阅读说明：本技术 一种判断桥跨触地的检测方法 (Detection method for judging bridge span grounding ) 是由 吴琛 张涛 于 2021-05-31 设计创作，主要内容包括：本发明公开了一种判断桥跨触地的检测方法,通过控制器PLC控制油缸工作,油缸驱动架设架逐渐下摆,将桥跨放下,此时通过控制器PLC读取桥跨相对于地面的俯仰角度Z3、油缸伸出的位移量S及油缸内的压力值P；所述控制器PLC通过接收到的压力值P、位移值S及桥跨相对于地面的俯仰角度Z3的数据来判断桥跨是否处于触地工况：若同时满足三个条件：(1)Z3＝5°～7°；(2)S＝Sd；(3)P2<P1；则判断桥跨触地；若未同时满足上述三个条件,则判断桥跨未触地；本发明能够解决作业中下放桥跨时人眼判断触地不准确的问题,并为桥跨的自动化架设提供了判断依据和方法。(The invention discloses a detection method for judging bridge span grounding, which comprises the steps that a controller PLC controls an oil cylinder to work, the oil cylinder drives an erection frame to gradually swing downwards to put down a bridge span, and at the moment, the controller PLC reads a pitching angle Z3 of the bridge span relative to the ground, the extending displacement S of the oil cylinder and a pressure value P in the oil cylinder; the controller PLC judges whether the bridge span is in a ground contact working condition or not according to the received pressure value P, the displacement value S and the data of the pitch angle Z3 of the bridge span relative to the ground: if three conditions are simultaneously satisfied: (1) z3-5 to 7 °; (2) s ═ Sd; (3) p2< P1; judging bridge span grounding; if the three conditions are not met simultaneously, judging that the bridge span is not in touch with the ground; the invention can solve the problem that the judgment of the touchdown by human eyes is inaccurate when the bridge span is put down in operation, and provides a judgment basis and a method for the automatic erection of the bridge span.)

1. A detection method for judging the grounding of a bridge span is characterized in that the lowering action of the bridge span is completed by an actuating mechanism erecting frame, and driving elements of the erecting frame are two oil cylinders working synchronously; detecting the position information of the bridge span through a Z-axis sensor, a pull rope sensor, a pressure sensor and a controller PLC (programmable logic controller) in the process of lowering the bridge span and judging whether the bridge span contacts the ground or not; the Z-axis sensor is used for measuring a pitch angle Z3 of the bridge span relative to the ground; the pull rope sensor is used for measuring the extending displacement S of the oil cylinder of the erection frame; the pressure sensor is used for measuring a pressure value P in the oil cylinder;

the method comprises the following specific steps:

firstly, controlling the oil cylinder to work through a controller PLC, driving an erection frame to gradually swing downwards through the oil cylinder, putting down a bridge span, and reading a pitch angle Z3 of the bridge span relative to the ground, a stretching displacement S of the oil cylinder and a pressure value P in the oil cylinder through the controller PLC;

step two, the controller PLC judges whether the bridge span is in a ground contact working condition or not according to the received pressure value P, the displacement value S and the data of the pitch angle Z3 of the bridge span relative to the ground:

if three conditions are simultaneously satisfied: (1) z3-5 to 7 °; (2) s ═ Sd; (3) the pressure value P is gradually increased to P1 and then decreased to P2, namely P2 is less than P1; judging bridge span grounding; if the three conditions are not met simultaneously, judging that the bridge span is not in touch with the ground, and continuing to execute the actions of descending the erection frame and descending the bridge span until the three conditions are met simultaneously.

2. The bridge span touchdown detection method according to claim 1, wherein the number of the Z-axis sensors is two, namely a Z-axis sensor a and a Z-axis sensor B;

the Z-axis sensor A is arranged on a chassis of the vehicle body and is used for measuring an included angle between the vehicle body and a horizontal plane, namely a gradient value Z1 of the ground; the Z-axis sensor B is arranged on the erection frame and used for measuring an included angle between the bridge span and the horizontal plane, namely a pitch angle Z2 of the bridge span relative to the horizontal plane;

the pitch angle of the bridge span with respect to the ground, Z3-Z2-Z1.

3. The bridge span ground contact judging detection method according to claim 1 or 2, wherein the pull rope sensor and the pressure sensor are respectively mounted on a cylinder of the erection frame.

4. The detection method for judging the bridge span touchdown according to claim 1 or 2, wherein the bridge span is pushed out to a rear final position before the oil cylinder drives the erection frame to gradually swing downwards and the bridge span is put down, and whether the bridge span is in a state parallel to the ground or not is read through a Z-axis sensor arranged on the bridge span; if Z3 is not equal to 0, the bridge span is not parallel to the ground, and at the moment, the bridge span is pushed out in place; if Z3 is 0, indicating that the bridge span is parallel to the ground, push out of the bridge span continues until the bridge span is pushed out into place.

5. A sensing method for determining bridge contact according to claim 1 or 2, wherein the span of the Z-axis sensor is 180 °.

6. A test method for determining bridge contact according to claim 1 or 2, wherein the pull-string sensor has a range of 5 m.

7. The detection method for judging the bridge span touchdown according to claim 3, wherein before the oil cylinder drives the erection frame to gradually swing downwards and the bridge span is put down, the bridge span is pushed out to a rear final position, and a Z-axis sensor arranged on the bridge span is used for reading whether the bridge span is in a state parallel to the ground or not; if Z3 is not equal to 0, the bridge span is not parallel to the ground, and at the moment, the bridge span is pushed out in place; if Z3 is 0, indicating that the bridge span is parallel to the ground, push out of the bridge span continues until the bridge span is pushed out into place.

8. The bridge contact determination method of claim 3, wherein the pull-string sensor has a range of 5 meters.

9. The bridge contact determination test method of claim 4 wherein said Z-axis sensor has a span of 180 °.

Technical Field

The invention belongs to the technical field of bridge span touchdown detection, and particularly relates to a detection method for judging bridge span touchdown.

Background

In the operation process of the bridge erecting vehicle, because the product needs to be manually controlled to erect the bridge span and put down the bridge span in the conventional erecting process, and the bridge span is visually observed whether to contact the ground after the product is moved to the vehicle, and then the next operation flow is started; the operation of manually controlling the erection frame to put down the bridge span is complicated, the problem of inaccurate judgment can occur when the human eyes judge whether the bridge span is in contact with the ground or not by visual inspection, the operation time of the bridge is prolonged, and the bridge erecting efficiency is low.

Disclosure of Invention

In view of the above, the invention provides a detection method for judging the touchdown of a bridge span, which can solve the problem that the touchdown judgment by human eyes is inaccurate when the bridge span is put down in operation, and provides a judgment basis and a method for the automatic erection of the bridge span.

The invention is realized by the following technical scheme:

a detection method for judging bridge span grounding is characterized in that the lowering action of the bridge span is completed by an actuating mechanism erecting frame, and a driving element of the erecting frame is two oil cylinders working synchronously; detecting the position information of the bridge span through a Z-axis sensor, a pull rope sensor, a pressure sensor and a controller PLC (programmable logic controller) in the process of lowering the bridge span and judging whether the bridge span contacts the ground or not; the Z-axis sensor is used for measuring a pitch angle Z3 of the bridge span relative to the ground; the pull rope sensor is used for measuring the extending displacement S of the oil cylinder of the erection frame; the pressure sensor is used for measuring a pressure value P in the oil cylinder;

the method comprises the following specific steps:

firstly, controlling the oil cylinder to work through a controller PLC, driving an erection frame to gradually swing downwards through the oil cylinder, putting down a bridge span, and reading a pitch angle Z3 of the bridge span relative to the ground, a stretching displacement S of the oil cylinder and a pressure value P in the oil cylinder through the controller PLC;

step two, the controller PLC judges whether the bridge span is in a ground contact working condition or not according to the received pressure value P, the displacement value S and the data of the pitch angle Z3 of the bridge span relative to the ground:

if three conditions are simultaneously satisfied: (1) z3-5 to 7 °; (2) s ═ Sd; (3) the pressure value P is gradually increased to P1 and then decreased to P2, namely P2 is less than P1; judging bridge span grounding; if the three conditions are not met simultaneously, judging that the bridge span is not in touch with the ground, and continuing to execute the actions of descending the erection frame and descending the bridge span until the three conditions are met simultaneously.

Furthermore, the number of the Z-axis sensors is two, namely a Z-axis sensor A and a Z-axis sensor B;

the Z-axis sensor A is arranged on a chassis of the vehicle body and is used for measuring an included angle between the vehicle body and a horizontal plane, namely a gradient value Z1 of the ground; the Z-axis sensor B is arranged on the erection frame and used for measuring an included angle between the bridge span and the horizontal plane, namely a pitch angle Z2 of the bridge span relative to the horizontal plane;

the pitch angle of the bridge span with respect to the ground, Z3-Z2-Z1.

Furthermore, the pull rope sensor and the pressure sensor are respectively arranged on an oil cylinder of the erection frame.

Further, before the oil cylinder drives the erection frame to gradually swing downwards and the bridge span is put down, the bridge span is pushed out to a rear final position, and whether the bridge span is in a state parallel to the ground at the moment is read through a Z-axis sensor arranged on the bridge span; if Z3 is not equal to 0, the bridge span is not parallel to the ground, and at the moment, the bridge span is pushed out in place; if Z3 is 0, indicating that the bridge span is parallel to the ground, push out of the bridge span continues until the bridge span is pushed out into place.

Further, the measuring range of the Z-axis sensor is 180 degrees.

Further, the measuring range of the pull rope sensor is 5 meters.

Further, before the oil cylinder drives the erection frame to gradually swing downwards and the bridge span is put down, the bridge span is pushed out to a rear final position, and whether the bridge span is in a state parallel to the ground at the moment is read through a Z-axis sensor arranged on the bridge span; if Z3 is not equal to 0, the bridge span is not parallel to the ground, and at the moment, the bridge span is pushed out in place; if Z3 is 0, indicating that the bridge span is parallel to the ground, push out of the bridge span continues until the bridge span is pushed out into place.

Further, the measuring range of the pull rope sensor is 5 meters.

Further, the measuring range of the Z-axis sensor is 180 degrees.

Has the advantages that:

(1) the position of each erection component is detected in a non-contact way through a Z-axis sensor, a pull rope sensor and a pressure sensor, and a detection signal is sent to a programmable controller PLC for logic judgment to detect the position information of a bridge span and judge whether the bridge is grounded; the problem that the judgment is inaccurate when the eyes look is solved, the bridging operation time is reduced, and the efficiency is improved.

(2) According to the invention, the oil cylinder is controlled by the controller PLC, and the oil cylinder drives the erection frame to gradually swing downwards, so that the automatic operation of a bridge span is realized; the problem of complex operation that manual operation erects the frame and brings is solved, establish the basis for realizing the intelligent application of bridge one key frame in next step.

(3) The invention is provided with two Z-axis sensors, and the two Z-axis sensors can be matched to measure the pitch angle of the bridge span relative to the ground, so that the invention can adapt to road surface terrains with different gradients.

Drawings

FIG. 1 is a schematic view of a Z-axis sensor and pressure sensor installation;

FIG. 2 is a schematic bridge-landing diagram;

FIG. 3 is a flow chart of the present invention.

Wherein, the 1-Z axis sensor A, the 2-pressure sensor, the 3-Z axis sensor B, the 4-pull rope sensor.

Detailed Description

The invention is described in detail below by way of example with reference to the accompanying drawings.

The embodiment provides a detection method for judging the grounding of a bridge span, wherein the lowering action of the bridge span is completed by an actuating mechanism erecting frame, and a driving element of the erecting frame is two oil cylinders working synchronously; in the process of lowering the bridge span, detecting the position information of the bridge span through two Z-axis sensors, a pull rope sensor 4, a pressure sensor 2 and a controller PLC (programmable logic controller) and judging whether the bridge span is grounded; the method comprises the following specific steps:

the vertical direction is a Z-axis direction, and the two Z-axis sensors are respectively a Z-axis sensor A1 and a Z-axis sensor B3;

firstly, referring to fig. 1, a Z-axis sensor a1 is mounted on a chassis of a vehicle body and used for measuring an included angle between the vehicle body and a horizontal plane, namely a slope value Z1 of the ground, and sending the slope value Z1 of the ground to a controller PLC; installing a Z-axis sensor B3 on the erection frame, and measuring the included angle between the bridge span and the horizontal plane, namely the pitch angle Z2 of the bridge span relative to the horizontal plane; and sending the pitch angle Z2 of the bridge span relative to the horizontal plane to a controller PLC;

secondly, respectively installing a pull rope sensor 4 and a pressure sensor 2 on an oil cylinder of the erection frame, wherein the pull rope sensor 4 is used for measuring the extending displacement S of the oil cylinder of the erection frame and sending the displacement S to a controller PLC; the pressure sensor 2 is used for measuring a pressure value P in the oil cylinder and sending the pressure value P to the controller PLC;

thirdly, the controller PLC calculates a pitch angle Z3 of the bridge span relative to the ground according to the received slope value Z1 and the pitch angle Z2, wherein Z3 is Z2-Z1; when the bridge span is in the ground contact position, referring to the attached figure 2, the controller PLC sets the pitch angle Z3 of the bridge span relative to the ground to be 5-7 degrees, and the extending displacement S of the oil cylinder reaches a fixed value Sd and keeps unchanged; because the ground can share and bear the pressure of a part of the erection frame due to the bridge span grounding, the pressure value P when the bridge span grounding is set to be P2, the maximum value of the pressure value P when the bridge span is not grounding is set to be P1, and P2 is far smaller than P1;

fourthly, the bridge span is firstly placed through the oil cylinder driving erection frame, and the concrete process is as follows:

step 4-1, after the bridge is connected, pushing the bridge span to a rear final position, and reading whether the bridge span is in a state parallel to the ground or not through two Z-axis sensors arranged on the bridge span; if Z3 is not equal to 0, the bridge span is not parallel to the ground, and at the moment, the bridge span is pushed out in place; if Z3 is equal to 0, the bridge span is parallel to the ground, pushing out the bridge span is continued until the bridge span is pushed out in place;

step 4-2, referring to the attached figure 3, shifting a handle of the erecting frame to a 'lowering' position, controlling the oil cylinder to work through the controller PLC, driving the erecting frame to gradually swing downwards by the oil cylinder, slowly lowering the bridge span, and reading the pitching angle Z3 of the bridge span relative to the ground, the extending displacement S of the oil cylinder and the pressure value P in the oil cylinder; before the bridge span is not in contact with the ground, the pitch angle Z3, the displacement S and the pressure value P of the bridge span relative to the ground are gradually increased;

fifthly, judging whether the bridge span is in a ground contact working condition or not by the controller PLC according to the received data of the pressure value P, the displacement value S and the pitch angle Z3 of the bridge span relative to the ground;

if three conditions are simultaneously satisfied: (1) z3-5 to 7 °; (2) s ═ Sd; (3) the pressure value P is gradually increased to P1 and then decreased to P2, namely P2 is less than P1; judging whether the bridge is in contact with the ground or not, and carrying out the next operation flow, namely controlling the on-off of a solenoid power supply of a hydraulic solenoid valve by a controller PLC (programmable logic controller) so as to control the working condition of a hydraulic execution element and finish each action of erection or withdrawal in the bridging process; if the three conditions are not met simultaneously, judging that the bridge span is not in touch with the ground, and continuing to execute the actions of descending the erection frame and descending the bridge span until the three conditions are met simultaneously.

Wherein, the operating environment temperature of Z axle sensor, stay cord sensor 4 and pressure sensor 2 is: -30 ℃ to +45 ℃;

the measuring range of the Z-axis sensor is 180 degrees;

the measuring range of the pull rope sensor 4 is 5 meters.

In summary, the above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.