CN102799193A - Arm frame position control device and concrete pump truck - Google Patents
Arm frame position control device and concrete pump truck Download PDFInfo
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- CN102799193A CN102799193A CN2012103286478A CN201210328647A CN102799193A CN 102799193 A CN102799193 A CN 102799193A CN 2012103286478 A CN2012103286478 A CN 2012103286478A CN 201210328647 A CN201210328647 A CN 201210328647A CN 102799193 A CN102799193 A CN 102799193A
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- jib
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Abstract
The invention provides an arm frame position control device, comprising a distance measuring unit, a controller and a multi-path solenoid-operated valve group, wherein the distance measuring unit is used for acquiring the distance between an arm frame and a barrier in the vicinity of the arm frame and transmitting the acquired distance signal to the controller; the controller is connected to the multi-path solenoid-operated valve group and used for judging whether the distance between the arm frame and the barrier is less than or equal to a preset safety distance according to the distance signal, and transmitting a current adjustment signal to the multi-path solenoid-operated valve group when the distance between the arm frame and the barrier is less than or equal to the preset safety distance; and the multi-path solenoid-operated valve group is used for controlling the hydraulic oil amount of the oil cylinder of the corresponding arm frame according to the current adjustment signal so as to adjust the position of the arm frame and enable the distance between the arm frame and the barrier to be more than the preset safety distance. Through the technical scheme provided by the invention, the tail end position of the arm frame can be automatically adjusted into a safety range for construction, so that the safety and reliability for the actions of the arm frame are ensured.
Description
Technical field
The present invention relates to engineering machinery field, in particular to concrete mixer.
Background technology
At present, the jib pump truck is big because of its boundary of works area, and operating speed is fast, more and more becomes the main flow in market, and the jib of pump truck constantly increases, and its operation is just more complicated, and is just higher to the requirement of safe reliability.Complicated and changeable owing to the construction site, the jib end be possibly have and barrier or workmen run into, cause unnecessary workmen's injury and jib to damage, this just requires the jib end can accurately control avoiding obstacles or workmen in real time automatically.
In the correlation technique, along with the continuous increase of pumping vehicle arm rack length, corresponding jib construction radius is also increasing; But receive the restriction of complete vehicle structure space and economic performance; Workmen's the visual field is limited, in complicated building site more piece jib interlock work progress, because the uncertain factor of construction surface; The end of jib possibly run into construction surface or workmen, causes unnecessary jib to damage and personnel's injury.How to control the jib terminal position automatically, prevent to run into barrier and workmen on the construction surface, guarantee that the terminal construction safety of jib reliably becomes the key of control.
Therefore need a kind of automatic control jib terminal position technology, can adjust the jib terminal position automatically, guarantee the safe and reliable of jib action to the interior construction of safe range.
Summary of the invention
Consider the above-mentioned background technology, an object of the present invention is to provide a kind of arm support position control device, can realize adjusting automatically the jib terminal position, guarantee the safe and reliable of jib action to the safe range construction.
According to an aspect of the present invention; A kind of arm support position control device is provided; Comprise: range cells, controller and multichannel solenoid electric valve group; Wherein, said range cells is gathered the distance between said jib and near the barrier of said jib, and the distance signal of gathering is sent to said controller; Said controller is connected to said multichannel solenoid electric valve group; Judge that according to said distance signal whether distance between said jib and the said barrier is smaller or equal to preset safe distance; Smaller or equal to said preset safe distance the time, send current regulating signal in the distance between said jib and the said barrier to said multichannel solenoid electric valve group; Said multichannel solenoid electric valve group is controlled the hydraulic pressure oil mass of corresponding arm support oil cylinder according to said current regulating signal, to regulate the position of said jib, makes distance between jib and the said barrier greater than said preset safe distance.
Therefore; This multichannel solenoid electric valve group is used to realize the control to each joint arm support oil cylinder hydraulic fluid flow rate; The size of proportioning valve electric current is the flow area of decision spool directly, and this range cells is used for the detection to the real-time attitude of jib, and the jib action message is fed back to controller; And then the proportional current of multichannel solenoid electric valve group revised, with adjustment jib attitude.
In this technical scheme; Range cells is gathered the distance between jib and the barrier, should distance compare with safe distance, when not in safe distance; In time adjust arm support position; Make it in safe range, thereby can avoid jib to run into barrier and workmen on the construction surface effectively, guaranteed the jib safety of construction.
In technique scheme, preferably, can also comprise: actuation member or show input screen is sent to said controller through said actuation member or said demonstration input screen with the said preset safe distance of operating personnel's input and preserves.
Because the working-yard situation is complicated, a lot of uncertain factors are arranged, so safe distance need be adjusted to guarantee construction safety also according to different situations.Can preset safe distance simply, easily through this technical scheme operating personnel.
In above-mentioned arbitrary technical scheme, preferably, said controller also is used for smaller or equal to said preset safe distance the time, sending alarm signal to said actuation member and said demonstration input screen in the distance between said jib and the said barrier.
In this technical scheme, concrete mixer is in the distance between jib and the barrier smaller or equal to preset safe distance the time, and control arm support position is automatically sent alarm signal on the one hand on the one hand, to operating personnel's caution, has further guaranteed the safety of construction.
In above-mentioned arbitrary technical scheme, preferably, can also comprise: alarm unit is connected to said controller; Said controller smaller or equal to said preset safe distance the time, sends alerting signal to said alarm unit in the distance between said jib and the said barrier, and said alarm unit is reported to the police when receiving said alerting signal.
In this technical scheme, carry out alarm by alarm unit, avoid construction surface and site operation personal damage.
In above-mentioned arbitrary technical scheme, preferably, said range cells is laser ranging unit or infrared distance measurement unit or GPS range cells or ultrasonic ranging unit.
According to a further aspect in the invention, a kind of concrete mixer is provided also, has comprised jib, also comprised the arm support position control device described in above-mentioned arbitrary technical scheme, the range cells of said arm support position control device is arranged at said jib.
In above-mentioned arbitrary technical scheme, preferably, the quantity of said range cells is at least two, is arranged at intervals at said jib.
In above-mentioned arbitrary technical scheme, preferably, it is terminal that said range cells is arranged at said jib, and the range finding direction of said range cells straight down.
In above-mentioned arbitrary technical scheme, preferably, it is terminal that said range cells is connected to said jib through vertical holding member, and the top of said vertical holding member and said jib end are hinged.
In above-mentioned arbitrary technical scheme; Preferably, said vertical holding member is an annulus, and the top of said annulus is rotatably installed in said jib end through bearing pin; Said bearing pin be axially perpendicular to said jib, said range cells is arranged on the bottom of said annulus.
Preferably; Said vertical holding member can also for one be isosceles triangle disc cam; It is terminal that the drift angle of disc cam is rotatably installed in said jib through bearing pin, said bearing pin be axially perpendicular to said jib, said range cells is installed in said disc cam base.
In technique scheme; Range cells is connected to jib through vertical holding member; Can guarantee that the range cells detection side is to all the time straight down; Guarantee to keep suitable safe distance between jib end and the construction surface, realize that adjustment jib terminal position is guaranteed the safe and reliable of jib action to the safe range construction automatically.
Arm support position control device in the technique scheme also can be applicable to material distributing machine, full ground crane, truck-mounted crane.
According to technical scheme of the present invention, obtain the distance between jib and the barrier through range cells, construct in safe range thereby can adjust arm support position automatically, guarantee the safe and reliable of jib action; When arm support position is beyond safe range, can warn simultaneously, further guarantee construction safety to operating personnel.
Description of drawings
Fig. 1 shows the synoptic diagram of arm support position control device according to an embodiment of the invention;
Fig. 2 shows the structural representation of vertical holding member according to an embodiment of the invention;
Fig. 3 shows the structural representation of vertical holding member according to still another embodiment of the invention;
Fig. 4 shows the another kind of mounting means of range cells in the concrete mixer according to an embodiment of the invention;
Fig. 5 shows the process flow diagram of arm support position control method according to an embodiment of the invention.
Component names and the corresponding relation between the Reference numeral among Fig. 1 to Fig. 4 are:
102 range cells; 104 controllers; 106 multichannel solenoid electric valve groups; 108 arm support oil cylinder; 110 show input screen; 112 executive components; 114 alarm units; 202 annulus; 208 mounting holes; 300 disc cams.
Embodiment
In order more to be expressly understood above-mentioned purpose of the present invention, feature and advantage, the present invention is further described in detail below in conjunction with accompanying drawing and embodiment.
A lot of details have been set forth in the following description so that make much of the present invention; But; The present invention can also adopt other to be different from other modes described here and implement, and therefore, protection scope of the present invention does not receive the restriction of following disclosed specific embodiment.
Below in conjunction with accompanying drawing and embodiment the present invention is further specified.Need to prove that under the situation of not conflicting, the application's embodiment and the characteristic among the embodiment can make up each other.
At first combine Fig. 1 to specify arm support position control device according to an embodiment of the invention.Fig. 1 shows the synoptic diagram of arm support position control device according to an embodiment of the invention.
As shown in Figure 1; The arm support position control device 100 according to an embodiment of the invention; Comprise: range cells 102, controller 104 and multichannel solenoid electric valve group 106; Wherein, range cells 102 is gathered the distance between jib and near the barrier of jib, and the distance signal of gathering is sent to controller 104; Controller 104 is connected to multichannel solenoid electric valve group 106; Judge that according to distance signal whether distance between jib and the barrier is smaller or equal to preset safe distance; Smaller or equal to preset safe distance the time, send current regulating signals in the distance between jib and the barrier to multichannel solenoid electric valve group 106; Multichannel solenoid electric valve group 106 is controlled the hydraulic pressure oil mass of corresponding arm support oil cylinder 108 according to current regulating signal, to regulate the position of jib, makes distance between jib and the barrier greater than preset safe distance.
Therefore; This multichannel solenoid electric valve group 106 is used to realize the control to each joint arm support oil cylinder hydraulic fluid flow rate; The size of proportioning valve electric current is the flow area of decision spool directly, and this range cells 102 is used for the detection to the real-time attitude of jib, and the jib action message is fed back to controller 104; And then the proportional current of multichannel solenoid electric valve group 106 revised, with adjustment jib attitude.
In this technical scheme; Range cells 102 is gathered the distance between jibs and the barrier, should distance compare with safe distance, when not in safe distance; In time adjust arm support position; Make it in safe range, thereby can avoid jib to run into barrier and workmen on the construction surface effectively, guaranteed the jib safety of construction.
In technique scheme; Preferably; Also comprise: actuation member 112 (for example telepilot) or show input screen 110 (for example touching display input device), through actuation member 112 or show that input screen 110 is sent to controller 104 with the preset safe distance of operating personnel's input and preserves.
Because the working-yard situation is complicated, a lot of uncertain factors are arranged, so safe distance need be adjusted to guarantee construction safety also according to different situations.Can preset safe distance simply, easily through this technical scheme operating personnel.
Preferably, controller 104 also is used in the distance between jib and the barrier smaller or equal to said preset safe distance the time, to actuation member 112 with show that input screen 110 sends alarm signals.
In this technical scheme, concrete mixer sends alarm signal on the one hand in the control arm support position automatically on the one hand smaller or equal to preset safe distance time of the distance between jib and the barrier, to operating personnel's caution, has further guaranteed the safety of construction.
Preferably, this concrete mixer can also comprise: alarm unit 114 (for example hummer) is connected to controller 104; Controller 104 smaller or equal to preset safe distance the time, sends alerting signals to alarm unit 114 in the distance between jib and the barrier, and alarm unit 114 is reported to the police when receiving alerting signal.Carry out alarm by alarm unit 114, avoid construction surface and site operation personal damage.
Concrete mixer comprises jib according to an embodiment of the invention, also comprises arm support position control device 100 as shown in Figure 1, and the range cells 102 of arm support position control device 100 is arranged at jib.
Above-mentioned concrete mixer has adopted arm support position control device 100, and the effect of its generation is identical with the effect of arm support position control device 100, no longer applies and states.
Preferably, said range cells 102 is arranged at the jib end, and the range finding direction of said range cells 102 straight down.
In this technical scheme, range cells 102 is arranged at terminal and its range finding direction of jib straight down, range cells 102 detect jibs terminal with the distance between the barrier (being construction surface) under it, be convenient to when pump truck is constructed control to the jib end.
Preferably, range cells 102 is connected to the jib end through vertical holding member, and the top and the jib end of vertical holding member are hinged.
As shown in Figure 2, in one embodiment, this vertical holding member is an annulus 202; The top of annulus 202 is provided with mounting hole 208; The jib end is provided with bearing pin, bearing pin be axially perpendicular to jib, annulus 202 is located in the mounting hole 208 through bearing pin; Realization is rotatably installed in the jib end, and range cells 102 is arranged on the bottom of annulus 202.
In this technical scheme; Because these annulus 202 tops are rotatably installed in the jib end, bearing pin be axially perpendicular to jib, range cells 102 is arranged on the bottom of annulus 202; Like this; No matter how arm support position changes, and the range finding direction of range cells 102 still keeps straight down, the convenient distance that detects between jib end and the horizontal construction surface.
In another embodiment; As shown in Figure 3, vertical holding member is one to be the disc cam 300 of isosceles triangle substantially, and the drift angle of disc cam 300 is rotatably installed in jib through bearing pin; Bearing pin be axially perpendicular to jib, range cells 102 is installed in disc cam 300 bases.
In Fig. 3; Range cells 102 can be installed in the bottom of disc cam 300; Above this disc cam 300, equally also be provided with mounting hole 208; Can disc cam 300 be rotatably installed in the jib end through this mounting hole 208, no matter how the jib terminal position changes, and the detection side of this range cells 102 is to remaining straight down.
Fig. 4 shows the another kind of mounting means of range cells 102 in the concrete mixer according to an embodiment of the invention.
As shown in Figure 4, the quantity of said range cells 102 is at least two, is four among the figure; The quantity of range cells 102 can be selected other quantity according to actual needs; Each range cells 102 is arranged at intervals at jib, and in this implementation, range cells 102 is a ultrasonic probe.Ultrasonic probe is installed on the delivery pipe supporting seat of jib or on the side plate, and the detection range of probe (promptly preset safe distance) can be set by controller 104.When the distance between jib and the barrier time smaller or equal to preset safe distance; Can send current regulating signal to multichannel solenoid electric valve group 106; Can realize the closed-loop control of banked direction control valves proportional current, solve the inconsistent problem of synchronous effect that the equipment room property difference brings; Can send alerting signal to alarm unit 114 simultaneously.
Therefore, adopt the ultrasonic ranging principle, under the control of controller; By probe emission ultrasonic signal, when running into barrier, produce echoed signal; Via controller carried out data processing after sensor received echoed signal, judged the position of barrier, and was given a warning by hummer; In time warn, avoid the impaired or personnel's injury of jib.
At this, those skilled in the art should be appreciated that, range cells 102 can be in laser ranging unit, infrared distance measurement unit, GPS range cells or the ultrasonic ranging unit any.These measuring equipments all can detect the distance between jib and the barrier.
Further specify concrete control procedure below in conjunction with Fig. 5 according to concrete mixer of the present invention.
In this embodiment, can range cells 102 be installed in the jib end, as shown in Figure 5; In step 502; The manual ringing of jib operating unit (for example telepilot) is converted into electric signal control jib attitude, in step 504, according to the practice of construction situation; Set near the terminal and barrier of jib of jib, for example maximum safe operation distance h between the construction surface (being the plane at barrier place)
0, in step 506, measure the vertical range h between jib end and the construction surface in real time, in step 508, judge that whether the distance h of measuring is greater than h
0, if judged result is greater than h
0, then get into step 514.If judged result is less than h
0, then get into step 510, explain that the jib end exceeds the safe construction scope, continue to get into step 512, the terminal attitude of adjustment jib gets into step 514, makes the jib end in the safe construction scope.
Can know from above-mentioned flow process; When jib is operated; Be installed in survey square sensor on the vertical holding member on the jib end and can detect vertical square between jib end and the construction surface in real time, preestablished the vertical square of the terminal safe construction of a jib from h through telepilot or display screen from h
0, controller relatively detects square in real time and leaves h from the vertical square with safe construction of h
0Between size, as h>h
0The time, explain that the jib end constructs in safe range; Work as h<h
0The time, explain that the jib end exceeds the safe construction scope, at this moment, controller will send alarm signal and automatically the jib end suitably adjusted to reasonable security construction square in scope to telepilot and display screen, safe and reliable when realizing jib operation construction.
More than be described with reference to the accompanying drawings technical scheme of the present invention, considered in the correlation technique, the continuous increase of pumping vehicle arm rack length; Workmen's the visual field is limited; Terminal jib possibly run into construction surface or workmen in complicated building site more piece jib interlock work progress, causes unnecessary jib to damage and personnel's injury, the present invention proposes a kind of jib terminal position control technology; Can realize adjusting automatically the jib terminal position to the safe range construction, guarantee the safe and reliable of jib action; When the jib terminal position is beyond safe range, can warn simultaneously, further guarantee construction safety to operating personnel.
The above is merely the preferred embodiments of the present invention, is not limited to the present invention, and for a person skilled in the art, the present invention can have various changes and variation.All within spirit of the present invention and principle, any modification of being done, be equal to replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (10)
1. an arm support position control device is characterized in that, comprising: range cells (102), controller (104) and multichannel solenoid electric valve group (106), wherein,
Said range cells (102) is gathered the distance between said jib and near the barrier of said jib, and the distance signal of gathering is sent to said controller (104);
Said controller (104) is connected to said multichannel solenoid electric valve group (106); Judge that according to said distance signal whether distance between said jib and the said barrier is smaller or equal to preset safe distance; Smaller or equal to said preset safe distance the time, send current regulating signal in the distance between said jib and the said barrier to said multichannel solenoid electric valve group (106);
Said multichannel solenoid electric valve group (106) is controlled the hydraulic pressure oil mass of corresponding arm support oil cylinder according to said current regulating signal, to regulate the position of said jib, makes distance between jib and the said barrier greater than said preset safe distance.
2. arm support position control device according to claim 1; It is characterized in that; Also comprise: actuation member (112) or show input screen (110) is sent to said controller (104) through said actuation member (112) or said demonstration input screen (110) with the said preset safe distance of operating personnel's input and preserves.
3. arm support position control device according to claim 1 is characterized in that, also comprises: alarm unit (114) is connected to said controller (104);
Said controller (104) is in the distance between said jib and the said barrier smaller or equal to said preset safe distance the time; Send alerting signal to said alarm unit (114), said alarm unit (114) is reported to the police when receiving said alerting signal.
4. according to each described arm support position control device in the claim 1 to 3, it is characterized in that said range cells (102) is laser ranging unit or infrared distance measurement unit or GPS range cells or ultrasonic ranging unit.
5. a concrete mixer comprises jib, it is characterized in that, comprises that also the range cells of said arm support position control device (102) is arranged at said jib like each described arm support position control device in the claim 1 to 4.
6. concrete mixer according to claim 5 is characterized in that, the quantity of said range cells (102) is at least two, is arranged at intervals at said jib.
7. concrete mixer according to claim 5 is characterized in that, it is terminal that said range cells (102) is arranged at said jib, and the range finding direction of said range cells (102) straight down.
8. concrete mixer according to claim 7 is characterized in that, it is terminal that said range cells (102) is connected to said jib through vertical holding member, and the top of said vertical holding member and said jib end are hinged.
9. concrete mixer according to claim 8; It is characterized in that; Said vertical holding member is an annulus (202); It is terminal that the top of said annulus (202) is rotatably installed in said jib through bearing pin, said bearing pin be axially perpendicular to said jib, said range cells (102) is arranged on the bottom of said annulus (202).
10. concrete mixer according to claim 8; It is characterized in that; Said vertical holding member is one to be the disc cam (300) of isosceles triangle; It is terminal that the drift angle of disc cam (300) is rotatably installed in said jib through bearing pin, said bearing pin be axially perpendicular to said jib, said range cells (102) is installed in said disc cam (300) base.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210328647.8A CN102799193B (en) | 2012-09-07 | 2012-09-07 | Arm frame position control device, concrete mixer |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210328647.8A CN102799193B (en) | 2012-09-07 | 2012-09-07 | Arm frame position control device, concrete mixer |
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| CN102799193A true CN102799193A (en) | 2012-11-28 |
| CN102799193B CN102799193B (en) | 2015-12-09 |
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| CN103086285A (en) * | 2013-01-21 | 2013-05-08 | 三一帕尔菲格特种车辆装备有限公司 | Tipping prevention device, engineering machinery and tipping prevention method |
| CN103628687A (en) * | 2013-12-09 | 2014-03-12 | 湖南三一智能控制设备有限公司 | Concrete pouring method and system, and pouring equipment |
| CN103646505A (en) * | 2013-12-25 | 2014-03-19 | 中国水电顾问集团成都勘测设计研究院有限公司 | Site safety monitoring and early warning method in operational process of vibration trolley |
| CN103680060A (en) * | 2013-12-25 | 2014-03-26 | 中国水电顾问集团成都勘测设计研究院有限公司 | Field safety monitoring pre-warning system during running process of vibrating trolley |
| CN103728987A (en) * | 2013-12-13 | 2014-04-16 | 中联重科股份有限公司 | Arm frame control method, equipment and system and engineering machine |
| CN104947585A (en) * | 2015-04-22 | 2015-09-30 | 湖南桥康智能科技有限公司 | Intelligent obstacle-avoiding control system of bridge detection robot |
| CN108915267A (en) * | 2018-08-31 | 2018-11-30 | 哈工大机器人（合肥）国际创新研究院 | A kind of wet shot manipulator with from cruise whitewashing function |
| CN110774434A (en) * | 2019-11-06 | 2020-02-11 | 湖南三一快而居住宅工业有限公司 | Concrete distributing method, control device and concrete distributing machine |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103086285A (en) * | 2013-01-21 | 2013-05-08 | 三一帕尔菲格特种车辆装备有限公司 | Tipping prevention device, engineering machinery and tipping prevention method |
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| CN103728987A (en) * | 2013-12-13 | 2014-04-16 | 中联重科股份有限公司 | Arm frame control method, equipment and system and engineering machine |
| CN103728987B (en) * | 2013-12-13 | 2016-05-25 | 中联重科股份有限公司 | Arm support control method, jib control appliance, arm support control system and engineering machinery |
| CN103646505A (en) * | 2013-12-25 | 2014-03-19 | 中国水电顾问集团成都勘测设计研究院有限公司 | Site safety monitoring and early warning method in operational process of vibration trolley |
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| CN103680060B (en) * | 2013-12-25 | 2016-06-22 | 中国电建集团成都勘测设计研究院有限公司 | Vibrate site safety monitoring and warning system in chassis running |
| CN104947585A (en) * | 2015-04-22 | 2015-09-30 | 湖南桥康智能科技有限公司 | Intelligent obstacle-avoiding control system of bridge detection robot |
| CN108915267A (en) * | 2018-08-31 | 2018-11-30 | 哈工大机器人（合肥）国际创新研究院 | A kind of wet shot manipulator with from cruise whitewashing function |
| CN110774434A (en) * | 2019-11-06 | 2020-02-11 | 湖南三一快而居住宅工业有限公司 | Concrete distributing method, control device and concrete distributing machine |
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