CN105446368B - A kind of boarding bridge ferry plate regulation and control system and boarding bridge - Google Patents
A kind of boarding bridge ferry plate regulation and control system and boarding bridge Download PDFInfo
- Publication number
- CN105446368B CN105446368B CN201610036945.8A CN201610036945A CN105446368B CN 105446368 B CN105446368 B CN 105446368B CN 201610036945 A CN201610036945 A CN 201610036945A CN 105446368 B CN105446368 B CN 105446368B
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- CN
- China
- Prior art keywords
- boarding bridge
- ship
- absolute value
- angle
- control system
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
- G05D3/20—Control of position or direction using feedback using a digital comparing device
- G05D3/203—Control of position or direction using feedback using a digital comparing device using fine or coarse devices
Abstract
The invention discloses a kind of boarding bridge ferry plate regulation and control system and boarding bridges, by using digital high-resolution, low torque absolute value encoder as detecting element, and pass through PLC technology PLC programmings and realize accurate leveling control, driving torque is up to 0.03Nm, triggering torque can be lowered significantly, it can be to avoid the operating mode of trigger signal cannot be sent out due to cab apron and ship exist with respect to slip.Using the trigger angle that can be set, 0.044 ° of rotational angle can be responded, improve the response time.By the anticipation to extremely complicated operating mode, system sets a variety of response modes automatically, so that it is guaranteed that the position deviation of boarding bridge and ship is within a reasonable range, to eliminate safe hidden trouble.
Description
Technical field
The invention belongs to boarding bridge design fields, and in particular to a kind of boarding bridge ferry plate regulation and control system and go on board
Bridge.
Background technology
At present, with people's living standard and the raising of requirement, also occur therewith concurrently for conveying the boarding bridge of passenger
Exhibition is got up, and boarding bridge is that cruise terminal cruise of plugging into harbour is gone on board equipment for movable type used of going ashore on passenger, is that harbour is set
Important component part is applied, to the environment that provides safety and comfort of going ashore on passenger.
In objective rolling code head, tourist needs to climb up ro-ro passenger ship from castle is waited by boarding bridge, and passanger Ro-Ro ship tonnage is smaller, and needs
Load and unload large cargo, by extraneous factor influenced greatly, this requires boarding bridge in a certain range adaption object ship due to tide
Lifting, Lidar Equation cause the position of ship constantly to change, while to ensure passenger safety, boarding bridge is also required to ship
Change in location and change.I.e. boarding bridge should have automatic horizontal control system to meet the influence because of tide to ship.
Most of in the prior art is all to use leveling system of the non-coding device (such as limit switch) as detecting element,
Bigger (triggering torque need to be more than 0.4Nm) in the presence of the external force of triggering leveling signal, trigger angle fixes that (trigger angle need to be more than
12.5 °), the shortcomings of can not in advance be judged extremely complicated operating mode (ship high-frequency is significantly swung), so as to make to go on board
Bridge can not timely respond to the change in location of ship, cause boarding bridge with ship there are larger position deviation, there are major safety risks.
Therefore, in view of problem above, it is necessary to propose a kind of crossing suitable for complex working condition and high-precision traveler boarding bridge
Panel control system improves the boarding bridge automatic horizontal control system scope of application, leveling precision and the ability to predict to complex working condition, so as to
Avoid the serious consequence caused by the variation for failing the position for timely responding to ship.
Invention content
In view of this, the present invention provides a kind of boarding bridge ferry plate regulation and control system and boarding bridge, by using number
Formula high-resolution, low torque absolute value encoder as detecting element, triggering torque can be lowered significantly, can be to avoid because of cab apron
The operating mode of trigger signal cannot be sent out with respect to slip by existing with ship；Using the trigger angle that can be set, the response time is improved；
By the anticipation to extremely complicated operating mode, system sets a variety of response modes automatically, so that it is guaranteed that the position of boarding bridge and ship
Deviation within a reasonable range, to eliminate safe hidden trouble.
A kind of boarding bridge ferry plate regulation and control system that purpose according to the present invention proposes, the control system include：
To detect detecting element of the cab apron with ship swing angle；
The swing angle signal fed back by detecting element judges the control mechanism of ship position and output adjustment signal；
According to the adjustment signal that control mechanism exports, drive boarding bridge and/or front end of going on board connect ship platform swing with
Cab apron is adjusted with respect to boarding bridge and/or connects the driving mechanism of ship platform swing angle；
The detecting element and the driving mechanism are electrically connected with the control mechanism, and the detecting element is absolute value
Encoder.
Preferably, the absolute value encoder is set at the cab apron center position.
Preferably, described connect is provided with rotating platform on ship platform, and the rotating platform connects the cab apron and with cab apron
Rotation, the rotating platform by pivoting support be rotatably dispose in it is described connect on ship platform, the absolute value encoder fixation is set
Pivoting support center position is placed in, the absolute value encoder rotates with the rotating platform and rotates to monitor cab apron swing
Angle.
Preferably, the control mechanism includes the input module to input set angle, receives cab apron swing angle letter
Number receiving module, the processing module that compares the practical swing angle of cab apron and set angle and control process result it is defeated
The output module gone out；Cab apron swing angle is detected by the absolute value encoder, and the angle and set angle are carried out pair
Than after, control mechanism adjusts boarding bridge according to comparing result and/or connects the position of ship platform.
Preferably, institute's absolute value encoder minimum response rotational angle is 0.044 °.
Preferably, the set angle of the control mechanism includes trigger angle, security standpoint and extreme angles.
Preferably, the pars basilaris pontis of going on board is provided with the walking bull wheel that driving boarding bridge is swung, when absolute value encoder number
When value is less than setting trigger angle, control system maintains original state；It is set when the variation numerical value of absolute value encoder is more than or equal to
When determining trigger angle, and being less than the security standpoint of setting, it is corresponding to ship moving direction that control system control connects ship platform
Angular turn, while absolute value encoder numerical value can change in the opposite direction, until absolute value encoder numerical value comes back to
During less than setting trigger angle, connect ship platform and stop operating；
When the variation numerical value of absolute value encoder is more than or equal to setting security standpoint, and is less than the extreme angles of setting,
Control system control walking bull wheel is to the corresponding angular turn of ship moving direction, while absolute value encoder numerical value can be towards phase
Anti- direction change, when absolute value encoder numerical value is come back to less than setting trigger angle, walking bull wheel stops operating；
When absolute value encoder variation numerical value be more than or equal to setting limit angle when, control system control connect ship platform with
Bull wheel walk together to the corresponding angular turn of ship moving direction, while absolute value encoder numerical value can be in the opposite direction
Variation when absolute value encoder numerical value is come back to less than setting trigger angle, connects ship platform and stops turning with walking bull wheel
It is dynamic.
Preferably, the input module is also to set the frequency of triggering extreme angles, when the frequency of triggering extreme angles
More than setpoint frequency, numerical value that control system will reset the security standpoint and extreme angles automatically.
A kind of boarding bridge connects ship platform including be set to the boarding bridge front end, the cab apron of ship platform is connect described in connection,
Described connect is provided with rotating platform on ship platform, the rotating platform connects the cab apron and rotated with cab apron, the boarding bridge
Further include boarding bridge ferry plate regulation and control system.
Compared with prior art, it is the advantages of boarding bridge ferry plate regulation and control system and boarding bridge disclosed by the invention：
The present invention by using digital high-resolution, low torque absolute value encoder as detecting element, and pass through
Accurate leveling control is realized in PLC technology PLC programmings, and driving torque can lower triggering torque up to 0.03Nm significantly, can be with
Avoid to send out the operating mode of trigger signal due to cab apron and ship exist with respect to slip.
Using the trigger angle that can be set, 0.044 ° of rotational angle can be responded, improve the response time.
By the anticipation to extremely complicated operating mode, system sets a variety of response modes automatically, so that it is guaranteed that boarding bridge and ship
Only position deviation within a reasonable range, to eliminate safe hidden trouble.
Description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, to embodiment or will show below
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention, for those of ordinary skill in the art, without creative efforts, can be with
Other attached drawings are obtained according to these attached drawings.
Fig. 1 is the structure diagram of boarding bridge.
Fig. 2 is the structure diagram of boarding bridge ferry plate.
Fig. 3 is partial enlarged view at A in Fig. 2.
Fig. 4 system flow charts in order to control.
The title of the corresponding component representated by number or letter in figure：
1st, boarding bridge 2, connect ship platform 3, cab apron 4, walking bull wheel 5, rotating platform 6, pivoting support 7, absolute value
Encoder 8, rebound 9, ship
Specific embodiment
In the prior art but part is all to use leveling system of the non-coding device (such as limit switch) as detecting element,
Bigger (triggering torque need to be more than 0.4Nm) in the presence of the external force of triggering leveling signal, trigger angle fixes that (trigger angle need to be more than
12.5 °), the shortcomings of can not in advance be judged extremely complicated operating mode (ship high-frequency is significantly swung), so as to make to go on board
Bridge can not timely respond to the change in location of ship, cause boarding bridge with ship there are larger position deviation, there are major safety risks.
The present invention is directed to deficiency of the prior art, provides a kind of boarding bridge ferry plate regulation and control system and boarding bridge,
By using digital high-resolution, low torque absolute value encoder as detecting element, triggering torque can be lowered significantly, can
To avoid the operating mode that trigger signal cannot be sent out due to cab apron exists with ship with respect to slip；Using the trigger angle that can be set,
Improve the response time；By the anticipation to extremely complicated operating mode, system sets a variety of response modes automatically, so that it is guaranteed that boarding bridge
With the position deviation of ship within a reasonable range, to eliminate safe hidden trouble.
Technical scheme of the present invention will be clearly and completely described by specific embodiment below.Obviously, it is retouched
The embodiment stated is only part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, originally
Field those of ordinary skill all other embodiments obtained without creative efforts, belong to the present invention
The range of protection.
Please also refer to Fig. 1 to Fig. 4, as shown in the figure, a kind of boarding bridge ferry plate regulation and control system, the control system packet
It includes：To detect detecting element of the cab apron with ship swing angle；The swing angle signal fed back by detecting element judges ship
Position and the control mechanism of output adjustment signal；According to the adjustment signal that control mechanism exports, drive boarding bridge and/or go on board
The driving mechanism for connecing the swing of ship platform to adjust the opposite boarding bridge of cab apron and/or connect ship platform swing angle of front end；Detection
Element and driving mechanism are electrically connected with the control mechanism.
Wherein, detecting element is absolute value encoder, and control mechanism is programmable controller.The present invention is by using number
Formula high-resolution, low torque absolute value encoder as detecting element, and pass through PLC technology PLC programmings and realize accurate adjust
Flat control, driving torque can lower triggering torque, can have opposite slide to avoid because of cab apron and ship significantly up to 0.03Nm
And the operating mode of trigger signal cannot be sent out.
Using the trigger angle that can be set, 0.044 ° of rotational angle can be responded, improve the response time.
Absolute value encoder 7 is set at cab apron center position, to detect the swing angle of cab apron 3.Ship is connect to put down
It is provided with rotating platform 5 on platform 2, rotating platform 5 connects cab apron 3 and simultaneously rotated with cab apron, and rotating platform 5 passes through 6 turns of pivoting support
Dynamic be set to is connect on ship platform 2.Wherein, absolute value encoder 7 is fixedly installed on 6 center position of pivoting support, and absolute value is compiled
Code device rotates with rotating platform and rotates to monitor cab apron swing angle.On cab apron is plugged into after ship, operating mode such as Fig. 2 institutes
Show, when ship because the rebound 8 to the left or when moving right, being overlapped in ship's deck occurs for the effect of tide also can be to
A left side moves right, and then drives the rotation of absolute value encoder so that the numerical value of absolute value encoder changes.
Wherein, control mechanism includes the input module to input set angle, receives connecing for cab apron swing angle signal
Receive module, the processing module that the practical swing angle of cab apron and set angle are compared and control process result export it is defeated
Go out module；Cab apron swing angle is detected by absolute value encoder, and after the angle and set angle are compared, control machine
Structure adjusts boarding bridge according to comparing result and/or connects the position of ship platform.
The set angle of control mechanism includes trigger angle, security standpoint and extreme angles.
Pars basilaris pontis of going on board is provided with the walking bull wheel 4 that driving boarding bridge is swung, when absolute value encoder numerical value is less than setting
During trigger angle, control system maintains original state；Trigger angle is set when the variation numerical value of absolute value encoder is more than or equal to,
And less than setting security standpoint when, control system control connects ship platform to the corresponding angular turn of ship moving direction, together
When absolute value encoder numerical value can change in the opposite direction, until absolute value encoder numerical value come back to less than setting triggering
During angle, connect ship platform and stop operating.
When the variation numerical value of absolute value encoder is more than or equal to setting security standpoint, and is less than the extreme angles of setting,
Control system control walking bull wheel is to the corresponding angular turn of ship moving direction, while absolute value encoder numerical value can be towards phase
Anti- direction change, when absolute value encoder numerical value is come back to less than setting trigger angle, walking bull wheel stops operating.
When absolute value encoder variation numerical value be more than or equal to setting limit angle when, control system control connect ship platform with
Bull wheel walk together to the corresponding angular turn of ship moving direction, while absolute value encoder numerical value can be in the opposite direction
Variation when absolute value encoder numerical value is come back to less than setting trigger angle, connects ship platform and stops turning with walking bull wheel
It is dynamic.
In addition, input module also to set the frequency of triggering extreme angles, is set when the frequency of triggering extreme angles is more than
Determine frequency, the numerical value that control system will reset the security standpoint and extreme angles automatically, to reach boarding bridge adjustment
Number is excessive, realizes the function of system anticipation.
The advantages of control system is compared to the prior art：
Firstth, resolution ratio is higher, is 8192, i.e. this system can respond 0.044 ° of rotational angle, and pass through
The setting of software can set a variety of response modes and protected mode.
Secondth, for extremely complicated operating mode, this system can prejudge out response action, excessively frequent to avoid boarding bridge
The shaking of boarding bridge brought is adjusted, passenger is influenced and passes through.
Third, driving torque are smaller (0.03Nm)；When rotation torque is excessive, it may result in deck and exist with rebound
It is opposite to slide, rebound is caused to completely disengage boat deck so as to not have automatic regulating function.
In addition, the invention also discloses a kind of boarding bridge, ship platform 2 is connect including be set to 1 front end of boarding bridge, connection connects
The cab apron 3 of ship platform 2 connects and rotating platform 5 is provided on ship platform 2, and rotating platform 5 connects cab apron 3 and rotated with cab apron 3, steps on
Bridge further includes boarding bridge ferry plate regulation and control system.
The invention discloses a kind of boarding bridge ferry plate regulation and control system and boarding bridge, by using digital high-resolution
Rate, low torque absolute value encoder as detecting element, and pass through PLC technology PLC programmings and realize accurate leveling control,
Driving torque can lower triggering torque up to 0.03Nm significantly, can be to avoid cannot when cab apron and ship exist with respect to slip
Send out the operating mode of trigger signal.
Using the trigger angle that can be set, 0.044 ° of rotational angle can be responded, improve the response time.
By the anticipation to extremely complicated operating mode, system sets a variety of response modes automatically, so that it is guaranteed that boarding bridge and ship
Only position deviation within a reasonable range, to eliminate safe hidden trouble.
The foregoing description of the disclosed embodiments enables professional and technical personnel in the field to realize or use the present invention.
A variety of modifications of these embodiments will be apparent for those skilled in the art, it is as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, it is of the invention
The embodiments shown herein is not intended to be limited to, and is to fit to and the principles and novel features disclosed herein phase one
The most wide range caused.
Claims (7)
1. a kind of boarding bridge ferry plate regulation and control system, which is characterized in that the control system includes：
To detect detecting element of the cab apron with ship swing angle；
The swing angle signal fed back by detecting element judges the control mechanism of ship position and output adjustment signal；
According to the adjustment signal that control mechanism exports, the ship platform that connects of boarding bridge and/or boarding bridge front end is driven to swing to adjust
Cab apron is with respect to boarding bridge and/or connects the driving mechanism of ship platform swing angle；
The detecting element and the driving mechanism are electrically connected with the control mechanism, and the detecting element is absolute encoder
Device；
The set angle of the control mechanism includes trigger angle, security standpoint and extreme angles, and the pars basilaris pontis of going on board is set
The walking bull wheel that driving boarding bridge is swung is equipped with, when absolute value encoder numerical value is less than setting trigger angle, control system dimension
Hold original state；Trigger angle is set when the variation numerical value of absolute value encoder is more than or equal to, and less than the security standpoint of setting
When, control system control connects ship platform to the corresponding angular turn of ship moving direction, while absolute value encoder numerical value meeting
Change in the opposite direction, when absolute value encoder numerical value is come back to less than setting trigger angle, connect the stopping of ship platform
Rotation；
When the variation numerical value of absolute value encoder is more than or equal to setting security standpoint, and is less than the extreme angles of setting, control
System control walking bull wheel is to the corresponding angular turn of ship moving direction, while absolute value encoder numerical value can be towards opposite
Direction change, when absolute value encoder numerical value is come back to less than setting trigger angle, walking bull wheel stops operating；
When the variation numerical value of absolute value encoder is more than or equal to setting limit angle, control system control connects ship platform and walking
Bull wheel is together to the corresponding angular turn of ship moving direction, while absolute value encoder numerical value can become in the opposite direction
Change, when absolute value encoder numerical value is come back to less than setting trigger angle, connect ship platform and stop operating with walking bull wheel.
2. boarding bridge ferry plate regulation and control system as described in claim 1, which is characterized in that the absolute value encoder setting
At the cab apron center position.
3. boarding bridge ferry plate regulation and control system as claimed in claim 2, which is characterized in that described connect is provided on ship platform
Rotating platform, the rotating platform connect the cab apron and are rotated with cab apron, and the rotating platform is set by pivoting support rotation
It is connect on ship platform described in being placed in, the absolute value encoder is fixedly installed on pivoting support center position, and the absolute value is compiled
Code device rotates with the rotating platform and rotates to monitor cab apron swing angle.
4. boarding bridge ferry plate regulation and control system as described in claim 1, which is characterized in that the control mechanism include to
Input set angle input module, receive cab apron swing angle signal receiving module, by the practical swing angle of cab apron with setting
Determine the output module of processing module that angle compared and the output of control process result；It is examined by the absolute value encoder
Cab apron swing angle is surveyed, and after the angle and set angle are compared, control mechanism adjusts boarding bridge according to comparing result
And/or connect the position of ship platform.
5. boarding bridge ferry plate regulation and control system as described in claim 1, which is characterized in that the absolute value encoder is minimum
It is 0.044 ° to respond rotational angle.
6. boarding bridge ferry plate regulation and control system as claimed in claim 4, which is characterized in that the input module is also setting
Surely the frequency of extreme angles is triggered, when the frequency of triggering extreme angles is more than setpoint frequency, control system will be reset automatically
The numerical value of the security standpoint and extreme angles.
7. a kind of boarding bridge, ship platform is connect including be set to the boarding bridge front end, the cab apron of ship platform is connect described in connection,
It is characterized in that, described connect is provided with rotating platform on ship platform, the rotating platform connects the cab apron and rotated with cab apron, institute
It states boarding bridge and further includes claim 1-6 any one of them boarding bridge ferry plate regulation and control systems.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610036945.8A CN105446368B (en) | 2016-01-20 | 2016-01-20 | A kind of boarding bridge ferry plate regulation and control system and boarding bridge |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610036945.8A CN105446368B (en) | 2016-01-20 | 2016-01-20 | A kind of boarding bridge ferry plate regulation and control system and boarding bridge |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105446368A CN105446368A (en) | 2016-03-30 |
| CN105446368B true CN105446368B (en) | 2018-07-10 |
Family
ID=55556688
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610036945.8A Expired - Fee Related CN105446368B (en) | 2016-01-20 | 2016-01-20 | A kind of boarding bridge ferry plate regulation and control system and boarding bridge |
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| Country | Link |
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| CN (1) | CN105446368B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107472464B (en) * | 2017-08-25 | 2023-08-01 | 华德宝机械（昆山）有限公司 | Bridge ship channel for boarding passengers |
| CN108490866A (en) * | 2018-04-26 | 2018-09-04 | 广州宾模工程管理有限公司 | One kind is gone on board bridge control system and its control method |
| CN113406961B (en) * | 2021-07-12 | 2024-03-29 | 陕西欧卡电子智能科技有限公司 | Unmanned ship bridge crossing control method and device, electronic equipment and storage medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5855035A (en) * | 1996-12-30 | 1999-01-05 | Thyssen Stearns, Inc. | Method and apparatus for reducing skidding of wheels on a passenger boarding bridge |
| CN101177929A (en) * | 2006-11-07 | 2008-05-14 | 中国国际海运集装箱(集团)股份有限公司 | Leveling method for boarding bridge ferry plate device and boarding bridge |
| CN101748683A (en) * | 2008-11-28 | 2010-06-23 | 深圳中集天达空港设备有限公司 | Boarding bridge |
| CN101748684A (en) * | 2008-12-01 | 2010-06-23 | 深圳中集天达空港设备有限公司 | Ship connecting device used for boarding bridge |
| CN101768918A (en) * | 2008-12-30 | 2010-07-07 | 深圳中集天达空港设备有限公司 | Ferry board device and boarding bridge thereof |
| CN102320381A (en) * | 2011-07-14 | 2012-01-18 | 蒂森克虏伯机场系统(中山)有限公司 | Intelligent following type passenger boarding bridge |
-
2016
- 2016-01-20 CN CN201610036945.8A patent/CN105446368B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5855035A (en) * | 1996-12-30 | 1999-01-05 | Thyssen Stearns, Inc. | Method and apparatus for reducing skidding of wheels on a passenger boarding bridge |
| CN101177929A (en) * | 2006-11-07 | 2008-05-14 | 中国国际海运集装箱(集团)股份有限公司 | Leveling method for boarding bridge ferry plate device and boarding bridge |
| CN101748683A (en) * | 2008-11-28 | 2010-06-23 | 深圳中集天达空港设备有限公司 | Boarding bridge |
| CN101748684A (en) * | 2008-12-01 | 2010-06-23 | 深圳中集天达空港设备有限公司 | Ship connecting device used for boarding bridge |
| CN101768918A (en) * | 2008-12-30 | 2010-07-07 | 深圳中集天达空港设备有限公司 | Ferry board device and boarding bridge thereof |
| CN102320381A (en) * | 2011-07-14 | 2012-01-18 | 蒂森克虏伯机场系统(中山)有限公司 | Intelligent following type passenger boarding bridge |
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| CN105446368A (en) | 2016-03-30 |
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