CN102393754B - Arm support action control method and system, arm support tail end linear displacement control method and system, and concrete pump trucks - Google Patents
Arm support action control method and system, arm support tail end linear displacement control method and system, and concrete pump trucks Download PDFInfo
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- CN102393754B CN102393754B CN201110302721.4A CN201110302721A CN102393754B CN 102393754 B CN102393754 B CN 102393754B CN 201110302721 A CN201110302721 A CN 201110302721A CN 102393754 B CN102393754 B CN 102393754B
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- joint
- arm
- arm joint
- tail end
- attitude
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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
- E04G21/0463—Devices for both conveying and distributing with distribution hose with booms with boom control mechanisms, e.g. to automate concrete distribution
Abstract
The invention relates to the technical field of control over arm supports of concrete pump trucks, and discloses an arm support action control method. The method comprises the following steps of: 11) receiving an arm section action command, and controlling the corresponding arm section to act according to the arm section action command; 12) judging whether the action command of the next arm section of the arm section is received or not, if so, performing the step 11), otherwise, performing a step 13); and 13) controlling the attitude of the next arm section and a previous attitude to keep unchanged all the time. The invention also discloses an arm support action control system, an arm support tail end linear displacement control method, an arm support tail end linear displacement control system, a concrete pump truck with the arm support action control system, and a concrete pump truck with the arm support tail end linear displacement control system.
Description
Technical field
The present invention relates to concrete pump truck arm control technology field, relate in particular to a kind of jib method of controlling operation and a kind of cantilever crane action control.The invention still further relates to a kind of arm support tail end linear displacement control method and arm support tail end linear displacement control system.The invention still further relates to a kind of concrete mixer and a kind of concrete mixer with above-mentioned arm support tail end linear displacement control system with above-mentioned cantilever crane action control.
Background technology
Concrete mixer is a kind of common construction implement, and it generally includes pump truck chassis, pumping mechanism, boom system.
Wherein, boom system generally includes fixed station 1, single oil cylinder joint 2, telescopic oil cylinder 3, linkage assembly 4, as shown in Figure 1, the boom system with 5 joint arms joints of take is example, and the two ends of each arm joint are hinged successively, and head end and the fixed station 1 of first segment arm joint are hinged, the end of final section arm joint forms the arm support tail end 5 of boom system, concrete mixer is in work progress, and arm support tail end 5 is aimed at construction area, and construction area is carried out to pouring concrete operation; Every joint arm joint drives rotation by telescopic oil cylinder 3, when telescopic oil cylinder 3 is flexible, telescopic oil cylinder 3 promotes the linkage assembly being connected with arm joint, the rotation of linkage assembly pusher arm joint, every joint arm joint can, around the pin joint rotation of its head end in plane shown in Fig. 1, be realized expansion and the gathering of arm joint.
In prior art, conventionally operator regulates the position of the arm support tail end of boom system by jib remote controller, the boom system of 5 joints of take is example, operator is by 5 handles of jib remote controller, action to every joint arm joint is controlled separately, such as first handle is controlled telescopic oil cylinder flexible of first segment arm joint, thereby control expansion and the gathering of first segment arm joint, stretching of the telescopic oil cylinder of second handle control second section arm joint, thereby control expansion and the gathering of second section arm joint, the like.
There is following problem in this boom system control method, below take Fig. 2 and describe as example, and Fig. 2 is the structural representation during action of boom system second section arm joint in Fig. 1.
As shown in Figure 2, when jib remote controller is controlled second section arm joint variation θ angle, the distance of the end action d of second section jib, and arm support tail end (i.e. the end of the 5th joint jib) will significantly move, effect that Here it is so-called " amplification ", this " amplification " effect causes operator to be difficult to accomplish the fine adjustment to arm support tail end, as realized arm support tail end, carry out fine adjustment, also need all the other arm joints to be carried out to the adjustment of corresponding displacement simultaneously, the displacement of all the other arm joints is difficult for definite, and the steady movement of arm support tail end and accurate positioning difficulty are larger; Operator need to carry out multi-pass operations, and labour intensity is large, fatiguability.
In order to solve the problems of the technologies described above, along with jib technical development, in prior art, there is a kind of arm support tail end location technology (being called again intelligent arm support technology), it is the in the situation that of given pumping vehicle arm rack terminal position, machine is the attitude of the every joint arm joint of planning automatically, that is to say, operator only need provide by telepilot the x of arm support tail end, y, the translational speed instruction of z direction, the attitude of the every joint arm joint of boom system will regulate automatically, make arm support tail end according to x, y, the speed of z direction is gone motion, this technology makes concrete mixer more flexible to controlling of jib when construction, simpler, visual pattern more, greatly reduce the labour intensity of operator.
This arm support tail end location technology, the planning of jib exists uncertain, control algolithm is complicated, it is only applicable to the control of the boom system of arm joint negligible amounts, for a fairly large number of boom system of jib, along with the increase of arm joint number amount, it is more and more higher that it controls complexity, algorithm becomes increasingly complex, thereby makes this arm support tail end location technology be difficult to be applied in a fairly large number of boom system of jib.
In concrete mixer work progress, sometimes the attitude that boom system launches is subject to the restriction in space, in order to avoid corresponding buildings or other objects, conventionally need to adjust the attitude of a joint or more piece jib, and above-mentioned arm support tail end location technology, operator cannot be adjusted separately a joint wherein or the attitude of single oil cylinder joint, thereby has increased difficulty of construction, even causes construction to carry out smoothly.
Therefore, how to realize comparatively simply thering is the accurate adjustment of arm support tail end of the boom system of single oil cylinder joint, become those skilled in the art's technical barrier urgently to be resolved hurrily.
Summary of the invention
First object of the present invention is to provide a kind of jib method of controlling operation, and this jib method of controlling operation can be realized simply to having the accurate adjustment of arm support tail end of the boom system of single oil cylinder joint.
Second object of the present invention is a kind of cantilever crane action control, and this cantilever crane action control can be realized simply to having the accurate adjustment of arm support tail end of the boom system of single oil cylinder joint.
The 3rd object of the present invention is to provide a kind of arm support tail end linear displacement control method, and arm support tail end linear displacement control method can be realized simply, exactly to having the adjustment of straight-line displacement of arm support tail end of the boom system of single oil cylinder joint.
The 4th object of the present invention is to provide a kind of arm support tail end linear displacement control system, and arm support tail end linear displacement control system can realize simply, exactly to having the adjustment of straight-line displacement of arm support tail end of the boom system of single oil cylinder joint.
The 5th object of the present invention is to provide a kind of concrete mixer with above-mentioned cantilever crane action control.
The 6th object of the present invention is to provide a kind of concrete mixer with above-mentioned arm support tail end linear displacement control system.
In order to realize above-mentioned first object, the invention provides a kind of jib method of controlling operation, comprise the following steps:
Step 11), receive arm joint action command, and control respective arms joint and move by described arm joint action command;
Step 12), judge whether to receive the action command of next joint arm joint of described arm joint, if receive the action command of described next joint arm joint, enter step 11), if receive the action command of described next joint arm joint, enter step 13);
Step 13), the attitude that described next the joint arm of control saves and formerly attitude remain constant.
Preferably, described step 13) be specially: detect in real time the angle between described next joint arm joint and surface level, if detected angle departs from the formerly angle between described next joint arm joint and surface level, the telescopic oil cylinder of controlling described next joint arm joint carries out expanding-contracting action, so that detected angle remains consistent with described formerly angle.
Jib method of controlling operation provided by the invention comprises the following steps: step 11), receive arm joint action command, and control respective arms joint and move by described arm joint action command; Step 12), judge whether to receive the action command of next joint arm joint of described arm joint, if receive the action command of described next joint arm joint, enter step 11), if receive the action command of described next joint arm joint, enter step 13); Step 13), the attitude that described next the joint arm of control saves and formerly attitude remain constant.
Concrete mixer is in work progress, while needing one of independent adjustment boom system to save arm joint or single oil cylinder joint, or need to be when adjusting a joint arm joint of boom system or single oil cylinder and save to adjust the position of arm support tail end of boom system, the arm joint that need to regulate can directly launch or draw in action after receiving arm joint action command, when if next joint arm of this arm joint saves the arm joint for not needing to regulate simultaneously, the attitude of this next joint arm joint remains that with attitude formerly consistent (formerly attitude refers to that boom system is before adjustment all the time, the attitude of described next joint jib).
Like this, if desired the jib line of motion displacement regulating is d, the line of motion displacement of arm support tail end is also d, it is visible when a joint arm joint or single oil cylinder joint are adjusted, the displacement of the lines of arm support tail end and adjusted identical (this method of arm nodel line displacement, in the application, be called " jib servo technology "), can " not amplify " arm support tail end displacement of the lines, only by regulating a joint or single oil cylinder to save, just can realize steadily certain and fine adjustment of arm support tail end, operator does not need multi-pass operations, and labour intensity is less.
In order to realize above-mentioned second object, the invention provides a kind of cantilever crane action control, comprise arm joint actuating signal transmitter, controller and Attitute detecting device; Described arm joint actuating signal transmitter sends arm joint action command signal, described controller receives described arm joint action command signal, control respective arms joint and carry out corresponding actions, and judge whether to receive the action command signal of next joint arm joint of described arm joint, if do not receive the action command signal of described next joint arm joint, described Attitute detecting device detects the attitude of described next joint arm joint in real time, described controller is controlled the telescopic oil cylinder action of described next joint arm joint, makes the attitude of described next joint arm joint remain consistent with attitude formerly;
The signal issuing side of described arm joint actuating signal transmitter is connected with the arm joint actuating signal receiving end of described controller, and the control signal issuing side of described controller is connected with the telescopic oil cylinder control end of described next joint arm joint; The attitude signal output terminal of described Attitute detecting device is connected with the attitude signal receiving end of described controller.
Preferably, described arm joint actuating signal transmitter is arm joint remote controller.
Preferably, described Attitute detecting device is the obliquity sensor with horizontal plane angle for detection of described next joint arm joint, and the angle signal output part of described obliquity sensor is connected with the attitude signal receiving end of described controller.
Cantilever crane action control provided by the invention comprises arm joint actuating signal transmitter, controller and Attitute detecting device; Described arm joint actuating signal transmitter sends arm joint action command signal, described controller receives described arm joint action command signal, control respective arms joint and carry out corresponding actions, and judge whether to receive the action command signal of next joint arm joint of described arm joint, if do not receive the action command signal of described next joint arm joint, described Attitute detecting device detects the attitude of described next joint arm joint in real time, described controller is controlled the telescopic oil cylinder action of described next joint arm joint, makes the attitude of described next joint arm joint remain consistent with attitude formerly.
Concrete mixer is in work progress, while needing one of independent adjustment boom system to save arm joint or single oil cylinder joint, or need to be when adjusting a joint arm joint of boom system or single oil cylinder and save to adjust the position of arm support tail end of boom system, can save the arm joint action command that actuating signal transmitter sends respective arms joint by arm, controller receives after arm joint action command, can directly control respective arms joint and launch or draw in action, if whether next joint arm joint of this arm joint of judgement simultaneously is the arm joint that does not need adjusting, if described next joint arm joint does not need the arm joint regulating, the attitude of controlling described next joint arm joint remains consistent with attitude formerly all the time.
Like this, if desired the jib line of motion displacement regulating is d, the line of motion displacement of arm support tail end is also d, visible when a joint arm joint or single oil cylinder joint are adjusted, the displacement of the lines changing of arm support tail end is identical with adjusted arm nodel line displacement, can " not amplify " angle, the displacement of the lines to arm support tail end, only by regulating a joint or single oil cylinder to save, just the steadily certain and fine adjustment that can realize arm support tail end, operator does not need multi-pass operations, and labour intensity is less.
In order to realize above-mentioned the 3rd object, the invention provides a kind of arm support tail end linear displacement control method, comprise the following steps:
Step 61), the appointment arm joint signal of the displacement of targets amount signal of input arm support tail end and required regulating arm joint, the quantity of described required regulating arm joint is no less than two;
Step 62), calculate the displacement of each required regulating arm joint, and send with each required regulating arm and save corresponding arm joint action command;
Step 63), controlling the arm joint corresponding with described arm joint action command moves;
Step 64), judge whether to receive the action command of next joint arm joint of described arm joint, if receive the action command of described next joint arm joint, enter step 63), if receive the action command of described next joint arm joint, enter step 65);
Step 65), the attitude that described next the joint arm of control saves and formerly attitude remain constant.
Preferably, described step 65) be specially: detect in real time the angle between described next joint arm joint and surface level, if detected angle departs from the formerly angle between described next joint arm joint and surface level, the telescopic oil cylinder of controlling described next joint arm joint carries out expanding-contracting action, so that detected angle remains consistent with described formerly angle.
Preferably, the quantity of described required adjustment arm joint is two.
Concrete mixer is in work progress, and the arm support tail end of boom system need to take the air line conventionally, and arm support tail end needs to move on straight line conventionally, to complete the pouring concrete operation of carrying out on this straight line.
When arm support tail end need to take the air line, can directly input the displacement of targets amount signal of arm support tail end and the appointment arm joint signal of required regulating arm joint, the straight-line displacement amount that the displacement of targets amount signal indication arm support tail end of arm support tail end need to be adjusted, because taking the air line, arm support tail end at least needs to adjust two joint arm joints, so the quantity of the arm of required adjusting joint is no less than two joints, the arm joint of specifying arm joint signal indication to regulate; According to the arm joint of the represented straight-line displacement amount of described displacement of targets signal and required adjusting, each arm that calculates required adjusting saves the displacement of required adjusting, the arm joint that can directly control each required adjusting moves by corresponding displacement, whether next the joint arm joint that simultaneously judges the arm joint of each required adjustment is the jib that needs adjusting, if described next joint arm joint is not to need the jib that regulates, controls the attitude of this next joint arm joint and remain consistent with attitude formerly.
This arm support tail end linear displacement control method, only needs the displacement of targets amount of input arm support tail end and determines the arm joint of required adjusting, just by regulating the arm of required adjusting to save to realize arm support tail end, according to inputted displacement of targets amount, takes the air line; This arm support tail end linear displacement control method, at least can take the air line by regulating two joint arm joints just can realize arm support tail end, controls complexity lower, and algorithm is simpler, can be applicable in the boom system with single oil cylinder joint; This arm support tail end linear displacement control method, can regulate separately any arm to save to realize arm support tail end and take the air line, can make the expansion attitude of boom system not be subject to the restriction in space, can avoid corresponding buildings or other objects, reduce difficulty of construction, guarantee carrying out smoothly of construction.
In order to realize above-mentioned the 4th object, the invention provides a kind of arm support tail end linear displacement control system, comprise arm joint actuating signal transmitter, controller and Attitute detecting device, the displacement of targets amount signal of described arm joint actuating signal transmitter input arm support tail end and the appointment arm joint signal of required regulating arm joint, and the quantity of described required regulating arm joint is no less than two, described controller receives described displacement of targets amount signal and described appointment arm joint signal, the computing unit of described controller calculates the displacement of each required regulating arm joint, and send with each required regulating arm and save corresponding arm joint action command, the control module of described controller receives described arm joint action command and controls respective arms joint and carry out corresponding actions, the judging unit of described controller judges whether described control module receives the action command signal of next joint arm joint of described arm joint, if do not receive the action command signal of described next joint arm joint, described Attitute detecting device detects the attitude of described next joint arm joint in real time, described control module is controlled the telescopic oil cylinder action of described next joint arm joint, make the attitude of described next joint arm joint remain consistent with attitude formerly,
The signal issuing side of described arm joint actuating signal transmitter is connected with the arm joint actuating signal receiving end of described controller, the control signal issuing side of described controller is connected with the telescopic oil cylinder control end of described next joint arm joint, and the attitude signal output terminal of described Attitute detecting device is connected with the attitude signal receiving end of described controller.
Preferably, described jib actuating signal transmitter is arm joint remote controller;
Preferably, described arm joint remote controller comprises universal handle, saves corresponding simulating handle with each arm in boom system, described universal handle is for sending the simulated target displacement signal corresponding with arm support tail end displacement of targets amount, and described simulating handle is used for exporting described appointment arm joint signal.
Preferably, described Attitute detecting device is the obliquity sensor with horizontal plane angle for detection of described next joint arm joint, and the angle signal output part of described obliquity sensor is connected with the attitude signal receiving end of described controller.
When arm support tail end need to take the air line, can save actuating signal transmitter by arm and directly input the displacement of targets amount signal of arm support tail end and the appointment arm joint signal of required regulating arm joint, the straight-line displacement amount that the displacement of targets amount signal indication arm support tail end of arm support tail end need to be adjusted, because taking the air line, arm support tail end at least needs to adjust two joint arm joints, so the quantity of the arm of required adjusting joint is no less than two joints, the arm joint of specifying arm joint signal indication to regulate, described controller receives described displacement of targets amount signal and described appointment arm joint signal, according to the arm joint of the represented straight-line displacement amount of described displacement of targets signal and required adjusting, each arm that the computing unit of described controller calculates required adjusting saves the displacement of required adjusting, the arm joint that the control module of controller can directly be controlled each required adjusting moves by corresponding displacement, judging unit with Time Controller judges whether next joint arm joint of the arm joint of each required adjustment is the jib that needs adjusting, if described next joint arm joint is not the jib that needs adjusting, control module is controlled the attitude of this next joint arm joint and is remained consistent with attitude formerly.
This arm support tail end linear displacement control system, only needs the displacement of targets amount of input arm support tail end and determines the arm joint of required adjusting, just by regulating the arm of required adjusting to save to realize arm support tail end, according to inputted displacement of targets amount, takes the air line; This arm support tail end linear displacement control system, at least can take the air line by regulating two joint arm joints just can realize arm support tail end, controls complexity lower, and algorithm is simpler, can be applicable in the boom system with single oil cylinder joint; This arm support tail end linear displacement control system, can regulate separately any arm to save to realize arm support tail end and take the air line, can make the expansion attitude of boom system not be subject to the restriction in space, can avoid corresponding buildings or other objects, reduce difficulty of construction, guarantee carrying out smoothly of construction.
In order to realize above-mentioned the 5th object, the invention provides a kind of concrete mixer with above-mentioned cantilever crane action control, because above-mentioned cantilever crane action control has above-mentioned technique effect, the concrete mixer with this cantilever crane action control also should possess corresponding technique effect.
In order to realize above-mentioned the 6th object, the invention provides a kind of concrete mixer with above-mentioned arm support tail end linear displacement control system, because above-mentioned arm support tail end linear displacement control system has above-mentioned technique effect, the concrete mixer with this arm support tail end linear displacement control system also should possess corresponding technique effect.
Accompanying drawing explanation
Fig. 1 is a kind of structural representation of typical boom system;
Fig. 2 is structural representation when boom system second section arm joint moves in Fig. 1;
Fig. 3 is the process flow diagram of a kind of embodiment of jib method of controlling operation provided by the present invention;
Structural representation when Fig. 4 is the action of boom system second section arm joint;
Structural representation when Fig. 5 is boom system second section, the 3rd joint arm joint action;
Fig. 6 is the theory diagram of a kind of embodiment of cantilever crane action control provided by the present invention;
Fig. 7 is the process flow diagram of a kind of embodiment of arm support tail end linear displacement control method provided by the present invention;
Fig. 8 is the structural representation that the arm support tail end of boom system takes the air line at vertical direction;
Fig. 9 is the structural representation that the arm support tail end of boom system takes the air line in the horizontal direction;
Figure 10 is the theory diagram of a kind of embodiment of arm support tail end linear displacement control system provided by the present invention;
The structural representation of a kind of embodiment of arm joint actuating signal transmitter in Figure 11 Figure 10;
Wherein, in Fig. 1-Figure 11:
Embodiment
Below in conjunction with accompanying drawing, content of the present invention is described, following description is only exemplary and indicative, should not have any restriction to protection scope of the present invention.
Please refer to Fig. 3, Fig. 3 is the process flow diagram of a kind of embodiment of jib method of controlling operation provided by the present invention.
As shown in Figure 3, jib method of controlling operation provided by the present invention comprises the following steps.
Step S101, receives arm joint action command, and controls respective arms joint and move by described arm joint action command.In the time of need to regulating boom system, operating personnel can send by transmitter the arm joint action command of one or more single arm joints, controller receives described arm joint action command, and the control arm joint corresponding with described arm joint action command moves by described arm joint action command, in concrete scheme, described arm joint action command can be for representing that respective arms save the instruction of corresponding telescopic oil cylinder overhang or amount of contraction, controls described arm and save corresponding telescopic oil cylinder and move.
Step S102, judges whether to receive the action command of next joint arm joint of described arm joint if receive the action command of described next joint arm joint, to enter step S101, if receive the action command of described next joint arm joint, enters step S103.
Receive after arm joint action command, judge whether that next joint arm joint of receiving this arm joint needs the arm joint action command of action, if do not receive the arm joint action command of next joint jib, illustrate that next joint arm joint does not need to adjust, and enters step S103; If receive the arm joint action command of next joint jib, illustrate that next joint arm joint needs to adjust, enter step S101, control next joint arm joint and move by corresponding arm joint action command.
Step S103, the attitude that described in controlling, next joint arm saves and formerly attitude remain constant.If next joint arm joint does not need action, control the attitude of this next joint arm joint and remain constant with attitude formerly.
Formerly attitude refers to that boom system is before adjustment, also at reception arm, saves before action command, the angle of described next joint arm joint and horizontal direction.
Concrete mixer is in work progress, while needing one of independent adjustment boom system to save arm joint or single oil cylinder joint, or need to be when adjusting a joint arm joint of boom system or single oil cylinder and save to adjust the position of arm support tail end of boom system, the arm joint that need to regulate can directly launch or draw in action after receiving arm joint action command, if simultaneously next joint arm joint of this arm joint for do not need to regulate arm joint time, the attitude of this next joint arm joint remains consistent with attitude formerly all the time.
Like this, if desired the jib line of motion displacement regulating is d, the displacement of the arm support tail end line of motion is also d, it is visible when a joint arm joint or single oil cylinder joint are adjusted, identical (this method of displacement of the lines that the displacement of the lines of arm support tail end saves with adjusted arm, in the application, be called " jib servo technology "), can " not amplify " displacement of the lines to arm support tail end, only by regulating a joint or single oil cylinder to save, just can realize steadily certain and fine adjustment of arm support tail end, operator does not need multi-pass operations, and labour intensity is less.
This jib method of controlling operation, can only when a joint jib action, to boom system, control, as shown in Figure 4, the action of the second section arm of take joint is example, when second section arm joint need to be adjusted, operating personnel send the arm joint action command of second section arm joint, receive this arm joint action command, judgement does not receive the arm joint action command that the 3rd joint arm joint needs action, control the attitude of the 3rd joint arm joint and remain constant with attitude formerly, visible, the displacement of the lines of arm support tail end is identical with the displacement of the lines of second section arm joint.
This jib method of controlling operation, also can be when two joints or the action of more piece jib, boom system is controlled, as shown in Figure 5, with second section arm, save, the 3rd joint arm joint action is example, when receiving the arm joint action command of the arm joint of second section arm joint, control second section arm joint by the action of described arm joint action command, and judgement receives the arm joint action command of the 3rd joint arm joint, control second section arm joint by the action of respective arms joint action command, the arm joint action command of the 4th joint arm joint is not received in judgement, control the attitude of the 4th joint arm joint and remain constant with attitude formerly, visible, arm support tail end change displacement of the lines and second section arm joint, it is identical that the 3rd joint arm saves compound displacement of the lines.
During to two or single oil cylinder joint action control, two or more arms joints can be non-conterminous arm joint, and its control procedure is similar to the above embodiments, at this, is no longer described in detail, also should be in protection scope of the present invention.
In preferred version, the attitude that described in controlling, next joint arm saves and formerly attitude remain constant, can be specially: detect in real time the angle between described next joint arm joint and surface level, if detected angle departs from the formerly angle between described next joint arm joint and surface level, the telescopic oil cylinder of controlling described next joint arm joint carries out expanding-contracting action, so that detected angle remains consistent with described formerly angle.
The present invention also provides a kind of cantilever crane action control, and following examples are simply introduced it.
Please refer to Fig. 6, the theory diagram of a kind of embodiment that Fig. 6 is cantilever crane action control provided by the present invention.
As shown in Figure 6, the cantilever crane action control that the present embodiment provides, comprises arm joint actuating signal transmitter 12, controller 11 and Attitute detecting device 13; The signal issuing side of described arm joint actuating signal transmitter 12 is connected with the arm joint actuating signal receiving end of described controller 11, and the control signal issuing side of described controller 11 is connected with the telescopic oil cylinder control end of described next joint arm joint 15; The attitude signal output terminal of described Attitute detecting device 13 is connected with the attitude signal receiving end of described controller 11.
Described arm joint actuating signal transmitter 12 sends arm joint action command signal, described controller 11 receives described arm joint action command signal, control respective arms joint 14 and carry out corresponding actions, and judge whether that next the joint arm that receives described arm joint 14 saves 15 action command signal, if do not receive the action command signal of described next joint arm joint 15, described Attitute detecting device 13 detects the attitude of described next joint arm joint 15 in real time, described controller 11 is controlled the telescopic oil cylinder action of described next joint arm joint 15, make the attitude of described next joint arm joint 15 remain consistent with attitude formerly.
Cantilever crane action control provided by the invention comprises arm joint actuating signal transmitter 12, controller 11 and Attitute detecting device 13, described arm joint actuating signal transmitter 12 sends arm joint action command signal, described controller 11 receives described arm joint action command signal, control respective arms joint and carry out corresponding actions, and judge whether that next the joint arm that receives described arm joint 14 saves 15 action command signal, if do not receive the action command signal of described next joint arm joint 15, described Attitute detecting device 13 detects the attitude of described next joint arm joint 15 in real time, described controller 11 is controlled the telescopic oil cylinder action of described next joint arm joint 15, make the attitude of described next joint arm joint 15 remain consistent with attitude formerly.
Concrete mixer is in work progress, while needing one of independent adjustment boom system to save arm joint or single oil cylinder joint, or need to be when adjusting a joint arm joint of boom system or single oil cylinder and save to adjust the position of arm support tail end of boom system, can save the arm joint action command that actuating signal transmitter 12 sends respective arms joint by arm, controller 11 receives after arm joint action command, can directly control respective arms joint and launch or draw in action, if whether next joint arm joint 15 of this arm joint 14 of judgement simultaneously is the arm joint that does not need adjusting, if described next joint arm joint 15 does not need the arm joint regulating, the attitude of controlling described next joint arm joint 15 remains consistent with attitude formerly all the time.
Like this, if desired the jib movement angle regulating is that θ, line of motion displacement are d, the line of motion displacement of arm support tail end is also d, visible when a joint arm joint or single oil cylinder joint are adjusted, it is identical that the institute of arm support tail end changes the displacement of the lines that displacement of the lines saves with adjusted arm, can " not amplify " arm support tail end displacement of the lines, only by regulating a joint or single oil cylinder to save, just the steadily certain and fine adjustment that can realize arm support tail end, operator does not need multi-pass operations, and labour intensity is less.
In concrete scheme, described arm joint actuating signal transmitter 12 is arm joint remote controller, saves remote controller send and need the arm of the arm of adjustment joint joint action command to controller 11 by arm.
In preferred version, described Attitute detecting device 13 is the obliquity sensor with horizontal plane angle for detection of described next joint arm joint 15, obliquity sensor can be arranged on described next joint arm joint 15, and the angle signal output part of described obliquity sensor is connected with the attitude signal receiving end of described controller 11.Obliquity sensor detects the angle between described next joint arm joint 15 and surface level in real time, if detected angle departs from the formerly angle between described next joint arm joint 15 and surface level, the telescopic oil cylinder of controlling described next joint arm joint 15 carries out expanding-contracting action, so that detected angle remains consistent with described formerly angle.
The present invention also provides a kind of arm support tail end linear displacement control method, and following examples are simply introduced this arm support tail end linear displacement control method by reference to the accompanying drawings.
Please refer to Fig. 7, the process flow diagram of a kind of embodiment that Fig. 7 is arm support tail end linear displacement control method provided by the present invention.
As shown in Figure 7, the arm support tail end linear displacement control method that the present embodiment provides, comprises the following steps.
Step S201, the appointment arm joint signal of the displacement of targets amount signal of input arm support tail end and required regulating arm joint, the quantity of described required regulating arm joint is no less than two.
The boom system with two joint arms joints of take is example, if arm support tail end is straight-line displacement in the horizontal direction, also take the air line in the horizontal direction, (arm joint is in the displacement of vertical direction in the displacement of two joint arm joint in the vertical directions, the distal point that refers to this arm joint is the displacement at vertical direction with respect to the forward terminal of this arm joint) need equal and opposite in direction and opposite direction, just can guarantee that two joint arms save straight-line displacement in the horizontal direction; Equally, if arm support tail end is wanted in the vertical direction straight-line displacement, also be that in the vertical direction takes the air line, two joint arm joints displacement (arm joint displacement in the horizontal direction in the horizontal direction, the distal point that refers to this arm joint is with respect to the displacement in the horizontal direction of the forward terminal of this arm joint) need equal and opposite in direction and opposite direction, just can guarantee that two joint arms save straight-line displacement in the horizontal direction.
Certainly, be appreciated that arm support tail end is not confined to horizontal direction or vertical direction straight-line displacement, also can carry out straight-line displacement at assigned direction, can calculate by corresponding, draw and respectively save the displacement that arm saves required adjustment.
Therefore, the quantity of the arm joint of required adjustment is no less than two, if arm support tail end is straight-line displacement in the horizontal direction, arm support tail end straight-line displacement amount in the horizontal direction for displacement vector in the horizontal direction of each arm joint that saves required adjusting and, and the arm joint that respectively saves required adjusting is in the displacement vector of vertical direction be zero; Equally, if arm support tail end in vertical direction straight-line displacement, arm support tail end the straight-line displacement amount of vertical direction for each arm joint that saves required adjusting in the displacement vector of vertical direction and, and displacement vector in the horizontal direction of the arm joint that respectively saves required adjusting and be zero.
Step S202, calculates the displacement of each required regulating arm joint, and sends with each required regulating arm and save corresponding arm joint action command.As required, calculating each arm joint need to be at the displacement of vertical direction or horizontal direction adjustment.
Step S203, controls the arm joint corresponding with described arm joint action command and moves.In concrete scheme, described arm joint action command can be for representing that respective arms save the instruction of corresponding telescopic oil cylinder overhang or amount of contraction, controls described arm and save corresponding telescopic oil cylinder and move.
Step S204, judges whether to receive the action command of next joint arm joint of described arm joint if receive the action command of described next joint arm joint, to enter step 203, if receive the action command of described next joint arm joint, enters step 205.
Receive after arm joint action command, judge whether that next joint arm joint of receiving this arm joint needs the arm joint action command of action, if do not receive the arm joint action command of next joint jib, illustrate that next joint arm joint does not need to adjust, and enters step S205; If receive the arm joint action command of next joint jib, illustrate that next joint arm joint needs to adjust, enter step S103, control next joint arm joint and move by corresponding arm joint action command.
Step S205, the attitude that described in controlling, next joint arm saves and formerly attitude remain constant.Formerly attitude refers to that boom system is before adjustment, also at reception arm, saves before action command, the angle of described next joint arm joint and horizontal direction.
Concrete mixer is in work progress, and the arm support tail end of boom system need to take the air line conventionally, and arm support tail end needs to move on straight line conventionally, to complete the pouring concrete operation of carrying out on this straight line.
When arm support tail end need to take the air line, can directly input the displacement of targets amount signal of arm support tail end and the appointment arm joint signal of required regulating arm joint, the straight-line displacement amount that the displacement of targets amount signal indication arm support tail end of arm support tail end need to be adjusted, because taking the air line, arm support tail end at least needs to adjust two joint arm joints, so the quantity of the arm of required adjusting joint is no less than two joints, the arm joint of specifying arm joint signal indication to regulate; According to the arm joint of the represented straight-line displacement amount of described displacement of targets signal and required adjusting, each arm that calculates required adjusting saves the displacement of required adjusting, the arm joint that can directly control each required adjusting moves by corresponding displacement, whether next the joint arm joint that simultaneously judges the arm joint of each required adjustment is the jib that needs adjusting, if described next joint arm joint is not to need the jib that regulates, controls the attitude of this next joint arm joint and remain consistent with attitude formerly.
This arm support tail end linear displacement control method, only needs the displacement of targets amount of input arm support tail end and determines the arm joint of required adjusting, just by regulating the arm of required adjusting to save to realize arm support tail end, according to inputted displacement of targets amount, takes the air line; This arm support tail end linear displacement control method, at least can take the air line by regulating two joint arm joints just can realize arm support tail end, controls complexity lower, and algorithm is simpler, can be applicable in the boom system with single oil cylinder joint; This arm support tail end linear displacement control method, can regulate separately any arm to save to realize arm support tail end and take the air line, can make the expansion attitude of boom system not be subject to the restriction in space, can avoid corresponding buildings or other objects, reduce difficulty of construction, guarantee carrying out smoothly of construction.
This arm support tail end linear displacement control method, the arm support tail end that can control boom system carries out straight-line displacement at vertical direction, as shown in Figure 8; This arm support tail end linear displacement control method, the arm support tail end that can control boom system carries out straight-line displacement in the horizontal direction, as shown in Figure 9.
In preferred version, step S205 is specifically as follows: detect in real time the angle between described next joint arm joint and surface level, if detected angle departs from the formerly angle between described next joint arm joint and surface level, the telescopic oil cylinder of controlling described next joint arm joint carries out expanding-contracting action, so that detected angle remains consistent with described formerly angle.
The present invention also provides a kind of arm support tail end linear displacement control system, and following examples are simply introduced this arm support tail end linear displacement control system by reference to the accompanying drawings.
Please refer to Figure 10, Figure 10 is the theory diagram of a kind of embodiment of arm support tail end linear displacement control system provided by the present invention.
As shown in figure 10, arm support tail end linear displacement control system provided by the invention, comprises arm joint actuating signal transmitter 22, controller 21 and Attitute detecting device 23; The signal issuing side of described arm joint actuating signal transmitter 22 is connected with the arm joint actuating signal receiving end of described controller 21, the control signal issuing side of described controller 21 is connected with the telescopic oil cylinder control end of described next joint arm joint 25, and the attitude signal output terminal of described Attitute detecting device 23 is connected with the attitude signal receiving end of described controller 21.
The displacement of targets amount signal of described arm joint actuating signal transmitter 22 input arm support tail ends and the appointment arm joint signal of required regulating arm joint, and the quantity of described required regulating arm joint is no less than two, described controller 21 receives described displacement of targets amount signal and described appointment arm joint signal, the computing unit of described controller 21 calculates the displacement of each required regulating arm joint, and send with each required regulating arm and save corresponding arm joint action command, the control module of described controller 21 receives described arm joint action command and controls respective arms joint 24 and carry out corresponding actions, the judging unit of described controller 21 judges whether described control module receives the action command signal of next joint arm joint 25 of described arm joint 24, if do not receive the action command signal of described next joint arm joint 25, described Attitute detecting device 23 detects the attitude of described next joint arm joint 25 in real time, described control module is controlled the telescopic oil cylinder action of described next joint arm joint 25, make the attitude of described next joint arm joint 25 remain consistent with attitude formerly.
When arm support tail end need to take the air line, can save actuating signal transmitter 22 directly the displacement of targets amount signal of input arm support tail end and the appointment arm joint signal of required regulating arm joint by arm, the straight-line displacement amount that the displacement of targets amount signal indication arm support tail end of arm support tail end need to be adjusted, because taking the air line, arm support tail end at least needs to adjust two joint arm joints, so the quantity of the arm of required adjusting joint is no less than two joints, the arm joint of specifying arm joint signal indication to regulate, described controller 21 receives described displacement of targets amount signal and described appointment arm joint signal, according to the arm joint of the represented straight-line displacement amount of described displacement of targets signal and required adjusting, each arm that the computing unit of described controller 21 calculates required adjusting saves the displacement of required adjusting, the arm joint that the control module of controller 21 can directly be controlled each required adjusting moves by corresponding displacement, judging unit with Time Controller 21 judges whether next joint arm joint 25 of the arm joint 24 of each required adjustment is the jib that needs adjusting, if described next joint arm joint 25 is not the jib that needs adjusting, control module is controlled the attitude of this next joint arm joint 25 and is remained consistent with attitude formerly.
This arm support tail end linear displacement control system, only needs the displacement of targets amount of input arm support tail end and determines the arm joint of required adjusting, just by regulating the arm of required adjusting to save to realize arm support tail end, according to inputted displacement of targets amount, takes the air line; This arm support tail end linear displacement control system, at least can take the air line by regulating two joint arm joints just can realize arm support tail end, controls complexity lower, and algorithm is simpler, can be applicable in the boom system with single oil cylinder joint; This arm support tail end linear displacement control system, can regulate separately any arm to save to realize arm support tail end and take the air line, can make the expansion attitude of boom system not be subject to the restriction in space, can avoid corresponding buildings or other objects, reduce difficulty of construction, guarantee carrying out smoothly of construction.
In concrete scheme, described arm joint actuating signal transmitter 22 is arm joint remote controller, saves remote controller send and need the arm of the arm of adjustment joint joint action command to controller 21 by arm.
In preferred scheme, described arm joint remote controller can comprise universal handle 22-1, save corresponding simulating handle 22-2 with each arm in boom system, as shown in figure 11, described universal handle 22-1 is for sending the simulated target displacement signal corresponding with arm support tail end displacement of targets amount, and described simulating handle 22-2 is used for exporting described appointment arm joint signal.
In concrete scheme, the quantity of the arm joint that the quantity of simulating handle 22-2 can regulate with needs is identical, the corresponding joint arm joint of simulating handle 22-2, the boom system of five joint arms joints of take is example, this arm joint remote controller can comprise respectively and saves corresponding simulating handle 22-2 with five joint arms.Control corresponding simulating handle 22-2 action, represent to need to adjust the arm joint action corresponding with this simulating handle 22-2.
Universal handle 22-1 can be in two or more direction actions, the direction that the direction indication arm support tail end of universal handle 22-1 action need to move, universal handle 22-1, at the mobile displacement of preset direction simulation, represents, needs arm support tail end at the party's displacement that upwards needs move.
In preferred version, described Attitute detecting device 23 is the obliquity sensor with horizontal plane angle for detection of described next joint arm joint 25, obliquity sensor can be installed on next joint arm joint 25, and the angle signal output part of described obliquity sensor is connected with the attitude signal receiving end of described controller 21.Obliquity sensor detects the angle between described next joint arm joint 25 and surface level in real time, if detected angle departs from the formerly angle between described next joint arm joint 25 and surface level, the telescopic oil cylinder of controlling described next joint arm joint 25 carries out expanding-contracting action, so that detected angle remains consistent with described formerly angle.
The present invention also provides a kind of concrete mixer with above-mentioned cantilever crane action control, because above-mentioned cantilever crane action control has above-mentioned technique effect, the concrete mixer with this cantilever crane action control also should possess corresponding technique effect, at this, is no longer described in detail.
The invention provides a kind of concrete mixer with above-mentioned arm support tail end linear displacement control system, because above-mentioned arm support tail end linear displacement control system has above-mentioned technique effect, the concrete mixer with this arm support tail end linear displacement control system also should possess corresponding technique effect, at this, is no longer described in detail.
The above is only the description of the preferred implementation of invention; should be understood that; finiteness due to literal expression; and objectively there is unlimited concrete structure; for those skilled in the art; under the premise without departing from the principles 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 (13)
1. a jib method of controlling operation, is characterized in that, comprises the following steps:
Step 11), receives arm joint action command, and controls respective arms joint and move by described arm joint action command;
Step 12), judges whether to receive the action command of next joint arm joint of described arm joint if receive the action command of described next joint arm joint, to enter step 11), if receive the action command of described next joint arm joint, enters step 13);
Step 13), the attitude that described in controlling, next joint arm saves and formerly attitude remain constant;
Described step 13) is specially: detect in real time the angle between described next joint arm joint and surface level, if detected angle departs from the formerly angle between described next joint arm joint and surface level, the telescopic oil cylinder of controlling described next joint arm joint carries out expanding-contracting action, so that detected angle remains consistent with described formerly angle.
2. a cantilever crane action control, is characterized in that, comprises arm joint actuating signal transmitter, controller and Attitute detecting device; Described arm joint actuating signal transmitter sends arm joint action command signal, described controller receives described arm joint action command signal, control respective arms joint and carry out corresponding actions, and judge whether to receive the action command signal of next joint arm joint of described arm joint, if do not receive the action command signal of described next joint arm joint, described Attitute detecting device detects the attitude of described next joint arm joint in real time, described controller is controlled the telescopic oil cylinder action of described next joint arm joint, makes the attitude of described next joint arm joint remain consistent with attitude formerly;
The signal issuing side of described arm joint actuating signal transmitter is connected with the arm joint actuating signal receiving end of described controller, and the control signal issuing side of described controller is connected with the telescopic oil cylinder control end of described next joint arm joint; The attitude signal output terminal of described Attitute detecting device is connected with the attitude signal receiving end of described controller.
3. cantilever crane action control according to claim 2, is characterized in that, described arm joint actuating signal transmitter is arm joint remote controller.
4. cantilever crane action control according to claim 2, it is characterized in that, described Attitute detecting device is the obliquity sensor with horizontal plane angle for detection of described next joint arm joint, and the angle signal output part of described obliquity sensor is connected with the attitude signal receiving end of described controller.
5. an arm support tail end linear displacement control method, is characterized in that, comprises the following steps:
Step 61), the appointment arm joint signal of the displacement of targets amount signal of input arm support tail end and required regulating arm joint, the quantity of described required regulating arm joint is no less than two;
Step 62), calculate the displacement of each required regulating arm joint, and send with each required regulating arm and save corresponding arm joint action command;
Step 63), controlling the arm joint corresponding with described arm joint action command moves;
Step 64), judge whether to receive the action command of next joint arm joint of described arm joint, if receive the action command of described next joint arm joint, enter step 63), if receive the action command of described next joint arm joint, enter step 65);
Step 65), the attitude that described next the joint arm of control saves and formerly attitude remain constant.
6. arm support tail end linear displacement control method according to claim 5, it is characterized in that, described step 65) be specially: detect in real time the angle between described next joint arm joint and surface level, if detected angle departs from the formerly angle between described next joint arm joint and surface level, the telescopic oil cylinder of controlling described next joint arm joint carries out expanding-contracting action, so that detected angle remains consistent with described formerly angle.
7. arm support tail end linear displacement control method according to claim 5, is characterized in that, the quantity of described required regulating arm joint is two.
8. an arm support tail end linear displacement control system, is characterized in that, comprises arm joint actuating signal transmitter, controller and Attitute detecting device, the displacement of targets amount signal of described arm joint actuating signal transmitter input arm support tail end and the appointment arm joint signal of required regulating arm joint, and the quantity of described required regulating arm joint is no less than two, described controller receives described displacement of targets amount signal and described appointment arm joint signal, the computing unit of described controller calculates the displacement of each required regulating arm joint, and send with each required regulating arm and save corresponding arm joint action command, the control module of described controller receives described arm joint action command and controls respective arms joint and carry out corresponding actions, the judging unit of described controller judges whether described control module receives the action command signal of next joint arm joint of described arm joint, if do not receive the action command signal of described next joint arm joint, described Attitute detecting device detects the attitude of described next joint arm joint in real time, described control module is controlled the telescopic oil cylinder action of described next joint arm joint, make the attitude of described next joint arm joint remain consistent with attitude formerly,
The signal issuing side of described arm joint actuating signal transmitter is connected with the arm joint actuating signal receiving end of described controller, the control signal issuing side of described controller is connected with the telescopic oil cylinder control end of described next joint arm joint, and the attitude signal output terminal of described Attitute detecting device is connected with the attitude signal receiving end of described controller.
9. arm support tail end linear displacement control system according to claim 8, is characterized in that, described jib actuating signal transmitter is arm joint remote controller.
10. arm support tail end linear displacement control system according to claim 9, it is characterized in that, described arm joint remote controller comprises universal handle, saves corresponding simulating handle with each arm in boom system, described universal handle is for sending the simulated target displacement signal corresponding with arm support tail end displacement of targets amount, and described simulating handle is used for exporting described appointment arm joint signal.
11. arm support tail end linear displacement control system according to claim 8, it is characterized in that, described Attitute detecting device is the obliquity sensor with horizontal plane angle for detection of described next joint arm joint, and the angle signal output part of described obliquity sensor is connected with the attitude signal receiving end of described controller.
12. 1 kinds of concrete mixers, is characterized in that, this concrete mixer has the cantilever crane action control described in claim 2-4 any one.
13. 1 kinds of concrete mixers, is characterized in that, this concrete mixer has the arm support tail end linear displacement control system described in claim 8-11 any one.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110302721.4A CN102393754B (en) | 2011-09-28 | 2011-09-28 | Arm support action control method and system, arm support tail end linear displacement control method and system, and concrete pump trucks |
| PCT/CN2012/074276 WO2013044625A1 (en) | 2011-09-28 | 2012-04-18 | Arm support action control method and system, arm support tail end linear displacement control method and system, and concrete pump |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201110302721.4A CN102393754B (en) | 2011-09-28 | 2011-09-28 | Arm support action control method and system, arm support tail end linear displacement control method and system, and concrete pump trucks |
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| Publication Number | Publication Date |
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| CN102393754A CN102393754A (en) | 2012-03-28 |
| CN102393754B true CN102393754B (en) | 2014-04-16 |
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| CN201110302721.4A Expired - Fee Related CN102393754B (en) | 2011-09-28 | 2011-09-28 | Arm support action control method and system, arm support tail end linear displacement control method and system, and concrete pump trucks |
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| CN (1) | CN102393754B (en) |
| WO (1) | WO2013044625A1 (en) |
Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN102661049B (en) * | 2012-06-01 | 2015-02-11 | 中联重科股份有限公司 | Anti-interference device and method for cantilever crane, and cantilever crane and pump truck comprising device |
| CN103206090B (en) * | 2012-12-27 | 2016-08-10 | 徐工集团工程机械股份有限公司江苏徐州工程机械研究院 | A kind of control and deformation compensation method for intelligent arm supports of concrete pump truck |
| CN103365301B (en) * | 2013-06-20 | 2017-02-08 | 三一汽车制造有限公司 | Boom mobility control method and device and concrete pump truck |
| CN109025307B (en) * | 2018-08-20 | 2020-09-15 | 长沙湾流智能科技有限公司 | Arm support action control method, arm support action control system and engineering machinery |
| CN112828934B (en) * | 2021-01-04 | 2022-05-20 | 中联重科股份有限公司 | Method and device for determining posture of arm support, monitoring method and device and engineering machinery |
| CN112936242B (en) * | 2021-01-29 | 2022-07-26 | 中联重科股份有限公司 | Method and device for judging operation safety of arm support and engineering machinery |
| CN113445752B (en) * | 2021-05-25 | 2022-03-25 | 中联重科股份有限公司 | Method, device and system for controlling movement of tail end of arm support, medium and engineering machinery |
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