阅读说明：本技术 自动作业方法、装置和系统及机械设备 (Automatic operation method, device and system and mechanical equipment ) 是由 段卓 赵万峰 何攀 于 2020-03-31 设计创作，主要内容包括：本发明涉及自动控制技术领域,公开了一种自动作业方法、装置和系统及机械设备。该自动作业方法包括：依据预设作业流程标准,将作业流程划分成多个过程及将多个过程排序；开启全流程诊断计时器；以及依据所排顺序逐步执行多个过程和设置每步过程的诊断计时器。藉此,实现了自动作业与诊断,解决了需要人工辅助判断作业动作到位情况的技术问题,避免了因人为观察判断增加作业时间及人为判断失误造成的危险情况,解决了因人工纯靠经验判断作业流程到位情况导致随意性较大而对设备及人工有安全隐患的技术问题。另外,自动作业可以避免人工作业来来回回判断就位情况导致浪费时间的技术问题,提高了工作效率。(The invention relates to the technical field of automatic control, and discloses an automatic operation method, an automatic operation device, an automatic operation system and mechanical equipment. The automatic operation method comprises the following steps: dividing the operation flow into a plurality of processes and sequencing the plurality of processes according to a preset operation flow standard; starting a full-flow diagnosis timer; and executing the plurality of processes step by step according to the sorted order and setting a diagnostic timer for each process step. Therefore, automatic operation and diagnosis are realized, the technical problem that the operation action in-place condition needs to be judged by manual assistance is solved, the dangerous condition caused by increasing operation time due to manual observation and judgment and manual judgment errors is avoided, and the technical problem that equipment and manpower have potential safety hazards due to large randomness caused by the fact that the manual operation is only dependent on experience to judge the in-place condition of the operation flow is solved. In addition, automatic operation can avoid manual operation to come back and forth to judge the technical problem of wasting time caused by the condition of taking one's place, and the working efficiency is improved.)

1. An automatic operation method, characterized by comprising:

dividing the operation flow into a plurality of processes and sequencing the processes according to a preset operation flow standard;

starting a full-flow diagnosis timer; and

executing the plurality of processes step by step in accordance with the ordered sequence, wherein, for any one of the plurality of processes,

before the process is executed, starting a diagnostic timer corresponding to the process and closing the diagnostic timer corresponding to the process when the process is executed;

judging whether the process is finished according to whether a finishing signal corresponding to the process is detected;

judging whether a diagnosis timer corresponding to the process is overtime in real time before the process is not executed, and controlling stop operation when the diagnosis timer corresponding to the process is overtime; and

and judging whether the full-flow diagnosis timer is overtime or not when the process is executed, controlling to stop operation when the full-flow diagnosis timer is overtime, and executing the next process after the process according to the arranged sequence under the condition that the full-flow diagnosis timer is not overtime and the whole operation flow is not executed completely.

2. The automated work method according to claim 1, wherein the plurality of processes include at least two of: leveling a chassis of the bridge erecting vehicle, jacking a turnover frame of the bridge erecting vehicle, landing and leveling portal support legs of the bridge erecting vehicle, jacking a variable frame of the bridge erecting vehicle, releasing the variable frame of the bridge erecting vehicle, releasing a bridge of a near-end bridge section of the bridge erecting vehicle, expanding the bridge, releasing the bridge and releasing the far-end bridge section of the bridge erecting vehicle, expanding the bridge and releasing the bridge.

3. The automated working method according to claim 2,

the completion signal corresponding to the leveling of the chassis of the bridge erecting vehicle is that the inclination angle of the chassis of the bridge erecting vehicle is within a first preset inclination angle range;

the finish signal corresponding to the jacking of the bridge girder erection vehicle roll-over stand is that the roll-over stand oil cylinder reaches a first preset limit;

the completion signal corresponding to landing and leveling of the landing legs of the portal frame of the bridge girder erection vehicle is that the inclination angle of the portal frame is within a second preset inclination angle range;

the finish signal corresponding to the jacking of the amplitude transformer of the bridge girder erection vehicle is that the amplitude transformer oil cylinder reaches a second preset limit;

the finishing signal corresponding to the amplitude-variable frame bridge-releasing of the bridge girder erection vehicle is that the bridge-releasing oil cylinder reaches a third preset limit;

the finishing signals corresponding to the bridge release, the bridge expansion and the bridge release of the near-end bridge section of the bridge girder erection vehicle are that the inclination angle of the near-end bridge section is the same as that of the middle bridge section and is within a third preset inclination angle range, and the oil cylinder of the near-end bridge section for the bridge girder expansion reaches a fourth preset limit; and

the bridge-releasing, bridge-expanding and bridge-releasing of the far-end bridge section of the bridge-erecting vehicle correspond to the finishing signal that the near-end bridge section inclination angle, the middle bridge section inclination angle and the far-end bridge section inclination angle are the same and do not change, the far-end bridge section bridge-expanding oil cylinder reaches a fifth preset limit, and the pressure of the far-end bridge section bridge-releasing oil cylinder does not change.

4. An automatic working apparatus, characterized by comprising:

the system comprises a process dividing module, a processing module and a processing module, wherein the process dividing module is used for dividing an operation flow into a plurality of processes and sequencing the processes according to a preset operation flow standard; and

a processing module to:

starting a full-flow diagnosis timer; and

executing the plurality of processes step by step in accordance with the ordered sequence, wherein, for any one of the plurality of processes,

before the process is executed, starting a diagnostic timer corresponding to the process and closing the diagnostic timer corresponding to the process when the process is executed;

judging whether the process is finished according to whether a finishing signal corresponding to the process is detected;

judging whether a diagnosis timer corresponding to the process is overtime in real time before the process is not executed, and controlling stop operation when the diagnosis timer corresponding to the process is overtime; and

and judging whether the full-flow diagnosis timer is overtime or not when the process is executed, controlling to stop operation when the full-flow diagnosis timer is overtime, and executing the next process after the process according to the arranged sequence under the condition that the full-flow diagnosis timer is not overtime and the whole operation flow is not executed completely.

5. The automated working device of claim 4, wherein the plurality of processes comprises at least two of: leveling a chassis of the bridge erecting vehicle, jacking a turnover frame of the bridge erecting vehicle, landing and leveling portal support legs of the bridge erecting vehicle, jacking a variable frame of the bridge erecting vehicle, releasing the variable frame of the bridge erecting vehicle, releasing a bridge of a near-end bridge section of the bridge erecting vehicle, expanding the bridge, releasing the bridge and releasing the far-end bridge section of the bridge erecting vehicle, expanding the bridge and releasing the bridge.

6. The automatic working device according to claim 5,

the completion signal corresponding to the leveling of the chassis of the bridge erecting vehicle is that the inclination angle of the chassis of the bridge erecting vehicle is within a first preset inclination angle range;

the finish signal corresponding to the jacking of the bridge girder erection vehicle roll-over stand is that the roll-over stand oil cylinder reaches a first preset limit;

the completion signal corresponding to landing and leveling of the landing legs of the portal frame of the bridge girder erection vehicle is that the inclination angle of the portal frame is within a second preset inclination angle range;

the finish signal corresponding to the jacking of the amplitude transformer of the bridge girder erection vehicle is that the amplitude transformer oil cylinder reaches a second preset limit;

the finishing signal corresponding to the amplitude-variable frame bridge-releasing of the bridge girder erection vehicle is that the bridge-releasing oil cylinder reaches a third preset limit;

the finishing signals corresponding to the bridge release, the bridge expansion and the bridge release of the near-end bridge section of the bridge girder erection vehicle are that the inclination angle of the near-end bridge section is the same as that of the middle bridge section and is within a third preset inclination angle range, and the oil cylinder of the near-end bridge section for the bridge girder expansion reaches a fourth preset limit; and

the bridge-releasing, bridge-expanding and bridge-releasing of the far-end bridge section of the bridge-erecting vehicle correspond to the finishing signal that the near-end bridge section inclination angle, the middle bridge section inclination angle and the far-end bridge section inclination angle are the same and do not change, the far-end bridge section bridge-expanding oil cylinder reaches a fifth preset limit, and the pressure of the far-end bridge section bridge-releasing oil cylinder does not change.

7. An automated processing system, comprising:

the automatic working device according to any one of claims 4 to 6;

the bridge girder erection vehicle rollover stand oil cylinder limit detection module is used for detecting whether the rollover stand oil cylinder reaches a first preset limit;

the bridge girder erection vehicle amplitude transformer oil cylinder limit detection module is used for detecting whether the amplitude transformer oil cylinder reaches a second preset limit;

the bridge-erecting vehicle bridge-disengaging oil cylinder limit detection module is used for detecting whether the bridge-disengaging oil cylinder reaches a third preset limit;

the bridge girder erection vehicle near-end bridge section limit detection module is used for detecting whether the bridge girder erection oil cylinder of the near-end bridge section reaches a fourth preset limit; and

and the bridge girder erection vehicle far-end bridge section limit detection module is used for detecting whether the far-end bridge section bridge girder erection oil cylinder reaches a fifth preset limit.

8. The automated working system according to claim 7, further comprising:

the bridge girder erection vehicle chassis inclination angle detection module is used for detecting the inclination angle of the bridge girder erection vehicle chassis;

the bridge girder erection vehicle portal inclination angle detection module is used for detecting a portal inclination angle;

the bridge girder erection vehicle near-end bridge section inclination angle detection module is used for detecting a near-end bridge section inclination angle;

the bridge girder erection vehicle middle bridge section inclination angle detection module is used for detecting an inclination angle of a middle bridge section; and

and the bridge girder erection vehicle far-end bridge section inclination angle detection module is used for detecting the far-end bridge section inclination angle.

9. A machine installation, characterized in that it comprises an automatic working system according to claim 7 or 8.

10. A machine-readable storage medium having stored thereon instructions for causing a machine to perform the automated work method of any one of claims 1-3.

Technical Field

The invention relates to the technical field of automatic control, in particular to an automatic operation method, an automatic operation device, an automatic operation system and mechanical equipment.

Background

The operation working conditions of the bridge erecting vehicle are severe and complex, the remote controllers are all adopted for manual erection during equipment construction, personnel are required to assist around, the in-place situation of each erection action is confirmed, and then the next erection action can be carried out.

The erection process of the bridge girder erection vehicle generally starts after a chassis of the bridge girder erection vehicle is leveled, and the erection sequence comprises the jacking of the roll-over stand, the landing and leveling of portal support legs, the jacking of the amplitude-variable frame, the bridge disengaging of the amplitude-variable frame, the straightening of a near-end bridge section, the straightening of a far-end bridge section and the erection of a bridge body, wherein only the roll-over stand and the portal support legs have in-place signals, and the in-place conditions of other operation flows are determined by observing the in-place conditions of each erection flow through auxiliary personnel, so that whether the next step can be continued or.

The bridge girder erection vehicle has the risk of tipping in the whole driving process, each erection process must strictly follow the operation flow, but in the operation process, the operator judges the in-place situation of each erection flow purely by experience, the randomness is high, and certain potential safety hazards are generated to equipment and surrounding personnel. In addition, if the assistant does not watch the erection process for a long time, the assistant may not know that the fault is processed for a long time after the fault occurs, and the progress of the erection process is affected.

In addition, the bridge erecting vehicle is used for emergency rescue and disaster relief, the time is the life, and the situation that people come and go back and forth in place due to manual erection wastes precious rescue time.

Disclosure of Invention

It is an object of the present invention to provide an automated process, apparatus and system, and a mechanical device, which solve, or at least partially solve, the above problems.

In order to achieve the above object, an aspect of the present invention provides an automatic working method including: dividing the operation flow into a plurality of processes and sequencing the processes according to a preset operation flow standard; starting a full-flow diagnosis timer; and gradually executing the plurality of processes according to the ordered sequence, wherein for any one of the plurality of processes, before the process is executed, a diagnostic timer corresponding to the process is started, and when the process is executed, the diagnostic timer corresponding to the process is closed; judging whether the process is finished according to whether a finishing signal corresponding to the process is detected; judging whether a diagnosis timer corresponding to the process is overtime in real time before the process is not executed, and controlling stop operation when the diagnosis timer corresponding to the process is overtime; and judging whether the full-flow diagnosis timer is overtime or not when the process is executed, controlling to stop operation when the full-flow diagnosis timer is overtime, and executing the next process after the process according to the arranged sequence under the condition that the full-flow diagnosis timer is not overtime and the whole operation flow is not executed completely.

Optionally, the plurality of processes comprises at least two of: leveling a chassis of the bridge erecting vehicle, jacking a turnover frame of the bridge erecting vehicle, landing and leveling portal support legs of the bridge erecting vehicle, jacking a variable frame of the bridge erecting vehicle, releasing the variable frame of the bridge erecting vehicle, releasing a bridge of a near-end bridge section of the bridge erecting vehicle, expanding the bridge, releasing the bridge and releasing the far-end bridge section of the bridge erecting vehicle, expanding the bridge and releasing the bridge.

Optionally, the completion signal corresponding to the leveling of the chassis of the bridge erecting vehicle is that the inclination angle of the chassis of the bridge erecting vehicle is within a first preset inclination angle range; the finish signal corresponding to the jacking of the bridge girder erection vehicle roll-over stand is that the roll-over stand oil cylinder reaches a first preset limit; the completion signal corresponding to landing and leveling of the landing legs of the portal frame of the bridge girder erection vehicle is that the inclination angle of the portal frame is within a second preset inclination angle range; the finish signal corresponding to the jacking of the amplitude transformer of the bridge girder erection vehicle is that the amplitude transformer oil cylinder reaches a second preset limit; the finishing signal corresponding to the amplitude-variable frame bridge-releasing of the bridge girder erection vehicle is that the bridge-releasing oil cylinder reaches a third preset limit; the finishing signals corresponding to the bridge release, the bridge expansion and the bridge release of the near-end bridge section of the bridge girder erection vehicle are that the inclination angle of the near-end bridge section is the same as that of the middle bridge section and is within a third preset inclination angle range, and the oil cylinder of the near-end bridge section for the bridge girder expansion reaches a fourth preset limit; and the bridge releasing, the bridge expanding and the bridge releasing of the far-end bridge section of the bridge erecting vehicle correspond to the finishing signals that the inclination angle of the near-end bridge section, the inclination angle of the middle bridge section and the inclination angle of the far-end bridge section are the same and do not change, the far-end bridge section bridge expanding oil cylinder reaches a fifth preset limit, and the pressure of the far-end bridge section bridge releasing oil cylinder does not change.

Accordingly, another aspect of the present invention provides an automatic working apparatus, comprising: the system comprises a process dividing module, a processing module and a processing module, wherein the process dividing module is used for dividing an operation flow into a plurality of processes and sequencing the processes according to a preset operation flow standard; and a processing module for: starting a full-flow diagnosis timer; and gradually executing the plurality of processes according to the ordered sequence, wherein for any one of the plurality of processes, before the process is executed, a diagnostic timer corresponding to the process is started, and when the process is executed, the diagnostic timer corresponding to the process is closed; judging whether the process is finished according to whether a finishing signal corresponding to the process is detected; judging whether a diagnosis timer corresponding to the process is overtime in real time before the process is not executed, and controlling stop operation when the diagnosis timer corresponding to the process is overtime; and judging whether the full-flow diagnosis timer is overtime or not when the process is executed, controlling to stop operation when the full-flow diagnosis timer is overtime, and executing the next process after the process according to the arranged sequence under the condition that the full-flow diagnosis timer is not overtime and the whole operation flow is not executed completely.

Optionally, the plurality of processes comprises at least two of: leveling a chassis of the bridge erecting vehicle, jacking a turnover frame of the bridge erecting vehicle, landing and leveling portal support legs of the bridge erecting vehicle, jacking a variable frame of the bridge erecting vehicle, releasing the variable frame of the bridge erecting vehicle, releasing a bridge of a near-end bridge section of the bridge erecting vehicle, expanding the bridge, releasing the bridge and releasing the far-end bridge section of the bridge erecting vehicle, expanding the bridge and releasing the bridge.

Optionally, the completion signal corresponding to the leveling of the chassis of the bridge erecting vehicle is that the inclination angle of the chassis of the bridge erecting vehicle is within a first preset inclination angle range; the finish signal corresponding to the jacking of the bridge girder erection vehicle roll-over stand is that the roll-over stand oil cylinder reaches a first preset limit; the completion signal corresponding to landing and leveling of the landing legs of the portal frame of the bridge girder erection vehicle is that the inclination angle of the portal frame is within a second preset inclination angle range; the finish signal corresponding to the jacking of the amplitude transformer of the bridge girder erection vehicle is that the amplitude transformer oil cylinder reaches a second preset limit; the finishing signal corresponding to the amplitude-variable frame bridge-releasing of the bridge girder erection vehicle is that the bridge-releasing oil cylinder reaches a third preset limit; the finishing signals corresponding to the bridge release, the bridge expansion and the bridge release of the near-end bridge section of the bridge girder erection vehicle are that the inclination angle of the near-end bridge section is the same as that of the middle bridge section and is within a third preset inclination angle range, and the oil cylinder of the near-end bridge section for the bridge girder expansion reaches a fourth preset limit; and the bridge releasing, the bridge expanding and the bridge releasing of the far-end bridge section of the bridge erecting vehicle correspond to the finishing signals that the inclination angle of the near-end bridge section, the inclination angle of the middle bridge section and the inclination angle of the far-end bridge section are the same and do not change, the far-end bridge section bridge expanding oil cylinder reaches a fifth preset limit, and the pressure of the far-end bridge section bridge releasing oil cylinder does not change.

In addition, another aspect of the present invention provides an automatic operation system, including: the above-described automatic working apparatus; the bridge girder erection vehicle rollover stand oil cylinder limit detection module is used for detecting whether the rollover stand oil cylinder reaches a first preset limit; the bridge girder erection vehicle amplitude transformer oil cylinder limit detection module is used for detecting whether the amplitude transformer oil cylinder reaches a second preset limit; the bridge-erecting vehicle bridge-disengaging oil cylinder limit detection module is used for detecting whether the bridge-disengaging oil cylinder reaches a third preset limit; the bridge girder erection vehicle near-end bridge section limit detection module is used for detecting whether the bridge girder erection oil cylinder of the near-end bridge section reaches a fourth preset limit; and the bridge erection vehicle far-end bridge section limit detection module is used for detecting whether the far-end bridge section bridge expansion oil cylinder reaches a fifth preset limit.

Optionally, the automatic operation system further comprises: the bridge girder erection vehicle chassis inclination angle detection module is used for detecting the inclination angle of the bridge girder erection vehicle chassis; the bridge girder erection vehicle portal inclination angle detection module is used for detecting a portal inclination angle; the bridge girder erection vehicle near-end bridge section inclination angle detection module is used for detecting a near-end bridge section inclination angle; the bridge girder erection vehicle middle bridge section inclination angle detection module is used for detecting an inclination angle of a middle bridge section; and the bridge girder erection vehicle far-end bridge section inclination angle detection module is used for detecting the far-end bridge section inclination angle.

In addition, the invention also provides mechanical equipment which comprises the automatic operating system.

In addition, another aspect of the present invention also provides a machine-readable storage medium having instructions stored thereon for causing a machine to perform the above-described automatic work method.

By the technical scheme, whether the operation process is finished or not is judged according to whether the finishing signal corresponding to the operation process is detected or not aiming at each operation process in the operation process, namely whether the operation action is in place or not, so that automatic operation and diagnosis are realized, the technical problem that the condition that the operation action is in place needs to be judged by manual assistance is solved, the dangerous condition caused by increasing operation time due to manual observation and judgment and manual judgment errors is avoided, and the technical problem that equipment and manual work have potential safety hazards due to large randomness caused by judging the condition that the operation process is in place purely by experience is solved. In addition, automatic operation can avoid manual operation to come back and forth to judge the technical problem of wasting time caused by the condition of taking one's place, and the working efficiency is improved. In addition, a diagnosis timer is introduced into each process and a diagnosis timer is introduced into the whole operation process, and the operation is controlled to stop if the time is out, so that each process and the whole operation process can be monitored, the cost is low, the problem that the auxiliary personnel cannot be found due to the fact that the auxiliary personnel cannot observe the operation process for a long time but the fault occurs in the operation process can be avoided, and the smooth operation of the operation process is guaranteed.

Additional features and advantages of the invention will be set forth in the detailed description which follows.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:

FIG. 1 is a schematic view of the operational logic of a prior art bridge girder erection vehicle;

FIG. 2 is a flow chart of an automated operation method according to an embodiment of the present invention;

FIG. 3 is a logic diagram of an automated operation method according to another embodiment of the present invention; and

fig. 4 is a block diagram of an automatic working apparatus according to another embodiment of the present invention.

Description of the reference numerals

1 process division module 2 processing module

Detailed Description

The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present invention, are given by way of illustration and explanation only, not limitation.

One aspect of an embodiment of the present invention provides an automated method.

Fig. 2 is a flowchart of an automatic operation method according to an embodiment of the present invention. As shown in fig. 2, the automatic working method includes the following.

In step S20, the workflow is divided into a plurality of processes and the plurality of processes are sequenced according to the predetermined workflow standard. For example, the operation process may be bridge erection, taking bridge erection as an example, the erection process is set according to the requirement of bridge erection, the erection process is divided into a plurality of processes according to the preset erection process standard, and the plurality of processes are sequenced according to the preset erection process standard.

In step S21, a full-flow diagnostic timer is started.

In step S22, executing a plurality of processes step by step according to the ordered sequence, wherein for any one of the plurality of processes, before executing the process, a diagnostic timer corresponding to the process is started and when the process is completed, the diagnostic timer corresponding to the process is closed; judging whether the process is finished according to whether a finishing signal corresponding to the process is detected; judging whether a diagnosis timer corresponding to the process is overtime in real time before the process is not executed, and controlling stop operation when the diagnosis timer corresponding to the process is overtime; and judging whether the full-flow diagnosis timer is overtime or not when the process is executed, controlling to stop operation when the full-flow diagnosis timer is overtime, and executing the next process after the process according to the arranged sequence under the condition that the full-flow diagnosis timer is not overtime and the whole operation flow is not executed completely.

By the technical scheme, whether the operation process is finished or not is judged according to whether the finishing signal corresponding to the operation process is detected or not aiming at each operation process in the operation process, namely whether the operation action is in place or not, so that automatic operation and diagnosis are realized, the technical problem that the condition that the operation action is in place needs to be judged by manual assistance is solved, the dangerous condition caused by increasing operation time due to manual observation and judgment and manual judgment errors is avoided, and the technical problem that equipment and manual work have potential safety hazards due to large randomness caused by judging the condition that the operation process is in place purely by experience is solved. In addition, automatic operation can avoid manual operation to come back and forth to judge the technical problem of wasting time caused by the condition of taking one's place, and the working efficiency is improved. In addition, a diagnosis timer is introduced into each process and a diagnosis timer is introduced into the whole operation process, and the operation is controlled to stop if the time is out, so that each process and the whole operation process can be monitored, the cost is low, the problem that the auxiliary personnel cannot be found due to the fact that the auxiliary personnel cannot observe the operation process for a long time but the fault occurs in the operation process can be avoided, and the smooth operation of the operation process is guaranteed.

Optionally, in an embodiment of the present invention, the plurality of processes may include at least two of: leveling a chassis of the bridge erecting vehicle, jacking a turnover frame of the bridge erecting vehicle, landing and leveling portal support legs of the bridge erecting vehicle, jacking a variable frame of the bridge erecting vehicle, releasing the variable frame of the bridge erecting vehicle, releasing a bridge of a near-end bridge section of the bridge erecting vehicle, expanding the bridge, releasing the bridge and releasing the far-end bridge section of the bridge erecting vehicle, expanding the bridge and releasing the bridge.

Optionally, in the embodiment of the present invention, the signal indicating that the chassis of the bridge girder erection vehicle is leveled is that the chassis inclination angle of the bridge girder erection vehicle is within a first preset inclination angle range; a corresponding finish signal of jacking the turnover frame of the bridge erecting vehicle is that the oil cylinder of the turnover frame reaches a first preset limit; landing and leveling of the landing legs of the portal frame of the bridge girder erection vehicle are correspondingly finished signals that the inclination angle of the portal frame is in a second preset inclination angle range; the lifting of the amplitude transformer frame of the bridge girder erection vehicle corresponds to a finishing signal for the amplitude transformer cylinder to reach a second preset limit; the bridge-off oil cylinder reaches a third preset limit according to a finishing signal corresponding to the amplitude-variable bridge-off of the bridge-erecting vehicle; the bridge placing, the bridge unfolding and the bridge placing of the near-end bridge section of the bridge girder erection vehicle are finished signals that the inclination angle of the near-end bridge section is the same as that of the middle bridge section and is within a third preset inclination angle range, and the oil cylinder of the near-end bridge section for unfolding the bridge reaches a fourth preset limit; and finishing signals corresponding to the bridge release, the bridge expansion and the bridge release of the far-end bridge section of the bridge girder erection vehicle are that the inclination angle of the near-end bridge section, the inclination angle of the middle bridge section and the inclination angle of the far-end bridge section are the same and do not change, the far-end bridge section bridge expansion oil cylinder reaches a fifth preset limit, and the pressure of the far-end bridge section bridge release oil cylinder does not change.

The following takes the automatic operation as an example of a bridging vehicle frame, and an exemplary description is given to the automatic operation method provided by the embodiment of the invention with reference to fig. 3. As shown in fig. 3, in this embodiment, the automatic job method includes the following.

And (4) self-checking after the system is powered on. And electrifying the bridge erecting vehicle equipment to perform self-inspection of the electric control system. The self-checking comprises control input and output interface self-checking, communication self-checking with a remote controller and a chassis, and communication self-checking with an angle sensor and an inclination angle sensor. Judging whether each electric control interface is normal, and allowing an automatic erection process after confirming that each electric control interface is normal, namely entering an automatic erection mode; and if the electronic control interfaces are judged to be abnormal, alarming and prompting are carried out.

And after judging that each electric control interface is normal, starting an automatic erection button and entering an automatic erection mode.

And (6) sequencing the steps of the motion process. The erection flow is divided into a plurality of movement flow steps (the movement flow steps are identical to the process described in the above embodiment), and then the plurality of movement flow steps are sorted. In the embodiment, the plurality of motion process steps comprise leveling of a chassis of the bridge girder erection vehicle, jacking of a turnover frame of the bridge girder erection vehicle, landing and leveling of a portal supporting leg of the bridge girder erection vehicle, jacking of a variable amplitude frame of the bridge girder erection vehicle, releasing of the variable amplitude frame of the bridge girder erection vehicle, releasing of a proximal bridge section of the bridge girder erection vehicle, unfolding of the bridge girder, releasing of the bridge girder and a distal bridge section of the bridge girder erection vehicle, unfolding of the bridge girder and releasing of the distal bridge section of the bridge girder erection vehicle.

The full flow diagnostic timer is started. Wherein the full process diagnostic timer times the entire erection process.

And gradually executing the bridge expansion process according to the process step sequence, wherein the bridge expansion process is also the erection process.

Any flow steps are described as an example. The process diagnostic timer is started. Waiting for the end detection device in-place signal (equal to the completion signal in the above embodiment), and determining whether the process diagnosis timer is over time in real time. If the step of the process diagnosis timer is overtime, stopping the erection action, closing the diagnosis timer, alarming and prompting, wherein the closed diagnosis timer comprises all the diagnosis timers which are being started, namely the closed diagnosis timer comprises a full-process diagnosis timer and the step of the process diagnosis timer. If the flow diagnosis timer is not overtime, the step-in-place condition is judged, namely whether the step-in-place signal of the end detection device is detected or not is judged. If not, the terminal detection device continues waiting for the in-place signal. If the timer is in place, the flow diagnosis timer is closed, and whether the full-flow diagnosis timer is overtime is judged. And if the full-process diagnosis timer is overtime, stopping the erection action, closing the diagnosis timer, alarming and prompting, wherein the closed diagnosis timer comprises all the diagnosis timers which are being started, namely the closed diagnosis timer comprises the full-process diagnosis timer. And if the full-process diagnosis timer is not overtime, judging whether all the processes are executed completely. And if all the flows are executed, closing the full-flow diagnosis timer and carrying out normal prompt. If all the flows are not executed completely, the bridge expansion flow is continuously executed step by step according to the flow step ordering, namely, the next flow of the flow is executed according to the flow step ordering.

In this embodiment, the plurality of motion flow steps include leveling chassis of the bridge girder erection vehicle, jacking up a roll stand of the bridge girder erection vehicle, landing and leveling legs of a portal frame of the bridge girder erection vehicle, jacking up a variable amplitude frame of the bridge girder erection vehicle, releasing a bridge of a proximal bridge section of the bridge girder erection vehicle, releasing a bridge, and releasing a bridge of a distal bridge section of the bridge girder erection vehicle. The sequence of the process steps is that chassis leveling of the bridge girder erection vehicle, jacking of a turnover frame of the bridge girder erection vehicle, landing and leveling of portal supporting legs of the bridge girder erection vehicle, jacking of a variable amplitude frame of the bridge girder erection vehicle, releasing of the variable amplitude frame of the bridge girder erection vehicle, releasing of a bridge section at the near end of the bridge girder erection vehicle, unfolding of the bridge, releasing of the bridge and a bridge section at the far end of the bridge girder erection vehicle, unfolding of the bridge and releasing of the bridge. The flow of each step is described in turn below. And finishing the erection after all the flow steps are executed.

Leveling a chassis of the bridge girder erection vehicle: and automatically adjusting the four supporting leg oil cylinders by adopting an automatic leveling algorithm, stopping leveling when the inclination angle of the chassis reaches a set inclination angle range (which is equal to the inclination angle of the chassis of the bridge girder erection vehicle in the first preset inclination angle range in the embodiment), and entering the next erection process.

Jacking the turnover frame of the bridge girder erection vehicle: the controller outputs current to the turning proportional valve according to a curve set by a program, the turning oil cylinder acts, and after the oil cylinder reaches a limit (which is equal to the turning frame oil cylinder in the embodiment above, the turning is stopped, and the lower erection process is started.

Landing and leveling of portal support legs of the bridge girder erection vehicle: and automatically adjusting the two supporting leg oil cylinders by adopting an automatic leveling algorithm, stopping leveling when the inclination angle of the gantry reaches a set inclination angle range (which is equal to the inclination angle of the gantry in the second preset inclination angle range in the embodiment), and entering the next erection flow.

Jacking the amplitude transformer frame of the bridge girder erection vehicle: the controller outputs current to the amplitude transformer proportional valve according to a curve set by a program, the oil cylinder acts, and the oil cylinder stops jacking after reaching a limit (which is equal to the limit that the amplitude transformer oil cylinder reaches a second preset limit in the embodiment) and enters a lower erection flow.

The amplitude-changing frame of the bridge girder erection vehicle is off-bridge: the controller outputs current to the bridge-off proportional valve according to a set curve, the oil cylinder acts, and after the oil cylinder reaches a limit (which is equal to the bridge-off oil cylinder in the above embodiment reaching a third preset limit), bridge-off is stopped, and the lower erection process is started.

Bridge placing, bridge unfolding and bridge placing of a bridge section at the near end of the bridge girder erection vehicle: the controller outputs current to the bridge releasing proportional valve and the near-end bridge expanding proportional valve according to a curve set by a program, bridge releasing and bridge expanding are carried out according to the inclination angle conditions of the near-end bridge section and the middle bridge section, after the steps are repeated for a plurality of times, the middle bridge section is unfolded, the bridge releasing reaches a set inclination angle range, and the next erection process is carried out. The bridge is placed and expanded according to the inclination angle condition of the near-end bridge section, namely the bridge is placed when the inclination angle of the bridge section reaches a certain inclination angle, the bridge is expanded when the inclination angle of the bridge section reaches another inclination angle, the bridge is placed when the inclination angle of the bridge section reaches another inclination angle, and the bridge is placed … … when the inclination angle of the bridge section reaches another inclination angle, so that the process is repeated, and the bridge placement and expansion principle of the middle bridge section is similar to that of the near-end bridge section. And the middle bridge section is unfolded, wherein the unfolding of the middle bridge section comprises that the inclination angle of the near-end bridge section is the same as that of the middle bridge section, and the bridge unfolding oil cylinder of the near-end bridge section reaches a fourth preset limit. Because the inclination angles of the near-end bridge sections and the intermediate bridge sections are the same, the fact that the intermediate bridge section is unfolded and the bridge is placed to reach the set inclination angle range means that both the inclination angle of the intermediate bridge section and the inclination angle of the near-end bridge section reach the set inclination angle range, that is, the inclination angle of the near-end bridge section and the inclination angle of the intermediate bridge section are the same and are in the third preset inclination angle range in the above embodiment.

Bridge laying, bridge unfolding and bridge laying of the far-end bridge section of the bridge girder erection vehicle: the controller sends current to the bridge releasing proportional valve and the far-end bridge expanding proportional valve according to a curve set by a program, bridge releasing and bridge expanding are carried out according to the inclination angle conditions of the far-end bridge section and the middle bridge section, after the steps are repeated for a plurality of times, the far-end bridge section is expanded, bridge releasing is continued until the pressure of a bridge releasing oil cylinder of the far-end bridge section and the inclination angle of the bridge section are not changed, and automatic bridge expanding is ensured. The principle of bridge placing and bridge unfolding according to the inclination angle condition of the far-end bridge section is similar to that of bridge placing and bridge unfolding according to the inclination angle condition of the near-end bridge section. And the step of completing the expansion of the far-end bridge section comprises the steps of enabling the inclination angle of the near-end bridge section, the inclination angle of the middle bridge section and the inclination angle of the far-end bridge section to be the same and enabling the oil cylinder of the far-end bridge section to reach a fifth preset limit. Because the inclination angles of the near-end bridge sections, the intermediate bridge section and the far-end bridge sections are the same, the inclination angles of the bridge sections are not changed into the inclination angles of the near-end bridge sections, the intermediate bridge sections and the far-end bridge sections.

In the embodiment of the invention, the control software firstly generates the operation flow according to the requirement of bridge erection, divides the processes to be executed step by step according to the operation flow, and then sequences and executes the processes step by step.

In order to ensure the safety and stability of the movement process, the control software sets a global diagnosis timer, and simultaneously sets a diagnosis timer for each step. When the moving end in-place signal of each step exceeds the time delay of the diagnosis timer, the system stops the current action and outputs an alarm. When the erection execution process exceeds the time delay of the global diagnosis timer, the system stops all actions and outputs an alarm. The mechanism provided by the invention replaces the process of manual observation, improves the automation level of bridge erection of the bridge girder erection vehicle, and simultaneously provides guarantee for the stability and safety of movement.

Compared with the prior art, the invention can avoid the equipment tipping and the injury to peripheral personnel caused by insufficient operation skills and misoperation of an operator; the invention adopts an automatic erection technology and an automatic diagnosis technology, reduces the step and time for manually confirming the in-place of each process, and greatly improves the automation level of the emergency bridge girder erection vehicle.

In the invention, the limit detection of each actuating mechanism is added, the inclination angle detection of the portal frame, the amplitude changing frame and the three bridge sections is added, the automatic driving program can automatically erect according to the in-place condition of each erecting device and the positions of the three bridge sections in the air, and the automatic driving program can carry out safety protection in the erecting process according to the in-place condition of each erecting device and the positions of the three bridge sections in the air. A method for automatically sequencing the erection operation flows and setting diagnosis timers on the whole situation and step by step is added in a control program, manual observation and intervention are replaced, the automation level of the system is improved, and meanwhile, the safe, stable and controllable movement is also ensured.

Accordingly, another aspect of the embodiments of the present invention provides an automatic working apparatus.

Fig. 3 is a block diagram of an automatic working apparatus according to another embodiment of the present invention. As shown in fig. 3, the automatic working device includes a process dividing module 1 and a processing module 2. The process dividing module 1 is configured to divide the workflow into a plurality of processes and sort the plurality of processes according to a preset workflow standard. The processing module 2 is used for starting a full-process diagnosis timer; and gradually executing a plurality of processes according to the ordered sequence, wherein for any one of the plurality of processes, before the process is executed, a diagnostic timer corresponding to the process is started, and when the process is executed, the diagnostic timer corresponding to the process is closed; judging whether the process is finished according to whether a finishing signal corresponding to the process is detected; judging whether a diagnosis timer corresponding to the process is overtime in real time before the process is not executed, and controlling stop operation when the diagnosis timer corresponding to the process is overtime; and judging whether the full-flow diagnosis timer is overtime or not when the process is executed, controlling to stop the operation when the full-flow diagnosis timer is overtime, and executing the next process after the process according to the arranged sequence under the condition that the full-flow diagnosis timer is not overtime and the whole operation flow is not executed completely.

By the technical scheme, whether the operation process is finished or not is judged according to whether the finishing signal corresponding to the operation process is detected or not aiming at each operation process in the operation process, namely whether the operation action is in place or not, so that automatic operation and diagnosis are realized, the technical problem that the condition that the operation action is in place needs to be judged by manual assistance is solved, the dangerous condition caused by increasing operation time due to manual observation and judgment and manual judgment errors is avoided, and the technical problem that equipment and manual work have potential safety hazards due to large randomness caused by judging the condition that the operation process is in place purely by experience is solved. In addition, automatic operation can avoid manual operation to come back and forth to judge the technical problem of wasting time caused by the condition of taking one's place, and the working efficiency is improved. In addition, a diagnosis timer is introduced into each process and a diagnosis timer is introduced into the whole operation process, and the operation is controlled to stop if the time is out, so that each process and the whole operation process can be monitored, the cost is low, the problem that the auxiliary personnel cannot be found due to the fact that the auxiliary personnel cannot observe the operation process for a long time but the fault occurs in the operation process can be avoided, and the smooth operation of the operation process is guaranteed.

Optionally, in an embodiment of the present invention, the plurality of processes includes at least two of: leveling a chassis of the bridge erecting vehicle, jacking a turnover frame of the bridge erecting vehicle, landing and leveling portal support legs of the bridge erecting vehicle, jacking a variable frame of the bridge erecting vehicle, releasing the variable frame of the bridge erecting vehicle, releasing a bridge of a near-end bridge section of the bridge erecting vehicle, expanding the bridge, releasing the bridge and releasing the far-end bridge section of the bridge erecting vehicle, expanding the bridge and releasing the bridge.

Optionally, in the embodiment of the present invention, the signal indicating that the chassis of the bridge girder erection vehicle is leveled is that the chassis inclination angle of the bridge girder erection vehicle is within a first preset inclination angle range; a corresponding finish signal of jacking the turnover frame of the bridge erecting vehicle is that the oil cylinder of the turnover frame reaches a first preset limit; landing and leveling of the landing legs of the portal frame of the bridge girder erection vehicle are correspondingly finished signals that the inclination angle of the portal frame is in a second preset inclination angle range; the lifting of the amplitude transformer frame of the bridge girder erection vehicle corresponds to a finishing signal for the amplitude transformer cylinder to reach a second preset limit; the bridge-off oil cylinder reaches a third preset limit according to a finishing signal corresponding to the amplitude-variable bridge-off of the bridge-erecting vehicle; the bridge placing, the bridge unfolding and the bridge placing of the near-end bridge section of the bridge girder erection vehicle are finished signals that the inclination angle of the near-end bridge section is the same as that of the middle bridge section and is within a third preset inclination angle range, and the oil cylinder of the near-end bridge section for unfolding the bridge reaches a fourth preset limit; and finishing signals corresponding to the bridge release, the bridge expansion and the bridge release of the far-end bridge section of the bridge girder erection vehicle are that the inclination angle of the near-end bridge section, the inclination angle of the middle bridge section and the inclination angle of the far-end bridge section are the same and do not change, the far-end bridge section bridge expansion oil cylinder reaches a fifth preset limit, and the pressure of the far-end bridge section bridge release oil cylinder does not change.

In addition, another aspect of the embodiments of the present invention further provides an automatic operation system, including: the automatic working apparatus described in the above embodiment; the bridge girder erection vehicle rollover stand oil cylinder limit detection module is used for detecting whether the rollover stand oil cylinder reaches a first preset limit; the bridge girder erection vehicle amplitude transformer oil cylinder limit detection module is used for detecting whether the amplitude transformer oil cylinder reaches a second preset limit; the bridge-erecting vehicle bridge-disengaging oil cylinder limit detection module is used for detecting whether the bridge-disengaging oil cylinder reaches a third preset limit; the bridge girder erection vehicle near-end bridge section limit detection module is used for detecting whether the bridge girder erection oil cylinder of the near-end bridge section reaches a fourth preset limit; and the bridge erection vehicle far-end bridge section limit detection module is used for detecting whether the far-end bridge section bridge expansion oil cylinder reaches a fifth preset limit.

Optionally, in an embodiment of the present invention, the automatic operation system further includes: the bridge girder erection vehicle chassis inclination angle detection module is used for detecting the inclination angle of the bridge girder erection vehicle chassis; the bridge girder erection vehicle portal inclination angle detection module is used for detecting a portal inclination angle; the bridge girder erection vehicle near-end bridge section inclination angle detection module is used for detecting a near-end bridge section inclination angle; the bridge girder erection vehicle middle bridge section inclination angle detection module is used for detecting an inclination angle of a middle bridge section; and the bridge girder erection vehicle far-end bridge section inclination angle detection module is used for detecting the far-end bridge section inclination angle.

In addition, another aspect of the embodiments of the present invention further provides a mechanical apparatus, where the mechanical apparatus is the automatic operation system described in the above embodiments.

In addition, another aspect of the embodiments of the present invention also provides a machine-readable storage medium, on which instructions are stored, the instructions being used for causing a machine to execute the automatic work method described in the above embodiments.

The preferred embodiments of the present invention have been described in detail with reference to the accompanying drawings, however, the present invention is not limited to the specific details of the above embodiments, and various simple modifications can be made to the technical solution of the present invention within the technical idea of the present invention, and these simple modifications are within the protective scope of the present invention.

It should be noted that the various features described in the above embodiments may be combined in any suitable manner without departing from the scope of the invention. The invention is not described in detail in order to avoid unnecessary repetition.

In addition, any combination of the various embodiments of the present invention is also possible, and the same should be considered as the disclosure of the present invention as long as it does not depart from the spirit of the present invention.