A method for controlling dynamic balance of climbing frame

Abstract

The present application relates to the field of Internet of Things technology, and discloses a method for controlling the dynamic balance of a climbing frame, including: step S1: connecting a balance control system to a hydraulic press driving the climbing frame; step S2: controlling the hydraulic press to start through the balance control system; step S3: setting the distance A and direction that the climbing frame is to run through the balance control system; step S4: setting the deviation B of the allowed running result of the climbing frame; step S5: sending a running instruction to the hydraulic press through the balance control system; step S6: reading the displacement output value of each hydraulic press; step S7: controlling the start and stop of each hydraulic press based on the calculation result in step S6; step S8: judging whether the actual running distance P of the climbing frame satisfies P≥A±B, if yes, stop running, otherwise return to step S5. The present application solves the imbalance problem in the lifting process of the existing climbing frame, and improves the safety and construction efficiency of the climbing frame.

Description

Technical Field

[0001] The present application relates to the technical field of Internet of Things, and specifically to a method for controlling the dynamic balance of a climbing frame. Background Art

[0002] At present, many equipment or construction platforms need to ensure that their working environment is in a horizontal state and need to be adjusted in real time. Taking the climbing frame currently used in construction sites as an example, the climbing frame is pulled by multiple motors, but due to the influence of many factors, the height of the climbing frame will be inconsistent after a period of pulling, resulting in deformation and damage of the climbing frame. From the perspective of support method, the early leveling system was supported by three points, followed by four points, and later six points and even eight points. From the perspective of drive method, the earliest leveling system was driven by manual drive, and later by hydraulic system drive. At present, most of them are driven by electromechanical drive. From the perspective of operation method, the early leveling system was manually operated, and semi-automatic operation appeared after the hydraulic drive was adopted, and then transitioned to automatic operation. At the same time, during the lifting process of the climbing frame, due to the large number of machine positions and the inconsistency of machine position power, aging, model, etc., relative balance cannot be guaranteed during the overall lifting process, affecting the safety of the climbing frame. Summary of the invention

[0003] The purpose of this application is to provide a method for controlling the dynamic balance of a climbing frame, to solve the imbalance problem in the existing climbing frame lifting process, and to improve the safety and construction efficiency of the climbing frame.

[0004] To achieve the above objectives, this application discloses the following technical solutions:

[0005] A method for controlling the dynamic balance of a climbing frame, the method comprising the following steps:

[0006] Step S1: connecting various sensors of the balance control system to at least two hydraulic presses driving the climbing frame to rise or fall;

[0007] Step S2: controlling the hydraulic press to start by the balance control system;

[0008] Step S3: setting the distance A and direction of the climbing frame to be run through the balance control system, wherein the direction includes upward and downward;

[0009] Step S4: setting a deviation B of the allowed climbing frame operation result, wherein the operation result includes the actual operation distance P of the climbing frame rising or falling when the climbing frame ends operation;

[0010] Step S5: sending an operation instruction to the hydraulic press through the balance control system, and after receiving the operation instruction, the hydraulic press drives the climbing frame to execute the operation setting in step S3, wherein the operation setting includes an upward lifting distance A or a downward descending distance A;

[0011] Step S6: When the climbing frame moves upward or downward, the balance control system reads the displacement output value of each hydraulic press to obtain the maximum displacement output value Ymax, the minimum displacement output value Ymin and the displacement difference ΔY;

[0012] Step S7: the balance control system controls the start and stop of the hydraulic machine corresponding to the maximum displacement output Ymax and the hydraulic machine corresponding to the minimum displacement output Ymin based on the calculation result in step S6, so that the displacement difference ΔY is gradually reduced;

[0013] Step S8: Determine whether the actual running distance P of the climbing frame satisfies P≥A±B, if yes, stop running, otherwise return to the step S5.

[0014] In one embodiment, in step S8, when P<A±B, if the balance control system has a reset instruction for the input counter, the operation is stopped, otherwise the step S5 is executed.

[0015] In one embodiment, the balance control system includes a processor, a counter initialization module, an automatic control module, a distance control module and a dynamic balance adjustment module;

[0016] The counter initialization module is configured to be used for parameter setting of the displacement sensor counter, for reloading the counter value after power on / off, for manual resetting of the counter, and for automatic resetting of the limit counter;

[0017] The automatic control module is configured to control the input / output signals for synchronous ascent or synchronous descent of the climbing frame in the automatic mode;

[0018] The distance control module is configured to process displacement sensor data and determine cylinder displacement distance;

[0019] The dynamic balance adjustment module is configured to calculate the maximum value, the minimum value and the difference value during the cylinder displacement process and automatically adjust the start and stop of the fastest moving cylinder and the slowest moving cylinder.

[0020] In one embodiment, in step S3, the distance A and direction that the climbing frame is to run are set by the counter initialization module.

[0021] In one implementation, in step S4, the deviation B is set by the counter initialization module.

[0022] In one embodiment, in step S5, an operation instruction is sent to the hydraulic press through the automatic control module.

[0023] In one implementation, in step S6, the displacement output value of each hydraulic press is read by the distance control module.

[0024] In one embodiment, in step S7, the start and stop of the hydraulic press are controlled by the automatic control module.

[0025] In one implementation, in the step S8, data comparison is performed by the distance control module.

[0026] In one embodiment, the balance control system further includes a fault detection module, a communication processing module, an interrupt initialization module, a manual control module, a pressure speed control module, a level meter data processing module, and a data initialization module;

[0027] The fault detection module is configured to perform fault detection on system signal anomalies;

[0028] The communication processing module is configured to be used for communication parameter setting of the level, for controlling communication interruption initialization, for modbusTCP communication setting and communication data processing;

[0029] The interrupt initialization module is configured to be used for timing interrupt initialization setting;

[0030] The manual control module is configured to control the ascent or descent input / output signals of the climbing frame in manual mode;

[0031] The pressure speed control module is configured to control the output pressure and flow of the hydraulic press of the climbing frame and convert the data of the rising pressure and falling pressure of the hydraulic press;

[0032] The level meter data processing module is configured to convert level meter data;

[0033] The data initialization module is configured to initialize the data when the hydraulic press is powered on and to initialize the data when the climbing frame operation mode is exited, and the operation mode includes a manual mode and an automatic mode.

[0034] Beneficial effect: The method for controlling the dynamic balance of the climbing frame of the present application solves the imbalance problem in the lifting process of the existing climbing frame and improves the safety and construction efficiency of the climbing frame. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without paying any creative work.

[0036] Figure 1 This is a flowchart of a method for controlling the dynamic balance of a climbing frame in an embodiment of the present application;

[0037] Figure 2 This is a structural block diagram of the balance control system in an embodiment of the present application. DETAILED DESCRIPTION

[0038] The technical solutions in the embodiments of the present application are described clearly and completely below. 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 the present application.

[0039] In this article, the term "comprising" is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of more restrictions, the elements defined by the sentence "comprising..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0040] The present application embodiment provides a method for controlling the dynamic balance of a climbing frame, such as Figure 1 As shown, the method comprises the following steps:

[0041] Step S1: Connecting various sensors of the balance control system to at least two hydraulic presses for driving the climbing frame to ascend or descend. In this embodiment, a hydraulic press is provided on the left and right sides of the climbing frame, respectively;

[0042] Step S2: controlling the hydraulic press to start by the balance control system;

[0043] Step S3: setting the distance A and direction of the climbing frame to be run through the balance control system, wherein the direction includes upward and downward;

[0044] Step S4: setting a deviation B of the allowed climbing frame operation result, wherein the operation result includes the actual operation distance P of the climbing frame rising or falling when the climbing frame ends operation;

[0045] Step S5: sending an operation instruction to the hydraulic press through the balance control system, and after receiving the operation instruction, the hydraulic press drives the climbing frame to execute the operation setting in step S3, wherein the operation setting includes an upward lifting distance A or a downward descending distance A;

[0046] Step S6: When the climbing frame moves upward or downward, the balance control system reads the displacement output value of each hydraulic press to obtain the maximum displacement output value Ymax, the minimum displacement output value Ymin and the displacement difference ΔY;

[0047] Step S7: the balance control system controls the start and stop of the hydraulic machine corresponding to the maximum displacement output Ymax and the hydraulic machine corresponding to the minimum displacement output Ymin based on the calculation result in step S6, so that the displacement difference ΔY is gradually reduced;

[0048] Step S8: Determine whether the actual running distance P of the climbing frame satisfies P≥A±B, if yes, stop running, otherwise return to the step S5.

[0049] As a preferred implementation of this embodiment, in step S8, when P<A±B, if the balance control system has an input counter reset instruction, the operation is stopped, otherwise the step S5 is executed. It can be understood that when the balance control system has an input counter reset instruction, the corresponding scenario may be that the climbing frame needs to be manually suspended, an operating failure is judged to occur, or a shutdown operation is performed, etc. Therefore, at this time, the result that the climbing frame needs to execute is and can only be to stop running. The advantage of this setting is that it can intervene in the operation of the climbing frame in a timely manner when there is an operating failure or a safety hazard, thereby improving construction safety.

[0050] In this embodiment, if Figure 2 As shown, the balance control system includes a processor, a counter initialization module, an automatic control module, a distance control module and a dynamic balance adjustment module.

[0051] Specifically, the counter initialization module is configured to be used for setting parameters of the displacement sensor counter, for reloading the counter value after power on / off, for manual resetting of the counter, and for automatic resetting of the limit counter.

[0052] Specifically, the automatic control module is configured to be used for input / output signal control of the synchronous ascent or synchronous descent of the climbing frame in the automatic mode.

[0053] Specifically, the distance control module is configured to process displacement sensor data and determine cylinder displacement distance.

[0054] Specifically, the dynamic balance adjustment module is configured to calculate the maximum value, the minimum value and the difference value during the cylinder displacement process and automatically adjust the start and stop of the fastest moving cylinder and the slowest moving cylinder.

[0055] Correspondingly, in the step S3, the distance A and direction of the climbing frame to be operated are set by the counter initialization module. In the step S4, the deviation B is set by the counter initialization module. In the step S5, the operation instruction is sent to the hydraulic press by the automatic control module. In the step S6, the displacement output value of each hydraulic press is read by the distance control module. In the step S7, the start and stop of the hydraulic press is controlled by the automatic control module. In the step S8, the data is compared by the distance control module.

[0056] It is further feasible that, as components of the system, the balance control system also includes a fault detection module, a communication processing module, an interrupt initialization module, a manual control module, a pressure speed control module, a level meter data processing module and a data initialization module.

[0057] Specifically, the fault detection module is configured to perform fault detection on system signal anomalies.

[0058] Specifically, the communication processing module is configured to be used for setting 485 communication parameters of the level, for controlling 485 communication interruption initialization, and for modbusTCP communication setting and communication data processing between PLC-SR30 and PLC.

[0059] Specifically, the interrupt initialization module is configured to be used for timing interrupt initialization setting, and the timing time may be 250ms.

[0060] Specifically, the manual control module is configured to input / output signals for the ascent or descent of the climbing frame in manual mode. Through the setting of the manual control module, the balance of the climbing frame can be manually intervened when necessary, thereby ensuring that the climbing frame can be in a balanced or relatively balanced state to ensure safety.

[0061] Specifically, the pressure speed control module is configured to control the output pressure and flow of the hydraulic press of the climbing frame and the data conversion of the rising pressure and falling pressure of the hydraulic press. Accordingly, in step S3, the speed of the climbing frame when it is about to run can also be configured through the pressure speed control module, so that the operating speed can be adaptively adjusted according to different operating environments and task requirements, thereby improving the safety during the operation process.

[0062] Specifically, the level meter data processing module is configured to convert the level meter data. Accordingly, in step S7, it is also possible to determine whether the climbing frame is in a balanced state based on the level meter data conversion result, thereby ensuring that the balance control system has more and clearer reference data when dynamically adjusting the balance of the climbing frame, thereby improving the reliability of the balance adjustment of the climbing frame.

[0063] Specifically, the data initialization module is configured to initialize the data when the hydraulic press is powered on and the data when the climbing frame exits the operation mode, and the operation mode includes a manual mode and an automatic mode. Each time the climbing frame is climbed or lowered, the data of the climbing frame (hydraulic press) can be initialized by the data initialization module, thereby reducing the accuracy and reliability of the data collected by the climbing frame during operation.

[0064] It should be noted that in the embodiments provided in the present application, it should be understood that the embodiments described herein can be implemented in hardware, software, firmware, middleware, code or any appropriate combination thereof. For hardware implementation, the processor can be implemented in one or more of the following units: an application specific integrated circuit (ASIC), a digital signal processor (DSP), a digital signal processing device (DSPD), a programmable logic device (PLD), a field programmable gate array (FPGA), a processor, a controller, a microcontroller, a microprocessor, other electronic units designed to implement the functions described herein or a combination thereof. For software implementation, some or all of the processes of the embodiments can be completed by hardware related to instructions, programs, code sets or instruction sets. Computer-readable media include computer storage media and communication media, wherein the communication media include any media that facilitates the transmission of computer programs from one place to another. Storage media can be any available media that a computer can access. Computer-readable media can include, but are not limited to, RAM, ROM, EEPROM, CD-ROM or other optical disk storage, disk storage media or other magnetic storage devices, or any other media that can be used to carry or store desired program codes in the form of instructions or data structures and can be accessed by a computer.

[0065] Finally, it should be noted that the above is only a preferred embodiment of the present application and is not intended to limit the present application. Although the present application has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A method for controlling the dynamic balance of a climbing frame, characterized in that: The method comprises the following steps: Step S1: connecting various sensors of the balance control system to at least two hydraulic presses driving the climbing frame to rise or fall; Step S2: controlling the hydraulic press to start by the balance control system; Step S3: setting the distance A and direction of the climbing frame to be run through the balance control system, wherein the direction includes upward and downward; Step S4: setting a deviation B of the allowed climbing frame operation result, wherein the operation result includes the actual operation distance P of the climbing frame rising or falling when the climbing frame ends operation; Step S5: sending an operation instruction to the hydraulic press through the balance control system, and after receiving the operation instruction, the hydraulic press drives the climbing frame to execute the operation setting in step S3, wherein the operation setting includes an upward lifting distance A or a downward descending distance A; Step S6: When the climbing frame moves upward or downward, the balance control system reads the displacement output value of each hydraulic press to obtain the maximum displacement output value Ymax, the minimum displacement output value Ymin and the displacement difference ΔY; Step S7: the balance control system controls the start and stop of the hydraulic machine corresponding to the maximum displacement output Ymax and the hydraulic machine corresponding to the minimum displacement output Ymin based on the calculation result in step S6, so that the displacement difference ΔY is gradually reduced; Step S8: Determine whether the actual running distance P of the climbing frame satisfies P≥A±B, if yes, stop running, otherwise return to the step S5; The balance control system includes a processor, a counter initialization module, an automatic control module, a distance control module and a dynamic balance adjustment module; The counter initialization module is configured to be used for parameter setting of the displacement sensor counter, for reloading the counter value after power on / off, for manual resetting of the counter, and for automatic resetting of the limit counter; The automatic control module is configured to control the input / output signals for synchronous ascent or synchronous descent of the climbing frame in the automatic mode; The distance control module is configured to process displacement sensor data and determine cylinder displacement distance; The dynamic balance adjustment module is configured to calculate the maximum value, the minimum value and the difference value during the cylinder displacement process and automatically adjust the start and stop of the fastest moving cylinder and the slowest moving cylinder.

2. The method for controlling the dynamic balance of a climbing frame according to claim 1, characterized in that: In step S8, when P<A±B, if the balance control system has a reset instruction for the input counter, the operation is stopped, otherwise the step S5 is executed.

3. The method for controlling the dynamic balance of a climbing frame according to claim 1, characterized in that: In step S3, the distance A and direction that the climbing frame is to run are set through the counter initialization module.

4. The method for controlling the dynamic balance of a climbing frame according to claim 1, characterized in that: In the step S4, the deviation B is set by the counter initialization module.

5. The method for controlling the dynamic balance of a climbing frame according to claim 1, characterized in that: In the step S5, an operation instruction is sent to the hydraulic press through the automatic control module.

6. The method for controlling the dynamic balance of a climbing frame according to claim 1, characterized in that: In the step S6, the displacement output value of each hydraulic press is read through the distance control module.

7. The method for controlling the dynamic balance of a climbing frame according to claim 1, characterized in that: In step S7, the start and stop of the hydraulic press are controlled by the automatic control module.

8. The method for controlling the dynamic balance of a climbing frame according to claim 1, characterized in that: In the step S8, data comparison is performed by the distance control module.

9. The method for controlling the dynamic balance of a climbing frame according to claim 2, characterized in that: The balance control system also includes a fault detection module, a communication processing module, an interrupt initialization module, a manual control module, a pressure speed control module, a level meter data processing module and a data initialization module; The fault detection module is configured to perform fault detection on system signal anomalies; The communication processing module is configured to be used for communication parameter setting of the level, for controlling communication interruption initialization, for modbus TCP communication setting and communication data processing; The interrupt initialization module is configured to be used for timing interrupt initialization setting; The manual control module is configured to control the ascent or descent input / output signals of the climbing frame in manual mode; The pressure speed control module is configured to control the output pressure and flow of the hydraulic press of the climbing frame and convert the data of the rising pressure and falling pressure of the hydraulic press; The level meter data processing module is configured to convert level meter data; The data initialization module is configured to initialize the data when the hydraulic press is powered on and to initialize the data when the climbing frame operation mode is exited, and the operation mode includes a manual mode and an automatic mode.

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