Adaptive curve track control system for traveling mechanism of track running equipment

Abstract

The present invention discloses an adaptive curved track control system for a walking mechanism of a track running device. A group of RFID tags are set at two points corresponding to the same radial section on the left curved track and the right curved track, and a group of RFID tags are set at a certain distance along the left curved track and the right curved track; RFID readers are symmetrically set on the left leg and the right leg, and the RFID readers read the position information of the RFID tags through wireless radio frequency identification within their effective reading and writing range; a PLC controller is connected to the RFID reader; the motors driving the left leg and the right leg are connected to the frequency converter, and the frequency converter is connected to the PLC controller through a communication line. The present invention can enable the equipment to operate safely and effectively on a curved track.

Description

Technical Field

[0001] The present invention relates to the field of building construction or logistics, and more specifically, to an adaptive curved track control system for a running mechanism of a track running device. Background Art

[0002] At present, the prefabricated box girder assembly process is widely used in highway engineering construction or bridge engineering construction. Due to site conditions, the construction site of the prefabrication plant is irregular and curved. The general rail operation equipment running mechanism and system can only be applied to straight tracks and are not compatible with curved tracks, especially tracks with constantly changing curvature radii. In actual use, if conventional rail operation equipment is used on curved tracks, it is very easy to have problems such as rail gnawing, derailment, and even overturning. At present, because the running mechanism of the rail operation equipment does not have a good control method to adapt to the curved track, it has caused great restrictions on site planning and construction plan design, resulting in increased construction costs or greater safety hazards. The adaptive curved track control system of the running mechanism of the rail operation equipment can well solve the problem of safe walking of the rail operation equipment on the curved track, so that the rail operation equipment can be used safely and effectively on the curved track. Summary of the invention

[0003] The purpose of the present invention is to provide a self-adaptive curved track control system for a running mechanism of a track running device, which can enable the device to run safely and effectively on a curved track.

[0004] In order to achieve these purposes and other advantages according to the present invention, an adaptive curved track control system for a running mechanism of a track running device is provided, wherein a group of RFID tags are arranged at two points corresponding to the same radial section on a left curved track and a right curved track, and a group of RFID tags are arranged at intervals along the left curved track and the right curved track;

[0005] The RFID reader is symmetrically arranged on the left leg and the right leg. The RFID reader reads the location information of the RFID tag through wireless radio frequency identification within its effective reading and writing range;

[0006] A PLC controller connected to an RFID reader;

[0007] The motors driving the left outrigger and the right outrigger are both connected to the frequency converter, and the frequency converter is connected to the PLC controller via a communication line.

[0008] Preferably, the bottom of the left leg and the bottom of the right leg are both provided with a wheel box, and the wheel box and the corresponding left leg / right leg are connected so as to be horizontally rotatable.

[0009] Preferably, the wheel box and the corresponding left leg / right leg are connected via a horizontal hinge.

[0010] Preferably, both the track beam of the left curved track and the track beam of the right curved track are provided with a card slot, the card slot is used to install the RFID tag, and an epoxy resin layer is filled in the card slot.

[0011] Preferably, the RFID tag is directly attached to the left-curve track and the right-curve track, or directly attached to the track beam of the left-curve track and the track beam of the right-curve track.

[0012] Preferably, the RFID reader is mounted on the left leg and the right leg via a bracket.

[0013] Preferably, the wheel box is provided with two sets of front and rear running wheels at the bottom, and the RFID reader is installed on the left leg and the right leg through a bracket, and the bracket is located on one side of the wheel box between the two sets of front and rear running wheels;

[0014] The bracket includes a bottom plate and a vertical plate, the vertical plate is fixed to one side of the wheel box, the bottom plate is vertically arranged at the bottom of the vertical plate, the RFID reader is fixed to the bottom surface of the bottom plate, and the outer circumference of the bottom plate is larger than the RFID reader to shield it.

[0015] Preferably, it further comprises a connecting frame horizontally arranged on one side of the wheel box, the vertical plate is fixed to the wheel box through the connecting frame, and obstacle clearing components are arranged on both sides of the bracket, and the obstacle clearing components include:

[0016] An electric push rod and a push plate, wherein the electric push rod is fixed by a connecting rod, the electric push rod is connected to the PLC controller, the connecting rod is an L-shaped structure, one end of which is fixed to a connecting frame, and the other end of the connecting rod extends to the bottom surface of the wheel box, the electric push rod is fixed to the other end of the connecting rod, and the electric push rod is arranged to be telescopic outwardly parallel to the width direction of the track beam, and the telescopic end of the electric push rod is connected to the push plate;

[0017] A rotating plate, which is hinged to the width edge of the bottom plate, and both sides of the rotating plate extend out of the width edge of the bottom plate; the hinged end of the rotating plate is connected to the first panel;

[0018] A baffle plate is vertically fixed to the bottom surface of the bottom plate, and the baffle plate is configured to limit the rotating plate when the rotating plate rotates at an angle α;

[0019] A first proximity switch and a second proximity switch; the first proximity switch and the second proximity switch are both connected to the PLC controller, the first proximity switch is arranged on the baffle, the second panel is connected to the width edge of the bottom plate, and the second proximity switch is arranged on the second panel; when the rotating plate rotates to a set position in the direction of the baffle, the first proximity switch senses the rotating plate and sends a signal to the PLC controller, and the PLC controller controls the electric push rod to push the push plate, and when the rotating plate returns to its position, the first panel and the second panel are close to the set position, the second proximity switch senses the first panel and sends a signal to the PLC controller, and the PLC controller controls the electric push rod to retract.

[0020] Preferably, it also includes a human-machine interface display module, which is connected to the PLC controller.

[0021] The present invention has at least the following beneficial effects:

[0022] On the basis of the walking equipment, the frequency conversion drive and the automatic adaptation function of the curved track are added, which can make the equipment run safely and effectively on the curved track. It is particularly suitable for hoisting operations in the prefabrication plant of the curved track, which increases the application scope of the track running equipment, reduces the idleness of the equipment and the waste of resources, and can effectively save costs. The addition of the obstacle removal component can remove the gravel in time and extend the service life of the RFID reader.

[0023] Other advantages, objectives and features of the present invention will be embodied in part through the following description, and in part will be understood by those skilled in the art through study and practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is the structural topology diagram of the adaptive curved track control system of the running mechanism of the track running equipment;

[0025] Figure 2 It is a schematic diagram of a structure in which a left leg and a right leg are arranged on a left curved track and a right curved track;

[0026] Figure 3 It is a structural schematic diagram of a wheel box and a horizontal swivel joint;

[0027] Figure 4 It is a schematic diagram of the arrangement of RFID tags on the left curved track and the right curved track;

[0028] Figure 5 It is a schematic diagram of the structure of the obstacle removal component.

[0029] Explanation of the reference numerals: 1 wheel box, 2 horizontal hinge, 3 bracket, 4 RFID tag, 5 RFID reader, 6 left curved track, 7 track beam, 8 wheel, 9 right curved track, 10 connecting frame, 11 connecting rod, 12 electric push rod, 13 rotating plate, 14 baffle, 15 first proximity switch, 16 second proximity switch, 17 first panel, 18 second panel, 19 walking wheel, 20 vertical plate. DETAILED DESCRIPTION

[0030] The present invention is further described in detail below in conjunction with embodiments so that those skilled in the art can implement the invention with reference to the description.

[0031] In the description of the present invention, the terms "lateral", "longitudinal", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" etc. to indicate directions or positional relationships are based on the directions or positional relationships shown in the accompanying drawings and are only for the convenience of describing the present invention and simplifying the description. They do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as a limitation on the present invention.

[0032] The Jiumian Expressway Project uses a prefabricated box beam installation process. Due to site conditions, the prefabricated box beam hoisting requires a gantry crane with a curved track for hoisting operations. If a general gantry crane is used, the use of the site will be reduced, and the number of beams cannot meet the requirements, which will reduce construction efficiency and increase construction costs. Therefore, the track running equipment walking mechanism adaptive curved track control system of this application is applied to the Jiumian Expressway Project prefabrication plant.

[0033] like Figures 1 to 4 As shown, in the adaptive curved track control system of the track running equipment walking mechanism, a group of RFID tags 4 are set at two points corresponding to the same radial section on the left curved track 6 and the right curved track 9, and a group of RFID tags 4 are set at a certain distance along the left curved track 6 and the right curved track 9 (such as Figure 4 As shown, there are a1 tag, b1 tag...i1 tag on the left curved track 6, and a2 tag, b2 tag...i2 tag on the right curved track 9. The denser the RFID tags 4 are arranged on the left curved track 6 and the right curved track 9, the better the synchronization of the two legs will be, which will enable the gantry crane wheel 8 to always travel along the tangent direction of the track without any phenomenon such as oblique track gnawing, derailment, or overturning.

[0034] The RFID reader-writer 5 is symmetrically arranged on the left leg and the right leg. The RFID reader-writer 5 reads the position information of the RFID tag 4 through wireless radio frequency identification within its effective reading and writing range;

[0035] The PLC controller is connected to the RFID reader / writer 5 to obtain the position information of the left leg and the right leg, determine the order in which the left and right legs arrive at the group of RFID tags 4, and calculate the asynchronous deviation distance.

[0036] The motors driving the left and right legs are connected to the frequency converter, and the frequency converter is connected to the PLC controller via a communication line with an Ethernet network interface. The frequency converter frequencies of the left and right legs are controlled by the PLC, and the motor speeds of the left and right legs are adjusted, thereby eliminating the asynchronous deviation distance and achieving reliable operation on the curved track. In this embodiment, when the gantry crane moves to the next group of RFID tags 4, the synchronization comparison of the left and right legs is performed again to eliminate the asynchronous deviation of the left and right legs. This dynamic cycle ensures that the left and right legs remain within a certain synchronization deviation range.

[0037] Furthermore, the wheel box 1 and the corresponding left leg / right leg are connected by a horizontal hinge 2, which is equivalent to a plane bearing. Due to the existence of the horizontal hinge, when the wheel 8 travels on a curved track, the wheel box 1 can rotate horizontally along the track curve, automatically adapt to the curvature change of the track, and further avoid the rail gnawing phenomenon.

[0038] Furthermore, both the track beam 7 of the left curved track 6 and the track beam 7 of the right curved track 9 are provided with a card slot, the card slot being used to install the RFID tag 4, and an epoxy resin layer is filled in the card slot.

[0039] In other embodiments, the RFID tag 4 may also be directly attached to the left curved track 6 and the right curved track 9 , or directly attached to the track beam 7 of the left curved track 6 and the track beam 7 of the right curved track 9 .

[0040] Furthermore, the RFID reader 5 is installed on the left leg and the right leg through the bracket 3, and the bracket 3 is preferably adjustable to facilitate adjusting the distance between the RFID reader 5 and the RFID tag 4 according to the on-site conditions.

[0041] Furthermore, the bottom of the wheel box is provided with two sets of front and rear running wheels 19, and the RFID reader is installed on the left leg and the right leg through a bracket, and the bracket is located on one side of the wheel box between the two sets of front and rear running wheels 19;

[0042] The bracket includes a bottom plate and a vertical plate, the vertical plate is fixed to one side of the wheel box, the bottom plate is vertically arranged at the bottom of the vertical plate, the RFID reader is fixed to the bottom surface of the bottom plate, and the outer circumference of the bottom plate is larger than the RFID reader to shield it.

[0043] Furthermore, if Figure 5As shown, it also includes a connecting frame 10 horizontally arranged on one side of the wheel box, the vertical plate 20 is fixed to the wheel box through the connecting frame 10, and obstacle clearing components are arranged on both sides of the bracket, and the obstacle clearing components include:

[0044] An electric push rod 12 and a push plate, wherein the electric push rod 12 is fixed by a connecting rod 11, and the electric push rod 12 is connected to the PLC controller. The connecting rod 11 is an L-shaped structure, one end of which is fixed to the connecting frame 10, and the other end of the connecting rod 11 extends to the bottom surface of the wheel box. The electric push rod 12 is fixed to the other end of the connecting rod 11, and the electric push rod 12 is configured to be telescopic outwardly parallel to the width direction of the track beam, and the telescopic end of the electric push rod 12 is connected to the push plate;

[0045] The rotating plate 13 is hinged to the width side of the bottom plate (the width side of the bottom plate is substantially in the same direction as the width side of the track beam), and both sides of the rotating plate 13 extend out of the width side of the bottom plate; the hinged end of the rotating plate 13 is connected to the first panel 17;

[0046] A baffle 14, which is vertically fixed to the bottom surface of the bottom plate, and the baffle 14 is configured to limit the rotating plate 13 when the rotating plate 13 rotates at an angle α;

[0047] A first proximity switch 15 and a second proximity switch 16; the first proximity switch 15 and the second proximity switch 16 are both connected to the PLC controller, the first proximity switch 15 is arranged on the baffle 14, the second panel 18 is connected to the width edge of the bottom plate, and the second proximity switch 16 is arranged on the second panel 18; when the rotating plate 13 rotates to the set position in the direction of the baffle 14, the first proximity switch 15 senses the rotating plate 13 and sends a signal to the PLC controller, and the PLC controller controls the electric push rod 12 to push the push plate, and when the rotating plate 13 returns to its original position due to gravity, the first panel 17 and the second panel 18 are close to the set position, and the second proximity switch 16 senses the first panel 17 and sends a signal to the PLC controller, and the PLC controller controls the electric push rod 12 to retract.

[0048] In the above technical scheme, when the wheel box is moving on the track, some concrete fragments or stones may fall onto the track during on-site construction, affecting the movement of the RFID reader. The height of the RFID reader on the wheel box cannot be set too high, otherwise it cannot effectively identify the RFID tag, causing the RFID reader to frequently collide with the fragments, affecting the service life of the RFID reader. For this purpose, an obstacle removal component is designed. Preferably, when the rotating plate 13 is vertically set, the bottom height is consistent with the bottom height of the RFID reader. When the height of the fragments dropped on the track is lower than the RFID reader, it will not affect the normal movement of the RFID reader following the wheel box. When the height is higher than the bottom surface of the RFID reader, the debris first contacts the rotating plate 13, and the wheel box continues to move forward. The debris causes the rotating plate 13 to rotate. After the rotating plate 13 and the baffle 14 reach the set position, the first proximity switch 15 senses the rotating plate 13 and sends a signal to the PLC controller. The PLC controller controls the electric push rod 12 to push the push plate, and the debris is removed from the track by the push plate. After the debris is removed, the rotating plate 13 returns to its original position due to gravity. After the first panel 17 and the second panel 18 approach the set position, the second proximity switch 16 senses the first panel 17 and sends a signal to the PLC controller, and the PLC controller controls the electric push rod 12 to retract. The wheel box can run bidirectionally on the track, so obstacle removal components are set on both sides of the RFID reader.

[0049] Furthermore, it also includes a human-machine interface display module, which is connected to the PLC controller.

[0050] The adaptive curved track control system of the track running equipment's walking mechanism solved the problem of gantry cranes running on curved tracks, increased the usable area of ​​the site, and increased the number of prefabricated beams, bringing tangible benefits to the project's construction and production.

[0051] It should be noted that in the actual implementation process, the system of the present application is not limited to the gantry crane in this embodiment, but is also applicable to other rail running equipment; the communication between systems is not limited to RS-485 and Ethernet in this embodiment.

[0052] Although the embodiments of the present invention have been disclosed as above, they are not limited to the applications listed in the specification and the implementation modes. They can be fully applied to various fields suitable for the present invention. For those familiar with the art, additional modifications can be easily implemented. Therefore, without departing from the general concept defined by the claims and the scope of equivalents, the present invention is not limited to the specific details and the embodiments shown and described herein.

Claims

1. An adaptive curved track control system for a track running equipment travel mechanism, characterized in that: A group of RFID tags is set at two points corresponding to the same radial section on the left-curved track and the right-curved track, and a group of RFID tags is set at a certain interval along the direction of the left-curved track and the right-curved track; The RFID reader is symmetrically arranged on the left leg and the right leg. The RFID reader reads the location information of the RFID tag through wireless radio frequency identification within its effective reading and writing range; A PLC controller connected to an RFID reader; The motors driving the left and right legs are connected to the frequency converter, and the frequency converter is connected to the PLC controller via a communication line; The bottom of the left leg and the right leg are both provided with a wheel box, and the wheel box and the corresponding left leg / right leg are connected to be horizontally rotatable; A card slot is provided on the track beam of the left curved track and the track beam of the right curved track. The card slot is used to install the RFID tag, and an epoxy resin layer is filled in the card slot; The wheel box is provided with two sets of front and rear running wheels at the bottom, and the RFID reader is installed on the left leg and the right leg through a bracket, and the bracket is located on one side of the wheel box between the two sets of front and rear running wheels; The bracket includes a bottom plate and a vertical plate, the vertical plate is fixed to one side of the wheel box, the bottom plate is vertically arranged at the bottom of the vertical plate, the RFID reader is fixed to the bottom surface of the bottom plate, and the outer circumference of the bottom plate is larger than the RFID reader to cover it; It also includes a connecting frame horizontally arranged on one side of the wheel box, the vertical plate is fixed to the wheel box through the connecting frame, and obstacle clearing components are arranged on both sides of the bracket, and the obstacle clearing components include: An electric push rod and a push plate, wherein the electric push rod is fixed by a connecting rod, the electric push rod is connected to the PLC controller, the connecting rod is an L-shaped structure, one end of which is fixed to a connecting frame, and the other end of the connecting rod extends to the bottom surface of the wheel box, the electric push rod is fixed to the other end of the connecting rod, and the electric push rod is arranged to be telescopic outwardly parallel to the width direction of the track beam, and the telescopic end of the electric push rod is connected to the push plate; A rotating plate, which is hinged to the width edge of the bottom plate, and both sides of the rotating plate extend beyond the width edge of the bottom plate; the hinged end of the rotating plate is connected to the first panel; A baffle plate is vertically fixed to the bottom surface of the bottom plate, and the baffle plate is configured to limit the rotating plate when the rotating plate rotates at an angle α; A first proximity switch and a second proximity switch; the first proximity switch and the second proximity switch are both connected to the PLC controller, the first proximity switch is arranged on the baffle, the second panel is connected to the width edge of the bottom plate, and the second proximity switch is arranged on the second panel; when the rotating plate rotates to a set position in the direction of the baffle, the first proximity switch senses the rotating plate and sends a signal to the PLC controller, and the PLC controller controls the electric push rod to push the push plate, and when the rotating plate returns to its position, the first panel and the second panel are close to the set position, the second proximity switch senses the first panel and sends a signal to the PLC controller, and the PLC controller controls the electric push rod to retract.

2. The adaptive curved track control system for the running mechanism of the track running equipment according to claim 1, characterized in that: The wheel box and the corresponding left leg / right leg are connected through a horizontal swivel joint.

3. The adaptive curved track control system for the running mechanism of the track running equipment according to claim 1, characterized in that: The RFID tag is directly attached to the left-curve track and the right-curve track, or directly attached to the track beam of the left-curve track and the track beam of the right-curve track.

4. The adaptive curved track control system for the running mechanism of the track running equipment according to claim 1, characterized in that: The RFID reader is installed on the left leg and the right leg through a bracket.

5. The adaptive curved track control system for the running mechanism of the track running equipment according to claim 1, characterized in that: It also includes a human-machine interface display module, which is connected to the PLC controller.

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