CN105278430A - Jib control system and concrete gunniting vehicle - Google Patents
Jib control system and concrete gunniting vehicle Download PDFInfo
- Publication number
- CN105278430A CN105278430A CN201510791278.XA CN201510791278A CN105278430A CN 105278430 A CN105278430 A CN 105278430A CN 201510791278 A CN201510791278 A CN 201510791278A CN 105278430 A CN105278430 A CN 105278430A
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- jib
- place
- analysis unit
- control system
- performance element
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- 239000004567 concrete Substances 0.000 title claims abstract description 18
- 238000011022 operating instruction Methods 0.000 claims description 16
- 238000005507 spraying Methods 0.000 claims description 13
- 230000007423 decrease Effects 0.000 claims description 11
- 238000000034 method Methods 0.000 claims description 5
- 238000001514 detection method Methods 0.000 abstract 3
- 230000006378 damage Effects 0.000 description 6
- 230000001681 protective effect Effects 0.000 description 4
- 238000010276 construction Methods 0.000 description 3
- 239000011435 rock Substances 0.000 description 3
- 208000027418 Wounds and injury Diseases 0.000 description 2
- 238000009412 basement excavation Methods 0.000 description 2
- 239000004568 cement Substances 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 208000014674 injury Diseases 0.000 description 2
- 239000011378 shotcrete Substances 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 230000003014 reinforcing effect Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/048—Monitoring; Safety
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D11/00—Lining tunnels, galleries or other underground cavities, e.g. large underground chambers; Linings therefor; Making such linings in situ, e.g. by assembling
- E21D11/04—Lining with building materials
- E21D11/10—Lining with building materials with concrete cast in situ; Shuttering also lost shutterings, e.g. made of blocks, of metal plates or other equipment adapted therefor
Landscapes
- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Architecture (AREA)
- Structural Engineering (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Civil Engineering (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Jib Cranes (AREA)
- Operation Control Of Excavators (AREA)
Abstract
The invention discloses a jib control system. The jib control system comprises a detection unit, a control analysis unit and an execution unit, wherein the detection unit can detect the operation in place situation of each part of a jib and send the operation in place situation to the control analysis unit; the control analysis unit is used for receiving and analyzing the operation in place situation, detected by the detection unit, of each part of the jib; when each part of the jib is operated in place, the control analysis unit sends an operation command to the execution unit; and the execution unit is used for receiving the operation command sent from the control analysis unit, and controlling the jib to perform the next motion. The invention also provides a concrete gunniting vehicle. The concrete gunniting vehicle utilizes the jib control system. The jib control system of the invention can effectively protect the motion of the jib and effectively avoid damaging the jib and other devices because of maloperation.
Description
Technical field
The application relates to technical field of engineering machinery, particularly relates to a kind of arm support control system, also relates to a kind of concrete spraying vehicle.
Background technology
In tunnel construction, after tunnel excavation, discharge in right amount to control surrouding rock stress and be out of shape, increasing structural safety and convenient construction, applying rigidity after tunnel excavation immediately less and as the structural sheet of a permanent bearing structure part, be called preliminary bracing.
In Tunnel Engineering, preliminary bracing generally adopts combined bolting and shotcrete.Combined bolting and shotcrete refers to by means of pressure-injected cement concrete and the synergy reinforcing rock stratum squeezing into the anchor metal in rock stratum, is divided into temporary supporting structure and permanent supporting construction.
Wherein, pressure-injected cement concrete has been come by concrete spraying vehicle.Concrete spraying vehicle has carried out the various actions such as swing, commutation, acceleration by staff to the operation of jib.But the operation of jib requires higher to the operative skill of staff, can cause jib and other equipment damages to the maloperation of jib.
Summary of the invention
For solving the problems of the technologies described above, the invention provides a kind of arm support control system, effectively can protect the action of jib, effectively prevent the damage of jib that maloperation causes and other equipment.
Technical scheme provided by the invention is as follows:
A kind of arm support control system, is characterized in that, comprise detecting unit, control analysis unit and performance element,
Described detecting unit, runs for detecting each parts of jib the situation that puts in place, and sends to described control analysis unit;
Described control analysis unit, each parts of jib detected for receiving described detecting unit run the situation that puts in place and analyze, and when each parts operation of jib puts in place, described control analysis unit sends operating instruction to described performance element;
Described performance element, for receiving the operating instruction that described control analysis unit sends, controlling jib and carrying out next step action.
Preferably, described detecting unit comprises,
For the rotary sensor that the panoramic table detecting jib puts in place;
Gag lever post for detecting jib stretches out the first limit sensors put in place;
Gag lever post for detecting jib is retracted the second limit sensors put in place;
Pitch arm for detecting jib is elevated the pitch sensor put in place.
Preferably, described control analysis unit is used for,
The pitch arm receiving the jib that described pitch sensor detects rises and to put in place information, and send gag lever post and stretch out instruction to described performance element, described performance element makes described gag lever post stretch out;
Receive the described gag lever post that the first limit sensors detects and stretch out the information of putting in place, send it back turntable rotation command to described performance element, described performance element makes panoramic table rotate to make described pitch arm be in the top of pilothouse.
Preferably, described control analysis unit is used for,
Receive described panoramic table that described rotary sensor detects to rotate in place the information making described pitch arm leave the top of described pilothouse, send gag lever post retraction instruction to described performance element, described performance element makes described gag lever post retract;
The retraction receiving the described gag lever post that described second limit sensors detects puts in place information, and send pitch arm decline instruction to described performance element, described performance element makes described pitch arm decline.
Preferably, described arm support control system also comprises the manipulation input block be connected with described control analysis unit, and described manipulation input block is used for artificially stretching out instruction, panoramic table rotation command, gag lever post retraction instruction and pitch arm decline instruction to described control analysis unit input pitch arm climb command, gag lever post.
Preferably, described manipulation input block is the input panel be connected with described control analysis unit.
Preferably, described manipulation input block is the telepilot be connected with described control analysis unit.
Preferably, described arm support control system also comprises the alarm unit be connected with described control module, and described alarm unit is used for, before each parts operation of jib puts in place, giving the alarm when described control analysis unit receives operating instruction.
Preferably, described arm support control system also comprises the man-machine interface be connected with described control module, and described man-machine interface runs analytic process and the result of the situation that puts in place for each parts of jib showing described control analysis unit and detect the described detecting unit received.
Preferably, be provided with voice alerting unit in described man-machine interface, described voice alerting unit is used for, before each parts operation of jib puts in place, carrying out voice message when described control analysis unit receives operating instruction.
Preferably, described man-machine interface is also for editing the control analysis program in described control control analysis unit.
A kind of concrete spraying vehicle, described concrete spraying vehicle have employed the arm support control system described in above-mentioned any one.
Arm support control system provided by the invention, situation about putting in place is run because detecting unit detects each parts of jib, then control analysis unit is sent to, control analysis unit runs at each parts of jib that reception detecting unit detects the situation of putting in place and analyzes, after each parts operation of jib puts in place, control analysis unit sends operating instruction to performance element, controls jib carry out next step action by performance element.Compared with prior art, arm support control system provided by the invention, effectively can protect the action of jib, effectively prevent the damage of jib that maloperation causes and other equipment.
Accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present application or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, the accompanying drawing that the following describes is only some embodiments recorded in the application, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
The schematic diagram of the arm support control system that Fig. 1 provides for the embodiment of the present invention one;
The schematic diagram of the arm support control system that Fig. 2 provides for the embodiment of the present invention two.
Embodiment
Technical scheme in the application is understood better in order to make those skilled in the art person, below in conjunction with the accompanying drawing in the embodiment of the present application, technical scheme in the embodiment of the present application is clearly and completely described, obviously, described embodiment is only some embodiments of the present application, instead of whole embodiments.Based on the embodiment in the application, those of ordinary skill in the art are not making the every other embodiment obtained under creative work prerequisite, all should belong to the scope of the application's protection.
Embodiment one
Please as shown in Figure 1, the embodiment of the present invention provides a kind of arm support control system, comprises detecting unit 100, control analysis unit 200 and performance element 300, detecting unit 100, runs the situation that puts in place, and send to control analysis unit 200 for detecting each parts of jib; Control analysis unit 200, runs the situation that puts in place for each parts of jib received detected by detecting unit 100 and analyzes, and when each parts operation of jib puts in place, control analysis unit 200 sends operating instruction to performance element 300; Performance element 300, for receiving the operating instruction that control analysis unit 200 sends, controlling jib and carrying out next step action.
Jib of the prior art, in collapsed state before work, be placed in the rear of concrete spraying vehicle, the panoramic table of jib is arranged on the plummer of carrying jib, one end and the panoramic table of the pitch arm of jib are hinged, the other end and the large arm assembly of pitch arm are hinged, and panoramic table is hinged with hoist cylinder, and the other end and the pitch arm of hoist cylinder are hinged.When jib works, need first by hoist cylinder by pitch arm jack-up, then control panoramic table and rotate, also do not rise certain height panoramic table to avoid pitch arm and just rotate, cause pitch arm and large arm assembly and little arm assembly to clash into pilothouse, make jib and the equal major injury of pilothouse.
The arm support control system that the embodiment of the present invention provides, situation about putting in place is run because detecting unit 100 detects each parts of jib, then control analysis unit 200 is sent to, control analysis unit 200 is receiving after each parts of the jib detected by detecting unit 100 run situation about putting in place, it is analyzed, after each parts operation of jib puts in place, control analysis unit 200 sends operating instruction to performance element 300, controls jib carry out next step action by performance element 300.Compared with prior art, the arm support control system that the embodiment of the present invention provides, effectively can protect the action of jib, the damage of the jib that the maloperation that effectively prevent staff causes and pilothouse.
The embodiment of the present invention also provides a kind of concrete spraying vehicle, and this concrete spraying vehicle is used in said arm frame control system.
Embodiment two
Please as shown in Figure 2, the arm support control system that the embodiment of the present invention provides is compared with embodiment one, and its difference is,
Arm support control system in the embodiment of the present invention also comprises the manipulation input block 400 be connected with control analysis unit 200, manipulation input block 400 is for artificially inputting operating instruction to control analysis unit 200, its operating instruction comprises, and pitch arm climb command, gag lever post stretch out instruction, panoramic table rotation command, gag lever post retraction instruction and pitch arm decline instruction.
Wherein, to manipulate input block 400 be the input panel that is connected with control analysis unit 200 and/or be the telepilot be connected with control analysis unit 200.
In the embodiment of the present invention, detecting unit 100 comprises, the rotary sensor 101 that the panoramic table for detecting jib puts in place; Gag lever post for detecting jib stretches out the first limit sensors 102 put in place; Gag lever post for detecting jib is retracted the second limit sensors 103 put in place; Pitch arm for detecting jib is elevated the pitch sensor 104 put in place.
Wherein, control analysis unit 200 to rise the information that puts in place for, the pitch arm receiving the jib that pitching big sensor 104 detects, send gag lever post and stretch out instruction to performance element 300, performance element 300 makes gag lever post stretch out; Receive the gag lever post that the first limit sensors 102 detects and stretch out the information of putting in place, send it back turntable rotation command to performance element 300, performance element 300 makes panoramic table rotate, and makes pitch arm be in the top of pilothouse.
Control analysis unit 200 also for, receive the panoramic table that detects of rotary sensor 101 and to rotate in place the information making pitch arm leave the top of pilothouse, send gag lever post retraction instruction to performance element 300, performance element 300 makes gag lever post retract;
The retraction receiving the gag lever post that the second limit sensors 103 detects puts in place information, and send pitch arm decline instruction to performance element 300, performance element 300 makes pitch arm decline.
When jib works, first by hoist cylinder by pitch arm jack-up, pitch sensor 104 detects after pitch arm hoists and put in place, and then performance element 300 controls panoramic table and rotate, after rotary sensor 101 detects that panoramic table rotate in place, then jib carries out next action again.Effectively prevent pitch arm and also do not rise the just rotation of certain height panoramic table, cause pitch arm and large arm assembly and little arm assembly to clash into pilothouse, make jib and the equal major injury of pilothouse.
In order to avoid in the course of work; hoist cylinder draining pitch arm declines and clashes into pilothouse; panoramic table is provided with protective device; protective device comprises the limiting plate be arranged in pitch arm and the telescopic gag lever post be arranged on panoramic table; when gag lever post is in contraction state; limiting plate can freely rotate; when limiting plate be in stretch out state time; gag lever post plays barrier effect to limiting plate; thus stop the rotation of pitch arm; play spacing positioning action to pitch arm, thus effectively avoid in the course of work, hoist cylinder draining pitch arm declines and clashes into pilothouse.
In the process of protective device work, the extended position of gag lever post and the rotation of punctured position on pitch arm have very large impact.Therefore, in the embodiment of the present invention, the gag lever post be provided with for detecting jib stretches out the first limit sensors 102 put in place and the second limit sensors 103 put in place of retracting for the gag lever post detecting jib.
The setting of the first limit sensors 102 and the second limit sensors 103 avoids, and protective device is in the course of the work on the impact of pitch arm lifting.
Arm support control system in the embodiment of the present invention also comprises the alarm unit 500 be connected with control module 300, and alarm unit 500, for before running at each parts of jib and putting in place, gives the alarm when control analysis unit 200 receives operating instruction.The setting of alarm unit 500 can make staff to right the wrong in time instruction.
Be specially,
Control analysis unit 200 is before the pitch arm receiving the jib that the big sensor 104 of pitching detects rises the information that puts in place, and send gag lever post and stretch out instruction to performance element 300, when performance element 300 makes gag lever post stretch out, alarm unit 500 sends warning;
Control analysis unit 200 is before the gag lever post that reception first limit sensors 102 detects stretches out the information of putting in place, send it back turntable rotation command to performance element 300, performance element 300 makes panoramic table rotate, and when making pitch arm be in the top of pilothouse, alarm unit 500 sends warning;
Control analysis unit 200 receive the panoramic table that detects of rotary sensor 101 rotate in place pitch arm is left above pilothouse information before, send gag lever post retraction instruction to performance element 300, when performance element 300 makes gag lever post retract, alarm unit 500 sends warning;
The retraction of the gag lever post that control analysis unit 200 detects at reception second limit sensors 103 puts in place before information, and send pitch arm decline instruction to performance element 300, when performance element 300 makes pitch arm decline, alarm unit 500 sends warning.
Arm support control system also comprises the man-machine interface 600 be connected with control module 300, and man-machine interface 600 runs analytic process and the result of situation about putting in place to each parts of jib that the detecting unit 100 received detects for display and control analytic unit 200.Man-machine interface 600 be arranged so that staff can understand the result of the whole analytic process of control analysis unit 200 and analysis, more intuitively.
Also be provided with voice alerting unit 601 in man-machine interface 600, voice alerting unit 601, for before running at each parts of jib and putting in place, carries out voice message when control analysis unit 200 receives operating instruction.The setting of voice alerting unit 601, when wrong instruction, prompting staff corrects in time, and prompting is more directly perceived.
Man-machine interface 600 is also for the control analysis program in editor control analytic unit 200.The analysis and control program of control analysis unit 200 can be changed along with the demand of reality.
The embodiment of the present invention also provides a kind of concrete spraying vehicle, and this concrete spraying vehicle is used in said arm frame control system.
To the above-mentioned explanation of the disclosed embodiments, professional and technical personnel in the field are realized or uses the present invention.To be apparent for those skilled in the art to the multiple amendment of these embodiments, General Principle as defined herein can without departing from the spirit or scope of the present invention, realize in other embodiments.Therefore, the present invention can not be restricted to these embodiments shown in this article, but will meet the widest scope consistent with principle disclosed herein and features of novelty.
Claims (10)
1. an arm support control system, is characterized in that, comprises detecting unit (100), control analysis unit (200) and performance element (300),
Described detecting unit (100), runs for detecting each parts of jib the situation that puts in place, and sends to described control analysis unit (200);
Described control analysis unit (200), the each parts of jib detected for receiving described detecting unit (100) run the situation that puts in place and analyze, when each parts operation of jib puts in place, described control analysis unit (200) sends operating instruction to described performance element (300);
Described performance element (300), for receiving the operating instruction that described control analysis unit (200) sends, controlling jib and carrying out next step action.
2. arm support control system according to claim 1, is characterized in that, described detecting unit (100) comprising:
For the rotary sensor (101) that the panoramic table detecting jib puts in place;
Gag lever post for detecting jib stretches out the first limit sensors (102) put in place;
Gag lever post for detecting jib is retracted the second limit sensors (103) put in place;
Pitch arm for detecting jib is elevated the pitch sensor (104) put in place.
3. arm support control system according to claim 2, is characterized in that, described control analysis unit (200) for,
The pitch arm receiving the jib that described pitch sensor (104) detects rises and to put in place information, and send gag lever post and stretch out instruction to described performance element (300), described performance element (300) makes described gag lever post stretch out;
Receive the described gag lever post that the first limit sensors (102) detects and stretch out the information of putting in place, send it back turntable rotation command to described performance element (300), described performance element (300) makes panoramic table rotation make described pitch arm be in the top of pilothouse.
4. arm support control system according to claim 3, is characterized in that, described control analysis unit (200) for,
Receive described panoramic table that described rotary sensor (101) detects to rotate in place the information making described pitch arm leave the top of described pilothouse, send gag lever post retraction instruction to described performance element (300), described performance element (300) makes described gag lever post retract;
The retraction receiving the described gag lever post that described second limit sensors (103) detects puts in place information, send pitch arm decline instruction to described performance element (300), described performance element (300) makes described pitch arm decline.
5. arm support control system according to claim 4, it is characterized in that, described arm support control system also comprises the manipulation input block (400) be connected with described control analysis unit (200), and described manipulation input block (400) is for artificially stretching out instruction, panoramic table rotation command, gag lever post retraction instruction and pitch arm decline instruction to described control analysis unit (200) input pitch arm climb command, gag lever post.
6. arm support control system according to claim 5, is characterized in that, described manipulation input block (400) is the input panel and/or telepilot that are connected with described control analysis unit (200).
7. arm support control system according to claim 1, it is characterized in that, described arm support control system also comprises the alarm unit (500) be connected with described control module (300), described alarm unit (500), for before running at each parts of jib and putting in place, gives the alarm when described control analysis unit (200) receives operating instruction.
8. arm support control system according to claim 1, it is characterized in that, described arm support control system also comprises the man-machine interface (600) be connected with described control module (300), and described man-machine interface (600) runs analytic process and the result of the situation that puts in place for each parts of jib showing described control analysis unit (200) and detect the described detecting unit (100) received.
9. arm support control system according to claim 8, it is characterized in that, voice alerting unit (601) is provided with in described man-machine interface (600), described voice alerting unit (601), for before running at each parts of jib and putting in place, carries out voice message when described control analysis unit (200) receives operating instruction.
10. a concrete spraying vehicle, is characterized in that, described concrete spraying vehicle have employed the arm support control system described in claim 1 to 9 any one.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510791278.XA CN105278430B (en) | 2015-11-17 | 2015-11-17 | A kind of arm support control system and concrete spraying vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510791278.XA CN105278430B (en) | 2015-11-17 | 2015-11-17 | A kind of arm support control system and concrete spraying vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105278430A true CN105278430A (en) | 2016-01-27 |
| CN105278430B CN105278430B (en) | 2018-07-20 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510791278.XA Active CN105278430B (en) | 2015-11-17 | 2015-11-17 | A kind of arm support control system and concrete spraying vehicle |
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Cited By (1)
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2015
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| CN105278430B (en) | 2018-07-20 |
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