CN206749711U - The control system run simultaneously suitable for two cars and four cars - Google Patents
The control system run simultaneously suitable for two cars and four cars Download PDFInfo
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- CN206749711U CN206749711U CN201720342300.7U CN201720342300U CN206749711U CN 206749711 U CN206749711 U CN 206749711U CN 201720342300 U CN201720342300 U CN 201720342300U CN 206749711 U CN206749711 U CN 206749711U
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Abstract
It the utility model is related to a kind of tire type beam conveying vehicle transport suitable for large span, large-tonnage prefabricated case beam in bridge floor, and in particular to a kind of control system for being applied to two cars and four cars and running simultaneously.PLC system including being laid in each car, each PLC system mutually communicate connection by CAN respectively.The control system for being applied to two cars and the synchronous operation of four cars, also include multiple angular transducers for being used to measure two car relative velocities and multiple displacement transducers for being used to measure two car relative positions, the PLC system with each car is connected respectively, the information gathered according to the angular transducer and institute's displacement sensors, adjust the speed of service and operation posture of more cars.The utility model provides a kind of control system for being applied to two cars and the synchronous operation of four cars, has the safe and reliable characteristic of clear layer, control program clear logic, system.
Description
Technical field
It the utility model is related to a kind of rubber-tyred fortune beam transported suitable for large span, large-tonnage prefabricated case beam in bridge floor
A kind of car, and in particular to control system for being applied to two cars and the synchronous operation of four cars.
Background technology
With in recent years in world wide bridge spanning the sea construction development, some large spans, the bridge prefabrication frame of large-tonnage
Facility engineering method is arisen at the historic moment.And to realize that bridge floor transports for ultra-large type prefabricated case beam, then being faced with that construction loads is excessive can not
The problem of satisfaction requires is, it is necessary to which load can be distributed to more large area by haulage vehicle as far as possible, to ensure haulage vehicle load
It disclosure satisfy that bridge floor bearing requirements.In order to solve this problem, engineers and technicians propose to arrange beam car in twin decks, used
Four cars run simultaneously the scheme for packing whole opening box girder.The complete machine mainly used compared to current domestic bridge erection and transport is packed
Box beam, four chassis of the program need not be rigidly connected, and deadweight is small, and load can be evenly distributed on left and right width bridge floor by four chassis
On.So, how to realize the synchronous transport of four chassis just becomes the new problem that engineers and technicians are badly in need of solving.
In order to solve the problem present on, a kind of control system for being applied to two cars and the synchronous operation of four cars of design, use
To meet to realize the needs of bridge floor transports ultra-large type prefabricated case beam.
Utility model content
The purpose of this utility model is in view of the shortcomings of the prior art, there is provided one kind is applied to two cars and four cars are run simultaneously
Control system, solving the problems, such as that the construction loads that faces of bridge floor transport ultra-large type prefabricated case beam is excessive can not meet to require.
To achieve these goals, technical scheme is used by the utility model：
A kind of control system for being applied to the synchronous operation of two cars, including the PLC system of A cars and the car of B cars two, adopt between two cars
It is connected with shoulder pole girder, the PLC system of A cars and the PLC system of B cars mutually communicate connection by CAN；Also include being used to measure
The angular transducer of A cars and B car relative velocities and it is multiple be used to measure A cars and the displacement transducer of B car relative positions, it is described
Angular transducer and institute's displacement sensors communicate with the PLC system of A cars or B cars respectively to be connected, according to the angular transducer
With the information of institute displacement sensors collection, the speed of service and operation posture of PLC system control two cars of adjustment of A cars and B cars.
Based on above-mentioned, the angular transducer is arranged on the shoulder pole girder, and two displacement transducers are arranged on A cars or B
The front vehicle position and rear car opening position of car.
Based on above-mentioned, the shoulder pole girder is connected by the first mechanical device with A cars, is passed through the second mechanical device and is held in the mouth with B cars
Connect, first mechanical device can be such that shoulder pole girder is swung with respect to A cars, and second mechanical device can make shoulder pole girder with respect to B
After Chinese herbaceous peony, move left and right.
A kind of control system for being applied to the synchronous operation of four cars, the synchronous operation for A cars, B cars, C cars, D cars control, its
It is characterised by：A, in tandem, A cars and B cars and C cars and D cars are using any one of claim 1-3 for the cars of B two and the car of C, D two
The described control system for being applied to the synchronous operation of two cars, the PLC system of the car of C, D two pass through CAN with the PLC system of the car of A, B two
Bus mutually communicates connection, and the position for measuring the car of C, D two and the car relative position of A, B two is provided with the car of C, D two or the car of A, B two
Displacement sensor, the displacement transducer connect with the communication of the PLC system of C cars and D cars.
Beneficial effect：The utility model provides a kind of control system for being applied to two cars and the synchronous operation of four cars, compared to
Prior art has substantive distinguishing features and progress, specifically, the control system for being applied to two cars and the synchronous operation of four cars
Measured simultaneously by multiple angular transducers and multiple displacement transducers, the angular transducer and institute's displacement sensors difference
It is connected with the PLC system of each car, while the PLC system of each car is communicated by CAN and connected respectively again, design science,
Clear layer, control program clear logic.Using the scheme of CAN communication modes so that startup is steady, communication speed is high,
Action response is fast, and reliability greatly improves.The control system for being applied to two cars and the synchronous operation of four cars, has level clear
The safe and reliable characteristic of clear, control program clear logic, system.
Brief description of the drawings
Fig. 1 is electrical system architecture schematic diagram of the present utility model.
Fig. 2 is the mounting structure schematic diagram of the car of the utility model A, B two.
Fig. 3 is the mounting structure schematic diagram of the car of the utility model C, D two.
Embodiment
It is real to the utility model below to make the purpose, technical scheme and advantage of the utility model embodiment clearer
The technical scheme in example is applied clearly completely to be described.
As depicted in figs. 1 and 2, a kind of control system for being applied to the synchronous operation of two cars, including the PLC of A cars and the car of B cars two
System, it is connected using shoulder pole girder 5 between two cars, the PLC system of A cars and the PLC system of B cars pass through the CAN mutually company of communicating
Connect；Also include being used to measure No. 1 angular transducer 1 of A cars and B car relative velocities and for measuring A cars and B car relative positions
No. 1, No. 2 displacement transducers 7,8；The PLC system communication of No. 1 angular transducer 1 and A cars connects, described No. 1, No. 2 positions
Displacement sensor 7,8 communicates with the PLC system of B cars connect respectively, according to No. 1 angular transducer 1 and described No. 1, No. 2 displacements
The speed of service and operation posture of PLC system control two cars of adjustment of the information that sensor 7,8 gathers, A cars and B cars.
In specific application scenarios, to realize that bridge floor transports for ultra-large type prefabricated case beam, due to being faced with construction lotus
Excessive the problem of can not meeting to require is carried, it is necessary to which load can be distributed to more large area by haulage vehicle as far as possible, to ensure to transport
Defeated vehicular load disclosure satisfy that bridge floor bearing requirements, so on the basis of two car synchronizations, increase synchronous operation
Haulage vehicle, typically use four car synchronizations.
It is used for the synchronous operation control of A cars, B cars, C cars, D cars, as shown in Figures 2 and 3, wherein, the car of A, B two and C, D
In tandem, the PLC system of the car of C, D two is mutually communicated with the PLC system of the car of A, B two by CAN to be connected two cars；C cars and D
The relative velocity of car is measured by No. 2 angular transducers 3, and the relative position of C cars and D cars is surveyed by No. 3, No. 4 displacement transducers 9,10
Amount, No. 2 angular transducers 3 are connected with the PLC system of C cars, No. 3, No. 49,10 PLC systems respectively with D cars of displacement transducer lead to
News connection；C, be provided with the cars of D two for measure the car of C, D two and the car relative position of A, B two No. 5, No. 6 displacement transducers 11,
The PLC system communication of 12, No. 5 displacement transducers 11 and C cars connects, and the PLC system communication of No. 6 displacement transducers 12 and D cars connects
Connect.
Preferably, the shoulder pole girder 5 between the car of A, B two is provided with the first mechanical device, shoulder pole girder 5 and B cars with A cars joining place
Joining place is provided with the second mechanical device, and the shoulder pole girder 6 between the car of C, D two is provided with the first mechanical device, shoulder pole girder with C cars joining place
6 are provided with the second mechanical device with D cars joining place.No. 1 angular transducer 1 is arranged on shoulder pole girder 5 and A car joining places, No. 1, No. 2 positions
Displacement sensor 7,8 is separately positioned on the front vehicle position and rear car opening position of B cars；No. 2 angular transducers 3 are arranged on shoulder pole girder 6 and C
Car joining place, No. 3, No. 4 displacement transducers 9,10 distinguish the front vehicle position of D cars and rear truck position, No. 5 displacement transducers 11 are set
At the headstock of C cars, No. 6 displacement transducers 12 are arranged at the headstock of D cars.
Operation principle applied to the synchronous operation of four cars：
Using A cars as reference data, No. 1 angular transducer is used to measure speed of the B cars relative to A cars, the PLC systems with A cars
System connection；No. 2 angular transducers are used to measure speed of the D cars relative to C cars, are connected with the PLC system of C cars；To sum up, pass through
Measurement can obtain the relative velocity with row's two cars.No. 1 displacement transducer, No. 2 displacement transducers, it is separately positioned on the front truck of B cars
At position and postposition, for measuring the relative position of B cars car body and A car car bodies, it is connected with the PLC system of B cars；No. 3 positions
Displacement sensor, No. 4 displacement transducers, are separately positioned at front vehicle position and the postposition of D cars, for measuring D cars car body and C
The relative position of car car body, it is connected with the PLC system of D cars；No. 5 displacement transducers, No. 6 displacement transducers, are separately positioned on C
Car, the car of D cars two headstock at；To sum up, the phase of the relative position and front two rows car with row's two cars car body can be obtained by measurement
To position.The PLC system of A cars, the PLC system of B cars, the PLC system of the PLC system of C cars and D cars pass through CAN phase respectively
Mutually communication connection, is adjusted in real time using CAN technology, the speed of service and operation appearance of four PLC system control four cars of adjustment
State, and then realize the purpose of four cars synchronous operation.
It should be noted that the principle of above-described embodiment can also further apply the control system of more car synchronous operations.
Vehicle layout according to needed for actual conditions, set multiple angular transducers for being connected respectively with the PLC system of each car and
Multiple displacement transducers, while the same relative velocity and relative position for arranging two cars adjacent with same column in more car car groups is measured, each
The PLC system of car is communicated by CAN connect respectively, is adjusted in real time using CAN technology, the PLC systems of each car
System controls the speed of service and operation posture of each car of adjustment simultaneously, to reach the purpose for realizing more car synchronous operations.
Finally it should be noted that：Above example is only illustrating the technical solution of the utility model rather than it is limited
System；Although the utility model is described in detail with reference to the foregoing embodiments, one of ordinary skill in the art should manage
Solution：It can still be modified to the technical scheme described in foregoing embodiments, or which part technical characteristic is entered
Row equivalent substitution;And these modifications or replacement, the essence of technical scheme is departed from various embodiments of the utility model technology
The spirit and scope of scheme.
Claims (4)
1. a kind of control system for being applied to the synchronous operation of two cars, including the PLC system of A cars and the car of B cars two, use between two cars
Shoulder pole girder is connected, it is characterised in that：
The PLC system of A cars and the PLC system of B cars mutually communicate connection by CAN；
Also include be used for measure A cars and B car relative velocities angular transducer and it is multiple be used for measure A cars and B cars with respect to position
The displacement transducer put, the angular transducer and institute's displacement sensors communicate with the PLC system of A cars or B cars connect respectively,
PLC system control two cars of adjustment of the information gathered according to the angular transducer and institute's displacement sensors, A cars and B cars
The speed of service and operation posture.
2. the control system according to claim 1 for being applied to the synchronous operation of two cars, it is characterised in that：The angle sensor
Device is arranged on the shoulder pole girder, and two displacement transducers are arranged on the front vehicle position and rear car opening position of A cars or B cars.
3. the control system according to claim 2 for being applied to the synchronous operation of two cars, it is characterised in that：The shoulder pole girder leads to
Cross the first mechanical device with A cars to be connected, be connected by the second mechanical device with B cars, first mechanical device can make shoulder pole
Beam with respect to A cars swing, second mechanical device can make shoulder pole girder with respect to after B Chinese herbaceous peonies, move left and right.
4. a kind of control system for being applied to the synchronous operation of four cars, the synchronous operation for A cars, B cars, C cars, D cars controls, and it is special
Sign is：A, in tandem, A cars and B cars and C cars and D cars are using any one of claim 1-3 institute for the cars of B two and the car of C, D two
That states is applied to the control system of two cars synchronous operation, and the PLC system and the PLC system of the car of A, B two of the car of C, D two are total by CAN
Line mutually communicates connection, and the displacement for measuring the car of C, D two and the car relative position of A, B two is provided with the car of C, D two or the car of A, B two
Sensor, the displacement transducer connect with the communication of the PLC system of C cars and D cars.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720342300.7U CN206749711U (en) | 2017-04-01 | 2017-04-01 | The control system run simultaneously suitable for two cars and four cars |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720342300.7U CN206749711U (en) | 2017-04-01 | 2017-04-01 | The control system run simultaneously suitable for two cars and four cars |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206749711U true CN206749711U (en) | 2017-12-15 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720342300.7U Active CN206749711U (en) | 2017-04-01 | 2017-04-01 | The control system run simultaneously suitable for two cars and four cars |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109435843A (en) * | 2018-11-02 | 2019-03-08 | 徐州金港起重机制造有限公司 | A kind of synchronization system for transporting crane |
| CN111413988A (en) * | 2020-04-10 | 2020-07-14 | 三一机器人科技有限公司 | Multi-vehicle linkage method and multi-vehicle linkage system |
-
2017
- 2017-04-01 CN CN201720342300.7U patent/CN206749711U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109435843A (en) * | 2018-11-02 | 2019-03-08 | 徐州金港起重机制造有限公司 | A kind of synchronization system for transporting crane |
| CN111413988A (en) * | 2020-04-10 | 2020-07-14 | 三一机器人科技有限公司 | Multi-vehicle linkage method and multi-vehicle linkage system |
| CN111413988B (en) * | 2020-04-10 | 2023-08-25 | 三一机器人科技有限公司 | Multi-vehicle linkage method and multi-vehicle linkage system |
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