CN101424188B - Hydraulic controller for concrete injection machinery and concrete injection robot - Google Patents
Hydraulic controller for concrete injection machinery and concrete injection robot Download PDFInfo
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- CN101424188B CN101424188B CN2008101829064A CN200810182906A CN101424188B CN 101424188 B CN101424188 B CN 101424188B CN 2008101829064 A CN2008101829064 A CN 2008101829064A CN 200810182906 A CN200810182906 A CN 200810182906A CN 101424188 B CN101424188 B CN 101424188B
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Abstract
The invention relates to the technical field of concrete spraying, and in particular provides a hydraulic control device for a shotcreting machine. The hydraulic control device for the shotcreting machine comprises a prime mover, a hydraulic oil pump, a main oil way, a pressure control valve, a flow control valve, a hydraulic motor, a multi-way valve, and a hydraulic oil tank, wherein the power output end of the prime mover is connected with the power input end of the hydraulic oil pump; the oil inlet of the hydraulic oil pump is connected with the hydraulic oil tank; the oil outlet of the hydraulic oil pump is connected with the main oil way; the oil inlet of the pressure control valve is connected with the main oil way; the oil outlet of the pressure control valve is connected with the oil inlet of the multi-way valve; the oil inlet of the flow control valve is connected with the main oil way; the oil outlet of the flow control valve is connected with the oil inlet of the hydraulic motor; and oil returning openings of the multi-way valve and the hydraulic motor are connected with the hydraulic oil tank. The multi-way valve is used for controlling a power element with large load variation range, and a quantitative plunger hydraulic motor is used for driving a power element with stable load. The invention also provides a shotcreting robot.
Description
Technical field
The present invention relates to concrete spraying technique field, relate in particular to a kind of concrete sprayer tool hydraulic control device and concrete sprayer device people.
Background technology
The concrete sprayer tool is widely used a kind of construction equipment in the fields such as water power tunnel, underground power house, subway engineering, railway tunnel, geotechnical engineering, military underground construction and highway engineering.The concrete sprayer tool utilizes hydraulic coupling or compressed air, and to the nozzle place, high velocity jet is to being subjected to the spray plane setting and harden by line transportation for the compound that premixing is good, thus the formation concrete supporting.Concrete-spraying technology is widely used in various construction fields with the cost of its easy technology, economy.
The concrete sprayer tool mainly is divided into concrete sprayer and concrete sprayer device people.Concrete sprayer mainly comprises concrete pumping device, air compression plant, metering device; Concrete sprayer device people is than the concrete sprayer complexity, function advanced person, and adaptive capacity is strong, has increased parts such as running gear and robot device, and motion, executive component are many, its complexity height.
In the prior art, concrete sprayer device people's each device operating load and working condition are widely different, and therefore, each device all adopts independently prime mover driven.For example blowing plant and metering device, load are big but load is basicly stable, require invariablenes turning speed, generally adopt prime mover directly to drive, and as shown in Figure 1 and Figure 2, ac motor directly drives air compressor, measuring pump; The robot device load is less, but load variations is bigger during the manipulator operation, generally adopts the control of prime mover driven hydraulic pump and load sensing multi-way valve, as shown in Figure 3, ac motor actuation plunger pump 101, the oil-out of plunger displacement pump 101 is connected with the oil-in of manipulator banked direction control valves 102.
According to load size and load variations situation, each installs respectively by different prime mover driven, and this just needs numerous prime mover and oil pump to form power source, causes concrete sprayer device people's cost height, control complexity height like this.
Summary of the invention
Problem at concrete sprayer device people in the prior art needs numerous prime mover and oil pump to drive the invention provides a kind of concrete sprayer tool hydraulic control circuit and concrete sprayer device people.
A kind of concrete sprayer tool hydraulic control device comprises prime mover, hydraulic oil pump, working connection, pressure-control valve, flow control valve, hydraulic motor, banked direction control valves, hydraulic oil container;
The clutch end of described prime mover connects the power intake of described hydraulic oil pump, the oiler of described hydraulic oil pump connects described hydraulic oil container, the oil-out of described hydraulic oil pump connects described working connection, the oil-in of described pressure-control valve connects described working connection, the oil-out of described pressure-control valve connects the oiler of described banked direction control valves, the oiler of described flow control valve connects described working connection, the oil-out of described flow control valve connects the oiler of described hydraulic motor, and the oil return opening of described banked direction control valves, hydraulic motor all connects described hydraulic oil container;
Described banked direction control valves is used for the executive component that control load changes, and described hydraulic motor is used to drive the stable executive component of load.
Preferably, the pipeline between described flow control valve and the described hydraulic motor is provided with switch valve, and the oiler of this switch valve connects the oil-out of described flow control valve, and the oil-out of this switch valve connects the oiler of described hydraulic motor.
Preferably, described switch valve is the logic cartridge valve.
Preferably, described pressure-control valve is the pressure difference sensing valve.
Preferably, described flow control valve is a choke valve.
Preferably, also comprise solenoid operated directional valve, the first passage mouth of described solenoid operated directional valve, second channel mouth, third channel mouth, oil return opening connect the oil-out of the control end of described switch valve, the control end of pressure-control valve, described flow control valve, described hydraulic oil container respectively.
Preferably, also be provided with uniform-pressure-drop valve on the pipeline between the oiler of described flow control valve and the described working connection, the oiler of described uniform-pressure-drop valve connects working connection, the oil-out of described uniform-pressure-drop valve connects the oiler of described flow control valve, and the control end of described uniform-pressure-drop valve connects the third channel mouth of described solenoid operated directional valve.
Preferably, also comprise overflow valve, the oiler of described overflow valve connects described working connection, and its oil-out connects described hydraulic oil container.
Preferably, described prime mover is a diesel engine.
Preferably, described prime mover is a motor.
Preferably, described hydraulic oil pump is the Variable plunger pump that electric ratio is regulated.
Preferably, described banked direction control valves is a manipulator control banked direction control valves.
Preferably, described hydraulic motor is a plunger piston hydraulic motor.
Preferably, the executive component of described load variations is specially manipulator.
Preferably, the stable executive component of described load is specially air compressor.
A kind of concrete sprayer device people, this concrete sprayer device people adopt above-mentioned concrete sprayer tool hydraulic control device to control.
The power source that concrete sprayer tool hydraulic control device provided by the invention adopts prime mover and hydraulic oil pump to form is controlled two the bigger hydraulic actuators of two load differences in the concrete sprayer tool simultaneously.This structure decrease dynamical element, reduced the cost of production of concrete sprayer tool, be easy to realize control.
The present invention also provides a kind of concrete sprayer device people, and this concrete sprayer device people adopts above-mentioned concrete sprayer tool hydraulic control device to control.The power source that this concrete sprayer device people adopts prime mover and hydraulic oil pump to form, drive two equipments that load difference is bigger of concrete sprayer device philtrum simultaneously, this structure decrease dynamical element, reduced concrete sprayer device people's cost of production, also be easy to control.
Description of drawings
Fig. 1 is the type of drive schematic diagram of the blowing plant of concrete sprayer device people in the prior art;
Fig. 2 is the control loop of concrete sprayer device people's manipulator in the prior art;
The concrete sprayer tool hydraulic control device sketch that Fig. 3 provides for first embodiment;
The concrete sprayer tool hydraulic control device sketch that Fig. 4 provides for second embodiment;
Wherein, among Fig. 1-4:
The Variable plunger pump 202 that diesel engine 201, electric ratio are regulated, working connection 203, pressure difference sensing valve 204, solenoid operated directional valve 205, logic cartridge valve 206, variable throttle valve 207, overflow valve 208, quantitative plunger piston hydraulic motor 209, banked direction control valves 210, hydraulic oil container 211;
The Variable plunger pump 302 that diesel engine 301, electric ratio are regulated, working connection 303, pressure difference sensing valve 304, solenoid operated directional valve 305, logic cartridge valve 306, variable throttle valve 307, overflow valve 308, quantitative plunger piston hydraulic motor 309, banked direction control valves 310, hydraulic oil container 311, uniform-pressure-drop valve 312.
The specific embodiment
Below in conjunction with accompanying drawing content of the present invention is described, following description only is exemplary and indicative, should any restriction not arranged to protection scope of the present invention.
Please referring to Fig. 3, the concrete sprayer tool hydraulic control device sketch that Fig. 3 provides for first embodiment of the invention.
As shown in Figure 3, this concrete sprayer tool hydraulic control device comprises Variable plunger pump 202, working connection 203, pressure difference sensing valve 204, solenoid operated directional valve 205, logic cartridge valve 206, variable throttle valve 207, overflow valve 208, quantitative plunger piston hydraulic motor 209, banked direction control valves 210, the hydraulic oil container 211 that diesel engine 201, electric ratio are regulated.
The clutch end of diesel engine 201 connects the power intake of the Variable plunger pump 202 of electric ratio adjusting, the oiler of the Variable plunger pump 202 that the electricity ratio is regulated connects hydraulic oil container 211, the oil-out of the Variable plunger pump 202 that the electricity ratio is regulated connects working connection 203, the oil-in of pressure difference sensing valve 204 connects working connection 203, the oil-out of pressure difference sensing valve 204 connects the oiler of banked direction control valves 210, and the oil-out of banked direction control valves 210 connects hydraulic oil container 211; The oiler of variable throttle valve 207 connects working connection 203, the oil-out of variable throttle valve 207 connects the oiler of logic cartridge valve 206, the oil-out of logic cartridge valve 206 connects the oiler of quantitative plunger piston hydraulic motor 209, quantitatively the oil-out of plunger piston hydraulic motor 209 connects hydraulic oil container 211, the first passage mouth of solenoid operated directional valve 205, the second channel mouth, the third channel mouth, oil return opening connects the control end of logic cartridge valve 206 respectively, the control end of pressure difference sensing valve 204, the oil-out of variable throttle valve 207, hydraulic oil container 211, the oiler of overflow valve 208 connects working connection 203, and the oil-out of overflow valve 208 connects hydraulic oil container 211.Banked direction control valves 210 is used for control load variation executive component greatly, and quantitatively plunger piston hydraulic motor 209 is used to drive the stable executive component of load.
Below introduce the operating principle of this concrete sprayer tool hydraulic control device.
According to the input working condition signal, during the manipulator single movement, the electric proportional control valve input current I of the Variable plunger pump 202 that electric ratio is regulated
0, adjust its discharge capacity, the Variable plunger pump 202 that electric ratio is regulated provides the pressure oil flow Q that meets banked direction control valves 210 controls
0When quantitatively plunger piston hydraulic motor 209 works independently, the electric proportional control valve input current I of the Variable plunger pump 202 that electric ratio is regulated
1, adjust its discharge capacity, the Variable plunger pump 202 that electric ratio is regulated provides the pressure oil flow Q that meets quantitative plunger piston hydraulic motor 209 work
1When quantitatively plunger piston hydraulic motor 209 and banked direction control valves 210 are worked simultaneously, the electric proportional control valve input current I of the Variable plunger pump 202 that electric ratio is regulated
2, adjust its discharge capacity, the Variable plunger pump 1 that electric ratio is regulated provides and meets the pressure oil flow Q that quantitative plunger piston hydraulic motor 209 and banked direction control valves 210 are worked simultaneously
2
When banked direction control valves 210 is worked alone, solenoid operated directional valve 205 no powers, logic cartridge valve 206 is closed to the oil circuit of quantitative plunger piston hydraulic motor 209, and the pressure oil of Variable plunger pump 202 outputs of electric proportional control overcomes the opening pressure P of pressure difference sensing valve 204
0After, banked direction control valves 210 is started working.
Quantitatively plunger piston hydraulic motor 209 runnings need stable rotating speed, just must guarantee the pressure oil constant flow of quantitative plunger piston hydraulic motor 209 branch roads and not be subjected to the influence of load.Setting pressure and this branch road oil pressure P of the safety valve of the banked direction control valves 210 in this concrete sprayer tool hydraulic control device are set
1Operating pressure P less than quantitative plunger piston hydraulic motor 209
2
Quantitative plunger piston hydraulic motor 209 works independently or quantitative plunger piston hydraulic motor 209 moves simultaneously with banked direction control valves 210, solenoid operated directional valve 205 energisings, and logic cartridge valve 206 is opened to the oil circuit of quantitative plunger piston hydraulic motor 209.When pressure oil passes through variable throttle valve 207, can produce pressure differential Δ P in variable throttle valve 207 front and back
1, and pressure differential Δ P
1Change with pressure oil flow by variable throttle valve 207, the pressure oil flow that provides when the Variable plunger pump 202 of electric proportional control hour, the back pressure P of pressure P and variable throttle valve 207 before the pressure difference sensing valve 204
2Pressure differential deltap P
1Set opening pressure P less than pressure difference sensing valve 204
0, i.e. Δ P
1＜P
0, pressure difference sensing valve 204 cuts out, and pressure oil is preferentially supplied with quantitative plunger piston hydraulic motor 209.The pressure oil flow that provides when the Variable plunger pump 202 of electric proportional control increases to Q
1, Δ P
1Increase to Δ P
1=P
0The time, the rated speed of quantitative plunger piston hydraulic motor 209 acquiring demands.The pressure oil flow that provides when the Variable plunger pump 202 of proportional control increases to Q
2, Δ P
1Increase to Δ P
1＞P
0The time, pressure difference sensing valve 204 is opened, and partial pressure oil flow enters banked direction control valves 210, and the pressure oil flow by variable throttle valve 207 reduces.Pressure oil flow by variable throttle valve 207 is decreased to Q
1, Δ P
1Be decreased to Δ P
1=P
0The time, pressure difference sensing valve 204 keeps current open degree.At this moment, the pressure oil flow by variable throttle valve 207 is Q
1, the rated speed of quantitative plunger piston hydraulic motor 209 acquiring demands, unnecessary flow-control banked direction control valves 210 actions that the Variable plunger pump 202 that electric ratio is regulated provides.
Below introduce the advantage of above-mentioned concrete sprayer tool hydraulic control device.
The power source that this control device adopts a Variable plunger pump 202 of being regulated by diesel engine 201 and electric ratio to form is controlled two the bigger hydraulic actuators of two load differences in the concrete sprayer tool simultaneously.This structure decrease dynamical element, reduced the cost of production of concrete sprayer tool, be easy to realize control.
Setting pressure and this branch road oil pressure P of the safety valve of the banked direction control valves 210 in this concrete sprayer tool hydraulic control device are set
1Operating pressure P less than quantitative plunger piston hydraulic motor 209
2The rotating speed that guarantees plunger piston hydraulic motor like this is only relevant with the flow area of variable throttle valve 207, has avoided the load of manipulator banked direction control valves branch road excessive and influence the stabilized (steady-state) speed of air compressor, assurance air compressor energy steady operation.Change the flow of the pressure oil that is used for actuation plunger hydraulic motor 209 by the flow area that changes variable throttle valve 207, can realize the adjusting of the rotating speed of quantitative plunger piston hydraulic motor 209.
The foregoing description adopts diesel engine as prime mover, can also adopt motor as prime mover, and this dual mode is all in protection scope of the present invention.
Please refer to Fig. 4, the concrete sprayer tool hydraulic control device sketch that Fig. 4 provides for second embodiment of the invention.
As shown in Figure 4, this concrete sprayer tool hydraulic control device comprises Variable plunger pump 302, working connection 303, pressure difference sensing valve 304 solenoid operated directional valves 305, logic cartridge valve 306, variable throttle valve 307, overflow valve 308, quantitative plunger piston hydraulic motor 309, banked direction control valves 310, hydraulic oil container 311, the uniform-pressure-drop valve 312 that diesel engine 301, electric ratio are regulated.
The clutch end of diesel engine 301 connects the power intake of the Variable plunger pump 302 of electric ratio adjusting, the oiler of the Variable plunger pump 302 that the electricity ratio is regulated connects hydraulic oil container 311, the oil-out of the Variable plunger pump 302 that the electricity ratio is regulated connects working connection 303, the oil-in of pressure difference sensing valve 304 connects working connection 303, the oil-out of pressure difference sensing valve 304 connects the oiler of banked direction control valves 310, and the oil-out of banked direction control valves 310 connects hydraulic oil container 311; The oiler of uniform-pressure-drop valve 312 connects working connection 303, the oil-out of uniform-pressure-drop valve 312 connects the oiler of variable throttle valve 307, the oil-out of variable throttle valve 307 connects the oiler of logic cartridge valve 306, the oil-out of logic cartridge valve 306 connects the oiler of quantitative plunger piston hydraulic motor 309, quantitatively the oil-out of plunger piston hydraulic motor 309 connects hydraulic oil container 311, the first passage mouth of solenoid operated directional valve 305 connects the control end of logic cartridge valve 306, the second channel mouth connects the control end of pressure difference sensing valve 304, the third channel mouth connects the oil-out of variable throttle valve 307 and the control end of uniform-pressure-drop valve 312, oil return opening connects hydraulic oil container 311, the oiler of overflow valve 308 connects working connection 303, and the oil-out of overflow valve 308 connects hydraulic oil container 311.Banked direction control valves 310 is used for the big executive component of control load excursion, and quantitatively plunger piston hydraulic motor 309 is used to drive the stable executive component of load.
Below introduce the operating principle of this concrete sprayer tool hydraulic control device.
According to the input working condition signal, during the manipulator single movement, the electric proportional control valve input current I of the Variable plunger pump 302 that electric ratio is regulated
0, adjust its discharge capacity, the Variable plunger pump 302 that electric ratio is regulated provides the pressure oil flow Q that meets banked direction control valves 310 controls
0When quantitatively plunger piston hydraulic motor 309 works independently, the electric proportional control valve input current I of the Variable plunger pump 302 that electric ratio is regulated
1, adjust its discharge capacity, the Variable plunger pump 302 that electric ratio is regulated provides the pressure oil flow Q that meets quantitative plunger piston hydraulic motor 309 work
1When quantitatively plunger piston hydraulic motor 309 and banked direction control valves 310 are worked simultaneously, the electric proportional control valve input current I of the Variable plunger pump 302 that electric ratio is regulated
2, adjust its discharge capacity, the Variable plunger pump 1 that electric ratio is regulated provides and meets the pressure oil flow Q that quantitative plunger piston hydraulic motor 309 and banked direction control valves 310 are worked simultaneously
2
When banked direction control valves 310 is worked alone, solenoid operated directional valve 305 no powers, logic cartridge valve 306 is closed to the oil circuit of quantitative plunger piston hydraulic motor 309, and the pressure oil of Variable plunger pump 302 outputs of electric proportional control overcomes the opening pressure P of pressure difference sensing valve 304
0After, banked direction control valves 310 is started working.
Quantitatively plunger piston hydraulic motor 309 runnings need stable rotating speed, just must guarantee the pressure oil constant flow of quantitative plunger piston hydraulic motor 309 branch roads and not be subjected to the influence of load.Variable throttle valve 307 is set forms speed control loop with uniform-pressure-drop valve 312.
Quantitative plunger piston hydraulic motor 309 works independently or quantitative plunger piston hydraulic motor 309 moves simultaneously with banked direction control valves 310, solenoid operated directional valve 305 energisings, and logic cartridge valve 306 is opened to the oil circuit of quantitative plunger piston hydraulic motor 309.The pressure oil flow that provides when the Variable plunger pump 302 of electric proportional control hour, the back pressure P of pressure P and variable throttle valve 307 before the pressure difference sensing valve 304
2Pressure differential Δ P
2Set opening pressure P less than pressure difference sensing valve 304
0, both Δ P
2＜P
0, uniform-pressure-drop valve 312 complete openings, pressure difference sensing valve 304 cuts out, and pressure oil is preferentially supplied with quantitative plunger piston hydraulic motor 309.The pressure oil flow that provides when the Variable plunger pump 302 of electric proportional control increases to Q
1, Δ P
2Increase to Δ P
2=P
0The time, quantitatively plunger piston hydraulic motor 309 arrives rated speed, and uniform-pressure-drop valve 312 is in the critical closing state, and pressure difference sensing valve 304 is in critical opening.The pressure oil flow that provides when the Variable plunger pump 302 of proportional control increases to Q
2, Δ P
2Increase to Δ P
2＞P
0The time, uniform-pressure-drop valve 312 begins to cut out, and reduces by uniform-pressure-drop valve 312 flows, when being decreased to Δ P
2=P
0The time, keep current open degree.Pressure difference sensing valve 304 is opened simultaneously, and partial pressure oil flow enters banked direction control valves 310, at this moment, is Q by uniform-pressure-drop valve 312, variable throttle valve 307 pressure oil flows
1, the rated speed of quantitative plunger piston hydraulic motor 309 acquiring demands, unnecessary pressure oil flow-control banked direction control valves 310 actions that the Variable plunger pump 302 that electric ratio is regulated provides.
Below introduce the advantage of above-mentioned concrete sprayer tool hydraulic control device.
This control device adopts the power source of the Variable plunger pump composition of a diesel engine and the adjusting of electric ratio, controls two hydraulic actuators of two load differences in the concrete sprayer tool simultaneously.This structure decrease dynamical element, reduced the cost of production of concrete sprayer tool, be easy to realize control.
This control device is set up a uniform-pressure-drop valve 312 between working connection 303 and variable throttle valve 307, variable throttle valve 307 is formed speed control loop with uniform-pressure-drop valve 312, variable throttle valve 307 front and back pressure reduction keep constant under the effect of uniform-pressure-drop valve 312, the rotating speed that guarantees plunger piston hydraulic motor is only relevant with the flow area of variable throttle valve 307, with the load pressure onrelevant.Change the flow of the pressure oil that is used for actuation plunger hydraulic motor 309 by the circulation area that changes variable throttle valve 307, can realize the adjusting of the rotating speed of quantitative plunger piston hydraulic motor 309.
The foregoing description adopts diesel engine as prime mover, can also adopt motor as prime mover, and this dual mode is all in protection scope of the present invention.
The present invention also provides a kind of concrete sprayer device people, and following examples are simply introduced this.
The 3rd embodiment provides a kind of concrete sprayer device people, and the concrete sprayer tool hydraulic control device that this concrete sprayer device people's blowing plant and manipulator adopt first embodiment to provide is controlled.
Please referring to Fig. 3, quantitatively plunger piston hydraulic motor 209 drives this concrete sprayer device people's air compressor, banked direction control valves 210 these concrete sprayer device people's of control manipulator, and all the other implementation processes and first embodiment are similar, no longer are described in detail at this.
The 4th embodiment provides a kind of concrete sprayer device people, and the concrete sprayer tool hydraulic control device that this concrete sprayer device people's blowing plant and manipulator adopt second embodiment to provide is controlled.
Please referring to Fig. 4, quantitatively plunger piston hydraulic motor 309 drives this concrete sprayer device people's air compressor, banked direction control valves 310 these concrete sprayer device people's of control manipulator, and all the other implementation processes and second embodiment are similar, no longer are described in detail at this.
The above only is the description of preferred implementation of the present invention; should be understood that; because the finiteness of literal expression; and objectively have unlimited concrete structure; for those skilled in the art; under the prerequisite that does not break away from the principle of the invention, can also make some improvements and modifications, these improvements and modifications also should be considered as protection scope of the present invention.
Claims (16)
1. a concrete sprayer tool hydraulic control device is characterized in that, comprises prime mover, hydraulic oil pump, working connection, pressure-control valve, flow control valve, hydraulic motor, banked direction control valves, hydraulic oil container;
The clutch end of described prime mover connects the power intake of described hydraulic oil pump, the oiler of described hydraulic oil pump connects described hydraulic oil container, the oil-out of described hydraulic oil pump connects described working connection, the oil-in of described pressure-control valve connects described working connection, the oil-out of described pressure-control valve connects the oiler of described banked direction control valves, the oiler of described flow control valve connects described working connection, the oil-out of described flow control valve connects the oiler of described hydraulic motor, and the oil return opening of described banked direction control valves, hydraulic motor all connects described hydraulic oil container;
Described banked direction control valves is used for the executive component that control load changes, and described hydraulic motor is used to drive the stable executive component of load.
2. concrete sprayer tool hydraulic control device according to claim 1, it is characterized in that, pipeline between described flow control valve and the described hydraulic motor is provided with switch valve, the oiler of this switch valve connects the oil-out of described flow control valve, and the oil-out of this switch valve connects the oiler of described hydraulic motor.
3. concrete sprayer tool hydraulic control device according to claim 2 is characterized in that described switch valve is the logic cartridge valve.
4. concrete sprayer tool hydraulic control device according to claim 1 is characterized in that described pressure-control valve is the pressure difference sensing valve.
5. concrete sprayer tool hydraulic control device according to claim 1 is characterized in that described flow control valve is a choke valve.
6. according to each described concrete sprayer tool hydraulic control device of claim 2-5, it is characterized in that, also comprise solenoid operated directional valve, the first passage mouth of described solenoid operated directional valve, second channel mouth, third channel mouth, oil return opening connect the oil-out of the control end of described switch valve, the control end of pressure-control valve, described flow control valve, described hydraulic oil container respectively.
7. concrete sprayer tool hydraulic control device according to claim 6, it is characterized in that, also be provided with uniform-pressure-drop valve on the pipeline between the oiler of described flow control valve and the described working connection, the oiler of described uniform-pressure-drop valve connects working connection, the oil-out of described uniform-pressure-drop valve connects the oiler of described flow control valve, and the control end of described uniform-pressure-drop valve connects the third channel mouth of described solenoid operated directional valve.
8. concrete sprayer tool hydraulic control device according to claim 1 is characterized in that also comprise overflow valve, the oiler of described overflow valve connects described working connection, and its oil-out connects described hydraulic oil container.
9. concrete sprayer tool hydraulic control device according to claim 1 is characterized in that described prime mover is a diesel engine.
10. concrete sprayer tool hydraulic control device according to claim 1 is characterized in that described prime mover is a motor.
11. concrete sprayer tool hydraulic control device according to claim 1 is characterized in that, described hydraulic oil pump is the Variable plunger pump that electric ratio is regulated.
12. require 1 described concrete sprayer tool hydraulic control device as requested, it is characterized in that described banked direction control valves is a manipulator control banked direction control valves.
13. concrete sprayer tool hydraulic control device according to claim 1 is characterized in that described hydraulic motor is a plunger piston hydraulic motor.
14. concrete sprayer tool hydraulic control device according to claim 1 is characterized in that the executive component of described load variations is specially manipulator.
15. concrete sprayer tool hydraulic control device according to claim 1 is characterized in that the stable executive component of described load is specially air compressor.
16. a concrete sprayer device people is characterized in that, this concrete sprayer device people adopts each described concrete sprayer tool hydraulic control device of claim 1-15 to control.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2008101829064A CN101424188B (en) | 2008-12-05 | 2008-12-05 | Hydraulic controller for concrete injection machinery and concrete injection robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2008101829064A CN101424188B (en) | 2008-12-05 | 2008-12-05 | Hydraulic controller for concrete injection machinery and concrete injection robot |
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| CN101424188A CN101424188A (en) | 2009-05-06 |
| CN101424188B true CN101424188B (en) | 2011-02-09 |
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| CN2008101829064A Expired - Fee Related CN101424188B (en) | 2008-12-05 | 2008-12-05 | Hydraulic controller for concrete injection machinery and concrete injection robot |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102929290B (en) * | 2012-10-10 | 2016-02-17 | 中联重科股份有限公司 | Control system, method and device of sprayer applied to tunnel concrete spraying |
| CN102966621A (en) * | 2012-11-19 | 2013-03-13 | 无锡市京锡冶金液压机电有限公司 | Method for setting manipulator rotating mechanism of hydraulic system |
| CN104061002A (en) * | 2014-06-09 | 2014-09-24 | 山东科技大学 | Mining concrete wet spraying manipulator device |
| CN105134675B (en) * | 2015-08-28 | 2017-06-16 | 中国铁建重工集团有限公司 | A kind of hybrid power system of spraying machine pumping mechanism |
| CN113026643B (en) * | 2020-12-16 | 2022-11-29 | 长沙中联重科环境产业有限公司 | Sprinkling control system and method and sprinkling truck |
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|---|---|---|---|---|
| JP2004122564A (en) * | 2002-10-02 | 2004-04-22 | Nisshoku Corp | Mortar or concrete mixer and mortar or concrete spraying apparatus |
| CN1151015C (en) * | 2000-09-13 | 2004-05-26 | 济南山川机器人工程公司 | Concrete jetting robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN1151015C (en) * | 2000-09-13 | 2004-05-26 | 济南山川机器人工程公司 | Concrete jetting robot |
| JP2004122564A (en) * | 2002-10-02 | 2004-04-22 | Nisshoku Corp | Mortar or concrete mixer and mortar or concrete spraying apparatus |
| CN101058395A (en) * | 2006-04-19 | 2007-10-24 | 浙江佳力科技股份有限公司 | Full hydraulic electric forklift hydraulic system |
| CN101210580A (en) * | 2007-12-21 | 2008-07-02 | 沈阳矿山机械（集团）有限责任公司 | Star-wheel synchronization hydraulic system for tunneling machine |
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| 容学文等.喷浆机器人液压系统的设计.煤矿机电.2004,(4),4-5. * |
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| CN101424188A (en) | 2009-05-06 |
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