CN102248933A - Pump vehicle as well as feedback system and method of arm support safe rotation range thereof - Google Patents
Pump vehicle as well as feedback system and method of arm support safe rotation range thereof Download PDFInfo
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- CN102248933A CN102248933A CN2011101339071A CN201110133907A CN102248933A CN 102248933 A CN102248933 A CN 102248933A CN 2011101339071 A CN2011101339071 A CN 2011101339071A CN 201110133907 A CN201110133907 A CN 201110133907A CN 102248933 A CN102248933 A CN 102248933A
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- Prior art keywords
- rotating range
- safe
- supporting leg
- anglec
- rotation
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
- E04G21/02—Conveying or working-up concrete or similar masses able to be heaped or cast
- E04G21/04—Devices for both conveying and distributing
- E04G21/0418—Devices for both conveying and distributing with distribution hose
- E04G21/0436—Devices for both conveying and distributing with distribution hose on a mobile support, e.g. truck
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/62—Constructional features or details
- B66C23/72—Counterweights or supports for balancing lifting couples
- B66C23/78—Supports, e.g. outriggers, for mobile cranes
- B66C23/80—Supports, e.g. outriggers, for mobile cranes hydraulically actuated
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/88—Safety gear
- B66C23/90—Devices for indicating or limiting lifting moment
- B66C23/905—Devices for indicating or limiting lifting moment electrical
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
- E04G21/02—Conveying or working-up concrete or similar masses able to be heaped or cast
- E04G21/04—Devices for both conveying and distributing
- E04G21/0418—Devices for both conveying and distributing with distribution hose
- E04G21/0445—Devices for both conveying and distributing with distribution hose with booms
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- On-Site Construction Work That Accompanies The Preparation And Application Of Concrete (AREA)
- Jib Cranes (AREA)
Abstract
The invention provides a pump vehicle as well as a feedback system and method of an arm support safe rotation range thereof. The system comprises a position detection device, a control device and a feedback device, wherein the position detection device is used for collecting position information of each support leg; the control device is connected to the position detection device, and is used for calculating a safe rotation range of an arm support according to the position information collected by the position detection device and working conditions of a pump vehicle; and the feedback device is connected to the control device, and is used for feeding back the safe rotation range calculated by the control device. In the invention, according to different site spaces, different support leg expanding states can be realized, the site spaces can be fully used, and more safe rotation ranges can be expanded besides conventional 0-120 degrees and 0-360 degrees. In addition, the invention further has the advantages that the interface is visual, visualized operations are convenient and the like.
Description
Technical field
The present invention relates to engineering machinery field, specifically, relate to a kind of pump truck and jib safety rotating range feedback system thereof, method.
Background technology
In early days, concrete pump truck for security consideration, requires four supporting legs to launch fully in use, and vehicle body can not topple when rotating in 360 degree scopes with the assurance jib.When the pump truck supporting leg launched fully, the safe rotating range of pumping vehicle arm rack was 360 degree, as shown in Figure 1.
Afterwards, in order to adapt to two-by-twice building site, place, some concrete pump trucks provided the function of one-sided support as 31 X supporting leg pump truck.But when using one-sided support function, the rotating range of jib has been subjected to very big restriction.As shown in Figure 2, the jib safety rotating range of 31 X supporting leg pump trucks regulation is 120 degree, and promptly the direction from the car load axis towards the tailstock is initial, spends toward the side inswept 120 that supporting leg launches fully.
When adopting aforesaid way to carry out the jib rotary operation, there is following shortcoming:
1) have only two kinds of safe rotating range: 0-120 ° and 0-360 °, safe rotating range is discontinuous;
2) during one-sided support, when not utilizing an other side leg to launch (not exclusively launching) in part to the expansion effect of safety rotating range.
Summary of the invention
In order to overcome the above-mentioned defective and the deficiency of prior art, the object of the present invention is to provide a kind of pumping vehicle arm rack safety rotating range feedback system, this system can determine jib safety rotating range according to the current difference expansion degree of each supporting leg, can be adapted to the operation needs in multiple place.
Pumping vehicle arm rack safety rotating range feedback system of the present invention comprises:
Position detecting device, described position detecting device is used to gather the location information of each supporting leg;
Control setup, described control setup is connected with described position detecting device, and described control setup calculates the safe rotating range of jib according to the location information of described position detecting device collection and the operating mode of described pump truck;
Positioner, described positioner is connected with described control setup, is used to feed back the safe rotating range that described control setup calculates.
Preferred as technique scheme, described positioner is read out instrument or prior-warning device.
Preferred as technique scheme, the described safe rotating range of described display device images demonstration.
Preferred as technique scheme, described control setup obtains the actuating signal of each supporting leg in real time, and sends described actuating signal to described read out instrument, and described read out instrument automatically switches to safe rotating range display interface according to described actuating signal.
Preferred as technique scheme, described control setup calculates the safe rotating range of jib in the following way:
According to the location information of sensor acquisition, calculate the position coordinate of each supporting leg with respect to the turntable center, form polygon between described each position coordinate;
According to the position of current each supporting leg of described pump truck, determine in the complete level of jib, when delivery pipe fills up concrete operating mode the car load center of gravity of each anglec of rotation;
Judge whether described center of gravity is positioned at described polygon, if then be the safe anglec of rotation; If not, then be the dangerous anglec of rotation;
Interval between the safe anglec of rotation of maximum and the minimal security anglec of rotation is defined as safe rotating range.
Preferred as technique scheme, described position detecting device is sensor or camera.
Preferred as technique scheme, described sensor comprises four, is respectively left front supporting leg displacement pickup, right front supporting leg displacement pickup, left back supporting leg angular transducer and right back supporting leg angular transducer.
Another object of the present invention is, a kind of pumping vehicle arm rack safety rotating range feedback method is provided, and this method comprises:
Gather the location information of each supporting leg;
According to the location information of gathering and the operating mode of described pump truck, calculate the safe rotating range of jib;
The safe rotating range that feedback is calculated.
Preferred as technique scheme, the safe rotating range that feedback is calculated comprise adopts the mode that shows to feed back or adopts the mode of early warning to feed back.
Preferred as technique scheme, this method also comprises:
Obtain the actuating signal of each supporting leg,, then show the actual time safety rotating range if there is actuating signal.
Preferred as technique scheme, the concrete steps of calculating the safe rotating range of jib are:
According to the location information of gathering, calculate the position coordinate of each supporting leg with respect to the turntable center, form polygon between described each position coordinate;
According to the position of current each supporting leg of described pump truck, determine in the complete level of jib, when delivery pipe fills up concrete operating mode the car load center of gravity of each anglec of rotation;
Judge whether described center of gravity is positioned at described polygon, if then be the safe anglec of rotation; If not, then be the dangerous anglec of rotation;
Interval between the safe anglec of rotation of maximum and the minimal security anglec of rotation is defined as safe rotating range.
Another object of the present invention is to provide a kind of pump truck, and this pump truck uses above-mentioned pumping vehicle arm rack safety rotating range feedback system or method.
Pump truck of the present invention and jib safety rotating range feedback system thereof, method, calculate the safe rotating range of jib by control setup, and by positioner to operating personal feedback current safety rotating range, its safe rotating range can be determined by the deployed condition of each supporting leg.Operating personal can be realized different supporting leg deployed conditions according to different spaces, place, can utilize the space, place fully, and can expand the how safe rotating range except existing 0-120 ° and 0-360 °.In addition, the present invention also has objective interface, is convenient to advantages such as visualized operation.
Description of drawings
In order to be illustrated more clearly in the embodiment of the invention or technical scheme of the prior art, to do to introduce simply to the accompanying drawing of required use in embodiment or the description of the Prior Art below, apparently, accompanying drawing in describing below only is some embodiments of the present invention, for those of ordinary skills, under the prerequisite of not paying creative work, can also obtain other accompanying drawing according to these accompanying drawings.
The scheme drawing of Fig. 1 safe rotating range of jib when to be that pump truck is one-sided support;
Fig. 2 is the safe rotating range scheme drawing of pump truck supporting leg jib when launching fully;
Fig. 3 is the structured flowchart of the pumping vehicle arm rack safety rotating range feedback system of one embodiment of the invention;
Fig. 4 is the sensor scheme of installation of one embodiment of the invention;
Fig. 5 is the car load center of gravity scheme drawing of pump truck of the present invention under a kind of operating mode;
Fig. 6 is the display interface figure of the read out instrument of one embodiment of the invention;
Fig. 7 is the diagram of circuit of the pumping vehicle arm rack safety rotating range feedback method of one embodiment of the invention.
The specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the invention, the technical scheme in the embodiment of the invention is clearly and completely described, obviously, described embodiment only is the present invention's part embodiment, rather than whole embodiment.Based on the embodiment among the present invention, those of ordinary skills belong to the scope of protection of the invention not making the every other embodiment that is obtained under the creative work prerequisite.
Figure 3 shows that the structured flowchart of the pumping vehicle arm rack safety rotating range feedback system of one embodiment of the invention, as can be seen from the figure, feedback system of the present invention comprises position detecting device, control setup and positioner.Position detecting device be arranged on other of the supporting leg of pump truck or pump truck may parts on, the location information that is used to gather each supporting leg, this location information both can be the extension elongations of supporting leg, also can be the angles of showing of supporting leg.Position detecting device can be sensor, camera, perhaps normal other position detecting device that adopts of those skilled in the art.The optimum position detecting device is a sensor, if supporting leg is a telescopic leg, then sensor is a displacement pickup; If supporting leg is the pendulum-type supporting leg, then sensor is an angular transducer.Being provided with according to the supporting leg type of pump truck of sensor determined, preferred described sensor comprises four, be respectively left front supporting leg displacement pickup, right front supporting leg displacement pickup, left back supporting leg angular transducer and right back supporting leg angular transducer, with the location information of four supporting legs being used to detect X supporting leg pump truck.The scheme of installation of sensor as shown in Figure 4, for the left front displacement pickup S1 among the figure, the front side that it is installed on left front supporting leg is used to detect the extension elongation L of left front supporting leg; And for left back angular transducer S4, it is installed on left back supporting leg and vehicle body pivotally attached zone, and what be used to detect left back supporting leg shows angle a.For right front supporting leg and right back supporting leg, the sensor of its use is similar with left back supporting leg to left front supporting leg respectively, does not repeat them here.
Control setup is connected with position detecting device, and this control setup calculates the safe rotating range of jib according to the location information of position detecting device collection and the operating mode of pump truck.The operating mode of pump truck comprises in the delivery pipe that does not have in the different deployed conditions, the delivery pipe on the jib of different deployed conditions, the jib of supporting leg on cement concrete, the jib fills up various situations such as cement concrete, jib rotate in 360 degree scopes, pump truck has corresponding car load center of gravity under each operating mode.Control setup can be according to the three-dimensional modeling data of pump truck of input in advance, calculates car load center of gravity under the various operating modes with respect to the areal coordinates of center of gyration.
Those skilled in the art can adopt multiple mode to calculate the safe rotating range of pump truck.Preferably, control setup calculates the safe rotating range of jib in the following way:
At first,, calculate the position coordinate of each supporting leg, form polygon between described each position coordinate with respect to the turntable center according to the location information of sensor acquisition; Fig. 5 is the car load center of gravity scheme drawing of pump truck of the present invention under a kind of operating mode.Shown in the A among the figure, B, C, D, the line between them forms quadrangle to the expanded position of left front supporting leg, right front supporting leg, right back supporting leg and left back supporting leg respectively.
Then, according to the position of current each supporting leg of described pump truck, determine in the complete level of jib, when delivery pipe fills up concrete operating mode the car load center of gravity of each anglec of rotation.In Fig. 5, the anglec of rotation of jib is 120 °, and the car load center of gravity during this anglec of rotation is the E point shown in the figure.Jib is a kind of extreme operating condition when filling up cement concrete in complete level and delivery pipe, and this operating mode more can reflect the safe rotating range under the pump truck extreme case exactly.Certainly, those skilled in the art also can adopt other operating mode to determine the car load center of gravity.
Then, judge whether described center of gravity is positioned at described polygon, if then be the safe anglec of rotation; If not, then be the dangerous anglec of rotation; In Fig. 5, the E point is arranged in A, B, C, D form quadrangle, and the anglec of rotation (120 °) that jib under this operating mode then is described is the safe anglec of rotation.
At last, the interval between the safe anglec of rotation of maximum and the minimal security anglec of rotation is defined as safe rotating range.This safe rotating range is an angular range, as 0-120 °.
Positioner is connected with described control setup, is used to feed back the safe rotating range that described control setup calculates.Positioner can reflect safe rotating range directly or indirectly, and the present invention is not limited to this.Positioner can be read out instrument, prior-warning device, perhaps normal other positioner that adopts of those skilled in the art.When positioner was prior-warning device, this prior-warning device fed back safe rotating range indirectly, and when the current rotating range of pump truck approached safe rotating range, prior-warning device was reported to the police, to remind the operating personal operation of taking care.Preferred positioner is a read out instrument, and this read out instrument is connected with control setup, is used to the safe rotating range that shows that described control setup calculates.Read out instrument can show described safe rotating range with digital mode, and as preferably, the described safe rotating range of display device images demonstration is so that provide the information of safe rotating range more intuitively to operating personal.Fig. 6 is the display interface figure of the read out instrument of one embodiment of the invention, in the figure, the safe anglec of rotation and the dangerous anglec of rotation is demarcated on disc.Only be shown to operating personal in the drawings, in addition, can also adopt different colors to distinguish in the mode of literal, regional shown in green such as with the safe anglec of rotation, regional shown in red with the dangerous anglec of rotation, the present invention is not limited to this.
In the pump truck operation process, the position of supporting leg may change.At this moment, pumping vehicle arm rack safety rotating range feedback system of the present invention can show safe rotating range in real time.Correspondingly, control setup obtains the actuating signal of each supporting leg in real time, and sends described actuating signal to described read out instrument, and described read out instrument automatically switches to safe rotating range display interface according to described actuating signal.This safe rotating range can be the safe rotating range that is recomputated by control setup after the supporting leg change in location.
Another object of the present invention is to provide a kind of pumping vehicle arm rack safety rotating range feedback method.As shown in Figure 7, this method comprises:
Step 1: the location information of gathering each supporting leg;
Step 2:, calculate the safe rotating range of jib according to the location information of gathering and the operating mode of described pump truck;
Step 3: the safe rotating range that feedback is calculated.
The operating mode of pump truck comprises in the delivery pipe that does not have in the different deployed conditions, the delivery pipe on the jib of different deployed conditions, the jib of supporting leg on cement concrete, the jib fills up various situations such as cement concrete, jib rotate in 360 degree scopes, pump truck has corresponding car load center of gravity under each operating mode.Can be according to the three-dimensional modeling data of pump truck of input in advance, calculate car load center of gravity under the various operating modes with respect to the areal coordinates of center of gyration.
Preferably, the concrete steps of the safe rotating range of calculating jib are in the step 2:
Step 21: according to the location information of gathering, calculate the position coordinate of each supporting leg, form polygon between described each position coordinate with respect to the turntable center;
Step 22:, determine in the complete level of jib, when delivery pipe fills up concrete operating mode the car load center of gravity of each anglec of rotation according to the position of current each supporting leg of described pump truck; Jib is a kind of extreme operating condition when filling up cement concrete in complete level and delivery pipe, and this operating mode more can reflect the safe rotating range under the pump truck extreme case exactly.
Step 23: judge whether described center of gravity is positioned at described polygon, if then be the safe anglec of rotation; If not, then be the dangerous anglec of rotation;
Step 24: the interval between the safe anglec of rotation of maximum and the minimal security anglec of rotation is defined as safe rotating range.
Order between abovementioned steps 21 and the step 22 can be put upside down, and can realize technique effect of the present invention equally, and the present invention is not limited to this.
Preferably, the safe rotating range that calculated of feedback comprises and adopts the mode that shows to feed back or adopts the mode of early warning to feed back, thereby realizes the direct feedback of safe rotating range or feed back indirectly.
Preferably, this method also comprises: obtain the actuating signal of each supporting leg, if there is actuating signal, then show the actual time safety rotating range.This safe rotating range can be the safe rotating range that is recomputated by control setup after the supporting leg change in location.
The present invention also provides a kind of pump truck, and this pump truck uses above-mentioned pumping vehicle arm rack safety rotating range feedback system or method.Other structures of this pump truck are with reference to prior art, and this paper repeats no more.
In sum, with respect to prior art, the present invention has following advantage:
1) place space availability ratio height
Pump truck of the present invention and jib safety rotating range feedback system thereof, method, calculate the safe rotating range of jib by control setup, and by positioner to operating personal feedback current safety rotating range, its safe rotating range can be determined by the deployed condition of each supporting leg.Therefore, operating personal can be realized different supporting leg deployed conditions according to different spaces, place, can utilize the space, place fully, and can expand the how safe rotating range except existing 0-120 ° and 0-360 °.
2) objective interface
Pump truck of the present invention and jib safety rotating range feedback system thereof, method, read out instrument can show described safe rotating range by image conversion, thereby the information of safe rotating range is provided to operating personal more intuitively, has objective interface, be convenient to the advantage of visualized operation.
Therefore, the invention has the beneficial effects as follows conspicuous.
The above only is preferred embodiment of the present invention, and is in order to restriction the present invention, within the spirit and principles in the present invention not all, any modification of being done, is equal to replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (12)
1. a pumping vehicle arm rack safety rotating range feedback system is characterized in that, comprising:
Position detecting device, described position detecting device is used to gather the location information of each supporting leg;
Control setup, described control setup is connected with described position detecting device, and described control setup calculates the safe rotating range of jib according to the location information of described position detecting device collection and the operating mode of described pump truck;
Positioner, described positioner is connected with described control setup, is used to feed back the safe rotating range that described control setup calculates.
2. pumping vehicle arm rack safety rotating range feedback system according to claim 1 is characterized in that described positioner is read out instrument or prior-warning device.
3. pumping vehicle arm rack safety rotating range feedback system according to claim 2 is characterized in that, the described safe rotating range of described display device images demonstration.
4. pumping vehicle arm rack safety rotating range feedback system according to claim 2, it is characterized in that, described control setup obtains the actuating signal of each supporting leg in real time, and send described actuating signal to described read out instrument, described read out instrument automatically switches to safe rotating range display interface according to described actuating signal.
5. according to each described pumping vehicle arm rack safety rotating range feedback system of claim 1-4, it is characterized in that described control setup calculates the safe rotating range of jib in the following way:
According to the location information of sensor acquisition, calculate the position coordinate of each supporting leg with respect to the turntable center, form polygon between described each position coordinate;
According to the position of current each supporting leg of described pump truck, determine in the complete level of jib, when delivery pipe fills up concrete operating mode the car load center of gravity of each anglec of rotation;
Judge whether described center of gravity is positioned at described polygon, if then be the safe anglec of rotation; If not, then be the dangerous anglec of rotation;
Interval between the safe anglec of rotation of maximum and the minimal security anglec of rotation is defined as safe rotating range.
6. according to each described pumping vehicle arm rack safety rotating range feedback system of claim 1-4, it is characterized in that described position detecting device is sensor or camera.
7. pumping vehicle arm rack safety rotating range feedback system according to claim 6, it is characterized in that, described sensor comprises four, is respectively left front supporting leg displacement pickup, right front supporting leg displacement pickup, left back supporting leg angular transducer and right back supporting leg angular transducer.
8. a pumping vehicle arm rack safety rotating range feedback method is characterized in that, comprising:
Gather the location information of each supporting leg;
According to the location information of gathering and the operating mode of described pump truck, calculate the safe rotating range of jib;
The safe rotating range that feedback is calculated.
9. pumping vehicle arm rack safety rotating range feedback method according to claim 8 is characterized in that, the safe rotating range that calculated of feedback comprises and adopts the mode that shows to feed back or adopt the mode of early warning to feed back.
10. pumping vehicle arm rack safety rotating range feedback method according to claim 9 is characterized in that, also comprises:
Obtain the actuating signal of each supporting leg,, then show the actual time safety rotating range if there is actuating signal.
11. each described pumping vehicle arm rack safety rotating range feedback method is characterized in that according to Claim 8-10, the concrete steps of calculating the safe rotating range of jib are:
According to the location information of gathering, calculate the position coordinate of each supporting leg with respect to the turntable center, form polygon between described each position coordinate;
According to the position of current each supporting leg of described pump truck, determine in the complete level of jib, when delivery pipe fills up concrete operating mode the car load center of gravity of each anglec of rotation;
Judge whether described center of gravity is positioned at described polygon, if then be the safe anglec of rotation; If not, then be the dangerous anglec of rotation;
Interval between the safe anglec of rotation of maximum and the minimal security anglec of rotation is defined as safe rotating range.
12. a pump truck is characterized in that, this pump truck uses claim each described pumping vehicle arm rack safety rotating range feedback system of 1-7 or each described pumping vehicle arm rack safety rotating range feedback method of claim 8-11.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011101339071A CN102248933A (en) | 2011-05-23 | 2011-05-23 | Pump vehicle as well as feedback system and method of arm support safe rotation range thereof |
| PCT/CN2012/074268 WO2012159514A1 (en) | 2011-05-23 | 2012-04-18 | Pump truck as well as system and method for feeding back safe rotation range of arm support thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011101339071A CN102248933A (en) | 2011-05-23 | 2011-05-23 | Pump vehicle as well as feedback system and method of arm support safe rotation range thereof |
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|---|---|
| CN102248933A true CN102248933A (en) | 2011-11-23 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011101339071A Pending CN102248933A (en) | 2011-05-23 | 2011-05-23 | Pump vehicle as well as feedback system and method of arm support safe rotation range thereof |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN102248933A (en) |
| WO (1) | WO2012159514A1 (en) |
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| WO2012159514A1 (en) * | 2011-05-23 | 2012-11-29 | 湖南三一智能控制设备有限公司 | Pump truck as well as system and method for feeding back safe rotation range of arm support thereof |
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