CN113526361A - Telescopic shore bridge girder telescopic control method and device - Google Patents
Telescopic shore bridge girder telescopic control method and device Download PDFInfo
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- CN113526361A CN113526361A CN202110927516.0A CN202110927516A CN113526361A CN 113526361 A CN113526361 A CN 113526361A CN 202110927516 A CN202110927516 A CN 202110927516A CN 113526361 A CN113526361 A CN 113526361A
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- 238000000034 method Methods 0.000 title claims abstract description 33
- 238000004873 anchoring Methods 0.000 claims abstract description 44
- 230000007246 mechanism Effects 0.000 claims abstract description 29
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 27
- 239000010959 steel Substances 0.000 claims abstract description 27
- 230000033001 locomotion Effects 0.000 claims description 61
- 238000004804 winding Methods 0.000 claims description 41
- 230000006698 induction Effects 0.000 claims description 23
- 230000008602 contraction Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 230000004044 response Effects 0.000 description 4
- 238000006073 displacement reaction Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000001939 inductive effect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- 230000000737 periodic effect Effects 0.000 description 1
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Classifications
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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
- B66C19/00—Cranes comprising trolleys or crabs running on fixed or movable bridges or gantries
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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
- B66C13/16—Applications of indicating, registering, or weighing 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
- B66C13/22—Control systems or devices for electric drives
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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
- B66C5/00—Base supporting structures with legs
- B66C5/02—Fixed or travelling bridges or gantries, i.e. elongated structures of inverted L or of inverted U shape or tripods
Abstract
The invention provides a telescopic control method of a girder of a telescopic shore bridge, which is applied to the shore bridge, wherein the shore bridge comprises a controller, a girder and a door frame, the girder is electrically connected with the controller, the girder is provided with at least one working position, and the girder comprises: the girder assembly is provided with a fixed anchoring pit; the driving mechanism is connected with the girder assembly through a steel wire rope and used for pulling the girder assembly to stretch back and forth through the steel wire rope; the door frame includes: a door frame body; the hydraulic bolt is arranged on the door frame body and matched with the fixed anchoring pit for anchoring the girder assembly; the method comprises the following steps: the controller drives the girder assembly to stretch back and forth by controlling the driving mechanism so as to move the girder to a working position; when the anchoring pit on the girder assembly is aligned with the hydraulic bolt of the door frame, the controller drives the hydraulic bolt to be anchored into the anchoring pit to fixedly connect the girder and the door frame. According to the method provided by the embodiment of the invention, the controller is used for controlling the expansion of the girder of the shore bridge, so that the accurate control on the expansion of the girder of the height-limited shore bridge can be realized.
Description
Technical Field
The invention relates to the field of port hoisting machinery, in particular to a telescopic control method and device for a telescopic girder of a telescopic shore bridge.
Background
With the increasing growth of port industry, the geographic position of ports in some cities around the world has certain limitation on the height of large container shore bridge equipment, for example, some old ports are close to airports, and in order to ensure safety, the traditional girder-lifted shore bridge is no longer suitable for such special geographic position, but the large girder-telescopic shore bridge is produced. At present, a reliable telescopic control method for a large shore bridge of a telescopic girder does not exist.
Disclosure of Invention
The present invention provides a method and a device for controlling the expansion of a telescopic girder of a shore bridge, so as to meet the control requirement of the telescopic girder of the shore bridge with limited height mentioned above.
In order to solve the technical problems, the invention adopts the following technical scheme:
the telescopic control method of the telescopic girder of the telescopic shore bridge provided by the embodiment of the invention is applied to the shore bridge, the shore bridge comprises a controller, a girder and a door frame, the girder is electrically connected with the controller, the girder is provided with at least one working position, and the girder comprises:
the girder assembly is provided with a telescopic structure, and a fixed anchoring pit is arranged on the girder assembly;
the driving mechanism is connected with the girder assembly through a steel wire rope and used for pulling the girder assembly to stretch back and forth through the steel wire rope;
the door frame includes:
a door frame body;
the hydraulic bolt is arranged on the door frame body and matched with the fixed anchoring pit for anchoring the girder assembly;
the control method comprises the following steps:
the controller drives the girder assembly to stretch back and forth by controlling the driving mechanism so as to move the girder to a working position;
when a fixed anchoring pit on the girder assembly is aligned with a hydraulic bolt of the door frame, the controller drives the hydraulic bolt to be anchored in the fixed anchoring pit to fixedly connect the girder with the door frame;
wherein the working position is a position where the girder access door is aligned with the access door of the doorframe.
Further, the drive mechanism includes:
a reel;
the device comprises a drum driver for driving the drum to move, and a steel wire rope for connecting the girder assembly, the drum and the drum driver.
The controller is flexible around driving the girder assembly through control actuating mechanism, moves the girder to the work position, includes:
the controller sends a fixed speed set value to the winding drum driver to drive the winding drum to rotate, and pulls the steel wire rope to drive the girder assembly to stretch;
the controller collects first motion data of rotation of the reel driver in real time, and second motion data of rotation of the reel are corrected, so that the girder moves to the working position.
Still further, the girder further includes:
the induction limiting device is used for accurately judging the position of the girder assembly at a working position;
the controller obtains the induction data of the induction limiting device, controls the girder assembly to decelerate in advance when reaching the working position based on the induction data, and performs inching forwards and backwards to perform accurate positioning.
Further, the controller gathers the first motion data of reel driver pivoted in real time to and the second motion data of reel pivoted are proofreaded, include:
the controller respectively calculates and compares first motion data generated by rotation of the reel driver and second motion data generated by rotation of the reel;
if the first motion data is the same as the second motion data, the controller controls the girder to continue to translate;
and if the first motion data is different from the second motion data, the controller controls the girder to stop translating.
Further, the control method further comprises:
the controller imparts second motion data to the spool drive as the longeron assembly translates to the work position.
Another embodiment of the present invention provides a telescopic shore bridge, including: girder, door frame and controller, the girder is equipped with at least one work position, and the girder includes:
the girder assembly is provided with a telescopic structure, and a fixed anchoring pit is arranged on the girder assembly;
the driving mechanism is connected with the girder assembly through a steel wire rope and used for pulling the girder assembly to stretch back and forth through the steel wire rope;
the door frame includes:
a door frame body;
the hydraulic bolt is arranged on the door frame body and matched with the anchoring pit for anchoring the girder assembly;
the controller is used for sending a driving command to the driving mechanism according to the command so as to enable the driving mechanism to drive the girder assembly to stretch back and forth and move the girder to the working position;
the controller is also used for driving the hydraulic bolt to be anchored into the fixed anchoring pit to fixedly connect the girder with the door frame when the fixed anchoring pit on the girder assembly is aligned with the hydraulic bolt of the door frame;
wherein the working position is a position where the girder access door is aligned with the access door of the doorframe.
Further, the drive mechanism includes:
a reel;
the winding drum driver is used for driving the winding drum to move, and the steel wire rope is connected with the girder assembly, the winding drum and the winding drum driver;
the controller is used for: and sending a fixed speed set value to the reel driver to drive the reel to rotate, and pulling the steel wire rope to drive the girder assembly to stretch.
Still further, the controller further comprises:
the winding drum driver encoder is arranged on the winding drum driver and is used for acquiring first motion data of the winding drum driver in real time;
and the winding drum encoder is arranged on the winding drum and is used for acquiring second motion data of the winding drum in real time.
Further, the controller is configured to:
calculating and comparing the first motion data and the second motion data respectively;
if the first motion data is the same as the second motion data, the controller controls the girder to continue to translate;
and if the first motion data is different from the second motion data, the controller controls the girder to stop translating.
Further, the girder still includes:
the induction limiting device is used for accurately judging the position of the girder assembly at a working position;
the controller obtains the induction data of the induction limiting device, controls the girder assembly to decelerate in advance when reaching the working position based on the induction data, and performs inching forwards and backwards to perform accurate positioning.
The technical scheme of the invention at least has one of the following beneficial effects:
1. according to the control method for expansion and contraction of the girder of the telescopic shore bridge, disclosed by the embodiment of the invention, the expansion and contraction control of the low-attitude telescopic shore bridge is realized through the controller and the encoder, so that the translation control precision of the telescopic shore bridge is effectively improved;
2. according to the control method for the telescopic translation of the shore bridge girder, provided by the embodiment of the invention, by arranging at least one working position, the lifting requirements of containers and ships with different sizes can be met, and the operation efficiency is improved;
3. according to the control method for the telescopic translation of the shore bridge girder, provided by the embodiment of the invention, the induction limiting device is arranged at the working position, and whether the hydraulic bolt corresponds to the installation anchoring pit or not is detected, so that the anchoring precision is effectively improved.
Drawings
Fig. 1 is an assembly schematic diagram of a shore bridge in a telescopic control method for a telescopic girder of the telescopic shore bridge according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a working position in the control method for expansion and contraction of the girder of the telescopic shore bridge according to the embodiment of the present invention;
fig. 3 is a schematic view of girder anchoring in the control method for telescopic girder extension of the telescopic shore bridge according to the embodiment of the present invention;
fig. 4 is a flowchart of a method for controlling the expansion and contraction of a girder of the telescopic shore bridge according to the embodiment of the present invention.
Reference numerals: 100. a girder assembly; 110. fixing the anchoring pit; 200. a drive mechanism; 210. a reel; 220. a spool drive; 230. a wire rope; 300. a door frame; 310. a door frame body; 320. a hydraulic bolt; 410. and (6) induction limiting.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the drawings of the embodiments of the present invention. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the described embodiments of the invention, are within the scope of the invention.
Unless defined otherwise, technical or scientific terms used herein shall have the ordinary meaning as understood by one of ordinary skill in the art to which this invention belongs. The use of "first," "second," and similar terms in the present application do not denote any order, quantity, or importance, but rather the terms are used to distinguish one element from another. Also, the use of the terms "a" or "an" and the like do not denote a limitation of quantity, but rather denote the presence of at least one. The terms "connected" or "coupled" and the like are not restricted to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "upper", "lower", "left", "right", and the like are used merely to indicate relative positional relationships, and when the absolute position of the object being described is changed, the relative positional relationships are changed accordingly.
The geographic position of the existing port has certain limitation on the height of large container shore bridge equipment, and a reliable telescopic control method for the large shore bridge with the telescopic girder does not exist. The shore bridge girder stretching and translating control method can accurately control the girder translating and stretching position.
The following first describes a method for controlling telescopic translation of a girder of a shore bridge according to an embodiment of the present invention with reference to the accompanying drawings.
Fig. 1 is an assembly schematic diagram of a shore bridge in the control method for telescopic translation of a girder of the shore bridge according to the embodiment of the present invention. As shown in fig. 1, the assembly diagram includes: girder assembly 100, actuating mechanism 200, reel 210, reel driver 220, wire rope 230, door frame 300, door frame body 310, hydraulic bolt 320 and inductive limit 410.
Specifically, the shore bridge can include a controller (not shown) and a girder and a door frame 300 electrically connected with the controller, the girder is provided with at least one working position, the controller can send a fixed speed to the reel driver 220 in the driving mechanism 200, so that the driving mechanism 200 drives the reel 210 to rotate and pulls the steel wire rope 230 to drive the girder assembly 100 to telescopically translate towards the working position, the controller collects first motion data of the rotation of the reel driver 220 in real time, and second motion data of the rotation of the reel 210 is calibrated, so that the girder passage door is aligned with the passage door position of the door frame to reach the working position. Therefore, the position of the telescopic shore bridge girder can be accurately controlled by calibrating the first motion data of the rotation of the reel collecting driver 220 and the second motion data of the rotation of the reel 210 in real time.
More specifically, as shown in fig. 2, the shore bridge may be provided with a plurality of working positions, and in an embodiment of the present invention, four working positions may be provided, which are a front working position C, a working position a, a working position B, and a rear working position R. From this, through setting up a plurality of work positions, can satisfy the handling demand to the not container ship of equidimension in the harbour operation, effectively improved work efficiency.
In addition, as shown in fig. 1 and 3, fig. 3 is a schematic view of a girder anchoring apparatus according to an embodiment of the present invention, when the sensing limit 410 of the work station detects that the fixed anchoring pit 110 of the girder assembly 100 is aligned with the hydraulic bolt 320 of the door frame 300, the controller drives the hydraulic bolt 320 to be anchored into the fixed anchoring pit 110 to fixedly connect the girder assembly 100 with the door frame 300, wherein since the girder is greatly influenced by the wind force at the front work station C and the rear work station R, two sensing limit 410 may be additionally provided to calibrate the girder position. Therefore, the induction limiting device is arranged at the working position to calibrate the position of the girder, so that the girder can be ensured to be accurate in place.
The following describes a method for controlling telescopic translation of a girder of a shore bridge according to an embodiment of the present invention with reference to fig. 4. The flowchart includes S410-S420, and several steps are described in detail below:
the shore bridge girder telescopic translation control method provided by the embodiment of the invention is applied to a shore bridge, the shore bridge comprises a controller, a girder and a door frame, the girder is electrically connected with the controller, the girder can be provided with three to four working positions, and the girder comprises: the girder assembly is provided with a telescopic structure, and a fixed anchoring pit is arranged on the girder assembly; and the driving mechanism is connected with the girder assembly through a steel wire rope and used for pulling the girder assembly to stretch back and forth through the steel wire rope. The door frame includes: a door frame body; and the hydraulic bolt is arranged on the door frame body and matched with the fixed anchoring pit for anchoring the girder assembly.
The control method comprises the following steps:
and S410, the controller controls the driving mechanism to drive the girder assembly to stretch back and forth, and the girder is moved to the working position.
Specifically, the drive mechanism may include a drum, a drum drive for driving movement of the drum, and a wire rope connecting the girder assembly, the drum, and the drum drive. The Controller can be a Programmable Logic Controller (PLC), and the PLC is a Controller widely used in the field of industrial control, and can load control instructions into a memory at any time for storage and execution. The PLC controller can send a fixed speed set value to the reel driver to drive the reel driver to rotate, and pulls the steel wire rope to drive the girder assembly to stretch and translate to a working position.
Meanwhile, the PLC can acquire first motion data of rotation of the winding drum driver in real time, the first motion data and second motion data of rotation of the winding drum are calibrated, and the girder assembly is accurately moved to a working position, namely the position of alignment of the girder passage door and the passage door of the door frame. More specifically, the first movement data of the rotation of the roll driver can be obtained by arranging an incremental encoder on the roll driver, wherein the incremental encoder can convert the displacement into a periodic electric signal and then convert the electric signal into counting pulses, and the number of the pulses is used for expressing the size of the displacement. And the second motion data of the rotation of the winding drum can be acquired by arranging an absolute value encoder on the winding drum, and the absolute value encoder can determine the code by detecting the mechanical position of the internal grating so as to determine the displacement and avoid data loss caused by power failure. When the first motion data is the same as the second motion data, the PLC controls the girder to continue to translate; and if the first motion data are different from the second motion data, the PLC controls the girder to stop translating. Therefore, the position of the girder assembly can be accurately controlled by calibrating the incremental encoder on the reel driver and the absolute value encoder on the reel in real time.
In addition, because the steel wire rope drives the girder to stretch and translate back and forth for a long time, the girder can deform and lengthen, and then the in-place precision of the girder is influenced, and meanwhile, because the accuracy and the reliability of the absolute value encoder are higher than those of the incremental encoder, the motion data of the absolute value encoder can be given to the incremental encoder when the girder reaches one of the working positions, and the motion data of the absolute value encoder is generally given to the incremental encoder when the girder reaches the rear working position R in actual operation. Therefore, the accuracy of the girder in place in the working process can be further ensured.
And S420, when the fixed anchoring pit on the girder assembly is aligned with the hydraulic bolt of the door frame, the controller drives the hydraulic bolt to be anchored into the fixed anchoring pit to fixedly connect the girder and the door frame.
Particularly, the girder still includes the response stop device that is used for accurately judging the girder assembly position at the work position, and PLC controller obtains response stop device's response data to slow down in advance when reaching the work position based on response data control girder assembly, inching around in order to carry out the accurate positioning, when the hydraulic pressure bolt alignment of fixed anchoring hole and door frame on the girder assembly, the controller drive hydraulic pressure bolt anchor in fixed anchoring hole, with girder and door frame fixed connection.
Another embodiment of the present invention provides a telescopic shore bridge, including a controller, a girder and a door frame, wherein the girder is provided with at least one working position, and the girder includes: the girder assembly is provided with a telescopic structure, and a fixed anchoring pit is arranged on the girder assembly; and the driving mechanism is connected with the girder assembly through a steel wire rope and used for pulling the girder assembly to stretch back and forth through the steel wire rope. The door frame includes: the hydraulic bolt that is used for anchoring the girder assembly is arranged on the door frame body and matched with the anchoring pit. The controller is used for sending a driving command to the driving mechanism according to the command so that the driving mechanism drives the girder assembly to stretch back and forth, and the girder is moved to a working position, namely the girder access door is aligned with the access door of the door frame; the controller is also used for driving the hydraulic bolt to be anchored into the fixed anchoring pit when the fixed anchoring pit on the girder assembly is aligned with the hydraulic bolt of the door frame, so that the girder and the door frame are fixedly connected.
Further, the drive mechanism includes: the device comprises a winding drum, a winding drum driver for driving the winding drum to move, and a steel wire rope for connecting the girder assembly, the winding drum and the winding drum driver.
Further, the controller is configured to: sending a fixed speed set value to a reel driver to drive the reel to rotate, and pulling a steel wire rope to drive a girder assembly to stretch;
further, the control device further includes:
the winding drum driver encoder is arranged on the winding drum driver and is used for acquiring first motion data of the winding drum driver in real time;
the winding drum encoder is arranged on the winding drum and used for acquiring second motion data of the winding drum in real time;
further, the controller is configured to: if the first motion data is the same as the second motion data, the controller controls the girder to continue to translate;
and if the first motion data is different from the second motion data, the controller controls the girder to stop translating.
Still further, the girder further includes: the induction limiting device is used for accurately judging the position of the girder assembly at a working position; the controller obtains the induction data of the induction limiting device, controls the girder assembly to decelerate in advance when reaching the working position based on the induction data, and performs inching forwards and backwards to perform accurate positioning.
Further, the controller is configured to: second motion data is imparted to the spool drive as the longeron assembly translates to the work position.
Further, the drum driver encoder is an incremental encoder, and the drum encoder is an absolute value encoder.
It should be noted that, for the specific functions of each device in the control apparatus of the present invention to execute the method in fig. 4 in the foregoing embodiment, reference may be made to the description of the foregoing embodiment, and further description is omitted here.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (10)
1. A telescopic control method of a telescopic girder of a telescopic shore bridge is applied to the shore bridge, and is characterized in that the shore bridge comprises a controller, a girder and a door frame, wherein the girder and the door frame are electrically connected with the controller, the girder is provided with at least one working position, and the girder comprises:
the girder assembly is provided with a telescopic structure, and a fixed anchoring pit is arranged on the girder assembly;
the driving mechanism is connected with the girder assembly through a steel wire rope and used for pulling the girder assembly to stretch back and forth through the steel wire rope;
the door frame includes:
a door frame body;
the hydraulic bolt is arranged on the door frame body and matched with the fixed anchoring pit for anchoring a girder assembly;
the control method comprises the following steps:
the controller drives the girder assembly to stretch back and forth by controlling the driving mechanism so as to move the girder to a working position;
when a fixed anchoring pit on the girder assembly is aligned with a hydraulic bolt of the door frame, the controller drives the hydraulic bolt to be anchored into the fixed anchoring pit to fixedly connect the girder and the door frame;
wherein the working position is a position where the girder access door is aligned with the access door of the doorframe.
2. The control method according to claim 1, wherein the drive mechanism includes:
a reel;
the winding drum driver is used for driving the winding drum to move, and a steel wire rope is connected with the girder assembly, the winding drum and the winding drum driver;
the controller is through controlling actuating mechanism drive girder assembly is flexible around, moves the girder to the work position, includes:
the controller sends a fixed speed set value to the reel driver to drive the reel to rotate, and pulls the steel wire rope to drive the girder assembly to stretch;
the controller collects first motion data of the rotation of the reel driver in real time, and second motion data of the rotation of the reel are corrected, so that the girder moves to a working position.
3. The control method of claim 2, wherein the longerons further comprise:
the induction limiting device is used for accurately judging the position of the girder assembly at the working position;
the controller obtains induction data of the induction limiting device, controls the girder assembly to decelerate in advance when reaching the working position based on the induction data, and performs inching forwards and backwards to perform accurate positioning.
4. The control method of claim 2, wherein the controller collects first motion data of the rotation of the roll driver in real time and second motion data of the rotation of the roll for calibration, comprising:
the controller respectively calculates and compares first motion data generated by rotation of the reel driver and second motion data generated by rotation of the reel;
if the first motion data is the same as the second motion data, the controller controls the girder to continue to translate;
and if the first motion data is different from the second motion data, the controller controls the girder to stop translating.
5. The control method according to claim 4, characterized by further comprising:
the controller imparts the second motion data to the spool drive as the longeron assembly translates to the work position.
6. A telescopic shore bridge, comprising: girder, door frame and controller, the girder is equipped with at least one work position, the girder includes:
the girder assembly is provided with a telescopic structure, and a fixed anchoring pit is arranged on the girder assembly;
the driving mechanism is connected with the girder assembly through a steel wire rope and used for pulling the girder assembly to stretch back and forth through the steel wire rope;
the door frame includes:
a door frame body;
the hydraulic bolt is arranged on the door frame body and matched with the anchoring pit for anchoring a girder assembly;
the controller is used for sending a driving command to the driving mechanism according to the command so that the driving mechanism drives the girder assembly to stretch back and forth and move the girder to a working position;
the controller is also used for driving a hydraulic bolt to be anchored into a fixed anchoring pit when the fixed anchoring pit on the girder assembly is aligned with the hydraulic bolt of the door frame so as to fixedly connect the girder and the door frame;
wherein the working position is a position where the girder access door is aligned with the access door of the doorframe.
7. The telescopic shore bridge of claim 6, wherein said drive mechanism comprises:
a reel;
the winding drum driver is used for driving the winding drum to move, and a steel wire rope is connected with the girder assembly, the winding drum and the winding drum driver;
the controller is configured to: and sending a fixed speed set value to the reel driver to drive the reel to rotate, and pulling the steel wire rope to drive the girder assembly to stretch.
8. The telescopic shore bridge of claim 6, wherein said controller further comprises:
the winding drum driver encoder is arranged on the winding drum driver and used for acquiring first motion data of the winding drum driver in real time;
and the winding drum encoder is arranged on the winding drum and is used for acquiring the second motion data of the winding drum in real time.
9. The telescopic shore bridge of claim 8, wherein said controller is configured to:
respectively calculating and comparing the first motion data and the second motion data;
if the first motion data is the same as the second motion data, the controller controls the girder to continue to translate;
and if the first motion data is different from the second motion data, the controller controls the girder to stop translating.
10. The telescopic shore bridge of claim 7, wherein said girder further comprises:
the induction limiting device is used for accurately judging the position of the girder assembly at the working position;
the controller obtains induction data of the induction limiting device, controls the girder assembly to decelerate in advance when reaching the working position based on the induction data, and performs inching forwards and backwards to perform accurate positioning.
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| CN202110927516.0A CN113526361A (en) | 2021-08-11 | 2021-08-11 | Telescopic shore bridge girder telescopic control method and device |
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| CN202110927516.0A CN113526361A (en) | 2021-08-11 | 2021-08-11 | Telescopic shore bridge girder telescopic control method and device |
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