A self-balancing bridge machine crown block speed control method and system
By constructing balance equations and distance constraint equations, and adjusting the crane speed and support leg positions in real time, the stability and safety issues of the self-balancing bridge erecting machine during the crossing of the span were solved, and the automated control of the bridge erecting machine was realized.
Patent Information
- Application Number
- CN202411784192.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-06
- Publication Date
- 2026-02-27
- Estimated Expiration
- 2044-12-06
AI Technical Summary
In the process of crossing the span, the positioning and speed control of the overhead crane of the existing self-balancing bridge erecting machine rely on experience, which makes it difficult to guarantee the stability of the bridge erecting machine. Moreover, as the position of the main beam changes, the overturning moment increases, which poses a safety risk.
By constructing balance equations and distance constraint equations, the status signals of the bridge erecting machine are collected in real time, and the longitudinal movement speed of the gantry crane and the position of the support legs are dynamically adjusted to achieve automated balance control of the bridge erecting machine.
This improves the safety and efficiency of the bridge erecting machine's crossing process, reduces reliance on experience, and ensures the stability of the bridge erecting machine under different bridge spans.
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Figure CN119645136B_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present application relates to the technical field of bridge erecting machine, in particular to a speed control method for a self-balancing bridge erecting machine trolley. BACKGROUND
[0002] The bridge erecting machine is widely used in bridge production and installation engineering, and is generally used for erecting precast beams. The bridge erecting machine adopts double trolleys to hoist the precast beams, and completes the erection of the precast beams in the working span through the longitudinal walking of the trolleys. After the working span completes the erection of the precast beams, the hole passing operation is performed to the next span, and the aforementioned work cycle is performed again.
[0003] The self-balancing bridge erecting machine generally adopts a truss structure, and is used for erecting small-tonnage precast beams. The self-balancing bridge erecting machine has the characteristics that no precast beam is used as a counterweight during hole passing, and only the trolley itself is used as a counterweight to balance the front and rear beams, so as to achieve the purpose of hole passing and walking, and reduce the construction difficulty.
[0004] During the hole passing of the self-balancing bridge erecting machine, the hole passing motor and the trolley longitudinal moving motor act synchronously to push the main beam of the bridge erecting machine to the next span. At this time, the bridge erecting machine only uses the trolley as a counterweight to press the main beam, so as to prevent the front and rear main beams of the bridge erecting machine from being unbalanced and overturned. The existing self-balancing bridge erecting machine has the following problems during hole passing:
[0005] 1. Since the bridge spans are not the same, the installation positions of the support legs of the bridge erecting machine are not unique. In order to balance the front and rear beams, the parking positions of the trolley and the rear support leg are generally determined according to the experience of the operating personnel, and there is a great risk.
[0006] 2. The running speed of the hole passing motor and the running speed of the trolley are generally the same, and cannot be adjusted. When the main beam is pushed to the next span, with the change of the pushing position, the front beam becomes longer and the mass increases, the rear beam becomes shorter and the mass decreases, and the overturning moment of the bridge erecting machine itself gradually increases with the pushing of the main beam. If the distance between the middle support leg and the rear support leg is too small or the parking position of the trolley is too close to the middle support leg, the stability of the whole bridge erecting machine cannot be controlled.
[0007] Since the front and rear beams of the bridge erecting machine have dynamic characteristics during hole passing, dynamic control is performed according to the positions of the middle and rear support legs and the running speed of the trolley, so that the walking speed of the trolley and the hole passing speed of the main beam are matched. The automatic hole passing can be realized without relying on experience, and the safety performance and hole passing efficiency are improved. SUMMARY
[0008] The application aims at providing a self-balancing bridge-erecting machine trolley speed control method, collecting the bridge-erecting machine and trolley position signals in the overpass state, inputting the signals into a balance equation, obtaining the analytical solution of the trolley real-time longitudinal moving speed, and adjusting the trolley longitudinal moving speed in real time through a control system, so that the front and rear beams of the bridge-erecting machine can satisfy the balance equation in real time to realize continuous overpass in dangerous working conditions.
[0009] The technical solution of the application is:
[0010] A self-balancing bridge-erecting machine trolley speed control method, the steps are as follows:
[0011] Obtain the basic parameters of the bridge-erecting machine, and construct the front and rear main beam state balance equations and the middle and rear support leg distance constraint equations at the beginning of the overpass state.
[0012] Obtain the real-time working data of the bridge-erecting machine, and input the data into the state balance equation and the distance constraint equation.
[0013] According to the state balance equation, the analytical solution of the trolley walking speed changing with time from the beginning of the overpass state to the completion of the overpass state is solved, and is output to the trolley walking motor in real time through the control unit.
[0014] According to the distance constraint equation, the analytical solution of the distance between the middle and rear support legs at the completion of the overpass state is solved, and the signal is output.
[0015] The application is further provided that the basic parameters of the bridge-erecting machine include: the total length S of the bridge-erecting machine main beam, the length L0 of the main beam extending distance from the middle support leg at the beginning of the overpass state, the single span length L of the bridge, the actual horizontal distance AS0 of the front trolley from the middle support leg at the beginning of the overpass state, the actual horizontal distance AS of the front trolley from the middle support leg at the completion of the overpass state, the horizontal distance D between the middle support leg and the rear support leg at the completion of the overpass state, the spacing AH between the synchronously running trolleys, the mass m of a single trolley including the steel wire rope assembly and the lifting tool, the mass M of the bridge-erecting machine main beam, the overpass time t after the beginning of the overpass state, the overpass motor rotation speed and the main beam walking speed v, and the actual trolley walking speed v. t .
[0016] The application is further provided that the beginning of the overpass state refers to the state that the front support leg of the bridge-erecting machine main beam is lifted and then moves in the overpass direction, and the length of the main beam extending distance from the middle support leg is L0; the completion of the overpass state refers to the state that the front support leg of the bridge-erecting machine main beam is extended to the next bridge pier fixing position, the main beam has been completely extended, and the front support leg is located at the fixable position but is not fixed.
[0017] The application is further provided that the real-time working data is the trolley walking position parameter at the time t after the beginning of the overpass state; the number of trolleys of the bridge-erecting machine is 2, which is a double trolley; and the actual walking speeds of the double trolleys are equal.
[0018] The application is further provided that the front and rear girder state balance equation at the beginning of the hole passing state is T Q ≤T H +T m , wherein T Q is the moment of the middle support leg part of the girder extension and the middle support leg as the fixed point, T H is the moment of the middle support leg part of the girder non-extension and the middle support leg as the fixed point, and T m is the moment of the crown block and the middle support leg as the fixed point; and the middle and rear support leg distance constraint equation at the beginning of the hole passing state is D≤S-L.
[0019] The application is further provided that the analytical solution of the crown block walking speed changing with time from the beginning of the hole passing state to the completion of the hole passing state is: wherein C1=0.5(M+2m)m -1 , C2=(2L0-S)M-(4ΔS0+2ΔH)m, and f(t)=0.25(mt) -1 .
[0020] The application is further provided that the analytical solution of the middle and rear support leg distance at the completion of the hole passing state is C3≤D≤S-L, wherein C3=0.5MLm -1 -0.25MSm -1 -ΔH.
[0021] The application also provides a self-balancing bridge erecting machine crown block speed control system, which comprises:
[0022] 1. A signal receiving module: receiving a hole passing state signal, a time signal and basic parameters of the bridge erecting machine.
[0023] 2. An information processing module: according to the front and rear girder state balance equation at the beginning of the hole passing state and the middle and rear support leg distance constraint equation, the analytical solution of the crown block walking speed changing with time and the analytical solution of the middle and rear support leg distance at the completion of the hole passing state are calculated in real time.
[0024] 3. An information display module: the distance that the middle and rear support legs should reach and the real-time walking speed of the crown block are output by a display.
[0025] 4. An execution module: the crown block longitudinal movement motor is powered, and the power supply is switched between an external power grid and a frequency conversion module.
[0026] The application is further provided that the hole passing state signal is 0 when the bridge erecting machine is in a girder erecting working state, and the input signal is 1 when the bridge erecting machine is in a hole passing state. The time signal is a system built-in time signal when the bridge erecting machine enters the hole passing state.
[0027] The application is further configured to have the execution module include a speed regulating device directly connected with the external power grid for enabling the longitudinal movement motor of the overhead traveling crane.
[0028] The application is further configured to have the execution module directly connect the external power grid with the longitudinal movement motor of the overhead traveling crane through the bridging machine control system when the overpass signal is 0, and switch to power supply of the speed regulating device when the overpass signal is 1, at which time the longitudinal movement speed of the overhead traveling crane is completely controlled by the overhead traveling crane speed control system.
[0029] The application provides a self-balancing bridging machine overhead traveling crane speed control method and system, which has the beneficial effect that the installation position of the support leg is no longer dependent on experience construction by quantitatively calculating the distance between the middle support leg and the rear support leg when the bridging machine is in the overpass state. The dynamic control of the longitudinal movement speed of the overhead traveling crane adjusts the center of gravity of the rear beam in real time, reduces the dynamic overturning moment of the bridging machine changing with time when the bridging machine is in the overpass state, and improves the safety of the bridging machine in the overpass state. BRIEF DESCRIPTION OF DRAWINGS
[0030] To more clearly illustrate the method in the embodiments of the application, the following drawings are used in conjunction with the description:
[0031] Figure 1 A flowchart of a self-balancing bridging machine overhead traveling crane speed control method;
[0032] Figure 2 A framework diagram of a self-balancing bridging machine overhead traveling crane speed control system;
[0033] Figure 3 A front and rear girder state diagram when the overpass state of a self-balancing bridging machine starts;
[0034] Figure 4 A front and rear girder state diagram when the overpass state of a self-balancing bridging machine is completed. DETAILED DESCRIPTION
[0035] The embodiments of the application are described below in conjunction with the drawings and preferred embodiments, and the advantages of the application can be easily understood by those skilled in the art from the description. The application has strong universality and can be implemented or applied by other embodiments. The preferred embodiments are only used to illustrate the application, and are not intended to limit the protection scope of the application.
[0036] As Figure 1 A self-balancing bridging machine overhead traveling crane speed control method, the steps are as follows:
[0037] Obtain the basic parameters of the bridging machine, and construct the front and rear girder state balance equations and the middle and rear support leg distance constraint equations when the overpass state starts;
[0038] Obtaining real-time working data of the bridge erecting machine, inputting the data into state balance equations and distance constraint equations;
[0039] According to the state balance equation, an analytical solution of the walking speed of the crown block changing with time from the start of the hole passing state to the completion of the hole passing state is solved, and is output to the walking motor of the crown block in real time through the control unit;
[0040] According to the distance constraint equation, an analytical solution of the distance between the middle support leg and the rear support leg at the completion of the hole passing state is solved, and a signal is output.
[0041] The basic parameters of the bridge erecting machine include: the total length S of the main beam of the bridge erecting machine, the length L0 of the main beam extending out of the middle support leg at the start of the hole passing state, the single-span span of the bridge, the actual horizontal distance ΔS0 of the front crown block from the middle support leg at the start of the hole passing state, the actual horizontal distance ΔS of the front crown block from the middle support leg at the completion of the hole passing state, the horizontal distance D between the middle support leg and the rear support leg at the completion of the hole passing state, the spacing ΔH between the synchronously running crown blocks, the mass m of a single crown block including the wire rope assembly and the spreader, the mass M of the main beam of the bridge erecting machine, the hole passing time t after the start of the hole passing state, the rotation speed of the hole passing motor and the walking speed v of the main beam, and the actual walking speed v of the crown block. t .
[0042] In the above basic parameters, the total length S of the main beam of the bridge erecting machine, the single-span span L of the bridge, the mass m of a single crown block including the wire rope assembly and the spreader, the mass M of the main beam of the bridge erecting machine, and the rotation speed of the hole passing motor and the walking speed v of the main beam can be directly obtained from the parameter table of the bridge erecting machine; the length L0 of the main beam extending out of the middle support leg at the start of the hole passing state, the actual horizontal distance ΔS0 of the front crown block from the middle support leg at the start of the hole passing state, the actual horizontal distance ΔS of the front crown block from the middle support leg at the completion of the hole passing state, and the spacing ΔH between the synchronously running crown blocks are obtained by direct measurement on site; the horizontal distance D between the middle support leg and the rear support leg at the completion of the hole passing state, the hole passing time t after the start of the hole passing state, and the actual walking speed v of the crown block are obtained by direct measurement on site. t The analytical solutions of the state balance equations of the front and rear main beams and the distance constraint equations of the middle and rear support legs are obtained.
[0043] The start of the hole passing state refers to the state that the front support leg of the main beam of the bridge erecting machine is lifted and then moves in the hole passing direction, and the length of the main beam extending out of the middle support leg is L0; the completion of the hole passing state refers to the state that the front support leg of the main beam of the bridge erecting machine is extended to the next bridge pier fixing position, the main beam has been completely extended, and the front support leg is located at a fixable position but has not been fixed.
[0044] The application is further provided that the real-time working data is the t-time walking position parameter of the crown block after the overpass state starts; the number of the crown block of the bridge girder erection machine is 2, which is a double crown block; the bridge girder erection machine adopts the double crown block synchronous walking mode to perform the overpass after the double crown blocks are parked in place on the upper part of the main girder in the overpass state. The actual walking speeds of the double crown blocks are equal.
[0045] The application is further provided that the front and rear main girder state balance equations at the start of the overpass state are T Q ≤T H +T m , wherein T Q is the torque of the main girder extended middle support leg part with the middle support leg as a fixed point, T H is the torque of the main girder unextended middle support leg part with the middle support leg as a fixed point, and T m is the torque of the crown block with the middle support leg as a fixed point; the middle and rear support leg distance constraint equations at the start of the overpass state are D≤S-L.
[0046] The application is further provided that the analytical solution of the walking speed of the crown block changing with time from the start of the overpass state to the overpass completion state is wherein C1=0.5(M+2m)m -1 , C2=(2L0-S)M-(4ΔS0+2ΔH)m, and f(t)=0.25(mt) -1 .
[0047] The application is further provided that the analytical solution of the middle and rear support leg distance at the overpass completion state is C3≤D≤S-L, wherein C3=0.5MLm -1 -0.25MSm -1 -ΔH.
[0048] The application also provides a self-balancing bridge girder erection machine crown block speed control system, which comprises:
[0049] 1. A signal receiving module: receiving the overpass state signal, the time signal and the basic parameters of the bridge girder erection machine.
[0050] 2. An information processing module: according to the front and rear main girder state balance equations at the start of the overpass state and the middle and rear support leg distance constraint equations, the analytical solution of the walking speed of the crown block changing with time and the analytical solution of the middle and rear support leg distance at the overpass completion state are calculated in real time.
[0051] 3. An information display module: the distances that the middle and rear support legs should reach and the real-time walking speed of the crown block are output by a display.
[0052] 4. An execution module: the crown block longitudinal movement motor is powered, and the power supply is switched between the external power grid and the frequency conversion module.
[0053] The application is further configured that the via state signal is 0 or 1. When the bridge machine is in the bridge erection state, the input signal is 0, and when the bridge machine is in the via state, the input signal is 1. The time signal is the system built-in time signal when the bridge machine enters the via state.
[0054] The application is further configured that the execution module includes a three-phase contactor, which is directly connected with the external power grid and used for enabling the speed regulation device of the crown block longitudinal movement motor.
[0055] The application is further configured that when the via state signal is 0, the external power grid is directly connected with the crown block longitudinal movement motor through the bridge machine control system, and when the via signal is 1, the contactor is actuated to switch to the power supply of the speed regulation device, at this time, the crown block longitudinal movement speed is completely controlled by the crown block speed control system.
[0056] The above embodiments can be realized wholly or partially by software, hardware or a combination thereof. When realized by software, the above embodiments can be realized in the form of programs wholly or partially. Those skilled in the art can use different methods to realize the described functions for each specific step or content, and such implementation shall not artificially exceed the scope of the application.
[0057] The above description is only a specific implementation of the application, but the protection scope of the application is not limited to this. Any person skilled in the art can easily think of alternatives within the technical scope of the application, and such alternatives shall be covered in the protection scope of the application. Therefore, the protection scope of the application shall be subject to the protection scope of the claims.
Claims
1. A self-balancing bridge machine trolley speed control method, characterized in that, The method comprises the following steps: Obtaining basic parameters of the bridge erecting machine, and constructing front and rear girder state balance equations and middle and rear support leg distance constraint equations at the beginning of the hole passing state; Obtaining real-time working data of the bridge erecting machine, and inputting the data into the state balance equations and the distance constraint equations; Solving an analytical solution of the walking speed of the crown block varying with time from the beginning of the hole passing state to the completion of the hole passing state according to the state balance equations, and outputting the solution to the walking motor of the crown block in real time through a control unit; Solving an analytical solution of the distance between the middle and rear support legs at the completion of the hole passing state according to the distance constraint equations, and outputting a signal; The basic parameters of the bridge erecting machine include: total length S of the main girder of the bridge erecting machine, length L0 of the support leg in the distance of the main girder when the hole passing state starts, single span L of the bridge, actual horizontal distance ΔS0 of the front trolley from the support leg when the hole passing state starts, actual horizontal distance ΔS of the front trolley from the support leg when the hole passing state is completed, horizontal distance D between the support leg and the rear support leg when the hole passing state is completed, spacing ΔH between the synchronous trolleys, mass m of a single trolley including the steel wire rope assembly and the sling, mass M of the main girder of the bridge erecting machine, hole passing time t after the hole passing state starts, rotation speed of the hole passing motor and walking speed v of the main girder, and actual walking speed v of the trolley t ; The front and rear main beam state balance equation at the beginning of the via state is: T Q ≤ T H + T m , wherein T Q is the moment of the main beam extended middle support leg part with the middle support leg as a fixed point, T H is the moment of the main beam unextended middle support leg part with the middle support leg as a fixed point, and T m is the moment of the crown with the middle support leg as a fixed point; the middle and rear support leg distance constraint equation at the beginning of the via state is: D ≤ S-L; The analytical solution of the walking speed of the crown block changing with time from the via hole starting state to the via hole completion state is as follows: Wherein, C1=0.5(M+2m)m -1 C2=(2L0-S)M-(4ΔS0+2ΔH)m, f(t)=0.25(mt) -1 .
2. The speed control method of a self-balancing bridge machine crown block according to claim 1, characterized in that, The beginning of the hole passing state refers to the state that the front support leg of the girder of the bridge erecting machine is lifted and then moves towards the hole passing direction, and the length of the girder extending from the middle support leg is L0; the completion of the hole passing state refers to the state that the front support leg of the girder of the bridge erecting machine is extended to the next bridge pier fixing position, the girder has been completely extended, and the front support leg is located at the fixable position but has not been fixed.
3. The method of claim 1, wherein, The real-time working data is the position parameter of the crown block at time t after the beginning of the hole passing state; the number of the crown blocks of the bridge erecting machine is 2, that is, two crown blocks; the actual walking speeds of the two crown blocks are equal.
4. The method of claim 1, wherein, The analytical solution of the distance between the middle and rear support legs in the via completion state is C3≤D≤S-L, wherein C3=0.5MLm -1 -0.25MSm -1 -ΔH.
5. A self-balancing bridge machine trolley speed control system, characterized in that, The method comprises the following steps: A signal receiving module: receiving a hole passing state signal, a time signal, and basic parameters of the bridge erecting machine; An information processing module: calculating an analytical solution of the walking speed of the crown block varying with time and an analytical solution of the distance between the middle and rear support legs at the completion of the hole passing state according to the front and rear girder state balance equations and the middle and rear support leg distance constraint equations at the beginning of the hole passing state; An information display module: outputting the distance to be reached by the middle and rear support legs and the real-time walking speed of the crown block by using a display; An execution module: switching between power supply from an external power grid and power supply from a frequency conversion module for the crown block longitudinal movement motor; The basic parameters of the bridge erecting machine include: total length S of the main girder of the bridge erecting machine, length L0 of the support leg in the distance of the main girder when the hole passing state starts, single span L of the bridge, actual horizontal distance ΔS0 of the front trolley from the support leg when the hole passing state starts, actual horizontal distance ΔS of the front trolley from the support leg when the hole passing state is completed, horizontal distance D between the support leg and the rear support leg when the hole passing state is completed, spacing ΔH between the synchronous trolleys, mass m of a single trolley including the steel wire rope assembly and the sling, mass M of the main girder of the bridge erecting machine, hole passing time t after the hole passing state starts, rotation speed of the hole passing motor and walking speed v of the main girder, and actual walking speed v of the trolley t ; The front and rear main beam state equilibrium equations at the beginning of the via state are as follows: Q ≤T H +T m , wherein T Q is the moment of the main beam extended middle support leg part with the middle support leg as a fixed point, T H is the moment of the main beam unextended middle support leg part with the middle support leg as a fixed point, and T m is the moment of the crown block with the middle support leg as a fixed point; and the middle and rear support leg distance constraint equation at the beginning of the via state is as follows: D≤S-L; The analytical solution of the walking speed of the crown block changing with time from the via hole starting state to the via hole completion state is as follows: Wherein, C1=0.5(M+2m)m -1 C2=(2L0-S)M-(4AS0+2AH)m, f(t)=0.25(mt) -1 .
6. A self-balancing bridger machine crown block speed control system as claimed in claim 5, wherein, The hole passing state signal is 0 when the bridge erecting machine is in a girder erecting state, and is 1 when the bridge erecting machine is in a hole passing state; the time signal is a system built-in time signal when the bridge erecting machine enters the hole passing state.
7. The self-balancing bridger speed control system of claim 5, wherein, The execution module comprises a speed regulating device directly connected with the external power grid for enabling the crown block longitudinal movement motor; when the hole passing state signal is 0, the external power grid is directly connected with the crown block longitudinal movement motor through the bridge erecting machine control system, and when the hole passing signal is 1, the speed regulating device is powered, at which time the speed of the crown block longitudinal movement is completely controlled by the crown block speed control system.
Citation Information
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