CN117802892A - Control system, supporting equipment of control system and control method of supporting equipment - Google Patents

Abstract

The invention relates to the technical field of diaphragm wall construction, in particular to a control system, supporting equipment of the control system and a control method of the supporting equipment; the device comprises a control module, a walking control module, an automatic leveling module, a supporting arm supporting control module and a man-machine interaction module; the walking control module, the automatic leveling module, the supporting arm supporting control module and the man-machine interaction module are all connected with the control module; the invention sets up walking control module, automatic leveling module, support arm support control module and man-machine interaction module on the supporting equipment through supporting equipment; the position, the posture and the supporting arm state of the supporting equipment can be adjusted, stable fixation of the steel box in construction operation is guaranteed, stability and safety in the steel box hoisting and welding construction process are improved, steel box construction can be safely carried out even under the weather environment with large wind force, construction progress can be guaranteed, and project construction cost is saved.

Description

Control system, supporting equipment of control system and control method of supporting equipment

Technical Field

The invention relates to the technical field of diaphragm wall construction, in particular to a control system, supporting equipment of the control system and a control method of the supporting equipment.

Background

The ground continuous wall has the advantages of high work efficiency, high wall rigidity, high bearing capacity and the like, and is often used as a supporting structure of a gravity type anchorage of a suspension bridge.

At present, the more advanced diaphragm wall adopts the sequence that steel boxes and steel reinforcement cages are lowered in stages in the construction process, the steel box structure is generally manufactured in sections, and the steel boxes to be lowered and the lowered steel boxes are welded in the lowering process.

In traditional construction operation, adopt crawler crane to hoist the operation to accomplish the welding work between the steel case of different sections to the steel case generally, but crawler crane hoist and mount belongs to flexible hoist and mount form, receives external environment such as climate to influence greatly in hoist and mount in-process, consequently need carry out temporary fixation to the steel case when climatic conditions are relatively poor to guarantee construction safety.

At present, in the hoisting and welding construction scheme of different section steel boxes, when the crawler crane is used for hoisting and aligning the steel boxes, a cable rope is generally adopted to connect the middle part of the steel boxes with a ground anchor for temporary pulling and fixing, but the method is applicable only in part of environments and depends on the construction experience of operators, has certain limitation, and in construction scenes with severe environments, the method is used for assisting in completing the hoisting and welding operation of the steel boxes, so that the construction risk is increased and the construction progress is influenced.

In summary, in terms of safety and construction progress guarantee of the steel box in the hoisting welding construction process, the automation and intelligence levels are still to be improved.

Therefore, in the steel box hoisting and welding process, an automatic steel box supporting device, a control system and a control method thereof are needed to ensure the construction progress and the construction safety.

Disclosure of Invention

The invention aims to provide a control system which can be used for automatically shifting supporting equipment and adjusting working postures.

In order to achieve the above purpose, the technical scheme adopted by the invention is as follows:

a control system for supporting equipment comprises a control module, a walking control module, an automatic leveling module, a supporting arm supporting control module and a man-machine interaction module; the walking control module, the automatic leveling module, the supporting arm supporting control module and the man-machine interaction module are all connected with the control module;

the control module comprises an electrical equipment control cabinet; the control module receives the data of the walking control module, the automatic leveling module and the supporting arm supporting control module and transmits the data to the man-machine interaction module;

the walking control module comprises a Beidou positioning module and a walking motor module which are arranged on the supporting equipment;

The Beidou positioning module is used for supporting the position of the equipment in real time and transmitting data to the control module, and the walking motor module is used for controlling the supporting equipment to move;

the automatic leveling module comprises an inclination angle sensor, a suspension oil cylinder and an oil cylinder displacement sensor which are arranged on the supporting equipment; the inclination sensor is used for acquiring the posture of the support equipment and transmitting data to the control module, the suspension oil cylinder is used for adjusting the posture of the support equipment by receiving an instruction of the control module, and the oil cylinder displacement sensor is used for acquiring displacement data of the suspension oil cylinder and transmitting the data to the control module;

the support arm support control module comprises a distance sensor and a telescopic oil cylinder, wherein the distance sensor is arranged on the support equipment and is used for detecting the distance between the support arm and the steel box in the support equipment, and the telescopic oil cylinder is used for controlling the distance between the support arm and the steel box in the support equipment by receiving an instruction of the control module;

the man-machine interaction module comprises a touch screen, the touch screen is arranged on an electrical equipment control cabinet, the man-machine interaction module can display data acquired in the control module, and can input control instructions on the touch screen and send the control instructions to the walking control module, the automatic leveling module and the supporting arm supporting control module through the control module.

A support device provided with the control system;

the supporting equipment comprises a multifunctional chassis, and a supporting frame mechanism is arranged on the multifunctional chassis;

the support frame mechanism comprises a plurality of support frame bodies; the adjacent support frames are stacked in sequence;

an extrusion limiting structure is arranged on the side face of each supporting frame body;

the extrusion limiting mechanism comprises a first limiting mechanism and a second limiting mechanism; the first limiting mechanism and the second limiting mechanism are distributed on two sides of the corresponding support frame body;

the multifunctional chassis comprises a chassis frame body, a traveling assembly is arranged on the chassis frame body, and the traveling assembly is connected with the chassis frame body through rotary driving; the chassis frame body is provided with an anchoring telescopic supporting leg; the walking assembly comprises a tire, a walking driving motor, a suspension oil cylinder, a walking assembly frame and a walking assembly rocker arm; one end of the walking driving motor is fixed on the walking component rocker arm, the other end of the walking driving motor is connected with the tire, the walking component rocker arm is hinged with the walking component frame, the suspension oil cylinder is provided with a displacement sensor, and two ends of the suspension oil cylinder are respectively hinged with the walking component frame and the walking component rocker arm.

The first limiting mechanism comprises a lateral supporting frame, and a forward limiting mechanism and a lateral limiting mechanism are arranged on the lateral supporting frame; the forward limiting mechanism comprises a forward telescopic arm arranged on the lateral support frame, and the forward telescopic arm is connected with a forward driving part; the lateral limiting mechanism comprises a lateral telescopic arm arranged on the lateral supporting frame, and the lateral telescopic arm is connected with a lateral driving part.

The second limiting mechanism comprises a backward supporting plate arranged on the supporting frame body, a backward telescopic arm is arranged on the subsequent supporting plate, and the backward telescopic arm is connected with a backward driving part.

The support frame body comprises four support columns which are symmetrically distributed at intervals; a platform is arranged on the supporting upright post; and a flange plate is arranged at the end part of each supporting upright post.

An overhanging connecting mechanism is arranged at the end part of each supporting frame body; the overhanging connecting mechanism comprises an overhanging connecting frame, a movable connecting block is arranged on the overhanging connecting frame, a baffle is arranged at the end part of the overhanging connecting frame, and the baffle and the movable connecting block are oppositely arranged.

A control method of the support device;

step one: detecting the current position of the automatic steel box supporting equipment through the Beidou positioning module, and setting a target working position in the manual interaction module;

Step two: the control module completes path planning of the automatic steel box supporting equipment from the current position to the target working position through an A-Star algorithm;

step three: the control module drives a traveling motor module in the traveling control module by adopting a pre-aiming PID control method through the position data of the Beidou positioning module, so that the tracking of the planned path in the second step is completed, and the movement of the steel box automatic supporting equipment from the current position to the target working position is realized;

step four: after reaching the target working position, the control module drives a suspension cylinder in the automatic leveling module by adopting a PID control method according to the attitude data of the inclination sensor, so as to finish leveling the automatic supporting equipment of the steel box;

step five: after the steel box automatic supporting equipment is leveled, the control module drives the telescopic oil cylinder until the supporting arm abuts against the steel box according to the distance between the supporting arm and the steel box detected by the distance sensor in the supporting arm supporting control module, and supports the steel box.

And in the fourth step, the suspension oil cylinder in the automatic leveling module adjusts the posture of the supporting equipment according to the output of the PID controller.

The PID control method comprises the control of the pitch angle beta and the roll angle gamma of the supporting equipment.

And step three, a walking motor in the walking control module adjusts the walking direction of the support equipment according to the output of the pre-aiming PID controller.

The invention has the advantages that:

the invention discloses a control system, support equipment of the control system and a control method of the support equipment.

The invention sets up walking control module, automatic leveling module, support arm support control module and man-machine interaction module on the supporting equipment through supporting equipment; the position, the gesture and the support arm state of the support equipment can be adjusted through the control system and the control method of the support equipment, so that stable fixation of the steel box in construction operation is ensured, stability and safety in the steel box hoisting and welding construction process are improved, steel box construction can be safely carried out even in a weather environment with larger wind force, construction progress can be guaranteed, and project construction cost is saved.

Drawings

The contents of the drawings and the marks in the drawings of the present specification are briefly described as follows:

fig. 1 is a front isometric view of an automated support apparatus of the present invention.

Fig. 2 is a rear isometric view of the automated support equipment of the present invention.

Fig. 3 is a left side view of the automated support equipment of the present invention.

Fig. 4 is a left-hand top view of the automated support equipment of the present invention.

Fig. 5 is a rear view of the automated support equipment of the present invention.

Fig. 6 is a front view of the automated support equipment of the present invention.

Fig. 7 is an isometric view of a multifunctional chassis in the present invention.

Fig. 8 is a side view of the multifunctional chassis of the present invention.

Fig. 9 is a block diagram of the automatic walking control system according to the present invention.

Fig. 10 is a block diagram of an auto leveling control system according to the present invention.

Fig. 11 is a block diagram of an automatic support control system according to the present invention.

Fig. 12 is a schematic view of the structure of the connecting rod in the present invention.

Fig. 13 is a schematic view (1) of a construction site of the cross-shaped steel box in the invention.

Fig. 14 is a schematic view (1) of a construction site of a straight steel box in the invention.

Fig. 15 is an isometric view of a cross-shaped steel box construction method step of the present invention.

FIG. 16 is a top view showing a step of the construction method of the cross-shaped steel box according to the present invention.

FIG. 17 is a side view showing the steps of the construction method of the cross-shaped steel box according to the present invention.

FIG. 18 is a three-axis side view showing the steps of the construction method of the cross-shaped steel box in the invention.

FIG. 19 is a side view of a fourth step of the method of constructing a cross-shaped steel box of the present invention.

FIG. 20 is a fifth top view of the cross-shaped steel box construction method of the present invention.

Fig. 21 is a schematic view of the arrangement of the various modules of the present invention on a support device.

FIG. 22 is a diagram of a control system architecture in accordance with the present invention.

The labels in the above figures are:

1-1 of Beidou positioning module, 1-2 of distance sensor, 1-3 of telescopic oil cylinder, 1-4 of electrical equipment control cabinet, 1-6 of walking motor module, 1-8 of oil cylinder displacement sensor;

101. multifunctional chassis, 102, lower frame, 103, ladder stand, 104, platform, 105, upper frame, 106, guardrail, 107, overhanging connecting frame, 108, mobile connecting block, 109, armrest, 110, lateral support plate, 111, lateral telescoping arm, 112, lateral telescoping cylinder, 114, forward distance sensor, 115, forward telescoping arm, 116, forward support plate, 117, forward telescoping cylinder; 118. a backward support plate, 119, backward telescopic arms, 120, a backward telescopic cylinder, 121, a backward distance sensor, 122 and a Beidou antenna; 1011. the chassis comprises a chassis frame body, 1012, a double-shaft inclination angle sensor, 10131, a tire, 10132, a walking driving motor, 10134, a walking component frame, 10135, a walking component rocker arm, 1015, an anchoring telescopic support leg, 10151, an anchoring telescopic support leg sleeve, 10152 and an anchoring telescopic support leg movable end; 1013. the walking assembly, 10133, a suspension cylinder, 1014, a rotary drive, 2 and a connecting rod; 3. the device comprises a trough section, 4, a crawler crane, 5, a cross steel box, 6, a ground anchor, 7 and a straight steel box.

Detailed Description

The following detailed description of the invention refers to the accompanying drawings, which illustrate preferred embodiments of the invention in further detail.

A control system for supporting equipment comprises a control module, a walking control module, an automatic leveling module, supporting arm supporting control modules 1-3 and a man-machine interaction module; the walking control module, the automatic leveling module, the supporting arm supporting control module 1-3 and the man-machine interaction module are all connected with the control module; the control module comprises an electrical equipment control cabinet 1-4; the control module receives the data of the walking control module, the automatic leveling module and the supporting arm supporting control module 1-3 and transmits the data to the man-machine interaction module; the walking control module comprises a Beidou positioning module 1-1 and a walking motor module 1-6 which are arranged on supporting equipment; the Beidou positioning module 1-1 is used for supporting the position of equipment in real time and transmitting data to the control module, and the walking motor module 1-6 is used for controlling the supporting equipment to move; the automatic leveling module comprises an inclination angle sensor, a suspension oil cylinder and an oil cylinder displacement sensor which are arranged on the supporting equipment; the inclination sensor is used for acquiring the posture of the support equipment and transmitting data to the control module, the suspension oil cylinder is used for adjusting the posture of the support equipment by receiving an instruction of the control module, and the oil cylinder displacement sensor is used for acquiring displacement data of the suspension oil cylinder and transmitting the data to the control module; the support arm support control module 1-3 comprises a distance sensor and a telescopic oil cylinder, wherein the distance sensor is arranged on the support equipment and is used for detecting the distance between the support arm and the steel box in the support equipment, and the telescopic oil cylinder is used for controlling the distance between the support arm and the steel box in the support equipment by receiving the instruction of the control module; the man-machine interaction module comprises a touch screen, the touch screen is arranged on the electrical equipment control cabinet 1-4, the man-machine interaction module can display data collected in the control module, and can input control instructions on the touch screen and send the control instructions to the walking control module, the automatic leveling module and the support arm support control module 1-3 through the control module; the invention sets a walking control module, an automatic leveling module, a supporting arm supporting control module 1-3 and a man-machine interaction module on the supporting equipment; the position, the gesture and the support arm state of the support equipment can be adjusted through the control system and the control method of the support equipment, so that stable fixation of the steel box in construction operation is ensured, stability and safety in the steel box hoisting and welding construction process are improved, steel box construction can be safely carried out even in a weather environment with larger wind force, construction progress can be guaranteed, and project construction cost is saved.

Specifically:

the two supporting devices are matched and connected through the connecting rod; in particular use, the two support devices 1 are connected by a connecting rod 2.

Fig. 21 includes a Beidou positioning module 1-1, a distance sensor, a telescopic oil cylinder, an electric equipment control cabinet 1-4, a walking motor module 1-6 and an oil cylinder displacement sensor 1-8.

Fig. 22 is a system architecture of a control system, mainly comprising a control module, a walking control module, an automatic leveling module, support arm support control modules 1-3 and a man-machine interaction module, wherein the principle of each module is as follows:

1. and the control module is used for: the control module is arranged in the electrical equipment control cabinet 1-4 of fig. 2 and consists of an embedded control unit, and can receive the data of the walking control module, the automatic leveling module and the supporting arm supporting control module 1-3 and transmit the data to the man-machine interaction module, and meanwhile, can generate a control instruction according to the data to adjust the gesture and the position of the automatic steel box supporting equipment.

2. The walking control module: the walking control module is composed of a Beidou positioning module 1-1 and a walking motor module 1-6 in FIG. 2, wherein the Beidou positioning module 1-1 is used for detecting the position of the automatic steel box supporting equipment in real time and transmitting data to the control module, the walking motor module 1-6 can realize the forward movement, the backward movement and the steering of the automatic steel box supporting equipment, and the automatic steel box supporting equipment is driven to act through the control instruction of the control module.

3. And an automatic leveling module: the automatic leveling module is composed of an inclination sensor 5, a suspension cylinder 10133 and cylinder displacement sensors 1-8 in fig. 2, wherein the inclination sensor 5 is used for collecting the posture of the steel box automatic supporting equipment and transmitting data to the control module, the posture data comprise a pitch angle, a roll angle and a course angle, the suspension cylinder 10133 is used for completing the posture adjustment of the steel box automatic supporting equipment by receiving an instruction of the control module, the posture adjustment is only carried out on the pitch angle and the roll angle, the cylinder displacement sensors 1-8 are used for collecting the displacement data of the suspension cylinder and transmitting the data to the control module, and the displacement control of the suspension cylinder 10133 is completed by an instruction of the control module.

4. The support arm supports the control module 1-3: the supporting arm supporting control module 1-3 is composed of a distance sensor 1-2 and a telescopic oil cylinder in the figure 2, wherein the distance sensor 1-2 is used for detecting the distance between the supporting arm and the steel box in the steel box automatic supporting equipment, and the telescopic oil cylinder is used for controlling the distance between the supporting arm and the steel box in the steel box automatic supporting equipment by receiving an instruction of the control module.

5. And the man-machine interaction module is used for: the man-machine interaction module consists of a touch screen and is arranged on the electrical equipment control cabinet 1-4 of fig. 2, the module can display data collected in the control module, and can input control instructions on the touch screen and send the control instructions to the walking control module, the automatic leveling module and the supporting arm supporting control module 1-3 through the control module.

In the steel box hoisting construction operation, the control method of the automatic steel box supporting equipment comprises the following steps:

step one: detecting the current position of the automatic steel box supporting equipment through the Beidou positioning module 1-1, and setting a target working position in the manual interaction module;

step two: the control module completes path planning of the automatic steel box supporting equipment from the current position to the target working position through an A-Star algorithm;

step three: the control module drives the traveling motor module 1-6 in the traveling control module by adopting a pre-aiming PI D control method through the position data of the Beidou positioning module 1-1, so as to complete the tracking of the planned path in the step two and realize the movement of the automatic steel box supporting equipment from the current position to the target working position;

step four: after reaching the target working position, the control module drives a suspension cylinder in the automatic leveling module by adopting a PI (proportional integral) D control method according to the attitude data of the inclination sensor, so as to finish leveling of the automatic steel box supporting equipment;

step five: after the steel box automatic supporting equipment is leveled, the control module drives the telescopic cylinder until the supporting arm abuts against the steel box according to the distance between the supporting arm and the steel box detected by the distance sensor in the supporting arm supporting control module 1-3, and supports the steel box.

The PID control method described above includes control of the pitch angle β and the roll angle γ, and since the control method is the same, only the pitch angle β control will be described herein.

First, pitch angle deviation is defined as:

e _β ＝0-β (1)

the PID control equation is:

wherein u is _β For the compensation deviation of the output of the PID controller,is proportional constant (L)>For the integral constant +.>Is a differential constant.

The control module sends the output result of the PID controller to the automatic leveling module in the form of a control instruction, and a suspension oil cylinder in the automatic leveling module adjusts the gesture of the automatic steel box supporting equipment according to the output of the PID controller so as to control the gesture.

The pre-aiming PID control method firstly determines the pre-aiming distance d _p The location of the pre-aiming point is:

wherein (x, y) is the current of the steel box automatic supporting equipmentPosition (x) _p ，y _p ) And alpha is acquired by the inclination angle sensor and is a course angle for the pre-aiming position.

Defining the pre-aiming deviation as:

e _p ＝x _p -x (4)

the pre-aiming PID control equation is:

wherein u is _p For compensating deviation, K of the output of the pre-aiming PID controller _p Is a proportionality constant, K _i Is an integral constant, K _d Is a differential constant.

The control module sends the output result of the pre-aiming PID controller to the walking control module in the form of a control instruction, and a walking motor in the walking control module adjusts the walking direction of the automatic steel box supporting equipment according to the output of the pre-aiming PID controller so as to track a planned path.

Based on the control method and the device, the position, the posture and the supporting arm state of the supporting equipment can be adjusted in the actual use process, and the stable fixation of the steel box in the construction operation is ensured, so that the stability and the safety of the steel box in the hoisting and welding construction process are improved, the steel box construction can be safely carried out even in the weather environment with large wind force, the construction progress can be ensured, and the project construction cost is saved.

In practical implementation, two supporting devices are generally adopted to form a supporting assembly required by the construction of the steel box by matching with the connecting beam.

An automated support assembly comprising a support device; the supporting equipment comprises a multifunctional chassis, and a supporting frame mechanism is arranged on the multifunctional chassis; the support frame mechanism comprises a plurality of support frame bodies; the adjacent support frames are stacked in sequence; an extrusion limiting structure is arranged on the side face of each supporting frame body; the automatic support assembly disclosed by the invention can be used for carrying out rigid support on the steel box, so that the stability and the safety of the steel box in the butt joint construction process are improved, the steel box construction can be safely carried out even in a weather environment with larger wind power, the construction progress can be ensured, and the project construction cost is saved.

Further, in the invention, the extrusion limiting mechanism comprises a first limiting mechanism and a second limiting mechanism; the first limiting mechanism and the second limiting mechanism are distributed on two sides of the corresponding support frame body; the first limiting mechanism and the second limiting mechanism are mainly arranged at two sides of the supporting frame body respectively, so that a good constraint limiting effect is achieved; the binding and fixing of different types are convenient according to the needs; when the device is actually arranged, the first limiting mechanism comprises a lateral supporting frame, and a forward limiting mechanism and a lateral limiting mechanism are arranged on the lateral supporting frame; the forward limiting mechanism comprises a forward telescopic arm arranged on the lateral support frame, and the forward telescopic arm is connected with a forward driving part; the lateral limiting mechanism comprises a lateral telescopic arm arranged on the lateral supporting frame, and the lateral telescopic arm is connected with a lateral driving part; the cross steel box can be limited and fixed through the cooperation of the forward limiting mechanism and the lateral limiting mechanism, meanwhile, the second limiting mechanism comprises a backward supporting plate arranged on the supporting frame body, a backward telescopic arm is arranged on the subsequent supporting plate, and the backward telescopic arm is connected with a backward driving part; the second limiting mechanism can realize supporting limiting of the straight steel box.

Further, in the invention, the support frame body comprises four support columns which are symmetrically distributed at intervals; a platform is arranged on the supporting upright post; the end part of each supporting upright post is provided with a flange plate; by the arrangement, the overall structural strength of the support frame body is guaranteed.

Further, in the invention, an overhanging connecting mechanism is arranged at the end part of each supporting frame body; the overhanging connecting mechanism comprises an overhanging connecting frame, a movable connecting block is arranged on the overhanging connecting frame, a baffle is arranged at the end part of the overhanging connecting frame, and the baffle and the movable connecting block are oppositely arranged; by the arrangement, the connection between the support frame body and the connecting beam is facilitated.

Further, in the present invention, the automated support assembly includes two support devices connected by a connection mechanism; the connecting mechanism comprises connecting beams, and two ends of each connecting beam are respectively connected with a supporting device; the connecting beam is connected to an overhanging connecting mechanism in the supporting equipment; according to the invention, through the cooperation of the two supporting devices, the supporting limit of the two sides of the corresponding steel box can be realized, and the connecting beam plays a good bridging role, so that bridging between the two supporting devices is ensured, and then the stability and the linkage of the connection between the two supporting devices are ensured.

A construction method of a steel box of a diaphragm wall comprises the following steps of;

the construction method comprises the following steps:

step one: hoisting the steel box to a construction site by using a crawler crane, and automatically driving 2 support equipment to a preparation position according to the position of the steel box;

2 automatic supporting devices face the steel box from the front;

step two: the walking assembly is controlled, and 2 automatic supporting equipment is controlled to automatically travel from a preparation position to a working position;

step three: 2 automatic supporting equipment postures are automatically adjusted to be in a horizontal state through a suspension oil cylinder, and then the anchoring telescopic supporting legs are stretched to realize supporting placement of the supporting equipment;

step four: connecting beams are arranged between the 2 pieces of supporting equipment, and the 2 pieces of automatic supporting equipment are integrally connected and fixed through the connecting beams;

step five: controlling the extrusion limiting mechanism to start, so that the corresponding telescopic arm in the extrusion limiting mechanism is propped against the steel box to support the steel box;

step six: after the supporting work is finished, retracting the telescopic arms at all positions, and dismantling the connecting beams at all positions; so far, the supporting construction of one underground continuous wall steel box is completed; and (3) if the supporting construction of the underground continuous wall steel box in other areas is required to be repeatedly realized, repeating the steps 1-5.

Based on the operation, the construction support work of the diaphragm wall steel box can be conveniently realized.

Specific examples:

the invention discloses an automatic support assembly, which is mainly used for support operation during construction of a wall-connected steel box.

Meanwhile, the upper, lower, left, right, front and rear directions in the scheme represent related directions, have no special meaning and are not limiting conditions in the technical scheme.

The support assembly disclosed by the invention comprises two support devices, and is used with a crawler crane.

The two supporting devices are connected through the connecting beam, so that the two supporting devices are convenient to connect and use.

Meanwhile, the support assembly can realize construction support of the cross-shaped steel box 5 and the straight-shaped steel box 7.

The support frame body can be divided into a lower frame body and an upper frame body because of different arrangement positions.

The automatic support equipment mainly comprises a multifunctional chassis 101, a lower frame body 102, a cat ladder 103, a platform 104, an upper frame body 105, guardrails 106, an overhanging connecting frame 107, a movable connecting block 108, handrails 109, a lateral support plate 110, a lateral telescopic arm 111, a lateral telescopic cylinder 112, a lateral distance sensor 113, a forward distance sensor 114, a forward telescopic arm 115, a forward support plate 116, a forward telescopic cylinder 117, a backward support plate 118, a backward telescopic arm 119, a backward telescopic cylinder 120, a backward distance sensor 121 and a Beidou antenna 122.

Meanwhile, it is to be noted here that the above-described single distance sensor 1-2 may be classified into a lateral distance sensor 113, a forward distance sensor 114, a backward distance sensor 121, and the like, because of the difference in the distance sensor arrangement positions.

Similarly, the telescopic cylinders can be divided into a forward telescopic cylinder 117, a backward telescopic cylinder 120 and a lateral telescopic cylinder 112 according to the arrangement positions.

The frame body of the automatic support device 1 is divided into a lower frame body 102 and an upper frame body 105 in consideration of convenient transportation and assembly and disassembly, wherein a lower end flange of the lower frame body 102 is connected with the multifunctional chassis 101, and an upper end flange is connected with a lower end flange of the upper frame body 105 in a bolt connection manner; in order to ensure structural rigidity and convenient construction, the automatic support equipment 1 is provided with 4 platforms 104 from bottom to top, each platform 104 is provided with a guardrail 106 as a protective measure, each platform 104 is provided with a passing channel through a ladder stand 103, and meanwhile, in order to facilitate the up-down ladder stand, the port of each ladder stand 103 is provided with a handrail 109; the overhanging connecting frames 107 are symmetrically distributed on the left side and the right side of the automatic supporting equipment 1, 4 overhanging connecting frames are respectively arranged on the structures of the lower frame body 102 and the upper frame body 105, meanwhile, the end parts of the overhanging connecting frames 107 are provided with baffle plates, and the upper end surfaces of the overhanging connecting frames are provided with threaded holes; the movable connecting block 108 is of a triangular structure, the lower end panel is in contact with the upper end face of the overhanging connecting frame 107 and is provided with a round rectangular hole, the movable connecting block can slide along the upper end face of the overhanging connecting frame 107, meanwhile, bolts can be screwed into threaded holes in the upper end face of the overhanging connecting frame 107 through the round rectangular hole to be connected with the overhanging connecting frame 107 through bolts, round rectangular holes are also formed in the side end face of the movable connecting block 108, and the movable connecting block 108 is matched with a baffle plate at the end part of the overhanging connecting frame 107 through movable adjustment of the movable connecting block 108, so that the movable connecting block can be used for connecting the connecting beam 2; the Beidou antennas are arranged on two sides of the uppermost platform 104, and each side is provided with 1 Beidou antenna for accurately positioning the automatic support equipment 1.

The lateral support plate 110, the lateral telescopic arm 111, the lateral telescopic cylinder 112 and the lateral distance sensor 113 are symmetrically distributed on the front side of the automatic support equipment 1, and 2 groups are respectively arranged on the structures of the lower frame body 102 and the upper frame body 105, so that an automatic lateral support mechanism of the automatic support equipment 1 is formed.

The lateral supporting plate 110 is hinged with the lateral telescopic arm 111 and is used for carrying out contact supporting on the side face of the cross steel box 5; the piston rod of the lateral telescopic cylinder 112 is hinged with the lateral telescopic arm 111, the cylinder barrel is hinged with the frame body, and a displacement sensor is arranged and is mainly used for driving the lateral telescopic arm 111 to carry out closed-loop control of telescopic displacement along the frame body; the lateral distance sensor 113 is installed on the frame body, measures distance through laser, and can be used for measuring the distance between the lateral support plate 110 and the lateral surface of the cross steel box 5 by combining with a displacement sensor matched with the lateral telescopic oil cylinder 112.

The forward distance sensors 114, the forward telescopic arms 115, the forward support plate 116 and the forward telescopic oil cylinders 117 are symmetrically distributed on the front side of the automatic support equipment 1, and 2 groups of forward support mechanisms of the automatic support equipment 1 are respectively arranged on the structures of the lower frame body 102 and the upper frame body 105. The front supporting plate 116 is hinged with the front telescopic arm 115 and is used for carrying out contact supporting on the front surface of the cross steel box 5; a piston rod of the forward telescopic oil cylinder 117 is hinged with the forward telescopic arm 115, a cylinder barrel is hinged with the frame body, and a displacement sensor is arranged and is mainly used for driving the forward telescopic arm 115 to carry out closed-loop control of telescopic displacement along the frame body; the forward distance sensor 114 is installed on the frame body, measures distance by laser, and can be used for measuring the distance between the forward support plate 116 and the front face of the cross steel box 5 by combining with a displacement sensor matched with the forward telescopic oil cylinder 117.

The backward support plate 118, the backward telescopic arm 119, the backward telescopic cylinder 120 and the backward distance sensor 121 are distributed on the rear side central line of the automatic support equipment 1, and 1 group is respectively arranged on the structures of the lower frame body 102 and the upper frame body 105, so that a backward support mechanism of the automatic support equipment 1 is formed. The backward supporting plate 118 is hinged with the backward telescopic arm 119 and is used for carrying out contact supporting on the front surface of the linear steel box 7; the piston rod of the backward telescopic cylinder 120 is hinged with the backward telescopic arm 119, the cylinder barrel is hinged with the frame body, and a displacement sensor is arranged and is mainly used for driving the backward telescopic arm 119 to carry out closed-loop control of telescopic displacement along the frame body; the backward distance sensor 121 is installed on the frame body, measures distance by laser, and can be used for measuring the distance between the backward support plate 118 and the front face of the linear steel box 7 by combining with a displacement sensor matched with the backward telescopic arm 119.

The multifunctional chassis 101 mainly comprises a chassis frame 1011, a double-shaft inclination sensor 1012, a traveling assembly 1013, a rotary drive 1014 and an anchoring telescopic leg 1015, as shown in fig. 7-8. Wherein, the double-shaft inclination sensor 1012 is arranged at the central position of the upper surface of the chassis frame 1011 and is used for detecting the double-direction inclination angle of the chassis; the upper end of the rotary drive 1014 is fixed on the chassis frame 1011, the lower end is connected with the traveling assembly 1013, the traveling assembly 1013 can be controlled to rotate 360 degrees around the axis of the rotary drive 1015, the omnidirectional traveling of the chassis is realized, and the self-traveling and positioning functions of the automatic support equipment 1 can be realized by combining the Beidou antenna 122; the traveling unit 1013 is composed of a tire 10131, a traveling drive motor 10132, a suspension cylinder 10133, a traveling unit frame 10134, and a traveling unit rocker 10135. One end of a walking driving motor 10132 is fixed on a walking assembly rocker arm 10135, and the other end of the walking driving motor 10132 is connected with a tire 10131 and is used for driving the tire 10131 to rotate, so that the automatic support equipment 1 walks; the traveling assembly rocker arm 10135 is hinged with the traveling assembly frame 10134, the suspension cylinder 10133 is provided with a displacement sensor, and two ends of the suspension cylinder 10133 are respectively hinged with the traveling assembly frame 10134 and the traveling assembly rocker arm 10135 and used for controlling the height of the traveling assembly 1013, and an active suspension system is formed by combining data feedback of the double-shaft inclination sensor 1012 and used for automatically leveling the automatic supporting equipment 1; the anchoring telescopic support 1015 is mainly used for anchoring the multifunctional chassis 101 and the construction ground, and mainly comprises an anchoring telescopic support sleeve 10151 and an anchoring telescopic support movable end 10152, wherein the anchoring telescopic support sleeve 10151 is fixedly connected to the lower end face of the chassis frame 1011, the anchoring telescopic support movable end 10152 can vertically move inside the anchoring telescopic support sleeve 10151 and is in a hydraulic driving telescopic form, and a spherical hinge disc at the lower part of the anchoring telescopic support movable end 10152 is provided with a through hole for anchoring with the ground.

The above description refers to the structural components of the automatic support device 1 and the functions of the components, namely, the hardware components, and the automatic support device 1 further comprises three sets of automatic control systems, specifically, an automatic walking control system, an automatic leveling control system and an automatic support control system. The automatic walking control system uses the position signal collected by the Beidou antenna 122 as a detection end, uses the walking assembly 1013 and the rotary drive 1014 as execution ends, adjusts the position of the automatic support equipment 1 by detecting the deviation of the walking route and the target route, forms an automatic walking closed-loop control system, and realizes the automatic walking function of the automatic support equipment 1, as shown in fig. 9; the automatic leveling control system uses a double-shaft inclination angle sensor 1012 as a large closed-loop detection end, detects the inclination angle of the automatic supporting equipment 1 through the double-shaft inclination angle sensor 1012, converts the inclination angle into the height control quantity of 4 traveling assemblies 1013, then uses a displacement sensor matched with a suspension cylinder 10133 as an execution detection end, uses the suspension cylinder 10133 as an execution end, automatically adjusts the traveling assemblies 1013 to the required height, and further realizes the automatic leveling function of the automatic supporting equipment 1, as shown in fig. 10; the automatic support control system mainly depends on the support mechanism to realize functions, and is divided into a forward automatic support control system, a backward automatic support control system and a lateral automatic support control system, the structure of the automatic support control system is shown in fig. 11, and the lateral automatic support control system is taken as an example for explanation: the lateral distance sensor 113 detects the distance between the detection port and the side surface of the cross steel box 5, the distance between the lateral support plate 110 and the side surface of the cross steel box 5 is converted through deduction, namely, the lateral telescopic arm 111 finishes the displacement required by supporting, then the lateral telescopic oil cylinder 112 is used as a detection end by using a displacement sensor matched with the lateral telescopic oil cylinder 112, the lateral telescopic oil cylinder 112 is used as an execution end, the lateral telescopic arm 111 is stretched to a required position, the lateral support plate 110 is propped against the side surface of the cross steel box 5, in addition, in the stretching process of the lateral telescopic arm 111, the system pressure of the lateral telescopic oil cylinder 112 needs to be monitored in real time, and the system pressure is stopped in time when being greater than a supporting force set value, and is used as an emergency closing setting of a supporting system, so that the supporting force is prevented from being too large.

The structure of the connecting rod 2 is shown in fig. 12, the main structure is a rectangular steel tube, through holes are arranged at two ends of the connecting rod, and the through holes correspond to round corner rectangular holes on the side end face of the movable connecting block 108.

The construction site is shown in fig. 13-14, the steel box is divided into a cross steel box 5 and a straight steel box 7, and the cross steel box and the straight steel box are lifted by a crawler crane 4 and vertically placed into the corresponding groove section 3. The steel box is divided into a plurality of sections, so that the steel box needs to be butted, and the steel box above the ground needs to be lifted and supported all the time in the butt joint process.

Taking the cross-shaped steel box 5 as an example, the construction method of the automatic supporting equipment for the diaphragm wall steel box comprises the following steps:

step one: the crawler crane 4 lifts the cross steel box 5 to a construction station, and the 2 automatic support devices 1 automatically travel to a preparation position according to the position of the steel box, as shown in fig. 15-16, at the moment, the 2 automatic support devices 1 face the cross steel box 5 in the front direction, and all telescopic arms are in a minimum stroke state;

step two: the automatic walking control system works, 2 automatic support equipment 1 is automatically driven to a working position from a preparation position through the execution control of a walking assembly 1013 and a rotary drive 1014 according to the position signal acquired by the Beidou antenna 122, and other systems do not work as shown in fig. 17;

Step three: the automatic leveling control system works, the posture of 2 automatic supporting equipment 1 is automatically adjusted to be in a horizontal state through a suspension cylinder 10133 by using inclination signals acquired by a double-shaft inclination sensor 1012, then the anchoring telescopic supporting legs 1015 are stretched, the ground anchors 6 which are preset in place are penetrated into spherical hinge disc through holes at the lower parts of the movable ends 10152 of the anchoring telescopic supporting legs, the stress state of each anchoring telescopic supporting leg 1015 is monitored according to the system pressure, meanwhile, the posture of the automatic supporting equipment 1 is monitored according to the double-shaft inclination sensor 1012, and then the ground anchors 6 and the anchoring telescopic supporting legs 1015 are fixed by using bolts, as shown in fig. 18;

step four: connecting rods 2 are placed between the overhanging connecting frames 107 of the 2 pieces of automatic supporting equipment 1, the connecting rods 2 are fixed through moving connecting blocks 108, and the 2 pieces of automatic supporting equipment 1 are integrally connected and fixed through the installation of the 4 connecting rods 2, as shown in fig. 19;

step five: the forward automatic support control system and the lateral automatic support control system work, the lateral support plate 110 and the forward support plate 116 are respectively propped against the cross-shaped steel box 5 for supporting through the displacement control of the lateral telescopic arm 111 and the forward telescopic arm 115 by the distance measurement of the lateral distance sensor 113 and the forward distance sensor 114, and the cross-shaped steel box 5 is supported as shown in fig. 20;

Step six: after the supporting work is finished, the telescopic arms at all positions retract, and the connecting beams 2 at all positions are removed.

The construction method of the straight steel box 7 is similar to that of the cross steel box 5 in steps, except that the 2 automatic support equipment 1 faces the straight steel box 7 at the rear, the distance of the backward distance sensor 121 is measured, and the backward support plate 118 is propped against the straight steel box 75 through the displacement control of the backward telescopic arm 119 to support the same.

According to the support assembly disclosed by the invention, the automatic support equipment is used for carrying out rigid support on the steel box, so that the stability and the safety of the steel box in the butt joint construction process are improved, and the steel box construction can be safely carried out even in a weather environment with large wind power, so that the construction progress can be ensured, and the project construction cost is saved.

The main related content is as follows:

the supporting equipment adopts a wheel type self-driving movement mode, and is combined with a Beidou navigation system, so that the use requirement of site construction can be effectively met, the accurate positioning and self-walking of the supporting equipment are realized, and the movement and transposition use of the supporting equipment are facilitated.

The supporting equipment adopts an automatic leveling control system based on active suspension, and the supporting equipment is automatically leveled through the feedback of the inclination sensor, so that the supporting posture of the equipment is effectively ensured.

The support equipment adopts a distance sensor to detect the extension displacement of the support arm, and the support arm displacement is automatically controlled through the feedback of a stay wire sensor, so that the support pressure is detected by combining a pressure sensor, and the effective support of the support equipment on the steel box is ensured.

The supporting equipment adopts the use forms of ground anchor fixation and bidirectional connection, so that the stability of the supporting equipment and the steel box is greatly improved, the stability of the steel box is effectively improved, and the safety and the reliability of construction are further improved.

It is obvious that the specific implementation of the present invention is not limited by the above-mentioned modes, and that it is within the scope of protection of the present invention only to adopt various insubstantial modifications made by the method conception and technical scheme of the present invention.

Claims (10)

1. The control system for the supporting equipment is characterized by comprising a control module, a walking control module, an automatic leveling module, a supporting arm supporting control module and a man-machine interaction module; the walking control module, the automatic leveling module, the supporting arm supporting control module and the man-machine interaction module are all connected with the control module;

the control module comprises an electrical equipment control cabinet; the control module receives the data of the walking control module, the automatic leveling module and the supporting arm supporting control module and transmits the data to the man-machine interaction module;

The walking control module comprises a Beidou positioning module and a walking motor module which are arranged on the supporting equipment;

the Beidou positioning module is used for supporting the position of the equipment in real time and transmitting data to the control module, and the walking motor module is used for controlling the supporting equipment to move;

the automatic leveling module comprises an inclination angle sensor, a suspension oil cylinder and an oil cylinder displacement sensor which are arranged on the supporting equipment; the inclination sensor is used for acquiring the posture of the support equipment and transmitting data to the control module, the suspension oil cylinder is used for adjusting the posture of the support equipment by receiving an instruction of the control module, and the oil cylinder displacement sensor is used for acquiring displacement data of the suspension oil cylinder and transmitting the data to the control module; the support arm support control module comprises a distance sensor and a telescopic oil cylinder, wherein the distance sensor is arranged on the support equipment and is used for detecting the distance between the support arm and the steel box in the support equipment, and the telescopic oil cylinder is used for controlling the distance between the support arm and the steel box in the support equipment by receiving an instruction of the control module;

the man-machine interaction module comprises a touch screen, the touch screen is arranged on an electrical equipment control cabinet, the man-machine interaction module can display data acquired in the control module, and can input control instructions on the touch screen and send the control instructions to the walking control module, the automatic leveling module and the supporting arm supporting control module through the control module.

2. A support apparatus having the control system of claim 1 disposed thereon;

the supporting equipment comprises a multifunctional chassis, and a supporting frame mechanism is arranged on the multifunctional chassis;

the support frame mechanism comprises a plurality of support frame bodies; the adjacent support frames are stacked in sequence;

an extrusion limiting structure is arranged on the side face of each supporting frame body;

the extrusion limiting mechanism comprises a first limiting mechanism and a second limiting mechanism; the first limiting mechanism and the second limiting mechanism are distributed on two sides of the corresponding support frame body;

the multifunctional chassis comprises a chassis frame body, a traveling assembly is arranged on the chassis frame body, and the traveling assembly is connected with the chassis frame body through rotary driving; the chassis frame body is provided with an anchoring telescopic supporting leg; the walking assembly comprises a tire, a walking driving motor, a suspension oil cylinder, a walking assembly frame and a walking assembly rocker arm; one end of the walking driving motor is fixed on the walking component rocker arm, the other end of the walking driving motor is connected with the tire, the walking component rocker arm is hinged with the walking component frame, the suspension oil cylinder is provided with a displacement sensor, and two ends of the suspension oil cylinder are respectively hinged with the walking component frame and the walking component rocker arm.

3. A support device according to claim 2, wherein the first limit mechanism comprises a lateral support frame, and the lateral support frame is provided with a forward limit mechanism and a lateral limit mechanism; the forward limiting mechanism comprises a forward telescopic arm arranged on the lateral support frame, and the forward telescopic arm is connected with a forward driving part; the lateral limiting mechanism comprises a lateral telescopic arm arranged on the lateral supporting frame, and the lateral telescopic arm is connected with a lateral driving part.

4. A supporting device according to claim 2, wherein the second limiting mechanism comprises a backward supporting plate arranged on the supporting frame body, a backward telescopic arm is arranged on the subsequent supporting plate, and the backward telescopic arm is connected with a backward driving part.

5. A support device according to claim 2, wherein the support frame comprises four support columns, the four support columns being symmetrically spaced apart; a platform is arranged on the supporting upright post; and a flange plate is arranged at the end part of each supporting upright post.

6. A support apparatus as claimed in claim 2, wherein each support frame body end is provided with an overhanging connection; the overhanging connecting mechanism comprises an overhanging connecting frame, a movable connecting block is arranged on the overhanging connecting frame, a baffle is arranged at the end part of the overhanging connecting frame, and the baffle and the movable connecting block are oppositely arranged.

7. A control method of the supporting equipment as claimed in any one of claims 2 to 6, characterized in that;

step one: detecting the current position of the automatic steel box supporting equipment through the Beidou positioning module, and setting a target working position in the manual interaction module;

step two: the control module completes path planning of the automatic steel box supporting equipment from the current position to the target working position through an A-Star algorithm;

step three: the control module drives a traveling motor module in the traveling control module by adopting a pre-aiming PID control method through the position data of the Beidou positioning module, so that the tracking of the planned path in the second step is completed, and the movement of the steel box automatic supporting equipment from the current position to the target working position is realized;

step four: after reaching the target working position, the control module drives a suspension cylinder in the automatic leveling module by adopting a PID control method according to the attitude data of the inclination sensor, so as to finish leveling the automatic supporting equipment of the steel box;

step five: after the steel box automatic supporting equipment is leveled, the control module drives the telescopic oil cylinder until the supporting arm abuts against the steel box according to the distance between the supporting arm and the steel box detected by the distance sensor in the supporting arm supporting control module, and supports the steel box.

8. The method according to claim 7, wherein the suspension cylinder in the automatic leveling module in the fourth step adjusts the posture of the support equipment according to the output of the PID controller.

9. A control method of a supporting installation according to claim 8, characterized in that the PID control method comprises control of the pitch angle β and roll angle γ of the supporting installation.

10. The method according to claim 7, wherein the walking motor in the walking control module in the third step adjusts the walking direction of the support device according to the output of the pre-aiming PID controller.