CN110486048B - Control system and control method of material distribution trolley for tunnel lining trolley - Google Patents
Control system and control method of material distribution trolley for tunnel lining trolley Download PDFInfo
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- CN110486048B CN110486048B CN201910804368.6A CN201910804368A CN110486048B CN 110486048 B CN110486048 B CN 110486048B CN 201910804368 A CN201910804368 A CN 201910804368A CN 110486048 B CN110486048 B CN 110486048B
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- 239000000463 material Substances 0.000 title claims abstract description 39
- 238000000034 method Methods 0.000 title claims abstract description 23
- 238000004140 cleaning Methods 0.000 claims abstract description 69
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 26
- 230000009471 action Effects 0.000 claims abstract description 19
- 210000001503 joint Anatomy 0.000 claims abstract description 16
- 230000009916 joint effect Effects 0.000 claims abstract description 16
- 239000003921 oil Substances 0.000 claims description 52
- 238000012544 monitoring process Methods 0.000 claims description 27
- 238000003032 molecular docking Methods 0.000 claims description 11
- 238000005086 pumping Methods 0.000 claims description 10
- 239000002002 slurry Substances 0.000 claims description 9
- 239000004744 fabric Substances 0.000 claims description 8
- 239000010720 hydraulic oil Substances 0.000 claims description 7
- 230000003111 delayed effect Effects 0.000 claims description 3
- 230000008569 process Effects 0.000 description 9
- 238000010586 diagram Methods 0.000 description 6
- 230000000694 effects Effects 0.000 description 3
- 238000005406 washing Methods 0.000 description 3
- 230000006378 damage Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 230000001960 triggered effect Effects 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000012790 confirmation Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000000819 phase cycle Methods 0.000 description 1
- 230000001012 protector Effects 0.000 description 1
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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
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- 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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- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Excavating Of Shafts Or Tunnels (AREA)
- Lining And Supports For Tunnels (AREA)
Abstract
The invention relates to a control system of a material distribution trolley for a tunnel lining trolley, which comprises a control layer, an operation layer, a cleaning action execution layer, a butt joint action execution layer and a signal acquisition layer, wherein the control layer is used for controlling the operation layer; the signal acquisition layer comprises a track proximity sensor, a plunger type pressure relay, a limiting seat pressure sensor, a butt joint pressure sensor and a pouring pressure sensor; each group of sensors collects each signal in real time and outputs the signals to the control layer, and the control layer controls the cleaning action execution layer and the butt joint action execution layer; the butt joint action execution layer comprises a walking motor, a frequency converter, a telescopic oil cylinder electromagnetic directional valve, a pump direction switching oil cylinder electromagnetic directional valve and a pump direction switching speed electromagnetic throttle valve; and the cleaning action execution layer comprises water cleaning and/or air cleaning. The invention also provides a control method for controlling by adopting the control system. The invention has high automation degree; moreover, the butt joint is accurate and the stability is good.
Description
Technical Field
The invention relates to the field of tunnel lining trolleys, in particular to a control system and a control method of a material distribution trolley for a tunnel lining trolley.
Background
Tunnel lining dollies have been widely used in the secondary lining of tunnels. Along with the gradual maturity of tunnel secondary lining technique, a plurality of novel trolleys also lay in a large number, including one kind of platform truck is pour in layers. The layered pouring trolley is a trolley adopting a multi-window layered pouring mode, wherein a material distribution trolley (trolley for short) on the trolley is a core part of the layered pouring trolley. In the application process of the traditional distributing trolley, the trolley is firstly driven by a motor to travel to the position corresponding to each pouring port on the trolley, and then a hydraulic oil pump is started to drive a pump to switch an oil cylinder and a telescopic oil cylinder for adjusting the relative position of a slurry discharge port on the trolley and a slurry feed port on the layered pouring trolley to complete the butt joint action of the pump pipes of the trolley and the layered pouring trolley. And after the butt joint is finished, slurry pumping is carried out, in the pumping process, an operator observes the pouring progress through a pouring window, when the pouring amount of the current section meets the requirement, the butt joint part is disassembled by the operator, the interior of the pipeline is cleaned, after the cleaning is finished, one end of the current section is poured, then the hydraulic pump drives the pump to change the direction of the switching oil cylinder, and the next circulation is started in the other direction of the current position.
In the working process of the material distribution trolley, the key step is the butt joint of a trolley slurry discharge port and a trolley slurry feed port, the position of the trolley discharge port must be accurate and can coincide with the position of the feed port, the butt joint of the traditional trolley is mainly judged by manpower and is continuously adjusted, the process is complicated, and the consumed time is long. When the dolly moves, because the dead weight is great, lead to stability to reduce, especially when the pump is to the switching, the telescopic machanism's design makes the arm of force of action longer, and if the action is too big, the dolly topples the nature and increases, and mechanical nature wearing and tearing aggravate, if the action is undersize, the pump is too long to the switching time.
In addition, the pouring condition on site needs repeated confirmation of personnel, the carrying and termination time of layered pouring, the pump pipe cleaning time required after pouring and the water consumption required by cleaning are determined according to the experience of the personnel, so that the pouring quality among different sections is uneven, and the intelligent degree and the automation degree are low.
Disclosure of Invention
Aiming at the problems, the invention provides the control system of the material distribution trolley for the tunnel lining trolley, which has high automation degree, accurate butt joint and extremely high efficiency.
The technical scheme adopted by the invention for solving the technical problems is as follows: a control system of a material distribution trolley for a tunnel lining trolley comprises a control layer, an operation layer, a cleaning action execution layer, a butt joint action execution layer and a signal acquisition layer, wherein the operation layer, the cleaning action execution layer, the butt joint action execution layer and the signal acquisition layer are respectively communicated with the control layer;
the signal acquisition layer comprises a track proximity sensor for acquiring a traveling position signal of the distributing trolley, a plunger type pressure relay for acquiring a hydraulic oil circuit signal, a limiting seat pressure sensor for pump direction switching monitoring, a docking port pressure sensor for telescopic docking monitoring and a pouring pressure sensor for pouring monitoring; each group of sensors collects pressure information in a pump pipe, travel information of the material distribution trolley and contact conditions at an interface in real time and outputs the information to the control layer, and the control layer controls the cleaning action execution layer and the butt joint action execution layer;
the butt joint action execution layer comprises a walking motor, a frequency converter, a telescopic oil cylinder electromagnetic directional valve, a pump direction switching oil cylinder electromagnetic directional valve and a pump direction switching speed electromagnetic throttle valve, wherein the frequency converter, the telescopic oil cylinder electromagnetic directional valve, the pump direction switching oil cylinder electromagnetic directional valve and the pump direction switching speed electromagnetic throttle valve respectively control the output frequency of the walking motor, the on-off of a hydraulic oil circuit and the flow of the oil circuit by receiving control layer signals, so that the running of the walking motor, the telescopic oil cylinder and the pump direction switching oil cylinder is controlled;
the cleaning action execution layer comprises water cleaning and/or air cleaning, the water cleaning is communicated with the control layer through the water normally closed electromagnetic directional valve, and the air cleaning is communicated with the control layer through the air normally closed electromagnetic directional valve.
The operation layer comprises a touch screen upper computer and a wireless handheld remote controller; the touch screen upper computer can carry out real-time operation, data monitoring and parameter modification, can be used to the initial stage debugging, can save the parameter after the initial stage debugging is accomplished, and the remote control of reuse wireless handheld remote controller in the actual work process is used.
The invention also provides a control method for controlling by using the control system of the material distribution trolley for the tunnel lining trolley, which is characterized by comprising the following specific control steps of:
(1) beginning: initializing to return to zero, and returning to zero by walking position, pump direction and expansion;
(2) judging manual/automatic control, and executing the next step when judging that the control is automatic control;
(3) starting an automatic circulating butt joint program of the pump pipe;
(4) running a material distribution trolley walking subprogram;
(5) adding 1 to a walking position counter;
(6) comparing the walking position counter with a set value: when the position count is equal to the set value, the automatic cycle docking program is ended; when the position count is not equal to the set value, executing the next step;
(7) operating a pump pipe automatic adjusting/pouring/cleaning subprogram;
(8) the pump pipe automatic adjustment/pouring/cleaning subprogram is finished;
(9) running the pump direction switching subroutine 1;
(10) the pump-to-switch subroutine 1 ends;
(11) operating a pump pipe automatic adjusting/pouring/cleaning subprogram;
(12) the pump pipe automatic adjustment/pouring/cleaning subprogram is finished;
(13) running a pump direction switching subroutine 2;
(14) the pump-to-switch subroutine 2 ends;
(15) waiting for the next loop instruction;
(16) and (4) continuing to loop to the step (4) after the instruction is issued.
Preferably, the material distribution trolley walking subprogram in the step (4) comprises the following specific steps:
(4-1) starting an automatic traveling subprogram of the material distribution trolley;
(4-2) running the walking motor;
(4-3) detecting a signal by a track proximity sensor arranged at the pumping position 1, executing the next step when the track proximity sensor detects a signal, and continuing to execute the step (4-2) when no signal is detected;
(4-4) outputting the low frequency of the frequency converter;
(4-5) stopping the walking motor;
(4-6) turning on a slurry pumping position indicator lamp;
and (4-7) ending the trolley walking subprogram.
Preferably, in step (7), the pump pipe automatic adjustment/pouring/cleaning subroutine comprises the following specific steps:
(7-1) starting an automatic adjustment subprogram of a pump pipe of the material distribution trolley;
(7-2) opening the electromagnetic directional valve of the telescopic oil cylinder at the 1 position;
(7-3) monitoring a signal by the plunger type pressure relay, and when the signal is available, stopping the automatic adjustment subprogram of the pump pipe of the material distribution trolley and giving an alarm, and flashing an alarm indicator lamp; when no signal exists, continuing to execute the next step;
(7-4) monitoring signals of the interface pressure sensor, and when no signal exists, continuing to monitor the signals of the interface pressure sensor; when a signal is received, the electromagnetic directional valve of the telescopic oil cylinder is closed, and the butt joint indicator lamp is turned on;
(7-5) monitoring a pouring signal, and when no signal exists, continuing to monitor the signal; when a signal is available, the pouring end indicator lamp flickers regularly;
(7-6) waiting for a pouring interface dismantling completion instruction, continuing waiting when no signal exists, and outputting the low frequency of the frequency converter to a walking motor when a signal exists;
(7-7) carrying out signal monitoring by a proximity sensor at the cleaning position 1, and continuing to carry out signal monitoring when no signal exists; when a signal is available, the frequency converter stops outputting; the cleaning position 1 indicator lamp flickers at regular time;
(7-8) waiting for a cleaning command signal, and continuing to wait when no signal exists; when a signal is available, the cleaning state indicator lamp is turned on;
(7-9) opening the water normally-closed electromagnetic directional valve, continuing to open the water normally-closed electromagnetic directional valve when the opening time of the water normally-closed electromagnetic directional valve does not reach a set value, and executing the next step when the opening time of the water normally-closed electromagnetic directional valve reaches the set value;
(7-10) opening a normally closed electromagnetic directional valve for gas opening; when the opening time of the gas normally-closed electromagnetic reversing valve does not reach a set value, the gas normally-closed electromagnetic reversing valve is continuously opened, and when the opening time of the gas normally-closed electromagnetic reversing valve reaches the set value, the next step is executed;
(7-11) closing the switch valve and the indicator lamp;
(7-12) opening the electromagnetic directional valve 2 position of the telescopic oil cylinder;
(7-13) closing the electromagnetic directional valve of the telescopic oil cylinder in a delayed manner;
and (7-14) finishing the automatic pump pipe adjusting subprogram of the material distribution trolley.
Preferably, in the step (9), the pump-to-pump switching subroutine 1 specifically includes the steps of:
(9-1) opening the pump to the 2-position electromagnetic directional valve of the switching oil cylinder, and continuing to open when the opening time does not reach a set value; when the starting time reaches a set value, executing the next step;
(9-2) opening the electromagnetic throttle valve for switching the speed by the pump;
(9-3) waiting for the limiting seat to contact the pressure sensor signal;
(9-4) closing the electromagnetic directional valve of the oil cylinder from the pump to the switching;
(9-5) closing the pump to the switching speed electromagnetic throttle valve;
(9-6) the pump-to-switch subroutine 1 ends.
Preferably, the specific steps of the pump-to-pump switching subroutine 2 in the step (13) are as follows:
(13-1) the frequency converter outputs reverse frequency;
(13-2) returning the material distribution trolley to a calibration position;
(13-3) opening the pump to the 1-position electromagnetic directional valve of the switching oil cylinder, and continuing to open when the opening time does not reach a set value; when the starting time reaches a set value, the next step is operated;
(13-4) opening the electromagnetic throttle valve for switching the speed by the pump;
(13-5) waiting for the limiting seat to contact the pressure sensor signal;
(13-6) closing a reversing valve of the electromagnetic valve of the oil cylinder from the pump to the switching;
(13-7) closing the pump to the switching speed electromagnetic throttle valve;
(13-8) the pump-to-switch subroutine 2 ends.
Compared with the prior art, the invention has the following beneficial effects:
1. when the cloth trolley works and performs butt joint actions, the trolley needs to perform three actions of walking, pump direction switching and stretching, in the traditional working process, the trolley walking is often difficult to reach an accurate butt joint position when the trolley stops due to self inertia, in the control system, through the frequency converter and the track proximity sensor which are arranged on the execution layer and the signal acquisition layer, when the cloth trolley walks at a certain position, the frequency converter changes the output frequency, so that the trolley is decelerated, the frequency reduction range is obtained according to calculation and field debugging and then is stored in a register of a PLC (programmable logic controller), so that the trolley can be put in place in one step when in formal work, and the extra working hours generated by multiple driving adjustment in the working process of the traditional trolley are reduced.
In addition, when the cloth trolley adopting the control system performs the action of switching the pump direction, the electromagnetic throttle valve for switching the pump direction switching speed, which is installed in the oil path, can be controlled through the program set in the control layer PLC, so that the acceleration and deceleration effect during the switching of the pump direction is achieved, and the phenomena of mechanical collision and instability caused by inertia during the switching of the pump direction of the traditional cloth trolley are avoided.
The cloth trolley control system can acquire the working state of the pump trolley by monitoring the working signal of the pump trolley, starts to execute cleaning operation after the working of the pump trolley is finished, sequentially controls the electromagnetic normally closed switch reversing valve for the water channel and the normally closed electromagnetic reversing valve for the water channel through the control layer PLC, and is closed at regular time, so that the automation degree is high.
The cloth trolley control system can switch automatic and manual control modes, under the automatic control mode, information such as a walking position, a butt joint condition, a slurry pouring working state and the like can be obtained in real time through each group of sensors, and driving deceleration time, pump direction switching flow reduction time, water and gas electromagnetic valve switching time and the like are calculated according to collected information through a built-in program in the PLC, so that automatic control is formed. The parameters can be applied to the whole construction section only by debugging and writing in the initial stage.
Drawings
FIG. 1 is a block diagram of the control system of the present invention;
FIG. 2 is a block diagram of the overall program execution of the present invention;
FIG. 3 is a block diagram of the cart travel subroutine of the present invention;
FIG. 4 is a block diagram of the automatic docking and cleaning subroutine of the cart of the present invention;
FIG. 5 is a block diagram of the dolly pump direction switching subroutine 1 of the present invention;
fig. 6 is a block diagram of the cart pump to switch subroutine 2 of the present invention.
Detailed Description
The present invention will be described in detail with reference to fig. 1 to 6, and the exemplary embodiments and descriptions of the present invention are provided to explain the present invention, but not to limit the present invention.
A control system of a material distribution trolley for a tunnel lining trolley comprises a control layer, an operation layer, a cleaning action execution layer, a butt joint action execution layer and a signal acquisition layer, wherein the operation layer, the cleaning action execution layer, the butt joint action execution layer and the signal acquisition layer are respectively communicated with the control layer;
the signal acquisition layer comprises a track proximity sensor for acquiring a traveling position signal of the distributing trolley, a plunger type pressure relay for acquiring a hydraulic oil circuit signal, a limiting seat pressure sensor for pump direction switching monitoring, a docking port pressure sensor for telescopic docking monitoring and a pouring pressure sensor for pouring monitoring; each group of sensors collects pressure information in a pump pipe, travel information of the material distribution trolley and contact conditions at an interface in real time, outputs the information to the control layer and finally presents the information in the upper computer of the touch screen, so that the overall running condition of the trolley is visually and accurately reflected; the control layer controls the cleaning action execution layer and the butt joint action execution layer; the control layer comprises a PLC (programmable logic controller), reads the information of each sensor, the control instruction of the upper computer and the instruction of the wireless remote controller, processes each information and instruction through the written program, and then issues a next-stage execution instruction to the execution layer; the control system also comprises a 24V direct current output power supply, a 5V direct current output power supply, a low-voltage short-circuit device, a circuit overload protector, a contactor, a wiring terminal and the like, wherein all the output power supplies can be connected into the control system according to the connection mode of the prior art to supply power for the control system. Each output power supply of group provides stable and suitable working power supply for PLC, each sensor etc. and low-voltage circuit breaker and contactor protect converter and walking motor, avoid because of the motor damage that phase sequence output error leads to, circuit overload protection ware protects whole circuit, avoids the destruction of each circuit components and parts that the overload in the course of the work leads to.
The butt joint action execution layer comprises a walking motor, a frequency converter, a telescopic oil cylinder electromagnetic directional valve, a pump direction switching oil cylinder electromagnetic directional valve and a pump direction switching speed electromagnetic throttle valve, wherein the frequency converter, the telescopic oil cylinder electromagnetic directional valve, the pump direction switching oil cylinder electromagnetic directional valve and the pump direction switching speed electromagnetic throttle valve respectively control the output frequency of the walking motor, the on-off of a hydraulic oil circuit and the flow of the oil circuit by receiving control layer signals, so that the running of the walking motor, the telescopic oil cylinder and the pump direction switching oil cylinder is controlled;
the cleaning action execution layer comprises water cleaning and/or air cleaning, the water cleaning is communicated with the control layer through a normally closed electromagnetic directional valve for water, and the air cleaning is communicated with the control layer through a normally closed electromagnetic directional valve for air; the invention comprises water washing and air washing, and the comprehensive washing acts on the pump pipe, thereby ensuring the cleaning effect and avoiding the blockage of the pipe;
the operation layer comprises a touch screen upper computer and a wireless handheld remote controller; the touch screen upper computer can carry out real-time operation, data monitoring and parameter modification, can be used to the initial stage debugging, can save the parameter after the initial stage debugging is accomplished, and the remote control of reuse wireless handheld remote controller in the actual work process is used.
The touch screen upper computer, the wireless handheld remote controller, each group of electromagnetic valves, the sensors and the like are connected with the control layer PLC programmable controller, so that signal acquisition and reading, instruction reading and sending, trolley running state information uploading, man-machine communication and the like are realized.
The invention also provides a control method for controlling by using the control system of the material distribution trolley for the tunnel lining trolley, which comprises the following specific control steps:
(1) beginning: initializing to return to zero, and returning to zero by walking position, pump direction and expansion;
(2) judging manual/automatic control, and executing the next step when judging that the control is automatic control;
(3) starting an automatic circulating butt joint program of the pump pipe;
(4) running a material distribution trolley walking subprogram;
(5) adding 1 to a walking position counter;
(6) comparing the walking position counter with a set value: when the position count is equal to the set value, the automatic cycle docking program is ended; when the position count is not equal to the set value, executing the next step;
(7) operating a pump pipe automatic adjusting/pouring/cleaning subprogram;
(8) the pump pipe automatic adjustment/pouring/cleaning subprogram is finished;
(9) running the pump direction switching subroutine 1;
(10) the pump-to-switch subroutine 1 ends;
(11) operating a pump pipe automatic adjusting/pouring/cleaning subprogram;
(12) the pump pipe automatic adjustment/pouring/cleaning subprogram is finished;
(13) running a pump direction switching subroutine 2;
(14) the pump-to-switch subroutine 2 ends;
(15) waiting for the next loop instruction;
(16) and (4) continuing to loop to the step (4) after the instruction is issued.
The material distribution trolley walking subprogram in the step (4) specifically comprises the following steps:
(4-1) starting an automatic traveling subprogram of the material distribution trolley;
(4-2) running the walking motor;
(4-3) detecting a signal by a track proximity sensor arranged at the pumping position 1, executing the next step when the track proximity sensor detects a signal, and continuing to execute the step (4-2) when no signal is detected;
(4-4) outputting the low frequency of the frequency converter;
(4-5) stopping the walking motor;
(4-6) turning on a slurry pumping position indicator lamp;
and (4-7) ending the trolley walking subprogram.
In the step (7), the pump pipe automatic adjustment/pouring/cleaning subroutine comprises the following specific steps:
(7-1) starting an automatic adjustment subprogram of a pump pipe of the material distribution trolley;
(7-2) opening the electromagnetic directional valve of the telescopic oil cylinder at the 1 position;
(7-3) monitoring a signal by the plunger type pressure relay, and when the signal is available, stopping the automatic adjustment subprogram of the pump pipe of the material distribution trolley and giving an alarm, and flashing an alarm indicator lamp; when no signal exists, continuing to execute the next step;
(7-4) monitoring signals of the interface pressure sensor, and when no signal exists, continuing to monitor the signals of the interface pressure sensor; when a signal is received, the electromagnetic directional valve of the telescopic oil cylinder is closed, and the butt joint indicator lamp is turned on;
(7-5) monitoring a pouring signal, and when no signal exists, continuing to monitor the signal; when a signal is available, the pouring end indicator lamp flickers regularly;
(7-6) waiting for a pouring interface dismantling completion instruction, continuing waiting when no signal exists, and outputting the low frequency of the frequency converter to a walking motor when a signal exists;
(7-7) carrying out signal monitoring by a proximity sensor at the cleaning position 1, and continuing to carry out signal monitoring when no signal exists; when a signal is available, the frequency converter stops outputting; the cleaning position 1 indicator lamp flickers at regular time;
(7-8) waiting for a cleaning command signal, and continuing to wait when no signal exists; when a signal is available, the cleaning state indicator lamp is turned on;
(7-9) opening the water normally-closed electromagnetic directional valve, continuing to open the water normally-closed electromagnetic directional valve when the opening time of the water normally-closed electromagnetic directional valve does not reach a set value, and executing the next step when the opening time of the water normally-closed electromagnetic directional valve reaches the set value;
(7-10) opening a normally closed electromagnetic directional valve for gas opening; when the opening time of the gas normally-closed electromagnetic reversing valve does not reach a set value, the gas normally-closed electromagnetic reversing valve is continuously opened, and when the opening time of the gas normally-closed electromagnetic reversing valve reaches the set value, the next step is executed;
(7-11) closing the switch valve and the indicator lamp; namely, the normally closed electromagnetic directional valve for gas is closed;
(7-12) opening the electromagnetic directional valve 2 position of the telescopic oil cylinder;
(7-13) closing the electromagnetic directional valve of the telescopic oil cylinder in a delayed manner;
and (7-14) finishing the automatic pump pipe adjusting subprogram of the material distribution trolley.
The specific steps of the pump-to-pump switching subroutine 1 in the step (9) are as follows:
(9-1) opening the pump to the 2-position electromagnetic directional valve of the switching oil cylinder, and continuing to open when the opening time does not reach a set value; when the starting time reaches a set value, executing the next step;
(9-2) opening the electromagnetic throttle valve for switching the speed by the pump;
(9-3) waiting for the limiting seat to contact the pressure sensor signal;
(9-4) closing the electromagnetic directional valve of the oil cylinder from the pump to the switching;
(9-5) closing the pump to the switching speed electromagnetic throttle valve;
(9-6) the pump-to-switch subroutine 1 ends.
The specific steps of the pump-to-pump switching subroutine 2 in the step (13) are as follows:
(13-1) the frequency converter outputs reverse frequency;
(13-2) returning the material distribution trolley to a calibration position;
(13-3) opening the pump to the 1-position electromagnetic directional valve of the switching oil cylinder, and continuing to open when the opening time does not reach a set value; when the starting time reaches a set value, the next step is operated;
(13-4) opening the electromagnetic throttle valve for switching the speed by the pump;
(13-5) waiting for the limiting seat to contact the pressure sensor signal;
(13-6) closing a reversing valve of the electromagnetic valve of the oil cylinder from the pump to the switching;
(13-7) closing the pump to the switching speed electromagnetic throttle valve;
(13-8) the pump-to-switch subroutine 2 ends.
As can be seen from fig. 2, in the actual work engineering, when the layered pouring and distributing trolley control system provided by the invention works, initialization zeroing is firstly performed, at this time, an operator sends a zeroing instruction to the PLC programmable controller through a touch screen upper computer or a wireless handheld remote controller, the PLC programmable controller sends an instruction to the pump to the switching oil cylinder electromagnetic directional valve, the telescopic oil cylinder directional valve and the pump to the switching speed electromagnetic throttle valve, so that the pump pipe stably reaches a preset initial position, and then the PLC programmable controller controls the frequency converter to perform low-frequency output, so that the trolley stably runs to the initial position track proximity sensor. After the cloth trolley returns to zero, an operator selects an automatic butt joint mode and a manual butt joint mode, and in the manual mode, the system only converts information collected by each group of sensors through programs and displays the information on a touch screen, and provides trolley running state information by combining the on-off of indicator lamps of each part; in an automatic mode, the control system executes an automatic walking subprogram, the control system runs to a pouring calibration position, namely a pumping position 1, at the moment, a track proximity sensor at the pumping position 1 sends a high-level signal to a PLC (programmable logic controller) control center, a trigger signal is stored in a register, and meanwhile, the trigger signal is compared with a total walking position number counter in the PLC to judge whether the trolley runs to the end position of the whole pouring section, if the trigger signal is the end position, the automatic docking cycle is ended, and if the trigger signal is not the end position, the pump pipe automatic adjustment/pouring/cleaning subprogram is executed. And after the cleaning subprogram is executed, the execution pump switches the pouring direction to the switching subprogram 1, the automatic pump pipe adjusting/pouring/cleaning subprogram is executed again, and after the execution is finished, pouring on the left side and the right side of the current position is finished. And finally, executing the pump direction switching subroutine 2, returning to the calibration position, waiting for the next pouring cycle until the value of the position register is equal to the value of the set register, and judging that the pouring of the current section is finished.
As can be seen from fig. 3, when the trolley executes the traveling subprogram, when the trolley triggers the proximity sensor, the PLC programmable controller requires the frequency converter to perform low-frequency output, thereby reducing the traveling speed, avoiding the situation that the trolley exceeds a required position during braking due to inertia of the trolley, and ensuring that the traveling time of the trolley over a long stroke is short.
As can be seen from fig. 4, when the layered pouring and distributing trolley control system provided by the invention executes the automatic docking and cleaning subprogram, the PLC controls the 1-position conduction of the electromagnetic directional valve of the telescopic cylinder, and simultaneously detects the signal of the plunger type pressure relay until the signal of the docking port pressure sensor is triggered, the completion of docking is determined, the electromagnetic directional valve is closed, and the pouring signal indicator lamp is turned on. After the butt joint is completed, the control system waits for the sending and the ending of the pouring signals, after the pouring is completed, an operator removes the butt joint port and sends a removal completion instruction, the low-frequency output frequency converter of the system enables the trolley to slowly run until the cleaning position is close to the sensor to trigger, and the control system waits for a cleaning start instruction. After cleaning is started, the PLC controls the normally closed electromagnetic directional valves for water and gas to be opened successively, wherein the opening time and the duration time of the two directional valves are set in advance, after the cleaning time is finished, the 2-position electromagnetic directional valve of the telescopic oil cylinder is opened to enable the position of the discharge hole to be zero, then the electromagnetic valve is closed, and the pouring at the current position is finished.
As can be seen from fig. 5, when the layered pouring and distributing trolley control system provided by the invention executes the trolley pump-to-switching subroutine 1, the PLC programmable controller controls the pump to open the electromagnetic directional valve 2 of the switching cylinder, so that the joint is turned to the other end, and the opening time is set, and when the opening time reaches a set value, the electromagnetic throttle valve is opened to reduce the switching speed, thereby reducing the moment effect caused by the telescopic arm and the collision between the telescopic arm and the limiting seat, finally reducing the mechanical wear, and increasing the stability of the trolley. In the pump direction switching subprogram, after the limit seat is triggered by the contact pressure signal, the PLC judges that the reversing is completed, and closes the pump direction switching reversing valve and the throttle valve.
As can be seen from fig. 6, when the layered pouring and distributing trolley control system provided by the present invention executes the trolley pump-to-switching subroutine 2, the PLC first controls the inverter to perform reverse output, so that the trolley returns to the current calibration pouring position, and then performs the same reversing operation as that in fig. 5, thereby completing the current pouring cycle.
The technical solutions provided by the embodiments of the present invention are described in detail above, and the principles and embodiments of the present invention are explained herein by using specific examples, and the descriptions of the embodiments are only used to help understanding the principles of the embodiments of the present invention; meanwhile, for a person skilled in the art, according to the embodiments of the present invention, there may be variations in the specific implementation manners and application ranges, and in summary, the content of the present description should not be construed as a limitation to the present invention.
Claims (6)
1. The utility model provides a control system of cloth dolly for tunnel lining platform truck which characterized in that: the device comprises a control layer, and an operation layer, a cleaning action execution layer, a butt joint action execution layer and a signal acquisition layer which are respectively communicated with the control layer;
the signal acquisition layer comprises a track proximity sensor for acquiring a traveling position signal of the distributing trolley, a plunger type pressure relay for acquiring a hydraulic oil circuit signal, a limiting seat pressure sensor for pump direction switching monitoring, a docking port pressure sensor for telescopic docking monitoring and a pouring pressure sensor for pouring monitoring; each group of sensors collects pressure information in a pump pipe, travel information of the material distribution trolley and contact conditions at an interface in real time and outputs the information to the control layer, and the control layer controls the cleaning action execution layer and the butt joint action execution layer;
the butt joint action execution layer comprises a walking motor, a frequency converter, a telescopic oil cylinder electromagnetic directional valve, a pump direction switching oil cylinder electromagnetic directional valve and a pump direction switching speed electromagnetic throttle valve, wherein the frequency converter, the telescopic oil cylinder electromagnetic directional valve, the pump direction switching oil cylinder electromagnetic directional valve and the pump direction switching speed electromagnetic throttle valve respectively control the output frequency of the walking motor, the on-off of a hydraulic oil circuit and the flow of the oil circuit by receiving control layer signals, so that the running of the walking motor, the telescopic oil cylinder and the pump direction switching oil cylinder is controlled;
the cleaning action execution layer comprises water cleaning and/or air cleaning, the water cleaning is communicated with the control layer through the water normally closed electromagnetic directional valve, and the air cleaning is communicated with the control layer through the air normally closed electromagnetic directional valve.
2. A control method using the control system of the material distribution trolley for the tunnel lining trolley according to claim 1, characterized by comprising the following specific control steps:
(1) beginning: initializing to return to zero, and returning to zero by walking position, pump direction and expansion;
(2) judging manual/automatic control, and executing the next step when judging that the control is automatic control;
(3) starting an automatic circulating butt joint program of the pump pipe;
(4) running a material distribution trolley walking subprogram;
(5) adding 1 to a walking position counter;
(6) comparing the walking position counter with a set value: when the position count is equal to the set value, the automatic cycle docking program is ended; when the position count is not equal to the set value, executing the next step;
(7) running a pump pipe automatic adjusting and pouring and cleaning subprogram;
(8) the pump pipe automatic adjustment and pouring and cleaning sub-procedure is finished;
(9) running the pump direction switching subroutine 1;
(10) the pump-to-switch subroutine 1 ends;
(11) running a pump pipe automatic adjusting and pouring and cleaning subprogram;
(12) the pump pipe automatic adjustment and pouring and cleaning sub-procedure is finished;
(13) running a pump direction switching subroutine 2;
(14) the pump-to-switch subroutine 2 ends;
(15) waiting for the next loop instruction;
(16) and (4) continuing to loop to the step (4) after the instruction is issued.
3. The control method for controlling by the control system of the material distribution cart for a tunnel lining trolley according to claim 2,
the material distribution trolley walking subprogram in the step (4) specifically comprises the following steps:
(4-1) starting an automatic traveling subprogram of the material distribution trolley;
(4-2) running the walking motor;
(4-3) detecting a signal by a track proximity sensor arranged at the pumping position 1, executing the next step when the track proximity sensor detects a signal, and continuing to execute the step (4-2) when no signal is detected;
(4-4) outputting the low frequency of the frequency converter;
(4-5) stopping the walking motor;
(4-6) turning on a slurry pumping position indicator lamp;
and (4-7) ending the trolley walking subprogram.
4. The control method for controlling the control system of the material distribution trolley for the tunnel lining trolley according to claim 2, wherein in the step (7), the concrete steps of the automatic pump pipe adjusting and pouring and cleaning subroutine are as follows:
(7-1) starting an automatic adjustment subprogram of a pump pipe of the material distribution trolley;
(7-2) opening the electromagnetic directional valve of the telescopic oil cylinder at the 1 position;
(7-3) monitoring a signal by the plunger type pressure relay, and when the signal is available, stopping the automatic adjustment subprogram of the pump pipe of the material distribution trolley and giving an alarm, and flashing an alarm indicator lamp; when no signal exists, continuing to execute the next step;
(7-4) monitoring signals of the interface pressure sensor, and when no signal exists, continuing to monitor the signals of the interface pressure sensor; when a signal is received, the electromagnetic directional valve of the telescopic oil cylinder is closed, and the butt joint indicator lamp is turned on;
(7-5) monitoring a pouring signal, and when no signal exists, continuing to monitor the signal; when a signal is available, the pouring end indicator lamp flickers regularly;
(7-6) waiting for a pouring interface dismantling completion instruction, continuing waiting when no signal exists, and outputting the low frequency of the frequency converter to a walking motor when a signal exists;
(7-7) carrying out signal monitoring by a proximity sensor at the cleaning position 1, and continuing to carry out signal monitoring when no signal exists; when a signal is available, the frequency converter stops outputting; the cleaning position 1 indicator lamp flickers at regular time;
(7-8) waiting for a cleaning command signal, and continuing to wait when no signal exists; when a signal is available, the cleaning state indicator lamp is turned on;
(7-9) opening the water normally-closed electromagnetic directional valve, continuing to open the water normally-closed electromagnetic directional valve when the opening time of the water normally-closed electromagnetic directional valve does not reach a set value, and executing the next step when the opening time of the water normally-closed electromagnetic directional valve reaches the set value;
(7-10) opening a normally closed electromagnetic directional valve for gas opening; when the opening time of the gas normally-closed electromagnetic reversing valve does not reach a set value, the gas normally-closed electromagnetic reversing valve is continuously opened, and when the opening time of the gas normally-closed electromagnetic reversing valve reaches the set value, the next step is executed;
(7-11) closing the switch valve and the indicator lamp;
(7-12) opening the electromagnetic directional valve 2 position of the telescopic oil cylinder;
(7-13) closing the electromagnetic directional valve of the telescopic oil cylinder in a delayed manner;
and (7-14) finishing the automatic pump pipe adjusting subprogram of the material distribution trolley.
5. The control method for controlling the control system of the distribution trolley for the tunnel lining trolley according to claim 2, wherein the specific steps of the pump-direction switching subroutine 1 in the step (9) are as follows:
(9-1) opening the pump to the 2-position electromagnetic directional valve of the switching oil cylinder, and continuing to open when the opening time does not reach a set value; when the starting time reaches a set value, executing the next step;
(9-2) opening the electromagnetic throttle valve for switching the speed by the pump;
(9-3) waiting for the limiting seat to contact the pressure sensor signal;
(9-4) closing the electromagnetic directional valve of the oil cylinder from the pump to the switching;
(9-5) closing the pump to the switching speed electromagnetic throttle valve;
(9-6) the pump-to-switch subroutine 1 ends.
6. The control method for controlling the control system of the material distribution cart for the tunnel lining trolley according to claim 2, wherein the specific steps of the pump-to-switch subroutine 2 in the step (13) are as follows:
(13-1) the frequency converter outputs reverse frequency;
(13-2) returning the material distribution trolley to a calibration position;
(13-3) opening the pump to the 1-position electromagnetic directional valve of the switching oil cylinder, and continuing to open when the opening time does not reach a set value; when the starting time reaches a set value, the next step is operated;
(13-4) opening the electromagnetic throttle valve for switching the speed by the pump;
(13-5) waiting for the limiting seat to contact the pressure sensor signal;
(13-6) closing a reversing valve of the electromagnetic valve of the oil cylinder from the pump to the switching;
(13-7) closing the pump to the switching speed electromagnetic throttle valve;
(13-8) the pump-to-switch subroutine 2 ends.
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| CN112549275B (en) * | 2020-12-02 | 2022-07-15 | 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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Effective date of registration: 20221125 Address after: 710000 Room 01, 19/F, Unit 1, Building 1, Changxin Building, No. 95, Nanguanzheng Street, Beilin District, Xi'an, Shaanxi Patentee after: Shaanxi New Blueprint Investment Group Co.,Ltd. Address before: 410000 room 2722, pixel building, No. 109, Guyuan Road, high tech Development Zone (county), Changsha City, Hunan Province Patentee before: HUNAN DIXING INTELLIGENT TECHNOLOGY CO.,LTD. |