CN101786577A

CN101786577A - Dual-machine loading-and-walking type hydraulic numerical control deck erection gantry and control system and control method

Info

Publication number: CN101786577A
Application number: CN200910113848A
Authority: CN
Inventors: 唐小萍; 上官兴; 肖汝诚; 刘显晖; 孙斌; 谢正元; 甘秋萍; 张皓; 吕振刚; 李江伟; 谭柳芳
Original assignee: Liuzhou OVM Machinery Co Ltd
Current assignee: Liuzhou OVM Machinery Co Ltd
Priority date: 2009-01-23
Filing date: 2009-01-23
Publication date: 2010-07-28
Anticipated expiration: 2029-01-23
Also published as: CN101786577B

Abstract

The invention provides a dual-machine loading-and-walking type hydraulic numerical control deck erection gantry, which comprises two sets of loading-and-walking type hydraulic numerical control deck erection gantries and a control system, wherein each set of the loading-and-walking type hydraulic numerical control deck erection gantries comprises the following four parts: a transverse truss girder, two sets of walking type loading-and-walking devices arranged at two ends of the transverse truss girder, a hydraulic lifting device and a carrying pole of a hanger; each set of the walking type loading-and-walking devices consists of a guideway, a walking mechanism steel framework, m traction jacks, 4n load conversion jacks, a supporting pull rod, a walking roller bracket and P guideway walking jacks; all the components are connected with one another by pin shafts; and the control system of the deck erection gantry is a distributed computer network control system which consists of a main control station, Y field controllers, Y pump stations, Y pump station starting boxes, a data acquisition system, and a plurality of data wires and communication wires. The deck erection gantry has the advantages of great lifting force and high work efficiency and stability; and when the deck erection gantry walks with load, the control system of the deck erection gantry can effectively and synchronously control every jack.

Description

Dual-machine loading-and-walking type hydraulic numerical control deck erection gantry and control system and control method

Technical field:

The present invention relates to a kind of large-span suspension bridge mechanized construction equipment, particularly a kind of girder of suspension bridge spanning equipment and the control system and control method thereof that can solve the transportation of suspension bridge transverse truss girder section level.

Background technology:

Striding the cable loop wheel machine is " the special-purpose spanning equipment of girder of suspension bridge ", through constantly improve over 100 years and improve become the safest, the failure-free equipment of setting a roof beam in place, the separate unit lifting power of striding the cable loop wheel machine has at present reached 500t, traditional girder of suspension bridge erection method is striden the cable loop wheel machine for adopting the unit list to hang hydraulic pressure, it only is vertical lifting that this unit list hangs the function of striding the cable loop wheel machine, the level transportation of suspension bridge transverse truss girder section mainly is by rivers straits shipping, end bay then adopts rope traction to swing and moves, promptly at first make and stride the cable loop wheel machine zero load appropriate location of walking, utilize boats and ships to transport the beam section then, allow again and set up girder after striding the vertical beam section of cable loop wheel machine to its below.

Along with suspension cable spanning footpath is more and more big, use the unit list to hang hydraulic pressure and stride the construction party rule that the cable loop wheel machine sets up girder of suspension bridge and exist inconvenience: 1, short, the total hop count of lifting sections length is many, long in time limit; Poor work stability when 2, adopting separate unit loop wheel machine hanging beam, reversing and lateral runout appears in girder easily, if meet in the hoisting process that strong wind attacks then the safety of beam section will be difficult to guarantee; 3, applicable area is narrow, can not solution level transportation suspension bridge transverse truss girder section arrive the needs of the bridge formation construction of specifying the main beam supporting position: along with the continuous development of Chinese transportation cause, it is with a varied topography that plan builds a bridge, the suspension bridge that sets up on mountain area, shoal and other places particularly, it is very difficult that the level of suspension bridge transverse truss girder section is transported (that is: suspension bridge transverse truss girder section being transported to the below that plan is set up bridge), has a strong impact on main beam supporting.

Summary of the invention:

The object of the present invention is to provide that a kind of lifting power is big, high efficiency, good stability, erecting suspension bridge girder dual-machine loading-and-walking type hydraulic numerical control deck erection gantry, to solve the difficult problem of suspension bridge transverse truss girder section level transportation; Another object of the present invention is: the control system when providing this dual-machine loading-and-walking type hydraulic numerical control deck erection gantry to be used to lift suspension bridge steel truss girder section erecting suspension bridge girder and this control system are to the synchronisation control means of jack.

The technical scheme that solves the problems of the technologies described above is: a kind of dual-machine loading-and-walking type hydraulic numerical control deck erection gantry, comprise 2 cover loading-and-walking type hydraulic numerical control deck erection gantry and control system, every cover loading-and-walking type hydraulic numerical control deck erection gantry comprises the transverse truss girder, is installed in two cover walking heavy burden running gears, hydraulic lifting device and suspender shoulder pole four parts at transverse truss girder two ends;

Described transverse truss girder is to connect two-door font heavy burden beam respectively by the truss two ends that H shaped steel welds to constitute, and the space of truss is useful on the workplatform of laying take-up reel, hydraulic power unit and main console desk and workmen; The top of two-door font heavy burden beam is provided with bearing pin;

Every cover walking heavy burden running gear is made up of guide rail, traveling gear steel framework, m platform traction jack, 4n platform load conversion jack, tie-strut, walking roller support and P platform guide rail walking jack, adopts bearing pin to connect between each parts; The guide rail bottom surface is provided with three semi arch feets that are used for cooperating, ride over main push-towing rope on the main push-towing rope, and axis hole, bottom, two ends that traveling gear steel framework top is provided with the bearing pin running-fit respectively are provided with a support cord clip that is used to hold tightly main push-towing rope; The cylinder head of 4n platform load conversion jack is hinged with four drift angles of traveling gear steel framework respectively, the piston rod top of 4n platform load conversion jack is hinged with four walking roller supports respectively, one end of each walking roller support and tie-strut is hinged, the other end of tie-strut and traveling gear steel framework are hinged, and the lower end of walking roller support is provided with the townhouse roller that rolls along guide rail; The cylinder head of guide rail walking jack and the middle part of traveling gear steel framework are hinged, and the piston tip and the guide rail termination of guide rail walking jack are hinged; One end and the traveling gear steel framework of traction jack are hinged, and the traction jack other end is connected with the anchor ear that is fixed on main push-towing rope by the traction steel strand;

When installing and using, the horizontal center line of the two-door font heavy burden beam of transverse truss girder is parallel to main push-towing rope, constitutes the current cat road that is parallel to main push-towing rope, and the 2q platform hydraulic pressure lift jack symmetry main push-towing rope of hydraulic lifting device is installed on the two-door font heavy burden beam across the cat road; The two ends of suspender shoulder pole are connected with the piston rod top of symmetrical main push-towing rope across the hydraulic pressure lift jack in cat road by promoting steel strand, the center of suspender shoulder pole is connected with suspension bridge steel truss girder section to be lifted by connecting pin, the traveling gear steel framework of walking heavy burden running gear is hinged by bearing pin and two-door font heavy burden beam, the m platform traction jack of described walking heavy burden running gear, 4n platform load conversion jack, the 2q platform hydraulic pressure lift jack of p platform guide rail walking jack and hydraulic lifting device is respectively with the circuit of control system and hydraulic tubing is connected and controlled by it; The span of above-mentioned m, n, p, q is: m is 1,2 or 3, and n is 1,2 or 3, and p is 1,2 or 3, and q is 1,2,3 or 4.

The distributed computer network (DCN) control system that the control system of described dual-machine loading-and-walking type hydraulic numerical control deck erection gantry is made up of 1 main console desk, a Y field controller, a Y pumping plant, a Y pumping plant starter box and data acquisition system, plurality of data line and order wire;

Described main console desk is to have monitoring software to realize the main control computer of system monitoring and data management, comprise 1 Programmable Logic Controller and industrial computer as master controller, data exchange by data cable in Programmable Logic Controller and industrial computer;

Described field controller is made up of a Programmable Logic Controller that has write logic control main program and synchronization regulation subprogram, each a pumping plant field controller of configuration and a pumping plant starter box, the starting that the pumping plant starter box is responsible for big small machine stops, and each field controller may command 2q platform promotes jack, m platform traction jack, P platform guide rail walking jack, 4n platform load conversion jack; Y field controller is installed in respectively on Y the hydraulic power unit, and links to each other with main console desk by real-time network;

Described data acquisition system comprises the pressure sensor that is installed in the displacement pickup that is used to detect piston displacement on each jack master top, detects oil inlet pressure, and be installed in be used on the ground tackle up and down to detect ground tackle degree of tightness state near switches set, displacement pickup, pressure sensor, be connected with field controller by control cable respectively near switches set, all detections and control signal are sent to main control computer through communication unit; The position signal that main control computer arrives according to various sensor acquisition, pressure signal, according to certain control program and algorithm, the operation program of decision oil cylinder is finished the co-ordination of cluster jack; The size of while control ratio valve opening, driving oil cylinder is stretched cylinder or the cylinder that contracts with the speed of regulation, thereby realizes the synchro control of jack, the span of above-mentioned m, n, p, q and Y is: m is 1,2 or 3, and n is 1,2 or 3, and p is 1,2 or 3, q is 1,2,3 or 4, and Y is 4,8,12 or 16.

Another technical scheme of the present invention is: when a dual-machine loading-and-walking type hydraulic numerical control deck erection gantry is used for bearing a heavy burden walking, its control system is to the control method of jack, described control system is the control of a kind of system to the control of jack, comprises distance control mode and master mode on the spot:

Distance control mode is the superlative degree of system, all operations are all at upper computer promptly: main control computer is finished, this moment, the operation of all field controllers was invalid, under this mode, can promote jack, Y * m platform platform traction jack, Y * P platform guide rail walking jack, Y * 4n platform load conversion jack to Y * 2q platform, make manual or automatic guidance, finish lifting, decline, tight anchor, loose anchor to promoting jack, draw advancing, retreating of jack, advancing promptly of guide rail walking jack: pushing tow, move back the lifting of load conversion jack or effective control of decline; Can set the top pressure on each top, guarantee the safety of system, thus also can change by the size that changes the apportioning valve opening jack stretch cylinder, cylinder speed contracts;

Master mode is on the spot: after the supervisory control computer mandate, lower computer promptly: field controller is controlled on the spot, and the site operation personnel can reach M/C automatically to the top and the pump of having authorized.

The further technical scheme of this control method is: the control of described system by means of upper computer and lower computer and write upper computer and lower computer in system software finish;

Described upper computer software adopts configuration software, comprises the total picture of technological process, each jack and the display frame of pumping plant real-time parameter, parameter setting picture, system operation picture, warning picture, history curve picture, report capability, data base querying function; Configuration software has been realized the system management authority of different stage, and the Systems Operator can select operating mode, checks trend curve and form etc.; The system engineer can make amendment to upper computer software and slave computer software according to actual conditions, the operating personal of obtaining authority can be in independent operation or the on-line operation of centralized control room realization to any jack and pumping plant, M/Cs all under automatic running state is inoperative, effectively prevents maloperation;

Described slave computer software is programmed with the ladder diagram mode, comprises automatic guidance, manual control, adjusting control; Automatic guidance is the main operation scheme of control system, and normal lifting, traction, load transfer and guide rail walking are all finished by automatic control mode; Manually be controlled to be the auxiliary operation scheme of system, being mainly used in need be to wherein certain 1 or several jacks promote, traction, load transfer and guide rail walking operation at work progress, or to a certain apportioning valve flow regulate, a certain pressure sensor carries out operations such as pressure setting; Adjusting control is used for the installation and the releasing of system;

Comprise logic control main program, displacement control subprogram, pressure reduction control subprogram, pressure control subroutine and overpressure protection control subprogram in the automatic control program again.

When dual-machine loading-and-walking type hydraulic numerical control deck erection gantry of the present invention and this loop wheel machine were used for bearing a heavy burden walking, its control system to the beneficial effect of the control method of jack was:

One, big, the high efficiency of dual-machine loading-and-walking type hydraulic numerical control deck erection gantry lifting power of the present invention, good stability, degree of safety height.

1. big, the high efficiency of lifting power, degree of safety height: dual-machine loading-and-walking type hydraulic numerical control deck erection gantry of the present invention is an erecting suspension bridge specialized equipment modern, that adopt the numerical control hydraulic technology, adopt the degree of safety height of two-shipper synchronous working, embody " people-oriented " more than other unit work.

2. good stability, degree of safety height: for the suspension bridge that is arranged in the mountain valley, in main truss installation process and suspension rod suspension status, must suffer from fitful wind attack in the mountain valley, this is the place, key of main truss construction safety, adopt the dual-machine loading-and-walking type hydraulic numerical control deck erection gantry good stability, thereby the degree of safety height.

3. multiple functional, quality is guaranteed: dual-machine loading-and-walking type hydraulic numerical control deck erection gantry of the present invention has can finish vertical, two kinds of functions of level run; Be convenient to operation and management, form the Detroit automation face easily, improve workman's skill level by the technology that repeats, quality is guaranteed.

4. economical rationality: only adopt a set of equipment (striding cable loop wheel machine unit for 4) when dual-machine loading-and-walking type hydraulic numerical control deck erection gantry of the present invention is used for the erecting suspension bridge main girder construction, its additional equipment is few, comprehensive and the remarkable specialized equipment of this cover performance, can be in all kinds suspension bridge repeated usage, cost can constantly reclaim, and is very economical.

When two, dual-machine loading-and-walking type hydraulic numerical control deck erection gantry of the present invention was used for the erecting suspension bridge girder, its control system to the characteristics and the beneficial effect of the control method of jack was:

1, controllability height; can each jack of dual-machine loading-and-walking type hydraulic numerical control deck erection gantry be control effectively, comprising: lifting synchro control, Liang Tai stride the synchronism of cable loop wheel machine walking---and traction synchro control, the balanced control of load transfer and overpressure protection are controlled.

2, system configuration is reasonable, has remote-controllable and real-time, and is easy and simple to handle, can Long-distance Control, also can control on the spot.

The control system of dual-machine loading-and-walking type hydraulic numerical control deck erection gantry of the present invention is the control of a kind of system to the control of jack, comprise distance control mode and master mode on the spot, thereby use this to stride cable loop wheel machine control system both can to have allowed user's remote starter, the flow that stops pumping plant, remote adjustment pumping plant, pressure and control pumping plant finish exercises easily (as the cylinder of stretching, contract of master cylinder; Tight and the pine of upper and lower holder etc.).After the supervisory control computer mandate, lower computer promptly: field controller just can be controlled on the spot, and the site operation personnel can reach M/C automatically to the top and the pump of having authorized.

3, adopt distributed frame, design function is powerful, fault-tolerant ability is strong, the reliability height, and safety is good.

The control system of dual-machine loading-and-walking type hydraulic numerical control deck erection gantry of the present invention is made up of upper computer and lower computer.Upper computer (main control computer) uses industrial computer, finishes the design and the exploitation of configuration software, realizes the monitoring and the Data Detection of total system.

That lower computer (field controller) adopts is powerful, reliability is high, easy to maintenance and Programmable Logic Controller that antijamming capability is strong.Field controller is dispersed on each hydraulic power unit, links to each other with main control computer by real-time network.This is a kind of network that uses token bus communication, and each node in the network all can be used as transmission and the reception that main website carries out data.Under on line state, all operations are finished by main control computer, and field controller can only carry out urgency and stop operation; Under off line state, each field controller can carry out operations such as automatic, manual to any one or more that the 2q platform promotes in jack, m platform traction jack, P platform guide rail walking jack, the 4n platform load conversion jack.

Can finish data link between supervisory control computer and the field controller automatically by the data chained list is set, this bus type topological structure has bigger alerting ability, is easy to expand and safeguard, has satisfied system expandability requirement.

Owing to adopted distributed control technology, can guarantee that whole network can not collapse because of certain website fault, has improved the stability of system.The computing machine of remote monitor and control simultaneously, field controller are equipped with the emergency braking key and realize promptly stopping, and guarantee security of system.

Configuration software has been realized the system management authority of different stage, and the Systems Operator can select operating mode, checks trend curve and form etc.; The system engineer can make amendment to monitoring software and slave computer software according to actual conditions.The operating personal of obtaining authority can be in independent operation or the on-line operation of centralized control room realization to any jack and pumping plant, and M/Cs all under automatic running state is inoperative, effectively prevents maloperation.

4, extendability, comformability are strong:

Owing to adopted distributed frame, can carry out hardware configuration according to the specific requirement of each engineering, can on-the-spot carry out " logical combination " by software simultaneously to hardware configuration, greatly improved the comformability of control system.

5, man-machine interface close friend

The various states of system as stretch cylinder, the cylinder that contracts all is presented on the screen, and shows the displacement on every top and the force value of each pumping plant in real time.But make amendment by the opening value of interface Comparative Examples valve simultaneously; thereby regulate the flow size of its apportioning valve output; can also be by the top pressure on every top of interface setting; reach its setting pressure as a certain top; system alarm also quits work, to play safe, the protection to total system and member.

Below, in conjunction with the accompanying drawings and embodiments the present invention's the dual-machine loading-and-walking type hydraulic numerical control deck erection gantry and the technical characterictic of control system and control method thereof are further described.

Description of drawings:

Fig. 1: dual-machine loading-and-walking type hydraulic numerical control deck erection gantry structure and running condition scheme drawing;

Fig. 2: walking heavy burden running gear structural representation;

Fig. 3: traveling gear steel framework structure scheme drawing;

Fig. 4: guide rail structure scheme drawing;

Fig. 5: transverse truss main beam structure scheme drawing;

Fig. 6: transverse truss girder and the hinged scheme drawing of walking heavy burden running gear;

Fig. 7: transverse truss girder and walking heavy burden running gear combination scheme drawing;

Fig. 8: embodiment one described dual-machine loading-and-walking type hydraulic numerical control deck erection gantry control system block diagram;

A pumping plant hydraulic schematic diagram of Fig. 9: embodiment one described dual-machine loading-and-walking type hydraulic numerical control deck erection gantry control system;

Figure 10: the system software composition frame chart of dual-machine loading-and-walking type hydraulic numerical control deck erection gantry control system of the present invention;

The program flow diagram of the process of advancing of the lifting process of the lifting program of the control system among the PLC of Figure 11: write lower computer---each field controller or traction program;

The program flow diagram of the fallback procedures of the decline process of the lifting program of the control system among the PLC of Figure 12: write lower computer---each field controller or traction program;

The program flow diagram of the pushing tow sequence of operation of the load transfer program of the control system among the PLC of Figure 13: write lower computer---each field controller or guide rail walking jack;

Figure 14: the displacement control subprogram A diagram of circuit in the process of advancing of the lifting process of lifting program or traction program;

Figure 15: the displacement control subprogram B diagram of circuit in the fallback procedures of the decline process of lifting program or traction program;

Figure 16: the pressure reduction control subprogram diagram of circuit of traction program;

Figure 17: the pressure control subroutine diagram of circuit in load transfer program or the pushing tow operation program;

Figure 18: the overpressure protection subroutine flow chart in lifting program, traction program, load transfer program and the pushing tow operation program.

Among the figure:

The hinged rigidity pipe link of 1-, 2-walking heavy burden running gear, 3-cord clip, 4-suspension rod anchor clamps, 5-promotes steel strand, 6-suspender shoulder pole, 7-steel truss girder section, 8-hydraulic lifting device, 9-transverse truss girder, the 10-main push-towing rope, 11-guide rail, 12-guide rail walking jack, 13-load conversion jack, 14-traveling gear steel framework, 15-bearing pin, 16-draws jack, 17-tie-strut, 18-walking roller support, the 19-axis hole, 20-supports cord clip, the feet of 21-guide rail, 22-truss, the two-door font heavy burden of 23-beam, 24-draws steel strand, 25-hydraulic pressure lift jack, 26-take-up reel.

The specific embodiment:

Embodiment one:

A kind of dual-machine loading-and-walking type hydraulic numerical control deck erection gantry, comprise that 2 covers stride cable loop wheel machine and control system, the described cable loop wheel machine of striding is a loading-and-walking type hydraulic numerical control deck erection gantry, and every cover loading-and-walking type hydraulic numerical control deck erection gantry comprises transverse truss girder 9, is installed in two cover walking heavy burden running gears 2, hydraulic lifting device 8 and suspender shoulder pole 6 four parts (referring to Fig. 1) at transverse truss girder 9 two ends;

Described transverse truss girder 9 is to connect two-door font heavy burden beam 23 respectively by truss 22 two ends that H shaped steel welds to constitute, and the space of truss is useful on the workplatform of laying take-up reel 26, hydraulic power unit and main console desk and workmen; The top of two-door font heavy burden beam 23 is provided with bearing pin 15 (referring to Fig. 5);

Every cover walking heavy burden running gear 2 is made up of guide rail 11,16,4 load conversions of 14,1 traction of traveling gear steel framework jack jack 13, tie-strut 17, walking roller support 18 and 1 guide rail walking jack 12, adopts bearing pin to connect between each parts; Guide rail 11 bottom surfaces are provided with and are used for cooperating, ride over three semi arch feets 21 on the main push-towing rope with main push-towing rope 10, and axis hole 19, bottom, two ends that traveling gear steel framework 14 tops are provided with bearing pin 15 running-fits respectively are provided with a support cord clip 20 that is used to hold tightly main push-towing rope 10; The cylinder head of 4 load conversion jacks 13 is hinged with four drift angles of traveling gear steel framework 14 respectively, the piston rod top of 4 load conversion jacks 13 is hinged with four walking roller supports 18 respectively, each walking roller support 18 is hinged with an end of tie-strut 17, the other end of tie-strut 17 and traveling gear steel framework 14 are hinged, and the lower end of walking roller support 18 is provided with the townhouse roller that rolls along guide rail; The cylinder head of guide rail walking jack 12 and the middle part of traveling gear steel framework 14 are hinged, and the piston tip and guide rail 11 terminations of guide rail walking jack 12 are hinged; One end and the traveling gear steel framework 14 of traction jack 16 are hinged, and the traction jack other end is connected with the anchor ear that is fixed on main push-towing rope 10 by drawing steel strand 24 (referring to Fig. 2-Fig. 4, Fig. 6-Fig. 7);

When installing and using, the horizontal center line of the two-door font heavy burden beam 23 of transverse truss girder is parallel to main push-towing rope 10, constitute the current cat road that is parallel to main push-towing rope 10, two hydraulic pressure lift jacks, the 25 symmetrical main push-towing ropes 10 of hydraulic lifting device 8 are installed on the two-door font heavy burden beam 23 across the cat road; The two ends of suspender shoulder pole 6 are connected with the piston rod top of symmetrical main push-towing rope 10 across the hydraulic pressure lift jack 25 in cat road by promoting steel strand 5, the center of suspender shoulder pole 6 is connected with suspension bridge steel truss girder section 7 to be lifted by promoting steel strand 5, and it is 23 hinged (referring to Fig. 2-Fig. 4, Fig. 6-Fig. 7) that the traveling gear steel framework 14 of walking heavy burden running gear 2 passes through bearing pin 15 and two-door font heavy burden beam; Two hydraulic pressure lift jacks of 16,4 loads of the traction jack of described walking heavy burden running gear conversion jack 13, guide rail walking jack 12 and hydraulic lifting device 8 are respectively with the circuit of control system and hydraulic tubing is connected and controlled by it.

As Fig. 8, shown in Figure 9: as described in the distributed computer network (DCN) control system formed by main console desk, 4 field controllers, 4 pumping plants, 4 pumping plant starter boxs and data acquisition system and data line of the control system of dual-machine loading-and-walking type hydraulic numerical control deck erection gantry; Each a pumping plant field controller of configuration and a pumping plant starter box, the starting that this pumping plant starter box is responsible for big small machine stops;

Described main console desk is to have monitoring software to realize the main control computer of system monitoring and data management, comprise 1 Programmable Logic Controller and industrial computer as master controller, data exchange by data cable in Programmable Logic Controller and industrial computer; The operation of system all can be carried out on monitored picture, and the various states of system all are presented on the screen, and shows the displacement on every top and the force value of each pumping plant in real time; But make amendment by the opening value of interface Comparative Examples valve simultaneously; thereby regulate the flow size of its apportioning valve output; can also be by the top pressure on every top of interface setting; reach its setting pressure as a certain top; system alarm also quits work, to play the safety guard-safeguard to total system and member.Also can switch to mode on the spot, this pumping plant be carried out execute-in-place by the field control case on the pumping plant.

Described field controller is made up of a Programmable Logic Controller that has write logic control main program and synchronization regulation subprogram; Each field controller all can detect and control 2 and promote top, 1 traction top, 1 guide rail walking jack, 4 load conversion tops; Simultaneously all data are sent to main console desk.Emergency stop switch, long-range/select switch, control button, warning indicator lamp, status indicator lamp etc. on the spot are installed on the panel; Under the Long-distance Control state, the field control case can only carry out shut-down operation; Under state of a control on the spot, the field control case can to all the jacking row on this pumping plant automatically, M/C.

Described data acquisition system comprises the various sensors that are installed on each jack master top:

1. pressure sensor: in operating process, the load change that a pressure sensor monitors this top is installed on every top;

2. displacement pickup: 1 displacement pickup is installed on every jack is used to detect piston displacement;

3. near switch: be installed in to promote on top and the traction top and be used for the position probing on main top and the state-detection of upper and lower holder;

The displacement pickup of data acquisition system, pressure sensor are connected with field controller by control cable respectively near switches set, and all detections and control signal are sent to main control computer through communication unit; The position signal that main control computer arrives according to various sensor acquisition, pressure signal, according to certain control program and algorithm, the sequence of operation of decision oil cylinder is finished the co-ordination of cluster jack; The size of while control ratio valve opening, driving oil cylinder is stretched cylinder or the cylinder that contracts with the speed of regulation, thereby realize the synchro control of jack, adopt communication unit communication between each field controller, all detections and control signal are sent to main control computer through communication unit; The position signal that main control computer arrives according to various sensor acquisition, pressure signal, according to certain control program and algorithm, the sequence of operation of decision oil cylinder is finished the co-ordination of cluster jack; The size of while control ratio valve opening, driving oil cylinder is stretched cylinder or the cylinder that contracts with the speed of regulation, thereby realizes the synchro control of jack.

As a kind of conversion of the embodiment of the invention, the described quantity Y that has write the Programmable Logic Controller of logic control main program and synchronization regulation subprogram can increase, and is generally multiple, its span of 4 to be: Y is 4,8,12 or 16; The quantity of corresponding hydraulic power unit and pumping plant starter box also can increase or reduce, and generally is a hydraulic power unit field controller of configuration and a pumping plant starter box; The starting that this pumping plant starter box is responsible for big small machine stops;

The platform number of the lifting jack of each field controller control, traction jack, guide rail walking jack, load conversion jack also can increase or reduce, and generally each field controller may command 2q platform promotes jack, m platform traction jack, P platform guide rail walking jack, 4n platform load conversion jack; Y field controller is installed in respectively on Y the hydraulic power unit, and links to each other with main console desk by real-time network.

The span of above-mentioned m, n, p, q and Y is: m is 1,2 or 3, and n is 1,2 or 3, and p is 1,2 or 3, and q is 1,2,3 or 4, and Y is 4,8,12 or 16.

As a kind of conversion of the embodiment of the invention, the emergency stop switch of safety effect has been installed all on main control computer of the present invention and the field controller.

Embodiment two:

A kind of dual-machine loading-and-walking type hydraulic numerical control deck erection gantry is used for the erecting suspension bridge girder and bears a heavy burden when walking, and its control system is to the control method of jack.

Described control service system is the control of a kind of system to the control of jack, comprises distance control mode and master mode on the spot:

Distance control mode is the superlative degree of system, all operations are all at upper computer promptly: main control computer is finished, this moment, the operation of all field controllers was invalid, under this mode, can promote jack, Y * m platform traction jack, Y * P platform guide rail walking jack, Y * 4n platform load conversion jack to Y * 2q platform, make manual or automatic guidance, finish lifting, decline, tight anchor, loose anchor to promoting jack, draw advancing, retreating of jack, advancing promptly of guide rail walking jack: pushing tow, move back the lifting of load conversion jack or effective control of decline; Can set the top pressure on each top, guarantee the safety of system, thus also can change by the size that changes the apportioning valve opening jack stretch cylinder, cylinder speed contracts;

The control of described system by means of upper computer and lower computer and write upper computer and lower computer in system software finish;

The described logic control main program of being finished by the lower computer field controller mainly is jack cluster action control and work flow control, comprise cluster interlock, local interlock, single-point single action, promptly according to lifting program, traction program, load transfer program, guide rail walking program correct execution stretch cylinder, the cylinder that contracts, tightly go up anchor, Song Shangmao, tightly cast anchor, Panasonic's anchor instructs, and also will control the length of each opening time simultaneously.

As shown in figure 11: the lifting operation program that the described control of being finished by the lower computer field controller promotes jack is:

1. it is tight up to casting anchor tightly to cast anchor, 2. contract cylinder to piston arrives 1# position: in the cylinder process that contracts if then cylinder contracts on the anchor limit on the pine of limit in piston arrives 3# position, 3. pine goes up anchor until last anchor pine: carry out simultaneously with step 2,4. it is tight up to last anchor tightly to go up anchor, 5. stretch cylinder until piston arrives 4# position: this step is stretched cylinder for band carries, require synchronization regulation Y * 2q platform to promote the piston displacement of jack, with wherein one to promote jack be that 1# promotes jack, if certain piston displacement that promotes jack then entered and the cooresponding displacement control subprogram of lifting program A when promoting the jack piston displacement difference above setting range with 1#; Stretch in the cylinder process if cylinder is then stretched in limit Panasonic anchor limit in piston arrives 2# position, 6. Panasonic's anchor is until the pine of casting anchor: carry out simultaneously with step 5,7. get back to step 1.;

Described and the cooresponding displacement control subprogram of lifting program A (referring to Figure 14) are: carrying out step 5. in the process, if certain promotes the apportioning valve of then controlling this top when difference that jack and 1# promote the jack piston displacement surpasses setting value and carries out the PID adjusting, increase or reduce the apportioning valve openings of sizes, stretch cylinder speed thereby change jack, go to zero up to difference;

In the above-mentioned lifting process, the 1# position is meant jack master cylinder lower limit, the 2# position is meant that the jack master cylinder stretches load in the cylinder process is transformed into clamper by lower gripper load transfer position, the 3# position is meant that the contract load in the cylinder process of jack master cylinder is transformed into the load transfer position of lower gripper by last clamper, and the 4# position is meant jack master cylinder upper limit.

As shown in figure 12: the down maneuver program that the described control of being finished by the lower computer field controller promotes jack is:

1. it is tight until casting anchor tightly to cast anchor, 2. contract cylinder to piston arrives 1# position, 3. pine goes up anchor, time-delay anchor pine on completing steps 4 piston arrives 3# positions is ended behind the last anchor pine, 4. stretch cylinder to piston arrives 3# position, 5. it is tight up to last anchor tightly to go up anchor, 6. stretch cylinder to piston arrives 4# position, 7. Panasonic's anchor, the pine back time-delay of casting anchor is only casted anchor pine up to completing steps 8 piston arrives 2# positions, 8. contract cylinder to piston arrives 2# position: this step is carried the cylinder that contracts for band, therefore require synchronization regulation Y * 2q platform to promote the piston displacement of jack, with wherein one to promote jack be that 1# promotes jack, if certain piston displacement that promotes jack then entered and the cooresponding displacement control subprogram of letdown procedure B when promoting the jack piston displacement difference above setting range with 1#, 9. get back to step 1;

With the cooresponding displacement control subprogram of letdown procedure B (referring to Figure 15) be: carrying out step 8. in the process, if certain when promoting difference that jack and 1# promote the jack piston displacement above setting value, the apportioning valve of then controlling this top carries out PID to be regulated, increase or reduce the apportioning valve openings of sizes, stretch cylinder speed thereby change jack, go to zero up to difference;

In the above-mentioned decline process, the 1# position is meant jack master cylinder lower limit, the 2# position is meant that the jack master cylinder contracts in the cylinder process load by the load transfer position of last clamper to the lower gripper conversion, the 3# position is meant that the jack master cylinder stretches load in the cylinder process by the make progress load transfer position of clamper conversion of lower gripper, and the 4# position is meant jack master cylinder upper limit.

As shown in figure 11, the forward motion program that the traction program of jack is drawn in the described control of being finished by the lower computer field controller is: it is tight up to casting anchor 1. tightly to cast anchor, 2. contract cylinder to piston arrives 1# position: in the cylinder process that contracts if then cylinder contracts on the anchor limit on the pine of limit in piston arrives 3# position, 3. pine goes up anchor until last anchor pine: carry out simultaneously with step 2,4. it is tight up to last anchor tightly to go up anchor, 5. stretch cylinder until piston arrives 4# position: this step is stretched cylinder for band carries, therefore require to carry out the piston displacement of difference of pressure control and synchronization regulation Y * m platform traction jack, with traction jack wherein is 1# traction jack, if the piston displacement of certain traction jack then enters and draw the cooresponding displacement control subprogram of program forward motion A during above setting range with 1# traction jack piston displacement difference; Stretch in the cylinder process if cylinder is then stretched in limit Panasonic anchor limit in piston arrives 2# position, 6. Panasonic's anchor is until the pine of casting anchor: carry out simultaneously with step 5,7. get back to step 1.;

Describedly be: carrying out step 5. in the process with traction program forward motion cooresponding displacement control subprogram A (referring to Figure 14), carry out the PID adjusting if then control the apportioning valve on this top when the difference of certain traction jack and 1# traction jack piston displacement surpasses setting value, increase or reduce the apportioning valve openings of sizes, stretch cylinder speed thereby change jack, go to zero up to difference;

Above-mentioned traction jack advances in the process, the 1# position is meant jack master cylinder lower limit, the 2# position is meant that the jack master cylinder stretches load in the cylinder process is transformed into the front clamp device by the back clamper load transfer position, the 3# position is meant that the contract load in the cylinder process of jack master cylinder is transformed into the load transfer position of back clamper by the front clamp device, and the 4# position is meant jack master cylinder upper limit.

As shown in figure 12, the backward movement program of the described control traction jack of being finished by the lower computer field controller is:

1. it is tight until casting anchor tightly to cast anchor, 2. contract cylinder to piston arrives 1# position, 3. pine goes up anchor, time-delay anchor pine on completing steps 4 piston arrives 3# positions is ended behind the last anchor pine, 4. stretch cylinder to piston arrives 3# position, 5. it is tight up to last anchor tightly to go up anchor, 6. stretch cylinder to piston arrives 4# position, 7. Panasonic's anchor, the pine back time-delay of casting anchor is only casted anchor pine up to completing steps 8 piston arrives 2# positions, 8. contract cylinder to piston arrives 2# position: this step is carried the cylinder that contracts for band, therefore require to carry out the piston displacement of difference of pressure control and synchronization regulation Y * m platform traction jack, with traction jack wherein is 1# traction jack, if the piston displacement of certain traction jack then enters and the cooresponding displacement control subprogram of back-off procedure B during above setting range with 1# traction jack piston displacement difference, 9. gets back to step 1;

With the cooresponding displacement control subprogram of the back-off procedure B (referring to Figure 15) of traction program be: carrying out step 8. in the process, if the difference of certain traction jack and 1# traction jack piston displacement is during above setting value, the apportioning valve of then controlling this top carries out PID to be regulated, increase or reduce the apportioning valve openings of sizes, stretch cylinder speed thereby change jack, go to zero up to difference;

In the above-mentioned traction jack fallback procedures, the 1# position is meant jack master cylinder lower limit, the 2# position is meant that the jack master cylinder contracts in the cylinder process load by the front clamp device load transfer position of clamper conversion backward, the 3# position is meant that the jack master cylinder stretches load in the cylinder process by the back clamper load transfer position of clamper conversion forward, and the 4# position is meant jack master cylinder upper limit.

5. stretching cylinder in the forward motion program step of the traction program of above-mentioned traction jack carries until the band of piston arrives 4# position and stretches in the cylinder process, or carry in the cylinder process that contracts at the back-off procedure step of traction program of traction jack cylinder to the band of piston arrives 2# position that 8. contracts, because a variety of causes, the pressure of every traction jack is also inequality, for guaranteeing effectively to avoid system's unbalance loading, the adjustment of pressure reduction control subprogram will be entered respectively;

Described with the traction program advance program step 5. or the 8. cooresponding pressure reduction control subprogram of back-off procedure step (referring to Figure 16) be:

Pressure P with maximum that traction jack of pressure _MaxDeduct the pressure P of minimum that traction jack of pressure _MinBe pressure differential deltap P1, if all in running order Y * when the pressure differential deltap P1 of m platform traction jack set less than setting value Δ P, system continued to move; When pressure differential deltap P1 set more than or equal to setting value Δ P, system-down also showed relevant information.This pressure reduction control subprogram C plays the differential pressure security effect, effectively avoids system's unbalance loading.

As shown in figure 13, the operation program of the program of the load transfer of the described control Y that is finished by the lower computer field controller * 4n platform load conversion jack is: 1. stretch cylinder to the piston arrives upper limit, this step is stretched cylinder for band carries, require the pressure of synchronization regulation Y * 4n platform load conversion jack, with load conversion jack wherein is 1# load conversion jack, if the difference of pressure of the pressure of certain load conversion jack and 1# load conversion jack then enters and the cooresponding pressure control subroutine of load transfer program when surpassing setting range, 2. contract cylinder to lower limit, 3. get back to step 1.;

Described and the cooresponding pressure control subroutine of load transfer program (referring to Figure 17) is: in the control load switching process, with 1# load conversion jack is main the order a little, the pressure of all the other Y * 4n-1 platform load conversion jack compares with it, band carries to be stretched in the cylinder process, if then controlling the apportioning valve on this top when surpassing setting value, the difference of certain load conversion jack and 1# load conversion jack pressure carries out the PID adjusting, increase or reduce the apportioning valve openings of sizes, thereby change the pressure of load conversion jack, go to zero up to difference; Set the difference of pressure of Y * 4n platform load conversion jack simultaneously, if difference of pressure goes beyond the scope, then system's auto alarm prompting.

The operation program of the described control Y that is finished by the lower computer field controller * P platform guide rail walking jack forward and back is: 1. stretch cylinder to the piston arrives upper limit, this step is stretched cylinder for band carries, require the pressure of synchronization regulation Y * P platform guide rail walking jack, with guide rail walking jack wherein is 1# guide rail walking jack, if the pressure of certain guide rail walking jack and 1# guide rail walking jack pressure difference then enter and the corresponding pressure control subroutine of guide rail walking program when surpassing setting range, 2. contract cylinder to lower limit, 3. get back to step 1.;

Described and the guide rail walking corresponding pressure control subroutine of program (referring to Figure 17) is: in control guide rail walking program process, with 1# guide rail walking jack is main the order a little, the pressure of all the other Y * P-1 platform guide rail walking jack compares with it, band carries to be stretched in the cylinder process, if then controlling the apportioning valve on this top when surpassing setting value, the difference of certain guide rail walking jack and 1# guide rail walking jack pressure carries out the PID adjusting, increase or reduce the apportioning valve openings of sizes, thereby change the pressure of guide rail walking jack, go to zero up to difference; Set the difference of pressure of Y * P platform guide rail walking jack simultaneously, if difference of pressure goes beyond the scope, then system's auto alarm prompting.

Described overpressure protection control subprogram is as shown in figure 18: be used for erecting suspension bridge girder or heavy burden walking process at whole dual-machine loading-and-walking type hydraulic numerical control deck erection gantry; in entire work process; to comprise that the pressure of every the jack that promotes jack, traction jack, guide rail walking jack and load conversion jack and the highest setting pressure of this jack compare; if less than setting value then system work on, if more than or equal to setting value then system-down and on screen, show relevant information, the signal of reporting to the police.

In the present embodiment, the quantity Y of described field controller is 4, and these 4 field controllers are installed in respectively on 4 hydraulic power units, and each hydraulic power unit also is furnished with a pumping plant starter box; The platform number of the lifting jack of each field controller control is that 2, the platform number of traction jack are that 1, the platform number of guide rail walking jack are that 1, the platform number of load conversion jack are 4; The value that is above-mentioned m, n, p and q is that m is 1, and n is 1, and p is 1, and q is 1.

As a kind of conversion of the embodiment of the invention, the platform number that the quantity Y of described field controller and each field controller controollable promote jack, traction jack, guide rail walking jack, load conversion jack can also increase; General each hydraulic power unit is equipped with a field controller, and each field controller may command 2q platform promotes jack, m platform traction jack, P platform guide rail walking jack, 4n platform load conversion jack; Y field controller is installed in respectively on Y the hydraulic power unit, and links to each other with main console desk by real-time network.

As another conversion of the embodiment of the invention, described dual-machine loading-and-walking type hydraulic numerical control deck erection gantry also can be used to lift other weights, and its control system also is applicable to the synchro control to jack in its heavy burden walking process.

When dual-machine loading-and-walking type hydraulic numerical control deck erection gantry of the present invention was used for the erecting suspension bridge girder, its control system was to the control policy (principle) of jack following (data of the various jacks of its field controller and control are described with embodiment one, two to be example):

1, promote synchro control:

Main console desk also must guarantee the synchronous of 8 every strokes of lifting jack except the unification action of controlling 8 lifting jacks.Promptly in the telescoping cylinder process of the every stroke of jack, the difference of the displacement of each jack is controlled in the allowed band; Its control method is for serving as main the order a little with 1 top wherein, and compare with it on all the other tops, and it is very fast to stretch cylinder as if certain top, then reduces the flow of corresponding apportioning valve, otherwise, then increase the flow of corresponding proportion valve.This is one and is controlled to be main synchro control with displacement.

2, Liang Tai strides the synchronism of cable loop wheel machine walking---the traction synchro control:

The traction jack is the person of applying of heavy burden walking power, and 4 traction tops are distributed in two covers and stride on the cable loop wheel machine.Owing to be that two covers are striden cable loop wheel machine synchronous walking, so require traveling gear to have certain synchronism.And main push-towing rope is a flexible structure, corresponding distortion can take place along with the variation of lift heavy, when walking, the diff-H that two covers are striden the cable loop wheel machine is constantly changing, (particularly near the king-tower part) can cause steel truss girder and level attitude that certain angle is arranged, and therefore requires to promote jack position to steel truss girder in certain and carries out horizontal adjustment.Under the state of steel truss girder level of approximation, in 4 traction tops with wherein 1 serve as main the order a little, all the other 3 are compared with it, it is very fast that cylinder is stretched on which platform top, then reduces the flow of corresponding apportioning valve, otherwise, the flow that then increases the corresponding proportion valve with guarantee the traction top synchronously; Difference of pressure with 4 traction tops is controlled in the scope of setting simultaneously, if difference of pressure goes beyond the scope, and then system's auto alarm prompting.This is one and is controlled to be the master with displacement that pressure reduction is controlled to be auxilliary synchro control.

3, the balanced control of load transfer:

Because pressure sensor all is equipped with on every load transfer top, therefore in the load transfer process, with 1 load transfer top wherein is main the order a little, the pressure on all the other 15 load transfer tops compares with it, if which platform roof pressure power is little, then increase the opening amount of corresponding proportion valve, otherwise, corresponding proportion valve opening amount then reduced.Set the difference of pressure on 16 tops simultaneously, if difference of pressure goes beyond the scope, then system's auto alarm prompting.This is one is main synchro control with pressure control.

4, overpressure protection control

In order to improve the safety of member, on every all tops (comprise promote jack, traction jack, guide rail walking jack, load conversion very heavy) all arranged oil pressure sensor, monitors load situation of change in real time; In operating process, prevent that by the top pressure of setting every top the load of jack from having unusual sudden change.If certain toplap is pressed, then computing machine meeting auto-stop, and the signal of reporting to the police.

Claims

1. dual-machine loading-and-walking type hydraulic numerical control deck erection gantry, it is characterized in that: it comprises 2 cover loading-and-walking type hydraulic numerical control deck erection gantry and control system thereof, and described every cover loading-and-walking type hydraulic numerical control deck erection gantry comprises transverse truss girder (9), is installed in two cover walking heavy burden running gear (2), hydraulic lifting device (8) and suspender shoulder pole (6) four parts at transverse truss girder (9) two ends;

Described transverse truss girder (9) is to connect two-door font heavy burden beam (23) respectively by truss (22) two ends that H shaped steel welds to constitute, and the space of truss is useful on the workplatform of laying take-up reel (26), hydraulic power unit and main console desk and workmen; The top of two-door font heavy burden beam (23) is provided with bearing pin (15);

Every cover walking heavy burden running gear (2) is made up of guide rail (11), traveling gear steel framework (14), m platform traction jack (16), 4n platform load conversion jack (13), tie-strut (17), walking roller support (18) and P platform guide rail walking jack (12), adopts bearing pin to connect between each parts; Guide rail (11) bottom surface is provided with and is used for cooperating, ride over three semi arch feets (21) on the main push-towing rope with main push-towing rope (10), and axis hole (19), bottom, two ends that traveling gear steel framework (14) top is provided with bearing pin (15) running-fit respectively are provided with a support cord clip (20) that is used to hold tightly main push-towing rope (10); The cylinder head of 4n platform load conversion jack (13) is hinged with four drift angles of traveling gear steel framework (14) respectively, the piston rod top of 4n platform load conversion jack (13) is hinged with four walking roller supports (18) respectively, each walking roller support (18) is hinged with an end of tie-strut (17), the other end of tie-strut (17) and traveling gear steel framework (14) are hinged, and the lower end of walking roller support (18) is provided with the townhouse roller that rolls along guide rail; The cylinder head of guide rail walking jack (12) and the middle part of traveling gear steel framework (14) are hinged, and the piston tip and guide rail (11) termination of guide rail walking jack (12) are hinged; One end and the traveling gear steel framework (14) of traction jack (16) are hinged, and the traction jack other end is connected with the anchor ear that is fixed on main push-towing rope (10) by traction steel strand (24);

When installing and using, the horizontal center line of the two-door font heavy burden beam (23) of transverse truss girder is parallel to main push-towing rope (10), constitute the current cat road that is parallel to main push-towing rope (10), the symmetrical main push-towing rope of 2q platform hydraulic pressure lift jack (25) (10) of hydraulic lifting device (8) is installed on the two-door font heavy burden beam (23) across the cat road; The two ends of suspender shoulder pole (6) are connected with the piston rod top of symmetrical main push-towing rope (10) across the hydraulic pressure lift jack (25) in cat road by promoting steel strand (5), the center of suspender shoulder pole (6) is connected with suspension bridge steel truss girder section (7) to be lifted by connecting pin, the traveling gear steel framework (14) of walking heavy burden running gear (2) is hinged by bearing pin (15) and two-door font heavy burden beam (23), the m platform traction jack (16) of described walking heavy burden running gear, 4n platform load conversion jack (13), the 2q platform hydraulic pressure lift jack of p platform guide rail walking jack (12) and hydraulic lifting device (8) is respectively with the circuit of control system and hydraulic tubing is connected and controlled by it; The span of above-mentioned m, n, p, q is: m is 1,2 or 3, and n is 1,2 or 3, and p is 1,2 or 3, and q is 1,2,3 or 4.

2. dual-machine loading-and-walking type hydraulic numerical control deck erection gantry according to claim 1 is characterized in that: the distributed computer network (DCN) control system that the control system of described dual-machine loading-and-walking type hydraulic numerical control deck erection gantry is made up of 1 main console desk, a Y field controller, a Y pumping plant, a Y pumping plant starter box and data acquisition system, plurality of data line and order wire;

Described data acquisition system comprises the pressure sensor that is installed in the displacement pickup that is used to detect piston displacement on each jack master top, detects oil inlet pressure, and be installed in be used on the ground tackle up and down to detect ground tackle degree of tightness state near switches set, displacement pickup, pressure sensor, be connected with field controller by control cable respectively near switches set, all detections and control signal are sent to main control computer through communication unit; The position signal that main control computer arrives according to various sensor acquisition, pressure signal, according to certain control program and algorithm, the sequence of operation of decision oil cylinder is finished the co-ordination of cluster jack; The size of while control ratio valve opening, driving oil cylinder is stretched cylinder or the cylinder that contracts with the speed of regulation, thereby realizes the synchro control of jack, the span of above-mentioned m, n, p, q and Y is: m is 1,2 or 3, and n is 1,2 or 3, and p is 1,2 or 3, q is 1,2,3 or 4, and Y is 4,8,12 or 16.

3. dual-machine loading-and-walking type hydraulic numerical control deck erection gantry according to claim 2 is characterized in that: be equipped with on the main control computer of described dual-machine loading-and-walking type hydraulic numerical control deck erection gantry control system and the field controller and can realize the emergency braking key that promptly stops.

4. one kind when being used for bearing a heavy burden walking as any dual-machine loading-and-walking type hydraulic numerical control deck erection gantry of claim 2 to 3, its control system is to the control method of jack, it is characterized in that: described control system is the control of a kind of system to the control of jack, comprises distance control mode and master mode on the spot:

5. one kind when being used to bear a heavy burden walking as dual-machine loading-and-walking type hydraulic numerical control deck erection gantry as described in the claim 4, its control system is characterized in that the control method of jack: the control of described system by means of upper computer and lower computer and write upper computer and lower computer in system software finish;

Comprise logic control main program, displacement control subprogram, pressure control subroutine and overpressure protection control subprogram in the automatic control program again.

6. one kind when being used to bear a heavy burden walking as dual-machine loading-and-walking type hydraulic numerical control deck erection gantry as described in the claim 5, its control system is to the control method of jack, it is characterized in that: the described logic control main program of being finished by the lower computer field controller mainly is jack cluster action control and work flow control, comprise the cluster interlock, local interlock, the single-point single action, promptly according to the lifting program, the traction program, the load transfer program, guide rail walking program correct execution is stretched cylinder, cylinder contracts, the tight anchor of going up, anchor on the pine, tightly cast anchor, Panasonic's anchor instructs, and also will control the length of each opening time simultaneously.

7. one kind when being used to bear a heavy burden walking as dual-machine loading-and-walking type hydraulic numerical control deck erection gantry as described in the claim 6, its control system is to the control method of jack, it is characterized in that: the lifting operation program that the described control of being finished by the lower computer field controller promotes jack is: it is tight up to casting anchor 1. tightly to cast anchor, 2. contract cylinder to piston arrives 1# position: in the cylinder process that contracts if then cylinder contracts on the anchor limit on the pine of limit in piston arrives 3# position, 3. pine goes up anchor until last anchor pine: carry out simultaneously with step 2,4. it is tight up to last anchor tightly to go up anchor, 5. stretch cylinder until piston arrives 4# position: this step is stretched cylinder for band carries, require displacement synchronous to regulate the piston displacement that Y * 2q platform promotes jack, with wherein one to promote jack be that 1# promotes jack, if certain piston displacement that promotes jack then entered and the cooresponding displacement control subprogram of lifting program A when promoting the jack piston displacement difference above setting range with 1#; Stretch in the cylinder process if cylinder is then stretched in limit Panasonic anchor limit in piston arrives 2# position, 6. Panasonic's anchor is until the pine of casting anchor: carry out simultaneously with step 5,7. get back to step 1.;

Described and the cooresponding displacement control subprogram of lifting program A are: carrying out step 5. in the process, if certain promotes the apportioning valve of then controlling this top when difference that jack and 1# promote the jack piston displacement surpasses setting value and carries out the PID adjusting, increase or reduce the apportioning valve openings of sizes, stretch cylinder speed thereby change jack, go to zero up to difference;

8. one kind when being used to bear a heavy burden walking as dual-machine loading-and-walking type hydraulic numerical control deck erection gantry as described in the claim 6, its control system is characterized in that the control method of jack: the down maneuver program that the described control of being finished by the lower computer field controller promotes jack is:

B is with the cooresponding displacement control subprogram of letdown procedure: carrying out step 8. in the process, if certain when promoting difference that jack and 1# promote the jack piston displacement above setting value, the apportioning valve of then controlling this top carries out PID to be regulated, increase or reduce the apportioning valve openings of sizes, stretch cylinder speed thereby change jack, go to zero up to difference;

9. one kind when being used to bear a heavy burden walking as dual-machine loading-and-walking type hydraulic numerical control deck erection gantry as described in the claim 6, its control system is to the control method of jack, it is characterized in that: the forward motion program that the traction program of jack is drawn in the described control of being finished by the lower computer field controller is: it is tight up to casting anchor 1. tightly to cast anchor, 2. contract cylinder to piston arrives 1# position: in the cylinder process that contracts if then cylinder contracts on the anchor limit on the pine of limit in piston arrives 3# position, 3. pine goes up anchor until last anchor pine: carry out simultaneously with step 2,4. it is tight up to last anchor tightly to go up anchor, 5. stretch cylinder until piston arrives 4# position: this step is stretched cylinder for band carries, the piston displacement of difference of pressure control and synchronization regulation Y * m platform traction jack is carried out in requirement, with traction jack wherein is 1# traction jack, if the piston displacement of certain traction jack then enters and draw the cooresponding displacement control subprogram of program forward motion A during above setting range with 1# traction jack piston displacement difference; Stretch in the cylinder process if cylinder is then stretched in limit Panasonic anchor limit in piston arrives 2# position, 6. Panasonic's anchor is until the pine of casting anchor: carry out simultaneously with step 5,7. get back to step 1.;

Describedly be: carrying out step 5. in the process with traction program forward motion cooresponding displacement control subprogram A, carry out the PID adjusting if then control the apportioning valve on this top when the difference of certain traction jack and 1# traction jack piston displacement surpasses setting value, increase or reduce the apportioning valve openings of sizes, stretch cylinder speed thereby change jack, go to zero up to difference;

10. one kind when being used to bear a heavy burden walking as dual-machine loading-and-walking type hydraulic numerical control deck erection gantry as described in the claim 6, its control system is characterized in that the control method of jack: the backward movement program that jack is drawn in the described control of being finished by the lower computer field controller is:

With the traction program with the cooresponding displacement control subprogram of back-off procedure B be: carrying out step 8. in the process, if the difference of certain traction jack and 1# traction jack piston displacement is during above setting value, the apportioning valve of then controlling this top carries out PID to be regulated, increase or reduce the apportioning valve openings of sizes, stretch cylinder speed thereby change jack, go to zero up to difference;

11. one kind when being used to bear a heavy burden walking as dual-machine loading-and-walking type hydraulic numerical control deck erection gantry as described in claim 9 or 10, its control system is characterized in that the control method of jack: described and traction program advance program step 5. or the back-off procedure step pressure reduction control subprogram of carrying out difference of pressure control described in 8. be:

5. or the back-off procedure step of traction program 8. in the process, with the pressure P of maximum that traction jack of pressure advance program step in the program of drawing _MaxDeduct the pressure P of minimum that traction jack of pressure _MinBe pressure differential deltap P1, if all in running order Y * when the pressure differential deltap P1 of m platform traction jack set less than setting value Δ P, system continued to move; When pressure differential deltap P1 set more than or equal to setting value Δ P, system-down also showed relevant information.

12. one kind when being used to bear a heavy burden walking as dual-machine loading-and-walking type hydraulic numerical control deck erection gantry as described in the claim 6, its control system is to the control method of jack, it is characterized in that: the operation program of the load transfer program of the described control Y that is finished by the lower computer field controller * 4n platform load conversion jack is: 1. stretch cylinder to the piston arrives upper limit, this step is stretched cylinder for band carries, require the pressure of synchronization regulation Y * 4n platform load conversion jack, with load conversion jack wherein is 1# load conversion jack, if the difference of pressure of the pressure of certain load conversion jack and 1# load conversion jack then enters and the cooresponding pressure control subroutine of load transfer program when surpassing setting range, 2. contract cylinder to lower limit, 3. get back to step 1.;

Described and the cooresponding pressure control subroutine of load transfer program is: in the control load switching process, with 1# load conversion jack is main the order a little, the pressure of all the other Y * 4n-1 platform load conversion jack compares with it, band carries to be stretched in the cylinder process, if then controlling the apportioning valve on this top when surpassing setting value, the difference of certain load conversion jack and 1# load conversion jack pressure carries out the PID adjusting, increase or reduce the apportioning valve openings of sizes, thereby change the pressure of load conversion jack, go to zero up to difference; Set the difference of pressure of Y * 4n platform load conversion jack simultaneously, if difference of pressure goes beyond the scope, then system's auto alarm prompting.

13. one kind when being used to bear a heavy burden walking as dual-machine loading-and-walking type hydraulic numerical control deck erection gantry as described in the claim 6, its control system is to the control method of jack, it is characterized in that: the very heavy jacking of walking of the described control Y that finishes by the lower computer field controller * P platform guide rail, the operation program that moves back is: 1. stretch cylinder to the piston arrives upper limit, this step is stretched cylinder for band carries, require the pressure of synchronization regulation Y * P platform guide rail walking jack, with guide rail walking jack wherein is 1# guide rail walking jack, if the pressure of certain guide rail walking jack and 1# guide rail walking jack pressure difference then enter and the corresponding pressure control subroutine of guide rail walking program when surpassing setting range, 2. contract cylinder to lower limit, 3. get back to step 1.;

Described and the corresponding pressure control subroutine of guide rail walking program is: in control guide rail walking program process, with 1# guide rail walking jack is main the order a little, the pressure of all the other Y * P-1 platform guide rail walking jack compares with it, band carries to be stretched in the cylinder process, if then controlling the apportioning valve on this top when surpassing setting value, the difference of certain guide rail walking jack and 1# guide rail walking jack pressure carries out the PID adjusting, increase or reduce the apportioning valve openings of sizes, thereby change the pressure of guide rail walking jack, go to zero up to difference; Set the difference of pressure of Y * P platform guide rail walking jack simultaneously, if difference of pressure goes beyond the scope, then system's auto alarm prompting.

14. one kind when being used to bear a heavy burden walking as dual-machine loading-and-walking type hydraulic numerical control deck erection gantry as described in claim 5 or 6; its control system is to the control method of jack; it is characterized in that: described overpressure protection control subprogram is: in entire work process; to comprise the lifting jack; the traction jack; guide rail walking jack and load conversion jack compare at the pressure of every interior jack and the highest setting pressure of this jack; if less than setting value then system work on, if more than or equal to setting value system-down and on screen, show relevant information then; report to the police and illustrate.