CN108358065B - Bridge rotating Beidou localization method based on PLC - Google Patents
Bridge rotating Beidou localization method based on PLC Download PDFInfo
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- CN108358065B CN108358065B CN201810114080.1A CN201810114080A CN108358065B CN 108358065 B CN108358065 B CN 108358065B CN 201810114080 A CN201810114080 A CN 201810114080A CN 108358065 B CN108358065 B CN 108358065B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/16—Applications of indicating, registering, or weighing devices
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- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Bridges Or Land Bridges (AREA)
Abstract
The invention discloses a kind of bridge rotating Beidou localization method based on PLC, including rotation beam body and fixed beam body, the rotation beam body are used to connect under the driving for promoting rotating mechanism with the fixed beam body；Bridge rotating Beidou localization method includes: for rotating the step of alignment sensor of beam body carries out location and installation；Rotation beam body (1), which is controlled, for PLC controller (4) carries out the step of promoting positioning；For rotating the step of carrying out rotary alignment between beam body and fixed beam body (2)；For the step of carrying out location data transmission and control between PLC controller (4) and intelligent terminal.The utility model has the advantages that practical, whole process is controlled by PLC controller, and speed is adjustable in conjunction with virtualphase, and intelligence is reliable.
Description
Technical field
The present invention relates to technical field of bridge construction, specifically a kind of railroad bridge lifting swivel based on PLC becomes
Frequency control system.
Background technique
With the quick raising of national economy level, communication is also greatly developed therewith.Due to some landform or existing
The influence of means of transportation, bridge hoisting and rotator construction have been more and more widely used in bridge construction.With traditional bridge
Compare, the construction technology of swivel lifting and bridge have do not interfere traffic, uninterrupted navigation, can across zanjon river, can be crossed over it is logical
The characteristics of frequent road, and construct quickly, economical and efficient.
Since swivel weight is big, bridge is longer in addition, bridge type abnormity, and complex geographical environment locating for bridge is rotated in lifting
In the process, angle is difficult to control.For in the lifting and Construction Technology of Level Swing Method of bridge, the bridge hoisting and rotator construction of bridge at
For the difficult point of bridge construction.
In traditional construction technology, what is generallyd use is that the beam body that will have been poured is transported to newly constructing a bridge position, then
Beam body is lifted in conjunction with crane suspender.For the prior art, at least have the following deficiencies:
First: the beam body bulking value poured is huge, complex geographical environment locating for bridge, and beam body transportational process is difficult,
Freight is high, spends human and material resources；
Second: in using crane or suspender hoisting process, since wind-force acts on, being easy to happen beam body and wave, existing
Have in hoisting process, it is often necessary to several kilometers of wind speed of circumference be detected, when wind speed is more than lifting wind speed, need to stop
Only lift；
Third: lifting construction danger coefficient is big, and for the ease of observation construction, the construction time generally inevitably exists on daytime
Road is blocked, the traffic congestion of surrounding is caused.
4th: due to carrying out lifting and rotator construction using suspender crane, since lifting rope is long, being easy to be shaken by crane
Dynamic and wind influence causes lifting precision low, and rotator construction is difficult, and the bridge construction time is long, is unable to satisfy requirement.
5th: in bridge location installation process, the position for beam body be artificial observation and control, observe precision
It is low, it is difficult to control.
6th: in rotator construction, the swivel device such as motor that rotator construction is used can not be recycled, and waste of resource is built into
This height.
Based on drawbacks described above, it is necessary to propose a kind of new technical solution, exist to overcome in existing highway bridge work progress
The problem of.
Summary of the invention
In view of the above-mentioned problems, the present invention provides a kind of bridge rotating Beidou localization method based on PLC, to rotating beam
Body is promoted and is rotated in control process, and PLC controller control is carried out, and obtains the current location of rotation beam body in real time, real
When monitor, safe and intelligent.
In order to achieve the above objectives, the specific technical solution that the present invention uses is as follows:
A kind of bridge rotating Beidou localization method based on PLC, key technology are: including rotation beam body and fixed beam
Body, the rotation beam body are used to connect under the driving for promoting rotating mechanism with the fixed beam body；
Bridge rotating Beidou localization method includes:
The step of alignment sensor for rotating beam body carries out location and installation；
Rotation beam body, which is controlled, for PLC controller carries out the step of promoting positioning；
For rotating the step of carrying out rotary alignment between beam body and fixed beam body；
For the step of carrying out location data transmission and control between PLC controller and intelligent terminal.
By above-mentioned design, the installation of rotation beam body is realized.The step of passing through location and installation, the preparation before carrying out lifting；
According to the step of promoting positioning, hoisting depth is monitored in real time, guarantees the reliability of lifting process；According to rotary alignment
Step realizes the alignment and connection of rotation beam body and fixed beam body, guarantees bridge stationarity.The step of location data transmission and control
Suddenly, it realizes data remote transmission, realizes long-range control, monitored convenient for controllers, reduce the risk of bridge installation.
Further describe, it is described for rotate beam body alignment sensor carry out location and installation the step of particular content
Are as follows:
To setting, all the sensors on fixed beam body fixed connection end face send activation driving letter to S11:PLC controller
Breath；
The fixed beam body is two fixed beam bodies connecting with the rotation two rotational connection end face of beam body；
S12:PLC controller obtains the installation site information of all the sensors on fixed beam body fixed connection end face；
The installation site information that S13:PLC controller will acquire sends touch screen, the installation position shown according to touch screen
Confidence breath carries out the sensor installation of the rotation beam body；
S14:PLC controller issues activation driving signal, connection and the rotating beam to the sensor of the rotation beam body
The connection relationship of sensor on body.
By above-mentioned design, according to already installed fixed beam body, to design all the sensors in the rotation beam body
Installation site.The reliability for guaranteeing installation process, is ready in advance, guarantees promoted and can collect spy in rotary course
Fixed data.
It further describes, all the sensors are at least on fixed beam body fixed connection end face for setting in step s 11
It include: Beidou locator, far infrared transceiver, ultrasonic receiving device；
The Beidou locator is separately installed on two rotational connection end faces of the rotation beam body；
The far infrared transceiver includes rotary infrared line R-T unit and fixed far infrared transceiver, the rotation
Far infrared transceiver is arranged on two rotational connection end faces of the rotation beam body, the fixed far infrared transceiver setting
In being fixedly connected on end face for the fixed beam body；
The ultrasonic receiving device includes rotary ultrasonic wave R-T unit and mounting ultrasonic R-T unit, the rotation
Ultrasonic receiving device is arranged on two rotational connection end faces of the rotation beam body, the mounting ultrasonic R-T unit setting
In being fixedly connected on end face for the fixed beam body；
Two rotational connection end faces of the rotation beam body are serrated with the end face that is fixedly connected of the fixed beam body.
In conjunction with Beidou locator, two rotational connection end face present position of real time rotation beam body, and can be positioned by Beidou
Device obtains the relative position of rotation beam body and fixed beam body.In conjunction with rotary infrared line R-T unit and fixed infrared ray transceiving dress
It sets, passes through transmitting and receiving infrared-ray, it is ensured that whether rotation beam body is aligned with fixed beam body, guarantees whether the two is in one
On bar line.In conjunction with rotary ultrasonic wave R-T unit and mounting ultrasonic R-T unit can measure rotation beam body and fixed beam body it
Between distance.Guarantee to realize seamless connection.All the sensors are arranged in rotation beam body and fixed beam body, are not necessarily to other
Ancillary equipment, so that it may realize real time monitoring.
It is additionally provided with camera in rotation beam body and fixed beam body, for monitoring in rotary course, rotation beam body and solid
Determine the positional relationship between beam body, by real-time pictures, be transmitted to PLC controller, passes through display real-time display.
It further describes, the promotion rotating mechanism includes pier stud and beam body casting platform；
Platform through-hole is provided in the middle part of the beam body casting platform, the bottom of the pier stud is stood in the platform through-hole,
The pier stud shaft stretches out platform through-hole；
The beam body casting platform is for pouring the rotation beam body, when pouring the rotation beam body, in the rotating beam
There are swivel base through-hole in the middle part of body, the pier stud shaft stretches out the swivel base through-hole, and the orthographic projection of the pier stud is logical in the swivel base
In hole.
The top of the pier stud is horizontal rotary support table, and the outer profile of the rotary support table table top is bar shaped, and is revolved
Turn the table top vertical projection of supporting table in the platform through-hole；
Wherein, platform through-hole can be arbitrary shape, but must satisfy pier stud orthographic projection and be incident upon in the platform through-hole.
The turntable of horizontal rotation is installed on the rotary support table, lifting device is fixed on the turntable, it is described to mention
The drag-line and suspension hook for rising device stretch to the beam body casting platform；
The bottom of the beam body casting platform is provided with beam body jacking apparatus, which pours the beam body
Platform is jacked；
The beam body jacking apparatus includes at least two hydraulic climbing mechanism, pedestal and lifting platform, the pedestal and lifting platform
It is arranged in parallel；
The hydraulic pump of each hydraulic climbing mechanism is connect with jacking frequency converter respectively, which controls through the PLC
Device control processed；
Height sensor is additionally provided on the lifting platform, the height sensor is connect with the PLC controller；
The lifting device is provided at least four variable-frequency motors, and every variable-frequency motor connects one group of pulley mechanism, every set
Pulley mechanism is installed with a set of drag-line and suspension hook, and four variable-frequency motors are connected with promotion frequency converter, and the promotion becomes
Frequency device is controlled through the PLC controller；
Tension sensor is installed on drag-line described in each, at least four pulling force is provided in the PLC controller
Signal input part is connected with the tension sensor on each pulling force signal input part；
It is described to carry out the step of promoting positioning for PLC controller control rotation beam body；
S21: the suspension hook of drag-line is connected with rotation beam body, sets hoisting depth value and pulling force threshold value；
S22:PLC controller controls the variable-frequency motor and the hydraulic climbing mechanism and carries out promotion behaviour to rotation beam body
Make；
S23:PLC controller obtains the detection value of thrust of the tension sensor detection；If detecting value of thrust is greater than pulling force
When threshold value, S24 is entered step；Otherwise, S25 is entered step；
S24:PLC controller, which controls the variable-frequency motor, to be stopped promoting operation, and PLC controller controls the hydraulic lifting machine
Structure rises x millimeters, return step S23；The value range of x is 0.1-2.
S25:PLC controller obtains the detection height value of height sensor detection, if detection height value is equal to hoisting depth
When value, S26 is entered step；
S26:PLC controller controls the variable-frequency motor and the hydraulic climbing mechanism stops being promoted.
Beam body casting platform is for pouring rotation beam body；It by drag-line and is hung in the rotation beam body poured with lifting device
Hook connects, rotation beam body support driving, lifting device and beam body lifting device to control in PLC by the beam body lifting device of installation
Under the control of device, driving beam ontology rises, and in conjunction with frequency control, promotes speed and is adjusted, intelligent and safe.By cast in situs,
The transportational process of rotation beam body is avoided, cast in situs is time saving and energy saving.Beam ontology is implemented in combination with by way of supporting and being promoted
Lifting operation, rotate the lifting process of beam body, windage is small.And entirely lifting rotator construction occupied area is small, causes
Influence it is small.Intelligent control is carried out using PLC control system, reduces manpower and material resources, intelligent measurement and construction.And it is entirely applying
After the completion of work process, more than rotary support table rotation support column, turntable etc. can be recycled, save the cost.Entire lifting process
Real time monitoring, step are orderly.
It further describes, rotation support column and balance stabilising arrangement is equipped between the turntable and rotary support table,
The balance and stability device includes at least 4 balancing trolleys, surrounds the rotation support column on the rotary support table and is equipped with ring
The guide chute of shape, the balancing trolley are slided with being rotated in the guide chute for the turntable；
Stable sand cylinder is fixed on every balancing trolley, the outer sleeve of the stable sand cylinder is fixedly mounted on described
On balancing trolley, the tube plug of the stable sand cylinder is fixedly mounted on the lower surface of the turntable；
Displacement sensor and trolley drive motor are installed on every balancing trolley, are equipped with extremely in the guide chute
Few 4 pressure sensors；
The PLC controller is provided at least four displacement signal input terminal, connects one on each displacement signal input terminal
Institute's displacement sensors；
The PLC controller is provided at least four trolley drive output, each trolley drive output respectively with one
The trolley drive motor connection；
The PLC controller is provided at least four pressure signal input end, each pressure signal input end respectively with one
The pressure sensor connection；
It is described to be used to rotate the step of carrying out rotary alignment between beam body and fixed beam body specifically:
S31: setting pressure sensor detection pressure threshold, rotation angle threshold；
S32:PLC controller obtains angle value and the height sensor inspection of the Beidou locator positioning in initial rotation beam body
The detection height value of survey if detection height value is equal to hoisting depth value, and enters step S33；
S33:PLC controller controls the trolley drive motor rotation, and the rotation beam body is driven to start rotation process；
S34:PLC controller obtains the detection pressure value of all pressure sensors, if detection pressure value is more than the inspection of setting
Measuring pressure threshold value, then operation of stopping rotating；
The moving distance of S35:PLC controller acquisition Beidou locator current orientation angle angle value and the balancing trolley；Root
According to the orientation angle difference and the balancing trolley moving distance of Beidou locator, rotation angle value is obtained；
S36:PLC controller compares rotation angle value and rotation angle threshold, if rotation angle value and rotation angle threshold
It is equal, enter step S37；
The rotary infrared line R-T unit that S37:PLC controller controls in the rotation beam body issues infrared signal；PLC
Controller obtains the infrared receiver signal of the fixation far infrared transceiver of the fixation beam body adjacent with the rotation beam body；
S38: if fixed far infrared transceiver has received infrared receiver signal, rotate beam body and fixed beam body it
Between realize alignment, rotation control terminates, otherwise return step S31.
By above-mentioned design, using at least 4 balancing trolleys, support and balance can be played the role of.Balancing trolley exists
It is moved in guide chute, turntable, rotation beam body is driven to rotate together.Pressure sensor, real-time detection are set in guide chute
The endurance of all each balancing trolleys realizes balance detection.By displacement sensor, each balancing trolley amount of movement is detected,
Balance detection can be realized by amount of movement, can also be achieved rotation beam body angular turn detection.Pass through PLC controller real-time detection
Control, intelligence are accurate.
In rotary course, rotation front and back relative position is detected using Beidou locator.It is flat by trolley drive motor driving
Weigh trolley, slides balancing trolley along guide chute, and 4 balancing trolleys are to drive rotation beam body to revolve on rotary support table
Turn, by the mobile distance of measurement guide chute radius and balancing trolley, by guide chute perimeter and balancing trolley it is mobile away from
From, can calculate rotation beam body rotational angle.It, can be to rotational angle and north meanwhile in conjunction with relative position before and after Beidou locator
The positioning of bucket locator carries out precision adjusting.Keep final Beidou positioning more accurate.
It further describes, wireless transmitter, the nothing is connected on the wireless receiving and dispatching signal end of the PLC controller
Line R-T unit is connect with intelligent terminal；
The step particular content for progress location data transmission and control between PLC controller and intelligent terminal
Are as follows:
S41: intelligent terminal, which is established, is wirelessly connected relationship with PLC controller；
S42: intelligent terminal, which is established, promotes rotation Controlling model；Setting promotes all model prediction numbers of rotation Controlling model
According to the difference threshold with actually detected data；
S43: intelligent terminal wirelessly obtains all actually detected data of PLC controller detection；
S44: intelligent terminal will compare all actually detected data with model prediction data, if any actually detected
Data and the difference of model prediction data are greater than setting difference threshold, and intelligent terminal reports an error, and shows data error data and position
It sets, otherwise return step S44.
By intelligent terminal, remote data acquisition and long-range control are realized.Without professional staff's close-ups, only
It needs to obtain field data, so that it may realize and promote and rotate control.And pass through the accessible ratio of precision of sensor data acquisition
Macroscopic precision is higher.Staff is avoided closely to operate.Good reliability, danger coefficient is low, and control precision is high.
It further describes, the promotion rotation Controlling model is according to rotation beam body, fixed beam body and to promote whirler
The vertical software model of building；
The promotion rotation Controlling model simulation, which has, promotes simulated operation and rotary simulation operation, and promotion simulation behaviour
Make and rotary simulation operation includes the detection analogue value of respective sensor.
All size uniformities in rotation Controlling model with practical pier stud, beam body casting platform, rotation beam body are promoted to cause.And
And simulate and promote simulated operation and rotary simulation operation, promotion and rotation process are simulated in real time, when practical operation,
Data comparison can be carried out according to simulated operation, entire rotation and lifting process are compared and controlled.And promote rotation control
Simulation can also redesign and change data according to the change of real data.Reality is practical and virtual in conjunction with virtualphase
It mutually adjusts and supervises, it is long-range to control.
Beneficial effects of the present invention: it by PLC controller, realizes and automatically controls.By installing sensor, intelligence inspection is realized
It surveys, accuracy is high, and safety coefficient is good.Beam body uses cast in situs, avoids transverse shifting, this physical efficiency of beam is in equilibrium-like always
State, and beam ontology is also supported and is arranged on beam body lifting device, since beam body lifting device is fixedly installed, is then being promoted
In the process, wind-force will not cause to rock to beam ontology, and Liang Benti stability is strong.Whole process is controlled by PLC controller,
Speed is adjustable, and intelligence is reliable.Accurate positioning facilitates intelligence.Step is successively orderly, practical in conjunction with virtualphase, practical and virtual
It mutually adjusts and supervises, it is long-range to control.
Detailed description of the invention
Fig. 1 is the rotation control schematic diagram of present invention rotation beam body and fixed beam body；
Fig. 2 is pillarwork schematic diagram of the present invention；
Fig. 3 is present invention rotation beam body lift structure schematic diagram；
Fig. 4 is the enlarged diagram of A in Fig. 3；
Fig. 5 is control block diagram of the invention；
Fig. 6 is the flow chart for rotating the step of alignment sensor of beam body carries out location and installation；
Fig. 7 is the flow chart for controlling rotation beam body for PLC controller and carrying out the step of promoting positioning；
Fig. 8 is the flow chart for rotating the step of carrying out rotary alignment between beam body and fixed beam body；
Fig. 9 is the flow chart that location data transmission and control are carried out for PLC controller and intelligent terminal.
Specific embodiment
Specific embodiment and working principle of the present invention will be described in further detail with reference to the accompanying drawing.
A kind of bridge rotating Beidou localization method based on PLC, can be seen that from Fig. 1-3, including rotation beam body 1 and fixed beam
Body 2, the rotation beam body 1 are used to connect under the driving for promoting rotating mechanism 7 with the fixed beam body 2；
In conjunction with Fig. 6-Fig. 9, bridge rotating Beidou localization method includes:
It can be seen that in conjunction with Fig. 1 and 6, for the step of rotating the alignment sensor progress location and installation of beam body 1；
S11:PLC controller 4 is fixedly connected with all the sensors on end face in fixed beam body 2 to setting and sends activation driving letter
Breath；
The fixed beam body 2 is two fixed beam bodies connecting with described rotation 1 liang of rotational connection end face of beam body；
S12:PLC controller 4 obtains the installation site information that fixed beam body 2 is fixedly connected with all the sensors on end face；
The installation site information that S13:PLC controller 4 will acquire sends touch screen, the installation position shown according to touch screen
Confidence breath carries out the sensor installation of the rotation beam body 1；
S14:PLC controller 4 issues activation driving signal, connection and the rotation to the sensor of the rotation beam body 1
The connection relationship of sensor in beam body 1.
Setting in step s 11 fixed beam body 2 be fixedly connected all the sensors on end face include: Beidou locator 3,
Far infrared transceiver 5, ultrasonic receiving device 6 are fixedly connected on end face in fixed beam body 2 and are additionally provided with camera；
The Beidou locator 3 is separately installed on two rotational connection end faces of the rotation beam body 1；
The far infrared transceiver 5 includes rotary infrared line R-T unit 5a and fixed far infrared transceiver 5b, institute
It states rotary infrared line R-T unit 5a to be arranged on two rotational connection end faces of the rotation beam body 1, the fixed infrared ray is received
Being fixedly connected on end face of the fixed beam body 2 is arranged in transmitting apparatus 5b；
The ultrasonic receiving device 6 includes rotary ultrasonic wave R-T unit 6a and mounting ultrasonic R-T unit 6b, institute
It states rotary ultrasonic wave R-T unit 6a to be arranged on two rotational connection end faces of the rotation beam body 1, the mounting ultrasonic is received
Being fixedly connected on end face of the fixed beam body 2 is arranged in transmitting apparatus 6b；
Two rotational connection end faces of the rotation beam body 1 are serrated with the end face that is fixedly connected of the fixed beam body 2.
Can be seen that the promotion rotating mechanism 7 in conjunction with Fig. 2, Fig. 3, Fig. 4, Fig. 5 includes pier stud 71 and beam body casting platform
72.The middle part of the beam body casting platform 72 is provided with platform through-hole, and the bottom of the pier stud 71 is stood in the platform through-hole, institute
It states 71 shaft of pier stud and stretches out platform through-hole；The swivel base through-hole is strip-shaped hole.The top of the pier stud 71 is horizontal rotation branch
Platform 71a is supportted, the outer profile of rotary support table 71a table top is bar shaped, and the table top vertical projection of rotary support table 71a is described
In platform through-hole.The turntable 73 of horizontal rotation is installed on the rotary support table 71a, promotion dress is fixed on the turntable 73
74 are set, the drag-line 74a and suspension hook of the lifting device 74 stretch to the beam body casting platform 72；The beam body casting platform 72
Bottom is provided with beam body jacking apparatus 75, which jacks the beam body casting platform 72.
The beam body jacking apparatus 75 includes 8 hydraulic climbing mechanism 75a, pedestal 75b and lifting platform 75c, the pedestal
75b and lifting platform 75c are arranged in parallel；The hydraulic pump of each hydraulic climbing mechanism 75a is connect with jacking frequency converter respectively, the jacking
Frequency converter is controlled through the PLC controller 4.
Height sensor 75d, the height sensor 75d and the PLC control are additionally provided on the lifting platform 75c
Device 4 connects.The lifting device 74 is provided with four variable-frequency motor 74c, every variable-frequency motor 74c one group of pulley mechanism of connection,
Every set pulley mechanism is installed with a set of drag-line 74a and suspension hook, and four variable-frequency motor 74c are connected with promotion frequency converter,
The promotion frequency converter is controlled through the PLC controller 4；Tension sensor 74b is installed on drag-line 74a described in each,
It is provided with 4 pulling force signal input parts in the PLC controller 4, is connected with described in one on each pulling force signal input part
Tension sensor 74b.
It can also be seen that in conjunction with Fig. 2, Fig. 3, Fig. 4, Fig. 5 and be equipped with rotation between the turntable 73 and rotary support table 71a
Support column 76 and balance stabilising arrangement 77, the balance and stability device 77 include at least 4 balancing trolley 77a, the rotation branch
The guide chute 78 for being equipped with annular on platform 71a around the rotation support column 76 is supportted, the balancing trolley 77a is with the turntable 73
Be rotated in sliding in the guide chute 78；Stable sand cylinder 79, the stabilization are fixed on every balancing trolley 77a
The outer sleeve of sand cylinder 79 is fixedly mounted on the balancing trolley 77a, and the tube plug of the stable sand cylinder 79 is fixedly mounted on described
The lower surface of turntable 73；Displacement sensor 77b and trolley drive motor 77d is installed on every balancing trolley 77a, in institute
Guide chute 78 is stated equipped at least four pressure sensor 77c；The PLC controller 4 is provided with the input of at least four displacement signal
It holds, an institute displacement sensors 77b is connected on each displacement signal input terminal；The PLC controller 4 is provided at least four
Trolley drive output, each trolley drive output are connect with a trolley drive motor 77d respectively；The PLC control
Device 4 processed is provided at least four pressure signal input end, each pressure signal input end respectively with a pressure sensor
77c connection.
From Fig. 5 it can also be seen that being connected with wireless transmitter on the wireless receiving and dispatching signal end of the PLC controller 4, institute
Wireless transmitter is stated to connect with intelligent terminal.
From Fig. 4 it can also be seen that being provided with n convex block 71b on the upper surface the rotary support table 71a.N be greater than etc.
In 2 positive integer, and n convex block is uniformly arranged on the upper surface rotary support table 71a.
It is seen also in fig. l that on two connecting end surfaces of the rotation beam body 1, the connecting end surface of fixed beam body 2
It is provided with reinforcement installation hole, for the rotation beam body 1 to be connected with the fixed beam body 2.
In the present embodiment, in conjunction with Fig. 7 as can be seen that carrying out promotion positioning for the control rotation beam body 1 of PLC controller 4
The step of be specially；
S21: the suspension hook of drag-line 74a is connected with rotation beam body 1, sets hoisting depth value and pulling force threshold value；
S22:PLC controller 4 controls the variable-frequency motor 74c and the hydraulic climbing mechanism 75a and carries out to rotation beam body 1
Promote operation；
S23:PLC controller 4 obtains the detection value of thrust of the tension sensor 74b detection；If detection value of thrust is greater than
When pulling force threshold value, S24 is entered step；Otherwise, S25 is entered step；
S24:PLC controller 4, which controls the variable-frequency motor 74c, to be stopped promoting operation, and PLC controller 4 controls described hydraulic
Lifting body 75a rises x millimeters, return step S23；
S25:PLC controller 4 obtains the detection height value of height sensor 75d detection, is promoted if detection height value is equal to
When height value, S26 is entered step；
S26:PLC controller 4, which controls the variable-frequency motor 74c and hydraulic climbing mechanism 75a, to be stopped being promoted.
It is in conjunction with Fig. 8 as can be seen that described specific for rotating the step of carrying out rotary alignment between beam body and fixed beam body
Are as follows:
S31: setting pressure sensor 77c detection pressure threshold, rotation angle threshold；
S32:PLC controller 4 obtains the angle value and highly sensing that the Beidou locator 3 in initial rotation beam body 1 positions
The detection height value of device 75d detection if detection height value is equal to hoisting depth value, and enters step S33；
S33:PLC controller 4 controls the trolley drive motor 77d rotation, and the rotation beam body 1 is driven to start rotation behaviour
Make；
S34:PLC controller 4 obtains the detection pressure value of all pressure sensor 77c, if detection pressure value is more than setting
Detection pressure threshold, then operation of stopping rotating；
S35:PLC controller 4 obtain the movement of the current orientation angle angle value of Beidou locator 3 and the balancing trolley 77a away from
From；According to the orientation angle difference of Beidou locator 3 and the balancing trolley 77a moving distance, rotation angle value is obtained；
S36:PLC controller 4 compares rotation angle value and rotation angle threshold, if rotation angle value and rotation angle threshold
It is equal, enter step S37；
The rotary infrared line R-T unit 5a that S37:PLC controller 4 controls in the rotation beam body 1 issues infrared ray letter
Number；The infrared ray that PLC controller 4 obtains the fixation far infrared transceiver 5b of the fixation beam body 2 adjacent with the rotation beam body 1 connects
The collection of letters number；
S38: if fixed far infrared transceiver 5b has received infrared receiver signal, beam body 1 and fixed beam are rotated
Alignment is realized between body 2, rotation control terminates, otherwise return step S31.
It is in conjunction with Fig. 9 as can be seen that described for carrying out location data transmission and control between PLC controller 4 and intelligent terminal
The step particular content of system are as follows:
S41: intelligent terminal, which is established, is wirelessly connected relationship with PLC controller 4；
S42: intelligent terminal, which is established, promotes rotation Controlling model；Setting promotes all model prediction numbers of rotation Controlling model
According to the difference threshold with actually detected data；
S43: intelligent terminal wirelessly obtains all actually detected data of the detection of PLC controller 4；
S44: intelligent terminal will compare all actually detected data with model prediction data, if any actually detected
Data and the difference of model prediction data are greater than setting difference threshold, and intelligent terminal reports an error, and shows data error data and position
It sets, otherwise return step S44.
In the present embodiment, the promotion rotation Controlling model is to be rotated according to rotation beam body 1, fixed beam body 2 and promotion
The software model that mechanism 7 establishes；
The promotion rotation Controlling model simulation, which has, promotes simulated operation and rotary simulation operation, and promotion simulation behaviour
Make and rotary simulation operation includes the detection analogue value of respective sensor.
All size uniformities in rotation Controlling model with practical pier stud, beam body casting platform, rotation beam body are promoted to cause.And
And simulate and promote simulated operation and rotary simulation operation, promotion and rotation process are simulated in real time, when practical operation,
Data comparison can be carried out according to simulated operation, entire rotation and lifting process are compared and controlled.And promote rotation control
Simulation can also redesign and change data according to the change of real data.Reality is practical and virtual in conjunction with virtualphase
It mutually adjusts and supervises, it is long-range to control.
It should be pointed out that the above description is not a limitation of the present invention, the present invention is also not limited to the example above,
Variation, modification, addition or the replacement that those skilled in the art are made within the essential scope of the present invention, are also answered
It belongs to the scope of protection of the present invention.
Claims (5)
1. a kind of bridge rotating Beidou localization method based on PLC, it is characterised in that: including rotation beam body (1) and fixed beam body
(2), rotation beam body (1) is used to connect under the driving for promoting rotating mechanism (7) with the fixed beam body (2)；
Bridge rotating Beidou localization method includes:
The step of alignment sensor for rotating beam body (1) carries out location and installation；
Rotation beam body (1), which is controlled, for PLC controller (4) carries out the step of promoting positioning；
For rotating the step of carrying out rotary alignment between beam body and fixed beam body；
For the step of carrying out location data transmission and control between PLC controller (4) and intelligent terminal；
The particular content for the step of alignment sensor for rotating beam body (1) carries out location and installation are as follows:
S11:PLC controller (4) is fixedly connected with all the sensors on end face in fixed beam body (2) to setting and sends activation driving letter
Breath；
The fixed beam body (2) is two fixed beam bodies connecting with rotation (1) the two rotational connection end face of beam body；
S12:PLC controller (4) obtains the installation site information that fixed beam body (2) are fixedly connected with all the sensors on end face；
The installation site information that S13:PLC controller (4) will acquire sends touch screen, the installation site shown according to touch screen
Information carries out the sensor installation of rotation beam body (1)；
S14:PLC controller (4) issues activation driving signal, connection and the rotation to the sensor of rotation beam body (1)
The connection relationship of sensor in beam body (1)；
Setting in step s 11 is fixedly connected with all the sensors on end face in fixed beam body (2) and includes at least: Beidou locator
(3), far infrared transceiver (5), ultrasonic receiving device (6)；
The Beidou locator (3) is separately installed on two rotational connection end faces of rotation beam body (1)；
The far infrared transceiver (5) includes rotary infrared line R-T unit (5a) and fixes far infrared transceiver (5b),
On two rotational connection end faces of rotation beam body (1), the fixation is red for rotary infrared line R-T unit (5a) setting
Being fixedly connected on end face in fixed beam body (2) is arranged in outside line R-T unit (5b)；
The ultrasonic receiving device (6) includes rotary ultrasonic wave R-T unit (6a) and mounting ultrasonic R-T unit (6b),
On two rotational connection end faces of rotation beam body (1), the fixation is super for rotary ultrasonic wave R-T unit (6a) setting
Being fixedly connected on end face in fixed beam body (2) is arranged in sound wave R-T unit (6b)；
Two rotational connection end faces of rotation beam body (1) are serrated with the end face that is fixedly connected of the fixed beam body (2).
2. the bridge rotating Beidou localization method according to claim 1 based on PLC, it is characterised in that: the promotion rotation
Rotation mechanism (7) includes pier stud (71) and beam body casting platform (72)；
Platform through-hole is provided in the middle part of the beam body casting platform (72), the bottom of the pier stud (71) is stood in the platform through-hole
Interior, pier stud (71) shaft stretches out platform through-hole；
The top of the pier stud (71) is horizontal rotary support table (71a), and the outer profile of rotary support table (71a) table top is
Bar shaped, and the table top vertical projection of rotary support table (71a) is in the platform through-hole；
The turntable (73) of horizontal rotation is installed on the rotary support table (71a), promotion dress is fixed on the turntable (73)
It sets (74), the drag-line (74a) and suspension hook of the lifting device (74) stretch to the beam body casting platform (72)；
The bottom of the beam body casting platform (72) is provided with beam body jacking apparatus (75), and the beam body jacking apparatus (75) is to described
Beam body casting platform (72) is jacked；
The beam body jacking apparatus (75) includes at least two hydraulic climbing mechanism (75a), pedestal (75b) and lifting platform (75c),
The pedestal (75b) and lifting platform (75c) are arranged in parallel；
The hydraulic pump of each hydraulic climbing mechanism (75a) is connect with jacking frequency converter respectively, which controls through the PLC
Device (4) control processed；
It is additionally provided on the lifting platform (75c) height sensor (75d), the height sensor (75d) and the PLC are controlled
Device (4) connection processed；
The lifting device (74) is provided at least four variable-frequency motors (74c), and every variable-frequency motor (74c) connects one group of pulley
Mechanism, every set pulley mechanism are installed with a set of drag-line (74a) and suspension hook, and four variable-frequency motors (74c) are connected with and mention
Frequency converter is risen, the promotion frequency converter is controlled through the PLC controller (4)；
Tension sensor (74b) is installed on drag-line described in each (74a), be provided on the PLC controller (4) to
Lack 4 pulling force signal input parts, is connected with the tension sensor (74b) on each pulling force signal input part；
It is described for PLC controller (4) control rotation beam body (1) carry out promoted positioning the step of be specially；
S21: the suspension hook of drag-line (74a) is connected with rotation beam body (1), sets hoisting depth value and pulling force threshold value；
S22:PLC controller (4) controls the variable-frequency motor (74c) and the hydraulic climbing mechanism (75a) to rotation beam body (1)
Carry out promotion operation；
S23:PLC controller (4) obtains the detection value of thrust of tension sensor (74b) detection；If detection value of thrust is greater than
When pulling force threshold value, S24 is entered step；Otherwise, S25 is entered step；
S24:PLC controller (4), which controls the variable-frequency motor (74c), to be stopped promoting operation, and PLC controller (4) controls the liquid
Lifting body (75a) is pressed to rise x millimeters, the value range of x is 0.1-2, return step S23；
S25:PLC controller (4) obtains the detection height value of height sensor (75d) detection, is promoted if detection height value is equal to
When height value, S26 is entered step；
S26:PLC controller (4) controls the variable-frequency motor (74c) and the hydraulic climbing mechanism (75a) stops being promoted.
3. the bridge rotating Beidou localization method according to claim 2 based on PLC, it is characterised in that: in the turntable
(73) rotation support column (76) and balance stabilising arrangement (77), the balance and stability dress are equipped between rotary support table (71a)
Setting (77) includes at least 4 balancing trolleys (77a), is set on the rotary support table (71a) around the rotation support column (76)
There is the guide chute (78) of annular, the balancing trolley (77a) is rotated in the guide chute (78) with the turntable (73)
Interior sliding；
Stable sand cylinder (79) is fixed on every balancing trolley (77a), the outer sleeve of the stable sand cylinder (79) is fixed
It is mounted on the balancing trolley (77a), the tube plug of the stable sand cylinder (79) is fixedly mounted on the following table of the turntable (73)
Face；
Displacement sensor (77b) and trolley drive motor (77d) are installed on every balancing trolley (77a), led described
At least four pressure sensor (77c) is equipped with to sliding slot (78)；
The PLC controller (4) is provided at least four displacement signal input terminal, connects one on each displacement signal input terminal
Institute's displacement sensors (77b)；
The PLC controller (4) is provided at least four trolley drive output, each trolley drive output respectively with one
Trolley drive motor (77d) connection；
The PLC controller (4) is provided at least four pressure signal input end, each pressure signal input end respectively with one
Pressure sensor (77c) connection；
It is described to be used to rotate the step of carrying out rotary alignment between beam body and fixed beam body specifically:
S31: setting pressure sensor (77c) detection pressure threshold, rotation angle threshold；
S32:PLC controller (4) obtains the angle value of Beidou locator (3) positioning on initial rotation beam body (1) and height passes
The detection height value of sensor (75d) detection if detection height value is equal to hoisting depth value, and enters step S33；
S33:PLC controller (4) controls trolley drive motor (77d) rotation, and the rotation beam body (1) is driven to start to rotate
Operation；
S34:PLC controller (4) obtains the detection pressure value of all pressure sensors (77c), if detection pressure value is more than setting
Detection pressure threshold, then operation of stopping rotating；
S35:PLC controller (4) obtains the movement of Beidou locator (3) current orientation angle angle value and the balancing trolley (77a)
Distance；According to the orientation angle difference of Beidou locator (3) and the balancing trolley (77a) moving distance, rotation angle is obtained
Value；
S36:PLC controller (4) compares rotation angle value and rotation angle threshold, if rotation angle value and rotation angle threshold phase
Deng entering step S37；
Rotary infrared line R-T unit (5a) on S37:PLC controller (4) control rotation beam body (1) issues infrared ray letter
Number；PLC controller (4) obtains and the fixation far infrared transceiver (5b) of the adjacent fixation beam body (2) of the rotation beam body (1)
Infrared receiver signal；
S38: if fixed far infrared transceiver (5b) has received infrared receiver signal, beam body (1) and fixed beam are rotated
Alignment is realized between body (2), rotation control terminates, otherwise return step S31.
4. the bridge rotating Beidou localization method according to claim 1 based on PLC, it is characterised in that: the PLC control
Wireless transmitter is connected on the wireless receiving and dispatching signal end of device (4), the wireless transmitter is connect with intelligent terminal；
The step particular content for progress location data transmission and control between PLC controller (4) and intelligent terminal are as follows:
S41: intelligent terminal, which is established, is wirelessly connected relationship with PLC controller (4)；
S42: intelligent terminal, which is established, promotes rotation Controlling model；Setting promoted rotation Controlling model all model prediction datas and
The difference threshold of actually detected data；
S43: intelligent terminal wirelessly obtains all actually detected data of PLC controller (4) detection；
S44: intelligent terminal will compare all actually detected data with model prediction data, if any actually detected data
It is greater than setting difference threshold with the difference of model prediction data, intelligent terminal reports an error, and shows data error data and position, no
Then return step S44.
5. the bridge rotating Beidou localization method according to claim 4 based on PLC, it is characterised in that: the promotion rotation
Turning Controlling model is according to rotation beam body (1), fixed beam body (2) and to promote software model rotating mechanism (7) established；
Promotion rotation Controlling model simulation, which has, promotes simulated operation and rotary simulation operation, and the promotions simulated operation with
Rotary simulation operation includes the detection analogue value of respective sensor.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2018100494300 | 2018-01-18 | ||
| CN201810049430 | 2018-01-18 |
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| CN109508045B (en) * | 2018-12-17 | 2021-09-10 | 中国航空工业集团公司北京航空精密机械研究所 | PLC-based sleeve position accurate adjustment control method and device |
| CN110526139B (en) * | 2019-09-06 | 2021-04-13 | 安徽泰恒之源科技有限公司 | Quick haulage equipment is used in railway construction |
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| WO2004063469A1 (en) * | 2003-01-13 | 2004-07-29 | Hankookb & B | Apparatus and method for constructing bridge moving |
| CN100523382C (en) * | 2006-11-17 | 2009-08-05 | 北京航空航天大学 | Moving position gesture measuring method based on double image sensor suitable for top bridge construction |
| JP5866816B2 (en) * | 2011-06-24 | 2016-02-24 | 株式会社ジェイテクト | Manufacturing method of wheel bearing device |
| CN205313988U (en) * | 2016-01-07 | 2016-06-15 | 河北道桥工程检测有限公司 | Bridge structure of turning |
| CN205907613U (en) * | 2016-06-15 | 2017-01-25 | 衡橡科技股份有限公司 | Bridge is turned and is kept watch on control system automatically |
| CN108330844B (en) * | 2018-01-18 | 2020-01-10 | 重庆溢权科技发展有限公司 | Intelligent bridge rotation construction method based on Beidou positioning |
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