CN102561438A - Control system and method for tracked walking of chain-knife type diaphragm wall equipment - Google Patents
Control system and method for tracked walking of chain-knife type diaphragm wall equipment Download PDFInfo
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- CN102561438A CN102561438A CN2012100673943A CN201210067394A CN102561438A CN 102561438 A CN102561438 A CN 102561438A CN 2012100673943 A CN2012100673943 A CN 2012100673943A CN 201210067394 A CN201210067394 A CN 201210067394A CN 102561438 A CN102561438 A CN 102561438A
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- diaphragm wall
- type diaphragm
- wall device
- chain cutter
- cutter type
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Abstract
The invention discloses a control system and method for the tracked walking of chain-knife type diaphragm wall equipment. The system comprises an upper computer, a front distance sensor, a rear distance sensor, a left motor speed sensor, a right motor speed sensor and a controller, wherein the upper computer is arranged on the chain-knife type diaphragm wall equipment; the front distance sensor and the rear distance sensor are located at the front and rear parts; the left and right motor speed sensors are arranged on left and right motors; and the controller is connected with the front distance sensor, the rear distance sensor, the left motor speed sensor, the right motor speed sensor, the left motor, the right motor and the upper computer. The invention has the advantages that: the structure is simple, the manufacturing cost is low, and the implementation is easy; the direction detection is accurate, and powerful guarantee is provided for the subsequent high-accuracy direction adjustment; a closed-loop control system is formed through the feedback of motor speed, the accuracy is high, and the high-quality requirement of the deep foundation pit wall can be met; and moreover, the automatic control is realized, the labor intensity of operators is reduced, and the working efficiency is effectively improved.
Description
Technical field
The invention belongs to foundation pit construction mechanical device and job practices, be specifically related to a kind of control system and method that is used for the walking of chain cutter type diaphragm wall device track following.
Background technology
Chain cutter type diaphragm wall device construction in recent years because vibration is little during construction, noise is low, reliable in quality, economic benefit are high, become wall rigidity big, be suitable for advantages such as the stratum scope is wide and in all kinds of deep foundation pit constructions of China, obtained using widely.The chain cutter type diaphragm wall device becomes in the wall walking process at normal construction; Chain cutter side in depth reaches 60m down the most deeply; The increasing gradually of gravity of equipment own and impedance moment of torsion will make the equipment disequilibrium, depart from predetermined one-tenth wall direction; And along with equipment constantly advances, the bias meeting constantly adds up the quality that directly influences whole diaphragm wall engineering, so, must regulate direct of travel at any time equipment in advancing process.Existing chain cutter type diaphragm wall device walking control technology only rests on artificial manual adjustments mode; Can't realize control and high-precision requirement automatically; The control method that patent CN 101818474A relates to is only applicable to the conventional equipment in the road surface walking; The related system of this patent comes the direction of judgment device through detecting the earth magnetism magnetic field intensity, but the earth magnetism magnetic field intensity weak, be subject to external environmental interference, error is bigger; And its control system is an open-loop control system, required precision can't reach deep-foundation pit engineering desired ± 25mm allowable variation.For solving the above-mentioned accuracy that in deep pit digging, becomes wall equipment, the present invention proposes the improved control system and method for a kind of chain cutter type diaphragm wall, it can effectively control the walking of heave-load device, and reaches the desired accuracy of workmanship.
Summary of the invention
The purpose of this invention is to provide a kind of simple in structurely, control is reliable, the control system and method that is used for the walking of chain cutter type diaphragm wall device track following that precision is high.
The technical scheme that realizes the object of the invention employing is following:
The control system that is used for chain cutter type diaphragm wall device track following walking provided by the invention comprises and being arranged on the chain cutter type diaphragm wall device:
Host computer;
Be positioned at the front distance sensor and back range sensor at forward and backward position;
Be located at left motor speed sensor and right motor speed sensor on the left and right motor;
The controller that is connected with host computer with said front distance sensor, back range sensor, left motor speed sensor, right motor speed sensor, left motor, right motor.
Said front distance sensor, back range sensor are installed on the front and back ends of chain cutter type diaphragm wall device upper tool post Connection Block respectively.
The control method that is used for the walking of chain cutter type diaphragm wall device track following provided by the invention may further comprise the steps:
Front distance sensor and back range sensor that step 3, utilization are arranged on chain cutter type diaphragm wall device car body front side and the rear side detect the distance signal between car body front side and rear side and the object of reference;
The invention has the advantages that:
1. simple in structure, cheap, realize easily.
2. direction detects accurately, for follow-up pinpoint accuracy direction adjustment provides strong guarantee.
3. form closed-loop control system through the feedback to motor speed, accuracy is high, can reach the high-quality requirement that deep foundation ditch becomes wall.
4. realize automatic control, reduced labor intensity of operating staff, effectively improved operating efficiency.
Further specify technical scheme of the present invention below in conjunction with accompanying drawing.
Description of drawings
Fig. 1 uses the sketch map that the present invention controls the chain cutter type diaphragm wall device of system.
Fig. 2 is the structured flowchart that the present invention controls system.
Fig. 3 is a chain cutter type diaphragm wall device walking sketch map.
Fig. 4 is the flow chart of control method of the present invention.
The specific embodiment
Referring to Fig. 1-Fig. 4; The control system that is used for chain cutter type diaphragm wall device track following walking provided by the invention comprises: go up seat in the plane 8, controller 7, front distance sensor 1, back range sensor 2, left motor 3 and establish left motor speed sensor 4, right motor 5 above that and establish right motor speed sensor 6 above that, front distance sensor 1, back range sensor 2, left motor 3, right motor 5, left motor speed sensor 4, right motor speed sensor 6 all are connected with controller 7 with host computer 8.
Last seat in the plane 8 is installed in the chain cutter type diaphragm wall device driver's cabin with controller 7, is in automatic walking states or manual walking states through host computer 8 control whole systems, and the preset distance value of object of reference 9 and equipment is set when walking states automatically; Front distance sensor 1 and back range sensor 2 are located at the front and back ends of chain cutter type diaphragm wall device knife rest Connection Block respectively, when equipment is walked, and the distance of real-time watch device and object of reference 9, and monitor signal passed to controller 7; Left side motor speed sensor 4 is located at respectively on the left and right motor 3,5 of the equipment crawler belt left and right sides with right motor speed sensor 6; The actual speed of real-time monitoring motor; Monitor signal is passed to controller 7, control the rotating speed of left motor 3 and right motor 5 by controller 7 respectively.
Range sensor among the present invention, velocity sensor, motor, host computer and controller are prior art.
The control method that is used for the walking of chain cutter type diaphragm wall device track following provided by the invention may further comprise the steps:
The rotating speed of step 6, the left and right motor 3,5 of adjustment turns to step 3;
Claims (3)
1. one kind is used for the control system that chain cutter type diaphragm wall device track following is walked, and it is characterized in that comprising being arranged on the chain cutter type diaphragm wall device:
Host computer;
Be positioned at the front distance sensor and back range sensor at forward and backward position;
Be located at left motor speed sensor and right motor speed sensor on the left and right motor;
The controller that is connected with host computer with said front distance sensor, back range sensor, left motor speed sensor, right motor speed sensor, left motor, right motor.
2. the control system that is used for the walking of chain cutter type diaphragm wall device track following according to claim 1 is characterized in that said front distance sensor, back range sensor are installed on the front and back ends of chain cutter type diaphragm wall device upper tool post Connection Block respectively.
3. one kind is used for the control method that chain cutter type diaphragm wall device track following is walked, and may further comprise the steps:
Step 1, one object of reference is set in a side along the predetermined running track of chain cutter type diaphragm wall device;
Step 2, when controller detects the automatic walking control signal of host computer, the left and right revolution control chain cutter type diaphragm wall device of control chain cutter type diaphragm wall device is walked along the predetermined running track;
Front distance sensor and back range sensor that step 3, utilization are arranged on chain cutter type diaphragm wall device car body front side and the rear side detect the distance signal between car body front side and rear side and the object of reference;
Step 4, whether what judge car body front side and rear side and object of reference by controller is 0 apart from difference; If 0, turn to step 5, otherwise, turn to step 6;
Step 5, judge by controller whether the detected distance of forward and backward range sensor on the car body is identical with the setting value of host computer; If identical, turn to step 7; Otherwise, turn to step 6;
Step 6, adjust left and right motor rotary speed, turn to step 3;
Step 7, said chain cutter type diaphragm wall device continue to walk along the predetermined running track.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201210067394 CN102561438B (en) | 2012-03-15 | 2012-03-15 | Control method for tracked walking of chain-knife type diaphragm wall equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201210067394 CN102561438B (en) | 2012-03-15 | 2012-03-15 | Control method for tracked walking of chain-knife type diaphragm wall equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102561438A true CN102561438A (en) | 2012-07-11 |
| CN102561438B CN102561438B (en) | 2013-05-15 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201210067394 Active CN102561438B (en) | 2012-03-15 | 2012-03-15 | Control method for tracked walking of chain-knife type diaphragm wall equipment |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112061027A (en) * | 2020-07-30 | 2020-12-11 | 南京英锐创电子科技有限公司 | Vehicle-mounted alarm system, vehicle-mounted alarm method and computer equipment |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS61294512A (en) * | 1985-06-24 | 1986-12-25 | Mitsui Miike Mach Co Ltd | Unmanned carrier |
| CN2665224Y (en) * | 2003-12-11 | 2004-12-22 | 三一重工股份有限公司 | Driving error correcting apparatus for full-hydraulic bulldozer |
| CN2673929Y (en) * | 2004-01-18 | 2005-01-26 | 三一重工股份有限公司 | Tracing walking control device for road spreading machine |
| CN101942793A (en) * | 2010-08-25 | 2011-01-12 | 徐州万邦重型机械科技有限公司 | Device for intelligently controlling travelling direction of paver |
| CN102168434A (en) * | 2011-03-09 | 2011-08-31 | 湖南瑞龙重工科技有限公司 | Active carry scraper and frame lifting control device thereof |
-
2012
- 2012-03-15 CN CN 201210067394 patent/CN102561438B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS61294512A (en) * | 1985-06-24 | 1986-12-25 | Mitsui Miike Mach Co Ltd | Unmanned carrier |
| CN2665224Y (en) * | 2003-12-11 | 2004-12-22 | 三一重工股份有限公司 | Driving error correcting apparatus for full-hydraulic bulldozer |
| CN2673929Y (en) * | 2004-01-18 | 2005-01-26 | 三一重工股份有限公司 | Tracing walking control device for road spreading machine |
| CN101942793A (en) * | 2010-08-25 | 2011-01-12 | 徐州万邦重型机械科技有限公司 | Device for intelligently controlling travelling direction of paver |
| CN102168434A (en) * | 2011-03-09 | 2011-08-31 | 湖南瑞龙重工科技有限公司 | Active carry scraper and frame lifting control device thereof |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112061027A (en) * | 2020-07-30 | 2020-12-11 | 南京英锐创电子科技有限公司 | Vehicle-mounted alarm system, vehicle-mounted alarm method and computer equipment |
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| CN102561438B (en) | 2013-05-15 |
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Address after: 410100 No. 88 Dongqi Road, Changsha Economic and Technological Development Zone, Changsha City, Hunan Province Patentee after: China Railway Construction Heavy Industry Group Co., Ltd. Address before: 410100 Changsha economic and Technological Development Zone, Hunan, No. 88 East Road, No. seven Patentee before: China Railway Construction Heavy Industry Co.,Ltd. |
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