CN104088465A - Concrete pump truck and concrete pump truck arm frame control system and method - Google Patents

Abstract

The invention discloses a concrete pump truck arm frame control system. The concrete pump truck arm frame control system comprises a detection device and a controller, wherein the detection device is used for detecting the unfolding state information of at least one supporting leg of a concrete pump truck, and the controller plans a safe operation area of an arm frame according to signals of the detection device. The invention further provides the concrete pump truck and a concrete pump truck arm frame control method. By obtaining the unfolding state of the supporting legs, the controller plans the safe operation area of the arm frame according to the signals, a manipulator can only control the arm frame to move in the safe operation area, if the arm frame acts out of the safe operation area, an alarm signal will be sent out, or the arm frame cannot act, and therefore safety of construction operation of the concrete pump truck is improved.

Description

A kind of concrete mixer and concrete pump truck arm control system and method

Technical field

The present invention relates to engineering machinery field, particularly a kind of concrete mixer and concrete pump truck arm control system and method.

Background technology

Concrete mixer is to be integrated in the special-purpose vehicle on automobile chassis by the pumping mechanism for pumping of concrete with for the jib of cloth.During work, utilize the power of automobile chassis Diesel engine, by transfer case, power is passed to hydraulic pump, then drive concrete pumping mechanism and boom system, pumping system is sent into the concrete pressurization in hopper in pipeline, pipeline is attached on jib, and jib is removable, thereby the concrete that pumping mechanism is pumped is directly delivered to pouring point.

Concrete pump truck arm is to be generally hinged and to be formed by single oil cylinder, by arm support oil cylinder, drive adjacent segments arm to launch and draw in, adopt single oil cylinder folding mode and the one-sided support technologies such as Z-shaped, M shape, make operation more flexible, the narrow construction site operation of being more convenient for.The job area of pump truck is subject to the restriction of jib length, and longer its job area of jib length is larger, and the scope of application is also wider, but jib is longer, and Vehicle Driving Cycle size is also longer, and concrete mixer is often restricted when travelling and construct.

Concrete pump vehicle supporting leg effect is by the stable support of car load on the ground, directly bears loading moment and the weight of car load, and jib launches longer, and the loading moment of car load is just larger.Prevent that concrete mixer from tumbling in job execution process.The area that supporting leg supports is larger, and the job area of jib is also just larger.The hunting range of supporting leg affects the job area of pump truck, and the swing state of supporting leg is directly connected to the safety of pump truck operation.At present,, often there is the security incident that coagulation pump truck is tumbled in concrete mixer misoperation.

Summary of the invention

In view of this, the present invention proposes a kind of concrete mixer and concrete pump truck arm control system and method.To solve the safety issue of concrete mixer construction operation.

On the one hand, the invention provides a kind of concrete pump truck arm control system, comprise checkout gear and controller, checkout gear is for detection of at least one supporting leg deployed condition information of concrete mixer, and controller is according to checkout gear signal planning arm support safe operating area.

Further, supporting leg comprises two rear support legs, and checkout gear comprises the first sensor for detection of two rear support leg deployed condition information.

Further, concrete mixer comprises turntable and oscillating oil cylinder, and rear support leg is connected with turntable by bearing pin, and oscillating oil cylinder is used for driving rear support leg to swing, and first sensor is for detection of oscillating oil cylinder displacement stroke, or for detection of rear support leg pendulum angle.

Further, supporting leg comprises two front leg struts, and checkout gear comprises the second sensor that detects two front leg strut deployed condition information.

Further, front leg strut is telescopic type structure, and the second sensor is for detection of the flexible state of front leg strut.

Further, front leg strut is oscillating-type structure, and the second sensor is for detection of front leg strut pendulum angle.

In addition, the present invention also provides a kind of concrete pump truck arm control method, detects at least one supporting leg deployed condition information of concrete mixer, according to the system model arm support safe operating area of making rational planning for; When jib action exceeds safety work region, send alarm signal and/or forbid that jib moves to non-security operating area.

Further, the arm support safe operating area after planning is shown.

Further, detect two rear support leg deployed condition information of concrete mixer and/or two front leg strut deployed condition information.

In addition, the present invention also provides a kind of concrete mixer, comprises above-mentioned concrete pump truck arm control system.

A kind of concrete mixer provided by the invention and concrete pump truck arm control system and control method, checkout gear detects at least one supporting leg deployed condition signal, controller is according to checkout gear signal planning arm support safe operating area, operator can only be controlled jib and move in safety work region, if jib exceeds the action of safety work region, can send alarm signal, prevent that concrete mixer from tumbling in job execution process.

Checkout gear comprises the first sensor for detection of rear support leg deployed condition signal, if rear support leg is oscillating-type structure, first sensor can pass through wobble detection oil cylinder displacement stroke, by calculating, receives supporting leg pendulum angle.Also can adopt angular transducer direct-detection rear support leg pendulum angle.In ordinary circumstance, if rear support leg pendulum angle is larger, the safety work region of jib is also just larger; Otherwise the safety work region of jib is also just less.

Checkout gear comprises the second sensor for detection of front leg strut deployed condition signal, if front leg strut is telescopic type structure, the second sensor detects the flexible state of front leg strut.In ordinary circumstance, if front leg strut is flexible longer, the safety work region of jib is also just larger; Otherwise the safety work region of jib is also just less.If front leg strut is oscillating-type structure, the second sensor detects front leg strut pendulum angle.

Checkout gear, according to different leg structures, selects different sensors to obtain the expansion information such as flexible or swing.

Accompanying drawing explanation

The accompanying drawing that forms a part of the present invention is used to provide a further understanding of the present invention, and schematic description and description of the present invention is used for explaining the present invention, does not form inappropriate limitation of the present invention.In the accompanying drawings:

Fig. 1 is concrete mixer structural representation of the present invention;

Fig. 2 is concrete pump vehicle supporting leg mounting structure schematic diagram of the present invention;

Fig. 3 is oscillating oil cylinder displacement stroke of the present invention and supporting leg pendulum angle functional relation schematic diagram;

Fig. 4 is concrete pump truck arm control method schematic diagram of the present invention.

The specific embodiment

It should be noted that, in the situation that not conflicting, embodiment and the feature in embodiment in the present invention can combine mutually.Describe below with reference to the accompanying drawings and in conjunction with the embodiments the present invention in detail.

As shown in Figure 1, the preferred a kind of concrete mixer of the present invention, comprises chassis, turntable 1, jib 4, two front leg struts 6, two rear support legs 3, and turntable 1 is arranged on chassis, and jib 4 is arranged on turntable 1.

As shown in Figure 2, supporting leg comprises that two front leg struts 6 and 3, two front leg struts 6 of two rear support legs are distributed in the chassis front end left and right sides, is arranged on turntable 1, and two front leg struts 6 adopt telescopic type structure, and front leg strut 6 can extend and shorten.Rear support leg 3 is connected with turntable 1 by bearing pin 2, and oscillating oil cylinder 5, for driving rear support leg 3 to swing, launches rear support leg 3.Its swinging track take on the circular arc that bearing pin 2 is the center of circle.

Checkout gear comprises first sensor, and first sensor is arranged on oscillating oil cylinder 5, and wobble detection oil cylinder 5 displacement stroke, then by calculating the pendulum angle of rear support leg 3.

As shown in Figure 3, calculating rear support leg 3 pendulum angle principles are as follows: the angle of supposing concrete mixer rear support leg 3 is α.In triangle ABC and triangle ABD, just like drawing a conclusion:

α＝β

β＝∠BAD-∠BAC

$\∠\mathrm{BAC}=\arccos \left(\frac{{\stackrel{\‾}{\mathrm{AB}}}^2+{\stackrel{\‾}{\mathrm{AC}}}^2-{\stackrel{\‾}{\mathrm{BC}}}^2}{2\×\stackrel{\‾}{\mathrm{AB}}\×\stackrel{\‾}{\mathrm{AC}}}\right)$

$\∠\mathrm{BAD}=\arccos \left(\frac{{\stackrel{\‾}{\mathrm{AB}}}^2+{\stackrel{\‾}{\mathrm{AD}}}^2-{\stackrel{\‾}{\mathrm{BD}}}^2}{2\×\stackrel{\‾}{\mathrm{AB}}\×\stackrel{\‾}{\mathrm{AD}}}\right)$

So, have:

$\mathrm{\β}=\∠\mathrm{BAD}-\∠\mathrm{BAC}=\arccos \left(\frac{{\stackrel{\‾}{\mathrm{AB}}}^2+{\stackrel{\‾}{\mathrm{AD}}}^2-{\stackrel{\‾}{\mathrm{BD}}}^2}{2\×\stackrel{\‾}{\mathrm{AB}}\×\stackrel{\‾}{\mathrm{AD}}}\right)-\arccos \left(\frac{{\stackrel{\‾}{\mathrm{AB}}}^2+{\stackrel{\‾}{\mathrm{AC}}}^2-{\stackrel{\‾}{\mathrm{BC}}}^2}{2\×\stackrel{\‾}{\mathrm{AB}}\×\stackrel{\‾}{\mathrm{AC}}}\right)$

Due to wherein X is the stroke of rear support leg 3 oscillating oil cylinder 5 while swinging to β, and the trip utilizes first sensor to measure.Therefore the functional relation of rear support leg 3 pendulum angles and oscillating oil cylinder 5 strokes is:

$\mathrm{\β}=\arccos \left(\frac{{\stackrel{\‾}{\mathrm{AB}}}^2+{\stackrel{\‾}{\mathrm{AC}}}^2-{(\stackrel{\‾}{\mathrm{BC}}+X)}^2}{2\×\stackrel{\‾}{\mathrm{AB}}\×\stackrel{\‾}{\mathrm{AC}}}\right)-\arccos \left(\frac{{\stackrel{\‾}{\mathrm{AB}}}^2+{\stackrel{\‾}{\mathrm{AC}}}^2-{\stackrel{\‾}{\mathrm{BC}}}^2}{2\×\stackrel{\‾}{\mathrm{AB}}\×\stackrel{\‾}{\mathrm{AC}}}\right)$

Wherein: X >=0, β ∈ (0,90 °).

More than derive the functional relation between the swing angle α of concrete mixer swinging kick and the displacement X of oscillating oil cylinder 5.First sensor, by the displacement X automatically detecting, sends to controller by cable, and controller logic obtains two rear support legs of concrete mixer, 3 deployed condition information after processing.

In addition, concrete mixer of the present invention, first sensor also can adopt angular transducer directly to measure the pendulum angle of two rear support legs 3.By cable, send to controller, controller logic obtains two rear support legs of concrete mixer, 3 deployed condition information after processing.

In the ordinary course of things, two front leg struts 6 generally, when operation, all can all launch, therefore can two front leg struts 6 not detected to deployed condition information.But time, in order better to guarantee concrete mixer safety work, also can detect two front leg struts, 6 deployed condition information.Checkout gear comprises the second sensor for detection of two front leg struts, 6 deployed condition information, and the second sensor can launch the information that puts in place for approach switch judges two front leg struts 6.Because two front leg struts 6 are the telescopic type structures by the many one-tenth of single oil cylinder, also can detect two front leg strut 6 collapsing lengths by the second sensor, obtain two front leg strut 6 deployed conditions.If the front leg strut of concrete mixer 6 is oscillating-type structure, can detect two front leg strut pendulum angles by the second sensor.

In order to solve the safety issue of concrete mixer construction operation.Concrete mixer also comprises controller.

The first scheme, the first sensor of checkout gear detects the displacement information of the oscillating oil cylinder 5 of two rear support legs 3 automatically, by cable, the displacement detecting value of oscillating oil cylinder 5 is sent to controller, controller is according to oscillating oil cylinder 5 displacement informations, according to oscillating oil cylinder 5 displacement stroke and rear support leg 3 pendulum angle functional relations, calculate and obtain two rear support leg 3 pendulum angles.Controller obtains after the deployed condition information of two rear support legs 3, according to the make rational planning for safety work region of jib 4 of system model.

First scheme, checkout gear comprises first sensor and the second sensor, first sensor detects the deployed condition information of two rear support legs 3, the second sensor detects the deployed condition information of two front leg struts 6, controller obtains first sensor and the second sensor signal, according to the make rational planning for safety work region of jib 4 of system model.

The third scheme, the second sensor detects the deployed condition information of two front jibs 4, and controller obtains the second sensor signal, according to the make rational planning for safety work region of jib 4 of system model.

Controller is according to the make rational planning for safety work region of jib 4 of system model.Controller is controlled jib banked direction control valves by cable and is moved, and jib banked direction control valves respectively saves the arm support oil cylinder action of arm for controlling jib 4, make jib 4 extend and draw in.Operator can only operate jib 4 in safety work region action, thereby the safety that improves concrete mixer construction operation prevents that concrete mixer from tumbling.

The concrete mixer course of work of the present invention is as follows, concrete mixer is in work progress, first operator launches two front leg struts 6 and two rear support legs 3, checkout gear detects supporting leg deployed condition information automatically, be sent to controller, then controller is according to the system model jib 4 safety work regions of making rational planning for.Then concrete mixer is supported.Operator starts remote controller, controls jib 4 and launches.Operator, in operation jib 4 course of action, sends alarm signal if exceed the operation meeting of safety work region.Also can, if exceed the operation of safety work region, jib 4 cannot move, jib 4 can only be at safety work region Job Operations.Thereby improve the safety of concrete mixer construction operation, prevent that concrete mixer from tumbling.

In addition, controller can show planning jib 4 safety work regions by display, and operator is adjusted two rear support leg 3 pendulum angles or two front leg strut 6 telescopic locations according to jib 4 safety work regions.Improved operator operating flexibility.Prevent that concrete mixer from tumbling in operating process.

As shown in Figure 4, the present invention also provides a kind of concrete pump truck arm control method, detects at least one supporting leg deployed condition information of concrete mixer, according to the system model jib 4 safety work regions of making rational planning for; When jib 4 actions exceed safety work region, send alarm signal and/or forbid that jib 4 moves to non-security operating area.Detecting concrete pump vehicle supporting leg deployed condition information number unrestricted, can be two rear support leg deployed condition information of concrete mixer, can be also two front leg struts, 6 deployed condition information.Also can be all supporting leg deployed condition information in addition.

In order to regulate jib 4 safety work regions, the jib 4 safety work regions after planning can be shown.Operator is adjusted two rear support leg 3 pendulum angles or two front leg strut 6 telescopic locations according to jib 4 safety work regions.Improved operator operating flexibility.Prevent that concrete mixer from tumbling in operating process.

The foregoing is only preferred embodiment of the present invention, in order to limit the present invention, within the spirit and principles in the present invention not all, any modification of doing, be equal to replacement, improvement etc., within all should being included in protection scope of the present invention.

Claims (10)

1. a concrete pump truck arm control system, it is characterized in that, comprise checkout gear and controller, checkout gear is for detection of at least one supporting leg deployed condition information of concrete mixer, and controller is according to checkout gear signal planning jib (4) safety work region.

2. concrete pump truck arm control system according to claim 1, is characterized in that, supporting leg comprises two rear support legs (3), and checkout gear comprises the first sensor for detection of two rear support legs (3) deployed condition information.

3. concrete pump truck arm control system according to claim 2, it is characterized in that, concrete mixer comprises turntable (1) and oscillating oil cylinder (5), rear support leg (3) is connected with turntable by bearing pin (2), oscillating oil cylinder (5) is for driving rear support leg (3) to swing, first sensor is for detection of oscillating oil cylinder (5) displacement stroke, or for detection of rear support leg (3) pendulum angle.

4. according to the concrete pump truck arm control system described in claims 1 to 3 any one, it is characterized in that, supporting leg comprises two front leg struts (6), and checkout gear comprises the second sensor that detects two front leg struts (6) deployed condition information.

5. concrete pump truck arm control system according to claim 4, is characterized in that, front leg strut (6) is telescopic type structure, and the second sensor is for detection of the flexible state of front leg strut (6).

6. concrete pump truck arm control system according to claim 4, is characterized in that, front leg strut (6) is oscillating-type structure, and the second sensor is for detection of front leg strut (6) pendulum angle.

7. a concrete pump truck arm control method, is characterized in that, detects at least one supporting leg deployed condition information of concrete mixer, according to system model jib (4) the safety work region of making rational planning for; When jib (4) action exceeds safety work region, send alarm signal and/or forbid that jib (4) moves to non-security operating area.

8. concrete pump truck arm control method according to claim 7, is characterized in that, jib (4) the safety work region after planning is shown.

9. according to concrete pump truck arm control method described in claim 7 or 8, it is characterized in that, detect two rear support legs of concrete mixer (3) deployed condition information and/or two front leg struts (6) deployed condition information.

10. a concrete mixer, is characterized in that, comprises the concrete pump truck arm control system as described in claim 1 to 6 any one.