CN102608926B - Control method, control system and controller for folding arm support and concrete distribution machinery - Google Patents
Control method, control system and controller for folding arm support and concrete distribution machinery Download PDFInfo
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- CN102608926B CN102608926B CN201210028503.0A CN201210028503A CN102608926B CN 102608926 B CN102608926 B CN 102608926B CN 201210028503 A CN201210028503 A CN 201210028503A CN 102608926 B CN102608926 B CN 102608926B
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
- E04G21/02—Conveying or working-up concrete or similar masses able to be heaped or cast
- E04G21/04—Devices for both conveying and distributing
- E04G21/0418—Devices for both conveying and distributing with distribution hose
- E04G21/0445—Devices for both conveying and distributing with distribution hose with booms
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Abstract
The invention discloses a control method for a folding arm support, which comprises the following steps: acquiring a current stroke L2 of a reserved arm support oil cylinder of the folding arm support; acquiring the maximum distance r2 from the tail end of each arm joint between a hinged point at the root end of a reserved arm joint driven by the reserved arm support oil cylinder and the tail end of the arm support to the hinged point at the root end of the reserved arm joint; according to the current stroke L2 and the maximum distances r2, calculating a flow Q2 required by the reserved arm support oil cylinder when the tail ends of the arm joints with the maximum distances r2 moves at a reset speed v0 under the drive of the reserved arm support oil cylinder; and conveying hydraulic oil of which the flow is less than or equal to the flow Q2 to the reserved arm support oil cylinder. According to the control method, the safety of the folding arm support in the unfolding or folding process can be improved. The invention also discloses a controller and a control system for the folding arm support and a concrete distribution machinery comprising the folding arm support. The controller, the control system and the concrete distribution machinery have the same technical effects.
Description
Technical field
The present invention relates to technical field of engineering machinery, relate in particular to a kind of control method of the foldable arm rack for concrete distributing machinery.In addition, the invention still further relates to a kind of controller, control system of above-mentioned foldable arm rack, and comprise the concrete distributing machinery of the control system of above-mentioned foldable arm rack.
Background technology
Concrete mixer is a kind of conventional concrete distributing machinery, generally comprises running gear, pumping installations and foldable arm rack.Running gear is mainly used in the transfer of concrete pumping equipment work-yard; Pumping installations is used for concrete pump to deliver in the delivery pipe of foldable arm rack, height concrete conveyance extremely being needed by the delivery pipe of foldable arm rack; Control system, by controlling the stretching, extension of each jib and drawing motion in, is placed on target location by the end of jib.
The control system of foldable arm rack of the prior art is generally hydraulic control system, mainly comprise arm-pump, banked direction control valves and multiple arm support oil cylinder, arm-pump provides the hydraulic oil of control system, hydraulic oil is transported in each arm support oil cylinder by banked direction control valves, promote jib cylinder action, control the stretching, extension of foldable arm rack and draw action in.
Please refer to Fig. 1, Fig. 1 is the structural representation of a kind of foldable arm rack in prior art.
As shown in Figure 1, this foldable arm rack comprises five arm joints and five arm support oil cylinder, and five arm joints connect successively from jib butt to arm support tail end, and each arm support oil cylinder is connected with at least one arm joint, can drive the arm joint motion being connected with this arm support oil cylinder.
In the figure, in the time that the 5th arm support oil cylinder 52 is moved, can drive the 5th arm joint 51 to rotate around the pin joint of the 5th arm joint 51 and the 4th arm joint 41; In the time that the 4th arm support oil cylinder 42 is moved, can drive the pin joint motion of the 4th arm joint 41 around the 4th arm joint 41 and the 3rd arm joint 31, drive the 5th arm joint 51 to rotate simultaneously; In the time that the 3rd arm support oil cylinder 32 is moved, can drive the pin joint motion of the 3rd arm joint 31 around the 3rd arm joint 31 and the second arm joint 21, drive the 4th arm joint 41, the 5th arm joint 51 motions simultaneously; In the time that the second arm support oil cylinder 22 is moved, can drive the pin joint motion of the second arm joint 21 around the second arm joint 21 and the 3rd arm joint 31, drive the 3rd arm joint 31, the 4th arm joint 41 and the 5th arm joint 51 motions simultaneously.。。By that analogy, drive different arm support oil cylinder, can realize different arm joint motions, thereby realize expansion or the gathering of foldable arm rack.
Because the hydraulic fluid flow rate of each arm support oil cylinder directly has influence on the movement velocity of pumping vehicle arm rack, when the flow of input is larger, pumping vehicle arm rack movement velocity is faster, when pumping vehicle arm rack launches and draws in the time of cost just fewer, work efficiency is higher.So those skilled in the art take the method that strengthens arm support oil cylinder flow to increase the movement velocity in foldable arm rack expansion or gathering process conventionally in prior art.
But along with the increase of the movement velocity of jib, there is the danger that bending even fractures and also increase in arm joint thereupon.Therefore, some countries and regions to foldable arm rack launch or gathering process in movement velocity done concrete restriction, for example Europe just clearly defines the top speed of engineering machinery jib motion.
In view of this, for adapting to the restriction of the speed of different regions to jib motion, urgently propose a kind of new arm support control method, make the movement velocity of whole jib jib in the process of launching or draw in be not more than limit value, improve the security performance of foldable arm rack operation.
Summary of the invention
The technical problem to be solved in the present invention is for providing a kind of control method of foldable arm rack, whole foldable arm rack is launched or gathering process in, each arm joint end is all to be not more than the speed motion of predetermined speed, to improve the security of operation of foldable arm rack.Another technical matters that the present invention will solve is for a kind of controller, control system of foldable arm rack are provided, and comprises the concrete distributing machinery of this control system.
For solving the problems of the technologies described above, the invention provides a kind of control method of foldable arm rack, described foldable arm rack comprises multiple arm joint and at least one arm support oil cylinder that connect successively from jib butt to arm support tail end, described in each, arm support oil cylinder is connected with at least one arm joint, can drive the arm joint motion being connected with this arm support oil cylinder; Described control method comprises the steps:
Obtain the current stroke L2 of a predetermined arm support oil cylinder of described foldable arm rack; The butt hinge that obtains the predetermined arm joint of described predetermined arm support oil cylinder driving arrives the ultimate range r2 of the butt hinge of described predetermined arm joint to the end of the each arm joint between arm support tail end;
According to described current stroke L2 and described ultimate range r2 calculate the arm joint end that makes to have described ultimate range r2 under described predetermined arm support oil cylinder drives at a predetermined velocity when v0 motion described in the flow Q2 that needs of predetermined arm support oil cylinder;
The hydraulic oil that flow is less than or equal to described flow Q2 is delivered to described predetermined arm support oil cylinder.
Preferably, calculating after the flow Q2 of described predetermined arm support oil cylinder needs, the hydraulic oil that flow is equaled to described flow Q2 is delivered to described predetermined arm support oil cylinder.
Preferably, described flow Q2 obtains according to formula Q2=r1Q1/r2;
Wherein, r1 is that butt hinge to the each arm between arm support tail end of described predetermined arm joint saves length sum, Q1 is under same one stroke L2 condition, when ultimate range r2 is r1, the arm joint end with ultimate range r1 at a predetermined velocity when v0 motion described in the hydraulic fluid flow rate that needs of predetermined arm support oil cylinder.
Preferably, described flow Q2 obtains according to the current stroke L2 of predetermined arm support oil cylinder, ultimate range r2 Query Database.
Preferably, described ultimate range r2 obtains one of in the following manner:
1) detect the stroke of each arm support oil cylinder, the distance of the butt hinge that obtains described predetermined arm joint according to the stroke of each arm support oil cylinder to the end of the each arm joint between arm support tail end to the butt hinge of described predetermined arm joint, then obtain the maximal value in above-mentioned distance;
2) distance of the butt hinge that detects described predetermined arm joint to the end of the each arm joint between arm support tail end to the butt hinge of described predetermined arm joint, obtains the maximal value in above-mentioned distance;
3) detect the angle parameter of the each arm joint of described foldable arm rack, butt hinge to the end of the each arm joint between arm support tail end that obtains described predetermined arm joint according to the angle parameter of each arm joint arrives the distance of the butt hinge of described predetermined arm joint, then obtains the maximal value in above-mentioned distance.
The invention provides a kind of control method of foldable arm rack, comprise the steps: the current stroke L2 of a predetermined arm support oil cylinder obtaining foldable arm rack; The butt hinge that obtains the predetermined arm joint of predetermined arm support oil cylinder driving arrives the ultimate range r2 of the butt hinge of predetermined arm joint to the end of the each arm joint between arm support tail end; Calculate the arm joint end flow Q2 that predetermined arm support oil cylinder needs when v0 motion at a predetermined velocity that makes to have ultimate range r2 under predetermined arm support oil cylinder drives according to current stroke L2 and ultimate range r2; The hydraulic oil that flow is less than or equal to flow Q2 is delivered to predetermined arm support oil cylinder.
Adopt said method, make in the expansion or gathering process of foldable arm rack, the butt hinge of the predetermined arm joint that predetermined arm support oil cylinder drives to the end of the each arm joint between arm support tail end all moves with the speed that is not more than predetermined speed v0, compared to existing technology, avoid the arm joint end of foldable arm rack to exceed the speed motion of predetermined speed v0, guaranteed the safety and stability of expansion or the gathering of foldable arm rack.
The present invention also provides a kind of controller of foldable arm rack, described foldable arm rack comprises multiple arm joint and at least one arm support oil cylinder that connect successively from jib butt to arm support tail end, described in each, arm support oil cylinder is connected with at least one arm joint, can drive the arm joint motion being connected with this arm support oil cylinder; Described controller at least comprises computing unit and control module, the butt hinge of the predetermined arm joint that described computing unit can drive according to the current stroke L2 of the predetermined arm support oil cylinder of described foldable arm rack and described predetermined arm support oil cylinder calculate to the end of the each arm joint between arm support tail end to the ultimate range r2 of the butt hinge of described predetermined arm joint the arm joint end that makes to have described ultimate range r2 under described predetermined arm support oil cylinder drives at a predetermined velocity when v0 motion described in predetermined arm support oil cylinder need to flow Q2; The hydraulic oil that described control module can be less than or equal to described flow Q2 by flow according to described flow Q2 is delivered to described predetermined arm support oil cylinder.
The present invention also provides a kind of control system of foldable arm rack, described foldable arm rack comprises multiple arm joint and at least one arm support oil cylinder that connect successively from jib butt to arm support tail end, described in each, arm support oil cylinder is connected with at least one arm joint, can drive the arm joint motion being connected with this arm support oil cylinder; Described control system at least comprises:
Detecting unit, for obtaining the current stroke L2 of a predetermined arm support oil cylinder of described foldable arm rack; The butt hinge that obtains the predetermined arm joint of described predetermined arm support oil cylinder driving arrives the ultimate range r2 of the butt hinge of described predetermined arm joint to the end of the each arm joint between arm support tail end;
Computing unit, for calculate according to described current stroke L2 and described ultimate range r2 the arm joint end that makes to have described ultimate range r2 under described predetermined arm support oil cylinder drives at a predetermined velocity when v0 motion described in the flow Q2 that needs of predetermined arm support oil cylinder;
Control module, is delivered to described predetermined arm support oil cylinder for flow being less than or equal to the hydraulic oil of described flow Q2.
Preferably, described control module is for calculating after the flow Q2 of described predetermined arm support oil cylinder needs, and the hydraulic oil that flow is equaled to described flow Q2 is delivered to described predetermined arm support oil cylinder.
Preferably, described computing unit is for obtaining flow Q2 according to formula Q2=r1Q1/r2;
Wherein, r1 is that butt hinge to the each arm between arm support tail end of described predetermined arm joint saves length sum, Q1 is under same one stroke L2 condition, when ultimate range r2 is r1, the arm joint end that there is ultimate range and be r1 at a predetermined velocity when v0 motion described in the hydraulic fluid flow rate that needs of predetermined arm support oil cylinder.
Preferably, described detecting unit is for obtaining one of in the following manner described ultimate range r2:
1) obtain the stroke of each arm support oil cylinder, the distance of the butt hinge that obtains described predetermined arm joint according to the stroke of each arm support oil cylinder to the end of the each arm joint between arm support tail end to the butt hinge of described predetermined arm joint, then obtain the maximal value in above-mentioned distance;
2) distance of the butt hinge that detects described predetermined arm joint to the end of the each arm joint between arm support tail end to the butt hinge of described predetermined arm joint, obtains the maximal value in above-mentioned distance;
3) detect the angle parameter of the each arm joint of described foldable arm rack, butt hinge to the end of the each arm joint between arm support tail end that obtains described predetermined arm joint according to the angle parameter of each arm joint arrives the distance of the butt hinge of described predetermined arm joint, then obtains the maximal value in above-mentioned distance.
The present invention also provides a kind of concrete distributing machinery, comprises foldable arm rack; Described foldable arm rack adopts the control system of foldable arm rack as above.
Preferably, described concrete distributing machinery is concrete mixer or concrete-mixing pump truck.
Because the control method of above-mentioned foldable arm rack has above-mentioned technique effect, therefore, controller, the control system of the foldable arm rack corresponding with the method and comprise that the concrete distributing machinery of this control system also should have corresponding technique effect, does not repeat them here.
Accompanying drawing explanation
Fig. 1 is the structural representation of a kind of foldable arm rack in prior art;
Fig. 2 is the FB(flow block) of a kind of embodiment of the control method of foldable arm rack provided by the present invention;
Fig. 3 is the constitutional diagram of the foldable arm rack shown in Fig. 1 while launching completely;
The structural representation of a kind of embodiment of the control system of Fig. 4 foldable arm rack provided by the present invention.
Wherein, the Reference numeral in Fig. 1 and Fig. 3 and the corresponding relation between component names are: the first arm joint 11; The second arm joint 21; The 3rd arm joint 31; The 4th arm joint 41; The 5th arm joint 51; The first arm support oil cylinder 12; The second arm support oil cylinder 22; The 3rd arm support oil cylinder 32; The 4th arm support oil cylinder 42; The 5th arm support oil cylinder 52.
Embodiment
The present invention aims to provide a kind of control method of foldable arm rack, makes foldable arm rack each arm joint end that arm support oil cylinder drives in the process of launching or draw in all to be not more than the speed motion of predetermined speed, greatly improves the security performance of jib operation.In addition, the present invention also aims to provide a kind of controller of foldable arm rack, the control system of foldable arm rack, and comprises the concrete distributing machinery of this control system.
In order to make those skilled in the art understand better technical scheme of the present invention, below in conjunction with the drawings and specific embodiments, the present invention is described in further detail.
Please refer to Fig. 2, the FB(flow block) of a kind of embodiment of the control method that Fig. 2 is foldable arm rack provided by the present invention.
In a kind of embodiment, the invention provides a kind of control method of foldable arm rack, foldable arm rack comprises multiple arm joint and at least one arm support oil cylinder that connect successively from jib butt to arm support tail end, each arm support oil cylinder is connected with at least one arm joint, can drive the arm joint motion being connected with this arm support oil cylinder; As shown in Figure 2, the control method of foldable arm rack comprises the steps:
S11: the current stroke L2 that obtains a predetermined arm support oil cylinder of foldable arm rack; The butt hinge that obtains the predetermined arm joint of predetermined arm support oil cylinder driving arrives the ultimate range r2 of the butt hinge of predetermined arm joint to the end of the each arm joint between arm support tail end;
S12: calculate the arm joint end flow Q2 that predetermined arm support oil cylinder needs when v0 motion at a predetermined velocity that makes to have ultimate range r2 under predetermined arm support oil cylinder drives according to current stroke L2 and ultimate range r2;
S13: the hydraulic oil that flow is less than or equal to flow Q2 is delivered to predetermined arm support oil cylinder.
Specifically introduce the control procedure of above-mentioned control method below as an example of the foldable arm rack shown in Fig. 1 example.
Setting the first arm support oil cylinder 12 is predetermined arm support oil cylinder, take v0 as predetermined speed, in the time that the first arm support oil cylinder 12 is moved, drive the first arm joint 11 motions (therefore the first arm joint 11 is predetermined arm joint), and drive the second arm joint 21, the 3rd arm joint 31, the 4th arm joint 41 and the 5th arm joint 51 motion simultaneously simultaneously.When jib is during in a certain position, as shown in Figure 1, step S11 obtains the current stroke L2 of the first arm support oil cylinder 12, and obtain the ultimate range r2 of the butt hinge of each arm joint end to the first arm joint 11, by analysis: now the first arm saves 11 ends, the second arm and saves 21 ends, the 3rd arm and save that 31 ends, the 4th arm save 41 ends, the 5th arm saves 51 end-to-end distances and is respectively e, d, c, b and a from the distance of the butt hinge of the first arm joint, relatively can draw the end-to-end distance of the 4th arm joint 41 from hinge farthest, therefore current ultimate range r2 is b.
After completing steps S11, step S12 calculates under the driving of the first arm support oil cylinder 12 according to the current stroke L2 of the first arm support oil cylinder 12 and ultimate range r2, and the 4th arm saves the 41 ends flow Q2 that v0 when motion first arm support oil cylinder 12 needs at a predetermined velocity.
Finally, the hydraulic oil that flow is less than or equal to flow Q2 is delivered to the first arm support oil cylinder 12, now, the 4th arm saves 41 ends to be less than or equal to predetermined speed v0 motion, because other each arm joint end-to-end distances are less than b from the distance of the butt hinge of the first arm joint 11, therefore, the in the situation that of same angular velocity, on whole jib, the movement velocity of each point is all less than the 4th arm and saves the speed of 41 ends, and in other words on foldable arm rack, the movement velocity of each point does not all exceed predetermined speed v0.
Can be found out by the above-mentioned course of work, adopt said method, make in the expansion or gathering process of foldable arm rack, the butt hinge of the predetermined arm joint that predetermined arm support oil cylinder drives to the end of the each arm joint between arm support tail end all moves to be not more than predetermined speed v0, compared to existing technology, avoid the arm joint end of foldable arm rack to exceed predetermined speed v0 motion, guaranteed the safety and stability of expansion or the gathering of foldable arm rack.
The concrete control procedure of the control method of above-mentioned foldable arm rack can also be further set.
In another kind of embodiment, the control method of above-mentioned foldable arm rack is calculating after the flow Q2 of predetermined arm support oil cylinder needs, and the hydraulic oil that flow is equaled to flow Q2 is delivered to predetermined arm support oil cylinder.
Adopt in this way, make in the expansion or gathering process of foldable arm rack, predetermined arm support oil cylinder has the arm joint end v0 motion at a predetermined velocity of ultimate range r2 under driving, this makes guaranteeing under the prerequisite of safe operation, the time decreased that makes foldable arm rack launch or draw in, the work efficiency of raising foldable arm rack.
It should be noted that, the control method of above-mentioned embodiment can be specially real-time control procedure, be current stroke L2 and the ultimate range r2 of the predetermined arm support oil cylinder of Real-time Obtaining, and calculate in real time the flow Q2 that predetermined arm support oil cylinder needs, according to flow Q2, predetermined arm support oil cylinder is being controlled in real time, can all guaranteed like this security of foldable arm rack any time in the expansion of foldable arm rack or gathering process.Certainly, above-mentioned control method can be also discontinuity control.
Please refer to Fig. 3, Fig. 3 is the constitutional diagram of the foldable arm rack shown in Fig. 1 while launching completely.
In a further embodiment, in the control method of above-mentioned foldable arm rack, can obtain flow Q2 according to formula Q2=r1Q1/r2; Wherein, r1 is that butt hinge to the each arm between arm support tail end of predetermined arm joint saves length sum, the butt hinge that is the predetermined arm support oil cylinder of the foldable arm rack shown in Fig. 3 saves the ultimate range of the butt hinge of end preset distance arm support oil cylinder apart from each arm of arm support tail end, Q1 is under same one stroke L2 condition, when ultimate range r2 is r1, having ultimate range is the hydraulic fluid flow rate of arm joint end predetermined arm support oil cylinder needs when v0 moves at a predetermined velocity of r1.
Wherein, Q1 can obtain Q1 in advance according to finite element analysis or test, draws by the method such as finite element analysis or test: when ultimate range is r1, and arm support tail end is with speed when motion of v0, the relation between current stroke L2 and flow Q1.In control procedure, can obtain Q1 according to L2.
For example above-mentioned take the first arm support oil cylinder 12 in the instantiation of predetermined arm support oil cylinder, obviously ultimate range r1 is a1+b1+c1+d1+e1, first by experiment method is obtained under same one stroke L2 condition, and arm joint (i.e. the 5th arm joint 51) end with ultimate range a1+b1+c1+d1+e1 is the hydraulic fluid flow rate Q1 of the first arm support oil cylinder 12 needs when v0 motion at a predetermined velocity.In control procedure, after obtaining the current stroke L2 of the first arm support oil cylinder 11 and ultimate range r2 and being b, can obtain Q1 according to L2, then pass through Q2=(a1+b1+c1+d1+e1) Q1/b obtains flow Q2.
As can be seen here, adopt and can in control procedure, directly set up in this way flow Q2 and the ultimate range r2 corresponding relation between the two, saved the workload of great many of experiments and analysis, and can guarantee control accuracy.
Certainly, can also obtain by other means above-mentioned flow Q2.For example, can first set up the current stroke L2 of the ultimate range r2 of foldable arm rack, predetermined arm support oil cylinder and need flow Q2 database one to one by methods such as sunykatuib analyses, in concrete control procedure, obtain after above-mentioned current stroke L2 and ultimate range r2, then obtain corresponding flow Q2 by inquiring about this database.Adopt in this way, can utilize empirical value to obtain rapidly flow Q2.
In above-mentioned control method, can specifically obtain ultimate range r2 by following several modes:
The first, can first detect the stroke of each arm support oil cylinder, butt hinge to the end of the each arm joint between arm support tail end that obtains described predetermined arm joint according to the stroke of each arm support oil cylinder arrives the distance of the butt hinge of described predetermined arm joint, then obtains the maximal value in above-mentioned distance.For example, in above-mentioned instantiation, can adopt linear transducer to detect the first arm support oil cylinder 12, the second arm support oil cylinder 22.。。The stroke of the 5th arm support oil cylinder 52, then calculates the first arm joint 11, the second arm joint 21 according to the stroke of each arm support oil cylinder.。。The end of the 5th arm joint 51 is to distance e, the d of the butt hinge of the first arm joint 11.。。A, then by relatively showing that ultimate range r2 is the end of the 4th arm joint 41 saves 11 butt hinges distance b to the first arm.As can be seen here, adopt and can obtain comparatively exactly in this way ultimate range r2, further improve control accuracy.
The second, can detect by detection part the angle parameter of each arm joint of described foldable arm rack, butt hinge to the end of the each arm joint between arm support tail end that obtains described predetermined arm joint according to the angle parameter of each arm joint arrives the distance of the butt hinge of described predetermined arm joint, then obtains the maximal value in above-mentioned distance.For example, in above-mentioned instantiation, can adopt angular transducer to detect the first arm joint 11, the second arm joint 21.。。Angle between the 5th arm joint 51 and surface level, or detect the first arm joint 11 and the angle of surface level and the angle of every adjacent two arms joint, then calculate the first arm joint 11, the second arm joint 21 according to each angle.。。The end of the 5th arm joint 51 is to distance e, the d of the butt hinge of the first arm joint 11.。。A, then by relatively showing that ultimate range r2 is the end of the 4th arm joint 41 saves 11 butt hinges distance b to the first arm.Similar with the first acquisition methods, adopt and can obtain comparatively exactly in this way ultimate range r2, further improve control accuracy.
The third, the distance of the butt hinge that can save to described predetermined arm by the butt hinge of the described predetermined arm joint of detection part detection to the end of the each arm joint between arm support tail end, then obtain the maximal value in above-mentioned distance.For example, in above-mentioned instantiation, can adopt displacement transducer or GPRS locating device to detect the first arm joint 11, the second arm joint 21.。。The end of the 5th arm joint 51 is to distance e, the d of the butt hinge of the first arm joint 11.。。A, then by relatively showing that ultimate range r2 is the end of the 4th arm joint 41 saves 11 butt hinges distance b to the first arm.As can be seen here, adopt this control method to obtain directly, rapidly ultimate range r2, further improve control efficiency.
In addition, the present invention also provides a kind of controller of foldable arm rack, at least comprises computing unit and control module.The butt hinge of the predetermined arm joint that computing unit can drive according to the current stroke L2 of the predetermined arm support oil cylinder of foldable arm rack and predetermined arm support oil cylinder calculate to the end of the each arm joint between arm support tail end to the ultimate range r2 of the butt hinge of predetermined arm joint under predetermined arm support oil cylinder drives, make to have ultimate range r2 arm joint end at a predetermined velocity when v0 motion predetermined arm support oil cylinder need to flow Q2.The hydraulic oil that control module can be less than or equal to flow Q2 by flow according to flow Q2 is delivered to predetermined arm support oil cylinder.
For example, in above-mentioned instantiation, be that the 4th arm saves 41 ends and saves to the first arm after the distance b of 11 butts at the current stroke L2, the ultimate range r2 that obtain the first arm support oil cylinder 12, the computing unit of above-mentioned controller can calculate the flow Q2 that the first arm support oil cylinder 12 needs according to current stroke L2, distance b.Then control module is less than or equal to the hydraulic oil of flow Q2 to the first arm support oil cylinder 12 feed flows according to the flow Q2 of computing unit output.Now, the 4th arm saves 41 ends to be less than or equal to predetermined speed v0 motion, because other each arm joint end-to-end distances are less than b from the distance of the butt hinge of the first arm joint 11, therefore, the in the situation that of same angular velocity, on whole jib, the movement velocity of each point is all less than the 4th arm and saves the speed of 41 ends, and on jib, the movement velocity of each point does not all exceed predetermined speed in other words.
As can be seen here, with above-mentioned control method similarly, adopt above-mentioned controller also can make in the expansion or gathering process of foldable arm rack, the butt hinge of the predetermined arm joint that predetermined arm support oil cylinder drives to the end of the each arm joint between arm support tail end all moves to be not more than predetermined speed v0, has guaranteed the safety and stability of expansion or the gathering of foldable arm rack.
Please refer to Fig. 4, the structural representation of a kind of embodiment of the control system of Fig. 4 foldable arm rack provided by the present invention.
In a kind of embodiment, as shown in Figure 4, the present invention also provides a kind of control system of foldable arm rack, at least comprises:
Detecting unit, for obtaining the current stroke L2 of a predetermined arm support oil cylinder of foldable arm rack; The butt hinge that obtains the predetermined arm joint of predetermined arm support oil cylinder driving arrives the ultimate range r2 of the butt hinge of predetermined arm joint to the end of the each arm joint between arm support tail end;
Computing unit, for calculating the arm joint end flow Q2 that predetermined arm support oil cylinder needs when v0 motion at a predetermined velocity that makes to have ultimate range r2 under predetermined arm support oil cylinder drives according to current stroke L2 and ultimate range r2;
Control module, is delivered to predetermined arm support oil cylinder for the hydraulic oil that flow is less than or equal to flow Q2.
For example, in above-mentioned instantiation, first detecting unit obtains the current stroke L2 of the first arm support oil cylinder 12, and to utilize length detection parts or angle detection part or displacement detecting parts etc. to obtain ultimate range r2 be the distance b that the 4th arm saves 41 ends and save to the first arm 11 butts.Then the computing unit of above-mentioned control system calculates according to current stroke L2, distance b the flow Q2 that the first arm support oil cylinder 12 needs.Last control module is less than or equal to the hydraulic oil of flow Q2 to the first arm support oil cylinder 12 feed flows according to the flow Q2 of computing unit output.Now, the 4th arm saves 41 ends to be less than or equal to predetermined speed v0 motion, because other each arm joint end-to-end distances are less than b from the distance of the butt hinge of the first arm joint 11, therefore, the in the situation that of same angular velocity, on whole jib, the movement velocity of each point is all less than the 4th arm and saves the speed of 41 ends, and on jib, the movement velocity of each point does not all exceed predetermined speed in other words.
As can be seen here, like above-mentioned control method, controller class, adopt above-mentioned control system also can make in the expansion or gathering process of foldable arm rack, the butt hinge of the predetermined arm joint that predetermined arm support oil cylinder drives to the end of the each arm joint between arm support tail end all moves to be not more than predetermined speed v0, has guaranteed the safety and stability of expansion or the gathering of foldable arm rack.
In concrete scheme, control module is for calculating after the flow Q2 of predetermined arm support oil cylinder needs, and the hydraulic oil that flow is equaled to flow Q2 is delivered to predetermined arm support oil cylinder.This makes in the expansion of foldable arm rack or gathering process, predetermined arm support oil cylinder has the arm joint end v0 motion at a predetermined velocity of ultimate range r2 under driving, this makes guaranteeing under the prerequisite of safe operation, the time decreased that makes foldable arm rack launch or draw in, the work efficiency of raising foldable arm rack.
Further, computing unit is for obtaining flow Q2 according to formula Q2=r1Q1/r2; Wherein, r1 is that butt hinge to the each arm between arm support tail end of predetermined arm joint saves length sum, the butt hinge that is the predetermined arm support oil cylinder of the foldable arm rack shown in Fig. 3 saves the ultimate range of the butt hinge of end preset distance arm support oil cylinder apart from each arm of arm support tail end, Q1 is under same one stroke L2 condition, when ultimate range r2 is r1, having ultimate range is the hydraulic fluid flow rate of arm joint end predetermined arm support oil cylinder needs when v0 moves at a predetermined velocity of r1.Like this, in the course of work of control system, directly set up flow Q2 and the ultimate range r2 corresponding relation between the two, saved the workload of great many of experiments and analysis, and can guarantee control accuracy.
In a further embodiment, the detecting unit of above-mentioned control system can specifically obtain ultimate range r2 by following several modes:
The first, can first obtain the stroke of each arm support oil cylinder, butt hinge to the end of the each arm joint between arm support tail end that obtains described predetermined arm joint according to the stroke of each arm support oil cylinder arrives the distance of the butt hinge of described predetermined arm joint, then obtains the maximal value in above-mentioned distance.
The second, can detect by detection part the angle parameter of each arm joint of described foldable arm rack, butt hinge to the end of the each arm joint between arm support tail end that obtains described predetermined arm joint according to the angle parameter of each arm joint arrives the distance of the butt hinge of described predetermined arm joint, then obtains the maximal value in above-mentioned distance.
As identical in what describe in above-mentioned control method, adopt above-mentioned the first and the second detecting unit can obtain comparatively exactly ultimate range r2, further improve control accuracy.
The third, the distance of the butt hinge that can save to described predetermined arm by the butt hinge of the described predetermined arm joint of detection part detection to the end of the each arm joint between arm support tail end, then obtain the maximal value in above-mentioned distance.As can be seen here, as identical in what describe in above-mentioned control method, adopt this control method to obtain directly, rapidly ultimate range r2, further improve control efficiency.
In addition, the present invention also provides a kind of concrete distributing machinery, comprises foldable arm rack; Foldable arm rack adopts the control system of foldable arm rack as above.Particularly, this concrete distributing machinery is specially concrete mixer or concrete-mixing pump truck, certainly, can also be the concrete distributing machinery of other kinds.
Because the control system of above-mentioned foldable arm rack has above-mentioned technique effect, therefore comprise that the concrete distributing machinery of this control system also should have corresponding technique effect, do not repeat them here.
Above control method, controller, the control system of a kind of concrete distributing machinery provided by the present invention and foldable arm rack thereof are described in detail.Applied specific case herein principle of the present invention and embodiment are set forth, the explanation of above embodiment is just for helping to understand method of the present invention and core concept thereof.It should be pointed out that for those skilled in the art, under the premise without departing from the principles of the invention, can also carry out some improvement and modification to the present invention, these improvement and modification also fall within the scope of protection of the present invention.
Claims (12)
1. the control method of a foldable arm rack, described foldable arm rack comprises multiple arm joint and at least one arm support oil cylinder that connect successively from jib butt to arm support tail end, described in each, arm support oil cylinder is connected with at least one arm joint, can drive the arm joint motion being connected with this arm support oil cylinder; It is characterized in that, described control method comprises the steps:
Obtain the current stroke L2 of a predetermined arm support oil cylinder of described foldable arm rack; The butt hinge that obtains the predetermined arm joint of described predetermined arm support oil cylinder driving arrives the ultimate range r2 of the butt hinge of described predetermined arm joint to the end of the each arm joint between arm support tail end;
According to described current stroke L2 and described ultimate range r2 calculate the arm joint end that makes to have described ultimate range r2 under described predetermined arm support oil cylinder drives at a predetermined velocity when v0 motion described in the flow Q2 that needs of predetermined arm support oil cylinder;
The hydraulic oil that flow is less than or equal to described flow Q2 is delivered to described predetermined arm support oil cylinder.
2. the control method of foldable arm rack according to claim 1, is characterized in that, is calculating after the flow Q2 of described predetermined arm support oil cylinder needs, and the hydraulic oil that flow is equaled to described flow Q2 is delivered to described predetermined arm support oil cylinder.
3. the control method of foldable arm rack according to claim 1, is characterized in that, described flow Q2 obtains according to formula Q2=r1Q1/r2;
Wherein, r1 is that butt hinge to the each arm between arm support tail end of described predetermined arm joint saves length sum, Q1 is under same one stroke L2 condition, when ultimate range r2 is r1, the arm joint end with ultimate range r1 at a predetermined velocity when v0 motion described in the hydraulic fluid flow rate that needs of predetermined arm support oil cylinder.
4. the control method of foldable arm rack according to claim 1, is characterized in that, described flow Q2 obtains according to the current stroke L2 of predetermined arm support oil cylinder, described ultimate range r2 Query Database.
5. according to the control method of the foldable arm rack described in claim 1-4 any one, it is characterized in that, described ultimate range r2 obtains one of in the following manner:
1) detect the stroke of each arm support oil cylinder, the distance of the butt hinge that obtains described predetermined arm joint according to the stroke of each arm support oil cylinder to the end of the each arm joint between arm support tail end to the butt hinge of described predetermined arm joint, then obtain the maximal value in above-mentioned distance;
2) butt hinge to the end of the each arm joint between arm support tail end that detects described predetermined arm joint arrives the distance of the butt hinge of described predetermined arm joint, then obtains the maximal value in above-mentioned distance;
3) detect the angle parameter of the each arm joint of described foldable arm rack, butt hinge to the end of the each arm joint between arm support tail end that obtains described predetermined arm joint according to the angle parameter of each arm joint arrives the distance of the butt hinge of described predetermined arm joint, then obtains the maximal value in above-mentioned distance.
6. the controller of a foldable arm rack, described foldable arm rack comprises multiple arm joint and at least one arm support oil cylinder that connect successively from jib butt to arm support tail end, described in each, arm support oil cylinder is connected with at least one arm joint, can drive the arm joint motion being connected with this arm support oil cylinder; Described controller at least comprises computing unit and control module, it is characterized in that,
The ultimate range r2 of the butt hinge of the predetermined arm joint that described computing unit can drive according to the current stroke L2 of the predetermined arm support oil cylinder of described foldable arm rack and described predetermined arm support oil cylinder to the end of the each arm joint between arm support tail end to the butt hinge of described predetermined arm joint, calculate the arm joint end that makes to have described ultimate range r2 under described predetermined arm support oil cylinder drives at a predetermined velocity when v0 motion described in the flow Q2 that needs of predetermined arm support oil cylinder;
The hydraulic oil that described control module can be less than or equal to described flow Q2 by flow according to described flow Q2 is delivered to described predetermined arm support oil cylinder.
7. the control system of a foldable arm rack, described foldable arm rack comprises multiple arm joint and at least one arm support oil cylinder that connect successively from jib butt to arm support tail end, described in each, arm support oil cylinder is connected with at least one arm joint, can drive the arm joint motion being connected with this arm support oil cylinder; It is characterized in that, described control system at least comprises:
Detecting unit, for obtaining the current stroke L2 of a predetermined arm support oil cylinder of described foldable arm rack; The butt hinge that obtains the predetermined arm joint of described predetermined arm support oil cylinder driving arrives the ultimate range r2 of the butt hinge of described predetermined arm joint to the end of the each arm joint between arm support tail end;
Computing unit, for calculate according to described current stroke L2 and described ultimate range r2 the arm joint end that makes to have described ultimate range r2 under described predetermined arm support oil cylinder drives at a predetermined velocity when v0 motion described in the flow Q2 that needs of predetermined arm support oil cylinder;
Control module, is delivered to described predetermined arm support oil cylinder for flow being less than or equal to the hydraulic oil of described flow Q2.
8. the control system of foldable arm rack according to claim 7, is characterized in that, described control module is for calculating after the flow Q2 of described predetermined arm support oil cylinder needs, and the hydraulic oil that flow is equaled to described flow Q2 is delivered to described predetermined arm support oil cylinder.
9. the control system of foldable arm rack according to claim 7, is characterized in that, described computing unit is for obtaining flow Q2 according to formula Q2=r1Q1/r2;
Wherein, r1 is that butt hinge to the each arm between arm support tail end of described predetermined arm joint saves length sum, Q1 is under same one stroke L2 condition, when ultimate range r2 is r1, the arm joint end that there is ultimate range and be r1 at a predetermined velocity when v0 motion described in the hydraulic fluid flow rate that needs of predetermined arm support oil cylinder.
10. according to the control system of the foldable arm rack described in claim 7-9 any one, it is characterized in that, described detecting unit is for obtaining one of in the following manner described ultimate range r2:
1) detect the stroke of each arm support oil cylinder, the distance of the butt hinge that obtains described predetermined arm joint according to the stroke of each arm support oil cylinder to the end of the each arm joint between arm support tail end to the butt hinge of described predetermined arm joint, then obtain the maximal value in above-mentioned distance;
2) distance of the butt hinge that detects described predetermined arm joint to the end of the each arm joint between arm support tail end to the butt hinge of described predetermined arm joint, obtains the maximal value in above-mentioned distance;
3) detect the angle parameter of the each arm joint of described foldable arm rack, butt hinge to the end of the each arm joint between arm support tail end that obtains described predetermined arm joint according to the angle parameter of each arm joint arrives the distance of the butt hinge of described predetermined arm joint, then obtains the maximal value in above-mentioned distance.
11. 1 kinds of concrete distributing machineries, comprise foldable arm rack; It is characterized in that, described foldable arm rack adopts the control system of the foldable arm rack as described in claim 7-10 any one.
12. concrete distributing machineries according to claim 11, is characterized in that, are specially concrete mixer or concrete-mixing pump truck.
Priority Applications (2)
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| CN201210028503.0A CN102608926B (en) | 2012-02-09 | 2012-02-09 | Control method, control system and controller for folding arm support and concrete distribution machinery |
| PCT/CN2012/073843 WO2013117043A1 (en) | 2012-02-09 | 2012-04-11 | Collapsible boom control method, controller and control system, and concrete spreading machinery |
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| CN201210028503.0A CN102608926B (en) | 2012-02-09 | 2012-02-09 | Control method, control system and controller for folding arm support and concrete distribution machinery |
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| CN103092103B (en) * | 2013-02-07 | 2014-04-09 | 中联重科股份有限公司 | Control method and control system of folding arm support and engineering machinery |
| DE202013012536U1 (en) * | 2013-04-11 | 2017-05-18 | Liebherr-Betonpumpen Gmbh | Mobile implement with swiveling mast or boom |
| CN112828934B (en) * | 2021-01-04 | 2022-05-20 | 中联重科股份有限公司 | Method and device for determining posture of arm support, monitoring method and device and engineering machinery |
| CN113280805B (en) * | 2021-04-14 | 2023-03-17 | 中联重科股份有限公司 | Method, processor and device for identifying boom posture and engineering machinery |
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