Bridge crane supporting leg dynamic adjustment intelligent control method, system, equipment and medium

Abstract

The invention discloses an intelligent control method, system, equipment and medium for dynamic adjustment of supporting legs of a bridging crane, and relates to the technical field of automation in the field of engineering mechanical equipment. The method comprises the steps that the sum of bearing reaction borne by the supporting legs of the to-be-controlled bridging crane under the heavy load working condition is calculated on the basis of the amplitude and the hoisting weight of a crown block cross beam; according to the sum of the bearing reaction force, obtaining the real-time bearing reaction force and the real-time constant reaction force pressure of the truss supporting leg in the to-be-controlled bridging crane; and acquiring the oil cylinder pressure of a truss supporting leg in the to-be-controlled bridging crane and comparing the real-time constant counterforce pressure so as to control the power on and power off of a corresponding electromagnetic valve in the constant counterforce oil pressure system. The overturning condition of the bridging crane due to uneven load in the operation process can be effectively prevented, the supporting leg adjusting time is shortened through the intelligent control and constant counter-force technology, and the operation efficiency of the bridging crane is improved.

Description

Technical Field

[0001] The present application relates to the field of automation technology in the field of engineering machinery and equipment, and specifically to an intelligent control method, system, equipment and medium for dynamic adjustment of outriggers of a bridge crane. Background Art

[0002] With the development of infrastructure construction, especially the increase in large bridges, highways, railways and other projects, the demand for large-scale construction machinery and equipment is growing. Among them, the 1800t bridge crane, as a heavy equipment specially used for bridge construction, plays a vital role. With the change of the weight of the hoisted beam, the outriggers need to have different load-bearing capacities to ensure the stability of the crane during operation. In order to improve the automation level of the 1800t bridge crane, it is necessary to integrate an intelligent control system to realize real-time monitoring and automatic adjustment of the outrigger status.

[0003] At present, when controlling the outrigger status of an 1800t bridge crane, the tonnage of the maximum lifting weight of the equipment is generally converted into a constant reaction force setting value for the middle girders, and the setting value does not change with the weight of the hoisting beam and the longitudinal amplitude of the overhead crane. The existing outrigger status control method has the following problems: (1) It is impossible to ensure the real-time and synchronization of the uniform force on the three supporting points of the left, middle and right girders, which causes local deformation of the bottom steel beam; (2) When operating, an 1800t bridge crane has three working modes: light load, heavy load, and light and heavy load. Therefore, different constant reaction force pressure values ​​need to be converted, and the bridge crane needs to be manually switched accordingly. If the switch is not correct, such as switching to heavy load constant reaction force pressure maintenance when light load or switching to light load constant reaction force pressure maintenance when heavy load, it is easy to cause equipment damage or even overturning risk. Summary of the invention

[0004] The present application provides an intelligent control method, system, equipment and medium for dynamic adjustment of the legs of a bridge crane, which can effectively prevent the bridge crane from overturning due to uneven load during operation, and through intelligent control and constant reaction force technology, reduce the leg adjustment time and improve the operating efficiency of the bridge crane.

[0005] In a first aspect, an embodiment of the present application provides an intelligent control method for dynamic adjustment of a bridge crane leg, which is applied to a bridge crane with a constant reaction force hydraulic system for a center truss leg. The intelligent control method for dynamic adjustment of a bridge crane leg includes:

[0006] Based on the crossbeam amplitude of the overhead crane and the hoisting weight, the total support reaction force on the legs of the bridge crane to be controlled under heavy load conditions is calculated;

[0007] According to the sum of the support reaction forces, the real-time support reaction force and the real-time constant reaction force pressure of the middle truss support leg of the bridge crane to be controlled are obtained;

[0008] The oil cylinder pressure of the truss legs in the bridge crane to be controlled is obtained and compared with the real-time constant reaction force pressure to control the gain and loss of power of the corresponding solenoid valve in the constant reaction force oil pressure system.

[0009] In combination with the first aspect, in one implementation, the calculation of the sum of the support reaction forces on the legs of the bridge crane to be controlled is specifically:

[0010] Y(t)=Q*(a+b) / a+M(t)

[0011] Among them, Y(t) represents the sum of the reaction forces on the side truss legs and the middle truss legs of the bridge crane to be controlled, Q represents the hoisting weight of the bridge crane to be controlled, M(t) represents the deadweight of the bridge crane to be controlled, a represents the total longitudinal length of the lower chassis of the bridge crane to be controlled, and b represents the amplitude of the overhead crane crossbeam of the bridge crane to be controlled.

[0012] In combination with the first aspect, in one embodiment, obtaining the real-time support reaction force and the real-time constant reaction force pressure of the truss support leg of the bridge crane to be controlled according to the sum of the support reaction forces specifically includes:

[0013] Based on the sum of the reaction forces on the legs of the bridge crane to be controlled under the heavy load condition, the real-time reaction forces of the legs of the middle truss of the bridge crane to be controlled are calculated, specifically:

[0014] ZZT(t)=Y(t) / 3

[0015] Among them, ZZT(t) represents the real-time reaction force of the middle truss leg of the bridge crane to be controlled, and Y(t) represents the sum of the reaction forces on the two side truss legs and the middle truss leg of the bridge crane to be controlled;

[0016] According to the calculated real-time support reaction force of the truss legs of the bridge crane to be controlled, and combined with the relationship between pressure and pressure, the real-time constant reaction force pressure of the truss legs of the bridge crane to be controlled is calculated, specifically:

[0017] HFL=ZZT(t) / S

[0018] Among them, HFL represents the real-time constant reaction pressure of the truss leg of the bridge crane to be controlled, and S represents the force-bearing area of ​​the truss leg of the bridge crane to be controlled.

[0019] In combination with the first aspect, in one embodiment, the obtaining of the oil cylinder pressure of the truss legs in the bridge crane to be controlled and comparing the real-time constant reaction force pressure to control the gain and loss of power of the corresponding solenoid valve in the constant reaction force oil pressure system specifically includes:

[0020] When the bridge crane to be controlled is in the beam hanging working condition, the oil cylinder pressure of the middle truss leg of the bridge crane to be controlled is obtained and compared with the real-time constant reaction force pressure of the middle truss leg of the bridge crane to be controlled. Based on the comparison results:

[0021] If it is less than, the solenoid valve in the constant reaction force oil pressure system used to charge the accumulator is energized;

[0022] If they are equal, the solenoid valve in the constant reaction force oil pressure system used to maintain the pressure of the accumulator is controlled to be energized, and the solenoid valve used to charge the accumulator is controlled to be de-energized;

[0023] If it is greater than, the solenoid valve in the constant reaction force oil pressure system used to realize the passage of the proportional relief valve is energized, and at the same time, the solenoid valve used to maintain the pressure of the accumulator is de-energized.

[0024] In combination with the first aspect, in one implementation, the method further includes:

[0025] For the obtained cylinder pressure of the middle truss leg of the bridge crane to be controlled, if the cylinder pressure of the middle truss leg of the bridge crane to be controlled is greater than the set upper limit pressure, or less than the set lower limit pressure, the displacement risk monitoring of the middle truss leg of the bridge crane to be controlled is carried out.

[0026] In a second aspect, an embodiment of the present application provides an intelligent control system for dynamic adjustment of a bridge crane leg, which is used to implement the intelligent control method for dynamic adjustment of a bridge crane leg described above. The intelligent control system for dynamic adjustment of a bridge crane leg includes:

[0027] A sensor assembly configured to detect the amplitude of the overhead travelling crane beam and the hoisting weight of the overhead travelling crane to be controlled;

[0028] The control component is configured to calculate the sum of the support reaction forces on the legs of the bridge crane to be controlled under heavy load conditions based on the detection data of the sensor component, and calculate the real-time support reaction force and real-time constant reaction force pressure of the middle truss legs of the bridge crane to be controlled;

[0029] Among them, the control component is also used to obtain the cylinder pressure of the truss leg of the bridge crane to be controlled and compare it with the real-time constant reaction force pressure to control the gain and loss of power of the corresponding solenoid valve in the constant reaction force oil pressure system.

[0030] In conjunction with the second aspect, in one implementation,

[0031] The sensing assembly includes a crown block displacement sensor and a weight sensor;

[0032] The overhead travelling crane displacement sensor is used to be arranged at the overhead travelling crane beam of the bridge crane to be controlled, so as to detect the amplitude of the overhead travelling crane beam of the bridge crane to be controlled;

[0033] The weight sensor is used to be arranged at the front end of the bridge crane to be controlled to detect the lifting weight of the bridge crane to be controlled.

[0034] In combination with the second aspect, in one implementation, the control component is a PLC controller.

[0035] In the third aspect, an embodiment of the present application provides an intelligent control device for dynamic adjustment of bridge crane legs, characterized in that the intelligent control device for dynamic adjustment of bridge crane legs comprises a processor, a memory, and an intelligent control program for dynamic adjustment of bridge crane legs stored in the memory and executable by the processor, wherein when the intelligent control program for dynamic adjustment of bridge crane legs is executed by the processor, the steps of the above-mentioned intelligent control method for dynamic adjustment of bridge crane legs are implemented.

[0036] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, on which is stored an intelligent control program for dynamic adjustment of bridge crane legs. When the intelligent control program for dynamic adjustment of bridge crane legs is executed by a processor, the steps of the above-mentioned intelligent control method for dynamic adjustment of bridge crane legs are implemented.

[0037] The beneficial effects brought by the technical solution provided in the embodiments of the present application include:

[0038] (1) It can effectively ensure the stability and safety of the bridge crane during the bridge erection operation. When the bridge crane is performing the beam lifting operation, the outriggers can automatically adjust the supporting force according to the load changes through the constant reaction force design, effectively preventing the bridge crane from overturning due to uneven load during the operation. Through intelligent control and constant reaction force technology, it can quickly respond to the changes of beams of different tonnages, reduce the outrigger adjustment time, and improve the operation efficiency of the bridge crane;

[0039] (2) Through real-time monitoring of the cylinder pressure and displacement detection of the outriggers, intelligent fault diagnosis and self-protection can be achieved. When an abnormal situation is detected, protective measures can be automatically taken to prevent equipment damage and improve equipment reliability. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 A schematic diagram of the process of the intelligent control method for dynamic adjustment of the outriggers of the bridge crane of this application;

[0041] Figure 2 The schematic diagram of the structure of the bridge crane to be controlled is shown in FIG.

[0042] Figure 3 This is a functional module diagram of the intelligent control system for dynamic adjustment of the outriggers of the bridge crane in this application;

[0043] Figure 4 This is a schematic diagram of the installation position of the sensor component on the bridge crane;

[0044] Figure 5 This is a schematic diagram of the hardware structure of the intelligent control device for dynamic adjustment of the bridge crane legs in this application. DETAILED DESCRIPTION

[0045] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0046] In order to make the objectives, technical solutions and advantages of the present application clearer, the implementation methods of the present application will be further described in detail below with reference to the accompanying drawings.

[0047] On the first aspect, an embodiment of the present application provides an intelligent control method for dynamic adjustment of a bridge crane's legs, which is applied to a bridge crane with a constant reaction force oil pressure system loaded on the center truss legs, that is, to realize dynamic intelligent control of ultra-high pressure constant reaction force legs. Specifically, the bridge crane described in the present application is an 1800t bridge crane. The present application can effectively improve the stability and safety of the 1800t bridge crane during bridge erection operations, ensure efficient construction in complex working environments, and enable the bridge crane to automatically adjust the supporting force according to load changes when performing beam lifting operations through the constant reaction force design, thereby effectively preventing the bridge crane from overturning due to uneven load during operation. Through intelligent control and constant reaction force technology, it can quickly respond to changes in lifting beams of different tonnages, reduce leg adjustment time, and improve the operating efficiency of the bridge crane.

[0048] In one embodiment, referring to Figure 1 , Figure 1 This is a flow chart of the intelligent control method for dynamic adjustment of the outriggers of the bridge crane in this application. Figure 1 As shown, the intelligent control method for dynamic adjustment of the legs of a bridge crane includes:

[0049] S1: Based on the crossbeam amplitude of the overhead crane and the hoisting weight, the total support reaction force on the legs of the bridge crane to be controlled under heavy load conditions is calculated;

[0050] Specifically, the amplitude of the crane beam can be detected by the crane displacement sensor installed at the crane beam of the crane to be controlled; the lifting weight, that is, the weight of the lifting object of the crane to be controlled during the current operation, can be detected by the weight sensor installed at the front end of the crane to be controlled. In actual applications, the lifting object is generally a beam.

[0051] By detecting the crossbeam amplitude and hoisting weight of the overhead crane to be controlled when it is working under heavy load conditions, and combining the geometric structure of the overhead crane to be controlled, the total support reaction force on the two side truss legs and one middle truss leg of the overhead crane to be controlled can be calculated.

[0052] S2: according to the sum of the support reaction forces, obtaining the real-time support reaction force and the real-time constant reaction force pressure of the middle truss support leg of the bridge crane to be controlled;

[0053] That is, based on the sum of the support reaction forces on the two side truss legs and the middle truss leg obtained from the above calculation, the real-time support reaction force of the middle truss leg of the bridge crane to be controlled can be further calculated, and then the real-time constant reaction force pressure of the middle truss leg of the bridge crane to be controlled can be calculated.

[0054] S3: Obtain the oil cylinder pressure of the truss legs in the bridge crane to be controlled and compare it with the real-time constant reaction force pressure to control the gain and loss of power of the corresponding solenoid valve in the constant reaction force oil pressure system.

[0055] Specifically, the oil cylinder pressure of the truss leg of the bridge crane to be controlled can be detected by the oil cylinder pressure sensor in the constant reaction force oil pressure system installed on the truss leg of the bridge crane to be controlled. The obtained oil cylinder pressure of the truss leg of the bridge crane to be controlled is compared with the real-time constant reaction force pressure of the truss leg of the bridge crane to be controlled obtained by the above calculation, and according to the comparison structure, the corresponding electromagnetic valve in the constant reaction force oil pressure system is energized or de-energized.

[0056] Furthermore, in one embodiment, the calculation of the sum of the support reaction forces on the legs of the bridge crane to be controlled is as follows:

[0057] Y(t)=Q*(a+b) / a+M(t)

[0058] Among them, Y(t) represents the sum of the reaction forces on the side truss legs and the middle truss legs of the bridge crane to be controlled, Q represents the hoisting weight of the bridge crane to be controlled, M(t) represents the deadweight of the bridge crane to be controlled, a represents the total longitudinal length of the lower chassis of the bridge crane to be controlled, and b represents the amplitude of the overhead crane crossbeam of the bridge crane to be controlled.

[0059] See also Figure 2 The figure shows the structure diagram of the bridge crane to be controlled under heavy load conditions, where: Figure 2 The line segment A in the figure represents the total longitudinal length of the lower chassis of the bridge crane to be controlled, the line segment B represents the width of the overhead crane beam of the bridge crane to be controlled, and the label C represents the lifting object.

[0060] Further, in one embodiment, according to the sum of the support reaction forces, the real-time support reaction force and the real-time constant reaction force pressure of the truss support legs of the bridge crane to be controlled are obtained, specifically including:

[0061] S201: Based on the obtained sum of the support reaction forces on the support legs of the bridge crane to be controlled under the heavy load condition, the real-time support reaction force of the middle truss support legs of the bridge crane to be controlled is calculated, specifically:

[0062] ZZT(t)=Y(t) / 3

[0063] Among them, ZZT(t) represents the real-time reaction force of the middle truss leg of the bridge crane to be controlled, and Y(t) represents the sum of the reaction forces on the two side truss legs and the middle truss leg of the bridge crane to be controlled;

[0064] S202: Based on the calculated real-time support reaction force of the truss support leg of the bridge crane to be controlled, and in combination with the relationship between pressure and pressure, the real-time constant reaction force pressure of the truss support leg of the bridge crane to be controlled is calculated, specifically:

[0065] HFL=ZZT(t) / S

[0066] Among them, HFL represents the real-time constant reaction pressure of the truss leg of the bridge crane to be controlled, and S represents the force-bearing area of ​​the truss leg of the bridge crane to be controlled.

[0067] Specifically, according to the sum of the support reaction forces on the legs of the bridge crane to be controlled, the real-time support reaction force of the middle truss legs of the bridge crane to be controlled can be calculated, and then combined with the relationship between pressure, pressure intensity and force area, the real-time constant reaction pressure of the middle truss legs of the bridge crane to be controlled can be obtained, that is, the real-time constant reaction pressure, and the unit of the real-time constant reaction pressure is MPa.

[0068] Further, in one embodiment, the oil cylinder pressure of the truss legs in the bridge crane to be controlled is obtained and compared with the real-time constant reaction force pressure to control the gain and loss of power of the corresponding solenoid valve in the constant reaction force oil pressure system, specifically including:

[0069] When the bridge crane to be controlled is in the beam hanging working condition, the oil cylinder pressure of the middle truss leg of the bridge crane to be controlled is obtained and compared with the real-time constant reaction force pressure of the middle truss leg of the bridge crane to be controlled. Based on the comparison results:

[0070] If it is less than, the solenoid valve in the constant reaction force oil pressure system used to charge the accumulator is energized;

[0071] If they are equal, the solenoid valve in the constant reaction force oil pressure system used to maintain the pressure of the accumulator is controlled to be energized, and the solenoid valve used to charge the accumulator is controlled to be de-energized;

[0072] If it is greater than, the solenoid valve in the constant reaction force oil pressure system used to realize the passage of the proportional relief valve is energized, and at the same time, the solenoid valve used to maintain the pressure of the accumulator is de-energized.

[0073] Specifically, by detecting the operating condition switch of the bridge crane to be controlled, when it is detected that the bridge crane to be controlled is in the beam hanging condition, the constant reaction force intelligent control strategy is executed, and the real-time constant reaction force pressure of the middle girders of the bridge crane to be controlled is taken as the target value. According to the comparison result of the cylinder pressure of the middle girders of the bridge crane to be controlled and the real-time constant reaction force pressure of the middle girders of the bridge crane to be controlled, the corresponding solenoid valves in the constant reaction force oil pressure system are controlled to gain and lose power, so that the cylinder pressure of the middle girders of the bridge crane to be controlled is always equal to the real-time constant reaction force pressure.

[0074] It should be noted that the constant reaction force oil pressure system includes multiple solenoid valves, a proportional relief valve for supporting force limitation, a pressure sensor for accumulator pressure detection, a pressure sensor for cylinder rod chamber pressure detection, a displacement sensor for supporting cylinder displacement detection, and other components. The solenoid valves include YA0, interlocked YA1 and YB1, interlocked YA2, YA3, and YA4; when the solenoid valve YA0 is energized, pressure is built up; when the solenoid valve YA0 is de-energized, load is unloaded; when the solenoid valve YA1 is energized, the constant reaction force oil cylinder is extended; when the solenoid valve YB1 is energized, the constant reaction force oil cylinder is retracted; when the solenoid valve YA2 is energized, the accumulator is filled with oil; when the solenoid valve YA3 is energized, the accumulator is kept under pressure; when the solenoid valve YA4 is energized, the proportional relief valve is opened.

[0075] Through the logic control of the solenoid valve gaining and losing power, the variable constant pressure of the cylinder 200t-1800t (i.e. 5Mpa-45Mpa) can be achieved for the middle truss legs, thereby ensuring that during the construction of the 1800t bridge crane, the forces on the three legs are always in a state of dynamic balance, ensuring the safety of the bridge erection operation.

[0076] It should be noted that when the bridge crane is performing heavy-load bridge erection operations, if the pressure difference between the current oil cylinder pressure of the outrigger and the real-time constant reaction pressure is too large, the three outriggers of the bridge crane may be subjected to unbalanced loads. For example, when the oil cylinder pressure is too large, the middle fulcrum of the bridge crane may be lifted up, and when the oil cylinder pressure is too small, the middle fulcrum may sink, eventually causing the steel beam to deform, and even crush the steel beam in severe cases. For this reason, the outrigger oil cylinder pressure and the value of the displacement sensor in the constant reaction oil pressure system can be detected in real time according to the changes in the lifting weight. Specifically, for the obtained cylinder pressure of the middle girders of the bridge crane to be controlled, if the cylinder pressure of the middle girders of the bridge crane to be controlled is greater than the set upper limit pressure, or less than the set lower limit pressure, the displacement risk monitoring of the middle girders of the bridge crane to be controlled is carried out, that is, when the cylinder pressure is too large or too small, the displacement of the middle girders of the bridge crane to be controlled is monitored through the displacement sensor in the constant reaction force oil pressure system, and it is determined whether there is a displacement risk so as to perform an alarm operation, thereby ensuring that the automatic control of the ultra-high pressure constant reaction force of the bridge crane runs stably and reliably.

[0077] It should be noted that the intelligent control method for dynamic adjustment of the bridge crane legs of the present application can realize the variable constant pressure dynamic real-time regulation of the oil cylinder 200t-1800t (i.e. 5Mpa-45Mpa) required for the 1800t bridge crane middle truss legs, and the precision of the constant pressure of the oil cylinder is controlled within ±25t. When the bridge crane is in light load, light-to-heavy load conversion, heavy load and other working conditions, the corresponding sensor can automatically perform actions such as oil replenishment, overflow or pressure maintenance after intelligently identifying the change of working conditions, so as to solve the automatic pressure regulation of the constant reaction force oil pressure system of the 1800t bridge crane middle truss legs, realize the pressure of the 1800t bridge crane middle truss legs following the change of working conditions, automatically perform overflow or pressure replenishment operations, realize the precise current control of the proportional overflow valve of the 1800t bridge crane middle truss legs, and realize the pressure and displacement monitoring alarm of the oil cylinder of the 1800t bridge crane middle truss legs.

[0078] The intelligent control method for dynamic adjustment of the outrigger legs of the bridge crane in the embodiment of the present application can effectively ensure the stability and safety of the bridge crane during the bridge-erecting operation, so that when the bridge crane is performing the beam-lifting operation, the outrigger legs can automatically adjust the supporting force according to the load change through the constant reaction force design, effectively preventing the bridge crane from overturning due to uneven load during the operation. Through intelligent control and constant reaction force technology, it can quickly respond to the changes of beams of different tonnages, reduce the adjustment time of the outrigger legs, and improve the operation efficiency of the bridge crane. Furthermore, through real-time monitoring of the oil cylinder pressure and displacement detection of the outrigger legs, fault diagnosis and self-protection can be achieved, potential problems can be discovered and solved in a timely manner, and the reliability of the equipment can be improved.

[0079] In the second aspect, the embodiment of the present application also provides an intelligent control system for dynamic adjustment of the legs of a bridge crane, which is used to implement the intelligent control method for dynamic adjustment of the legs of a bridge crane described above.

[0080] In one embodiment, referring to Figure 3 , Figure 3 This is a functional module diagram of the intelligent control system for dynamic adjustment of the outriggers of the bridge crane in this application. Figure 3 As shown, the intelligent control device for dynamic adjustment of the legs of a bridge crane includes: a sensor component and a control component.

[0081] The sensing component is configured to detect the crossbeam amplitude and lifting weight of the overhead crane to be controlled; the control component is configured to calculate the total support reaction force on the legs of the overhead crane to be controlled under heavy load conditions based on the detection data of the sensing component, and calculate the real-time support reaction force and real-time constant reaction force pressure of the middle truss legs of the overhead crane to be controlled; the control component is also used to obtain the cylinder pressure of the middle truss legs of the overhead crane to be controlled and compare it with the real-time constant reaction force pressure to control the gain and loss of power of the corresponding solenoid valve in the constant reaction force oil pressure system.

[0082] Furthermore, the control component is also used to monitor the displacement risk of the middle girders of the bridge crane to be controlled according to the cylinder pressure of the middle girders of the bridge crane to be controlled, when the cylinder pressure of the middle girders of the bridge crane to be controlled is greater than the set upper limit pressure, or less than the set lower limit pressure, to realize intelligent fault diagnosis, and timely discover and report potential faults or abnormal conditions by real-time monitoring of the displacement and cylinder pressure of the legs, and when an abnormal situation is detected, protective measures can be automatically taken to prevent damage to the equipment.

[0083] In practical applications, the control component of the present application may be a PLC (Programmable Logic Controller) controller.

[0084] See also Figure 4 As shown, it is a schematic diagram of the installation position of the sensor component on the bridge crane. The sensor component specifically includes a crane displacement sensor and a weight sensor. The crane displacement sensor is used to be set at the crane beam of the bridge crane to be controlled to detect the amplitude of the crane beam of the bridge crane to be controlled. The weight sensor is used to be set at the front end of the bridge crane to be controlled to detect the lifting weight of the bridge crane to be controlled.

[0085] Specifically, in actual application, the intelligent control device for dynamic adjustment of the bridge crane legs of the present application requires the use of a PLC controller, an overhead travelling crane displacement sensor, a weight sensor, and an operating condition switch of the bridge crane to be controlled, as well as the accumulator, cylinder pressure sensor, displacement sensor, proportional relief valve and other components of the constant reaction force oil pressure system installed in the bridge crane to be controlled. The signals of the overhead travelling crane displacement sensor, the weight sensor, and the operating condition switch are input to the PLC controller, and the PLC controller outputs signals to control the corresponding solenoid valves for cylinder extension and retraction, the corresponding solenoid valves for accumulator oil charging, the corresponding solenoid valves for accumulator pressure maintenance, and the corresponding solenoid valves for the proportional relief valve. The constant reaction force oil pressure system is arranged on the lower side of the middle truss leg of the bridge crane to be controlled.

[0086] The intelligent control system for dynamic adjustment of the legs of the bridge crane in the embodiment of the present application adopts multi-sensor fusion to automatically generate the total support reaction force of the front support of the bridge crane based on the weight of the beam, the total longitudinal length of the lower chassis of the bridge crane and the amplitude of the crossbeam of the bridge crane's overhead crane, thereby calculating the target value of the constant reaction force pressure of the center truss legs, and integrating multiple sensors to provide accurate data support for intelligent control; adopting intelligent control algorithms, special control algorithms can be developed to automatically adjust the supporting force of the legs according to load changes through multi-sensor fusion to ensure constant reaction force output; realizing intelligent fault diagnosis and integrating fault detection functions, it can monitor the displacement of the legs and the cylinder pressure in real time, promptly discover and report potential faults or abnormal conditions, and when abnormal conditions are detected, it can automatically take protective measures to prevent equipment damage.

[0087] On the third aspect, an embodiment of the present application provides an intelligent control device for dynamic adjustment of the legs of a bridge crane. The intelligent control device for dynamic adjustment of the legs of a bridge crane can be a personal computer (PC), a laptop computer, a server, or other device with data processing capabilities.

[0088] Reference Figure 5 , Figure 5 The hardware structure diagram of the intelligent control device for dynamically adjusting the legs of a bridge crane involved in the embodiment of the present application is shown in FIG. In the embodiment of the present application, the intelligent control device for dynamically adjusting the legs of a bridge crane may include a processor, a memory, a communication interface, and a communication bus.

[0089] The communication bus may be of any type and is used to interconnect the processor, the memory, and the communication interface.

[0090] The communication interface includes input / output (I / O) interface, physical interface and logical interface, etc., which are used to realize the interconnection of devices inside the intelligent control device for dynamic adjustment of the outriggers of the bridge crane, and the interface used to realize the interconnection of the intelligent control device for dynamic adjustment of the outriggers of the bridge crane with other devices (such as other computing devices or user devices). The physical interface can be an Ethernet interface, a fiber optic interface, an ATM interface, etc.; the user device can be a display, a keyboard, etc.

[0091] The memory can be various types of storage media, such as random access memory (RAM), read-only memory (ROM), non-volatile RAM (NVRAM), flash memory, optical storage, hard disk, programmable ROM (PROM), erasable PROM (EPROM), electrically erasable PROM (EEPROM), etc.

[0092] The processor may be a general-purpose processor, which may call the intelligent control program for dynamic adjustment of the legs of a bridge crane stored in the memory, and execute the intelligent control method for dynamic adjustment of the legs of a bridge crane provided in the embodiment of the present application. For example, the general-purpose processor may be a central processing unit (CPU). The method executed when the intelligent control program for dynamic adjustment of the legs of a bridge crane is called may refer to the various embodiments of the intelligent control method for dynamic adjustment of the legs of a bridge crane of the present application, which will not be described in detail here.

[0093] Those skilled in the art will understand that Figure 5 The hardware structure shown in the figure does not constitute a limitation on the present application, and may include more or less components than shown in the figure, or combine certain components, or arrange the components differently.

[0094] In a fourth aspect, an embodiment of the present application also provides a computer-readable storage medium.

[0095] The computer-readable storage medium of the present application stores an intelligent control program for dynamic adjustment of bridge crane legs, wherein when the intelligent control program for dynamic adjustment of bridge crane legs is executed by a processor, the steps of the intelligent control method for dynamic adjustment of bridge crane legs as described above are implemented.

[0096] Among them, the method implemented when the intelligent control program for dynamic adjustment of the bridge crane legs is executed can refer to the various embodiments of the intelligent control method for dynamic adjustment of the bridge crane legs of the present application, and will not be repeated here.

[0097] The terms "including" and "having" and any variations thereof in the specification and claims of this application and the above-mentioned drawings are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally includes steps or units that are not listed, or optionally includes other steps or units inherent to these processes, methods, products or devices. The terms "first", "second" and "third" are used to distinguish different objects, etc., and do not represent a sequence, nor do they limit "first", "second" and "third" to different types.

[0098] In the description of the embodiments of the present application, "exemplary", "for example" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary", "for example" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary", "for example" or "for example" is intended to present related concepts in a specific way.

[0099] In the description of the embodiments of the present application, unless otherwise specified, “ / ” means or, for example, A / B can mean A or B; the “and / or” in the text is merely a description of the association relationship of associated objects, indicating that three relationships may exist, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiments of the present application, “multiple” refers to two or more than two.

[0100] In some processes described in the embodiments of the present application, multiple operations or steps that appear in a specific order are included, but it should be understood that these operations or steps may not be executed in the order in which they appear in the embodiments of the present application or in parallel, and the sequence number of the operation is only used to distinguish the different operations, and the sequence number itself does not represent any execution order. In addition, these processes may include more or fewer operations, and these operations or steps may be executed in sequence or in parallel, and these operations or steps may be combined.

[0101] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, disk, CD) as described above, and includes a number of instructions for a terminal device to execute the methods described in each embodiment of the present application.

[0102] The above are only preferred embodiments of the present application, and are not intended to limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. An intelligent control method for dynamic adjustment of the outrigger legs of a bridge crane, applied to a bridge crane with a constant reaction force hydraulic system for the outrigger legs, characterized in that: The intelligent control method for dynamic adjustment of the legs of a bridge crane comprises: Based on the crossbeam amplitude of the overhead crane and the hoisting weight, the total support reaction force on the legs of the bridge crane to be controlled under heavy load conditions is calculated; According to the sum of the support reaction forces, the real-time support reaction force and the real-time constant reaction force pressure of the middle truss support leg of the bridge crane to be controlled are obtained; The oil cylinder pressure of the truss legs in the bridge crane to be controlled is obtained and compared with the real-time constant reaction force pressure to control the gain and loss of power of the corresponding solenoid valve in the constant reaction force oil pressure system.

2. The intelligent control method for dynamic adjustment of the legs of a bridge crane according to claim 1, characterized in that: For the calculation of the total reaction force on the legs of the bridge crane to be controlled, specifically: Y(t)=Q*(a+b) / a+M(t) Among them, Y(t) represents the sum of the reaction forces on the side truss legs and the middle truss legs of the bridge crane to be controlled, Q represents the hoisting weight of the bridge crane to be controlled, M(t) represents the deadweight of the bridge crane to be controlled, a represents the total longitudinal length of the lower chassis of the bridge crane to be controlled, and b represents the amplitude of the overhead crane crossbeam of the bridge crane to be controlled.

3. The intelligent control method for dynamic adjustment of the legs of a bridge crane as claimed in claim 1, characterized in that: The real-time support reaction force and the real-time constant reaction force pressure of the truss support leg of the bridge crane to be controlled are obtained according to the sum of the support reaction forces, specifically including: Based on the sum of the reaction forces on the legs of the bridge crane to be controlled under the heavy load condition, the real-time reaction forces of the legs of the middle truss of the bridge crane to be controlled are calculated, specifically: ZZT(t)=Y(t) / 3 Among them, ZZT(t) represents the real-time reaction force of the middle truss leg of the bridge crane to be controlled, and Y(t) represents the sum of the reaction forces on the two side truss legs and the middle truss leg of the bridge crane to be controlled; According to the calculated real-time support reaction force of the truss legs of the bridge crane to be controlled, and combined with the relationship between pressure and pressure, the real-time constant reaction force pressure of the truss legs of the bridge crane to be controlled is calculated, specifically: HFL=ZZT(t) / S Among them, HFL represents the real-time constant reaction pressure of the truss leg of the bridge crane to be controlled, and S represents the force-bearing area of ​​the truss leg of the bridge crane to be controlled.

4. The intelligent control method for dynamic adjustment of the legs of a bridge crane according to claim 1, characterized in that: The obtaining of the oil cylinder pressure of the truss legs in the bridge crane to be controlled and comparing the real-time constant reaction force pressure to control the gain and loss of power of the corresponding solenoid valve in the constant reaction force oil pressure system specifically includes: When the bridge crane to be controlled is in the beam hanging working condition, the oil cylinder pressure of the middle truss leg of the bridge crane to be controlled is obtained and compared with the real-time constant reaction force pressure of the middle truss leg of the bridge crane to be controlled. Based on the comparison results: If it is less than, the solenoid valve in the constant reaction force oil pressure system used to charge the accumulator is energized; If they are equal, the solenoid valve in the constant reaction force oil pressure system used to maintain the pressure of the accumulator is controlled to be energized, and the solenoid valve used to charge the accumulator is controlled to be de-energized; If it is greater than, the solenoid valve in the constant reaction force oil pressure system used to realize the passage of the proportional relief valve is energized, and at the same time, the solenoid valve used to maintain the pressure of the accumulator is de-energized.

5. The intelligent control method for dynamic adjustment of the legs of a bridge crane as claimed in claim 1, characterized in that: Also includes: For the obtained cylinder pressure of the middle truss leg of the bridge crane to be controlled, if the cylinder pressure of the middle truss leg of the bridge crane to be controlled is greater than the set upper limit pressure, or less than the set lower limit pressure, the displacement risk monitoring of the middle truss leg of the bridge crane to be controlled is carried out.

6. An intelligent control system for dynamic adjustment of a bridge crane outrigger, used to implement the intelligent control method for dynamic adjustment of a bridge crane outrigger according to any one of claims 1 to 5, characterized in that: The intelligent control system for dynamic adjustment of the legs of the bridge crane comprises: A sensor assembly configured to detect the amplitude of the overhead travelling crane beam and the hoisting weight of the overhead travelling crane to be controlled; The control component is configured to calculate the sum of the support reaction forces on the legs of the bridge crane to be controlled under heavy load conditions based on the detection data of the sensor component, and calculate the real-time support reaction force and real-time constant reaction force pressure of the middle truss legs of the bridge crane to be controlled; Among them, the control component is also used to obtain the cylinder pressure of the truss leg of the bridge crane to be controlled and compare it with the real-time constant reaction force pressure to control the gain and loss of power of the corresponding solenoid valve in the constant reaction force oil pressure system.

7. The intelligent control system for dynamic adjustment of the legs of a bridge crane according to claim 6, characterized in that: The sensing assembly includes a crown block displacement sensor and a weight sensor; The overhead travelling crane displacement sensor is used to be arranged at the overhead travelling crane beam of the bridge crane to be controlled, so as to detect the amplitude of the overhead travelling crane beam of the bridge crane to be controlled; The weight sensor is used to be arranged at the front end of the bridge crane to be controlled to detect the lifting weight of the bridge crane to be controlled.

8. The intelligent control system for dynamic adjustment of the legs of a bridge crane according to claim 6, characterized in that: The control component is a PLC controller.

9. An intelligent control device for dynamic adjustment of the legs of a bridge crane, characterized in that: The intelligent control device for dynamic adjustment of bridge crane legs comprises a processor, a memory, and an intelligent control program for dynamic adjustment of bridge crane legs stored in the memory and executable by the processor. When the intelligent control program for dynamic adjustment of bridge crane legs is executed by the processor, the steps of the intelligent control method for dynamic adjustment of bridge crane legs as described in any one of claims 1 to 5 are implemented.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores an intelligent control program for dynamic adjustment of bridge crane legs, wherein when the intelligent control program for dynamic adjustment of bridge crane legs is executed by a processor, the steps of the intelligent control method for dynamic adjustment of bridge crane legs as described in any one of claims 1 to 5 are implemented.

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