Self-balancing bridge erecting machine crown block speed control method and system

Abstract

The invention discloses a self-balancing bridge erecting machine crown block speed control method and system, and relates to the technical field of bridge erecting machines. The method comprises the following steps: acquiring basic parameters of the bridge girder erection machine, and constructing a front and rear girder state balance equation and a middle and rear support leg distance constraint equation when a via hole state starts; acquiring real-time working data of the bridge girder erection machine, and inputting the data into the state balance equation and the distance constraint equation; according to the state balance equation, the analytic solution of the traveling speed of the crown block along with the time change from the via hole state to the via hole completion state is solved, and the analytic solution is output to a traveling motor of the crown block in real time through the control unit; according to the distance constraint equation, an analytical solution of the distance between the middle supporting leg and the rear supporting leg in the through hole completion state is solved, and a signal is output. The distance between the middle supporting leg and the rear supporting leg in the hole passing state of the bridge girder erection machine is quantitatively calculated, so that the installation positions of the supporting legs are constructed no longer depending on experience. By dynamically controlling the longitudinal moving speed of the crown block, the gravity center of the rear beam is adjusted in real time, the dynamic tipping moment of the bridge girder erection machine changing along with time in the hole passing state is reduced, and the safety of the bridge girder erection machine in the hole passing state is improved.

Description

Technical Field

[0001] The invention relates to the technical field of bridge erection machines, in particular to a method for controlling the speed of a self-balancing bridge erection machine overhead crane. Background Art

[0002] Bridge erection machines are widely used in bridge production and installation projects, and are generally used for erecting precast beams. The bridge erection machine uses a double overhead crane to lift the precast beams, and the overhead crane travels longitudinally to complete the erection of the precast beams in the working span. After the precast beams are erected in the working span, the through-hole operation is performed to run to the next span, and the above-mentioned working cycle is repeated.

[0003] Self-balancing bridge erection machines generally adopt truss structures and are used for erecting small-tonnage prefabricated beams. They are light in weight and easy to disassemble and transport. The characteristics of self-balancing bridge erection machines are: when passing through holes, there is no need to use prefabricated beams as counterweights. Only the crane itself is used as counterweight to balance the front and rear beams, so as to achieve the purpose of passing through holes, reducing the difficulty of construction.

[0004] When the self-balancing bridge erector passes through a hole, the hole-passing motor and the overhead crane longitudinal movement motor operate synchronously to push the main beam of the bridge erector toward the next span. At this time, the bridge erector only uses the overhead crane as a counterweight to hold down the main beam to prevent the front and rear main beams of the bridge erector from becoming unbalanced and tipping over. The existing self-balancing bridge erector has the following problems when passing through a hole: 1. Due to the different spans of bridges, the installation positions of the supporting legs of the bridge erecting machine are not unique. In order to achieve the balance between the front beam and the rear beam, the parking position of the overhead crane and the parking position of the rear supporting legs are generally determined based on the experience of the operators, which poses a great risk; 2. The running speed of the through-hole motor and the overhead crane are generally the same and are factory set values ​​that cannot be adjusted. When the main beam is pushed out in the direction of the next span, as the push-out position changes, the front beam becomes longer and the mass increases, while the rear beam becomes shorter and the mass decreases. The tipping moment of the bridge erector itself gradually increases as the main beam is pushed out. If the distance between the middle and rear support legs is too small or the overhead crane is parked too close to the middle support leg, the stability of the entire bridge erector cannot be controlled.

[0005] As the front and rear beams of the bridge erection machine have dynamic characteristics when passing through holes, dynamic control is performed based on the positions of the middle and rear supporting legs and the operating speed of the overhead crane, so that the traveling speed of the overhead crane is coordinated with the passing speed of the main beam. Automated passing of holes can be achieved without relying on experience, thus improving safety performance and passing efficiency. Summary of the invention

[0006] The purpose of the present invention is to provide a method for controlling the speed of a self-balancing bridge-building machine crane, by collecting the position signals of the bridge-building machine and the crane in the through-hole state, inputting the signals into the balance equation, obtaining the analytical solution of the real-time longitudinal moving speed of the crane, and adjusting the longitudinal moving speed of the crane in real time through the control system, so that the front and rear beams of the bridge-building machine meet the balance equation in real time to realize continuous through-hole under dangerous working conditions.

[0007] The technical solution of the present invention is: A method for controlling the speed of a self-balancing bridge erecting crane, comprising the following steps: Obtain the basic parameters of the bridge erection machine, and construct the state equilibrium equations of the front and rear main beams and the distance constraint equations of the middle and rear support legs at the beginning of the through-hole state; Obtain the real-time working data of the bridge erection machine and input the data into the state balance equation and distance constraint equation; According to the state balance equation, the analytical solution of the change of the overhead crane travel speed over time from the start of the through-hole state to the completion of the through-hole state is solved, and the solution is output to the overhead crane travel motor in real time through the control unit; According to the distance constraint equation, the analytical solution of the distance between the middle and rear support legs when the through-hole is completed is solved and the signal is output.

[0008] The present invention is further configured that the basic parameters of the bridge erection machine include: the total length S of the main beam of the bridge erection machine, the length L of the support legs in the extension distance of the main beam when the through-hole state begins 0 , the span of the single span of the bridge L, the actual horizontal distance ΔS of the supporting legs in the front crane distance at the beginning of the through-hole state 0 , the actual horizontal distance ΔS between the front crane and the middle support leg when the hole-passing is completed, the horizontal distance D between the middle support leg and the rear support leg when the hole-passing is completed, the spacing ΔH between synchronously running cranes, the mass m of a single crane including the wire rope assembly and the hoisting device, the mass M of the main beam of the bridge crane, the hole-passing time t after the hole-passing state begins, the rotation speed of the hole-passing motor and the travel speed v of the main beam, and the actual travel speed v of the crane t .

[0009] The present invention is further configured that the beginning of the through-hole state refers to that the front support leg of the main beam of the bridge erecting machine is lifted and then moves in the through-hole direction, and the length of the support leg in the extension distance of the main beam is L 0 The state when the hole is completed refers to the state in which the front supporting leg of the main beam of the bridge erecting machine is extended to the fixing position of the next span pier, the main beam has been fully extended, and the front supporting leg is already in a fixable position but not fixed.

[0010] The present invention is further configured such that the real-time working data is the traveling position parameter of the overhead crane at time t after the through-hole state begins; the number of overhead cranes of the bridge erecting machine is 2, which are double overhead cranes; and the actual traveling speeds of the double overhead cranes are equal.

[0011] The present invention is further configured such that the state balance equation of the front and rear main beams at the beginning of the through-hole state is: Q ≤T H +T m , where T Q T is the moment between the middle support leg of the main beam and the middle support leg as the fixed point. HT is the moment between the part of the main beam that does not extend out of the middle support leg and the middle support leg as the fixed point. m is the moment between the overhead crane and the middle supporting leg as the fixed point; the constraint equation of the distance between the middle and rear supporting legs at the beginning of the through-hole state is: D≤SL. [000x] The present invention is further configured such that when the through-hole state starts to the through-hole completion state, the analytical solution of the overhead traveling speed varying with time is: Among them C 1 =0.5(M+2m)m -1 , C 2 =(2L 0 -S)M-(4ΔS 0 +2ΔH)m, f(t)=0.25(mt) -1 .

[0012] The present invention is further configured such that the analytical solution of the distance between the middle and rear support legs when the through-hole is completed is: C 3 ≤D≤SL, where C 3 =0.5MLm -1 -0.25MSm -1 -ΔH.

[0013] The present invention also provides a self-balancing bridge erecting machine overhead travelling crane speed control system, comprising: 1. Signal receiving module: receives via status signal, time signal and basic parameters of bridge erection machine. 2. Information processing module: Based on the state balance equations of the front and rear main beams at the beginning of the through-hole state and the constraint equations of the distance between the middle and rear support legs, the analytical solution of the change of the overhead crane's travel speed over time and the analytical solution of the distance between the middle and rear support legs when the through-hole is completed are calculated in real time. 3. Information display module: Use the display to output the distance that the middle and rear support legs should reach and the real-time travel speed of the overhead crane. 4. Execution module: The power supply of the overhead crane longitudinal movement motor is switched between the power supply of the external power grid and the power supply of the frequency conversion module.

[0014] The present invention is further configured such that when the bridge erecting machine is in the beam erecting working state, the input signal of the through-hole state signal is 0; when the bridge erecting machine is in the through-hole state, the input signal is 1. The time signal is a system built-in time signal when the bridge erecting machine enters the through-hole state.

[0015] The present invention is further configured such that the execution module includes a speed regulating device directly connected to the external power grid for enabling the longitudinal movement motor of the overhead crane.

[0016] The present invention is further configured such that when the through-hole status signal of the execution module is 0, the external power grid is directly connected to the overhead travelling motor of the crane through the bridge erection machine control system, and when the through-hole signal is 1, it switches to power supply for the speed regulating device, at which time the overhead travelling speed of the crane is completely controlled by the overhead travelling speed control system.

[0017] The present invention provides a method and system for controlling the speed of a self-balancing bridge erecting machine crane, which has the beneficial effect that: by quantitatively calculating the distance between the middle and rear support legs when the bridge erecting machine is in a through-hole state, the installation position of the support legs no longer relies on experience in construction. By dynamically controlling the longitudinal speed of the crane, the center of gravity of the rear beam is adjusted in real time, the dynamic tipping moment of the bridge erecting machine that changes with time in the through-hole state is reduced, and the safety of the bridge erecting machine in the through-hole state is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] To more clearly illustrate the method in the embodiment of the present invention, the following drawings are used for illustration: Figure 1 A flow chart of a method for controlling the speed of a self-balancing bridge erecting crane; Figure 2 This is a framework diagram of a speed control system for a self-balancing bridge crane; Figure 3 It is a state diagram of the front and rear main beams when a self-balancing bridge erecting machine starts to pass through the hole; Figure 4 This is a diagram of the front and rear main beams when a self-balancing bridge-building machine has completed passing through a hole. DETAILED DESCRIPTION

[0019] The following is a description of the embodiments of the present invention in conjunction with the accompanying drawings and preferred embodiments. Those skilled in the art can easily understand the advantages of the present invention from the contents described. The present invention has strong versatility and can be implemented or applied through other embodiments. The preferred embodiments are only for illustrating the present invention, not for limiting the scope of protection of the present invention.

[0020] like Figure 1 A self-balancing bridge crane speed control method, the steps are as follows: Obtain the basic parameters of the bridge erection machine, and construct the state equilibrium equations of the front and rear main beams and the distance constraint equations of the middle and rear support legs at the beginning of the through-hole state; Obtain the real-time working data of the bridge erection machine and input the data into the state balance equation and distance constraint equation; According to the state balance equation, the analytical solution of the change of the overhead crane travel speed over time from the start of the through-hole state to the completion of the through-hole state is solved, and the solution is output to the overhead crane travel motor in real time through the control unit; According to the distance constraint equation, the analytical solution of the distance between the middle and rear support legs when the through-hole is completed is solved and the signal is output.

[0021] The present invention is further configured that the basic parameters of the bridge erection machine include: the total length S of the main beam of the bridge erection machine, the length L of the support legs in the extension distance of the main beam when the through-hole state begins 0 , the span of a single span of the bridge, the actual horizontal distance ΔS of the supporting legs in the distance from the crane before the start of the overpass state 0 , the actual horizontal distance ΔS between the front crane and the middle support leg when the hole-passing is completed, the horizontal distance D between the middle support leg and the rear support leg when the hole-passing is completed, the spacing ΔH between synchronously running cranes, the mass m of a single crane including the wire rope assembly and the hoisting device, the mass M of the main beam of the bridge crane, the hole-passing time t after the hole-passing state begins, the rotation speed of the hole-passing motor and the travel speed v of the main beam, and the actual travel speed v of the crane t . Among the above basic parameters, the total length S of the main beam of the bridge erector, the span L of the single span of the bridge, the mass m of a single overhead crane including the wire rope assembly and the hoist, the mass M of the main beam of the bridge erector, the rotation speed of the through-hole motor and the travel speed v of the main beam can be directly obtained from the parameter table of the bridge erector; the length L of the support leg in the extension distance of the main beam at the beginning of the through-hole state 0 , the actual horizontal distance ΔS of the support leg in the front crane distance at the beginning of the through-hole state 0 , the actual horizontal distance ΔS between the front crane and the middle support leg when the through-hole is completed, and the spacing ΔH between the synchronously running cranes are obtained by direct on-site measurement; the horizontal distance D between the middle support leg and the rear support leg when the through-hole is completed, the through-hole time t after the through-hole state begins, and the actual travel speed v of the crane t It is the analytical solution to the state equilibrium equation of the front and rear main beams and the distance constraint equation of the middle and rear support legs.

[0022] The present invention is further configured that the beginning of the through-hole state refers to that the front support leg of the main beam of the bridge erecting machine is lifted and then moves in the through-hole direction, and the length of the support leg in the extension distance of the main beam is L 0 The state when the hole is completed refers to the state in which the front supporting leg of the main beam of the bridge erecting machine is extended to the fixing position of the next span pier, the main beam has been fully extended, and the front supporting leg is already in a fixable position but not fixed.

[0023] The present invention is further configured such that the real-time working data is the position parameter of the overhead crane at time t after the hole-passing state begins; the number of overhead cranes of the bridge erecting machine is 2, which are double overhead cranes; when the bridge erecting machine is in the hole-passing state, the double overhead cranes are parked in place on the upper part of the main beam, and the hole is passed by using the double overhead crane synchronous walking mode. The actual walking speeds of the double overhead cranes are equal.

[0024] The present invention is further configured such that the state balance equation of the front and rear main beams at the beginning of the through-hole state is: Q ≤T H +T m , where T QT is the moment between the middle support leg of the main beam and the middle support leg as the fixed point. H T is the moment between the part of the main beam that does not extend out of the middle support leg and the middle support leg as the fixed point. m is the moment between the overhead crane and the middle supporting leg as the fixed point; the constraint equation of the distance between the middle and rear supporting legs at the beginning of the through-hole state is: D≤SL.

[0025] The present invention is further configured such that, when the through-hole state starts to the through-hole completion state, the analytical solution of the variation of the overhead travelling speed with time is: Among them C 1 =0.5(M+2m)m -1 , C 2 =(2L 0 -S)M-(4ΔS 0 +2ΔH)m, f(t)=0.25(mt) -1 .

[0026] The present invention is further configured such that the analytical solution of the distance between the middle and rear support legs when the through-hole is completed is: C 3 ≤D≤SL, where C 3 =0.5MLm -1 -0.25MSm -1 -ΔH.

[0027] The present invention also provides a self-balancing bridge erecting machine overhead travelling crane speed control system, comprising: 1. Signal receiving module: receives via status signal, time signal and basic parameters of bridge erection machine. 2. Information processing module: Based on the state balance equations of the front and rear main beams at the beginning of the through-hole state and the constraint equations of the distance between the middle and rear support legs, the analytical solution of the change of the overhead crane's travel speed over time and the analytical solution of the distance between the middle and rear support legs when the through-hole is completed are calculated in real time. 3. Information display module: Use the display to output the distance that the middle and rear support legs should reach and the real-time travel speed of the overhead crane. 4. Execution module: The power supply of the overhead crane longitudinal movement motor is switched between the power supply of the external power grid and the power supply of the frequency conversion module.

[0028] The present invention is further configured such that the through-hole state signal is 0 or 1. When the bridge erecting machine is in the beam erecting working state, the input signal is 0, and when the bridge erecting machine is in the through-hole state, the input signal is 1. The time signal is a system built-in time signal when the bridge erecting machine enters the through-hole state.

[0029] The present invention is further configured such that the execution module includes a three-phase contactor and a speed regulating device directly connected to the external power grid for enabling the longitudinal movement motor of the overhead crane.

[0030] The present invention is further configured such that when the through-hole status signal of the execution module is 0, the external power grid is directly connected to the overhead travelling motor of the crane through the bridge erection machine control system, and when the through-hole signal is 1, the contactor is actuated to switch to power supply for the speed regulating device, at which time the overhead travelling speed of the crane is completely controlled by the overhead travelling speed control system.

[0031] The above embodiments may be implemented in whole or in part by software, hardware or a combination thereof. When implemented by software, the above embodiments may be implemented in whole or in part in the form of a program. A person skilled in the art may use different methods to implement the described functions for each of the above specific steps or contents, and such implementation should not artificially exceed the scope of this application.

[0032] The above description is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of substitutions within the technical scope described in the present application, and such substitutions should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A method for controlling the speed of a self-balancing bridge erecting crane, characterized in that: include: Obtain the basic parameters of the bridge erection machine, and construct the state equilibrium equations of the front and rear main beams and the distance constraint equations of the middle and rear support legs at the beginning of the through-hole state; Obtain the real-time working data of the bridge erection machine and input the data into the state balance equation and distance constraint equation; According to the state balance equation, the analytical solution of the change of the overhead crane travel speed over time from the start of the through-hole state to the completion of the through-hole state is solved, and the solution is output to the overhead crane travel motor in real time through the control unit; According to the distance constraint equation, the analytical solution of the distance between the middle and rear support legs when the through-hole is completed is solved and the signal is output.

2. A method for controlling the speed of a self-balancing bridge erecting machine according to claim 1, characterized in that: The basic parameters of the bridge erection machine include: the total length S of the bridge erection machine main beam, the length L0 of the middle support leg in the main beam extension distance at the beginning of the through-hole state, the span L of the single span of the bridge, the actual horizontal distance ΔS0 of the front crane from the middle support leg at the beginning of the through-hole state, the actual horizontal distance ΔS of the front crane from the middle support leg at the through-hole completion state, the horizontal distance D between the middle support leg and the rear support leg at the through-hole completion state, the spacing ΔH between the synchronously running cranes, the mass m of a single crane including the wire rope assembly and the hoisting device, the mass M of the bridge erection machine main beam, the through-hole time t after the through-hole state starts, the through-hole motor rotation speed and the main beam travel speed v, the actual travel speed v of the crane t .

3. A method for controlling the speed of a self-balancing bridge erecting machine according to claim 1, characterized in that: The beginning of the through-hole state refers to the state when the front supporting leg of the main beam of the bridge-building machine is lifted and moves in the through-hole direction, and the length of the supporting leg in the extended distance of the main beam is L0; the through-hole completion state refers to the state when the front supporting leg of the main beam of the bridge-building machine is extended to the fixing position of the next span of the bridge pier, the main beam has been fully extended, and the front supporting leg is in a fixable position but not fixed.

4. A method for controlling the speed of a self-balancing bridge erecting machine according to claim 1, characterized in that: The real-time working data is the traveling position parameter of the overhead crane at time t after the through-hole state begins; the number of overhead cranes of the bridge erecting machine is 2, which are double overhead cranes; the actual traveling speeds of the double overhead cranes are equal.

5. A method for controlling the speed of a self-balancing bridge erecting machine according to claim 1, characterized in that: The state balance equation of the front and rear main beams at the beginning of the through-hole state is: Q ≤T H +T m , where T Q T is the moment between the middle support leg of the main beam and the middle support leg as the fixed point. H T is the moment between the part of the main beam that does not extend out of the middle support leg and the middle support leg as the fixed point. m is the moment between the overhead crane and the middle supporting leg as the fixed point; the constraint equation of the distance between the middle and rear supporting legs at the beginning of the through-hole state is: D≤SL.

6. A method for controlling the speed of a self-balancing bridge erecting machine according to claim 1, characterized in that: The analytical solution of the variation of the overhead crane travel speed with time from the start of the through-hole state to the through-hole completion state is: Where C1=0.5(M+2m)m -1 , C2=(2L0-S)M-(4ΔS0+2ΔH)m, f(t)=0.25(mt) -1 .

7. A method for controlling the speed of a self-balancing bridge erecting machine according to claim 1, characterized in that: The analytical solution of the distance between the middle and rear support legs when the through-hole is completed is: C3≤D≤SL, where C3=0.5MLm -1 -0.25MSm -1 -ΔH.

8. A self-balancing bridge crane overhead crane speed control system, characterized in that: include: Signal receiving module: receiving through-hole status signal, time signal and basic parameters of bridge erection machine; Information processing module: Based on the state balance equations of the front and rear main beams at the beginning of the through-hole state and the constraint equations of the distance between the middle and rear support legs, it calculates in real time the analytical solution of the variation of the overhead crane's travel speed over time and the analytical solution of the distance between the middle and rear support legs at the completion of the through-hole state; Information display module: uses a display to output the distance that the middle and rear support legs should reach and the real-time travel speed of the overhead crane; Execution module: The power supply for the overhead crane longitudinal movement motor is switched between the power supply from the external power grid and the power supply from the frequency conversion module.

9. A self-balancing bridge erecting crane overhead travelling crane speed control system according to claim 8, characterized in that: When the bridge erection machine is in the beam erection working state, the input signal of the through-hole status signal is 0; when the bridge erection machine is in the through-hole state, the input signal is 1; the time signal is the system built-in time signal when the bridge erection machine enters the through-hole state.

10. A self-balancing bridge erecting crane overhead travelling crane speed control system according to claim 8, characterized in that: The execution module includes a speed regulating device directly connected to the external power grid for enabling the longitudinal movement motor of the overhead crane; when the through-hole state signal of the execution module is 0, the external power grid is directly connected to the longitudinal movement motor of the overhead crane through the bridge erection machine control system, and when the through-hole signal is 1, it switches to power supply for the speed regulating device, and at this time the longitudinal movement speed of the overhead crane is completely controlled by the overhead crane speed control system.

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