CN112520582A - High-low-lift automatic electrical control system and control method - Google Patents
High-low-lift automatic electrical control system and control method Download PDFInfo
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- CN112520582A CN112520582A CN202011518020.XA CN202011518020A CN112520582A CN 112520582 A CN112520582 A CN 112520582A CN 202011518020 A CN202011518020 A CN 202011518020A CN 112520582 A CN112520582 A CN 112520582A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/40—Applications of devices for transmitting control pulses; Applications of remote control devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/40—Applications of devices for transmitting control pulses; Applications of remote control devices
- B66C13/44—Electrical transmitters
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C15/00—Safety gear
- B66C15/06—Arrangements or use of warning devices
- B66C15/065—Arrangements or use of warning devices electrical
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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
- E01D21/00—Methods or apparatus specially adapted for erecting or assembling bridges
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- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
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- Structural Engineering (AREA)
- Control And Safety Of Cranes (AREA)
- Carriers, Traveling Bodies, And Overhead Traveling Cranes (AREA)
Abstract
The invention provides a high-low hanging automatic electric control system and a control method, belonging to the technical field of electric control. The controller unit obtains the attitude of the box girder during hoisting according to the tilt angle sensor in the sensor unit, obtains the RTK space coordinate position of the head end and the tail end of the box girder according to the winch height encoder and the overhead traveling crane stroke encoder, checks and resets the RTK position of the overhead traveling crane during operation through the RFID position reader, calculates the RTK space coordinate position of the box girder, compares the RTK space coordinate position with a target value, controls the box girder to be hoisted according to the difference value, realizes automatic box girder hoisting, has higher control precision, reduces the labor cost and improves the construction efficiency at the same time; the safety protection unit is used for guaranteeing that the beam end keeps a certain safety distance with other objects, prevents from being scratched when colliding, and the controller unit can timely control equipment to stop when alarming occurs, so that construction safety is guaranteed.
Description
Technical Field
The invention belongs to the technical field of electrical control, and particularly relates to an automatic electrical control system and method for a high-low crane.
Background
With the establishment of basic equipment engineering in China, the construction of high-speed rail, highway and municipal projects is rapidly developed in recent years. Infrastructure engineering construction prompts a batch of large-scale engineering machinery to be transported, the number of related manufacturing plants is huge, and although mechanical equipment is continuously updated, a control system of the large-scale engineering mechanical equipment always stays at a manual control level, so that major mechanical accidents and even casualty accidents are caused because operation workers are unskilled or have no concentration. Particularly, in the face of a complicated operation process, guardians are often required to be arranged at each key position to ensure that the mechanism does not operate dangerously, so that a large number of guardians are required to be added, and the labor cost is greatly increased. Moreover, the observation of human eyes is greatly limited, and the human eyes are influenced by external environments, such as unclear sight at night, besides self factors, and still have potential safety hazards.
Along with the gradual increase of labor cost, the construction cost is also increased, and in addition, the national advocates concepts such as industrial 4.0 concept and mechanized informatization fusion in recent years, and the realization of factory intelligence is more and more, so that an intelligent revolution is urgently needed in the field of large engineering machinery. Numerous engineering machinery units and construction units are continuously trying in the field of large-scale mechanical equipment control systems, and as is known, the operation of lifting beams in high and low bridge erection is a construction operation project with complex procedures and numerous danger monitoring points, so that the introduction of an automatic control system into the operation of lifting beams in high and low is one of key researches for industrial intelligence.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides the automatic electrical control system and the automatic electrical control method for the high-low crane, under the control of the controller unit, the sensor unit and the safety protection unit are combined, so that the precise intelligent construction can be realized, and the construction efficiency is effectively improved on the basis of ensuring the construction safety.
The present invention achieves the above-described object by the following technical means.
A high-low hanging automatic electrical control system comprises a controller unit, a display unit, a sensor unit, a wireless transmission unit and a safety protection unit, wherein the display unit, the sensor unit and the safety protection unit are all connected with the controller unit; the controller unit is connected with a relay through an RS485 bus system, and the relay is connected with a high-low hanging execution motor; the display unit is used for displaying the working state of each mechanism of the high-low hoisting equipment and inputting a key point coordinate instruction, and the display unit stores the current position coordinate of the hoisting point, the two-point coordinate of the center line of the cover beam and the coordinate data of the placement position of the box beam, which are transmitted to the controller unit; the safety protection unit is used for detecting the distance between the beam end of the hung box and surrounding objects, an alarm is started when the distance is larger than an early warning value, and the controller unit controls the high-low hanging machine to stop;
the sensor unit comprises an inclination angle sensor, a winch height encoder, a crown block stroke encoder, an RFID position reader and a load sensor; the inclination angle sensor is arranged on the top surface of a hung box beam, the winch height encoder is arranged at the shaft end of the winch, the crown block stroke encoder is arranged at the shaft end of a crown block wheel, the load sensor is arranged on a crown block steel wire rope, and the RFID position reader is arranged at the bottom of the crown block; the controller unit receives data transmitted by the tilt angle sensor to obtain the attitude of the box girder in hoisting, and receives data transmitted by the winch height encoder and the crown block stroke encoder to obtain the spatial vertical position and the spatial plane position of the box girder; the controller unit calculates and acquires real-time RTK space coordinate positions of the head end and the tail end of the box girder according to current coordinate position data transmitted by the display unit, and the control unit controls lifting of the box girder according to the difference value between the real-time RTK space coordinate positions of the head end and the tail end of the box girder and a target RTK value.
Furthermore, the wireless transmission unit comprises a plurality of subunits, and the subunits are substation wireless bridges comprising a front-head-car substation wireless bridge, a rear-head-car substation wireless bridge, a support leg substation wireless bridge and a rotary hanger substation wireless bridge; the substation wireless network bridge is connected with the control main station wireless network bridge through a wireless network, the control main station wireless network bridge is connected with the 5-port switch through a network cable, and the 5-port switch collects all signals and is connected with the controller unit through the network cable.
Furthermore, the controller unit is connected with the sub-unit through a wireless bridge PROFINET protocol, the sub-unit is connected with the motor through an RS485 MODBUS bus, the motor is connected with the speed reducer, and the speed reducer drives the high-low hanging executing mechanism to complete preset actions through the speed reducer.
Furthermore, the safety protection unit is an anti-collision warning device and comprises an anti-collision switch, and the anti-collision switch is installed at the beam end of the hung box and is connected with the controller unit.
Further, the winch height encoder is connected with the controller unit through the wireless transmission unit, records the number of rotation turns of the shaft end of the winch and sends the number of the rotation turns to the controller unit, and the controller unit calculates the lifting height of the winch to obtain the spatial vertical position of the box girder.
Furthermore, the overhead traveling crane stroke encoder is connected with the controller unit through a wireless transmission unit and comprises a transverse overhead traveling crane encoder and a longitudinal overhead traveling crane encoder; the overhead traveling crane travel encoder records the number of rotation turns of the overhead traveling crane traveling wheels and sends the number of rotation turns to the controller unit, and the controller unit calculates the traveling distance of the overhead traveling crane to obtain the space plane position of the box girder.
Further, the inclination angle sensor is connected with the controller unit through an RS485 bus, the inclination angle sensor detects an included angle between the box girder and the horizontal plane and sends monitoring data to the controller unit, and when the included angle data reaches a set alarm value, the controller unit controls the hoisting to stop.
Furthermore, the RFID position reader is connected with the controller unit through an RS485 bus, a tag is buried in the travelling track of the overhead travelling crane, the RFID position reader reads a tag signal and sends the tag signal to the controller unit when the overhead travelling crane passes through one tag, and the controller unit receives the signal, processes the signal to obtain travelling distance information of the overhead travelling crane and approves the travelling distance information of the overhead travelling crane and the distance provided by the travelling distance encoder.
Further, the load sensor is connected with the controller unit through an RS485 bus, the load sensor detects the load change of the steel wire rope and sends the load change to the controller unit, and when the load reaches a limit early warning value, the controller unit controls the hoisting to stop.
The method for controlling the high-low crane by using the automatic electric control system comprises the following steps:
step 1: selecting point positions on high and low hoisting equipment, erecting a total station, installing a box girder lifting appliance, obtaining coordinates of the current position of a lifting point, coordinates of two points of a center line of a cover girder and coordinates of a placement position of the box girder by a measurer through measurement and positioning, and inputting data of the three coordinates into a display unit;
step 2: the automatic lifting beam operation is started, the controller unit receives data detected by the sensor unit in real time, the longitudinal movement position and the lifting height of a lifting appliance of the walking crown block are obtained, and the real-time RTK space coordinate positions of the head end part and the tail end part of the box beam are obtained through comprehensive calculation by combining the current position coordinate data transmitted by the display unit;
and step 3: the controller unit compares the target point position RTK space coordinate position with the real-time RTK space coordinate position obtained through calculation to obtain a data difference value, converts the difference value into a PWM electric signal, transmits the signal to the high-low hanging executing mechanism through the wireless transmission unit, and drives the executing mechanism to complete corresponding actions until the RTK space coordinate positions of two points at the end part of the box girder coincide with the target point position RTK space coordinate position;
and 4, step 4: and repeating the steps until all the box girders in the span are hoisted.
The invention has the following beneficial effects:
according to the high-low hanging automatic electric control system provided by the invention, various safety protection devices, sensors and other electric elements are additionally arranged on the equipment body and the box girder component, automatic construction is realized under the control of the controller unit, manual monitoring in the traditional operation is replaced, the labor cost is reduced, the construction efficiency is improved, the production benefit is improved to a greater extent, and the high-low hanging automatic electric control system has a wide application prospect. The automatic electric control system is also provided with a safety protection unit, when an alarm occurs, the controller unit can control the equipment to stop in time, so that a certain safety distance between the beam end and other objects is effectively ensured, and collision and scratch are prevented; meanwhile, the inclination angle sensor and the load sensor can respectively monitor the included angle between the box girder and the horizontal plane and the load level of the steel wire rope, and when the monitoring value exceeds the early warning range, the controller timely controls the equipment to stop, so that the construction safety is ensured.
The controller unit obtains the posture of the box girder during hoisting according to the tilt angle sensor, obtains the RTK space coordinate positions of the head end and the tail end of the box girder according to the winch height encoder and the overhead traveling crane stroke encoder, continuously checks and resets the RTK position of the overhead traveling crane during operation through the RFID position reader, compares the RTK space coordinate position of the box girder with a target RTK value through calculation, controls the lifting of the box girder according to the calculation difference, realizes the automatic control of the hoisting of the box girder, and has higher control precision.
When the automatic electric control system provided by the invention is used for controlling the high-low hanging construction, the high-low hanging operation of the box girder can be efficiently finished, the damage and damage of the prefabricated component caused by abnormal contact and extrusion between the box girder and mechanical equipment or other prefabricated components in the high-low hanging operation process due to complex processes, inadequate monitoring, unskilled operators and the like are avoided, and the engineering quality and the construction operation safety are ensured.
Drawings
FIG. 1 is a schematic diagram of the hardware layout of the automatic electrical control system for high and low cranes according to the present invention;
FIG. 2 is an enlarged view of the crown block structure according to the present invention;
FIG. 3 is a schematic diagram of a master station network layout of the high-low hanging automatic electrical control system of the present invention;
FIG. 4 is a schematic diagram of the network layout of the substation of the high-low crane automatic electrical control system according to the present invention;
fig. 5 is an input contact diagram of a controller unit of the high-low crane automatic electrical control system, wherein fig. 5 (a) is a front overhead traveling crane mode selection and limit related input contact diagram, and fig. 5 (b) is a front overhead traveling crane movement related input contact diagram;
fig. 6 is an output contact diagram of the controller unit of the high-low crane automatic electrical control system according to the present invention.
In the figure: 1-a hoist height encoder; 2-traversing overhead traveling crane encoder; 3-longitudinally moving the overhead traveling crane encoder; 4-an RFID location reader; 5-a wireless transmission unit; 6-a safety protection unit; 7-a tilt sensor; 8-load cell.
Detailed Description
The invention will be further described with reference to the following figures and specific examples, but the scope of the invention is not limited thereto.
In the description of the present invention, it is to be understood that the terms "front", "back", and the like, indicate orientations or positional relationships based on those shown in the drawings, are merely for convenience in describing the present invention, and do not indicate or imply that the referred devices or elements must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. The terms "mounted," "connected," "fixed," and the like are to be construed broadly and may include, for example, fixed connections, removable connections, or integral connections, direct connections, indirect connections through intervening media, and communication between two elements; the specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
As shown in fig. 1 and 2, the automatic electrical control system for high and low cranes of the present invention includes a controller unit, a display unit, a sensor unit, a wireless transmission unit 5, and a safety protection unit 6.
The controller unit preferably adopts Siemens S7 series Programmable Logic Controller (PLC) and its expansion module, and is installed in the electrical cabinet for data analysis and control instruction issue. The display unit is a digital display module with a touch screen input function, is internally provided with a display program and a coordinate data processing program and is used for displaying the working state of each mechanism of the high-low hanging equipment, conveniently observing the running state of the whole mechanism and inputting a coordinate instruction of a key point; the display unit is installed in the cab and connected with the controller unit.
The sensor unit comprises an inclination angle sensor 7, a winch height encoder 1, a crown block stroke encoder, an RFID position reader 4 and a load sensor 8, and transmits detected signals to a receiving end of the controller unit through a wireless transmission unit 5 or an RS485 bus. The inclination angle sensor 7 is arranged on the top surface of the hung box girder; the winch height encoder 1 is arranged at the shaft end of the winch; the high-low hoisting device in the embodiment comprises four support legs and two crown blocks, wherein the support legs are a No. 1 support leg, a No. 2 support leg, a No. 3 support leg and a No. 4 support leg from left to right, the crown blocks are a front crown block and a rear crown block from left to right, and the two crown blocks are both provided with a crown block stroke encoder and a load sensor 8; the overhead traveling crane stroke encoder is arranged at the axle end of the overhead crane wheel, and the load sensor 8 is arranged on the overhead crane steel wire rope; the RFID position reader 4 is installed at the bottom of the overhead traveling crane. In the process of automatically lifting the beam by the high-low crane, the controller unit obtains the posture of the box beam in the lifting process according to the tilt angle sensor 7 and obtains the RTK space coordinate positions of the head end and the tail end of the box beam according to the winch height encoder 1 and the crown block stroke encoder.
The safety protection unit 6 is an anti-collision warning device and comprises an anti-collision switch, the anti-collision switch is arranged at the beam end of the hung box and connected with the controller unit, the distance between objects around the beam end and the beam end can be detected, and an alarm is started when the distance exceeds the early warning distance; the controller unit is connected with the relay through an RS485 bus system, the relay is connected with the high-low hanging execution motor, when the safety protection unit 6 detects that the distance between the box girder and the peripheral objects exceeds the early warning distance, the controller unit controls the high-low hanging machine to stop, the girder end and other objects are effectively guaranteed to keep a certain safety distance, and the collision and scratch are prevented.
As shown in fig. 3 and 4, the wireless transmission unit 5 includes a plurality of sub-units, i.e., sub-station wireless bridges including a front-end vehicle sub-station wireless bridge, a rear-end vehicle sub-station wireless bridge, a leg sub-station wireless bridge, and a rotary spreader sub-station wireless bridge. Each substation wireless bridge sends signals to the control main station wireless bridge through a wireless network, the control main station wireless bridge is connected with the 5-port switch through a network cable, and the 5-port switch collects all the signals and transmits the signals to the controller unit through the network cable.
The winch height encoder 1 and the overhead traveling crane stroke encoder in the sensor unit are connected with the controller unit through the wireless transmission unit 5 to transmit data. The winch height encoder 1 records the number of rotation turns of the shaft end of the winch and sends the number of the rotation turns to the controller unit, and the controller unit calculates to obtain the lifting height of the winch, so that the spatial vertical position of the box girder is obtained; the overhead traveling crane travel encoder comprises a transverse traveling crane encoder 2 and a longitudinal traveling crane encoder 3, the overhead traveling crane travel encoder records the number of rotating circles of travelling wheels of the overhead traveling crane and sends the number of rotating circles to the controller unit, and the controller unit calculates the travelling distance of the overhead traveling crane, so that the space plane position of the box girder is obtained.
The inclination angle sensor 7, the RFID position reader 4 and the load sensor 8 in the sensor unit are all connected with the controller unit through RS485 buses to carry out data transmission. Inclination sensor 7 can monitor the contained angle of case roof beam and horizontal plane and send monitoring data for the controller unit along with going on of hoist and mount operation, and when inclination sensor 7 detected contained angle data reached and set for the alarm value, the controller unit can control the height and hang and shut down, effectively ensures construction safety. RFID position reader 4 is located the overhead traveling crane bottom, it has the label to bury underground on the overhead traveling crane walking track, every process of overhead traveling crane is a label, RFID position reader 4 reads the label signal and sends for the controller unit, the controller unit received signal and processing obtain overhead traveling crane walking distance information, and approve with the distance that overhead traveling crane travel encoder provided, realize further calibration, ensure centimeter level accurate, avoid because of the distance record mistake that the wheel skidded and leads to. The load sensor 8 can detect the load change of the steel wire rope in real time along with the hoisting operation and send the load change to the controller unit, and when the load reaches a limit early warning value, the controller unit controls the hoisting to stop, so that the construction safety is guaranteed.
As shown in fig. 3 and 4, the controller unit receives and processes the data transmitted by the sensor unit, issues a control signal according to a processing result, transmits the control signal to the 8-port switch through a network cable, the 8-port switch transmits the control signal to the wireless bridge of the control master station through the wireless transmission unit 5, and further transmits the control signal to each substation wireless bridge, the substation wireless bridges transmit the signal to corresponding motors through RS485 MODBUS buses, the motors are connected with the speed reducer, and the speed reducer drives the execution mechanism of the high-low crane to complete a predetermined action through the speed reducer; and the controller unit is connected with the subunits of each mechanism of the high-low hanging equipment through a wireless bridge PROFINET protocol.
The display unit adopts digital display technology and RS485 bus transmission signals, and can collect and display the signals monitored and received by the controller unit; the display unit also has a function of inputting numerical values, in actual engineering, a measurer obtains coordinates of the current position of the hoisting point, coordinates of two points of the center line of the cover beam and coordinates of the falling position of the box beam through measurement and positioning, and the three data are input into the display unit and then further transmitted to the controller unit; the controller unit receives data transmitted by the display unit and the sensor unit in real time, comprehensively calculates to obtain a real-time RTK space coordinate position of the box girder, compares a target point position RTK space coordinate position input in advance with the real-time RTK space coordinate position obtained through calculation, calculates a difference value and sends the difference value to the subunit, and realizes control over lifting action of the box girder.
In this embodiment, the main input interface point and the main output interface point of the front crown block and the controller unit are described, the controller unit interface point receives the signal input of the sensor unit, processes and analyzes the signal, and then outputs the control signal of the high-low suspension actuator, and the specific connection of the input interface point and the output interface point is shown in fig. 5 and 6.
The method for automatically controlling the high-low hoisting operation by using the automatic electrical control system for the high-low hoisting provided by the invention comprises the following steps:
step 1: selecting a proper point position on high-low hanging equipment in advance, and stably erecting the total station at the point position; and (3) installing the box girder lifting appliance, acquiring the coordinates of the current position of the lifting point, the coordinates of two points on the center line of the cover girder and the coordinates of the falling position of the box girder by a measurer through measurement and positioning, and inputting the data of the three coordinates into a display unit.
Step 2: the automatic lifting beam operation is started, the controller unit receives real-time detection data of the sensor unit, the longitudinal movement position and the lifting height of the lifting tool of the walking crown block are obtained, and the real-time RTK space coordinate positions of the head end and the tail end of the box girder are obtained through comprehensive calculation by combining current position coordinate data transmitted by the display unit.
And step 3: the controller unit compares the target point RTK space coordinate position input in advance with the real-time RTK space coordinate position obtained through calculation to obtain a data difference value, converts the difference value into a PWM electric signal, transmits the PWM electric signal to the high-low hanging executing mechanism through the wireless transmission unit 5, and drives the executing mechanism to complete corresponding actions until the RTK space coordinate positions of two points at the end part of the box girder coincide with the target point RTK space coordinate position.
And 4, step 4: and repeating the steps 1-3 until all the box girders in the span are hoisted.
The present invention is not limited to the above-described embodiments, and any obvious improvements, substitutions or modifications can be made by those skilled in the art without departing from the spirit of the present invention.
Claims (10)
1. The automatic electrical control system for the high-low crane is characterized by comprising a controller unit, a display unit, a sensor unit, a wireless transmission unit (5) and a safety protection unit (6), wherein the display unit, the sensor unit and the safety protection unit (6) are all connected with the controller unit; the controller unit is connected with a relay through an RS485 bus system, and the relay is connected with a high-low hanging execution motor; the display unit is used for displaying the working state of each mechanism of the high-low hoisting equipment and inputting a key point coordinate instruction, and the display unit stores the current position coordinate of the hoisting point, the two-point coordinate of the center line of the cover beam and the coordinate data of the placement position of the box beam, which are transmitted to the controller unit; the safety protection unit (6) is used for detecting the distance between the beam end of the hung box and surrounding objects, an alarm is started when the distance is greater than an early warning value, and the controller unit controls the high-low hanging to stop;
the sensor unit comprises an inclination angle sensor (7), a winch height encoder (1), a crown block stroke encoder, an RFID position reader (4) and a load sensor (8); the inclination angle sensor (7) is arranged on the top surface of a beam of the hung box, the winch height encoder (1) is arranged at the shaft end of the winch, the crown block stroke encoder is arranged at the shaft end of a crown block wheel, the load sensor (8) is arranged on a crown block steel wire rope, and the RFID position reader (4) is arranged at the bottom of the crown block; the controller unit receives data transmitted by the tilt angle sensor (7) to obtain the attitude of the box girder in hoisting, and receives data transmitted by the winch height encoder (1) and the crown block stroke encoder to obtain the spatial vertical position and the spatial plane position of the box girder; the controller unit calculates and acquires real-time RTK space coordinate positions of the head end and the tail end of the box girder according to current coordinate position data transmitted by the display unit, and the control unit controls lifting of the box girder according to the difference value between the real-time RTK space coordinate positions of the head end and the tail end of the box girder and a target RTK value.
2. The automatic electrical control system of high and low crane according to claim 1, wherein the wireless transmission unit (5) comprises a plurality of sub-units, and the sub-units are sub-station wireless bridges, including a front-crane sub-station wireless bridge, a rear-crane sub-station wireless bridge, a landing leg sub-station wireless bridge, and a rotary hanger sub-station wireless bridge; the substation wireless network bridge is connected with the control main station wireless network bridge through a wireless network, the control main station wireless network bridge is connected with the 5-port switch through a network cable, and the 5-port switch collects all signals and is connected with the controller unit through the network cable.
3. The automatic electric control system of the high-low crane according to claim 2, wherein the controller unit is connected with the sub-unit through a wireless bridge PROFINET protocol, the sub-unit is connected with the motor through an RS485 MODBUS bus, the motor is connected with the speed reducer, and the speed reducer drives the execution mechanism of the high-low crane to complete a preset action through the speed reducer.
4. The automatic electrical control system of high and low crane according to claim 1, wherein the safety protection unit (6) is an anti-collision warning device, and comprises an anti-collision switch, and the anti-collision switch is installed at the beam end of the hoisted box and connected with the controller unit.
5. The automatic electrical control system of high-low hanging according to claim 1, characterized in that the winch height encoder (1) is connected with the controller unit through the wireless transmission unit (5), the winch height encoder (1) records the number of turns of rotation of the shaft end of the winch and sends the number to the controller unit, and the controller unit calculates the hoisting height of the winch to obtain the spatial vertical position of the box girder.
6. The automatic electrical control system of high and low crane according to claim 1, wherein the overhead crane stroke encoder is connected with the controller unit through a wireless transmission unit (5), and comprises a traverse overhead crane encoder (2) and a longitudinal overhead crane encoder (3); the overhead traveling crane travel encoder records the number of rotation turns of the overhead traveling crane traveling wheels and sends the number of rotation turns to the controller unit, and the controller unit calculates the traveling distance of the overhead traveling crane to obtain the space plane position of the box girder.
7. The automatic electrical control system for the high-low crane according to claim 1, wherein the tilt sensor (7) is connected with the controller unit through an RS485 bus, the tilt sensor (7) detects an included angle between a box girder and a horizontal plane and sends monitoring data to the controller unit, and when the included angle data reaches a set alarm value, the controller unit controls the high-low crane to stop.
8. The automatic electric control system of high and low crane according to claim 1, wherein the RFID position reader (4) is connected with the controller unit through an RS485 bus, tags are embedded on the travelling track of the overhead crane, each time the overhead crane passes one tag, the RFID position reader (4) reads the tag signal and sends the tag signal to the controller unit, and the controller unit receives the signal and processes the tag signal to obtain the travelling distance information of the overhead crane, and approves the travelling distance information of the overhead crane.
9. The automatic electrical control system for high and low cranes of claim 1, characterized in that the load sensor (8) is connected with the controller unit through an RS485 bus, the load sensor (8) detects the load change of the steel wire rope and sends the load change to the controller unit, and when the load reaches a limit early warning value, the controller unit controls the high and low cranes to stop.
10. Method for controlling a high and low crane by means of an automated electrical control system according to any one of claims 1 to 9, characterized in that it comprises the following steps:
step 1: selecting point positions on high and low hoisting equipment, erecting a total station, installing a box girder lifting appliance, obtaining coordinates of the current position of a lifting point, coordinates of two points of a center line of a cover girder and coordinates of a placement position of the box girder by a measurer through measurement and positioning, and inputting data of the three coordinates into a display unit;
step 2: the automatic lifting beam operation is started, the controller unit receives data detected by the sensor unit in real time, the longitudinal movement position and the lifting height of a lifting appliance of the walking crown block are obtained, and the real-time RTK space coordinate positions of the head end part and the tail end part of the box beam are obtained through comprehensive calculation by combining the current position coordinate data transmitted by the display unit;
and step 3: the controller unit compares the target point position RTK space coordinate position with the real-time RTK space coordinate position obtained through calculation to obtain a data difference value, converts the difference value into a PWM electric signal, transmits the signal to the high-low hanging executing mechanism through the wireless transmission unit (5), and drives the executing mechanism to complete corresponding actions until the RTK space coordinate positions of two points at the end part of the box girder coincide with the target point position RTK space coordinate position;
and 4, step 4: and repeating the steps until all the box girders in the span are hoisted.
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| CN202011518020.XA CN112520582B (en) | 2020-12-21 | 2020-12-21 | High-low-lift automatic electrical control system and control method |
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| CN202011518020.XA CN112520582B (en) | 2020-12-21 | 2020-12-21 | High-low-lift automatic electrical control system and control method |
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| CN115057357A (en) * | 2022-08-18 | 2022-09-16 | 中化学建设投资集团有限公司 | Level detection system for mounting precast beam plate on bridge girder erection machine |
| CN115126267A (en) * | 2022-07-25 | 2022-09-30 | 中建八局第三建设有限公司 | Optical positioning control system and method applied to concrete member embedded joint bar alignment |
| CN115126267B (en) * | 2022-07-25 | 2024-05-31 | 中建八局第三建设有限公司 | Optical positioning control system and method applied to pre-buried dowel bar alignment of concrete member |
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| CN113435052A (en) * | 2021-06-30 | 2021-09-24 | 成都飞机工业（集团）有限责任公司 | Target pitching attitude adjusting and calculating method based on three-axis linkage |
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| CN114808708A (en) * | 2022-03-29 | 2022-07-29 | 中国铁建港航局集团有限公司 | Small box girder high-low hanging method installation construction method |
| CN114808708B (en) * | 2022-03-29 | 2023-09-26 | 中国铁建港航局集团有限公司 | Small box girder high-low hanging method installation construction method |
| CN115126267A (en) * | 2022-07-25 | 2022-09-30 | 中建八局第三建设有限公司 | Optical positioning control system and method applied to concrete member embedded joint bar alignment |
| CN115126267B (en) * | 2022-07-25 | 2024-05-31 | 中建八局第三建设有限公司 | Optical positioning control system and method applied to pre-buried dowel bar alignment of concrete member |
| CN115057357A (en) * | 2022-08-18 | 2022-09-16 | 中化学建设投资集团有限公司 | Level detection system for mounting precast beam plate on bridge girder erection machine |
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