JP2003341985A - Remote control system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a remote control system for totally controlling a plurality of actuators. <P>SOLUTION: This remote control system is for remotely controlling the actuators 2 for driving a subject body 1 to be controlled. It is provided with measuring devices 3 to measure actions of the actuators 2, terminal operation panels 8 disposed corresponding to the respective actuators 2, and having a display and switches, a control device 4 to control the actuators 2, and a main operation panel to execute operation of the control device 4. The actuators 2 are thus controlled to drive the subject body 1. <P>COPYRIGHT: (C)2004,JPO

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a remote control system for operating a plurality of actuators.

[0002]

2. Description of the Related Art Conventionally, when moving an erected bridge with a plurality of actuators such as winches and jacks, a worker who operates each actuator, a worker who measures the working distance of each actuator, and a collection of each working distance Therefore, a large number of workers such as workers who give driving instructions to the workers are required. In addition, it is difficult to grasp the operating conditions of a plurality of actuators located at different locations and control the plurality of actuators in synchronization, and there is a problem in safety.

[0003]

<A> The present invention provides a remote control system for collectively managing a plurality of actuators. <B> The present invention also provides an inexpensive remote control system by combining existing devices. <C> The present invention also provides a remote operation system in which a terminal operation panel is arranged corresponding to each actuator and the operation can be performed flexibly.

[0004]

According to the present invention, in a remote control system for remotely controlling a plurality of actuators for driving a controlled object, a measuring device for measuring the operation of each actuator and an arrangement corresponding to each actuator. And a terminal operation panel having a display device and a switch, a control device for controlling each actuator, and a main operation panel for operating the control device, and controlling a plurality of actuators to drive a controlled object. A remote control system, or the present invention, in the above remote control system,
A remote operation system characterized in that a plurality of actuators can be controlled in synchronization, or the present invention provides the remote operation system, wherein the terminal operation panel displays a control state of the control device. Operating system,
Alternatively, the present invention provides the remote operation system, wherein the terminal operation panel has a switch for notifying the control device that the actuator is ready to be driven. In the remote operation system, the actuator can be manually controlled from the main operation panel, or the present invention is the remote operation system, in which the actuator is controlled from the terminal operation panel according to an instruction from the control device. A remote control system characterized by being capable of
The present invention resides in a remote operation system, characterized in that, in the remote operation system, the measurement position of the measuring device is determined with reference to the planned installation position of the controlled object.

[0005]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below with reference to the drawings.

<a> Remote control system The remote control system uses a plurality of actuators 2 such as winches, jacks, and motors, and bridges, structures,
This is for moving and controlling the controlled body 1 such as a steel frame material. The remote control system includes, for example, as shown in FIG. 1, a drive device 21 that drives the actuator 2, a measurement device 3 that measures the state of the controlled object, a control device 4 that controls the drive device 21, and a control device 4. The main operation panel 5 for operating the, and the terminal operation panel 8 for operating the drive device 21 of each actuator 2 are provided. In addition, the actuator 2 in which the actuator 2 and the drive device 21 thereof are integrated
But it's okay.

<B> Measuring Device The measuring device 3 is for measuring the state of the controlled body 1, and can measure the controlled body 1 directly or the actuator 2 to measure the controlled body 1. The state of may be measured.
As the measuring device 3, for example, a wire-type scale encoder that measures the moving distance of the controlled object 1 can be used. The wire of the wire-type scale encoder is attached to a part of the controlled object, and the movement distance of the controlled object 1 can be measured by extending the wire. As described above, when the measuring device 3 is separate from the actuator 2, the measuring device 3 can be easily attached. Therefore, even if the position of the actuator 2 fluctuates due to ground subsidence and the measurement is difficult, the controlled object If the measuring device 3 is attached to a reference position that does not change with respect to 1,
It can be measured regardless of the fluctuation of the ground. In the measurement by the measuring device 3, for example, as shown in FIG. 7, the planned installation position of the controlled object 1 is set as the reference position 91, and the measurement reference position 92 is determined. As a result, the movement distance L of the controlled object 1 can be measured without being affected by the position variation of the fulcrum of the actuator 2 such as the subsidence of the ground 9. The reference position 91 and the measurement reference position 92 are
Even if they do not match, they need only be relatively fixed.

<C> Control Device The control device 4 controls a plurality of driving devices 21 to control a plurality of actuators 2, and a sequencer or a computer can be used. The control device 4 is operated by the main operation panel 5.

The main operation panel 5 is used to operate the control device 4. For example, as shown in FIG. 2, the main operation panel 5 has an inputtable display panel and displays switch buttons and a display section by switching a plurality of operation screens. it can. The first operation screen is shown in FIG.
As shown in (A), an operation mode switch 51 for switching between automatic and manual operations, an operation mode switch 52 for switching between remote operation and manual operation on the screen, and a switch 53 for switching to a setting screen for setting automatic operation conditions. , A display unit 54 that displays the synchronization length set on the setting screen, a display unit 55 that blinks when performing negative operation, a display unit 56 that blinks when performing synchronous control, a switch 57 for selecting an actuator number to be operated, a current value or a measured value. Is displayed in real time, a display unit 59 that displays the set length (final reaching point) set on the setting screen, a display unit that displays the status of the actuator (the display of the status corresponds to when the actuator is activated: starting). , Preparation OK signal input: Preparation OK,
While the buzzer on the terminal control panel is ringing: During ringing, when the actuator is stopped: Stopped, when the set length is reached by automatic start:
When reaching the set length, during automatic startup, and when stopped by synchronous control:
In synchronous stop, manual operation mode and hand operation mode: Hand work. ) 60, switch for selecting a specific actuator during remote operation (valid under the conditions of operation mode: manual, operation mode: screen, preparation OK signal: input) 6
1. Switch to call the terminal operation panel (released by "Preparation OK switch" or "Stop switch" on the terminal operation panel)
62, an automatic operation start switch 63, an actuator stop switch 64, and the like.

FIG. 2B is a setting screen of the synchronization system of the main operation panel 5. A field 65 for inputting the set length (final reaching position) for each actuator, a pad 66 for inputting the current value (measured value) in real time, and a pad 6 for inputting the synchronization length.
7, a switch for switching between synchronous control and not (each time the button is pressed, the presence or absence of the synchronous control is switched) 68. In the case of automatic operation, a switch for switching between running in the minus direction and not (each time the button is pressed, ON / OFF is switched) 69, the current value is reset and the current value (measured value) is set to 0.
Switch 70, a setting end switch 71 for switching to the operation screen, a switch 72 for inputting a numerical value, and the like.

<D> Terminal operation panel The terminal operation panel 8 is arranged for each actuator 2 and displays the state of the corresponding actuator 2 and performs an operation. FIG. 3 shows an example of the terminal operation panel 8.
This terminal operation panel 8 is the operation mode 51 in the main operation panel 5.
Is set manually and the operation mode 52 is set at hand, a manual OK display portion that lights in red (when turned on, the output plus switch 82 and the output minus switch 83 are enabled) 81, and the actuator is set in the plus direction. An output plus switch 82 to be activated, an output minus switch 83 to activate the actuator 2 in the minus direction, a switch for preparation OK for notifying the control device 4 that preparation is completed (when canceling a call (automatic operation OK), Push switch)
84, Ready OK switch 84 is pressed to display a blue display ready (display blinks when there is a call signal)
85, a switch 86 for stopping the automatic operation, and a call for canceling the call with the intention of preparing, a display section 87 that lights up orange when the actuator 2 is starting, a ringing sound when the actuator 2 is starting, and from the main operation panel It has an activating buzzer 88 that sounds when there is a call signal.

An example of pulling a temporary bridge of a remote control system will be described below.

<a> Setting of the temporary bridge towing system The setting of the system for towing the temporary bridge which is the controlled object 1 is as follows.
For example, as shown in FIG. 4, a winch that is a plurality of actuators 2 is used for the controlled object 1 and is pulled by a pulling wire 22. In the case of FIG. 4, the pulling wire 2 of the actuator 2
2 is fixed to both ends of the controlled body 1. The actuator 2 is identified by attaching a number. In order to measure the movement state of the controlled body 1, the measuring wire 31 of the wire scale encoder that is the measuring device 3 is attached near the fixing of the pulling wire 22 of the controlled body 1. The terminal operation panel 8 is arranged near the actuator 2 and the measuring device 3. By using the actuator 2 and the measuring device 3 used here as general-purpose products, an inexpensive system can be obtained.

The controller 4 and the actuator 2 are electrically connected to each other, and a motor on / off signal is output to the actuator 2. Further, the control device 4 and the terminal operation panel 8 are electrically connected to mutually input / output operation signals. The measurement value of the measuring device 4 is also input to the control device 4 via the terminal operation panel 8. The control device 4 and the main operation panel 5 are electrically connected, and an operation signal and a signal indicating the state of the controlled object 1 or the actuator 2 are input / output between the control device 4 and the main operation panel 5. .

<B> Traction operation of the temporary bridge The traction operation of the temporary bridge will be described with reference to FIG. First, power on the remote control system. That is, the control device 4, the actuator 2, the measuring device 3 and other power supplies necessary for operating the system are turned on. Next, the operation mode is selected between automatic and manual on the main operation panel 5 (S1). In automatic mode,
Select the number of the actuator 2 (S2), and automatically set (S3) or set length (S4) for that actuator 2.
Set. It is selected whether to reset the current value or to keep it as it is (S5). The driving direction is selected from the reference value and the minus direction or the plus direction (S6). It is selected whether to perform synchronous control for each actuator (S7). If the synchronization control is performed, the synchronization length is input (S8), and if the synchronization control is not performed, the process jumps to step S9. The switch 84 of "OK" is pressed from the terminal operation panel 8 to output a signal to the control device 4 (S9). The same settings are made for each actuator. The blue lamp lights up on the display section 85 of the preparation OK of the terminal operation panel 8.

The automatic start switch 63 of the main operation panel 5 is pushed (turned on) (S10). In the case of synchronous control, it is checked whether the operation is in the minus direction or the operation in the plus direction (S11). If the operation in the minus direction is off, the actuator is started in the plus direction (S12). If the operation in the minus direction is on, the actuator is moved in the minus direction. Is started (S1
3). Next, the measurement value of each measuring device 3 is calculated and synchronous control is performed (S14), the actuator is controlled until the set length is reached (S15), and the control is stopped.

When the synchronous control is not performed, it is checked whether the operation is in the minus direction or the plus direction (S16). If the operation in the minus direction is off, the actuator is activated in the plus direction (S17). If the operation in the minus direction is on, The actuator is started in the minus direction (S18). Next, the actuator is controlled until the set length is reached (S19), and the control is stopped.

In the case of the manual mode, the screen operation mode or the hand operation mode is selected (S20). For screen operation,
The number of the actuator 2 is selected from the main operation panel 5 (S21). When a signal indicating that the preparation is OK is output from the terminal operation panel 8 of the actuator 2 to the control device 4 (S22),
It becomes possible to operate the remote operation button 61 of the main operation panel 5 in the plus or minus direction, and the remote operation is performed (S2
3) Then, the actuator is activated (S24) to drive the temporary bridge to a predetermined position. In case of hand operation, terminal operation panel 8
The red lamp 81 is turned on and the output plus switch 82 or the output minus switch 83 of the terminal operation panel 8 is operated to activate the actuator 2 (S24) to drive the temporary bridge to a predetermined position. In the case of manual operation, the actuator 2 is activated only while pressing the switch.
Therefore, also in the case of the switch 82 and the switch 83, the actuator 2 is activated only while pressing the switch.

An example of jacking up the temporary bridge of the remote control system will be described below.

<A> System setting for jacking up a temporary bridge The setting of the system for jacking up a temporary bridge which is the controlled body 1 is, for example, as shown in FIG. Use a hydraulic jack. A plurality of hydraulic jacks, which are actuators 2, are attached to the lower part of the controlled body 1. In the case of FIG. 6, the actuators 2 are arranged at four locations below the controlled body 1. The hydraulic pump 2 is connected to each actuator 2 via a hydraulic circuit. The actuator 2 is identified by attaching a number. Controlled object 1
In order to measure the movement state of the
Install near the location. The terminal operation version is a hydraulic jack,
Install near a hydraulic pump or measuring device. An inexpensive system can be achieved by using the hydraulic jack, hydraulic pump, and measuring device as general-purpose products.

The controller 4 and the remote controller / solenoid valve 211 of each hydraulic pump 21 are electrically connected, and the remote controller / solenoid valve 211 and the hydraulic pump 21 are electrically connected so that the controller 4 switches to the hydraulic pump 21. Outputs pump on / off signal. The control device 4 and the terminal operation panel 8 are electrically connected to each other to input / output operation signals. The measurement value of the measuring device 3 is also input to the control device 4 via the terminal operation panel 8. The control device 4 and the main operation panel 5 are electrically connected, and input / output of operation signals between the control device 4 and the main operation panel 5 and signals indicating the states of the temporary bridge, the hydraulic jack, and the hydraulic pump are performed. Be seen. The operation flow for jacking up the temporary bridge is the same as the pulling operation, as shown in the flow chart of FIG.

[0022]

According to the present invention, the following effects can be obtained. <A> The present invention can provide a remote control system that collectively manages a plurality of actuators. <B> The present invention can also provide an inexpensive remote control system by combining existing devices. <C> The present invention can also provide a remote operation system in which a terminal operation panel is arranged corresponding to each actuator to enable safe and flexible operation.

[Brief description of drawings]

FIG. 1 is an explanatory diagram of a remote control system.

FIG. 2 is an explanatory view of the operation surface of the main operation panel.

FIG. 3 is an explanatory view of an operation surface of a terminal operation panel.

[Fig. 4] An explanatory view of the towing operation of the temporary bridge

[Figure 5] Flowchart of remote operation

FIG. 6 is an explanatory diagram of a jack-up operation of a controlled object.

FIG. 7 is an explanatory diagram of a measuring method in a jack-up operation of a controlled object.

[Explanation of symbols] 1 ... controlled object 2 ... Actuator 21..Driving device 3 ... Measuring device 4 ... Control device 5: Main operation panel 8 ... Terminal control panel

Claims (7)

[Claims] 1. A remote control system for remotely controlling a plurality of actuators for driving a controlled object, comprising: a measuring device for measuring the operation of each actuator; and a display device and a switch arranged corresponding to each actuator. A remote operation system comprising a terminal operation panel, a control device for controlling each actuator, and a main operation panel for operating the control device, and controlling a plurality of actuators to drive a controlled object. 2. The remote control system according to claim 1, wherein a plurality of actuators can be controlled in synchronization with each other. 3. The remote operation system according to claim 1, wherein the terminal operation panel displays the control status of the control device. 4. The remote control system according to claim 1, wherein the terminal operation panel has a switch for notifying the control device that the actuator is ready to be driven. 5. The remote operation system according to claim 1, wherein the actuator can be manually controlled from the main operation panel. 6. The remote operation system according to claim 1, wherein the actuator can be controlled from the terminal operation panel according to an instruction from the control device. 7. The remote control system according to claim 1, wherein the measurement reference position of the measuring device is determined with reference to the planned installation position of the controlled object.