CN112647411A - Guardrail trolley self-assembly control method and system - Google Patents
Guardrail trolley self-assembly control method and system Download PDFInfo
- Publication number
- CN112647411A CN112647411A CN202011517671.7A CN202011517671A CN112647411A CN 112647411 A CN112647411 A CN 112647411A CN 202011517671 A CN202011517671 A CN 202011517671A CN 112647411 A CN112647411 A CN 112647411A
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- control method
- guardrail
- pouring
- self
- loading control
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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
- E01D19/00—Structural or constructional details of bridges
- E01D19/10—Railings; Protectors against smoke or gases, e.g. of locomotives; Maintenance travellers; Fastening of pipes or cables to bridges
- E01D19/103—Parapets, railings ; Guard barriers or road-bridges
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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
-
- 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
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Refuge Islands, Traffic Blockers, Or Guard Fence (AREA)
Abstract
The invention provides a guardrail trolley self-assembly control method, which belongs to a method special for erecting or assembling a bridge and comprises the following steps: advancing: controlling the traveling system to enable the template system to reach a preset position; and (3) formwork support: operating a telescopic mechanism in the telescopic assembly by controlling the telescopic assembly to enable the template system to be in a preset shape; pouring: starting a pouring system or sending a pouring signal; vibrating: and starting the vibrator. The invention can realize the control of the guardrail trolley without field operation, thereby greatly reducing the labor cost, reducing the risk of field operation of personnel, facilitating the debugging in a semi-automatic mode and the batch construction in an automatic mode, and greatly improving the overall construction efficiency.
Description
Technical Field
The invention relates to a guardrail trolley self-assembly control method and a guardrail trolley self-assembly control system, and belongs to a method or equipment special for erecting or assembling a bridge.
Background
In the prior art, only mechanization is generally realized for a guardrail trolley, for example, a combined mechanical trolley device for the concrete construction of a tunnel side ditch and a bridge guardrail disclosed in the Chinese patent with the application number of CN201810339504.4 can realize the adaptation of the dismounting and mounting of a template, but as the combined mechanical trolley device adopts a flexible structure too much, the combined mechanical trolley device needs to be operated by a constructor on site and is provided with a standing position for the constructor, the whole guardrail construction process cannot be automated, and the whole construction efficiency is low.
In order to solve the problems, the applicant designs an automatic guardrail trolley (which is additionally patented), but correspondingly, the technical scheme in the prior art cannot realize the whole-process electric control operation, so that the prior art does not have a corresponding scheme of remote control or automatic control.
Disclosure of Invention
In order to solve the technical problems, the invention provides a guardrail trolley self-assembly control method which can realize the control of the guardrail trolley without field operation and greatly improve the overall construction efficiency. The invention is realized by the following technical scheme.
The invention provides a guardrail trolley self-loading control method, which comprises the following steps:
advancing: controlling the traveling system to enable the template system to reach a preset position;
and (3) formwork support: operating a telescopic mechanism in the telescopic assembly by controlling the telescopic assembly to enable the template system to be in a preset shape;
pouring: starting a pouring system or sending a pouring signal;
vibrating: and starting the vibrator.
In the pouring step, a sensor in the vibrating system is enabled while the pouring system is started, and the vibrating step is started when the sensor acquires a height signal.
In the vibrating step, a timer is started while the vibrator is started, and the vibrator is turned off according to an expiration signal of the timer.
After the vibrating step, the method also comprises the following steps:
demolding: and the hydraulic cylinders in the hydraulic cylinder groups are operated through controlling the hydraulic system, so that the template system is separated and disengaged.
In the step of advancing, the operation control of the advancing system is adjusted according to the image data of the video monitoring.
In the formwork supporting step, position data of each hydraulic cylinder is obtained from the hydraulic system, and the position data of the hydraulic cylinders are analyzed into posture information of the template system according to installation coordinate vectors of the hydraulic cylinders.
And displaying the posture information of the template system through a human-computer interaction interface HMI.
In the advancing step, the predetermined position is extracted from a design drawing that is previously imported.
In the formwork erecting step, a predetermined shape is extracted from a design drawing that is previously imported.
The telescopic assembly is a hydraulic system, and the telescopic mechanism is a hydraulic cylinder.
The invention also provides a guardrail trolley self-assembly control system, which comprises: a memory and a processor;
the processor is configured to execute the computer program stored in the memory to implement the guardrail trolley self-loading control method of any one of claims 1-10.
The invention has the beneficial effects that: can realize not having field operation's control to the guardrail platform truck to reduce human cost, reduce personnel's field operation's risk by a wide margin, be convenient for debug, construct in batches with automatic mode with semi-automatization's mode, improve whole efficiency of construction by a wide margin.
Drawings
FIG. 1 is a schematic flow diagram of the present invention;
FIG. 2 is a system connection diagram according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of system connections according to another embodiment of the present invention;
FIG. 4 is a schematic structural diagram according to an embodiment of the present invention;
fig. 5 is a side view of fig. 4.
In the figure: 11-gantry, 12-walking system, 13-hydraulic cylinder, 14-hydraulic system, 15-template system, 16-vibration system, 21-generator, 22-control center, 23-video monitoring.
Detailed Description
The technical solution of the present invention is further described below, but the scope of the claimed invention is not limited to the described.
As shown in fig. 1, a guardrail trolley self-loading control method includes the following steps:
advancing: controlling the traveling system to enable the template system to reach a preset position;
and (3) formwork support: operating the telescoping mechanism in the telescoping assembly by controlling the telescoping assembly to bring the template system 15 into a predetermined shape;
pouring: starting a pouring system or sending a pouring signal;
vibrating: and starting the vibrator.
Based on this, the whole process from the starting of the whole machine to the completion of the guardrail pouring construction can realize automation or semi-automation of the steps through an electric control system, and the steps can also be used as standard remote operation steps of operators to realize standardized and convenient control of construction quality.
In the pouring step, a sensor in the vibrating system is enabled while the pouring system is started, and the vibrating step is started when the sensor acquires a height signal.
In the vibrating step, a vibrator is started, a timer is started at the same time, and the vibrator is closed according to an expiration signal of the timer.
After the vibrating step, the method also comprises the following steps:
demolding: and the hydraulic cylinders in the hydraulic cylinder groups are operated through controlling the hydraulic system, so that the template system is separated and disengaged.
As a preferable aspect of the present invention, if a video surveillance system is incorporated in the system to which the present invention is applied, in the advancing step, the operation control of the advancing system is adjusted based on the image data of the video surveillance.
As a preferable aspect of the present invention, in order to facilitate further accurate automatic adjustment, in the formwork erecting step, position data of each hydraulic cylinder is acquired from the hydraulic system, and the position data of the hydraulic cylinder is resolved into posture information of the formwork system according to the installation coordinate vector of the hydraulic cylinder.
And displaying the posture information of the template system through a human-computer interaction interface HMI.
As an automated preferred scheme further departing from the operator, in the advancing step, the predetermined position is extracted from a design drawing imported in advance; in the formwork erecting step, a predetermined shape is extracted from a design drawing that is previously imported.
Specifically, the telescopic assembly may be a hydraulic system, an electromagnetic telescopic rod assembly, or the like, and as a preferred embodiment of the telescopic assembly, the telescopic assembly is a hydraulic system and the telescopic mechanism is a hydraulic cylinder.
As the scheme, in the specific implementation:
the control of the traveling system can be realized through positioning navigation, and a GPS Beidou navigation dual-mode positioning module (such as HT1818Z3G5L) is installed in the traveling system and is communicated.
The formwork can analyze the telescopic position data of the telescopic mechanism in combination with the installation position of the telescopic mechanism to obtain the attitude information of the formwork system, namely the installation position of the telescopic mechanism comprises a fixed position (three-dimensional coordinate), a direction (three-dimensional vector) and a length range on a data layer, the total number of the installation position data is 8, the telescopic position data can be embodied as a specific numerical value in the length range, and the required attitude information can be obtained by converting the data of a plurality of telescopic mechanisms through a coordinate system.
The pouring system and the vibrator are both existing products in the prior art, the process of starting the pouring system and the vibrator is just to send switching values to the products, and the switching values are set in the system according to the starting mode of the products (part of the products are started at a high level, part of the products are started at a low level, and part of the products are started in a multi-pin configuration).
Meanwhile, the template system and the vibrator are necessarily arranged on the guardrail trolley, but the pouring system is probably arranged outside the guardrail trolley, and the pouring system does not belong to the guardrail trolley in equipment range division, so cross-domain communication and cross-network communication are possibly involved in circuit connection, and therefore the control system applied by the invention cannot directly start or stop the pouring system through switching value, and at the moment, the pouring starting signal needs to be sent to the pouring system after being encapsulated by a communication protocol, namely, the pouring signal is sent.
Example 1
By adopting the scheme, the guardrail trolley self-loading control system is applied to the guardrail trolley self-loading control system shown in figure 2, the telescopic component is the electromagnetic telescopic rod component, the telescopic mechanism is the electromagnetic telescopic rod, the video monitoring system is arranged in the system, and the system is controlled through the control button.
The embodiment is a typical semi-automatic implementation manner of the present invention, the control method provided by the present invention is performed as a standard step of the system under remote adjustment of an operator, the execution process of each step waits for confirmation of the operator, and then the subsequent process is continued, and the operator determines the actual operation condition of the system through a monitoring system.
Example 2
By adopting the scheme, the control system is applied to the guardrail trolley self-loading control system shown in figure 3, the telescopic component is a hydraulic system, the telescopic mechanism is a hydraulic cylinder, and the system provides control interaction through an HMI (human machine interface). The embodiment is a typical automatic implementation mode of the invention, and the hydraulic system has a feedback function, so that the position data of each hydraulic cylinder can be acquired without additionally installing a sensor, the position data of the hydraulic cylinders can be analyzed into the posture information of the template system, the full automation of the whole process can be realized, the participation of operators is not needed, the posture information of the template system can be recorded into historical data after being displayed by an HMI (human machine interface), and the subsequent playback and fault checking are facilitated.
It can be seen from the foregoing that, based on the semi-automatic mode, system debugging is convenient for, also is convenient for accomplish the construction of pouring of guardrail under the imperfect condition of earlier stage design, and based on the automatic mode be convenient for scale, design perfect construction, no matter what kind of mode, all need not on-the-spot operating personnel auxiliary operation, reduce on-the-spot risk by a wide margin. The guardrail trolley comprises a portal 11, a traveling system 12, hydraulic cylinders 13, a hydraulic system 14, a template system 15 and a vibrating system 16, wherein the portal 11 moves through the installation of the traveling system 12, the template system 15 is installed on two sides of the portal 11, the shape of the template system 15 is controlled through multi-point support by the hydraulic cylinders 13, the vibrating system 16 is fixedly bound on the template system 15, the hydraulic cylinders 13 are connected and provided with telescopic power through the hydraulic system 14 fixed in the middle of the portal 11, the system supplies power through a following generator 21, a control center 22 is further installed on the portal 11 to provide local control and remote communication, and a video monitor 23 is installed at the top of the portal 11.
Claims (11)
1. The utility model provides a guardrail platform truck self-contained control method which characterized in that: comprises the following steps:
advancing: controlling the traveling system to enable the template system to reach a preset position;
and (3) formwork support: operating a telescopic mechanism in the telescopic assembly by controlling the telescopic assembly to enable the template system to be in a preset shape;
pouring: starting a pouring system or sending a pouring signal;
vibrating: and starting the vibrator.
2. The guardrail trolley self-loading control method according to claim 1, characterized in that: in the pouring step, a sensor in the vibrating system is enabled while the pouring system is started, and the vibrating step is started when the sensor acquires a height signal.
3. The guardrail trolley self-loading control method according to claim 1, characterized in that: in the vibrating step, a timer is started while the vibrator is started, and the vibrator is turned off according to an expiration signal of the timer.
4. The guardrail trolley self-loading control method according to claim 1, characterized in that: after the vibrating step, the method also comprises the following steps:
demolding: and the hydraulic cylinders in the hydraulic cylinder groups are operated through controlling the hydraulic system, so that the template system is separated and disengaged.
5. The guardrail trolley self-loading control method according to claim 1, characterized in that: in the step of advancing, the operation control of the advancing system is adjusted according to the image data of the video monitoring.
6. The guardrail trolley self-loading control method according to claim 1, characterized in that: in the formwork supporting step, position data of each hydraulic cylinder is obtained from the hydraulic system, and the position data of the hydraulic cylinders are analyzed into posture information of the template system according to installation coordinate vectors of the hydraulic cylinders.
7. The guardrail trolley self-loading control method as claimed in claim 6, wherein: and displaying the posture information of the template system through a human-computer interaction interface HMI.
8. The guardrail trolley self-loading control method according to claim 1, characterized in that: in the advancing step, the predetermined position is extracted from a design drawing that is previously imported.
9. The guardrail trolley self-loading control method according to claim 1, characterized in that: in the formwork erecting step, a predetermined shape is extracted from a design drawing that is previously imported.
10. The guardrail trolley self-loading control method according to claim 1, characterized in that: the telescopic assembly is a hydraulic system, and the telescopic mechanism is a hydraulic cylinder.
11. The utility model provides a guardrail platform truck self-contained control system which characterized in that includes: a memory and a processor;
the processor is configured to execute the computer program stored in the memory to implement the guardrail trolley self-loading control method of any one of claims 1-10.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011517671.7A CN112647411A (en) | 2020-12-21 | 2020-12-21 | Guardrail trolley self-assembly control method and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011517671.7A CN112647411A (en) | 2020-12-21 | 2020-12-21 | Guardrail trolley self-assembly control method and system |
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| Publication Number | Publication Date |
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| CN112647411A true CN112647411A (en) | 2021-04-13 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011517671.7A Pending CN112647411A (en) | 2020-12-21 | 2020-12-21 | Guardrail trolley self-assembly control method and system |
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Citations (8)
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| JP2013036205A (en) * | 2011-08-05 | 2013-02-21 | Dc Co Ltd | Construction method for joining wall balustrade of bridge |
| CN107338727A (en) * | 2016-12-28 | 2017-11-10 | 广西路建工程集团有限公司 | A kind of overall demolition, installation anticollision wall form and its walking track crane move system |
| CN108104838A (en) * | 2017-11-01 | 2018-06-01 | 中铁隧道勘察设计研究院有限公司 | A kind of automation control method of lining construction |
| CN108374677A (en) * | 2018-04-16 | 2018-08-07 | 中交第公路工程局有限公司 | A kind of combined machine trolley device of tunnel side ditch and the construction of Bridge guardrail coagulation |
| CN109611123A (en) * | 2019-01-11 | 2019-04-12 | 中铁十局集团第四工程有限公司 | Tunnel double-lining concreting control system and control method |
| CN211340412U (en) * | 2019-11-01 | 2020-08-25 | 中交四公局第五工程有限公司 | Integral hydraulic pressure guardrail construction auxiliary structure of bridge |
| CN111877180A (en) * | 2020-08-12 | 2020-11-03 | 洛阳升佳机械设备有限公司 | Crash barrier construction trolley, construction method and engineering supervision platform |
| CN212153134U (en) * | 2020-04-30 | 2020-12-15 | 中交四公局第五工程有限公司 | Guardrail template position adjusting device for bridge floor guardrail template trolley |
-
2020
- 2020-12-21 CN CN202011517671.7A patent/CN112647411A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2013036205A (en) * | 2011-08-05 | 2013-02-21 | Dc Co Ltd | Construction method for joining wall balustrade of bridge |
| CN107338727A (en) * | 2016-12-28 | 2017-11-10 | 广西路建工程集团有限公司 | A kind of overall demolition, installation anticollision wall form and its walking track crane move system |
| CN108104838A (en) * | 2017-11-01 | 2018-06-01 | 中铁隧道勘察设计研究院有限公司 | A kind of automation control method of lining construction |
| CN108374677A (en) * | 2018-04-16 | 2018-08-07 | 中交第公路工程局有限公司 | A kind of combined machine trolley device of tunnel side ditch and the construction of Bridge guardrail coagulation |
| CN109611123A (en) * | 2019-01-11 | 2019-04-12 | 中铁十局集团第四工程有限公司 | Tunnel double-lining concreting control system and control method |
| CN211340412U (en) * | 2019-11-01 | 2020-08-25 | 中交四公局第五工程有限公司 | Integral hydraulic pressure guardrail construction auxiliary structure of bridge |
| CN212153134U (en) * | 2020-04-30 | 2020-12-15 | 中交四公局第五工程有限公司 | Guardrail template position adjusting device for bridge floor guardrail template trolley |
| CN111877180A (en) * | 2020-08-12 | 2020-11-03 | 洛阳升佳机械设备有限公司 | Crash barrier construction trolley, construction method and engineering supervision platform |
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