CN111364369A - Automatic erection method, device and system of special operation vehicle and special operation vehicle - Google Patents
Automatic erection method, device and system of special operation vehicle and special operation vehicle Download PDFInfo
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01D—CONSTRUCTION OF BRIDGES, ELEVATED ROADWAYS OR VIADUCTS; ASSEMBLY OF BRIDGES
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Abstract
The invention relates to the technical field of special operation, and discloses an automatic erection method, device and system of a special operation vehicle and the special operation vehicle. The automatic erection method comprises the following steps: dividing the erection flow into a plurality of processes and sequencing the plurality of processes according to a preset erection flow standard; and gradually executing a plurality of processes according to the arranged sequence, wherein aiming at any one of the plurality of processes, whether the process is executed completely is judged according to whether a finishing signal corresponding to the process is detected. Therefore, automatic erection of the special operation vehicle is realized, the technical problem that the condition of in-place erection action needs to be judged by manual assistance is solved, the dangerous condition caused by increasing erection time due to manual observation and judgment and human judgment errors is avoided, and the technical problem that equipment and manpower have potential safety hazards due to large randomness caused by the fact that the condition of in-place erection process is judged by manpower purely depending on experience is solved.
Description
Technical Field
The invention relates to the technical field of special operation, in particular to an automatic erection method, device and system of a special operation vehicle and the special operation vehicle.
Background
The operation working conditions of the bridge erecting vehicle are severe and complex, the remote controllers are all adopted for manual erection during equipment construction, personnel are required to assist around, the in-place situation of each erection action is confirmed, and then the next erection action can be carried out.
The erection process of the bridge girder erection vehicle generally starts after a chassis of the bridge girder erection vehicle is leveled, and the erection sequence comprises the jacking of the roll-over stand, the landing and leveling of portal support legs, the jacking of the amplitude-variable frame, the bridge disengaging of the amplitude-variable frame, the straightening of a near-end bridge section, the straightening of a far-end bridge section and the erection of a bridge body, wherein only the roll-over stand and the portal support legs have in-place signals, and the in-place conditions of other operation flows are determined by observing the in-place conditions of each erection flow through auxiliary personnel, so that whether the next step can be continued or.
The bridge girder erection vehicle has the risk of tipping in the whole driving process, each erection process must strictly follow the operation flow, but in the operation process, the operator judges the in-place situation of each erection flow purely by experience, the randomness is high, and certain potential safety hazards are generated to equipment and surrounding personnel.
In addition, the bridge girder erection vehicle is used for emergency rescue and disaster relief, the time is life, and the situation that people come back and forth and get in place due to manual erection wastes precious rescue time.
Disclosure of Invention
The object of the present invention is to provide a method, a device and a system for automatic erection of a dedicated work vehicle and a dedicated work vehicle, which solve or at least partially solve the above mentioned problems.
In order to achieve the above object, an aspect of the present invention provides an automatic erecting method of a dedicated working vehicle, the automatic erecting method including: dividing the erection flow into a plurality of processes and sequencing the plurality of processes according to a preset erection flow standard; and gradually executing the plurality of processes according to the arranged sequence, wherein aiming at any one of the plurality of processes, whether the process is executed completely is judged according to whether a finishing signal corresponding to the process is detected.
Optionally, the plurality of processes comprises at least two of: leveling a chassis of the bridge erecting vehicle, jacking a turnover frame of the bridge erecting vehicle, landing and leveling portal support legs of the bridge erecting vehicle, jacking a variable frame of the bridge erecting vehicle, releasing the variable frame of the bridge erecting vehicle, releasing a bridge of a near-end bridge section of the bridge erecting vehicle, expanding the bridge, releasing the bridge and releasing the far-end bridge section of the bridge erecting vehicle, expanding the bridge and releasing the bridge.
Optionally, the completion signal corresponding to the leveling of the chassis of the bridge erecting vehicle is that the inclination angle of the chassis of the bridge erecting vehicle is within a first preset inclination angle range; the finish signal corresponding to the jacking of the bridge girder erection vehicle roll-over stand is that the roll-over stand oil cylinder reaches a first preset limit; the completion signal corresponding to landing and leveling of the landing legs of the portal frame of the bridge girder erection vehicle is that the inclination angle of the portal frame is within a second preset inclination angle range; the finish signal corresponding to the jacking of the amplitude transformer of the bridge girder erection vehicle is that the amplitude transformer oil cylinder reaches a second preset limit; the finishing signal corresponding to the amplitude-variable frame bridge-releasing of the bridge girder erection vehicle is that the bridge-releasing oil cylinder reaches a third preset limit; the finishing signals corresponding to the bridge release, the bridge expansion and the bridge release of the near-end bridge section of the bridge girder erection vehicle are that the inclination angle of the near-end bridge section is the same as that of the middle bridge section and is within a third preset inclination angle range, and the oil cylinder of the near-end bridge section for the bridge girder expansion reaches a fourth preset limit; and the bridge releasing, the bridge expanding and the bridge releasing of the far-end bridge section of the bridge erecting vehicle correspond to the finishing signals that the inclination angle of the near-end bridge section, the inclination angle of the middle bridge section and the inclination angle of the far-end bridge section are the same and do not change, the far-end bridge section bridge expanding oil cylinder reaches a fifth preset limit, and the pressure of the far-end bridge section bridge releasing oil cylinder does not change.
Accordingly, another aspect of the present invention provides an automatic erecting device for a dedicated working vehicle, the automatic erecting device comprising: the process dividing module is used for dividing the erection flow into a plurality of processes and sequencing the plurality of processes according to a preset erection flow standard; and the processing module is used for gradually executing the plurality of processes according to the arranged sequence, wherein aiming at any one of the plurality of processes, whether the process is executed completely is judged according to whether a finishing signal corresponding to the process is detected.
Optionally, the plurality of processes comprises at least two of: leveling a chassis of the bridge erecting vehicle, jacking a turnover frame of the bridge erecting vehicle, landing and leveling portal support legs of the bridge erecting vehicle, jacking a variable frame of the bridge erecting vehicle, releasing the variable frame of the bridge erecting vehicle, releasing a bridge of a near-end bridge section of the bridge erecting vehicle, expanding the bridge, releasing the bridge and releasing the far-end bridge section of the bridge erecting vehicle, expanding the bridge and releasing the bridge.
Optionally, the completion signal corresponding to the leveling of the chassis of the bridge erecting vehicle is that the inclination angle of the chassis of the bridge erecting vehicle is within a first preset inclination angle range; the finish signal corresponding to the jacking of the bridge girder erection vehicle roll-over stand is that the roll-over stand oil cylinder reaches a first preset limit; the completion signal corresponding to landing and leveling of the landing legs of the portal frame of the bridge girder erection vehicle is that the inclination angle of the portal frame is within a second preset inclination angle range; the finish signal corresponding to the jacking of the amplitude transformer of the bridge girder erection vehicle is that the amplitude transformer oil cylinder reaches a second preset limit; the finishing signal corresponding to the amplitude-variable frame bridge-releasing of the bridge girder erection vehicle is that the bridge-releasing oil cylinder reaches a third preset limit; the finishing signals corresponding to the bridge release, the bridge expansion and the bridge release of the near-end bridge section of the bridge girder erection vehicle are that the inclination angle of the near-end bridge section is the same as that of the middle bridge section and is within a third preset inclination angle range, and the oil cylinder of the near-end bridge section for the bridge girder expansion reaches a fourth preset limit; and the bridge releasing, the bridge expanding and the bridge releasing of the far-end bridge section of the bridge erecting vehicle correspond to the finishing signals that the inclination angle of the near-end bridge section, the inclination angle of the middle bridge section and the inclination angle of the far-end bridge section are the same and do not change, the far-end bridge section bridge expanding oil cylinder reaches a fifth preset limit, and the pressure of the far-end bridge section bridge releasing oil cylinder does not change.
In addition, another aspect of the present invention also provides an automatic erection system, including: the automatic erecting device; the bridge girder erection vehicle rollover stand oil cylinder limit detection module is used for detecting whether the rollover stand oil cylinder reaches a first preset limit; the bridge girder erection vehicle amplitude transformer oil cylinder limit detection module is used for detecting whether the amplitude transformer oil cylinder reaches a second preset limit; the bridge-erecting vehicle bridge-disengaging oil cylinder limit detection module is used for detecting whether the bridge-disengaging oil cylinder reaches a third preset limit; the bridge girder erection vehicle near-end bridge section limit detection module is used for detecting whether the bridge girder erection oil cylinder of the near-end bridge section reaches a fourth preset limit; and the bridge erection vehicle far-end bridge section limit detection module is used for detecting whether the far-end bridge section bridge expansion oil cylinder reaches a fifth preset limit.
Optionally, the automatic erection system further comprises: the bridge girder erection vehicle chassis inclination angle detection module is used for detecting the inclination angle of the bridge girder erection vehicle chassis; the bridge girder erection vehicle portal inclination angle detection module is used for detecting a portal inclination angle; the bridge girder erection vehicle near-end bridge section inclination angle detection module is used for detecting a near-end bridge section inclination angle; the bridge girder erection vehicle middle bridge section inclination angle detection module is used for detecting an inclination angle of a middle bridge section; and the bridge girder erection vehicle far-end bridge section inclination angle detection module is used for detecting the far-end bridge section inclination angle.
In addition, the invention also provides a special operation vehicle which comprises the automatic erection system.
In addition, another aspect of the present invention also provides a machine-readable storage medium having instructions stored thereon for causing a machine to perform the above-mentioned automatic erection method.
Through the technical scheme, the erection process is divided into a plurality of erection processes, the erection processes are sequenced, and the erection processes are executed according to the sequence, wherein whether the erection process is finished or not is judged according to whether the finishing signal corresponding to the erection process is detected or not aiming at each erection process, namely whether the erection action is in place or not is judged, so that the automatic erection of the special operation vehicle is realized, the technical problem that the erection action is in place through manual assistance judgment is solved, the dangerous condition that the erection time is increased through manual observation and judgment and the error is caused through manual judgment is avoided, and the technical problem that the randomness is large and potential safety hazards are caused to equipment and workers due to the fact that the situation that the erection process is in place is judged through the experience of the workers is solved. In addition, the automatic erection can avoid the technical problem of time waste caused by the fact that the manual erection is used for judging the in-place situation, and the working efficiency is improved.
Additional features and advantages of the invention will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic diagram of the erection logic of a bridge girder erection vehicle in the prior art;
FIG. 2 is a flow chart of an automatic erecting method for a special-purpose vehicle according to an embodiment of the present invention;
FIG. 3 is a logic diagram of an automatic erecting method for a special-purpose vehicle according to another embodiment of the present invention; and
fig. 4 is a block diagram of an automatic erecting device of a special work vehicle according to another embodiment of the present invention.
Description of the reference numerals
1 process division module 2 processing module
Detailed Description
The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present invention, are given by way of illustration and explanation only, not limitation.
One aspect of the embodiments of the present invention provides an automatic erection method for a special work vehicle.
Fig. 2 is a flowchart of an automatic erecting method for a dedicated work vehicle according to an embodiment of the present invention. As shown in fig. 2, the automatic erection method includes the following steps.
In step S20, the erection procedure is divided into a plurality of procedures and the procedures are sequenced according to the predetermined erection procedure standard. For example, taking bridge erection as an example, an erection process is set according to the requirement of bridge erection, the erection process is divided into a plurality of processes according to a preset erection process standard, and the plurality of processes are sequenced according to the preset erection process standard.
In step S21, a plurality of processes are executed step by step according to the sorted order, wherein for any one of the plurality of processes, whether the process is executed is determined according to whether a completion signal corresponding to the process is detected.
Through the technical scheme, the erection process is divided into a plurality of erection processes, the erection processes are sequenced, and the erection processes are executed according to the sequence, wherein whether the erection process is finished or not is judged according to whether the finishing signal corresponding to the erection process is detected or not aiming at each erection process, namely whether the erection action is in place or not is judged, so that the automatic erection of the special operation vehicle is realized, the technical problem that the erection action is in place through manual assistance judgment is solved, the dangerous condition that the erection time is increased through manual observation and judgment and the error is caused through manual judgment is avoided, and the technical problem that the randomness is large and potential safety hazards are caused to equipment and workers due to the fact that the situation that the erection process is in place is judged through the experience of the workers is solved. In addition, the automatic erection can avoid the technical problem of time waste caused by the fact that the manual erection is used for judging the in-place situation, and the working efficiency is improved.
Optionally, in an embodiment of the present invention, the plurality of processes may include at least two of: leveling a chassis of the bridge erecting vehicle, jacking a turnover frame of the bridge erecting vehicle, landing and leveling portal support legs of the bridge erecting vehicle, jacking a variable frame of the bridge erecting vehicle, releasing the variable frame of the bridge erecting vehicle, releasing a bridge of a near-end bridge section of the bridge erecting vehicle, expanding the bridge, releasing the bridge and releasing the far-end bridge section of the bridge erecting vehicle, expanding the bridge and releasing the bridge.
Optionally, in the embodiment of the present invention, the signal indicating that the chassis of the bridge girder erection vehicle is leveled is that the chassis inclination angle of the bridge girder erection vehicle is within a first preset inclination angle range; a corresponding finish signal of jacking the turnover frame of the bridge erecting vehicle is that the oil cylinder of the turnover frame reaches a first preset limit; landing and leveling of the landing legs of the portal frame of the bridge girder erection vehicle are correspondingly finished signals that the inclination angle of the portal frame is in a second preset inclination angle range; the lifting of the amplitude transformer frame of the bridge girder erection vehicle corresponds to a finishing signal for the amplitude transformer cylinder to reach a second preset limit; the bridge-off oil cylinder reaches a third preset limit according to a finishing signal corresponding to the amplitude-variable bridge-off of the bridge-erecting vehicle; the bridge placing, the bridge unfolding and the bridge placing of the near-end bridge section of the bridge girder erection vehicle are finished signals that the inclination angle of the near-end bridge section is the same as that of the middle bridge section and is within a third preset inclination angle range, and the oil cylinder of the near-end bridge section for unfolding the bridge reaches a fourth preset limit; and finishing signals corresponding to the bridge release, the bridge expansion and the bridge release of the far-end bridge section of the bridge girder erection vehicle are that the inclination angle of the near-end bridge section, the inclination angle of the middle bridge section and the inclination angle of the far-end bridge section are the same and do not change, the far-end bridge section bridge expansion oil cylinder reaches a fifth preset limit, and the pressure of the far-end bridge section bridge release oil cylinder does not change.
The following takes a dedicated working vehicle as an example, and an automatic erection method of the dedicated working vehicle provided by the embodiment of the invention is exemplarily described with reference to fig. 3. As shown in fig. 3, in this embodiment, the automatic erection method includes the following.
And (4) self-checking after the system is powered on. And electrifying the bridge erecting vehicle equipment to perform self-inspection of the electric control system. The self-checking comprises control input and output interface self-checking, communication self-checking with a remote controller and a chassis, and communication self-checking with an angle sensor and an inclination angle sensor. Judging whether each electric control interface is normal, and allowing an automatic erection process after confirming that each electric control interface is normal, namely entering an automatic erection mode; and if the electronic control interfaces are judged to be abnormal, alarming and prompting are carried out.
And after judging that each electric control interface is normal, starting an automatic erection button and entering an automatic erection mode.
And (6) sequencing the steps of the motion process. The erection flow is divided into a plurality of movement flow steps (the movement flow steps are identical to the process described in the above embodiment), and then the plurality of movement flow steps are sorted. In the embodiment, the plurality of motion process steps comprise leveling of a chassis of the bridge girder erection vehicle, jacking of a turnover frame of the bridge girder erection vehicle, landing and leveling of a portal supporting leg of the bridge girder erection vehicle, jacking of a variable amplitude frame of the bridge girder erection vehicle, releasing of the variable amplitude frame of the bridge girder erection vehicle, releasing of a proximal bridge section of the bridge girder erection vehicle, unfolding of the bridge girder, releasing of the bridge girder and a distal bridge section of the bridge girder erection vehicle, unfolding of the bridge girder and releasing of the distal bridge section of the bridge girder erection vehicle.
And gradually executing the bridge expansion process according to the process step sequence, wherein the bridge expansion process is also the erection process.
Any flow steps are described as an example. Wait for this step to detect the device in position signal (equivalent to the done signal described in the above embodiment). And judging the step in-place condition, namely judging whether an end detection device in-place signal is detected in the step. If not, the terminal detection device continues waiting for the in-place signal. If the process is in place, whether all the processes are executed is judged. And if all the flows are executed, normal prompt is carried out. If all the flows are not executed completely, the bridge expansion flow is continuously executed step by step according to the flow step ordering, namely, the next flow of the flow is executed according to the flow step ordering.
In this embodiment, the plurality of motion flow steps may include leveling chassis of the bridge girder erection vehicle, jacking up a roll stand of the bridge girder erection vehicle, landing and leveling a landing leg of a gantry of the bridge girder erection vehicle, jacking up a variable amplitude frame of the bridge girder erection vehicle, releasing a bridge of a proximal bridge section of the bridge girder erection vehicle, releasing a bridge, and releasing a bridge of a distal bridge section of the bridge girder erection vehicle. The sequence of the process steps is that chassis leveling of the bridge girder erection vehicle, jacking of a turnover frame of the bridge girder erection vehicle, landing and leveling of portal supporting legs of the bridge girder erection vehicle, jacking of a variable amplitude frame of the bridge girder erection vehicle, releasing of the variable amplitude frame of the bridge girder erection vehicle, releasing of a bridge section at the near end of the bridge girder erection vehicle, unfolding of the bridge, releasing of the bridge and a bridge section at the far end of the bridge girder erection vehicle, unfolding of the bridge and releasing of the bridge. The flow of each step is described in turn below. And finishing the erection after all the flow steps are executed.
Leveling a chassis of the bridge girder erection vehicle: and automatically adjusting the four supporting leg oil cylinders by adopting an automatic leveling algorithm, stopping leveling when the inclination angle of the chassis reaches a set inclination angle range (which is equal to the inclination angle of the chassis of the bridge girder erection vehicle in the first preset inclination angle range in the embodiment), and entering the next erection process.
Jacking the turnover frame of the bridge girder erection vehicle: the controller outputs current to the turning proportional valve according to a curve set by a program, the turning oil cylinder acts, and after the oil cylinder reaches a limit (which is equal to the turning frame oil cylinder in the embodiment above, the turning is stopped, and the lower erection process is started.
Landing and leveling of portal support legs of the bridge girder erection vehicle: and automatically adjusting the two supporting leg oil cylinders by adopting an automatic leveling algorithm, stopping leveling when the inclination angle of the gantry reaches a set inclination angle range (which is equal to the inclination angle of the gantry in the second preset inclination angle range in the embodiment), and entering the next erection flow.
Jacking the amplitude transformer frame of the bridge girder erection vehicle: the controller outputs current to the amplitude transformer proportional valve according to a curve set by a program, the oil cylinder acts, and the oil cylinder stops jacking after reaching a limit (which is equal to the limit that the amplitude transformer oil cylinder reaches a second preset limit in the embodiment) and enters a lower erection flow.
The amplitude-changing frame of the bridge girder erection vehicle is off-bridge: the controller outputs current to the bridge-off proportional valve according to a set curve, the oil cylinder acts, and after the oil cylinder reaches a limit (which is equal to the bridge-off oil cylinder in the above embodiment reaching a third preset limit), bridge-off is stopped, and the lower erection process is started.
Bridge placing, bridge unfolding and bridge placing of a bridge section at the near end of the bridge girder erection vehicle: the controller outputs current to the bridge releasing proportional valve and the near-end bridge expanding proportional valve according to a curve set by a program, bridge releasing and bridge expanding are carried out according to the inclination angle conditions of the near-end bridge section and the middle bridge section, after the steps are repeated for a plurality of times, the middle bridge section is unfolded, the bridge releasing reaches a set inclination angle range, and the next erection process is carried out. The bridge is placed and expanded according to the inclination angle condition of the near-end bridge section, namely the bridge is placed when the inclination angle of the bridge section reaches a certain inclination angle, the bridge is expanded when the inclination angle of the bridge section reaches another inclination angle, the bridge is placed when the inclination angle of the bridge section reaches another inclination angle, and the bridge is placed … … when the inclination angle of the bridge section reaches another inclination angle, so that the process is repeated, and the bridge placement and expansion principle of the middle bridge section is similar to that of the near-end bridge section. And the middle bridge section is unfolded, wherein the unfolding of the middle bridge section comprises that the inclination angle of the near-end bridge section is the same as that of the middle bridge section, and the bridge unfolding oil cylinder of the near-end bridge section reaches a fourth preset limit. Because the inclination angles of the near-end bridge sections and the intermediate bridge sections are the same, the fact that the intermediate bridge section is unfolded and the bridge is placed to reach the set inclination angle range means that both the inclination angle of the intermediate bridge section and the inclination angle of the near-end bridge section reach the set inclination angle range, that is, the inclination angle of the near-end bridge section and the inclination angle of the intermediate bridge section are the same and are in the third preset inclination angle range in the above embodiment.
Bridge laying, bridge unfolding and bridge laying of the far-end bridge section of the bridge girder erection vehicle: the controller sends current to the bridge releasing proportional valve and the far-end bridge expanding proportional valve according to a curve set by a program, bridge releasing and bridge expanding are carried out according to the inclination angle conditions of the far-end bridge section and the middle bridge section, after the steps are repeated for a plurality of times, the far-end bridge section is expanded, bridge releasing is continued until the pressure of a bridge releasing oil cylinder of the far-end bridge section and the inclination angle of the bridge section are not changed, and automatic bridge expanding is ensured. The principle of bridge placing and bridge unfolding according to the inclination angle condition of the far-end bridge section is similar to that of bridge placing and bridge unfolding according to the inclination angle condition of the near-end bridge section. And the step of completing the expansion of the far-end bridge section comprises the steps of enabling the inclination angle of the near-end bridge section, the inclination angle of the middle bridge section and the inclination angle of the far-end bridge section to be the same and enabling the oil cylinder of the far-end bridge section to reach a fifth preset limit. Because the inclination angles of the near-end bridge sections, the intermediate bridge section and the far-end bridge sections are the same, the inclination angles of the bridge sections are not changed into the inclination angles of the near-end bridge sections, the intermediate bridge sections and the far-end bridge sections.
In the embodiment of the invention, the control software firstly generates the operation flow according to the requirement of bridge erection, divides the processes to be executed step by step according to the operation flow, and then sequences and executes the processes step by step.
The mechanism provided by the invention replaces the process of manual observation, improves the automation level of bridge erection of the bridge girder erection vehicle, and simultaneously provides guarantee for the stability and safety of movement.
Compared with the prior art, the invention can avoid the equipment tipping and the injury to peripheral personnel caused by insufficient operation skills and misoperation of an operator; the invention adopts an automatic erection technology, reduces the step and time for manually confirming the in-place of each process, and greatly improves the automation level of the emergency bridge girder erection vehicle.
In the invention, the limit detection of each actuating mechanism is added, the inclination angle detection of the portal frame, the amplitude changing frame and the three bridge sections is added, the automatic driving program can automatically erect according to the in-place condition of each erecting device and the positions of the three bridge sections in the air, and the automatic driving program can carry out safety protection in the erecting process according to the in-place condition of each erecting device and the positions of the three bridge sections in the air. The automatic sequencing of the erection operation flow is added in the control program to replace manual observation and intervention, so that the automation level of the system is improved, and the safe, stable and controllable motion is also ensured.
Correspondingly, the embodiment of the invention also provides an automatic erection device of the special working vehicle.
Fig. 3 is a block diagram of an automatic erecting device of a special work vehicle according to another embodiment of the present invention. As shown in fig. 3, the automatic erecting device includes a process dividing module 1 and a processing module 2. The process dividing module 1 is configured to divide the erection process into a plurality of processes and sort the plurality of processes according to a preset erection process standard. The processing module 2 is configured to execute the plurality of processes step by step according to the sorted order, wherein for any one of the plurality of processes, whether the process is executed completely is determined according to whether a completion signal corresponding to the process is detected.
Through the technical scheme, the erection process is divided into a plurality of erection processes, the erection processes are sequenced, and the erection processes are executed according to the sequence, wherein whether the erection process is finished or not is judged according to whether the finishing signal corresponding to the erection process is detected or not aiming at each erection process, namely whether the erection action is in place or not is judged, so that the automatic erection of the special operation vehicle is realized, the technical problem that the erection action is in place through manual assistance judgment is solved, the dangerous condition that the erection time is increased through manual observation and judgment and the error is caused through manual judgment is avoided, and the technical problem that the randomness is large and potential safety hazards are caused to equipment and workers due to the fact that the situation that the erection process is in place is judged through the experience of the workers is solved. In addition, the automatic erection can avoid the technical problem of time waste caused by the fact that the manual erection is used for judging the in-place situation, and the working efficiency is improved. .
Optionally, in an embodiment of the present invention, the plurality of processes includes at least two of: leveling a chassis of the bridge erecting vehicle, jacking a turnover frame of the bridge erecting vehicle, landing and leveling portal support legs of the bridge erecting vehicle, jacking a variable frame of the bridge erecting vehicle, releasing the variable frame of the bridge erecting vehicle, releasing a bridge of a near-end bridge section of the bridge erecting vehicle, expanding the bridge, releasing the bridge and releasing the far-end bridge section of the bridge erecting vehicle, expanding the bridge and releasing the bridge.
Optionally, in the embodiment of the present invention, the signal indicating that the chassis of the bridge girder erection vehicle is leveled is that the chassis inclination angle of the bridge girder erection vehicle is within a first preset inclination angle range; a corresponding finish signal of jacking the turnover frame of the bridge erecting vehicle is that the oil cylinder of the turnover frame reaches a first preset limit; landing and leveling of the landing legs of the portal frame of the bridge girder erection vehicle are correspondingly finished signals that the inclination angle of the portal frame is in a second preset inclination angle range; the lifting of the amplitude transformer frame of the bridge girder erection vehicle corresponds to a finishing signal for the amplitude transformer cylinder to reach a second preset limit; the bridge-off oil cylinder reaches a third preset limit according to a finishing signal corresponding to the amplitude-variable bridge-off of the bridge-erecting vehicle; the bridge placing, the bridge unfolding and the bridge placing of the near-end bridge section of the bridge girder erection vehicle are finished signals that the inclination angle of the near-end bridge section is the same as that of the middle bridge section and is within a third preset inclination angle range, and the oil cylinder of the near-end bridge section for unfolding the bridge reaches a fourth preset limit; and finishing signals corresponding to the bridge release, the bridge expansion and the bridge release of the far-end bridge section of the bridge girder erection vehicle are that the inclination angle of the near-end bridge section, the inclination angle of the middle bridge section and the inclination angle of the far-end bridge section are the same and do not change, the far-end bridge section bridge expansion oil cylinder reaches a fifth preset limit, and the pressure of the far-end bridge section bridge release oil cylinder does not change.
In addition, another aspect of the embodiments of the present invention further provides an automatic erection system, including: the automatic erecting device in the above embodiment; the bridge girder erection vehicle rollover stand oil cylinder limit detection module is used for detecting whether the rollover stand oil cylinder reaches a first preset limit; the bridge girder erection vehicle amplitude transformer oil cylinder limit detection module is used for detecting whether the amplitude transformer oil cylinder reaches a second preset limit; the bridge-erecting vehicle bridge-disengaging oil cylinder limit detection module is used for detecting whether the bridge-disengaging oil cylinder reaches a third preset limit; the bridge girder erection vehicle near-end bridge section limit detection module is used for detecting whether the bridge girder erection oil cylinder of the near-end bridge section reaches a fourth preset limit; and the bridge erection vehicle far-end bridge section limit detection module is used for detecting whether the far-end bridge section bridge expansion oil cylinder reaches a fifth preset limit.
Optionally, in an embodiment of the present invention, the automatic erection system further includes: the bridge girder erection vehicle chassis inclination angle detection module is used for detecting the inclination angle of the bridge girder erection vehicle chassis; the bridge girder erection vehicle portal inclination angle detection module is used for detecting a portal inclination angle; the bridge girder erection vehicle near-end bridge section inclination angle detection module is used for detecting a near-end bridge section inclination angle; the bridge girder erection vehicle middle bridge section inclination angle detection module is used for detecting an inclination angle of a middle bridge section; and the bridge girder erection vehicle far-end bridge section inclination angle detection module is used for detecting the far-end bridge section inclination angle.
In addition, another aspect of the embodiments of the present invention further provides a special work vehicle, which includes the automatic erection system described in the above embodiments.
In addition, another aspect of the embodiments of the present invention also provides a machine-readable storage medium, on which instructions are stored, and the instructions are used for causing a machine to execute the automatic erection method described in the above embodiments.
The preferred embodiments of the present invention have been described in detail with reference to the accompanying drawings, however, the present invention is not limited to the specific details of the above embodiments, and various simple modifications can be made to the technical solution of the present invention within the technical idea of the present invention, and these simple modifications are within the protective scope of the present invention.
It should be noted that the various features described in the above embodiments may be combined in any suitable manner without departing from the scope of the invention. The invention is not described in detail in order to avoid unnecessary repetition.
In addition, any combination of the various embodiments of the present invention is also possible, and the same should be considered as the disclosure of the present invention as long as it does not depart from the spirit of the present invention.
Claims (10)
1. An automatic erection method of a special operation vehicle is characterized by comprising the following steps:
dividing the erection flow into a plurality of processes and sequencing the plurality of processes according to a preset erection flow standard; and
and gradually executing the plurality of processes according to the arranged sequence, wherein aiming at any one of the plurality of processes, whether the process is executed completely is judged according to whether a finishing signal corresponding to the process is detected.
2. The automated erection method of claim 1, wherein the plurality of processes includes at least two of: leveling a chassis of the bridge erecting vehicle, jacking a turnover frame of the bridge erecting vehicle, landing and leveling portal support legs of the bridge erecting vehicle, jacking a variable frame of the bridge erecting vehicle, releasing the variable frame of the bridge erecting vehicle, releasing a bridge of a near-end bridge section of the bridge erecting vehicle, expanding the bridge, releasing the bridge and releasing the far-end bridge section of the bridge erecting vehicle, expanding the bridge and releasing the bridge.
3. The automated erection method of claim 2,
the completion signal corresponding to the leveling of the chassis of the bridge erecting vehicle is that the inclination angle of the chassis of the bridge erecting vehicle is within a first preset inclination angle range;
the finish signal corresponding to the jacking of the bridge girder erection vehicle roll-over stand is that the roll-over stand oil cylinder reaches a first preset limit;
the completion signal corresponding to landing and leveling of the landing legs of the portal frame of the bridge girder erection vehicle is that the inclination angle of the portal frame is within a second preset inclination angle range;
the finish signal corresponding to the jacking of the amplitude transformer of the bridge girder erection vehicle is that the amplitude transformer oil cylinder reaches a second preset limit;
the finishing signal corresponding to the amplitude-variable frame bridge-releasing of the bridge girder erection vehicle is that the bridge-releasing oil cylinder reaches a third preset limit;
the finishing signals corresponding to the bridge release, the bridge expansion and the bridge release of the near-end bridge section of the bridge girder erection vehicle are that the inclination angle of the near-end bridge section is the same as that of the middle bridge section and is within a third preset inclination angle range, and the oil cylinder of the near-end bridge section for the bridge girder expansion reaches a fourth preset limit; and
the bridge-releasing, bridge-expanding and bridge-releasing of the far-end bridge section of the bridge-erecting vehicle correspond to the finishing signal that the near-end bridge section inclination angle, the middle bridge section inclination angle and the far-end bridge section inclination angle are the same and do not change, the far-end bridge section bridge-expanding oil cylinder reaches a fifth preset limit, and the pressure of the far-end bridge section bridge-releasing oil cylinder does not change.
4. The utility model provides an automatic erection device of special operation car which characterized in that, this automatic erection device includes:
the process dividing module is used for dividing the erection flow into a plurality of processes and sequencing the plurality of processes according to a preset erection flow standard; and
and the processing module is used for gradually executing the plurality of processes according to the arranged sequence, wherein aiming at any one of the plurality of processes, whether the process is executed completely is judged according to whether a finishing signal corresponding to the process is detected.
5. The automated erection device of claim 4, wherein the plurality of processes includes at least two of: leveling a chassis of the bridge erecting vehicle, jacking a turnover frame of the bridge erecting vehicle, landing and leveling portal support legs of the bridge erecting vehicle, jacking a variable frame of the bridge erecting vehicle, releasing the variable frame of the bridge erecting vehicle, releasing a bridge of a near-end bridge section of the bridge erecting vehicle, expanding the bridge, releasing the bridge and releasing the far-end bridge section of the bridge erecting vehicle, expanding the bridge and releasing the bridge.
6. Automatic erecting device according to claim 5,
the completion signal corresponding to the leveling of the chassis of the bridge erecting vehicle is that the inclination angle of the chassis of the bridge erecting vehicle is within a first preset inclination angle range;
the finish signal corresponding to the jacking of the bridge girder erection vehicle roll-over stand is that the roll-over stand oil cylinder reaches a first preset limit;
the completion signal corresponding to landing and leveling of the landing legs of the portal frame of the bridge girder erection vehicle is that the inclination angle of the portal frame is within a second preset inclination angle range;
the finish signal corresponding to the jacking of the amplitude transformer of the bridge girder erection vehicle is that the amplitude transformer oil cylinder reaches a second preset limit;
the finishing signal corresponding to the amplitude-variable frame bridge-releasing of the bridge girder erection vehicle is that the bridge-releasing oil cylinder reaches a third preset limit;
the finishing signals corresponding to the bridge release, the bridge expansion and the bridge release of the near-end bridge section of the bridge girder erection vehicle are that the inclination angle of the near-end bridge section is the same as that of the middle bridge section and is within a third preset inclination angle range, and the oil cylinder of the near-end bridge section for the bridge girder expansion reaches a fourth preset limit; and
the bridge-releasing, bridge-expanding and bridge-releasing of the far-end bridge section of the bridge-erecting vehicle correspond to the finishing signal that the near-end bridge section inclination angle, the middle bridge section inclination angle and the far-end bridge section inclination angle are the same and do not change, the far-end bridge section bridge-expanding oil cylinder reaches a fifth preset limit, and the pressure of the far-end bridge section bridge-releasing oil cylinder does not change.
7. An automated erection system, comprising:
the automatic erecting device of any one of claims 4 to 6;
the bridge girder erection vehicle rollover stand oil cylinder limit detection module is used for detecting whether the rollover stand oil cylinder reaches a first preset limit;
the bridge girder erection vehicle amplitude transformer oil cylinder limit detection module is used for detecting whether the amplitude transformer oil cylinder reaches a second preset limit;
the bridge-erecting vehicle bridge-disengaging oil cylinder limit detection module is used for detecting whether the bridge-disengaging oil cylinder reaches a third preset limit;
the bridge girder erection vehicle near-end bridge section limit detection module is used for detecting whether the bridge girder erection oil cylinder of the near-end bridge section reaches a fourth preset limit; and
and the bridge girder erection vehicle far-end bridge section limit detection module is used for detecting whether the far-end bridge section bridge girder erection oil cylinder reaches a fifth preset limit.
8. The automated erection system of claim 7, further comprising:
the bridge girder erection vehicle chassis inclination angle detection module is used for detecting the inclination angle of the bridge girder erection vehicle chassis;
the bridge girder erection vehicle portal inclination angle detection module is used for detecting a portal inclination angle;
the bridge girder erection vehicle near-end bridge section inclination angle detection module is used for detecting a near-end bridge section inclination angle;
the bridge girder erection vehicle middle bridge section inclination angle detection module is used for detecting an inclination angle of a middle bridge section; and
and the bridge girder erection vehicle far-end bridge section inclination angle detection module is used for detecting the far-end bridge section inclination angle.
9. A special work vehicle, characterized in that it comprises an automatic erection system according to claim 7 or 8.
10. A machine-readable storage medium having stored thereon instructions for causing a machine to perform the automated erection method of any one of claims 1 to 3.
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| CN202010247525.0A CN111364369A (en) | 2020-03-31 | 2020-03-31 | Automatic erection method, device and system of special operation vehicle and special operation vehicle |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113356019A (en) * | 2021-05-24 | 2021-09-07 | 长沙中联消防机械有限公司 | Bridge erecting vehicle and control system and method for inserting and removing pins of bridge body of bridge erecting vehicle |
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