CN110486048A - A kind of control system and control method of tunnel lining trolley distributing trolley - Google Patents
A kind of control system and control method of tunnel lining trolley distributing trolley Download PDFInfo
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- CN110486048A CN110486048A CN201910804368.6A CN201910804368A CN110486048A CN 110486048 A CN110486048 A CN 110486048A CN 201910804368 A CN201910804368 A CN 201910804368A CN 110486048 A CN110486048 A CN 110486048A
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- 238000000034 method Methods 0.000 title claims abstract description 24
- 238000003032 molecular docking Methods 0.000 claims abstract description 33
- 238000004140 cleaning Methods 0.000 claims abstract description 30
- 230000009471 action Effects 0.000 claims abstract description 15
- 238000005406 washing Methods 0.000 claims abstract description 9
- 238000010926 purge Methods 0.000 claims abstract description 8
- 238000012544 monitoring process Methods 0.000 claims description 33
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 16
- 238000005086 pumping Methods 0.000 claims description 13
- 239000002002 slurry Substances 0.000 claims description 7
- 238000004891 communication Methods 0.000 claims description 4
- 238000005520 cutting process Methods 0.000 claims description 3
- 238000001514 detection method Methods 0.000 claims description 3
- 239000004744 fabric Substances 0.000 claims description 3
- 238000009790 rate-determining step (RDS) Methods 0.000 claims description 3
- 239000007788 liquid Substances 0.000 claims 1
- 239000003921 oil Substances 0.000 description 45
- 238000010586 diagram Methods 0.000 description 6
- 230000008569 process Effects 0.000 description 4
- 238000005299 abrasion Methods 0.000 description 2
- 238000005266 casting Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000001012 protector Effects 0.000 description 2
- 230000002000 scavenging effect Effects 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 238000013461 design Methods 0.000 description 1
- 239000010720 hydraulic oil Substances 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 230000035800 maturation Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000000819 phase cycle Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000009955 starching Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Classifications
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D11/00—Lining tunnels, galleries or other underground cavities, e.g. large underground chambers; Linings therefor; Making such linings in situ, e.g. by assembling
- E21D11/04—Lining with building materials
- E21D11/10—Lining with building materials with concrete cast in situ; Shuttering also lost shutterings, e.g. made of blocks, of metal plates or other equipment adapted therefor
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/05—Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
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- Mining & Mineral Resources (AREA)
- Architecture (AREA)
- Structural Engineering (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Civil Engineering (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Lining And Supports For Tunnels (AREA)
- Excavating Of Shafts Or Tunnels (AREA)
Abstract
The present invention relates to a kind of control systems of tunnel lining trolley distributing trolley, including control layer, operation layer, cleaning action execution level, docking movement execution level, signal acquisition layer；The signal acquisition layer includes track proximity sensor, plunger type pressure switch, limit base pressure sensor, to interface pressure sensor and pours pressure sensor；Each group sensor acquires each signal in real time, and is output in control layer, and the control layer controls the cleaning action execution level and docking movement execution level；The docking movement execution level includes movable motor, frequency converter, telescopic oil cylinder, telescopic oil cylinder solenoid directional control valve, pumps to switching oil cylinder, pumps to switching oil cylinder solenoid directional control valve and pump to switch speed electromagnetic throttle valve；The cleaning action execution level, including washing and/or air purge.The present invention also provides a kind of control methods controlled using above-mentioned control system.The present invention not only high degree of automation；And docking is accurate, and stability is good.
Description
Technical field
The present invention relates to tunnel lining trolley field, specifically a kind of control system of tunnel lining trolley distributing trolley
System and control method.
Background technique
Tunnel lining trolley has been widely used during the secondary lining in tunnel.With Tunnel Second Lining skill
The increasingly maturation of art, various new trolley also emerges one after another, including a kind of placement layer by layer trolley.Placement layer by layer trolley is one
Kind takes the trolley of multiwindow placement layer by layer mode, wherein the distributing trolley (abbreviation trolley) on trolley, is placement layer by layer trolley
Core.In traditional distributing trolley application process, trolley is run to each on trolley firstly the need of being driven by a motor
Position corresponding to mouth is poured, restarts hydraulic oil pump transfer tube to switching oil cylinder and telescopic oil cylinder, for adjusting trolley starching
The relative position of the slurry feed inlet on discharge port and placement layer by layer trolley is expected, to complete the docking movement of the two pump line.Docking
After the completion, then slurry pumping is carried out, in pumping procedure, operator observes the progress of pouring by pouring window, wait work as
When the amount of pouring of leading portion reaches requirement, then by operator's disassembly docking, and pipeline inside is cleaned, cleaning is completed
Afterwards, when one end of leading portion i.e. pour completions, then again from hydraulic pump transfer tube to switch oil cylinder commutate, in current location
Another direction starts next circulation.
In the course of work of distributing trolley, committed step is pair of trolley stock discharge mouth Yu trolley slurry feed inlet
It connects, the position of trolley discharge port can accurately must be overlapped with the position of feed inlet, and the docking of traditional trolley is mainly by artificial
Judged, and constantly adjusted, process is cumbersome, and consuming time is long.It is larger due to being self-possessed in trolley movement, lead to stability
It reduces, especially in pump to when switching, the design of telescoping mechanism is so that acting force arm is longer, if movement is excessive, toppling property of trolley increases
Add, mechanical abrasion aggravation pumps too long to switching time if movement is too small.
In addition, the situation that pours at scene needs personnel to confirm repeatedly, the progress of placement layer by layer and termination time and pour
Water consumption required for required pump line scavenging period, cleaning after the completion, requires to be determined according to the experience of personnel, so that
Pouring quality between different sections is irregular, intelligent low with the degree of automation.
Summary of the invention
In view of the above-mentioned problems, the present invention provides, a kind of high degree of automation, docking be accurate, tunnel-liner platform of ultrahigh in efficiency
The control system of automobile-used distributing trolley.
The technical scheme of the invention to solve the technical problem is: a kind of tunnel lining trolley distributing trolley
Control system, the operation layer communicated including control layer and respectively with control layer, cleaning action execution level, docking movement execution level,
Signal acquisition layer；
The signal acquisition layer includes for the track proximity sensor of Cloth Collection carriage walking position signal, for adopting
The plunger type pressure switch of collection hydraulic pressure oil circuit signal, for pump to switching monitoring limit base pressure sensor, for stretching
Docking monitoring pours pressure sensor to interface pressure sensor and for pour monitoring；Each group sensor acquires pump in real time
Overpressure information, distributing trolley travel information and situation is contacted to interface, and is output in control layer, the control layer pair
The cleaning action execution level and docking movement execution level are controlled；
The docking movement execution level includes movable motor, frequency converter, telescopic oil cylinder, telescopic oil cylinder solenoid directional control valve, pump
To switching oil cylinder, pumps to switching oil cylinder solenoid directional control valve and pump to switch speed electromagnetic throttle valve, the frequency converter, telescopic oil cylinder
Solenoid directional control valve pumps to switching oil cylinder solenoid directional control valve, pumps to switch speed electromagnetic throttle valve to pass through respectively and receive control layer letter
Number, control movable motor output frequency, hydraulic circuit on-off and oil circuit uninterrupted, to control movable motor, flexible oil
Cylinder and pump to switching oil cylinder operation；
The cleaning action execution level, including washing and/or air purge, washing pass through the normally closed solenoid directional control valve of water and control
Layer communication, the air purge are communicated with normally closed solenoid directional control valve with control layer by gas.
The operation layer contains touch screen host computer and wireless hand-held remote control device；Touch screen host computer can be grasped in real time
Work, data monitoring and parameter modification, can be used for initial stage debugging, can save parameter after the completion of debugging in the early stage, reuse nothing
Line hand-held remote controller is remotely controlled use in practical work process.
The present invention also provides a kind of controls that the control system using tunnel lining trolley distributing trolley is controlled
Method processed, which is characterized in that specific rate-determining steps are as follows:
(1) start: initialization zero, walking position are pumped to, flexible zero；
(2) hand/automatic control judgement performs the next step rapid when being judged as automatic control；
(3) pump line automatic cycle docking procedure starts；
(4) operation distributing trolley walking subprogram；
(5) walking position counter adds 1；
(6) walking position counter is compared with setting value: when position counting is equal with setting value, automatic cycle docking procedure
Terminate；Whens position counting and setting value do not wait, perform the next step rapid；
(7) operation pump line automatically adjusts/pouring/and cleans subprogram；
(8) pump line automatically adjusts, and/pouring/cleans end of subroutine；
(9) operation is pumped to switching subprogram 1；
(10) pumping terminates to switching subprogram 1；
(11) operation pump line automatically adjusts/pouring/and cleans subprogram；
(12) pump line automatically adjusts, and/pouring/cleans end of subroutine；
(13) operation is pumped to switching subprogram 2；
(14) pumping terminates to switching subprogram 2；
(15) next recursion instruction is waited；
(16) instruction continues to be recycled to step (4) after issuing.
Preferably, the specific steps of the distributing trolley walking subprogram in step (4) are as follows:
(4-1) distributing trolley automatically walk subprogram starts；
The operation of (4-2) movable motor；
The track proximity sensor being arranged at (4-3) delivery position 1 carries out signal detection, when the track proximity sensor
When having detected signal, performs the next step suddenly, when detecting no signal, continue to execute step (4-2)；
The output of (4-4) converter low-frequency；
(4-5) movable motor stops；
(4-6) slurry pumping position indicator is bright；
(4-7) carriage walking end of subroutine.
Preferably, the pump line automatically adjusts, and/pouring/cleans the specific steps of subprogram in step (7) are as follows:
(7-1) distributing trolley pump line adjust automatically subprogram starts；
(7-2) telescopic oil cylinder solenoid directional control valve 1 unlatching；
(7-3) plunger type pressure switch carries out signal monitoring, when there is signal, the distributing trolley pump line adjust automatically
Subprogram stops and alarms, and alarm lamp flashes；When no signal, next step is continued to execute；
(7-4) carries out signal monitoring to interface pressure sensor, described to continue to interface pressure sensor when no signal
Carry out signal monitoring；When there is signal, telescopic oil cylinder solenoid directional control valve is closed, and docking indicator light is opened；
(7-5) monitoring pours signal, when no signal, continues signal monitoring；When there is signal, termination instruction is poured
Lamp timing flashes；
(7-6) waiting pours interface and removes completion instruction, when no signal, continues waiting for, when there is signal, frequency converter is low
Frequency is exported to movable motor；
The proximity sensor of (7-7) cleaning positions 1 carries out signal monitoring and continues signal monitoring when no signal；When
When having signal, frequency converter stops output；Cleaning positions 1 indicator light timing flashes；
(7-8) waits clear instruction signal to continue waiting for when no signal；When there is signal, cleaning status indicator lamp is opened
It opens；
(7-9) water is opened with normally closed solenoid directional control valve, when water is not up to setting value with normally closed electromagnetic switch valve opening time
When, it continues starting, when water reaches setting value with normally closed electromagnetic switch valve opening time, performs the next step rapid；
(7-10) opens the normally closed solenoid directional control valve of gas；When gas is not up to setting value with normally closed electromagnetic switch valve opening time
When, it continues starting, when gas reaches setting value with normally closed electromagnetic switch valve opening time, performs the next step rapid；
(7-11) switch valve and indicator light are closed；
(7-12) telescopic oil cylinder solenoid directional control valve 2 unlatchings；
The solenoid directional control valve late release of (7-13) telescopic oil cylinder；
The pump line adjust automatically end of subroutine of (7-14) distributing trolley.
Preferably, being pumped described in step (9) to switching 1 specific steps of subprogram are as follows:
(9-1) pump to switching oil cylinder solenoid directional control valve 2 unlatching, when activated between not up to setting value when, continue starting；
When reaching setting value between when activated, perform the next step rapid；
(9-2) is pumped to be opened to switch speed electromagnetic throttle valve；
(9-3) waits limit base contact pressure sensor signal；
(9-4) is pumped to close to switching oil cylinder solenoid directional control valve；
(9-5) is pumped to close to switch speed electromagnetic throttle valve；
(9-6) is pumped to be terminated to switching subprogram 1.
Preferably, pumping the specific steps to switching subprogram 2 described in step (13) are as follows:
(13-1) frequency converter exports reverse frequency；
(13-2) distributing trolley is back to calibration position；
(13-3) pump to switching oil cylinder solenoid directional control valve 1 unlatching, when activated between not up to setting value when, continue out
It opens；When reaching setting value between when activated, next step is run；
(13-4) is pumped to be opened to switch speed electromagnetic throttle valve；
(13-5) waits limit base contact pressure sensor signal；
(13-6) is pumped to close to switching oil cylinder solenoid valve reversal valve；
(13-7) is pumped to close to switch speed electromagnetic throttle valve；
(13-8) is pumped to be terminated to switching subprogram 2.
Compared with prior art, the invention has the following advantages:
1, the distributing trolley is when working and carrying out docking movement, and trolley is needed by walking, pumped to switching and stretch
It contracts three and acts, in traditional course of work, due to itself inertia, it is accurately right that when stopping being often difficult to reach carriage walking
Position is connect, and in the control system, pass through the close sensing of the frequency converter and track installed in execution level and signal acquisition layer
Device can walk in distributing trolley in certain position, and frequency converter changes output frequency, thus slow down to trolley, frequency drop
Low amplitude is stored in the register of PLC according to after calculating and obtaining with field adjustable, can one so that trolley is in life's work
Step in place, reduces the additional workhours that multiple train operation adjustment generates in traditional trolley course of work.
Additionally, control layer PLC can be passed through when being pumped to switching action using the distributing trolley of the control system
In set program, the pump being mounted in oil circuit is controlled to switch speed electromagnetic throttle valve, reaches pump to when switching
Plus-minus effect, avoid traditional cloths trolley pump to switching when, caused mechanical collision and unstability due to inertia
Phenomenon.
The distributing trolley control system can obtain pump truck working condition, in pump truck work by monitoring pump truck working signal
After work, start to execute cleaning operation, by control layer PLC programmable controller, commutate to water route electromagnetism normally closed switch
Valve and gas circuit are successively controlled with normally closed solenoid directional control valve, and timing is closed, high degree of automation.
The distributing trolley control system is changeable automatically and MANUAL CONTROL mode, under automatic control mode, by each
Group sensor can obtain walking position in real time, pour the information such as working condition to interface case, slurry, by built-in in PLC
Program, according to acquired information, calculate the braking action of vehicle time, pump to switching flow reduce the time, water with gas solenoid valve
Switch time etc. forms automation control.Wherein, parameter only need to be debugged and be written in the early stage, so that it may suitable for entirely applying
Workshop section.
Detailed description of the invention
Fig. 1 is Control system architecture block diagram of the invention；
Fig. 2 is global procedures execution block diagram of the invention；
Fig. 3 is carriage walking subprogram execution block diagram of the invention；
Fig. 4 is trolley automatic butt and cleaning subprogram execution block diagram of the invention；
Fig. 5 is that trolley of the invention is pumped to switching 1 execution block diagram of subprogram；
Fig. 6 is that trolley of the invention is pumped to switching 2 execution block diagram of subprogram.
Specific embodiment
Below in conjunction with Fig. 1 to Fig. 6, the present invention will be described in detail, and illustrative examples of the invention and explanation are used to herein
Explain the present invention, but not as a limitation of the invention.
A kind of control system of tunnel lining trolley distributing trolley, the behaviour communicated including control layer and respectively with control layer
Make layer, cleaning action execution level, docking movement execution level, signal acquisition layer；
The signal acquisition layer includes for the track proximity sensor of Cloth Collection carriage walking position signal, for adopting
The plunger type pressure switch of collection hydraulic pressure oil circuit signal, for pump to switching monitoring limit base pressure sensor, for stretching
Docking monitoring pours pressure sensor to interface pressure sensor and for pour monitoring；Each group sensor acquires pump in real time
Overpressure information, distributing trolley travel information and situation is contacted to interface, and is output in control layer, is finally presented on touching
It touches in screen host computer, intuitively and accurately reflects trolley overall operation situation；The control layer is to the cleaning action execution level
It is controlled with docking movement execution level；The control layer contains PLC programmable controller, to each sensor information, upper
Machine control instruction and Digiplex instruction are read out, and by institute's write-in program, are handled with instruction each information, then
Next stage is issued to execution level to execute instruction；Further comprise 24V DC output power, 5V DC output power, low-voltage short-circuiting device,
Overload circuit protector, contactor and connecting terminal etc., each out-put supply can be connected by prior art connection type into this hair
In bright control system, power for it.Each group out-put supply is that PLC, each sensor etc. provide stable and suitable working power, low
Voltage breaker and contactor protect frequency converter and movable motor, motor damage caused by avoiding because of phase sequence output error,
Overload circuit protector protects integrated circuit, avoids ruining for each circuit components caused by the overload in the course of work
It is bad.
The docking movement execution level includes movable motor, frequency converter, telescopic oil cylinder, telescopic oil cylinder solenoid directional control valve, pump
To switching oil cylinder, pumps to switching oil cylinder solenoid directional control valve and pump to switch speed electromagnetic throttle valve, the frequency converter, telescopic oil cylinder
Solenoid directional control valve pumps to switching oil cylinder solenoid directional control valve, pumps to switch speed electromagnetic throttle valve to pass through respectively and receive control layer letter
Number, control movable motor output frequency, hydraulic circuit on-off and oil circuit uninterrupted, to control movable motor, flexible oil
Cylinder and pump to switching oil cylinder operation；
The cleaning action execution level, including washing and/or air purge, washing pass through the normally closed solenoid directional control valve of water and control
Layer communication, the air purge are communicated with normally closed solenoid directional control valve with control layer by gas；The present invention contains washing and air purge, comprehensive
Cleaning action guarantees cleaning effect, avoids line clogging in pump line pipeline；
The operation layer contains touch screen host computer and wireless hand-held remote control device；Touch screen host computer can be grasped in real time
Work, data monitoring and parameter modification, can be used for initial stage debugging, can save parameter after the completion of debugging in the early stage, reuse nothing
Line hand-held remote controller is remotely controlled use in practical work process.
The touch screen host computer, wireless hand-held remote control device, each group solenoid valve, sensor etc. can all be compiled with control layer PLC
Range controller connection realizes that the acquisition of signal uploads with reading, the reading of instruction and sending, trolley travelling status information, is man-machine
Exchange etc..
The present invention also provides a kind of controls that the control system using tunnel lining trolley distributing trolley is controlled
Method processed, specific rate-determining steps are as follows:
(1) start: initialization zero, walking position are pumped to, flexible zero；
(2) hand/automatic control judgement performs the next step rapid when being judged as automatic control；
(3) pump line automatic cycle docking procedure starts；
(4) operation distributing trolley walking subprogram；
(5) walking position counter adds 1；
(6) walking position counter is compared with setting value: when position counting is equal with setting value, automatic cycle docking procedure
Terminate；Whens position counting and setting value do not wait, perform the next step rapid；
(7) operation pump line automatically adjusts/pouring/and cleans subprogram；
(8) pump line automatically adjusts, and/pouring/cleans end of subroutine；
(9) operation is pumped to switching subprogram 1；
(10) pumping terminates to switching subprogram 1；
(11) operation pump line automatically adjusts/pouring/and cleans subprogram；
(12) pump line automatically adjusts, and/pouring/cleans end of subroutine；
(13) operation is pumped to switching subprogram 2；
(14) pumping terminates to switching subprogram 2；
(15) next recursion instruction is waited；
(16) instruction continues to be recycled to step (4) after issuing.
The specific steps of distributing trolley walking subprogram in step (4) are as follows:
(4-1) distributing trolley automatically walk subprogram starts；
The operation of (4-2) movable motor；
The track proximity sensor being arranged at (4-3) delivery position 1 carries out signal detection, when the track proximity sensor
When having detected signal, performs the next step suddenly, when detecting no signal, continue to execute step (4-2)；
The output of (4-4) converter low-frequency；
(4-5) movable motor stops；
(4-6) slurry pumping position indicator is bright；
(4-7) carriage walking end of subroutine.
In step (7), the pump line automatically adjusts, and/pouring/cleans the specific steps of subprogram are as follows:
(7-1) distributing trolley pump line adjust automatically subprogram starts；
(7-2) telescopic oil cylinder solenoid directional control valve 1 unlatching；
(7-3) plunger type pressure switch carries out signal monitoring, when there is signal, the distributing trolley pump line adjust automatically
Subprogram stops and alarms, and alarm lamp flashes；When no signal, next step is continued to execute；
(7-4) carries out signal monitoring to interface pressure sensor, described to continue to interface pressure sensor when no signal
Carry out signal monitoring；When there is signal, telescopic oil cylinder solenoid directional control valve is closed, and docking indicator light is opened；
(7-5) monitoring pours signal, when no signal, continues signal monitoring；When there is signal, termination instruction is poured
Lamp timing flashes；
(7-6) waiting pours interface and removes completion instruction, when no signal, continues waiting for, when there is signal, frequency converter is low
Frequency is exported to movable motor；
The proximity sensor of (7-7) cleaning positions 1 carries out signal monitoring and continues signal monitoring when no signal；When
When having signal, frequency converter stops output；Cleaning positions 1 indicator light timing flashes；
(7-8) waits clear instruction signal to continue waiting for when no signal；When there is signal, cleaning status indicator lamp is opened
It opens；
(7-9) water is opened with normally closed solenoid directional control valve, when water is not up to setting value with normally closed electromagnetic switch valve opening time
When, it continues starting, when water reaches setting value with normally closed electromagnetic switch valve opening time, performs the next step rapid；
(7-10) opens the normally closed solenoid directional control valve of gas；When gas is not up to setting value with normally closed electromagnetic switch valve opening time
When, it continues starting, when gas reaches setting value with normally closed electromagnetic switch valve opening time, performs the next step rapid；
(7-11) switch valve and indicator light are closed；I.e. gas is closed with normally closed solenoid directional control valve；
(7-12) telescopic oil cylinder solenoid directional control valve 2 unlatchings；
The solenoid directional control valve late release of (7-13) telescopic oil cylinder；
The pump line adjust automatically end of subroutine of (7-14) distributing trolley.
The specific steps to switching subprogram 1 are pumped described in step (9) are as follows:
(9-1) pump to switching oil cylinder solenoid directional control valve 2 unlatching, when activated between not up to setting value when, continue starting；
When reaching setting value between when activated, perform the next step rapid；
(9-2) is pumped to be opened to switch speed electromagnetic throttle valve；
(9-3) waits limit base contact pressure sensor signal；
(9-4) is pumped to close to switching oil cylinder solenoid directional control valve；
(9-5) is pumped to close to switch speed electromagnetic throttle valve；
(9-6) is pumped to be terminated to switching subprogram 1.
The specific steps to switching subprogram 2 are pumped described in step (13) are as follows:
(13-1) frequency converter exports reverse frequency；
(13-2) distributing trolley is back to calibration position；
(13-3) pump to switching oil cylinder solenoid directional control valve 1 unlatching, when activated between not up to setting value when, continue out
It opens；When reaching setting value between when activated, next step is run；
(13-4) is pumped to be opened to switch speed electromagnetic throttle valve；
(13-5) waits limit base contact pressure sensor signal；
(13-6) is pumped to close to switching oil cylinder solenoid valve reversal valve；
(13-7) is pumped to close to switch speed electromagnetic throttle valve；
(13-8) is pumped to be terminated to switching subprogram 2.
From figure 2 it can be seen that in real work engineering, placement layer by layer distributing trolley control provided by the present invention system
Unite work when, carry out initialization zero first, at this time from operator by touch screen host computer or wireless hand-held remote control device to
PLC programmable controller issues zero instruction, and PLC programmable controller is again to pump to switching oil cylinder solenoid directional control valve, flexible oil
Cylinder reversal valve is pumped to the sending instruction of switch speed electromagnetic throttle valve, makes steadily to reach presetting initial position at pump line, it
Low frequency output is carried out by PLC programmable controller control frequency converter again afterwards, so that trolley is stablized traveling close to initial position track
At sensor.After distributing trolley zero, automatic butt is selected by operator and manual joint mode is in a manual mode
System is only by the acquired information of each group sensor by the way that after Program transformation, display on the touchscreen, and combines each section indicator light
On-off provides trolley travelling status information；In automatic mode, the control system executes automatically walk subprogram, drives to
It pours at calibration position i.e. delivery position 1, at this point, track proximity sensor is controlled to PLC programmable controller at delivery position 1
Center issues high level signal, and this trigger signal is stored in register, while walking with the head office in PLC programmable controller
It sets counter to be compared, judges whether trolley has driven to the entire end position for pouring section and then tied if end position
Beam automatic butt circulation, if not end position, then execute pump line and automatically adjust/pouring/and clean subprogram.It is held in cleaning subprogram
After row, pump is executed to switching subprogram 1, switches casting direction, execution pump line automatically adjusts/pouring/and cleans sub- journey again
Sequence, after, complete pouring for current location the right and left.Finally, executing pump to switching subprogram 2, calibration position is returned to, etc.
Circulation is poured to next, until location register is equal with set register value, determines to pour completion when leading portion.
From figure 3, it can be seen that placement layer by layer distributing trolley control system provided by the present invention executes walking subprogram
When, when trolley triggers proximity sensor, PLC programmable controller requires frequency converter to carry out low frequency output, travel speed is reduced,
It avoids exceeding when trolley inertia leads to brake and requires position, while guaranteeing that running time of the trolley on big stroke is shorter.
Figure 4, it is seen that placement layer by layer distributing trolley control system provided by the present invention is in automatic butt and clearly
When washing subprogram execution, PLC controls telescopic oil cylinder solenoid directional control valve 1 conducting, while detecting plunger type pressure switch signal,
Until determining that docking is completed to the triggering of interface pressure sensor signal, closes solenoid directional control valve and unlatching pours signal lamp.
After the completion of docking, the control system waiting pours signal and issues and terminate, and after pouring, operator is removed to interface
And issue dismounting and complete instruction, system low frequency output frequency converter travels trolley slowly until cleaning positions proximity sensor touches
Hair, and wait sign on to be cleaned.Cleaning start after, PLC programmable controller control water with the normally closed solenoid directional control valve of gas
It successively opens, wherein two commutation valve opening times are to be set in advance with the duration, and after scavenging period, stretch oil
Cylinder solenoid directional control valve 2 unlatchings, make discharge port position be zeroed, turn off solenoid valve, current place pours completion.
It pumps from figure 5 it can be seen that placement layer by layer distributing trolley control system provided by the present invention executes trolley to cutting
When changing subprogram 1, PLC programmable controller control pump is diverted to connector another to oil cylinder solenoid directional control valve 2 unlatchings of switching
End, and sets the opening time, when activated between when reaching setting value, opening electromagnetic throttle valve reduces switch speed, and reduction is stretched
The collision situation of contracting arm bring moment loading and telescopic arm and limit base finally reduces mechanical abrasion, increases trolley and stablizes
Property.Described to pump into switching subprogram, after the triggering of limit base contact pressure signal, PLC programmable controller judgement has commutated
At closing is pumped to switching reversal valve and throttle valve.
It pumps from fig. 6 it can be seen that placement layer by layer distributing trolley control system provided by the present invention executes trolley to cutting
When changing subprogram 2, PLC first controls frequency converter and reversely exports, and trolley is made to be back to current calibration casting position, then executes and Fig. 5
In identical switching operation so far complete currently to pour circulation.
It is provided for the embodiments of the invention technical solution above to be described in detail, specific case used herein
The principle and embodiment of the embodiment of the present invention are expounded, the explanation of above embodiments is only applicable to help to understand this
The principle of inventive embodiments；At the same time, for those skilled in the art, according to an embodiment of the present invention, in specific embodiment party
There will be changes in formula and application range, in conclusion the contents of this specification are not to be construed as limiting the invention.
Claims (6)
1. a kind of control system of tunnel lining trolley distributing trolley, it is characterised in that: including control layer and respectively with control
The operation layer of layer communication, cleaning action execution level, docking act execution level, signal acquisition layer；
The signal acquisition layer includes for the track proximity sensor of Cloth Collection carriage walking position signal, for collection liquid
The plunger type pressure switch of pressure oil road signal, for pumping the limit base pressure sensor to switching monitoring, for flexible docking
Monitoring pours pressure sensor to interface pressure sensor and for pour monitoring；Each group sensor acquires in pump line in real time
Pressure information, distributing trolley travel information and situation is contacted to interface, and is output in control layer, the control layer is to described
Cleaning action execution level and docking movement execution level are controlled；
Docking movement execution level includes movable motor, frequency converter, telescopic oil cylinder, telescopic oil cylinder solenoid directional control valve, pumps to cutting
Change oil cylinder, pump and oil cylinder solenoid directional control valve and pumped to switching to switch speed electromagnetic throttle valve, the frequency converter, telescopic oil cylinder electromagnetism
Reversal valve pumps to switching oil cylinder solenoid directional control valve, pumps to switch speed electromagnetic throttle valve and to pass through reception control layer signal, control respectively
Movable motor output frequency, hydraulic circuit on-off and oil circuit uninterrupted processed, to control movable motor, telescopic oil cylinder and pump
Operation to switching oil cylinder；
The cleaning action execution level, including washing and/or uo air purge, washing pass through water normally closed solenoid directional control valve and control layer
Communication, the air purge are communicated with normally closed solenoid directional control valve with control layer by gas.
2. a kind of controlling party that the control system using tunnel lining trolley as described in claim 1 distributing trolley is controlled
Method, which is characterized in that specific rate-determining steps are as follows:
(1) start: initialization zero, walking position are pumped to, flexible zero；
(2) hand/automatic control judgement performs the next step rapid when being judged as automatic control；
(3) pump line automatic cycle docking procedure starts；
(4) operation distributing trolley walking subprogram；
(5) walking position counter adds 1；
(6) walking position counter is compared with setting value: when position counting is equal with setting value, automatic cycle docking procedure knot
Beam；Whens position counting and setting value do not wait, perform the next step rapid；
(7) operation pump line automatically adjusts/pouring/and cleans subprogram；
(8) pump line automatically adjusts, and/pouring/cleans end of subroutine；
(9) operation is pumped to switching subprogram 1；
(10) pumping terminates to switching subprogram 1；
(11) operation pump line automatically adjusts/pouring/and cleans subprogram；
(12) pump line automatically adjusts, and/pouring/cleans end of subroutine；
(13) operation is pumped to switching subprogram 2；
(14) pumping terminates to switching subprogram 2；
(15) next recursion instruction is waited；
(16) instruction continues to be recycled to step (4) after issuing.
3. the controlling party controlled according to claim 2 using the control system of tunnel lining trolley distributing trolley
Method, which is characterized in that
The specific steps of distributing trolley walking subprogram in step (4) are as follows:
(4-1) distributing trolley automatically walk subprogram starts；
The operation of (4-2) movable motor；
The track proximity sensor being arranged at (4-3) delivery position 1 carries out signal detection, when the track proximity sensor detects
It is rapid to performing the next step when having signal, when detecting no signal, continue to execute step (4-2)；
The output of (4-4) converter low-frequency；
(4-5) movable motor stops；
(4-6) slurry pumping position indicator is bright；
(4-7) carriage walking end of subroutine.
4. the controlling party controlled according to claim 2 using the control system of tunnel lining trolley distributing trolley
Method, which is characterized in that in step (7), the pump line automatically adjusts, and/pouring/cleans the specific steps of subprogram are as follows:
(7-1) distributing trolley pump line adjust automatically subprogram starts；
(7-2) telescopic oil cylinder solenoid directional control valve 1 unlatching；
(7-3) plunger type pressure switch carries out signal monitoring, when there is signal, the sub- journey of distributing trolley pump line adjust automatically
Sequence stops and alarms, and alarm lamp flashes；When no signal, next step is continued to execute；
(7-4) carries out signal monitoring to interface pressure sensor, described to continue to interface pressure sensor when no signal
Signal monitoring；When there is signal, telescopic oil cylinder solenoid directional control valve is closed, and docking indicator light is opened；
(7-5) monitoring pours signal, when no signal, continues signal monitoring；When there is signal, it is fixed to pour termination instruction lamp
When flash；
(7-6) waiting pours interface and removes completion instruction, when no signal, continues waiting for, when there is signal, converter low-frequency is defeated
Out to movable motor；
The proximity sensor of (7-7) cleaning positions 1 carries out signal monitoring and continues signal monitoring when no signal；When there is letter
Number when, frequency converter stop output；Cleaning positions 1 indicator light timing flashes；
(7-8) waits clear instruction signal to continue waiting for when no signal；When there is signal, cleaning status indicator lamp is opened；
(7-9) water is opened with normally closed solenoid directional control valve, when water is not up to setting value with normally closed electromagnetic switch valve opening time, after
It is continuous to open, when water reaches setting value with normally closed electromagnetic switch valve opening time, perform the next step rapid；
(7-10) opens the normally closed solenoid directional control valve of gas；When gas is not up to setting value with normally closed electromagnetic switch valve opening time,
It continues starting, when gas reaches setting value with normally closed electromagnetic switch valve opening time, performs the next step rapid；
(7-11) switch valve and indicator light are closed；
(7-12) telescopic oil cylinder solenoid directional control valve 2 unlatchings；
The solenoid directional control valve late release of (7-13) telescopic oil cylinder；
The pump line adjust automatically end of subroutine of (7-14) distributing trolley.
5. the controlling party controlled according to claim 2 using the control system of tunnel lining trolley distributing trolley
Method, which is characterized in that the specific steps to switching subprogram 1 are pumped described in step (9) are as follows:
(9-1) pump to switching oil cylinder solenoid directional control valve 2 unlatching, when activated between not up to setting value when, continue starting；When opening
When opening the time and reaching setting value, perform the next step rapid；
(9-2) is pumped to be opened to switch speed electromagnetic throttle valve；
(9-3) waits limit base contact pressure sensor signal；
(9-4) is pumped to close to switching oil cylinder solenoid directional control valve；
(9-5) is pumped to close to switch speed electromagnetic throttle valve；
(9-6) is pumped to be terminated to switching subprogram 1.
6. the controlling party controlled according to claim 2 using the control system of tunnel lining trolley distributing trolley
Method, which is characterized in that the specific steps to switching subprogram 2 are pumped described in step (13) are as follows:
(13-1) frequency converter exports reverse frequency；
(13-2) distributing trolley is back to calibration position；
(13-3) pump to switching oil cylinder solenoid directional control valve 1 unlatching, when activated between not up to setting value when, continue starting；When
When opening time reaches setting value, next step is run；
(13-4) is pumped to be opened to switch speed electromagnetic throttle valve；
(13-5) waits limit base contact pressure sensor signal；
(13-6) is pumped to close to switching oil cylinder solenoid valve reversal valve；
(13-7) is pumped to close to switch speed electromagnetic throttle valve；
(13-8) is pumped to be terminated to switching subprogram 2.
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| CN112549275A (en) * | 2020-12-02 | 2021-03-26 | 德州海天机电科技有限公司 | Control system of pre-stressed long-line-platform concrete prefabricated part distributing machine |
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| CN110486048B (en) | 2021-08-27 |
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