CN101893900B - Engineering plant and arm support control system thereof - Google Patents
Engineering plant and arm support control system thereof Download PDFInfo
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- CN101893900B CN101893900B CN2010102169228A CN201010216922A CN101893900B CN 101893900 B CN101893900 B CN 101893900B CN 2010102169228 A CN2010102169228 A CN 2010102169228A CN 201010216922 A CN201010216922 A CN 201010216922A CN 101893900 B CN101893900 B CN 101893900B
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Abstract
The invention discloses an arm support control system, which comprises a material object model (21), a control device (23) and an execution device (24), wherein the material object model (21) has a structure the same as that of an engineering plant, and is used for inputting a target position signal of an arm support (25) of the engineering plant by setting the model arm support state of the material object model (21); the control device (23) is used for receiving the target position signal, obtaining a movement path of the arm support (25) according to a preset control strategy and transmitting a control instruction; and the execution device (24) is used for controlling the arm support (25) to move according to the control instruction until the arm support (25) reaches a target position. The system provided by the invention improves the accuracy of control over the movement of the arm support of the engineering plant, increases an arm support state regulation speed, and prolongs the service life of the engineering plant. The invention also discloses the engineering plant and an arm support control method.
Description
Technical field
The present invention relates to engineering machinery field, particularly relate to a kind of arm support control system that is used for engineering machinery.The invention still further relates to a kind of engineering machinery that comprises above-mentioned arm support control system.
Background technology
Along with increasing of large-scale construction project project; Jib in various Application in Manufacturing Construction Machinery also more and more widely; The existence of jib is all arranged in the engineering machinery such as concrete mixer, crane; In order to guarantee that jib can arrive the target location as required, in engineering machinery, also be provided with arm support control system usually.
Be example below with the concrete mixer; Describe arm support control system of the prior art: concrete mixer mainly comprises the chassis, be installed on actuating unit, pumping installations and the stirring apparatus on chassis, scalable or flexion the cloth pipeline, support jib, arm support control system and some other servicing unit of cloth pipeline.
In the course of work, the pumping installations of concrete mixer will stir the concrete of accomplishing by stirring apparatus and be pumped to casting position via boom, therefore, directly determine the accuracy of cast for the accuracy of the control of jib motion.
In the prior art, the arm support control system of concrete mixer generally comprises controller, telepilot and solenoid valve, in the control procedure; Operating personnel confirm the moving line of jib to send motor message through telepilot according to the target location, and controller is according to motor message; Send drive signal, the control corresponding solenoid valve changes its state, and then the motion of control jib; And judge artificially whether jib has reached the target location, if the no show precalculated position, then operating personnel send motor message through telepilot again; Adjust, arrived the target location until the artificial judgment jib.
What aforesaid way adopted is open loop control, just judges through staff's observation whether jib has arrived the precalculated position, and carry out the selection of jib moving line artificially; Therefore, the degree of accuracy of control is lower, and when carrying out the control of jib motion; Need the environment of operating personnel according to target location and engineering machinery present position; Judge artificially, and provide the moving line of jib, not only inconvenient in the extreme; And receive the influence of operating personnel's operating process bigger, be not easy to guarantee the accuracy of jib motion; On the other hand,, can there be certain operations difference,, possibly also operating mistake can occurs, jib is worked under the attitude of optimum, influence the serviceable life of jib if operating personnel can not adapt to soon for the engineering machinery of different manufacturers.
Therefore, how to improve accuracy, and improve speed, prolong the serviceable life of engineering machinery, just become the present technical issues that need to address of those skilled in the art the adjustment of jib state to the jib motion control of engineering machinery.
Summary of the invention
The purpose of this invention is to provide a kind of arm support control system that is used for engineering machinery; This system has improved the accuracy to the jib motion control of engineering machinery; Guaranteed that jib moves along the moving line of optimum; And under the optimal working attitude, work, thereby prolonged the serviceable life of engineering machinery; Improved speed simultaneously to the adjustment of jib state.Another object of the present invention provides a kind of engineering machinery and a kind of arm support control method that is used for engineering machinery that comprises above-mentioned arm support control system.
For solving the problems of the technologies described above, the present invention provides a kind of arm support control system that is used for engineering machinery, comprising:
Have the mock-up of same structure with said engineering machinery, be used for importing the target position signal of the jib of said engineering machinery through setting the model jib state of said mock-up;
Control device is used to receive said target position signal, and according to the expectant control strategy, draws the moving line of said jib, sends steering order;
Actuating unit is used for controlling said jib motion according to said steering order, arrives the target location until said jib;
Said mock-up comprises jib detecting unit, processing unit and transmitting element;
The state of the said model jib of said jib detection obtains detection signal;
Said processing unit receives said detection signal, and is translated into said target position signal;
Said transmitting element is sent to said control device with said target position signal.
Preferably, said jib detecting unit is angular transducer or displacement transducer.
Preferably, said mock-up also comprises receiving element and display;
Said receiving element receives the steering order of said control device, and transfers to said display;
Said display shows said steering order.
Preferably, said mock-up also comprises in the two at least one of jib stop element and engine stop element;
Said jib stop element stops the signal of said jib motion to said actuating unit emission;
Said engine stop element sends stopping signal to the tail-off of said engineering machinery.
Preferably, also comprise condition checkout gear, said condition checkout gear detects the state of said jib and the state of said jib environment of living in real time, obtains status signal;
Said control device receives said target position signal and said status signal, and according to the expectant control strategy, draws the moving line of said jib, sends steering order.
Preferably, said condition checkout gear comprises jib condition checkout gear and obstacle detector;
Said jib condition checkout gear detects the state of said jib;
Said obstacle detector detects the state of said jib environment of living in.
Preferably, said jib condition checkout gear is angular transducer or displacement transducer.
Preferably, said obstacle detector is radar or camera.
For solving the problems of the technologies described above, the present invention also provides a kind of engineering machinery, comprises the arm support control system of jib and the motion that is used to control said jib, and said arm support control system is above-mentioned each described arm support control system.
Preferably, be specially concrete mixer.
The arm support control system that is used for engineering machinery provided by the present invention; Comprise the mock-up, control device and the actuating unit that have same structure with engineering machinery; Wherein, Mock-up is used for importing the target position signal of the jib of said engineering machinery through setting the model jib state of said mock-up; Control device receiving target position signalling, and, draw the moving line of jib according to the control strategy that prestores, and then send steering order according to above-mentioned moving line; Actuating unit is according to the motion of the steering order control jib that control device sent.Like this, when needs change the state of jib, make mock-up get into duty; And, import the target location of jib, and target position signal is transferred to control device through setting the model jib state of mock-up; Control device draws the moving line of jib according to target position signal and the control strategy that prestores, and then the action of control actuating unit; Make jib according to the moving line motion that draws, arrive target location, the adjustment of completion status until jib.Can find out; Arm support control system provided by the present invention; When carrying out the adjustment of jib state; Operating personnel only need input to system with the state of the target location of the jib model jib through setting mock-up, and arm support control system just can be confirmed moving line as required independently, and finally makes jib arrival target location.Not only the jib operating process is simple, and very directly perceived, simultaneously; Because arm support control system can be confirmed moving line independently; And finally make jib arrive the target location, and also make operating result very accurate, improved the accuracy of adjustment greatly; Jib can be worked under the attitude of optimum, prolonged the serviceable life of jib.
In a kind of preferred implementation, the mock-up that is used for the arm support control system of engineering machinery provided by the present invention comprises jib detecting unit, processing unit and transmitting element; The state of jib detection model jib obtains detection signal; Processing unit receives detection signal, and is translated into target position signal; Transmitting element is sent to control device with target position signal.Can find out; For the state that guarantees the model jib successfully transfers to control device, the mock-up that engineering machinery provided by the present invention has a same structure is provided with independent jib detecting unit obtaining the state of model jib exactly, and is converted into easy identified signal through processing unit; And then realize the transmission of target position signal through transmitting element; Adopted servocontrol, guaranteed the accuracy of transmission signals, and then guaranteed accuracy jib control.
In another kind of preferred implementation, the mock-up that is used for the arm support control system of engineering machinery provided by the present invention also comprises receiving element and display; The steering order of receiving element receiving control device, and transfer to display; Display shows steering order.Like this; Operating personnel can understand the steering order of control device through display, when steering order shows influence or otherwise influence that the current state of engineering machinery receives the barrier of jib present position, in the time of can't arriving the target location; Operating personnel can learn the very first time; And and then change the target location, perhaps know barrier, with final realization Action Target.
In another kind of preferred implementation, the arm support control system that is used for engineering machinery provided by the present invention also comprises condition checkout gear, and condition checkout gear detects the state of jib and the state of jib environment of living in real time, obtains status signal; Control device receiving target position signalling and status signal, and, draw the moving line of jib according to the expectant control strategy, send steering order.The setting of condition checkout gear makes control procedure become a kind of closed-loop control, and control device can be understood the state of jib and the state of jib environment of living in constantly, thereby has further improved the accuracy of adjustment.
The beneficial effect of engineering machinery provided by the present invention and the beneficial effect of arm support control system are similar, repeat no more at this.
Description of drawings
The theory diagram of the arm support control system that is used for engineering machinery that Fig. 1 is provided for a kind of embodiment of the present invention;
Fig. 2 is the theory diagram of second kind of arm support control system that is used for engineering machinery that embodiment provided of the present invention;
The theory diagram of the arm support control system that is used for engineering machinery that Fig. 3 is provided for the third embodiment of the present invention;
Fig. 4 is the theory diagram of the 4th kind of arm support control system that is used for engineering machinery that embodiment provided of the present invention.
Embodiment
Core of the present invention provides a kind of arm support control system that is used for engineering machinery; This system has improved the accuracy to the jib motion control of engineering machinery; Guaranteed that jib moves along the moving line of optimum; And under the optimal working attitude, work, thereby prolonged the serviceable life of engineering machinery; Improved speed simultaneously to the adjustment of jib state.Another core of the present invention provides a kind of engineering machinery that comprises above-mentioned arm support control system.
In order to make those skilled in the art person understand the present invention program better, the present invention is done further detailed description below in conjunction with accompanying drawing and embodiment.
Please refer to Fig. 1, the theory diagram of the arm support control system that is used for engineering machinery that Fig. 1 is provided for a kind of embodiment of the present invention.
In a kind of embodiment; As shown in Figure 1, the arm support control system that is used for engineering machinery provided by the present invention comprises mock-up 21, control device 23 and actuating unit 24; Wherein, Mock-up 21 has same structure with engineering machinery, is used for through changing the state of its model jib, the target position signal of the jib 25 of input engineering machinery; Control device 23 receiving target position signallings, and, draw the moving line of jib 25 according to the control strategy that prestores, and then send steering order according to above-mentioned moving line; The steering order that actuating unit 24 is sent according to control device 23 is controlled the motion of jib 25.
Particularly, above-mentioned mock-up 21 is when carrying out the transmission of signal, and the transmission that can set up signal through wired mode and control device 23 also can be carried out the transmission of signal through wireless mode and control device 23; There is ripe control strategy above-mentioned control device 23 inside, can draw the optimal motion route of jib 25 arrival target locations according to the information of gained; Actuating unit 24 can be the various control methods of control arm frame 25 motions, devices such as actuator cylinder.
Certainly, as herein described have identical structure with engineering machinery and be meant have similar physical construction and electrical system with the engineering machinery entity, but the size of mock-up is far smaller than the size of engineering machinery, and mock-up not to have systems such as hydraulic pressure.
Like this, when needs change the state of jib 25, at first make mock-up 21 get into duty; And the state of the model jib through setting mock-up 21, the target location of input jib, and then target position signal transferred to control device 22; Control device draws the moving line that jib 25 moves to the target location according to target position signal and the control strategy that prestores, and then sends movement instructions to actuating unit 24; Actuating unit 24 moves according to movement instruction; Make jib 25 according to the moving line motion,, accomplish the adjustment of jib 25 states and position until jib 25 arrival target locations.
Can find out; Arm support control system provided by the present invention, when carrying out the adjustment of jib 25 positions and state, operating personnel only need input to system with the state of the target location of the jib 25 model jib through setting mock-up 21; Arm support control system is inner just can be according to the target location; Confirm moving line independently, and finally make jib 25 arrival target locations, operating process is very simple and convenient; Very directly perceived, operating personnel can directly see the state when the jib target is in the target location; Simultaneously,, make that the adjustment result is very accurate, jib is worked under the attitude of optimum, prolonged the serviceable life of jib because the control strategy of arm support control system storage inside can draw optimum moving line.
Please refer to Fig. 2, Fig. 2 is the theory diagram of second kind of arm support control system that is used for engineering machinery that embodiment provided of the present invention.
In another kind of embodiment, the arm support control system that is used for engineering machinery provided by the present invention comprises condition checkout gear 22, and condition checkout gear 22 detects the state of jib 25 and the state of jib 25 environment of living in real time, obtains status signal; Control device 23 receiving target position signalling and status signals, and, draw the moving line of jib 25 according to the expectant control strategy, send steering order.
Above-mentioned condition checkout gear 22 not only detects the state of jib 25 itself, and detects the state of the barrier etc. of jib 25 positions; Because condition checkout gear 22 not only detects the state of jib 25 itself, and detect the state of the barrier etc. of jib 25 positions, therefore, condition checkout gear 22 comprises jib condition checkout gear and obstacle detector; Wherein, the jib condition checkout gear is used to detect the state of jib, specifically can realize jib 25 status detection through angular transducer or displacement transducer; Obstacle detector is used to detect the state of jib 25 environment of living in, specifically can realize the detection to jib 25 ambient conditions of living in through devices such as camera or radars.
Therefore; In control procedure, not only pass through the state of the model jib of setting mock-up 21, the target location of input jib 25; And through condition checkout gear 22 real-time detected detection signals (comprising the status signal of jib 25 itself and the status signal of jib 25 environment of living in); Control device is formulated moving line according to above-mentioned two kinds of signals, makes control procedure become a kind of closed-loop control; Control device can be understood the state of jib and the state of jib environment of living in constantly, thereby has further improved the accuracy of adjustment.
Please refer to Fig. 3, the theory diagram of the arm support control system that is used for engineering machinery that Fig. 2 is provided for the third embodiment of the present invention.
In the third embodiment, the mock-up 21 that is used for the arm support control system of engineering machinery provided by the present invention can comprise jib detecting unit 211, processing unit 212 and transmitting element 213; Jib detecting unit 211 can the detection model jib state, obtain detection signal; Processing unit 212 receives detection signal, and is translated into target position signal; Transmitting element 213 is sent to control device 22 with target position signal.
Particularly, above-mentioned jib detecting unit 211 can be angular transducer or displacement transducer, and is at the adjusted state through operating personnel, convenient to control device 23 transmission with the detection model jib.
Can find out that the mock-up 21 of mock-up form provided by the present invention is provided with independent jib detecting unit 211 to obtain the state of model jib exactly; Thereby the state that guarantees the model jib successfully transfers to control device 23; And be converted into easy identified signal through processing unit 212, and then realize the transmission of target position signal through transmitting element 213, adopted servocontrol; Guaranteed the accuracy of transmission signals, and then guaranteed accuracy jib control.
Please refer to Fig. 4, Fig. 4 is the theory diagram of the 4th kind of arm support control system that is used for engineering machinery that embodiment provided of the present invention.
As shown in Figure 4, the mock-up 21 that is used for the arm support control system of engineering machinery provided by the present invention can further include receiving element 214 and display 215; The steering order of receiving element 214 receiving control devices 23, and transfer to display 215; Display 215 shows steering order.
Like this; Operating personnel can understand the steering order of control device 23 through display 215, when steering order shows influence or otherwise influence that the current state of engineering machinery receives the barrier of jib 25 present positions, in the time of can't arriving the target location; Operating personnel can learn the very first time; And and then change the target location, perhaps know barrier, with final realization Action Target.
Further, mock-up 21 can also comprise in the two at least one of jib stop element and engine stop element; Can be through jib stop element operating personnel to actuating unit emission stopping jib motor message; Can send stopping signal to the tail-off of engineering machinery through engine stop element operating personnel.
Because the volume of engineering machinery is generally bigger; Observe the motion of jib 25 for ease; Operating personnel probably import the target location in the outside of pilothouse through wired or wireless mode, need the jib stop motion and work as, when perhaps needing engine shutdown; The setting of above-mentioned Unit two of mock-up 21 just makes operating personnel need not to get back to pilothouse and operates, simplified operating process greatly.
In addition, for solving the problems of the technologies described above, the present invention also provides a kind of engineering machinery; The arm support control system that comprises jib and the motion that is used to control jib, wherein, arm support control system be like above-mentioned arm support control system; Other structures of engineering machinery are identical with prior art, and this paper repeats no more.
Particularly, above-mentioned engineering machinery can be concrete mixer, certainly, and also can other have the engineering machinery of jib for crane etc.
More than engineering machinery provided by the present invention and arm support control system thereof have been carried out detailed introduction.Used concrete example among this paper principle of the present invention and embodiment are set forth, the explanation of above embodiment just is used for helping to understand method of the present invention and core concept thereof.Should be pointed out that for those skilled in the art, under the prerequisite that does not break away from the principle of the invention, can also carry out some improvement and modification to the present invention, these improvement and modification also fall in the protection domain of claim of the present invention.
Claims (10)
1. an arm support control system that is used for engineering machinery is characterized in that, comprising:
Have the mock-up (21) of same structure with said engineering machinery, be used for importing the target position signal of the jib (25) of said engineering machinery through setting the model jib state of said mock-up (21);
Control device (23) is used to receive said target position signal, and according to the expectant control strategy, draws the moving line of said jib (25), sends steering order;
Actuating unit (24) is used for controlling said jib (25) motion according to said steering order, arrives the target location until said jib (25);
Said mock-up (21) comprises jib detecting unit (211), processing unit (212) and transmitting element (213);
Said jib detecting unit (211) detects the state of said model jib, obtains detection signal;
Said processing unit (212) receives said detection signal, and is translated into said target position signal;
Said transmitting element (213) is sent to said control device (23) with said target position signal.
2. the arm support control system that is used for engineering machinery according to claim 1 is characterized in that, said jib detecting unit is angular transducer or displacement transducer.
3. the arm support control system that is used for engineering machinery according to claim 1 is characterized in that, said mock-up (21) also comprises receiving element (214) and display (215);
Said receiving element (214) receives the steering order of said control device (23), and transfers to said display (215);
Said display (215) shows said steering order.
4. the arm support control system that is used for engineering machinery according to claim 1 is characterized in that, said mock-up (21) also comprises in the two at least one of jib stop element and engine stop element;
Said jib stop element is to the signal of said actuating unit (24) emission stopping said jib (25) motion;
Said engine stop element sends stopping signal to the tail-off of said engineering machinery.
5. according to each described arm support control system that is used for engineering machinery of claim 1 to 4; It is characterized in that; Also comprise condition checkout gear (22); Said condition checkout gear (22) detects the state of said jib (25) and the state of said jib (25) environment of living in real time, obtains status signal;
Said control device (23) receives said target position signal and said status signal, and according to the expectant control strategy, draws the moving line of said jib (25), sends steering order.
6. the arm support control system that is used for engineering machinery according to claim 5 is characterized in that, said condition checkout gear (22) comprises jib condition checkout gear and obstacle detector;
Said jib condition checkout gear detects the state of said jib (25);
Said obstacle detector detects the state of said jib (25) environment of living in.
7. the arm support control system that is used for engineering machinery according to claim 6 is characterized in that, said jib condition checkout gear is angular transducer or displacement transducer.
8. the arm support control system that is used for engineering machinery according to claim 6 is characterized in that, said obstacle detector is radar or camera.
9. engineering machinery comprises jib (25) and is used to control the arm support control system of the motion of said jib (25), it is characterized in that said arm support control system is each described arm support control system of claim 1 to 8.
10. engineering machinery according to claim 9 is characterized in that, is specially concrete mixer.
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| CN2010102169228A CN101893900B (en) | 2010-06-29 | 2010-06-29 | Engineering plant and arm support control system thereof |
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| CN2010102169228A CN101893900B (en) | 2010-06-29 | 2010-06-29 | Engineering plant and arm support control system thereof |
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| CN101893900A CN101893900A (en) | 2010-11-24 |
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| CN102354120B (en) * | 2011-05-27 | 2013-04-24 | 东南大学 | Simulation experimental apparatus for intelligent arm support system of concrete pump truck and method thereof |
| CN102393754B (en) * | 2011-09-28 | 2014-04-16 | 三一重工股份有限公司 | Arm support action control method and system, arm support tail end linear displacement control method and system, and concrete pump trucks |
| CN102393751A (en) * | 2011-10-27 | 2012-03-28 | 中联重科股份有限公司 | Method, device and system for controlling rotation position of arm support and engineering machinery |
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| CN103806666B (en) * | 2014-01-26 | 2015-02-18 | 三一汽车制造有限公司 | Concrete pump truck and cantilever crane control method |
| CN103806667B (en) * | 2014-01-26 | 2015-12-30 | 三一汽车制造有限公司 | A kind of concrete mixer and arm support control method and control device |
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| CN106223620B (en) * | 2016-07-25 | 2018-07-27 | 江苏赛福探伤设备制造有限公司 | A kind of arm support control system |
| CN107963197B (en) * | 2017-11-30 | 2020-07-14 | 三一汽车制造有限公司 | Control method and control system for anchoring parking support arm |
| CN109573843B (en) * | 2018-12-20 | 2020-08-11 | 国网北京市电力公司 | Crane control method, system and device and terminal |
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