speed thereby change jack, until difference goes to zero;

In above-mentioned lifting process, the 1# position refers to jack master cylinder lower limit, the 2# position refers to that the jack master cylinder stretches that in the cylinder process, load is transformed into the load transfer position of upper clamper by lower gripper, the 3# position refers to that in jack master cylinder contracting cylinder process, load is transformed into the load transfer position of lower gripper by upper clamper, and the 4# position refers to jack master cylinder upper limit.

8. when one kind dual-machine loading-and-walking type hydraulic numerical control deck erection gantry is used for the erecting suspension bridge girder as claimed in claim 6, the control method of its control system to jack is characterized in that: the down maneuver program of the control lifting jack of being completed by the lower computer field controller is:

1. tightly cast anchor until cast anchor tight, 2. the contracting cylinder is to piston arrives 1# position, 3. pine goes up anchor, delay time after upper anchor pine until on completing steps 4 piston arrives 3# positions the anchor pine is only, 4. stretch cylinder to piston arrives 3# position, 5. tightly go up anchor until upper anchor is tight, 6. stretch cylinder to piston arrives 4# position, 7. Panasonic's anchor, cast anchor time-delay after pine until pine is only casted anchor in completing steps 8 piston arrives 2# positions, 8. the contracting cylinder is to piston arrives 2# position: this step is carried the contracting cylinder for band, therefore require the piston displacement of synchronization regulation Y * 2q platform lifting jack, take lifting jack wherein as the 1# lifting jack, if the piston displacement of certain lifting jack enters the displacement control subprogram B corresponding with letdown procedure when surpassing setting range with 1# lifting jack piston displacement is poor, 9. get back to step 1,

Subprogram B is controlled in the displacement corresponding with letdown procedure: carrying out step 8. in process, when if the difference of certain lifting jack and 1# lifting jack amount of piston displacement surpasses setting value, the apportioning valve of controlling this top carries out PID to be regulated, increase or reduce the apportioning valve openings of sizes, stretch cylinder speed thereby change jack, until difference goes to zero;

In above-mentioned decline process, the 1# position refers to jack master cylinder lower limit, the 2# position refers to that in jack master cylinder contracting cylinder process, load is by the load transfer position of upper clamper to the lower gripper conversion, the 3# position refers to that the jack master cylinder stretches load in the cylinder process by the make progress load transfer position of clamper conversion of lower gripper, and the 4# position refers to jack master cylinder upper limit.

9. when one kind dual-machine loading-and-walking type hydraulic numerical control deck erection gantry is used for the erecting suspension bridge girder as claimed in claim 6, the control method of its control system to jack, it is characterized in that: the forward motion program of the traction program of the control traction jack of being completed by the lower computer field controller is: 1. tightly cast anchor until cast anchor tightly, 2. the contracting cylinder is to piston arrives 1# position: if piston arrives 3# position anchor limit contracting cylinder on the pine of limit in contracting cylinder process, 3. the upper anchor of pine is until upper anchor pine: carry out simultaneously with step 2, 4. tightly go up anchor until upper anchor is tight, 5. stretch cylinder until piston arrives 4# position: this step is stretched cylinder for band carries, requirement is carried out difference of pressure and is controlled the also piston displacement of synchronization regulation Y * m platform traction jack, take traction jack wherein as 1# traction jack, if the piston displacement of certain traction jack enters the displacement corresponding with drawing the program forward motion when surpassing setting range with 1# traction jack piston displacement difference and controls subprogram A, stretch cylinder in Panasonic's anchor limit in limit if stretch in the cylinder process piston arrives 2# position, 6. Panasonic's anchor is until the pine of casting anchor: carry out simultaneously with step 5,7. get back to step 1.,

The described displacement corresponding with traction program forward motion controlled subprogram A and is: carrying out step 5. in process, carry out the PID adjusting if control the apportioning valve on this top when the difference of certain traction jack and 1# traction jack piston displacement surpasses setting value, increase or reduce the apportioning valve openings of sizes, stretch cylinder speed thereby change jack, until difference goes to zero;

Above-mentioned traction jack advances in process, the 1# position refers to jack master cylinder lower limit, the 2# position refers to that the jack master cylinder stretches that in the cylinder process, load is transformed into the load transfer position of front clamp device by rear clamper, the 3# position refers to that in jack master cylinder contracting cylinder process, load is transformed into the load transfer position of rear clamper by the front clamp device, and the 4# position refers to jack master cylinder upper limit.

10. when one kind dual-machine loading-and-walking type hydraulic numerical control deck erection gantry is used for the erecting suspension bridge girder as claimed in claim 6, the control method of its control system to jack is characterized in that: the backward movement program of the control traction jack of being completed by the lower computer field controller is:

1. tightly cast anchor until cast anchor tight, 2. the contracting cylinder is to piston arrives 1# position, 3. pine goes up anchor, delay time after upper anchor pine until on completing steps 4 piston arrives 3# positions the anchor pine is only, 4. stretch cylinder to piston arrives 3# position, 5. tightly go up anchor until upper anchor is tight, 6. stretch cylinder to piston arrives 4# position, 7. Panasonic's anchor, cast anchor time-delay after pine until pine is only casted anchor in completing steps 8 piston arrives 2# positions, 8. the contracting cylinder is to piston arrives 2# position: this step is carried the contracting cylinder for band, therefore require to carry out difference of pressure and control the also piston displacement of synchronization regulation Y * m platform traction jack, take traction jack wherein as 1# traction jack, if the piston displacement of certain traction jack enters the displacement control subprogram B corresponding with back-off procedure when surpassing setting range with 1# traction jack piston displacement difference, 9. get back to step 1,

With the controlling subprogram B with displacement corresponding to back-off procedure and be of traction program: carrying out step 8. in process, if the difference of certain traction jack and 1# traction jack piston displacement is during over setting value, the apportioning valve of controlling this top carries out PID to be regulated, increase or reduce the apportioning valve openings of sizes, stretch cylinder speed thereby change jack, until difference goes to zero;

In above-mentioned traction jack fallback procedures, the 1# position refers to jack master cylinder lower limit, the 2# position refers to that load in jack master cylinder contracting cylinder process is by the front clamp device load transfer position of clamper conversion backward, the 3# position refers to that the jack master cylinder stretches load in the cylinder process by the rear clamper load transfer position of clamper conversion forward, and the 4# position refers to jack master cylinder upper limit.

11. one kind when being used for the erecting suspension bridge girder as dual-machine loading-and-walking type hydraulic numerical control deck erection gantry as described in claim 9 or 10, the control method of its control system to jack is characterized in that: the traction program advance program step 5. or the back-off procedure step is carried out pressure reduction that difference of pressure controls described in 8. and is controlled subprogram and be:

Advance program step or the back-off procedure step of traction program 8. in process, with the pressure P of maximum that traction jack of pressure 5. in the program of drawing _maxDeduct the pressure P of minimum that traction jack of pressure _minBe pressure differential deltap P1, if when the pressure differential deltap P1 of all in running order Y * m platform traction jack set less than setting value Δ P, system continued operation; When pressure differential deltap P1 set more than or equal to setting value Δ P, system-down also showed relevant information.

when 12. one kind dual-machine loading-and-walking type hydraulic numerical control deck erection gantry is used for the erecting suspension bridge girder as claimed in claim 6, the control method of its control system to jack, it is characterized in that: the operation program of the load transfer program of the control Y that is completed by the lower computer field controller * 4n platform load conversion jack is: 1. stretch cylinder to the piston arrives upper limit, this step is stretched cylinder for band carries, require the pressure of synchronization regulation Y * 4n platform load conversion jack, take load conversion jack wherein as 1# load conversion jack, if the pressure of certain load conversion jack enters the pressure control subroutine corresponding with the load transfer program when surpassing setting range with the difference of pressure of 1# load conversion jack, 2. the contracting cylinder is to lower limit, 3. get back to step 1.,

The described pressure control subroutine corresponding with the load transfer program is: in the control load switching process, make a little as main take 1# load conversion jack, the pressure of all the other Y * 4n-1 platform load conversion jack compares with it, band carries to be stretched in the cylinder process, carry out the PID adjusting if control the apportioning valve on this top when the difference of certain load conversion jack and 1# load conversion jack pressure surpasses setting value, increase or reduce the apportioning valve openings of sizes, thereby change the pressure of load conversion jack, until difference goes to zero; Set simultaneously the difference of pressure of Y * 4n platform load conversion jack, if difference of pressure goes beyond the scope, system's automatic alarm prompting.

when 13. one kind dual-machine loading-and-walking type hydraulic numerical control deck erection gantry is used for the erecting suspension bridge girder as claimed in claim 6, the control method of its control system to jack, it is characterized in that: the control Y that is completed by the lower computer field controller * very heavy jacking of P platform guide rail walking, the operation program that moves back is: 1. stretch cylinder to the piston arrives upper limit, this step is stretched cylinder for band carries, require the pressure of synchronization regulation Y * P platform guide rail walking jack, take guide rail walking jack wherein as 1# guide rail walking jack, if walking, the pressure of certain guide rail walking jack and 1# guide rail enter when jack pressure is poor surpasses setting range and the corresponding pressure control subroutine of guide rail walking program, 2. the contracting cylinder is to lower limit, 3. get back to step 1.,

Described and the corresponding pressure control subroutine of guide rail walking program is: in controlling guide rail walking program process, make a little as main take 1# guide rail walking jack, the pressure of all the other Y * P-1 platform guide rail walking jack compares with it, band carries to be stretched in the cylinder process, carry out the PID adjusting if control the apportioning valve on this top when the difference of certain guide rail walking jack and 1# guide rail walking jack pressure surpasses setting value, increase or reduce the apportioning valve openings of sizes, thereby change the pressure of guide rail walking jack, until difference goes to zero; Set simultaneously the difference of pressure of Y * P platform guide rail walking jack, if difference of pressure goes beyond the scope, system's automatic alarm prompting.

14. one kind when being used for the erecting suspension bridge girder as dual-machine loading-and-walking type hydraulic numerical control deck erection gantry as described in claim 5 or 6, the control method of its control system to jack, it is characterized in that: described overpressure protection is controlled subprogram and is: in whole working process, to comprise lifting jack, the traction jack, guide rail walking jack and load conversion jack compare at the pressure of every interior jack and the highest setting pressure of this jack, if less than setting value system work on, if more than or equal to setting value system-down and show relevant information on screen, report to the police and illustrate.

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