Hydraulic slipway trolley control system
Through the design of the main control console, trolley control cabinet and actuator, flexible adjustment and stable movement of the ship section posture are achieved, which solves the problem of poor communication robustness in the existing technology and improves production efficiency.
Patent Information
- Application Number
- CN202421631823.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-07-10
- Publication Date
- 2025-10-10
- Estimated Expiration
- 2034-07-10
AI Technical Summary
The existing trolley control system cannot flexibly adjust the ship's posture, has poor communication robustness, and the ship moving process needs to be completed quickly due to the influence of tides. A single communication failure will affect the overall communication.
A main control console, trolley control cabinet and actuators are used. All trolleys are connected in series with the main control console to form a ring network communication. The sensor group monitors the operating status. The main control console is used to obtain adjustment requirements and drive the actuators to achieve posture adjustment and stable movement.
The robustness of system communication is improved, ensuring that communication failure of any trolley does not affect other trolleys, realizing flexible adjustment and stable movement of ship section posture, and improving production efficiency.
Smart Images
Figure CN223427037U_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the technical field of slipway trolleys, and in particular to a hydraulic slipway trolley control system. Background Art
[0002] To improve the construction efficiency of large ships, the modern shipbuilding industry generally adopts a segmented construction method. This involves breaking the entire ship into multiple segments and constructing them separately. Once all segments are built, they are assembled into a complete ship through welding. While this construction method greatly improves construction efficiency, it places extremely high demands on the centering and joining of the hull segments (referred to as ship segments). Currently, large shipyards generally use slipway trolleys to lift the ship segments for segmental centering and joining operations.
[0003] The existing slipway trolley control system only supports specific trolley grouping methods. The trolleys must be grouped according to two rows of longitudinal beams. The host computer generally uses a PLC as a controller, which has poor computing power, low communication robustness, and single functions. It is impossible to save data and view it in the system, and it is impossible to remotely control a single trolley for adjustment. The hull segment attitude adjustment process relies heavily on the operator's experience, which greatly reduces production efficiency. In addition, the ship moving process is affected by the tide and needs to be completed as quickly as possible. The current trolley communication method generally adopts a single-row series connection. This will cause a communication failure in one of the trolleys to affect the communication of all subsequent trolleys, resulting in the ship moving process not being completed on time. Utility Model Content
[0004] (1) Technical problems to be solved
[0005] The present application provides a hydraulic berth trolley control system to solve the problems in the prior art of being unable to flexibly adjust the ship section posture and having poor communication robustness.
[0006] (2) Technical solution
[0007] The present application provides a hydraulic slipway trolley control system, including a main control console, a trolley control cabinet and an actuator. The trolley control cabinet and the actuator are arranged on each trolley in the trolley formation, and all the trolleys are connected in series with the main control console to form a ring network for communication; the trolley control cabinet is connected to the main control console, and the actuator is connected to the trolley control cabinet; the main control console is used to obtain the adjustment requirements of the ship section and determine the adjustment amount of each trolley according to the adjustment requirements; the trolley control cabinet is used to drive the actuator, and the actuator is used to control the trolley movement according to the adjustment amount to achieve adjustment of the ship section posture.
[0008] Furthermore, the main console includes an industrial computer, a switch, a UPS uninterruptible power supply, and a UDP communication module.
[0009] Furthermore, the trolley control cabinet includes a controller, a power module, an EPA communication module, an input and output module, a relay, and a contactor.
[0010] Furthermore, the hydraulic slipway trolley control system also includes a remote control box and a sensor group. The sensor group is arranged on each trolley in the trolley formation, and the sensor group is connected to the trolley control cabinet; the sensor group is used to monitor the operating status of the trolley, and the main control console is also used to send corresponding control commands to the trolley according to the operating status.
[0011] Furthermore, the sensor group includes a displacement sensor, a pressure sensor, and a speed sensor.
[0012] Furthermore, the main control console is also used to control the trolley to open the stop valve before the trolley moves, and connect the trolley lifting cylinder in parallel using an external pipeline to achieve automatic uniform load distribution of the trolley.
[0013] Furthermore, the main control console is also used to control the automatic pressure adjustment of the trolley lifting cylinder to maintain the cylinder within a specified pressure range during the trolley's ship moving process, so as to achieve a stable ship posture during the moving process.
[0014] Furthermore, the main control console is also used to select any number of trolleys in the trolley formation and remotely control the any number of trolleys to enable the trolleys to perform corresponding actions.
[0015] Furthermore, the trolley control cabinet is also used to feed back the trolley's operating data to the main console, and the main console is also used to determine the trolley's fault type based on the operating data, including high or low liquid level, high oil temperature, filter element blockage, inconsistent walking speed, proportional valve failure, communication interruption, cylinder overload or overstroke, loading valve failure, etc., and the corresponding trolley number and pop-up prompt on the display screen. When the communication is interrupted, an emergency stop command is sent to all trolleys.
[0016] Furthermore, the main console is also used to obtain the saved historical data of the car in any time period and draw a time domain graph based on the historical data.
[0017] (3) Beneficial effects
[0018] The above technical solution of this application has the following advantages:
[0019] The hydraulic trolley control system provided in this application uses a main control console, a trolley control cabinet, and an actuator to adjust and move the ship's section posture. The trolley and the main control console are connected in series using a network cable to form a ring network, which improves the robustness of the system communication and ensures that a communication failure in any trolley will not affect the communication of other trolleys. BRIEF DESCRIPTION OF THE DRAWINGS
[0020] In order to more clearly illustrate the specific implementation methods of the present application or the technical solutions in the prior art, the following is a brief introduction to the drawings required for use in the specific implementation methods or the description of the prior art. Obviously, the drawings described below are some implementation methods of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.
[0021] Figure 1 Schematic diagram of the hydraulic slipway trolley control system provided for this application;
[0022] Figure 2 Schematic diagram of the connection between the trolley and the main console provided for this application. DETAILED DESCRIPTION
[0023] The following embodiments are used to illustrate the present invention, but are not intended to limit the scope of the present invention.
[0024] In the description of this application, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "back," "left," "right," "vertical," "horizontal," "top," "bottom," "inside," "outside," and the like, indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended only to facilitate the description of this application and simplify the description. They do not indicate or imply that the devices or components referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore should not be construed as limiting this application. In addition, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.
[0025] In the description of this application, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal connections between two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on the specific circumstances.
[0026] References to "one embodiment" or "some embodiments" in this specification mean that a particular feature, structure, or characteristic described in conjunction with the embodiment is included in one or more embodiments of the present application. Thus, phrases such as "in one embodiment," "in some embodiments," "in other embodiments," and "in yet other embodiments" appearing in various places in this specification do not necessarily refer to the same embodiment, but rather mean "one or more but not all embodiments," unless otherwise specifically emphasized.
[0027] The following embodiments are used to illustrate the present invention, but are not intended to limit the scope of the present invention.
[0028] The embodiment of the present application provides a hydraulic trolley control system, such as Figure 1 As shown, it includes a main control console, a trolley control cabinet and an actuator. The trolley control cabinet and the actuator are arranged on each trolley in the trolley formation, and all the trolleys are connected in series with the main control console to form a ring network for communication; the trolley control cabinet is connected to the main control console, and the actuator is connected to the trolley control cabinet; the main control console is used to obtain the adjustment requirements of the ship section and determine the adjustment amount of each trolley according to the adjustment requirements; the trolley control cabinet is used to drive the actuator, and the actuator is used to control the trolley movement according to the adjustment amount to achieve adjustment of the ship section posture.
[0029] In some embodiments, the main console includes an industrial computer, a switch, a UPS uninterruptible power supply, and a UDP communication module.
[0030] In some embodiments, the trolley control cabinet includes a controller, a power module, an EPA communication module, an input and output module, a relay, and a contactor.
[0031] In some embodiments, the hydraulic slipway trolley control system also includes a remote control box and a sensor group. The sensor group is arranged on each trolley in the trolley formation, and the sensor group is connected to the trolley control cabinet; the sensor group is used to monitor the operating status of the trolley, and the main control console is also used to send corresponding control commands to the trolley according to the operating status.
[0032] In some embodiments, the sensor group includes a displacement sensor, a pressure sensor, and a speed sensor.
[0033] In some embodiments, the main control console is also used to control the trolley to open the stop valve before the trolley moves, and connect the trolley lifting cylinder in parallel using an external pipeline to achieve automatic uniform load on the trolley.
[0034] In some embodiments, the main control console is also used to control the automatic pressure adjustment of the trolley lifting cylinder to maintain the cylinder within a specified pressure range during the trolley's ship moving process, so as to achieve a stable ship posture during the moving process.
[0035] In some embodiments, the main console is also used to select any number of trolleys in the trolley formation and remotely control the any number of trolleys to make the trolleys perform corresponding actions.
[0036] In some embodiments, the trolley control cabinet is also used to feed back the operating data of the trolley to the main console, and the main console is also used to determine the type of trolley fault based on the operating data, including high or low liquid level, high oil temperature, filter element blockage, inconsistent walking speed, proportional valve failure, communication interruption, cylinder overload or overstroke, loading valve failure, etc. and the corresponding trolley number and pop up a prompt on the display screen. When the communication is interrupted, an emergency stop command is sent to all trolleys.
[0037] In some embodiments, the main console is further used to obtain the saved historical data of the vehicle for any time period and draw a time domain graph based on the historical data.
[0038] In practice, the hydraulic slipway trolley control system primarily consists of a main control console, a remote control box, a trolley control cabinet, actuators, and a sensor array. All trolleys are connected in series to the main control console in a ring network for communication. Under the control of the master control software, the trolley control system performs its designated functions. The main control console includes an industrial computer, a switch, a UPS (uninterruptible power supply), and a UDP communication module. The trolley control cabinet includes a controller, power module, communication module, input / output modules, relays, and contactors. The controller uses a PCL MCU6013, and the communication uses an EPA communication module. The sensor array includes displacement sensors, pressure sensors, and speed sensors. All collected data is transmitted to the PLC via the CAN bus and then to the host computer via the EPA communication module.
[0039] The trolleys are connected in series using network cables. The communication port A of the first trolley is connected to the communication port B of the next trolley. Similarly, the first trolley and the last trolley are connected to the main console, so that the trolleys form a ring network. Figure 2 As shown, the communication between the trolleys at any position can be interrupted without affecting the communication of the other trolleys, thus enhancing the communication robustness of the entire system. The trolleys communicate with each other through the EPA module. The control software runs in the computer and uses UDP communication to communicate with the trolley controllers in the EPA bus.
[0040] The functions of the hydraulic ship berth trolley control system include monitoring of the trolley state, ship section adjustment function, ship moving and walking, reselection control, fault monitoring and processing, and historical data query. The trolley state monitoring can monitor the upper and lower cavity pressures, walking speed, component switch condition, communication state, walking distance, and trolley working state of all trolleys. The ship section adjustment function is used for adjusting the attitude of the ship section during the centering and closing process of the ship section to be adjusted and the reference ship section. The user needs to input the adjustment amount of the five degrees of freedom of the ship section and set the rotation center, and the control software automatically calculates the adjustment amount of each trolley according to the trolley motion trajectory planning algorithm, controls all trolleys to move synchronously and coordinately, and realizes the six-degree-of-freedom adjustment of the ship section.
[0041] The ship moving and walking process is mainly used for moving the assembled whole ship to the dock. The control software opens the stop valve to realize automatic uniform load, and then controls the trolley jacking cylinder to enter the pressure control mode to automatically adjust the pressure so that the cylinder is maintained within the specified pressure range, thereby ensuring the stability of the ship attitude during the walking process. The trolley walking process along the track is subjected to speed closed-loop control. When quantitative walking is performed, the walking distance is set, and after walking to the position, the software automatically sends a stop command. The reselection control function can realize remote control of any number of trolleys in the group. The fault processing function can monitor the communication state, component fault, and numerical anomaly of the trolley in real time, and automatically stop in case of the above faults to prevent accidents. The data query function can select historical data of any time period, and automatically draw a time domain graph after importing the data.
[0042] The hydraulic ship berth trolley control system uses a two-stage variable displacement pump. During the ship moving and walking process, when the system determines that the trolley is in an unloaded state for jacking or walking according to the cylinder pressure data, the control oil pump is switched to a low-pressure output mode. When the trolley is jacked under load, the control oil pump is switched to a high-pressure output mode. In this way, the energy-saving purpose is achieved, the heat generation of the system is reduced, and the service life of the equipment is prolonged.
[0043] The hydraulic ship berth trolley control system provided in the application can realize the adjustment and movement of the ship section attitude by using the main control console, the trolley control cabinet, and the actuator. The control software runs in the computer, and UDP communication is used to realize communication with the trolley control cabinet in the EPA bus. The trolleys and the main control console are connected in series to form a ring network, which improves the robustness of the system communication and ensures that the communication of the remaining trolleys will not be affected in case of communication failure of any trolley.
[0044] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the division of the above functional units and modules is taken as an example, and in actual application, the above functions can be completed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to complete all or part of the functions described above. Each functional unit or module in the embodiment can be integrated in one processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. In addition, the specific names of each functional unit or module are only for the convenience of mutual distinction, and do not limit the protection scope of the application.
[0045] It should be clear that each embodiment in the specification is described in a progressive manner, and the same or similar parts between each embodiment can be referred to each other, and each embodiment focuses on the difference from other embodiments. For the embodiment of the method, the relevant part can be referred to the part of the device embodiment (according to the writing situation). The present application is not limited to the specific steps and structures described above and shown in the drawings. Moreover, for the sake of brevity, the detailed description of known methods and techniques is omitted here.
[0046] The above-described embodiments are only used to illustrate the technical solutions of the present application, rather than limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application.
Claims
1. A hydraulic trolley control system, characterized in that: It includes a main control console, a trolley control cabinet and an actuator. The trolley control cabinet and the actuator are arranged on each trolley in the trolley formation, and all trolleys are connected in series with the main control console to form a ring network for communication; the trolley control cabinet is connected to the main control console, and the actuator is connected to the trolley control cabinet; the main control console is used to obtain the adjustment requirements of the ship section and determine the adjustment amount of each trolley according to the adjustment requirements; the trolley control cabinet is used to drive the actuator, and the actuator is used to control the trolley movement according to the adjustment amount to achieve adjustment of the ship section posture.
2. The hydraulic trolley control system according to claim 1, characterized in that: The main control console includes an industrial computer, a switch, a UPS uninterruptible power supply, and a UDP communication module.
3. The hydraulic berth trolley control system according to claim 1, characterized in that: The trolley control cabinet includes a controller, a power module, an EPA communication module, an input and output module, a relay, and a contactor.
4. The hydraulic slipway trolley control system according to claim 1, characterized in that: The hydraulic slipway trolley control system also includes a remote control box and a sensor group. The sensor group is arranged on each trolley in the trolley formation, and the sensor group is connected to the trolley control cabinet; the sensor group is used to monitor the operating status of the trolley, and the main control console is also used to send corresponding control commands to the trolley according to the operating status.
5. The hydraulic slipway trolley control system according to claim 4, characterized in that: The sensor group includes a displacement sensor, a pressure sensor, and a speed sensor.
6. The hydraulic slipway trolley control system according to claim 1, characterized in that: The main control console is also used to control the trolley to open the stop valve before the trolley moves, and connect the trolley lifting cylinders in parallel using external pipes to achieve automatic uniform load distribution on the trolley.
7. The hydraulic slipway trolley control system according to claim 1, characterized in that: The main control console is also used to control the automatic pressure adjustment of the trolley lifting cylinder to maintain the cylinder within a specified pressure range during the trolley's ship moving process, so as to achieve a stable ship posture during the moving process.
8. The hydraulic slipway trolley control system according to claim 1, characterized in that: The main control console is also used to select any number of trolleys in the trolley formation and remotely control the any number of trolleys to enable the trolleys to perform corresponding actions.
9. The hydraulic slipway trolley control system according to claim 1, characterized in that: The trolley control cabinet is also used to feed back the trolley's operating data to the main console. The main console is also used to determine the trolley's fault type based on the operating data, including high or low liquid level, high oil temperature, filter element blockage, inconsistent walking speed, proportional valve failure, communication interruption, cylinder overload or overstroke, loading valve failure and the corresponding trolley number, and pop up a prompt on the display screen. When communication is interrupted, an emergency stop command is sent to all trolleys.
10. The hydraulic slipway trolley control system according to claim 1, characterized in that: The main console is also used to obtain the saved historical data of the car in any time period and draw a time domain graph based on the historical data.