CN103046749B - Cloth arm support retraction control method, control system and equipment - Google Patents
Cloth arm support retraction control method, control system and equipment Download PDFInfo
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- CN103046749B CN103046749B CN201210555007.0A CN201210555007A CN103046749B CN 103046749 B CN103046749 B CN 103046749B CN 201210555007 A CN201210555007 A CN 201210555007A CN 103046749 B CN103046749 B CN 103046749B
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Abstract
The cloth arm support retraction control method comprises the following steps: a downlink driving step: the electric control type driving mechanism obtains the required downlink control current I0 to drive the first arm section (2) to rotate downwards around the hinge axis; a support control step: at a control time t0 when the inclination angle theta 1 of the first arm section (2) relative to the horizontal plane decreases to a preset inclination value theta t, the downlink control current I0 is reduced to zero at a momentary step change at the control time t0 or to zero within a first preset time delta t1 from the control time t 0. In addition, the invention also provides a material distribution arm support retraction control system, an arm support limiting device and material distribution equipment. The invention can make the retracting and supporting of the material distributing arm support more stable and reliable, slow down the impact, reduce the shaking of the material distributing arm support in the driving process of the pump truck and improve the stability and the safety of the pump truck.
Description
Technical field
The present invention relates to a kind of distributing arm support control method, particularly, relate to a kind of distributing arm support and regain control method.On this basis, the present invention relates to a kind of distributing arm support and regain control system.In addition, the present invention relates to a kind of jib stopping means.Further, the invention still further relates to a kind of apparatus for distributing comprising described distributing arm support withdrawal control system and jib stopping means, such as concrete mixer.
Background technology
The apparatus for distributing of the sticky material such as concrete, mortar, concrete mixer, concrete spreader, mortar material distributing machine etc. such as, well known has distributing arm support, distributing arm support is provided with material conveying pipe (such as elephant trunk).Described distributing arm support comprises multiple arm joints hinged successively, and wherein the first arm joint (those skilled in the art are also referred to as " basic arm joint ") is hinged on panoramic table, and one end of the Material pipeline on minor details arm joint connects cloth flexible pipe usually.
Well known, apparatus for distributing needs to transport material to assigned address by the expansion of distributing arm support, such as concrete mixer by distributing arm support supporter material conveying tube and by the expansion of distributing arm support by concrete conveyance to assigned address, therefore the length of run of distributing arm support is much larger than pump truck chassis length.Know ground for those skilled in the art, multiple arms hinged successively of distributing arm support are energy-conservation enough relative to each other around the rotation of its hinging rotary axis, thus can fold and launch.Particularly, first arm joint and the hinge axes of panoramic table form the hinging rotary axis that the first arm saves, the hinge axes that second arm joint and the first arm save forms the hinging rotary axis that the second arm saves, the hinge axes that 3rd arm joint and the second arm save forms the hinging rotary axis that the 3rd arm saves, therefore analogize, namely except the first arm joint and the hinge axes of panoramic table form the hinging rotary axis that the first arm saves, the hinge axes of rear arm joint arm last with it joint of alternate arm joint forms the hinging rotary axis of a rear arm joint, wherein contextual order is that first arm hinged with panoramic table saves as before, minor details arm joint is last.Between first arm joint with panoramic table and alternate arm save between be separately installed with for driving each arm to save the driving oil cylinder rotated around its hinging rotary axis, thus make distributing arm support can folding extension.Well known, each drives oil cylinder to have respective hydraulically extensible control loop, the reversal valve that on existing distributing arm support, each drives the hydraulically extensible control loop of oil cylinder to adopt is generally electric control reversing valve (such as three-position four-way electromagnetic directional valve, 3-position 4-way electro-hydraulic proportion reversing valve etc.), electric and dead electricity is obtained by the electromagnet controlling electric control reversing valve, thus make electric control reversing valve commutate to realize driving the flexible of oil cylinder, control the expansion or folding of each arm joint of distributing arm support thus.
After distributing arm support operation completes, need to be placed on supporting base (chassis of such as concrete mixer) by folding for distributing arm support, distributing arm support has two strong points usually in this case, shown in Figure 1, namely save hinged panoramic table with the first arm and be arranged on the supporting seat 4 on supporting base, such as, with regard to concrete mixer, a strong point is panoramic table, and another strong point is exactly the other supporting seat 4 of hopper.Supporting seat 4 is vertically arranged, the top of this supporting seat 4 is formed with support slot, when being placed on supporting base after distributing arm support is folding, support on the bottom surface of this support slot in the support slot that the bracing frame 3 of the first arm joint of distributing arm support extend into supporting seat.The A/F of the support slot of supporting seat 4 is greater than the width of bracing frame 3 usually, with ensure the first arm joint of distributing arm support basic aim at the support slot of supporting seat when just can toward transferring, in the certain limit corresponding with support slot, namely just can control the first arm joint save with other arm and transfer.
But, the distributing arm support of prior art reclaims control and there is obvious shortcoming, particularly, first, when other arm joint except the first arm joint 2 of distributing arm support 1 all folds into after on the first arm joint 2, the support slot making the first arm joint 2 of distributing arm support aim at supporting seat 4 is transferred, now operating personnel (i.e. tractor driver) are by operation input apparatus (typically such as remote controller), control the electric control reversing valve in the expansion control loop of the driving oil cylinder of the first arm joint, driving oil cylinder that this first arm is saved is retracted and is transferred support in the support slot of supporting seat to control the first arm joint.But, only rely on the experience of operating personnel when controlling the switching of electric control reversing valve in prior art, when operating personnel observe first arm joint 2 on bracing frame 3 close to supporting seat 4 time, then decontrol the first arm joint control button (the electromagnet dead electricity namely making the first arm save the electric control reversing valve of 2 correspondences is switched to meta to control electric control reversing valve) on remote controller, ginseng as shown in Figure 5, but existing electric control reversing valve is confined to traditional automatically controlled form, it controls electric current is that a slope is reduced to zero gradually, therefore after decontroling the first arm joint control button on remote controller, the electric control reversing valve corresponding to driving oil cylinder of the first arm joint be for some time also electric, namely after the t1 moment of Fig. 5 the first arm decontroled on remote controller saves control button, electric current is also had to export within a period of time afterwards, namely the spool of electric control reversing valve can only get back to meta lentamente.By the impact of slope current, distributing arm support motional inertia and deadweight etc., distributing arm support also can down move a segment distance, and operating habit and the operating experience of this distance and operating personnel have very large relation, time large time little.If the first arm joint control button (namely input makes the input signal of the electromagnet dead electricity of electric control reversing valve) on remote controller is just decontroled in the first arm joint 2 position far away above supporting seat 4, after then distributing arm support stops moving downward, between the support slot bottom surface of bracing frame 3 and supporting seat 4, also has an intersegmental gap; If decontrol the first arm joint control button on remote controller in the position that the first arm joint 2 is nearer above supporting seat 4, the bottom support pad 6(that bracing frame 3 then on the first arm joint directly can be pounded in support slot with huge motion momentum is generally cushion or cushion) on, thus produce very large impact, greatly detract the application life of distributing arm support and supporting seat, even make distributing arm support and corresponding support member scrap damage.Particularly, if the bracing frame 3 on the first arm joint 2 is parked in above the bottom support pad 6 in the support slot of supporting seat 4, certain gap may be there is therebetween, like this in pump truck driving process, whole distributing arm support just easily rocks, and the stability of pump truck and safety just reduce; Or the bracing frame on distributing arm support 3 is directly pounded on bottom support pad 6 with larger momentum.Then can cause very large impact, cause car load to rock sometimes, greatly damage the life-span of the support member on distributing arm support and supporting base.
In addition, operating personnel are only relied on rule of thumb to operate, be difficult to position distributing arm support being all parked at every turn the support slot aiming at supporting seat, and can only be rough alignment within the scope of, aim within the specific limits to make bracing frame and distributing arm support can be put well, the support slot of supporting seat is generally large than bracing frame, this just makes the support slot side of bracing frame 3 side and supporting seat 4 there is certain gap, in pump truck driving process, whole distributing arm support just easily rocks, and the stability of pump truck and safety just reduce.Particularly, see three kinds of exemplary position that the distributing arm support shown in Fig. 2, Fig. 3 and Fig. 4 is parked, bracing frame 3 on distributing arm support 1 shown in Fig. 2 is in the left side of support slot, Fig. 3 bracing frame 3 shown on distributing arm support is just parked in the centre position of support slot, and Fig. 4 bracing frame 3 shown on distributing arm support 1 is in the right side of support slot.In existing technology, only operate by tractor driver and be difficult to the bracing frame on jib to be all parked in centre position at every turn, this just needs to make the size of the support slot of supporting seat larger than bracing frame, thus certain gap can be left between bracing frame side and the support slot side of supporting seat, but the existence in this gap can cause distributing arm support to rock back and forth in the horizontal direction, namely distributing arm support can double swerve, serious consequence will be caused like this, because the quality of boom system is very large, when pump truck on the way travels, the double swerve of jib can cause very large momentum, and the center of gravity of distributing arm support is in the top of pump truck, this just greatly reduces stability and the safety of pump truck.Meanwhile, the shock that moves in circles of distributing arm support 1, easily causes loosening of connecting portion, as loosening of bolt.The shock that moves in circles of distributing arm support, is equivalent on component, apply one-period shock loading, so just greatly reduces the life-span of component.
Typically, the first arm joint 2 of distributing arm support 1 is made to aim at the support slot of supporting seat 4 in the prior art, generally realize by controlling panoramic table rotation, panoramic table turns to initial position, first arm joint 2 of distributing arm support 1 just in time aims at the support slot of supporting seat 4, operating personnel control electric control reversing valve on the hydraulic control circuit of the rotary motor of panoramic table typically via input equipment (such as remote controller) and rotate to drive panoramic table, but this control is only rule of thumb carry out range estimation by operating personnel to control, and the control electric current controlling panoramic table rotation is larger, buffering is not enough, as long as the panoramic table revolution knob on the slightly dynamic remote controller of operating personnel, panoramic table will drive distributing arm support to turn round larger angle, and the opening size of the support slot of supporting seat is limited comparatively speaking, this makes bracing frame be difficult to arrive exactly directly over the support slot of supporting seat, even if panoramic table has turned to the position making the first arm joint of distributing arm support aim at support slot sometimes, but because the accident of operating personnel actuates panoramic table revolution knob, also distributing arm support can be made to depart from and to need position.Therefore, the support slot of supporting seat just aimed at by bracing frame by the very difficult operation by operating personnel, and can only be operate revolution knob back and forth back and forth, thus jib is parked in certain scope, this work be very loaded down with trivial details; And, before on the bottom support pad 6 dropping on support slot at bracing frame, whole boom system only has a strong point, i.e. panoramic table, boom system center of gravity is away from this strong point, now control panoramic table to carry out back rotation and be easy to cause apparatus for distributing, the car load of such as pump truck rocks, and even causes security incident.
Because the above-mentioned shortcoming of prior art, need to provide a kind of more controlled distributing arm support recycling and control method, to overcome or to alleviate the problems referred to above.
Summary of the invention
Technical problem to be solved by this invention is to provide a kind of distributing arm support recycling and control method, the recovery support part that this distributing arm support recycling and control method can make distributing arm support is steadily reliable, thus the support member making distributing arm support effectively can support to supporting base reliably slows down impact relatively.
The further technical problem to be solved of the present invention is to provide a kind of distributing arm support recycling and control method, this distributing arm support recycling and control method can not only make the recovery support part of distributing arm support steadily reliable, and can improve the degree of accuracy of the Support Position of distributing arm support on support member relative efficiency.
On this basis, technical problem to be solved by this invention is to provide a kind of distributing arm support recovery control system, this distributing arm support recovery control system can carry out relatively steadily reliably controlling to the recovery support part of distributing arm support, thus the support member making distributing arm support effectively can support to supporting base reliably slows down impact relatively.
Further, technical problem to be solved by this invention is to provide a kind of jib stopping means, and this jib stopping means can support the use with distributing arm support recovery control system of the present invention, thus makes the stability of strutting system after distributing arm support withdrawal more excellent.
In addition, technical problem to be solved by this invention is to provide a kind of apparatus for distributing, and the recovery support part of the distributing arm support of this apparatus for distributing is relatively steadily reliable, and its support member that effectively can support to supporting base reliably slows down impact relatively.
In order to solve the problems of the technologies described above, the invention provides a kind of distributing arm support and regain control method, energy-conservation enough being saved around this first arm by the driving of electric-controlled type driving mechanism of first arm of described distributing arm support is rotated with the hinge axes of panoramic table, wherein, described distributing arm support is regained control method and is comprised: downlink drive step: above the jib supporting part being in supporting base at the support of described distributing arm support and by described first arm joint rotate the location status that can be supported in described jib supporting part under, described electric-controlled type driving mechanism is made to obtain the descending control electric current I 0 of needs and drive described first arm joint to rotate around described hinge axes, support and control step: the control time point t0 being reduced to default inclination value θ t in described first arm joint inclination angle theta 1 with respect to the horizontal plane, makes described descending control electric current I 0 be reduced to zero or be reduced to zero in the first Preset Time △ t1 from this control time point t0 in this control time point t0 moment step.
Preferably, the span of described default inclination value θ t is 15 °≤θ t≤25 °, and the span of described first Preset Time △ t1 is 0 < △ t1≤3s.
Preferably, described electric-controlled type driving mechanism comprise be hinged on panoramic table and described first arm save between driving oil cylinder and the hydraulic control circuit of this driving oil cylinder, extension and contraction control reversal valve on this hydraulic control circuit is electric control reversing valve, described first arm is energy-conservation enough to be rotated around described hinge axes by the driving of described driving oil cylinder, described electric control reversing valve is switched to the operating position that described driving oil cylinder is retracted under the effect of described descending control electric current, thus described first arm joint can be driven to rotate; Described support and control step also comprises: the first auxiliary time point ta that controls being reduced to zero in described descending control electric current I 0 makes described electric control reversing valve obtain the auxiliary control electric current I 1 contrary with described descending control electric current I 0 direction, and makes this auxiliary control electric current I 1 increase to pre-set current value in the described first auxiliary time point ta moment step that controls or increase to described pre-set current value in second Preset Time △ t2 from this first auxiliary control time point ta; And make described auxiliary control electric current I 1 keep described pre-set current value in the 3rd Preset Time △ t3, and and then be reduced to zero in the 4th Preset Time △ t3.
Particularly, the span of the second Preset Time △ t2 is 0 < △ t2≤3s; The span of described 3rd Preset Time △ t3 is 1s≤△ t3≤3s; And the span of described 4th Preset Time △ t4 is 3s≤△ t4≤5s.
Preferably, cross controller and described electric-controlled type driving mechanism is controlled, and in described support and control step, the operation signal that described controller undo personnel are inputted by input equipment.
Typically, the support of described distributing arm support is be arranged on the bracing frame on this first arm joint, described supporting base is the bottom of the chassis of concrete mixer, the base of concrete spreader or mortar material distributing machine, described supporting base is provided with supporting seat, the top of this supporting seat is formed with support slot, and the jib supporting part of described brace foundation is the bottom surface of described support slot.
Preferably, described distributing arm support regains the panoramic table rate-determining steps carried out before control method is also included in described downlink drive step, this panoramic table rate-determining steps comprises: control described panoramic table and drive described distributing arm support to turn round, described panoramic table is turned to initial position and stops at this initial position, the zone line that the support of distributing arm support can aim at described jib supporting part by rotating of saving of this first arm described in this initial position and be supported in this jib supporting part.
Particularly, in described panoramic table rate-determining steps, by detecting the angle of revolution of described panoramic table, and by compared with the initial angle of revolution corresponding to described initial position of the angle of revolution of this detection and panoramic table, thus control described panoramic table and rotate and stop at described initial position.
Preferably, described distributing arm support regains the arm joint folding step carried out before control method is also included in described panoramic table rate-determining steps, in this arm joint folding step, make other arm joint except described first arm joint of described distributing arm support fold into described first arm joint go up and fold and put in place, thus described in described descending rate-determining steps the first arm joint drive described in other arm save and rotate simultaneously.
Particularly, other arm joint except described first arm joint of described distributing arm support is respectively arranged with the second obliquity sensor, in described arm joint folding step, detects other arm described in each save whether folding putting in place by the second obliquity sensor described in each.
Preferably, described panoramic table rate-determining steps also comprises: the revolution being controlled described panoramic table by controller, rotate at described panoramic table and stop at after on described initial position, the revolution operation signal within the revolution shielding scheduled time, controller undo personnel being inputted by input equipment, thus operating personnel can not operate the revolution of described panoramic table within this revolution shielding scheduled time.
Specifically selectively, the span of the described revolution shielding scheduled time is 3s to 5s.
As a kind of form of implementation, in described downlink drive step, if operating personnel operate the revolution of described panoramic table by described input equipment, then stop described downlink drive step, and re-execute described arm joint folding step, panoramic table rate-determining steps, downlink drive step and support and control step successively.
To regain control method corresponding with above-mentioned distributing arm support, the invention provides a kind of distributing arm support and regain control system, energy-conservation enough being saved around this first arm by the driving of electric-controlled type driving mechanism of first arm of described distributing arm support is rotated with the hinge axes of panoramic table, this electric-controlled type driving mechanism drives described first arm joint to rotate around described hinge axes when obtaining the descending control electric current I 0 needed, with the jib supporting part that the support of described distributing arm support can be made to be supported in supporting base, wherein, described distributing arm support is regained control system and is comprised controller and the first obliquity sensor for detecting the inclination angle that described first arm saves, described controller is electrically connected on described first obliquity sensor and electric-controlled type driving mechanism, save in the removal process rotated at described first arm, described controller is reduced to the control time point t0 of default inclination value θ t in described first arm joint inclination angle theta 1 with respect to the horizontal plane, described descending control electric current I 0 is made to be reduced to zero or be reduced to zero in the first Preset Time △ t1 from this control time point t0 in this control time point t0 moment step.
Particularly, described electric-controlled type driving mechanism comprise be hinged on described panoramic table and described first arm save between driving oil cylinder and the hydraulic control circuit of this driving oil cylinder, extension and contraction control reversal valve on this hydraulic control circuit is electric control reversing valve, described first arm is energy-conservation enough to be rotated around described hinge axes by the driving of described driving oil cylinder, described electric control reversing valve is switched to the operating position that described driving oil cylinder is retracted under the effect of described descending control electric current, thus described first arm joint can be driven to rotate.
Preferably, the first auxiliary time point ta that controls that described controller is reduced to zero in described descending control electric current I 0 makes described electric control reversing valve obtain the auxiliary control electric current I 1 contrary with described descending control electric current I 0 direction, and makes this auxiliary control electric current I 1 increase to pre-set current value in the described first auxiliary time point ta moment step that controls or increase to described pre-set current value in second Preset Time △ t2 from this first auxiliary control time point ta; And make described auxiliary control electric current I 1 keep described pre-set current value in the 3rd Preset Time △ t3, and and then be reduced to zero in the 4th Preset Time △ t3.
Preferably, described distributing arm support is regained control system and is also comprised the second obliquity sensor that other each arm except described first arm joint of being separately positioned on described distributing arm support saves and the rotary angle transmitter for detecting described panoramic table angle of revolution, and the second obliquity sensor described in each and described rotary angle transmitter are electrically connected on described controller.
Further, the invention provides a kind of jib stopping means, comprise supporting seat, the top of this supporting seat is formed with the support slot of the support for supporting distributing arm support, wherein, under described support slot is formed as the state be supported in this support slot at described support, the bottom surface of this support slot and side, both sides respectively can with the bottom surface of described support and both sides contacts side surfaces.
Preferably, the bottom surface of described support slot is provided with bottom support pad, side, both sides is respectively arranged with the first side pad and the second side pad.
In addition, the invention provides a kind of apparatus for distributing, comprise distributing arm support, wherein, described apparatus for distributing also comprises according to above-mentioned distributing arm support recovery control system.
Preferably, the supporting base of described apparatus for distributing is provided with above-mentioned jib stopping means.
Typically, described apparatus for distributing is concrete mixer, concrete spreader or mortar material distributing machine.
Pass through technique scheme, the present invention carries out specific aim control according to the inclination angle in the first arm joint decentralization process to descending control electric current I 0, when the first arm joint inclination angle theta 1 is with respect to the horizontal plane reduced to the control time point t0 of default inclination value θ t, described descending control electric current I 0 is made to be reduced to zero or be reduced to zero in the first Preset Time △ t1 from this control time point t0 in this control time point t0 moment step.That is, distributing arm support of the present invention is regained control system and is made the withdrawal of distributing arm support control more controlled, when the first arm joint inclination angle theta 1 is with respect to the horizontal plane reduced to default inclination value θ t, electric-controlled type driving mechanism is made no longer or as quickly as possible no longer to provide to the first arm joint the driving force rotated, thus the first arm joint basic motional inertia of self that relies in process subsequently rotates and supports on described jib supporting part, relatively little by the distance choosing the jib supporting part that the first arm pitch can be made from supporting base of this default inclination value θ t, thus the impact of distributing arm support to jib supporting part in withdrawal control procedure can be slowed down significantly, be conducive to the prolongation in the application life of distributing arm support and relative supports.Under preferred form, the present invention returns meta further by the auxiliary electric current I 1 that controls of applying with the valve core reset accelerating electric control reversing valve, thus make to drive oil cylinder to stop providing downlink drive power to the first arm joint within the shorter ground time, the impact of distributing arm support to jib supporting part is made to slow down effect more excellent, in this case, the default inclination value θ t of above-mentioned first arm joint can arrange less, thus alleviate impact better, guarantee that the first arm joint drives distributing arm support jib transferring in the final stage time by specific Current Control, slowly and regularly down move, effectively support on jib supporting part and also alleviate impact relative efficiency.In preferred embodiment, the present invention goes up and folds put in place by carrying out detection control to panoramic table and other arm joint being folded in advance the first arm joint, the support that can realize on distributing arm support is parked in directly over the jib supporting part (such as supporting seat) on supporting base exactly, automatically final angle of revolution is found accurately, the accuracy of distributing arm support stand can be ensured, can the operating time be reduced again, reduce the workload of operating personnel.Simultaneously by other arm joint is folded on the first arm joint, effectively can prevent other arm joint in distributing arm support withdrawal process from interfering with possible obstruction, the withdrawal of distributing arm support of the present invention be controlled more reliable and more stable.
In addition, distributing arm support due to preferred form of the present invention regains control system by increasing the detection of panoramic table rotary angle transmitter, the support of distributing arm support can be made all to aim at the zone line of the jib supporting part of supporting base at every turn and support on jib supporting part, in this case, the jib stopping means of supporting improvement provided by the invention, under the size of support slot is formed as supporting to the state in support slot at bracing frame, make the bottom surface of this support slot and side, both sides respectively with bottom surface and the both sides contacts side surfaces of bracing frame.Therefore the gap between the side of the support (such as bracing frame) of the first arm joint and the side of support slot can be eliminated, thus it is more reliable and more stable when apparatus for distributing carries out transition operation to make distributing arm support under retracted state, avoid double swerve, this improves the application life of distributing arm support of the present invention more, stability when improve apparatus for distributing (such as concrete mixer) transition operation and safety, and further increase the life-span of component.
Other feature and advantage for the present invention are described in detail in detailed description of the invention part subsequently.
Accompanying drawing explanation
Following accompanying drawing is used to provide a further understanding of the present invention, and forms a part for manual, and itself and following detailed description of the invention one are used from explanation the present invention, but protection scope of the present invention is not limited to following the drawings and the specific embodiments.In the accompanying drawings:
Fig. 1 is the schematic diagram of the braced structures in prior art after distributing arm support withdrawal on concrete mixer.
Fig. 2 is the schematic diagram that left side is partial to by the bracing frame in prior art on distributing arm support on supporting seat.
Fig. 3 is the schematic diagram that the bracing frame in prior art on distributing arm support mediates on supporting seat, wherein has gap respectively between the both sides of bracing frame and supporting base.
Fig. 4 is the schematic diagram that right side is partial to by the bracing frame on distributing arm support of the prior art on supporting seat.
Fig. 5 is the control map of current of the electric control reversing valve of the driving oil cylinder of the first arm joint of distributing arm support in prior art.
Fig. 6 is that the distributing arm support recycling and control method of the specific embodiment of the invention is to the control map of current of the electric control reversing valve of the driving oil cylinder that the first arm saves.
Fig. 7 is the details of operation FB(flow block) adopting distributing arm support recycling and control method of the present invention, and this details FB(flow block) contains the key technology design of distributing arm support recycling and control method of the present invention, but more importantly adopts for programming.
Fig. 8 is the structural representation of the jib stopping means of the specific embodiment of the invention, the bracing frame wherein on distributing arm support and very close to each other between supporting seat.
Fig. 9 is the step block diagram of the distributing arm support recycling and control method of the specific embodiment of the invention.
Figure 10 is the structural principle block diagram of the distributing arm support recovery control system of the specific embodiment of the invention.
Description of reference numerals:
1 distributing arm support; 2 first arm joints;
3 bracing frames; 4 supporting seats;
5 proximity switches; 6 bottom support pads;
7 first side pads; 8 second side pads.
Detailed description of the invention
Be described in detail to the specific embodiment of the present invention below in conjunction with accompanying drawing, should be understood that, detailed description of the invention described herein is only for instruction and explanation of the present invention, and protection scope of the present invention is not limited to following detailed description of the invention.
For helping the understanding of technical solution of the present invention, first the detailed description of the invention that distributing arm support of the present invention regains control system is below described, and then illustrate that this distributing arm support regains the actual mechanical process of control system, this actual mechanical process contains the major technique design that distributing arm support of the present invention regains control method, on this basis, the detailed description of the invention of distributing arm support of the present invention withdrawal control method will be described.In the course of the description by some possible variant of additionally technical solution of the present invention.
As described above, the structure of the upper distributing arm support adopted of apparatus for distributing (such as concrete mixer) is well known, simple, distributing arm support 1 comprises multiple arm joints hinged successively, wherein the first arm joint 2(is also referred to as " first joint arm joint " or " basic arm joint ") be hinged on panoramic table, thus by the revolution of panoramic table, distributing arm support can be driven to turn round within the scope of 360 °.In addition, panoramic table and the first arm save arm between 2 and adjacent save between be hinged with folding extension drive unit (typically be and drive oil cylinder), thus make that each arm is energy-conservation enough be folded relative to each other by the driving of folding extension drive unit or launched.
See Fig. 1, shown in Fig. 6 and Figure 10, for the distributing arm support of above-mentioned apparatus for distributing, the distributing arm support of basic embodiment of the present invention regains control system, first arm joint 2 of described distributing arm support 1 can be rotated with the hinge axes of panoramic table around this first arm joint 2 by the driving of electric-controlled type driving mechanism, this electric-controlled type driving mechanism drives the first arm joint 2 to rotate around described hinge axes when obtaining the descending control electric current I 0 needed, with the jib supporting part that the support of described first arm joint 2 can be made to be supported in supporting base, wherein, described distributing arm support regains the first obliquity sensor that control system comprises controller and saves the inclination angle of 2 for detecting described first arm, described controller is electrically connected on described first obliquity sensor and electric-controlled type driving mechanism, in the removal process that the first arm joint 2 rotates, described controller is reduced to the control time point t0 of default inclination value θ t in the first arm joint 2 inclination angle theta 1 with respect to the horizontal plane, descending control electric current I 0 is made to be reduced to zero or be reduced to zero in the first Preset Time △ t1 from this control time point t0 in this control time point t0 moment step.
It should be noted that at this, with regard to distributing arm support of the present invention regain control system for distributing arm support with regard to, at least the first arm joint 2 is rotated with the hinge axes of panoramic table around this first arm joint 2 by electric-controlled type driving mechanism, described electric-controlled type goes to mechanism can be multiple known form, such as be hinged on panoramic table and the first arm save between electric expansion bar (i.e. automatically controlled push rod) etc., as long as it can drive the first arm joint to rotate around described hinge axes.Typically, described electric-controlled type driving mechanism comprises and is hinged on the hydraulic control circuit that described panoramic table and the first arm save driving oil cylinder between 2 and this driving oil cylinder, extension and contraction control reversal valve on this hydraulic control circuit is electric control reversing valve, described first arm joint 2 can be rotated around described hinge axes by the driving of described driving oil cylinder, described electric control reversing valve is switched to the operating position that described driving oil cylinder is retracted under the effect of described descending control electric current, thus described first arm joint 2 can be driven to rotate.This structures adopting driving oil cylinder to drive the first arm joint 2 are known for those skilled in the art, drive the hydraulic control circuit of oil cylinder to adopt electric control reversing valve to carry out the commutation of oil circuit, thus realize the telescopic drive of driving oil cylinder.The form of electric control reversing valve (being generally three position four-way directional control valve) can be varied, such as solenoid operated directional valve, electro-hydraulic proportion reversing valve etc., also pilot operated directional control valve can be adopted, and on the hydraulic control oil circuit of this pilot operated directional control valve, adopt solenoid operated directional valve etc. to control the commutation of hydraulic control oil circuit, thus realize the commutation of pilot operated directional control valve.By making the both sides electromagnet of electric control reversing valve obtain electric or dead electricity, and making corresponding electromagnet produce active force to drive spool to move thus to make electric control reversing valve change operating position, namely switching oil circuit direction.Such as, with regard to above-mentioned descending control electric current I 0, when the side electromagnet of electric control reversing valve obtains this descending control current limliting I0, namely the right position of such as electric control reversing valve is switched to, thus make the rod chamber oil-feed, the rodless cavity oil return that drive oil cylinder, realize with this retraction driving oil cylinder, thus drive the first arm joint 2 around described jointed shaft to rotating, namely descending.
In above-mentioned basic embodiment of the present invention, rule of thumb operate difference by operating personnel merely unlike the prior art, the present invention carries out specific aim control according to the inclination angle in the first arm joint decentralization process to descending control electric current I 0, particularly, distributing arm support of the present invention regains control system in the withdrawal of distributing arm support controls, rotate in the process of the jib supporting part (bottom surface of the support slot of the supporting seat 4 of such as Fig. 1) supporting to supporting base (such as concrete pump chassis) at the first arm joint 2, when the first arm joint 2 inclination angle theta 1 is with respect to the horizontal plane reduced to the control time point t0 of default inclination value θ t, described descending control electric current I 0 is made to be reduced to zero or be reduced to zero in the first Preset Time △ t1 from this control time point t0 in this control time point t0 moment step.That is, distributing arm support of the present invention is regained control system and is made the withdrawal of distributing arm support control more controlled, when the first arm joint 2 inclination angle theta 1 is with respect to the horizontal plane reduced to default inclination value θ t, make electric-controlled type driving mechanism moment dead electricity or can specific aim control time in dead electricity, thus make electric-controlled type driving mechanism no longer or as quickly as possible no longer provide to the first arm joint 2 driving force rotated, the first arm joint 2 basic motional inertia of self that relies in process is subsequently made to rotate and support on described jib supporting part, because now the first arm joint 2 inclination angle theta 1 with respect to the horizontal plane has been reduced to default inclination value θ t, the distance of the jib supporting part of the first arm joint 2 distance supporting base can be made relatively little by choosing of this default inclination value θ t, thus the impact of distributing arm support to jib supporting part in withdrawal control procedure can be slowed down significantly, be conducive to the prolongation in the application life of distributing arm support and relative supports.It should be noted that at this, in the withdrawal of distributing arm support of the present invention controls, the improvement of most critical is the control to the first arm joint decentralization process, because other arm joint of distributing arm support is well known hinged successively from the first arm joint, therefore save in 2 decentralization processs at the first arm, other arm festival-gathering is followed the first arm joint 2 and is transferred, other arm joint can save as first arm that folds in advance hereafter as described in preferred embodiment, also can first arm joint transfer put in place after refolding to first arm joint on, or can first fold on the first arm joint 2 by part arm joint, first arm joint 2 transfer put in place after again by other arm save in another part arm joint fold into first arm joint on, in a word, regardless of the fold sequence that it adopts, as long as the first arm joint 2 have employed technical conceive of the present invention in withdrawal controls, it all belongs to protection scope of the present invention.In addition, because the model of apparatus for distributing is various, there is certain difference in the weight of distributing arm support and the size of descending control electric current I 0, when technical conceive of the present invention is applied to concrete apparatus for distributing, those skilled in the art can determine suitable default inclination value θ t and the first Preset Time △ t1 for specific apparatus for distributing by the test of limited simulated condition by technical conceive according to the present invention.Typically, the span of described default inclination value θ t can be 15 °≤θ t≤25 °, and the span of described first Preset Time △ t1 can be 0 < △ t1≤3s.
Regain in control system at above-mentioned distributing arm support of the present invention, when the electric-controlled type driving mechanism that the first arm saves adopts the form of the electric control reversing valve on above-mentioned driving oil cylinder and hydraulic control circuit thereof, shown in participation Fig. 6, preferably, described controller is reduced to the first auxiliary control time point ta of zero in described descending control electric current I 0, described electric control reversing valve is made to obtain the auxiliary control electric current I 1 contrary with described descending control electric current I 0 direction, and make this auxiliary control electric current I 1 increase to pre-set current value in the described first auxiliary time point ta moment step that controls or increase to described pre-set current value in second Preset Time △ t2 from this first auxiliary control time point ta, and make described auxiliary control electric current I 1 keep described pre-set current value in the 3rd Preset Time △ t3, and and then be reduced to zero in the 4th Preset Time △ t3.It should be noted that at this, Fig. 6 does not show the curent change form of step, but this belongs to technical conceive of the present invention equally, in figure 6, if descending control electric current I 0 step is reduced to zero, and assisting control electric current I 1 step to increase to described pre-set current value, then the control time point t0 in Fig. 6, the first auxiliary time point ta and second of control assist control time point tb to be coincidence, and then are followed successively by the 3rd auxiliary time point tc of control and assist control electric current I 1 to be again reduced to the time point te of zero.The advantage of this preferred form is, its valve core reset that can accelerate electric control reversing valve returns meta, thus make to drive oil cylinder to stop providing downlink drive power to the first arm joint 2 within the shorter ground time, thus it is more excellent to make the impact of distributing arm support to jib supporting part slow down effect.Technician for Hydraulic Field knows ground, the spool of electric control reversing valve needs the regular hour from the meta making the commutation work position (such as right position) driving oil cylinder to retract get back to the supply of cutting-off liquid force feed, descending control electric current I 0 is merely made to be zero active force being only a cancellation the electromagnet of electric control reversing valve side in the process, but the spool of electric control reversing valve only relies on the elastic reset of back-moving spring to return meta needs the regular hour, and by preferred form of the present invention, by to the electric control reversing valve supply auxiliary control electric current I 1(note contrary with described descending control electric current I 0 direction: either side electromagnet that electric current I 1 is fed to electric control reversing valve all can realize object to this auxiliary control in this case), the right-hand rule of electromagnetic force is produced according to electromagnet, now the electromagnetic force of the electromagnet generation of electric control reversing valve is contrary with the electromagnetic force direction that electromagnet during above-mentioned descending control electric current I 0 produces, thus the spool of electric control reversing valve can switch back meta quickly by the driving of making a concerted effort of back-moving spring and electromagnetic force, in this case, the default inclination value θ t of above-mentioned first arm joint 2 can arrange less, thus alleviate impact better.As mentioned above, because the model of apparatus for distributing is various, when technical conceive of the present invention is applied to concrete apparatus for distributing, those skilled in the art can determine suitable design parameter value for specific apparatus for distributing by the test of limited simulated condition by technical conceive according to the present invention.Tested by the simulated condition of the various apparatus for distributing to the applicant, generally speaking, the span of the second Preset Time △ t2 can be 0 < △ t2≤3s; The span of described 3rd Preset Time △ t3 can be 1s≤△ t3≤3s; And the span of described 4th Preset Time △ t4 can be 3s≤△ t4≤5s.In addition, the auxiliary pre-set current value controlling electric current I 1 can be generally about 1/5 of the working current value of the descending control electric current I 0 of electric control reversing valve.
See Figure 10, regain on the basis of control system at above-mentioned distributing arm support of the present invention, preferably, described distributing arm support is regained control system and is also comprised the second obliquity sensor that other each arm except the first arm joint 2 of being separately positioned on distributing arm support 1 saves and the rotary angle transmitter for detecting described panoramic table angle of revolution, and the second obliquity sensor described in each and described rotary angle transmitter are electrically connected on described controller.
By this preferred embodiment, can by detecting the angle of revolution of panoramic table, and accurately panoramic table is turned back to initial position, the initial position of panoramic table and distributing arm support 1 are in the position, initial angle of revolution of retracted state, the support of the first arm joint 2 of distributing arm support 1 just in time corresponds to the zone line of the jib supporting part of supporting base and is supported on this jib supporting part in this case, this first arm joint support and supporting base on jib supporting part in the structural configuration of apparatus for distributing, belong to conventional structure at the corresponding relation of the initial position of panoramic table.Distributing arm support of the present invention regains control system by arranging rotary angle transmitter, the angle of revolution of panoramic table can be detected easily, thus easily panoramic table is controlled (can the hydraulic oil supply of rotary motor be cut off by the commutation of reversal valve and brake rotary motor when detecting that panoramic table turns to initial position for being turned back to initial position, about the hydraulic control circuit of rotary motor and check mechanism thereof belong to prior art, do not repeat them here).Described rotary angle transmitter can adopt the rotary angle transmitter of multiple known forms, such as Hall rotary angle transmitter etc., with regard to its installation form, can be identical with the installation form of common rotary angle transmitter, such as can the magnet field forming portion of Hall rotary angle transmitter be fixed in the rotating shaft of panoramic table, rotor portion is then fixed on panoramic table, thus the rotor portion of Hall rotary angle transmitter follows the magnetic line of force that panoramic table rotates also cutting magnetic field forming portion generation, thus produce electrical signal detection corner.In addition, rotary angle transmitter also can adopt the photoelectricity rotary angle transmitter etc. of extensive use.
In addition, can detect whether folding each other arm joint on the first arm joint puts in place easily by arranging the second obliquity sensor on each other arm joint respectively, in a preferred form of the invention, control first arm save 2 descending before, each other arm can be made to save and to fold on the first arm joint 2, for arbitrary concrete apparatus for distributing, due under the final retracted state of distributing arm support, each arm joint inclination angle with respect to the horizontal plane necessarily (typically is relative to each other parallel, and plane-parallel namely, certainly this is not limited to), in this case, by obtaining the inclination angle of each other arm joint, and the inclination angle that each other arm saves is deducted the current inclination of the first arm joint 2, can judge each other arm joint and the first arm save between angle, thus judge that each other arm joint is whether folding on the first arm joint and put in place.Generally speaking, obliquity sensor is a kind of sensor for measuring object change of pitch angle amount with respect to the horizontal plane, can be divided into solid pendulum-type obliquity sensor, liquid pendulum-type obliquity sensor and pendulum type in-gas inclination senser by its principle.Second obliquity sensor of the present invention and above-mentioned first obliquity sensor can adopt any one obliquity sensor.
Under above-mentioned distributing arm support withdrawal control system of the present invention preferably includes the preferred form of the rotary angle transmitter for detecting panoramic table angle of revolution, because panoramic table can accurately control as being turned back to initial position by it, thus make the support of the first arm joint 2 aim at the zone line of the jib supporting part of supporting base and support on jib supporting part, for the operation repeatedly relying on operating personnel simple in prior art, distributing arm support of the present invention is regained control system and the support on distributing arm support can be made accurately to aim at the zone line of the jib supporting part of supporting base and support on jib supporting part, in terms of existing technologies namely, distributing arm support of the present invention regains control system can provide one more accurately reliably distributing arm support withdrawal control, this makes the size of jib supporting part no longer need the size more relatively large than the support portion of distributing arm support, all can support within the specific limits on the jib supporting part of supporting base to make the support on the first jib 2 of distributing arm support.
Therefore, shown in Figure 8, the present invention also provides a kind of jib stopping means, comprise supporting seat 4, the top of this supporting seat 4 is formed with the support slot of the support for supporting distributing arm support 1, that is, the bottom surface of this support slot forms the support of above-mentioned supporting base, wherein, under described support slot is formed as the state be supported in this support slot at described support, the bottom surface of this support slot and side, both sides respectively can with the bottom surface of described support and both sides contacts side surfaces.Such as, support on first arm joint 2 can be the bracing frame 3 shown in Fig. 1, supporting base can be the chassis etc. of concrete mixer, support to the state in support slot at bracing frame 3 under, the size of support slot of the present invention be formed as making the bottom surface of this support slot and side, both sides respectively with bottom surface and the both sides contacts side surfaces of bracing frame 3.Preferably, the bottom surface of described support slot is provided with bottom support pad 6, side, both sides is respectively arranged with the first side pad 7 and the second side pad 8.This bottom support pad 6 and the first side pad 7 and the second side pad 8 can be typically cushion, to strengthen buffering effect.Certainly in this case, the bottom surface of bracing frame 3 and side, both sides contact with the first side pad 7 on the bottom support pad 6 of support slot bottom surface and side, both sides and the second side pad 8 respectively.The improvement of the jib stopping means that control system matches is regained by this and distributing arm support of the present invention, distributing arm support due to preferred form of the present invention regains control system by increasing the detection of panoramic table rotary angle transmitter, the support of the first arm joint 2 can be made all to aim at the zone line of the jib supporting part of supporting base at every turn and support on jib supporting part, in this case, under the size of support slot is formed as supporting to the state in support slot at bracing frame 3, make the bottom surface of this support slot and side, both sides respectively with bottom surface and the both sides contacts side surfaces of bracing frame 3.Therefore the gap between the side of the support (such as bracing frame 3) of the first arm joint 2 and the side of support slot can be eliminated, thus it is more reliable and more stable when apparatus for distributing carries out transition operation to make distributing arm support under retracted state, avoid double swerve, this improves the application life of distributing arm support of the present invention more.Shown in Figure 8, typically, the cross sectional shape of described support slot can be similarly to the prior art, namely being formed as cross section is dovetail groove trapezoidal and wide at the top and narrow at the bottom, and the shape of support (such as bracing frame 3) on the first arm joint 2 and support slot match, this shape can make described support more easily enter and support in described support slot.
Regain on the basis of the technical scheme of control system and jib stopping means at above-mentioned distributing arm support of the present invention, the invention provides a kind of apparatus for distributing, this apparatus for distributing comprises distributing arm support, and wherein, this apparatus for distributing also comprises above-mentioned distributing arm support recovery control system.More preferably, the supporting base of this apparatus for distributing can be provided with above-mentioned jib stopping means.Typically, apparatus for distributing of the present invention can be concrete mixer, concrete spreader or mortar material distributing machine.Regain control system because apparatus for distributing of the present invention is provided with distributing arm support of the present invention, preferably include above-mentioned jib stopping means, therefore it has above-mentioned advantage equally.
As mentioned above; the invention provides a set of distributing arm support for apparatus for distributing and regain control system; such as in the preferred form shown in Figure 10; it can regain by rotary angle transmitter the angle of revolution detecting panoramic table in control as required in real time at distributing arm support; guarantee that panoramic table drives distributing arm support to automatically return to initial position, thus the support (such as bracing frame 3) on the first arm joint 2 is in directly over the jib support (such as the support slot of supporting seat 4) on supporting base.Control system is regained by above-mentioned distributing arm support of the present invention, its control mode regained by improving distributing arm support, by corresponding detection method and control, when the inclination angle of the first arm joint 2 is less than default inclination value, adjust the control electric current of the electric-controlled type driving mechanism (such as driving the electric control reversing valve of oil cylinder) of the first arm joint, thus the impact that reduction distributing arm support is transferred, reduce car load and rock, improve the life-span of component.And the structure of the jib stopping means supported by the support (such as bracing frame 3) of improvement first arm joint 2, eliminate side clearance, prevent apparatus for distributing the rocking of (such as concrete mixer is in transition driving process) distributing arm support in transition process, so just can improve stability and the safety of pump truck, the life-span of component can also be improved.
Before the detailed description of the invention describing distributing arm support of the present invention withdrawal control method, below first control system and jib stopping means is regained for the distributing arm support of the preferred implementing form shown in Figure 10 and Fig. 6, describe distributing arm support of the present invention with reference to Fig. 7 and regain the specific operation process controlled, it should be noted that at this, each operating process shown in Fig. 7 is the details of practical operation more with embodying, it mainly supplies the programming reference of controller, although it embodies the major technique design that distributing arm support of the present invention regains control method, but distributing arm support of the present invention is regained control method and is not limited to detail in Fig. 7 or specific detail process, this will attach schematic illustration hereinafter, description with reference to Fig. 7 is only to help those skilled in the art to understand the present invention better.
Shown in Figure 7, the concrete control flow that distributing arm support shown in Figure 10 regains control system mainly can be divided into three steps: the first step, except the first arm joint 2 other respectively joint arm joint all keeps well, namely to fold on the first arm joint 2 and foldingly to put in place; Second step, adjustment panoramic table, makes panoramic table drive distributing arm support to get back to initial position; The driving oil cylinder being exactly finally adjustment first arm joint makes the first arm joint 2 drive whole distributing arm support to decline, and finally drops on the jib supporting part (such as supporting seat) of supporting base.
In the above-mentioned first step, obliquity sensor on each arm joint detects jib angle in real time, and be transferred to controller, controller judges whether the relation between each arm joint inclination angle meets the demands in real time, for six joint arm pump trucks and each arm joint be parallel to each other in a folded configuration, if other arm except the first arm joint saves to fold on the first arm joint 2 and fold and puts in place, (this folding direction sentencing each arm joint of concrete mixer is example successively on the contrary should to meet following relation between inclination angle then between each arm joint, such as the first arm joint is contrary with the folding direction that the second arm saves, 3rd arm joint is contrary with the folding direction that the second arm saves, at the inclination angle that each obliquity sensor detects, controller can give the positive and negative of corresponding inclination angle automatically, such as the inclination angle of the first arm joint is just, then the inclination angle of the second arm joint is then negative, alternately give positive and negative successively):
θ2－θ1=－180° （1）
θ3－θ2=180° （2）
θ4－θ3=－180° （3）
θ5－θ4=180° （4）
θ6－θ5=－180° （5）
θ1≠0° （6）
If the relation between each arm joint inclination angle does not meet formula (1)-(6), then circle collection, cycle criterion, till relation between the inclination angle of each arm joint meets above-mentioned condition, namely the first arm joint 2 is in the top of the jib supporting part of supporting base, and each other arm joint saves folding on 2 putting in place at the first arm.Above-mentioned formula (1)-(5) represent the relation between the inclination angle that each arm saves, actual all can be converted into relative to the inclination angle of the first arm joint 2 between relation, be parallel to each other in a folded configuration for each arm joint, under the folded state of the distributing arm support of actual pump truck, each other arm joint is not limited thereto relative to the inclination angle relation of the first arm joint 2 herein.Also it should be noted that at this, other each arm joint except the first arm joint 2 arranges obliquity sensor, only to make folding control more reliable, the stroke of the driving oil cylinder in fact saved due to each arm in practical situation sets, after the driving oil cylinder of each other arm joint is retracted and put in place, each other arm joint nature can fold and put in place.Above formula (6) represents that the first arm joint does not also support on the jib supporting part of supporting base, but the top of the jib supporting part of supporting base.When regaining jib, general is all first all kept well by each joint arm except the first arm joint to stick together, regain the first arm joint again, the first arm joint is made to drive whole cloth to decline, in concrete operations flow process herein, for operating personnel, the relation between each arm joint inclination angle is only had to meet above-mentioned condition, just represent that each arm joint withdrawal except first segment arm completes, and then start second step.
The first step completes, namely the relation between each arm joint inclination angle meets the relation of formula (1)-(6), then start the second step in jib withdrawal process, operating personnel operate panoramic table by input equipment (typically such as remote controller), panoramic table is made to drive distributing arm support to realize revolution, rotary angle transmitter measures angle of revolution in real time simultaneously, and be sent to controller, controller Program carries out real-time judge, judge whether angle of revolution gets back to initial initial angle of revolution, this initial angle of revolution corresponds to the initial position of panoramic table, at this initial position, distributing arm support is in folded state and is supported on (namely distributing arm support is in the travel position of transition operation) on supporting base, the initial angle of revolution of panoramic table generally may be prescribed as 0 °, if do not arrive initial angle of revolution, then operating personnel control panoramic table continuation revolution by remote controller, rotary angle transmitter and controller gather in real time, judge, and controlled electric control reversing valve and the check mechanism of rotary motor by controller when panoramic table turns to initial position, panoramic table is made to stop at initial position.Further, when the angle of revolution of panoramic table arrives initial angle of revolution and the inclination angle of the first arm joint is not 0, the panoramic table that then will remote controller be sent by controller turns round operator input signal zero setting, namely the panoramic table that controller undo personnel are sent by remote controller turns round operation signal, duration is 3 seconds, namely in these 3 seconds, remote controller upper rotary knob lost efficacy, no matter how knob is turned round in operation, boom system is in initial position all the time and does not produce revolution, turn round to remind operating personnel's jib and put in place, next should operate jib to transfer, that is, rotate at described panoramic table and stop at after on described initial position, the revolution operation signal within the revolution shielding scheduled time of 3 seconds, controller undo personnel being inputted by input equipment, thus operating personnel can not operate the revolution of described panoramic table within this revolution shielding scheduled time.Revolution knob lost efficacy after 3 seconds, in the first follow-up arm joint downlink drive step, judge the revolution knob of operating personnel whether in remote controller again, if operating personnel operate revolution knob, then represent that the angle of revolution of boom system deviate from initial position again, in this case, if operating personnel operate revolution, knob is to carry out pumpdown, such as in order to carry out the extra pumpdown originally prepared when knocking off, now the actual midway of the withdrawal control procedure of distributing arm support stops.If operating personnel are only the convolution knobs touching remote controller because of accidental operation, then can re-start the withdrawal control procedure of distributing arm support, namely on the relation between the inclination angle coming back to each jib in the figure 7 judges, and follow-up operating process is carried out successively.It should be noted that at this, distributing arm support of the present invention regains the normal cloth operation controlling to affect operating personnel, the work of therefore regaining control procedure middle controller and respective sensor is only complementary, make to regain and control more accurately reliably, but main control need of work completes according to the input operation signal of operating personnel, the such as folding control of each other arm joint, the revolution operation etc. of panoramic table.
After second step completes, then start the 3rd step, the first arm joint downing switch in operating personnel's remote controller, drives whole distributing arm support to rotate with the hinge axes of panoramic table around this first arm joint with the first arm joint, thus realizes descending action.
Particularly, in this downlink drive, the electric control reversing valve that the driving oil cylinder that controller saves to the first arm according to the operator input signal of operating personnel is corresponding sends descending control electric current I 0(generally needs the amplification procedure in amplifier or controller to carry out Current amplifier), make the rod chamber fuel feeding of the driving oil cylinder of the first arm joint and make the first arm joint descending, when the inclination angle theta 1 of the first arm joint is reduced to the control time point t0 of default inclination value θ t, controller no longer performs the operator input signal (namely shield the first arm joint downing switch on remote controller and make it lose efficacy) of the first arm joint downing switch on remote controller, duration is the △ t in Fig. 6, controller is according to design in advance in the process, the control electric current of the electric control reversing valve that the driving oil cylinder that the control form meeting particular law saves the first arm is corresponding controls, particularly, shown in Figure 6, it is 20 ° that controller is reduced in the concrete form of implementation shown in default inclination value θ t(Fig. 7 in described first arm joint 2 inclination angle theta 1 with respect to the horizontal plane) control time point t0, described descending control electric current I 0 is made to be reduced to zero or be reduced to zero in the first Preset Time △ t1 from this control time point t0 in this control time point t0 moment step, and the first auxiliary time point ta that controls being reduced to zero in described descending control electric current I 0 makes described electric control reversing valve obtain the auxiliary control electric current I 1 contrary with described descending control electric current I 0 direction, and make this auxiliary control electric current I 1 increase to pre-set current value in the described first auxiliary time point ta moment step that controls or increase to described pre-set current value in second Preset Time △ t2 from this first auxiliary control time point ta, and make described auxiliary control electric current I 1 keep described pre-set current value in the 3rd Preset Time △ t3, and and then be reduced to zero in the 4th Preset Time △ t3.At control arm frame system by moving downward lentamente, the impact that boom system is transferred can be reduced like this, ensureing that the support between bracing frame and supporting seat is effective simultaneously.As described above, for different apparatus for distributing, controller can be different to the design parameter of the control Current Control of electric control reversing valve, there is certain relation in the weight of this and distributing arm support and the descending control size of current etc. controlling time point t0, when technical conceive of the present invention is applied to concrete apparatus for distributing, can be tested by limited simulated condition, the parameter value that selection and comparison is suitable, such as, present inventor is by the working condition measurement of a large amount of apparatus for distributing, the span of described default inclination value θ t can be 15 °≤θ t≤25 °, the span of described first Preset Time △ t1 can be 0 < △ t1≤3s.The span of described second Preset Time △ t2 can be 0 < △ t2≤3s; The span of described 3rd Preset Time △ t3 can be 1s≤△ t3≤3s, and the span of described 4th Preset Time △ t4 can be 3s≤△ t4≤5s.In addition, the span of the above-mentioned revolution shielding scheduled time can be 3s to 5s, and the auxiliary pre-set current value controlling electric current I 1 can be generally 1/5 of the working current value of the descending control electric current I 0 of electric control reversing valve.Certainly, control operation of the present invention only gives typical span, and the present invention is not limited thereto.
Although with distributing arm support of the present invention regain control not directly related, but what need additional description at this is, because the operating mode in apparatus for distributing practical operation is changeable, cloth operation mainly carries out cloth according to the operation of operating personnel, therefore the control program of controller of the present invention can not badly influence the operation of operating personnel, such as, if the inclination angle of the first arm joint is less than 20 °, but distributing arm support moves upward, what namely controller sent is " upload control electric current ", then this Time Controller can not the operator input signal that sent by remote controller of masking operation personnel, operating function and the normal remote control device of remote controller are just the same.For another example, when distributing arm support launches to carry out cloth operation from initial folded state, although the relation between the inclination angle of each arm joint meets formula (1)-(5), θ 1=0 °, therefore controller internal program is unactual has an effect, but is in the detected state at the inclination angle of each jib, when tractor driver controls the first arm joint rising a little, then θ 1 ≠ 0 °, relation between the inclination angle of i.e. each arm joint meets formula (1)-(6), and the angle of revolution of panoramic table is also in position, initial angle of revolution, according to the control program that the operating process of Fig. 7 designs, now remote controller upper rotary knob can lose efficacy the above-mentioned revolution shielding scheduled time, such as 3 seconds, but within this 3 second, the first arm on remote controller saves up button and did not lose efficacy, first arm joint is not up, after 3 seconds, the inclination angle of the first arm joint has generally exceeded default inclination value, and what to send due to controller is upload control electric current, therefore controller can not carry out the Current Control of particular design to the electric control reversing valve corresponding to driving oil cylinder of the first arm joint, and do not limit any operation signal input on remote controller yet, until operating personnel operate panoramic table revolution.After operation panoramic table, the control program in controller comes back to the inclination angle detection state between arm joint, and this can't have influence on operating personnel and operate the cloth operation that distributing arm support just going.That is, generally speaking, only have when distributing arm support is regained, relation between each jib angle could meet such as above-mentioned formula (1)-(6) completely, when operating personnel carry out the operation of normal cloth, control program in controller only rests on first circulation, namely only gathers the dip angle signal of each arm joint, has no effect to the operation of distributing arm support.Although the control program in controller is not limited to concrete details flow process in Fig. 7, but controller internal program should be noted that and makes a whole set of control system only carry out auxiliary control for the recovery of distributing arm support, and should not produce the expansion of distributing arm support or the operation of normal cloth operation and have a strong impact on.
By the description of above-mentioned concrete operations details flow process, can regain distributing arm support of the present invention and control that there is basic understanding, but the details that control method is not limited to aforesaid operations flow process regained by cloth of the present invention.
Shown in Figure 9, the basic embodiment that distributing arm support of the present invention regains control method comprises:
Downlink drive step: above the jib supporting part that the support of described first arm joint 2 is in supporting base and by described first arm joint 2 rotate the location status that can be supported in described jib supporting part under, the descending control electric current I 0 described electric-controlled type driving mechanism being obtained need and drive described first arm joint 2 to rotate around described hinge axes;
Support and control step: the control time point t0 being reduced to default inclination value θ t in described first arm joint 2 inclination angle theta 1 with respect to the horizontal plane, makes described descending control electric current I 0 be reduced to zero or be reduced to zero in the first Preset Time △ t1 from this control time point t0 in this control time point t0 moment step.
In this basic embodiment, because other arm joint of distributing arm support is well known hinged successively from the first arm joint, therefore save in 2 decentralization processs at the first arm, other arm festival-gathering is followed the first arm joint 2 and is transferred, other arm joint can as above preferably fold on the first arm joint in advance, also can first arm joint transfer put in place after refolding to first arm joint on, or can first fold on the first arm joint 2 by part arm joint, first arm joint 2 transfer put in place after again by other arm save in another part arm joint fold into first arm joint on, in a word, the withdrawal control method of any distributing arm support, regardless of the fold sequence that it adopts, as long as the first arm joint 2 have employed operating procedure of the present invention in withdrawal controls, it all belongs to protection scope of the present invention.
In addition, although by the detection control of panoramic table angle of revolution in preferred embodiment hereafter, the support (such as bracing frame 3) of the first arm joint 2 of distributing arm support 1 is made just in time to correspond to the zone line (zone line of the support slot on such as supporting seat 4) of the jib supporting part of supporting base and be supported on this jib supporting part, but in this basic embodiment, if above the jib supporting part that the support of described first arm joint 2 is in supporting base and by described first arm joint 2 rotate the location status that can be supported in described jib supporting part under, all belong to protection scope of the present invention.
As mentioned above, rule of thumb operate difference by operating personnel merely unlike the prior art, the present invention carries out specific aim control according to the inclination angle in the first arm joint decentralization process to descending control electric current I 0, particularly, distributing arm support of the present invention regains control system in the withdrawal of distributing arm support controls, rotate in the process of the jib supporting part (bottom surface of the support slot of the supporting seat 4 of such as Fig. 1) supporting to supporting base (such as concrete pump chassis) at the first arm joint 2, when the first arm joint 2 inclination angle theta 1 is with respect to the horizontal plane reduced to the control time point t0 of default inclination value θ t, described descending control electric current I 0 is made to be reduced to zero or be reduced to zero in the first Preset Time △ t1 from this control time point t0 in this control time point t0 moment step.That is, distributing arm support of the present invention is regained control system and is made the withdrawal of distributing arm support control more controlled, when the first arm joint 2 inclination angle theta 1 is with respect to the horizontal plane reduced to default inclination value θ t, make electric-controlled type driving mechanism moment dead electricity or can specific aim control time in dead electricity, thus make electric-controlled type driving mechanism no longer or as quickly as possible no longer provide to the first arm joint 2 driving force rotated, the first arm joint 2 basic motional inertia of self that relies in process is subsequently made to rotate and support on described jib supporting part, because now the first arm joint 2 inclination angle theta 1 with respect to the horizontal plane has been reduced to default inclination value θ t, the distance of the jib supporting part of the first arm joint 2 distance supporting base can be made relatively little by choosing of this default inclination value θ t, thus the impact of distributing arm support to jib supporting part in withdrawal control procedure can be slowed down significantly, be conducive to the prolongation in the application life of distributing arm support and relative supports.
Because the model of apparatus for distributing is various, there is certain difference in the weight of distributing arm support and the size of descending control electric current I 0, when technical conceive of the present invention is applied to concrete apparatus for distributing, those skilled in the art can determine suitable default inclination value θ t and the first Preset Time △ t1 for specific apparatus for distributing by the test of limited simulated condition by technical conceive according to the present invention.Typically, the span of described default inclination value θ t can be 15 °≤θ t≤25 °, and the span of described first Preset Time △ t1 can be 0 < △ t1≤3s.
Particularly, described first arm joint 2 is provided with the first obliquity sensor, in above-mentioned support and control step, is detected the inclination angle of described first arm joint 2 by the first obliquity sensor of this first arm joint 2.
Typically, the electric-controlled type driving mechanism of the first arm joint 2 comprises and is hinged on the hydraulic control circuit that panoramic table and the first arm save driving oil cylinder between 2 and this driving oil cylinder, extension and contraction control reversal valve on this hydraulic control circuit is electric control reversing valve, described first arm joint 2 can be rotated around described hinge axes by the driving of described driving oil cylinder, described electric control reversing valve is switched to the operating position that described driving oil cylinder is retracted under the effect of described descending control electric current, thus described first arm joint 2 can be driven to rotate.
In this case, preferably, above-mentioned support and control step also comprises: the first auxiliary time point ta that controls being reduced to zero in described descending control electric current I 0 makes described electric control reversing valve obtain the auxiliary control electric current I 1 contrary with described descending control electric current I 0 direction, and makes this auxiliary control electric current I 1 increase to pre-set current value in the described first auxiliary time point ta moment step that controls or increase to described pre-set current value in second Preset Time △ t2 from this first auxiliary control time point ta; And make described auxiliary control electric current I 1 keep described pre-set current value in the 3rd Preset Time △ t3, and and then be reduced to zero in the 4th Preset Time △ t3.The advantage of this preferred control form is, its valve core reset that can accelerate electric control reversing valve returns meta, thus make to drive oil cylinder to stop providing downlink drive power to the first arm joint 2 within the shorter ground time, make the impact of distributing arm support to jib supporting part slow down effect more excellent.Technician for Hydraulic Field knows ground, the spool of electric control reversing valve needs the regular hour from the meta making the commutation work position (such as right position) driving oil cylinder to retract get back to the supply of cutting-off liquid force feed, descending control electric current I 0 is merely made to be zero active force being only a cancellation the electromagnet of electric control reversing valve side in the process, but the spool of electric control reversing valve only relies on the elastic reset of back-moving spring to return meta needs the regular hour, and by preferred form of the present invention, by to the electric control reversing valve supply auxiliary control electric current I 1 contrary with described descending control electric current I 0 direction, make the spool of electric control reversing valve can switch back meta quickly by the driving of making a concerted effort of back-moving spring and electromagnetic force, in this case, the default inclination value θ t of above-mentioned first arm joint 2 can arrange less, thus alleviate impact better.
As mentioned above, because the model of apparatus for distributing is various, when technical conceive of the present invention is applied to concrete apparatus for distributing, those skilled in the art can determine suitable design parameter value for specific apparatus for distributing by the test of limited simulated condition by technical conceive according to the present invention.Tested by the simulated condition of the various apparatus for distributing to the applicant, generally speaking, the span of the second Preset Time △ t2 can be 0 < △ t2≤3s; The span of described 3rd Preset Time △ t3 can be 1s≤△ t3≤3s; And the span of described 4th Preset Time △ t4 can be 3s≤△ t4≤5s.In addition, the auxiliary pre-set current value controlling electric current I 1 can be generally about 1/5 of the working current value of the descending control electric current I 0 of electric control reversing valve.
In order to avoid operating personnel have influence on the specific current control of regaining the last support and control step controlled at distributing arm support to the accidental operation of input equipment (such as remote controller), preferably, by controller, described electric-controlled type driving mechanism is controlled, and in above-mentioned support and control step, the operation signal that described controller undo personnel are inputted by input equipment.
Typically, shown in Figure 1, the support of described first arm joint 2 can for being arranged on the bracing frame 3 on this first arm joint 2, described supporting base can be the bottom of the chassis of concrete mixer, the base of concrete spreader or mortar material distributing machine, described supporting base is provided with supporting seat 4, the top of this supporting seat 4 is formed with support slot, and the jib supporting part of described brace foundation is the bottom surface of described support slot.
Regain on the basis of the technique scheme of control method at distributing arm support, preferably, described distributing arm support regains the panoramic table rate-determining steps carried out before control method is also included in described downlink drive step, this panoramic table rate-determining steps comprises: control described panoramic table and drive described distributing arm support 1 to turn round, described panoramic table is turned to initial position and stops at this initial position, described in this initial position, the support of the first arm joint 2 is supported in this jib supporting part by the rotating the zone line that can aim at described jib supporting part of this first arm joint 2.
Particularly, in this panoramic table rate-determining steps, by detecting the angle of revolution of described panoramic table, and by compared with the initial angle of revolution corresponding to described initial position of the angle of revolution of this detection and panoramic table, thus control described panoramic table and rotate and stop at described initial position.
By this preferred embodiment, can by detecting the angle of revolution of panoramic table, and accurately panoramic table is turned back to initial position, the initial position of panoramic table and distributing arm support 1 are in the position, initial angle of revolution of retracted state, and the support of the first arm joint 2 of distributing arm support 1 just in time corresponds to the zone line of the jib supporting part of supporting base and is supported on this jib supporting part in this case.For the operation repeatedly relying on operating personnel simple in prior art, distributing arm support of the present invention is regained control system and the support on distributing arm support can be made accurately to aim at the zone line of the jib supporting part of supporting base and support on jib supporting part, in terms of existing technologies namely, distributing arm support of the present invention is regained control system and can be provided one more accurately reliably distributing arm support withdrawal control.
More preferably, described distributing arm support regains the arm joint folding step carried out before control method is also included in described panoramic table rate-determining steps, in this arm joint folding step, other arm joint except described first arm joint 2 of described distributing arm support 1 is folded on described first arm joint 2 and folding to put in place, thus the first arm joint 2 drives described other arm joint to rotate described in described descending rate-determining steps simultaneously.This other arm that makes saves in advance on folding first arm joint, and its advantage is effectively to prevent the first arm joint from saving in descending process at other arm of drive, other arm joint may with job site around existence collide.Certainly, as mentioned above, distributing arm support of the present invention regains the folding withdrawal order that other arm joint also can fold on the first arm joint again or take other by control method after the first arm joint has been transferred, and this all belongs to protection scope of the present invention.
Typically, in described arm joint folding step, other arm except described first arm joint 2 of described distributing arm support 1 saves to be folded into and saves 2 with described first arm respectively and be parallel to each other.Such as above-mentioned with reference to the relation between the joint of the arm represented by formula (1)-(5) described by Fig. 7.This also belongs to a kind of exemplary position relation between each arm joint of distributing arm support.Particularly, other arm joint except described first arm joint 2 of described distributing arm support 1 is respectively arranged with the second obliquity sensor, in described arm joint folding step, detects other arm described in each save whether folding putting in place by the second obliquity sensor described in each.
Preferably, in above-mentioned panoramic table rate-determining steps, this panoramic table rate-determining steps also comprises: the revolution being controlled described panoramic table by controller, rotate at described panoramic table and stop at after on described initial position, the revolution operation signal within the revolution shielding scheduled time, controller undo personnel being inputted by input equipment, thus operating personnel can not operate the revolution of described panoramic table within this revolution shielding scheduled time.Such as, the span of the described revolution shielding scheduled time is 3s to 5s.By this preferred embodiment, put in place if panoramic table has turned round, can operating personnel be reminded, avoid operating personnel rule of thumb to continue the revolution of operation panoramic table, thus make distributing arm support of the present invention regain control method controllable precise more.
In addition, as the preventative form of implementation of one, in order to avoid in the above-mentioned downlink drive step at the first arm joint, operating personnel control panoramic table revolution because of accidental operation, panoramic table is made to depart from accurate described initial position, preferably, in above-mentioned downlink drive step, if operating personnel operate the revolution of described panoramic table by described input equipment, then stop described downlink drive step, and re-execute described arm joint folding step, panoramic table rate-determining steps, downlink drive step and support and control step successively.Certainly, if it is that then operating panoramic table is in order to normal pumpdown in order to carry out the extra pumpdown originally prepared when knocking off that operating personnel operate panoramic table in downlink drive step, now distributing arm support withdrawal control method midway of the present invention stops.
As can be seen from upper description, the invention has the advantages that: the present invention carries out specific aim control according to the inclination angle in the first arm joint decentralization process to descending control electric current I 0, when the first arm joint 2 inclination angle theta 1 is with respect to the horizontal plane reduced to the control time point t0 of default inclination value θ t, described descending control electric current I 0 is made to be reduced to zero or be reduced to zero in the first Preset Time △ t1 from this control time point t0 in this control time point t0 moment step.That is, distributing arm support of the present invention is regained control system and is made the withdrawal of distributing arm support control more controlled, when the first arm joint 2 inclination angle theta 1 is with respect to the horizontal plane reduced to default inclination value θ t, electric-controlled type driving mechanism is made no longer or as quickly as possible no longer to provide to the first arm joint 2 driving force rotated, thus the first arm joint 2 basic motional inertia of self that relies in process subsequently rotates and supports on described jib supporting part, the distance of the jib supporting part of the first arm joint 2 distance supporting base can be made relatively little by choosing of this default inclination value θ t, thus the impact of distributing arm support to jib supporting part in withdrawal control procedure can be slowed down significantly, be conducive to the prolongation in the application life of distributing arm support and relative supports.Under preferred form, the present invention returns meta further by the auxiliary electric current I 1 that controls of applying with the valve core reset accelerating electric control reversing valve, thus make to drive oil cylinder to stop providing downlink drive power to the first arm joint 2 within the shorter ground time, the impact of distributing arm support to jib supporting part is made to slow down effect more excellent, in this case, the default inclination value θ t of above-mentioned first arm joint 2 can arrange less, thus alleviate impact better, guarantee that the first arm joint 2 drives distributing arm support jibs transferring in the final stage time by specific Current Control, slowly and regularly down move, effectively support on jib supporting part and also alleviate impact relative efficiency.In preferred embodiment, the present invention goes up and folds put in place by carrying out detection control to panoramic table and other arm joint being folded in advance the first arm joint, the support that can realize on the first arm joint is parked in directly over the jib supporting part (such as supporting seat) on supporting base exactly, automatically final angle of revolution is found accurately, the accuracy of distributing arm support stand can be ensured, can the operating time be reduced again, reduce the workload of operating personnel.Simultaneously by other arm joint is folded on the first arm joint, effectively can prevent other arm joint in distributing arm support withdrawal process from interfering with possible obstruction, the withdrawal of distributing arm support of the present invention be controlled more reliable and more stable.
In addition, distributing arm support due to preferred form of the present invention regains control system by increasing the detection of panoramic table rotary angle transmitter, the support of the first arm joint 2 can be made all to aim at the zone line of the jib supporting part of supporting base at every turn and support on jib supporting part, in this case, the jib stopping means of supporting improvement provided by the invention, under the size of support slot is formed as supporting to the state in support slot at bracing frame 3, make the bottom surface of this support slot and side, both sides respectively with bottom surface and the both sides contacts side surfaces of bracing frame 3.Therefore the gap between the side of the support (such as bracing frame 3) of the first arm joint 2 and the side of support slot can be eliminated, thus it is more reliable and more stable when apparatus for distributing carries out transition operation to make distributing arm support under retracted state, avoid double swerve, this improves the application life of distributing arm support of the present invention more, stability when improve apparatus for distributing (such as concrete mixer) transition operation and safety, and further increase the life-span of component.
Below the preferred embodiment of the present invention is described in detail by reference to the accompanying drawings; but; the present invention is not limited to the detail in above-mentioned embodiment; within the scope of technical conceive of the present invention; can carry out multiple simple variant to technical scheme of the present invention, these simple variant all belong to protection scope of the present invention.
It should be noted that in addition, each the concrete technical characteristic described in above-mentioned detailed description of the invention, in reconcilable situation, can be combined by any suitable mode.In order to avoid unnecessary repetition, the present invention illustrates no longer separately to various possible combination.
In addition, also can be combined between various different embodiment of the present invention, as long as it is without prejudice to thought of the present invention, it should be considered as content disclosed in this invention equally.
Claims (18)
1. distributing arm support regains control method, first arm joint (2) of described distributing arm support (1) can be rotated around the hinge axes of this first arm joint (2) with panoramic table by the driving of electric-controlled type driving mechanism, described electric-controlled type driving mechanism comprises and is hinged on the hydraulic control circuit that panoramic table and described first arm save driving oil cylinder between (2) and this driving oil cylinder, extension and contraction control reversal valve on this hydraulic control circuit is electric control reversing valve, described first arm joint (2) can be rotated around described hinge axes by the driving of described driving oil cylinder, described electric control reversing valve is switched to the operating position that described driving oil cylinder is retracted under the effect of descending control electric current I 0, thus described first arm joint (2) can be driven to rotate, wherein, described distributing arm support is regained control method and is comprised:
Downlink drive step: above the jib supporting part being in supporting base at the support of described distributing arm support and by described first arm joint (2) rotate the location status that can be supported in described jib supporting part under, the described descending control electric current I 0 described electric-controlled type driving mechanism being obtained need and drive described first arm joint (2) to rotate around described hinge axes;
Support and control step: the control time point t0 being reduced to default inclination value θ t in described first arm joint (2) inclination angle theta 1 with respect to the horizontal plane, described descending control electric current I 0 is made to be reduced to zero or be reduced to zero in the first Preset Time △ t1 from this control time point t0 in this control time point t0 moment step, wherein, the the first auxiliary time point ta that controls being reduced to zero in described descending control electric current I 0 makes described electric control reversing valve obtain the auxiliary control electric current I 1 contrary with described descending control electric current I 0 direction, and make this auxiliary control electric current I 1 increase to pre-set current value in the described first auxiliary time point ta moment step that controls or increase to described pre-set current value in second Preset Time △ t2 from this first auxiliary control time point ta, and make described auxiliary control electric current I 1 keep described pre-set current value in the 3rd Preset Time △ t3, and and then be reduced to zero in the 4th Preset Time △ t4.
2. distributing arm support according to claim 1 regains control method, and wherein, the span of described default inclination value θ t is 15 °≤θ t≤25 °, and the span of described first Preset Time △ t1 is 0 < △ t1≤3s.
3. distributing arm support according to claim 1 regains control method, and wherein, the span of the second Preset Time △ t2 is 0 < △ t2≤3s; The span of described 3rd Preset Time △ t3 is 1s≤△ t3≤3s; And the span of described 4th Preset Time △ t4 is 3s≤△ t4≤5s.
4. distributing arm support according to claim 1 regains control method, wherein, by controller, described electric-controlled type driving mechanism is controlled, and in described support and control step, the operation signal that described controller undo personnel are inputted by input equipment.
5. distributing arm support according to claim 1 regains control method, wherein, the support of described distributing arm support is for being arranged on the bracing frame (3) on this first arm joint (2), described supporting base is the bottom of the chassis of concrete mixer, the base of concrete spreader or mortar material distributing machine, described supporting base is provided with supporting seat (4), the top of this supporting seat (4) is formed with support slot, and the jib supporting part of described supporting base is the bottom surface of described support slot.
6. distributing arm support according to any one of claim 1 to 5 regains control method, wherein, described distributing arm support regains the panoramic table rate-determining steps carried out before control method is also included in described downlink drive step, this panoramic table rate-determining steps comprises: control described panoramic table and drive described distributing arm support (1) to turn round, described panoramic table is turned to initial position and stops at this initial position, described in this initial position, the support of distributing arm support is supported in this jib supporting part by the rotating the zone line that can aim at described jib supporting part of this first arm joint (2).
7. distributing arm support according to claim 6 regains control method, wherein, in described panoramic table rate-determining steps, by detecting the angle of revolution of described panoramic table, and by compared with the initial angle of revolution corresponding to described initial position of the angle of revolution of this detection and panoramic table, thus control described panoramic table and rotate and stop at described initial position.
8. distributing arm support according to claim 7 regains control method, wherein, described distributing arm support regains the arm joint folding step carried out before control method is also included in described panoramic table rate-determining steps, in this arm joint folding step, make other arm joint except described first arm joint (2) of described distributing arm support (1) fold into described first arm joint (2) go up and fold and put in place, thus described in described descending rate-determining steps the first arm joint (2) drive described in other arm save and rotate simultaneously.
9. distributing arm support according to claim 8 regains control method, wherein, other arm joint except described first arm joint (2) of described distributing arm support (1) is respectively arranged with the second obliquity sensor, in described arm joint folding step, detect other arm described in each by the second obliquity sensor described in each and save whether folding putting in place.
10. distributing arm support according to claim 8 regains control method, wherein, described panoramic table rate-determining steps also comprises: the revolution being controlled described panoramic table by controller, rotate at described panoramic table and stop at after on described initial position, the revolution operation signal within the revolution shielding scheduled time, controller undo personnel being inputted by input equipment, thus operating personnel can not operate the revolution of described panoramic table within this revolution shielding scheduled time.
11. distributing arm supports according to claim 10 regain control method, and wherein, the span of the described revolution shielding scheduled time is 3s to 5s.
12. distributing arm supports according to claim 10 regain control method, wherein, in described downlink drive step, if operating personnel operate the revolution of described panoramic table by described input equipment, then stop described downlink drive step, and re-execute described arm joint folding step, panoramic table rate-determining steps, downlink drive step and support and control step successively.
13. distributing arm supports regain control system, first arm joint (2) of described distributing arm support (1) can be rotated around the hinge axes of this first arm joint (2) with panoramic table by the driving of electric-controlled type driving mechanism, this electric-controlled type driving mechanism drives described first arm joint (2) to rotate around described hinge axes when obtaining the descending control electric current I 0 needed, with the jib supporting part that the support of described distributing arm support can be made to be supported in supporting base, wherein, described distributing arm support regains the first obliquity sensor that control system comprises controller and saves the inclination angle of (2) for detecting described first arm, described controller is electrically connected on described first obliquity sensor and electric-controlled type driving mechanism, in the removal process that described first arm joint (2) rotates, described controller is reduced to the control time point t0 of default inclination value θ t in described first arm joint (2) inclination angle theta 1 with respect to the horizontal plane, described descending control electric current I 0 is made to be reduced to zero or be reduced to zero in the first Preset Time △ t1 from this control time point t0 in this control time point t0 moment step, wherein, described electric-controlled type driving mechanism comprises and is hinged on the hydraulic control circuit that described panoramic table and described first arm save driving oil cylinder between (2) and this driving oil cylinder, extension and contraction control reversal valve on this hydraulic control circuit is electric control reversing valve, described first arm joint (2) can be rotated around described hinge axes by the driving of described driving oil cylinder, described electric control reversing valve is switched to the operating position that described driving oil cylinder is retracted under the effect of described descending control electric current I 0, thus described first arm joint (2) can be driven to rotate
Wherein, the first auxiliary time point ta that controls that described controller is reduced to zero in described descending control electric current I 0 makes described electric control reversing valve obtain the auxiliary control electric current I 1 contrary with described descending control electric current I 0 direction, and makes this auxiliary control electric current I 1 increase to pre-set current value in the described first auxiliary time point ta moment step that controls or increase to described pre-set current value in second Preset Time △ t2 from this first auxiliary control time point ta; And make described auxiliary control electric current I 1 keep described pre-set current value in the 3rd Preset Time △ t3, and and then be reduced to zero in the 4th Preset Time △ t4.
14. distributing arm supports according to claim 13 regain control system, wherein, described distributing arm support is regained control system and is also comprised the second obliquity sensor that other each arm except described first arm joint (2) of being separately positioned on described distributing arm support (1) saves and the rotary angle transmitter for detecting described panoramic table angle of revolution, and the second obliquity sensor described in each and described rotary angle transmitter are electrically connected on described controller.
15. apparatus for distributing, comprise distributing arm support, and wherein, the distributing arm support that described apparatus for distributing also comprises according to claim 13 or 14 regains control system.
16. apparatus for distributing according to claim 15, wherein, the supporting base of described apparatus for distributing is provided with jib stopping means, this jib stopping means comprises supporting seat (4), the top of this supporting seat (4) is formed with the support slot of the support for supporting distributing arm support (1), wherein, under described support slot is formed as the state be supported in this support slot at described support, the bottom surface of this support slot and side, both sides respectively can with the bottom surface of described support and both sides contacts side surfaces.
17. apparatus for distributing according to claim 16, wherein, the bottom surface of described support slot are provided with bottom support pad (6), side, both sides are respectively arranged with the first side pad (7) and the second side pad (8).
18. according to claim 15 to the apparatus for distributing according to any one of 17, and wherein, described apparatus for distributing is concrete mixer, concrete spreader or mortar material distributing machine.
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| CN105278430B (en) * | 2015-11-17 | 2018-07-20 | 湖南五新隧道智能装备股份有限公司 | A kind of arm support control system and concrete spraying vehicle |
| CN107840285A (en) * | 2017-12-03 | 2018-03-27 | 湖南星邦重工有限公司 | A kind of aerial work platform and arm support control system and method |
| CN108867747B (en) * | 2018-09-10 | 2023-10-03 | 江苏徐工工程机械研究院有限公司 | Automatic return adjusting system and method for engineering machinery operation arm support and engineering machinery |
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| JPH08234801A (en) * | 1995-01-12 | 1996-09-13 | Siemens Ag | Apparatus and method for control for motor-driven joint arm |
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| CN202493871U (en) * | 2012-03-30 | 2012-10-17 | 杨奉钦 | Limiting and supporting device |
| CN102681553A (en) * | 2012-05-25 | 2012-09-19 | 中联重科股份有限公司 | Control method and system for withdrawing arm support of pump truck and pump truck |
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