CN102608926B - Control method, control system and controller for folding arm support and concrete distribution machinery - Google Patents

Control method, control system and controller for folding arm support and concrete distribution machinery Download PDF

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Publication number
CN102608926B
CN102608926B CN 201210028503 CN201210028503A CN102608926B CN 102608926 B CN102608926 B CN 102608926B CN 201210028503 CN201210028503 CN 201210028503 CN 201210028503 A CN201210028503 A CN 201210028503A CN 102608926 B CN102608926 B CN 102608926B
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China
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boom
predetermined
arm
end
section
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CN 201210028503
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Chinese (zh)
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CN102608926A (en
Inventor
黄勃
徐鑫
尹腾飞
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三一汽车制造有限公司
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    • EFIXED CONSTRUCTIONS
    • E04BUILDING
    • E04GSCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR OTHER BUILDING AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
    • E04G21/00Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
    • E04G21/02Conveying or working-up concrete or similar masses able to be heaped or cast
    • E04G21/04Devices for both conveying and distributing
    • E04G21/0418Devices for both conveying and distributing with distribution hose
    • E04G21/0445Devices for both conveying and distributing with distribution hose with booms

Abstract

本发明公开了一种折叠臂架的控制方法,包括如下步骤:获取所述折叠臂架的一个预定臂架油缸的当前行程L2;获取所述预定臂架油缸驱动的预定臂节的根端铰点至臂架末端之间的各臂节的末端到所述预定臂节的根端铰点的最大距离r2;根据所述当前行程L2和所述最大距离r2计算在所述预定臂架油缸驱动下使具有所述最大距离r2的臂节末端以预定速度v0运动时所述预定臂架油缸需要的流量Q2;将流量小于或等于所述流量Q2的液压油输送至所述预定臂架油缸。 The present invention discloses a method of controlling a folding boom, comprising the steps of: obtaining the folding boom of the boom cylinder to a predetermined stroke L2 of the current; obtaining a root end of the hinged boom cylinder driven by a predetermined section of the predetermined arm to the end point of each arm between the end of the boom sections to the predetermined hinge point of the arm section of the root end maximum distance r2; in the predetermined driving the boom cylinder is calculated according to the current stroke and the maximum distance L2 r2 the arm having a lower end section of said maximum distance r2 motion at a predetermined speed v0 when the predetermined desired boom cylinder flow rate Q2; flow rate equal to or less than the flow rate Q2 of the hydraulic oil delivered to the boom cylinder is predetermined. 这种控制方法能够提高折叠臂架在展开或收拢过程中的安全性。 This control method can improve the safety of the boom in a folded or collapsed during deployment. 本发明还公开了一种折叠臂架的控制器、控制系统,以及包括该折叠臂架的混凝土布料机械,具有相同的技术效果。 The present invention also discloses a folding boom, control system, and the folding machine comprising a concrete placing boom, with the same technical effect.

Description

折叠臂架的控制方法和系统、控制器及混凝土布料机械 Folding boom control method and system, controller and concrete distributing machinery

技术领域 FIELD

[0001] 本发明涉及工程机械技术领域,尤其涉及一种用于混凝土布料机械的折叠臂架的控制方法。 [0001] The present invention relates to the technical field of mechanical engineering, in particular, relates to a method for controlling folding of the boom concrete placing machine. 此外,本发明还涉及一种上述折叠臂架的控制器、控制系统,以及包括上述折叠臂架的控制系统的混凝土布料机械。 Further, the present invention relates to a controller of the foldable boom, control systems, and machine control system comprising concrete fabric folding the boom.

背景技术 Background technique

[0002] 混凝土泵车是一种常用的混凝土布料机械,一般包括行走装置、泵送装置和折叠臂架。 [0002] The concrete pump is a commonly used concrete placing machine, generally includes traveling means, pumping means and folding jib. 行走装置主要用于混凝土泵送设备工作场地的转移;泵送装置用于将混凝土泵送至折叠臂架的输送管内,通过折叠臂架的输送管将混凝土输送至需要的高度;控制系统通过控制各个臂架的伸展和收拢运动,将臂架的末端放置在目标位置。 Means for transferring a traveling concrete pumping equipment mainly work site; pumping means for pumping the concrete delivery pipe to the collapsed boom, boom delivery pipe by folding the concrete to the desired height; control system controlling each boom extension and retracted movement of the boom tip will be placed at the target position.

[0003] 现有技术中的折叠臂架的控制系统通常为液压控制系统,主要包括臂架泵、多路阀和多个臂架油缸,臂架泵提供控制系统的液压油,液压油通过多路阀输送到各个臂架油缸中,推动臂架油缸动作,控制折叠臂架的伸展和收拢动作。 [0003] The prior art control system typically folded boom hydraulic control system includes a boom pump, a plurality of multi-way valve and a boom cylinder, a boom pump provides hydraulic fluid control systems, hydraulic oil through multiple way valve transported to various boom cylinder, the pushing operation of the boom cylinder to control the boom extension and folded folding operation.

[0004] 请参考图1,图1为现有技术中一种折叠臂架的结构示意图。 [0004] Please refer to FIG 1, FIG. 1 is a prior art schematic structural diagram of a folding boom.

[0005] 如图1所示,该折叠臂架包括五个臂节和五个臂架油缸,五个臂节自臂架根端至臂架末端依次连接,每个臂架油缸与至少一个臂节连接,能够驱动与该臂架油缸连接的一个臂节运动。 [0005] As shown in FIG. 1, the folding boom comprises five and five boom sections of the boom cylinder, five boom sections from the root end of the boom to turn the boom end is connected to each of the at least one arm and the boom cylinder connection section, can be a drive arm connected to the articulation of the boom cylinder.

[0006] 在该图中,当第五臂架油缸52运动时,能够驱动第五臂节51绕第五臂节51与第四臂节41的铰接点转动;当第四臂架油缸42运动时,能够驱动第四臂节41绕第四臂节41与第三臂节31的铰接点运动,同时带动第五臂节51转动;当第三臂架油缸32运动时,能够驱动第三臂节31绕第三臂节31与第二臂节21的铰接点运动,同时带动第四臂节41、第五臂节51运动;当第二臂架油缸22运动时,能够驱动第二臂节21绕第二臂节21和第三臂节31的铰接点运动,同时带动第三臂节31、第四臂节41和第五臂节51运动。 [0006] In the drawing, when the fifth movement of the boom cylinder 52 can be driven fifth arm section 51 and the fifth arm 51 is rotated fourth arm section 41 around hinge point; the boom cylinder 42 when the fourth motion when the boom section 41 can be driven about a fourth articulation point fourth arm movement section 31 and the third arm section 41, while the fifth arm drive section 51 is rotated; when movement of the third boom cylinder 32, the third arm can be driven section 31 of the third arm section 31 about the hinge point motion of the second arm section 21, while the fourth arm drive section 41, the fifth section of the movement arm 51; when movement of the second boom cylinder 22, capable of driving the second arm section the second arm section 21 about the hinge point 21 and the moving section of the third arm 31, while the third arm drive section 31, fourth section 51 of the boom sections 41 and fifth arm motion. . . 以此类推,驱动不同的臂架油缸,能够实现不同的臂节运动,从而实现折叠臂架的展开或收拢。 And so on, different driving the boom cylinder, it is possible to achieve different articulation arm, thereby achieving the folding of the boom to expand or collapse.

[0007] 由于各个臂架油缸的液压油流量直接影响到泵车臂架的运动速度,当输入的流量越大,泵车臂架运动速度越快,泵车臂架展开和收拢时花费的时间就越少,工作效率越高。 When [0007] Since each of the boom cylinder hydraulic fluid flow directly affects the speed of movement of the boom truck, the greater the flow when the input, the faster the movement of the boom truck, truck boom collapsed and expanded time spent the less, the higher the efficiency. 所以,现有技术中本领域技术人员通常采取加大臂架油缸流量的方法来增大折叠臂架展开或收拢过程中的运动速度。 Therefore, the prior art generally adopt those skilled method to increase the boom cylinder flow rate is increased to expand the moving speed of the boom is folded or collapsed in the process.

[0008] 但是,随着臂架的运动速度的增大,臂节发生弯折甚至折断的危险性也随之增大。 [0008] However, with the increasing speed of movement of the boom, the arm section is bent or broken occurrence risk increases. 因此,某些国家和地区对折叠臂架在展开或收拢过程中的运动速度做了具体的限定,例如欧洲就明确限定了工程机械臂架运动的最高速度。 Therefore, some countries and regions of the folded boom motion as expand or collapse the process to do a specific limit, such as Europe clearly define the maximum speed of movement of the robot arm frame construction.

[0009] 有鉴于此,为适应不同地区对臂架运动的速度的限定,亟待提出一种新的臂架控制方法,使得整个臂架在展开或收拢的过程中臂架的运动速度不大于限定值,提高折叠臂架运行的安全性能。 [0009] In view of this, in order to adapt to different regions defined on the speed of movement of the boom, the boom urgent need to propose a new method for controlling such that the entire boom to expand or collapse in the process of moving speed of the boom is not greater than the defined value, improve the safety performance of the folding operation of the boom.

发明内容[0010] 本发明要解决的技术问题为提供一种折叠臂架的控制方法,使得整个折叠臂架展开或收拢过程中,各臂节末端均以不大于预定速度的速度运动,以提高折叠臂架的运行的安全性。 SUMMARY OF THE INVENTION [0010] The present invention is to solve the technical problem to provide a control method of folding the boom, such that the entire boom to expand or collapse the folding process, the end of the boom sections are not greater than the predetermined speed of the moving speed, to improve operational safety folding boom. 本发明要解决的另一个技术问题为提供一种折叠臂架的控制器、控制系统,以及包括该控制系统的混凝土布料机械。 Another technical problem to be solved by the present invention is to provide a folding boom, control system, and comprises a concrete distributing machinery of the control system.

[0011] 为解决上述技术问题,本发明提供一种折叠臂架的控制方法,所述折叠臂架包括多个自臂架根端至臂架末端依次连接的臂节以及至少一个臂架油缸,每一所述臂架油缸与至少一个臂节连接,能够驱动与该臂架油缸连接的一个臂节运动;所述控制方法包括如下步骤: [0011] To solve the above problems, the present invention provides a control method of folding the boom, the boom comprises a plurality of folding from the root end to the arm of the boom sections of the boom end in turn is connected to the boom cylinder and at least one, each of the boom cylinder is connected with at least one arm section capable of driving an arm connected to the articulation of the boom cylinder; said method comprising the steps of:

[0012] 获取所述折叠臂架的一个预定臂架油缸的当前行程L2 ;获取所述预定臂架油缸驱动的预定臂节的根端铰点至臂架末端之间的各臂节的末端到所述预定臂节的根端铰点的最大距离r2 ; [0012] The folding boom acquiring a predetermined current stroke L2 of the boom cylinder; obtaining a predetermined boom cylinder driven by a predetermined root end section of the arm to the hinge point between the end sections of each arm to the end of the boom the predetermined hinge point of the arm base end section of the maximum distance R2;

[0013] 根据所述当前行程L2和所述最大距离r2计算在所述预定臂架油缸驱动下使具有所述最大距离r2的臂节末端以预定速度vO运动时所述预定臂架油缸需要的流量Q2 ; [0013] According to the present trip and the maximum distance L2 r2 calculated so that when the end section having the maximum distance r2 of the arm moving at a predetermined speed vO said predetermined desired boom cylinder at said predetermined driving the boom cylinder flow Q2;

[0014] 将流量小于或等于所述流量Q2的液压油输送至所述预定臂架油缸。 [0014] The flow rate Q2 is smaller than or equal to the hydraulic fluid fed to the boom cylinder is predetermined.

[0015] 优选地,在计算出所述预定臂架油缸需要的流量Q2后,将流量等于所述流量Q2的液压油输送至所述预定臂架油缸。 [0015] Preferably, in the calculation of the predetermined desired boom cylinder flow rate Q2, the flow rate equal to the flow rate Q2 of the hydraulic oil delivered to the boom cylinder is predetermined.

[0016] 优选地,所述流量Q2根据公式Q2=rlQl/r2获得; [0016] Preferably, the flow rate Q2 in accordance with the formula Q2 = rlQl / r2 obtained;

[0017] 其中,rl为所述预定臂节的根端铰点至臂架末端之间的各臂节长度之和,Ql为同一行程L2条件下,最大距离r2为rl时,具有最大距离rl的臂节末端以预定速度vO运动时所述预定臂架油缸需要的液压油流量。 [0017] wherein, as the predetermined root end rl hinge point of the arm sections of each arm to the length between the end of the boom sections and, at the same stroke as Ql, L2 conditions, the maximum distance is rl r2, having a maximum distance rl at the end of the boom sections when a predetermined speed of movement of said vO predetermined flow of hydraulic oil required for the boom cylinder.

[0018] 优选地,所述流量Q2根据预定臂架油缸的当前行程L2、最大距离r2查询数据库获得。 [0018] Preferably, the flow rate Q2 of the current predetermined stroke L2 of the boom cylinder, query the database for the maximum distance r2.

[0019] 优选地,所述最大距离r2通过以下方式之一获得: [0019] Preferably, the maximum distance r2 obtained by one of the following:

[0020] I)检测各臂架油缸的行程,根据各臂架油缸的行程获取所述预定臂节的根端铰点至臂架末端之间的各臂节的末端到所述预定臂节的根端铰点的距离,再获取上述距离中的最大值; [0020] I) detects a stroke of each cylinder of the boom, the boom cylinder acquires the stroke of each of said predetermined hinge point of the arm section of the root end to the tip of each arm between the end of the boom sections to the predetermined section of the arm from the root end of the hinge point, and then obtaining the maximum value of the distances;

[0021] 2)检测所述预定臂节的根端铰点至臂架末端之间的各臂节的末端到所述预定臂节的根端铰点的距离,获取上述距离中的最大值; [0021] 2) detecting the predetermined section of the root end boom hinge point to the end of each arm between the end of the boom sections to the predetermined distance from the hinge point of the arm base end section acquires maximum value of the distances;

[0022] 3)检测所述折叠臂架的各臂节的角度参数,根据各臂节的角度参数获取所述预定臂节的根端铰点至臂架末端之间的各臂节的末端到所述预定臂节的根端铰点的距离,再获取上述距离中的最大值。 [0022] 3) angle parameter detecting sections of each arm of the boom folded to obtain the predetermined hinge point of the arm section of the root end to the tip of each arm between the end of the boom sections according to the angle parameter of each arm sections the predetermined distance of the hinge point of the arm base end section, and then obtaining the maximum value of the distance.

[0023] 本发明提供一种折叠臂架的控制方法,包括如下步骤:获取折叠臂架的一个预定臂架油缸的当前行程L2 ;获取预定臂架油缸驱动的预定臂节的根端铰点至臂架末端之间的各臂节的末端到预定臂节的根端铰点的最大距离r2 ;根据当前行程L2和最大距离r2计算在预定臂架油缸驱动下使具有最大距离r2的臂节末端以预定速度vO运动时预定臂架油缸需要的流量Q2 ;将流量小于或等于流量Q2的液压油输送至预定臂架油缸。 [0023] The present invention provides a control method of folding the boom, comprising the steps of: obtaining a predetermined folding jib boom cylinder stroke L2 of the current; obtaining a predetermined hinge point of the root end of the boom cylinder is driven to a predetermined section of the arm the maximum distance r2 root end of the hinge point between the end sections of each arm to a predetermined end of the boom arm sections; L2 calculated based on the current and the maximum travel distance r2 arm end section having a maximum at a predetermined distance r2 boom cylinder drive the predetermined movement at a predetermined velocity vO desired boom cylinder flow rate Q2; less than or equal to the flow rate Q2 of the hydraulic oil delivered to a predetermined boom cylinder.

[0024] 采用上述方法,使得在折叠臂架的展开或收拢过程中,预定臂架油缸驱动的预定臂节的根端铰点至臂架末端之间的各臂节的末端均以不大于预定速度vO的速度运动,相比现有技术,避免了折叠臂架的臂节末端以超出预定速度vO的速度运动,保证了折叠臂架的展开或收拢的安全性和稳定性。 [0024] The above-described method, such that the boom in the folded or collapsed during deployment, the boom cylinder driven by a predetermined section of the root end of the arm a predetermined hinge point to the end of each arm between the end of the boom sections are not greater than the predetermined the speed of the moving speed vO, compared to the prior art, to avoid the end of the boom sections of the boom is folded at a predetermined speed exceeds the speed vO movement, to ensure the folding of the boom to expand or collapse of security and stability.

[0025] 本发明还提供一种折叠臂架的控制器,所述折叠臂架包括多个自臂架根端至臂架末端依次连接的臂节以及至少一个臂架油缸,每一所述臂架油缸与至少一个臂节连接,能够驱动与该臂架油缸连接的一个臂节运动;所述控制器至少包括计算单元和控制单元,所述计算单元能够根据所述折叠臂架的预定臂架油缸的当前行程L2及所述预定臂架油缸驱动的预定臂节的根端铰点至臂架末端之间的各臂节的末端到所述预定臂节的根端铰点的最大距离r2计算在所述预定臂架油缸驱动下使具有所述最大距离r2的臂节末端以预定速度vO运动时所述预定臂架油缸需要的流量Q2 ;所述控制单元能够根据所述流量Q2将流量小于或等于所述流量Q2的液压油输送至所述预定臂架油缸。 [0025] The present invention further provides a folding boom controller, said boom comprising a folding boom from a plurality of the root end to the arm end of the boom sections are sequentially connected and at least one boom cylinder, each of said arms cylinder with at least one carrier arm section connected to a drive arm can be connected to the articulation of the boom cylinder; said controller comprises at least a control unit and a computing unit, the computing unit can be predetermined in accordance with the folding boom boom root end of stroke L2, and the hinge point of the predetermined current boom cylinder driven by a predetermined jib section to the end of each cylinder between the boom sections of the boom end to the root end of the predetermined section of the hinge point of the arm of the maximum calculated distance r2 end of the arm section having the maximum distance r2 is predetermined in the boom cylinder is driven at a predetermined speed of movement of said predetermined vO desired boom cylinder flow rate Q2; the control unit can according to the flow rate Q2 is smaller than the flow rate or Q2 is equal to the flow rate of the hydraulic oil delivered to the boom cylinder is predetermined.

[0026] 本发明还提供一种折叠臂架的控制系统,所述折叠臂架包括多个自臂架根端至臂架末端依次连接的臂节以及至少一个臂架油缸,每一所述臂架油缸与至少一个臂节连接,能够驱动与该臂架油缸连接的一个臂节运动;所述控制系统至少包括: [0026] The present invention further provides a control system of a folding boom, said boom comprising a folding boom from a plurality of the root end to the arm end of the boom sections are sequentially connected and at least one boom cylinder, each of said arms cylinder with at least one carrier arm section connected to a drive arm can be connected to the articulation of the boom cylinder; said control system comprising at least:

[0027] 检测单元,用于获取所述折叠臂架的一个预定臂架油缸的当前行程L2 ;获取所述预定臂架油缸驱动的预定臂节的根端铰点至臂架末端之间的各臂节的末端到所述预定臂节的根端铰点的最大距离r2 ; [0027] The detection unit for acquiring the current stroke L2 of a predetermined folding boom of the boom cylinder; obtaining a predetermined boom cylinder driven by a predetermined root end section of the arm to the hinge point between each end of the boom end of the arm section of the predetermined maximum distance r2 to the root end section of the hinge point of the arm;

[0028] 计算单元,用于根据所述当前行程L2和所述最大距离r2计算在所述预定臂架油缸驱动下使具有所述最大距离r2的臂节末端以预定速度vO运动时所述预定臂架油缸需要的流量Q2 ; [0028] calculation means for calculating a predetermined end of the arm section having the maximum distance r2 at a predetermined speed in the predetermined movement vO boom cylinder is driven according to the current stroke and the maximum distance L2 r2 traffic boom cylinder needs Q2;

[0029] 控制单元,用于将流量小于或等于所述流量Q2的液压油输送至所述预定臂架油缸。 [0029] a control unit for the flow rate less than or equal to the flow rate Q2 of the hydraulic oil delivered to the boom cylinder is predetermined.

[0030] 优选地,所述控制单元用于在计算出所述预定臂架油缸需要的流量Q2后,将流量等于所述流量Q2的液压油输送至所述预定臂架油缸。 [0030] Preferably, the control unit is configured to, after calculating the predetermined desired boom cylinder flow rate Q2, the flow rate equal to the flow rate Q2 of the hydraulic oil delivered to the boom cylinder is predetermined.

[0031] 优选地,所述计算单元用于根据公式Q2=rlQl/r2获得流量Q2 ; [0031] Preferably, the computing means according to the formula for obtaining the flow rate Q2 Q2 = rlQl / r2;

[0032] 其中,rl为所述预定臂节的根端铰点至臂架末端之间的各臂节长度之和,Ql为同一行程L2条件下,最大距离r2为rl时,具有最大距离为rl的臂节末端以预定速度vO运动时所述预定臂架油缸需要的液压油流量。 When [0032] wherein, rl is the root end of the predetermined hinge point of the arm sections of each arm to the length between the end of the boom sections and, at the same stroke as Ql, L2 conditions, the maximum distance r2 to rl, having a maximum distance rl at the end of the boom sections in a predetermined movement speed vO said predetermined flow of hydraulic oil required for the boom cylinder.

[0033] 优选地,所述检测单元用于通过以下方式之一获得所述最大距离r2: [0033] Preferably, the detecting means for obtaining the maximum distance r2 by one of the following:

[0034] I)获取各臂架油缸的行程,根据各臂架油缸的行程获取所述预定臂节的根端铰点至臂架末端之间的各臂节的末端到所述预定臂节的根端铰点的距离,再获取上述距离中的最大值; [0034] I) Gets each stroke of the boom cylinder, the arm predetermined root end to the tip section of the hinge point of each arm between the end of the boom sections of the boom cylinder to the respective acquired according to the predetermined stroke of the arm section from the root end of the hinge point, and then obtaining the maximum value of the distances;

[0035] 2)检测所述预定臂节的根端铰点至臂架末端之间的各臂节的末端到所述预定臂节的根端铰点的距离,获取上述距离中的最大值; [0035] 2) detecting the predetermined section of the root end boom hinge point to the end of each arm between the end of the boom sections to the predetermined distance from the hinge point of the arm base end section acquires maximum value of the distances;

[0036] 3)检测所述折叠臂架的各臂节的角度参数,根据各臂节的角度参数获取所述预定臂节的根端铰点至臂架末端之间的各臂节的末端到所述预定臂节的根端铰点的距离,再获取上述距离中的最大值。 [0036] 3) angle parameter detecting sections of each arm of the boom folded to obtain the predetermined hinge point of the arm section of the root end to the tip of each arm between the end of the boom sections according to the angle parameter of each arm sections the predetermined distance of the hinge point of the arm base end section, and then obtaining the maximum value of the distance.

[0037] 本发明还提供一种混凝土布料机械,包括折叠臂架;所述折叠臂架采用如上所述的折叠臂架的控制系统。 [0037] The present invention also provides a concrete placing machine, comprising a folding boom; folding said boom control system using the boom folded as described above.

[0038] 优选地,所述混凝土布料机械为混凝土泵车或混凝土搅拌泵车。 [0038] Preferably, the pump is mechanically stirred concrete placing concrete pump or concrete.

[0039] 由于上述折叠臂架的控制方法具有上述技术效果,因此,与该方法对应的折叠臂架的控制器、控制系统以及包括该控制系统的混凝土布料机械也应当具有相应的技术效果,在此不再赘述。 [0039] Since the above method of folding the boom control having the above technical effect, and therefore, corresponding to the method of folding the boom, control system and the control system comprises a concrete distributing machinery should also have a corresponding technical effects, in this will not be repeated.

附图说明 BRIEF DESCRIPTION

[0040] 图1为现有技术中一种折叠臂架的结构示意图; [0040] FIG. 1 is a prior art schematic view of a folding boom structure;

[0041] 图2为本发明所提供折叠臂架的控制方法的一种具体实施方式的流程框图; Block flow diagram of a particular embodiment of the method of controlling the folding of the boom is provided [0041] FIG. 2 of the present invention;

[0042] 图3为图1所示的折叠臂架完全展开时的状态图; [0042] FIG. 3 is a view of the folded state shown in FIG. 1 boom fully deployed;

[0043] 图4本发明所提供折叠臂架的控制系统的一种具体实施方式的结构示意图。 [0043] The structural diagram of a specific embodiment of a control system of the folding boom of the present invention FIG. 4 is provided.

[0044] 其中,图1和图3中的附图标记与部件名称之间的对应关系为:第一臂节11 ;第二臂节21 ;第三臂节31 ;第四臂节41 ;第五臂节51 ;第一臂架油缸12 ;第二臂架油缸22 ;第三臂架油缸32 ;第四臂架油缸42 ;第五臂架油缸52。 [0044] wherein, the corresponding relationship between FIG 1 and FIG 3 member names and reference numerals as: a first arm section 11; a second arm section 21; section 31 of the third arm; fourth arm section 41; the first five boom sections 51; a first boom cylinder 12; and a second boom cylinder 22; third boom cylinder 32; the fourth boom cylinder 42; fifth boom cylinder 52.

具体实施方式 Detailed ways

[0045] 本发明旨在提供一种折叠臂架的控制方法,使得折叠臂架在展开或收拢的过程中臂架油缸驱动的各臂节末端均以不大于预定速度的速度运动,大大提高臂架运行的安全性能。 [0045] The present invention aims to provide a method of controlling the folding boom, the boom is folded so that the process to expand or collapse the end sections of each arm are driven by the boom cylinder velocity is not larger than a predetermined movement speed, greatly improved arm safety frame operation. 此外,本发明还旨在提供一种折叠臂架的控制器、折叠臂架的控制系统,以及包括该控制系统的混凝土布料机械。 Further, the present invention also aims to provide a folding boom controller folding boom control system, comprising a concrete fabric and the mechanical control system.

[0046] 为了使本领域的技术人员更好地理解本发明的技术方案,下面结合附图和具体实施例对本发明作进一步的详细说明。 [0046] In order to enable those skilled in the art better understand the technical solution of the present invention, the following accompanying drawings and specific embodiments of the present invention will be further described in detail.

[0047] 请参考图2,图2为本发明所提供折叠臂架的控制方法的一种具体实施方式的流程框图。 [0047] Please refer to FIG 2, a control flow diagram of the method of folding the boom provides a specific embodiment of the present invention, FIG.

[0048] 在一种具体实施方式中,本发明提供一种折叠臂架的控制方法,折叠臂架包括多个自臂架根端至臂架末端依次连接的臂节以及至少一个臂架油缸,每一臂架油缸与至少一个臂节连接,能够驱动与该臂架油缸连接的一个臂节运动;如图2所示,折叠臂架的控制方法包括如下步骤: [0048] In a specific embodiment, the present invention provides a control method of folding the boom, the boom comprising a folding boom from a plurality of the root end to the arm end of the boom sections are sequentially connected and at least one boom cylinder, each boom cylinder is connected with at least one arm section capable of driving an arm connected to the articulation of the boom cylinder; FIG. 2, the control method comprising the steps of folding the boom:

[0049] Sll:获取折叠臂架的一个预定臂架油缸的当前行程L2 ;获取预定臂架油缸驱动的预定臂节的根端铰点至臂架末端之间的各臂节的末端到预定臂节的根端铰点的最大距离r2 ; [0049] Sll: obtaining a predetermined folding jib boom cylinder stroke L2 of the current; obtaining a predetermined driving the boom cylinder of a predetermined section of the root end of the arm to the hinge point between the end sections of each arm to a predetermined end of the boom arm the maximum distance r2 root end section of the hinge point;

[0050] S12:根据当前行程L2和最大距离r2计算在预定臂架油缸驱动下使具有最大距离r2的臂节末端以预定速度vO运动时预定臂架油缸需要的流量Q2 ; [0050] S12: calculating the current maximum travel distance r2 L2 and the arm end section having a maximum at a predetermined distance r2 boom cylinder driven at a predetermined speed when the boom cylinder flow vO predetermined movement required Q2;

[0051] S13:将流量小于或等于流量Q2的液压油输送至预定臂架油缸。 [0051] S13: The flow is less than or equal to the flow rate Q2 of the hydraulic oil delivered to a predetermined boom cylinder.

[0052] 下面以图1所示的折叠臂架为例具体介绍上述控制方法的控制过程。 [0052] Next, a folded boom shown in FIG. 1 as an example specifically describes the control procedure of the control method.

[0053] 设定第一臂架油缸12为预定臂架油缸,以vO为预定速度,当第一臂架油缸12运动时,驱动第一臂节11运动(因此第一臂节11为预定臂节),并同时带动第二臂节21、第三臂节31、第四臂节41和第五臂节51同时运动。 [0053] The first boom cylinder 12 is set to a predetermined boom cylinder to a predetermined speed vO is, when the motion of the first boom cylinder 12, a first arm section 11 driven motion (and therefore a predetermined section of the first arm 11 arm section), while a second arm drive section 21, a third arm section 31, fourth section 41 and fifth arm boom sections 51 move simultaneously. 当臂架处于某一位置时,如图1所示,步骤Sll获取第一臂架油缸12的当前行程L2,并获取各臂节末端至第一臂节11的根端铰点的最大距离r2,经分析:此时第一臂节11末端、第二臂节21末端、第三臂节31末端、第四臂节41末端、第五臂节51末端距离第一臂节的根端铰点的距离分别为e、d、c、b和a,比较可得出第四臂节41的末端距离铰点最远,因此当前最大距离r2为b。 The maximum distance when the boom is in a certain position, shown in Figure 1, a first boom cylinder in step Sll acquiring current travel L2 12 and acquires each boom section end to the root end section of the hinge point 11 of the first arm r2 , analyzed: in this case the end section of the first arm 11, the end section of the second arm 21, the end of the third boom section 31, the end section of the fourth arm 41, the end section 51 fifth arm base end section from the hinge point of the first arm the distances of e, d, c, b and a, comparison can be drawn from the end section of the fourth arm 41 farthest from the hinge point, so the current maximum distance r2 is b. [0054] 完成步骤Sll后,步骤S12根据第一臂架油缸12的当前行程L2和最大距离r2计算在第一臂架油缸12的驱动下,第四臂节41末端以预定速度vO运动时第一臂架油缸12需要的流量Q2。 [0054] After completion of step Sll, when the boom cylinder according to a first step of calculating the current maximum stroke distance L2 and 12 R2 at a first boom cylinder 12 is driven, the end of the fourth arm 41 at a predetermined moving speed vO section S12 of flow needs of a boom cylinder 12 Q2.

[0055] 最后,将流量小于或等于流量Q2的液压油输送至第一臂架油缸12,此时,第四臂节41末端以小于或等于预定速度vO运动,由于其他各个臂节末端距离第一臂节11的根端铰点的距离小于b,因此,在相同角速度的情况下,整个臂架上各点的运动速度均小于第四臂节41末端的速度,换言之折叠臂架上各点的运动速度均未超过预定速度vO。 [0055] Finally, the flow is less than or equal to the flow rate Q2 of the hydraulic oil fed to the first boom cylinder 12, at this time, the end of the fourth arm 41 is less than or equal to a predetermined section of the speed vO movement, since the respective end sections from the other arms of from the root end section of the hinge arm 11 is smaller than the point b, so the, at the same angular velocity, the moving speed of the entire boom of the points is less than the speed of the end section of the fourth arm 41, in other words each point on the folding boom the movement speed did not exceed the predetermined speed vO.

[0056] 由上述工作过程可以看出,采用上述方法,使得在折叠臂架的展开或收拢过程中,预定臂架油缸驱动的预定臂节的根端铰点至臂架末端之间的各臂节的末端均以不大于预定速度vO运动,相比现有技术,避免了折叠臂架的臂节末端超出预定速度vO运动,保证了折叠臂架的展开或收拢的安全性和稳定性。 [0056] As can be seen from the above working process, the above-described method, such that the boom in the folded or collapsed during deployment, the boom cylinder driven by a predetermined section of the predetermined arm hinge points to the root end of each arm between the end of the boom end sections are not greater than the predetermined speed vO movement, compared to the prior art, to avoid the end of the folding boom sections of the boom exceeds a predetermined moving speed vO ensure that folding or collapse of the boom deployment safety and stability.

[0057] 还可以进一步设置上述折叠臂架的控制方法的具体控制过程。 [0057] may be further provided the above-described method of folding the boom control a specific control procedure.

[0058] 在另一种具体实施方式中,上述折叠臂架的控制方法在计算出预定臂架油缸需要的流量Q2后,将流量等于流量Q2的液压油输送至预定臂架油缸。 [0058] In another specific embodiment, the control method of folding the boom in the boom cylinder is calculated a predetermined desired flow rate Q2, the flow rate is equal to the flow rate Q2 of the hydraulic oil delivered to a predetermined boom cylinder.

[0059] 采用这种方法,使得在折叠臂架的展开或收拢过程中,预定臂架油缸驱动下具有最大距离r2的臂节末端以预定速度vO运动,这使得在保证安全运行的前提下,使得折叠臂架展开或收拢的时间减少,提高折叠臂架的工作效率。 [0059] In this way, such that the boom in the folded or collapsed during deployment, the boom cylinder drive having a predetermined terminal the maximum distance r2 boom section at a predetermined speed vO motion, which makes ensuring safe operation of the premise, so that the folded collapsed boom expand or reduce time, improve the efficiency of the folding boom.

[0060] 需要说明的是,上述具体实施方式的控制方法可以具体为实时控制过程,即实时获取预定臂架油缸的当前行程L2和最大距离r2,并实时计算预定臂架油缸需要的流量Q2,在根据流量Q2对预定臂架油缸实时控制,这样能够在折叠臂架的展开或收拢过程中的任意时刻均保证折叠臂架的安全性。 [0060] Incidentally, the above-described control method of the specific embodiments may be embodied as a real-time control process, i.e., real-time access this predetermined stroke of the boom cylinder and the maximum distance L2 r2, the flow rate calculated in real time and a predetermined desired boom cylinder Q2, Q2 in real-time control of the boom cylinder in accordance with a predetermined flow rate, so any time can be folded or collapsed boom deployment process are to ensure the security of the folding boom. 当然,上述控制方法也可以为间断性控制。 Of course, the above-described control method may be intermittent control.

[0061] 请参考图3,图3为图1所示的折叠臂架完全展开时的状态图。 [0061] Please refer to FIG. 3, FIG. 3 is a view of the folded state shown in FIG. 1 boom fully deployed.

[0062] 在进一步的实施例中,上述折叠臂架的控制方法中可以根据公式Q2=rlQl/r2获得流量Q2 ;其中,rl为预定臂节的根端铰点至臂架末端之间的各臂节长度之和,即为图3所示的折叠臂架的预定臂架油缸的根端铰点距离臂架末端的各个臂节末端距离预定臂架油缸的根端铰点的最大距离,Ql为同一行程L2条件下,最大距离r2为rl时,具有最大距离为rl的臂节末端以预定速度vO运动时预定臂架油缸需要的液压油流量。 [0062] In a further embodiment, the control method of folding the boom flow rate Q2 can be obtained according to the formula Q2 = rlQl / r2; wherein, rl is the root end of a predetermined hinge point between the arm sections to each end of the boom and the length of the boom sections, each arm end is the end of the boom section from the root end of FIG predetermined hinge point of the boom cylinder 3 shown folded boom maximum distance from the root end of a predetermined hinge point of the boom cylinder, Ql, under the same conditions as stroke L2, it is the maximum distance rl r2, having a maximum distance of end of the arm section rl predetermined flow of hydraulic oil to the boom cylinder when a predetermined desired speed vO movement.

[0063] 其中,Ql可以根据有限元分析或试验预先得到Q1,即通过有限元分析或试验等方法得出:当最大距离为rl,且臂架末端以vO的速度运动时,当前行程L2与流量Ql之间的关系。 [0063] wherein, Ql, Q1 can be obtained in advance according to the finite element analysis or testing, i.e., by other test methods or finite element analysis results: When the maximum distance is rl, and the speed of movement of the boom end at the vO, and the current stroke L2 the relationship between the flow Ql. 在控制过程中,即可根据L2来获取Ql。 In the control process, can be acquired according Ql L2.

[0064] 例如在上述以第一臂架油缸12为预定臂架油缸的具体实例中,显然最大距离rl为al+bl+cl+dl+el,可以首先通过实验方法获取同一行程L2条件下,具有最大距离al+bl+cl+dl+el的臂节(即第五臂节51)末端以预定速度vO运动时第一臂架油缸12需要的液压油流量Q1。 [0064] Specific examples of the above-described example, the boom cylinder 12 is a first boom cylinder in a predetermined, maximum distance rl is apparent al + bl + cl + dl + el, may first obtain the same stroke L2 conditions experimentally, having a maximum distance al + bl + cl + dl + el boom section (i.e., fifth arm section 51) at the end of Q1 speed vO predetermined movement of the first boom cylinder 12 hydraulic oil flow required. 控制过程中,获取第一臂架油缸11的当前行程L2和最大距离r2为b后,根据L2可获取Q1,然后通过Q2= (al+bl+cl+dl+el) Ql/b获得流量Q2。 Control process, to get the current stroke and the maximum distance L2 of the first boom cylinder 11 after B r2, in accordance with available L2 Q1, Q2 is then obtained by the flow rate Q2 = (al + bl + cl + dl + el) Ql / b .

[0065] 由此可见,采用这种方法能够在控制过程中直接建立起流量Q2与最大距离r2 二者之间的对应关系,节省了大量实验和分析的工作量,并且能够确保控制精度。 [0065] Thus, this method can establish a correspondence between the two maximum flow rate Q2 and the distance r2 directly in the control process, it saves a lot of experiments and analysis of the workload, and the control accuracy can be ensured.

[0066] 当然,还可以通过其他方式获取上述流量Q2。 [0066] Of course, the flow rate Q2 may also be obtained by other means. 例如,可以首先通过模拟分析等方法建立折叠臂架的最大距离r2、预定臂架油缸的当前行程L2与需要流量Q2 —一对应的数据库,具体的控制过程中,获取上述当前行程L2和最大距离r2后,再通过查询该数据库获取对应的流量Q2。 For example, the maximum distance r2 established first folding boom by simulation analysis method, a predetermined stroke L2 of the boom cylinder flow rate Q2 of the current required - a corresponding database, a specific control process, acquires the current stroke and the maximum distance L2 after r2, and then obtain the corresponding flow Q2 by querying the database. 采用这种方式,能够利用经验值快速地获取流量Q2。 In this way, you can quickly get traffic Q2 using empirical values.

[0067] 上述控制方法中,可以具体通过以下几种方式获取最大距离r2: [0067] The above-described control method, it is possible to maximize the specific distance r2 in the following ways:

[0068] 第一种,可以先检测各臂架油缸的行程,根据各臂架油缸的行程获取所述预定臂节的根端铰点至臂架末端之间的各臂节的末端到所述预定臂节的根端铰点的距离,再获取上述距离中的最大值。 [0068] First, each stroke can be detected first boom cylinder, access to the root end of the hinge point of the arm section according to the predetermined stroke of the boom cylinder to the respective end sections of each arm between the end of the boom to a predetermined distance from the root end section of the hinge point of the arm, and then obtaining the maximum value of the distance. 例如在上述具体实例中,可以采用长度传感器检测第一臂架油缸12、第二臂架油缸22。 For example, in the above-described specific example, the length may be employed a first sensor for detecting the boom cylinder 12, second boom cylinder 22. . . 第五臂架油缸52的行程,然后根据各个臂架油缸的行程计算得出第一臂节11、第二臂节21。 Fifth stroke boom cylinder 52, and then come to the first arm section 11 calculates the stroke of each cylinder of the boom, a second arm section 21. . . 第五臂节51的末端到第一臂节11的根端铰点的距离e、d。 End of the fifth arm section 51 to the distance e of the first arm base end section 11 of the hinge point, d. . . a,再通过比较得出最大距离r2为第四臂节41的末端到第一臂节11根端铰点的距离b。 a, then the maximum distance r2 obtained by comparing the end section of the fourth arm 41 to the distance b of the first arm section 11 side of the hinge point. 由此可见,采用这种方法能够较为准确地获取最大距离r2,进一步提高控制精度。 Thus, this method can be obtained more accurately the maximum distance r2, to further improve control accuracy.

[0069] 第二种,可以通过检测部件检测所述折叠臂架的各臂节的角度参数,根据各臂节的角度参数获取所述预定臂节的根端铰点至臂架末端之间的各臂节的末端到所述预定臂节的根端铰点的距离,再获取上述距离中的最大值。 [0069] Second, the parameters may be detected folding angle of each boom section of the boom by a detecting means, arm section acquires the predetermined hinge point to the root end of the boom end according to the angle between the arm sections of each of the parameters the end sections of each arm to the predetermined distance from the root end section of the hinge point of the arm, and then obtaining the maximum value of the distance. 例如在上述具体实例中,可以采用角度传感器检测第一臂节11、第二臂节21。 For example, in the above-described specific example, the angle sensor may be used detecting section 11 of the first arm, a second arm section 21. . . 第五臂节51与水平面之间的角度,或者检测第一臂节11与水平面的夹角以及每相邻两个臂节的夹角,然后根据各个夹角计算得出第一臂节11、第二臂节21。 The angle between the horizontal section 51 and the fifth arm, or the detection angle and the angle of the boom sections each adjacent two of the first arm section 11 and the horizontal plane and the angle between each calculated over a first arm section 11, The second arm section 21. . . 第五臂节51的末端到第一臂节11的根端铰点的距离e、d。 End of the fifth arm section 51 to the distance e of the first arm base end section 11 of the hinge point, d. . . a,再通过比较得出最大距离r2为第四臂节41的末端到第一臂节11根端铰点的距离b。 a, then the maximum distance r2 obtained by comparing the end section of the fourth arm 41 to the distance b of the first arm section 11 side of the hinge point. 与第一种获取方法类似,采用这种方法能够较为准确地获取最大距离r2,进一步提高控制精度。 Similar to the first obtaining method, this method can be obtained more accurately the maximum distance r2, to further improve control accuracy.

[0070] 第三种,可以通过检测部件检测检测所述预定臂节的根端铰点至臂架末端之间的各臂节的末端到所述预定臂节的根端铰点的距离,再获取上述距离中的最大值。 [0070] Third, the root end may be a predetermined hinge point of the arm section is detected by the detecting means to detect the end of each arm between the end of the boom sections from the root end to the hinge point of the predetermined section of the arm, and then obtaining the maximum value of the distance. 例如在上述具体实例中,可以采用位移传感器或者GPRS定位装置检测第一臂节11、第二臂节21。 For example, in the above-described specific example, the displacement sensor may be employed, or GPRS, positioning means 11 detects a first arm section, second arm section 21. . . 第五臂节51的末端到第一臂节11的根端铰点的距离e、d。 End of the fifth arm section 51 to the distance e of the first arm base end section 11 of the hinge point, d. . . a,再通过比较得出最大距离r2为第四臂节41的末端到第一臂节11根端铰点的距离b。 a, then the maximum distance r2 obtained by comparing the end section of the fourth arm 41 to the distance b of the first arm section 11 side of the hinge point. 由此可见,采用这种控制方法能够直接、快速地获取最大距离r2,进一步提高控制效率。 Thus, using such a control method can be directly and rapidly acquire the maximum distance r2, to further improve the control efficiency.

[0071] 此外,本发明还提供一种折叠臂架的控制器,至少包括计算单元和控制单元。 [0071] Further, the present invention also provides a folding boom controller, comprising at least a computing unit and a control unit. 计算单元能够根据折叠臂架的预定臂架油缸的当前行程L2及预定臂架油缸驱动的预定臂节的根端铰点至臂架末端之间的各臂节的末端到预定臂节的根端铰点的最大距离r2计算在预定臂架油缸驱动下使具有最大距离r2的臂节末端以预定速度vO运动时预定臂架油缸需要的流量Q2。 Computing unit can each arm to the tip end of the boom sections between the hinge point of the current based on the root end of a predetermined stroke of the boom cylinder and L2 of the boom folding boom cylinder driven by a predetermined section of the predetermined arm to a predetermined section of the root end of the arm the maximum distance r2 hinge point of the arm is calculated end section having a maximum at a predetermined distance r2 boom cylinder driven at a predetermined speed vO predetermined movement required for the boom cylinder flow rate Q2. 控制单元能够根据流量Q2将流量小于或等于流量Q2的液压油输送至预定臂架油缸。 The control unit is able to flow is less than or equal to the flow rate Q2 of the hydraulic fluid fed to the boom cylinder in accordance with a predetermined flow rate Q2.

[0072] 例如在上述具体实例中,在获取第一臂架油缸12的当前行程L2、最大距离r2为第四臂节41末端到第一臂节11根端的距离b后,上述控制器的计算单元能够根据当前行程L2、距离b计算出第一臂架油缸12需要的流量Q2。 [0072] For example, in the above-described specific example, after obtaining a first stroke of the boom cylinder L2 12 current, the maximum distance r2 of the fourth arm section 41 to the end of a first arm section 11 from the end B, the controller calculates the the current trip unit can Q2 L2, 12 need to calculate the distance b of the first boom cylinder flow rate. 然后控制单元根据计算单元输出的流量Q2向第一臂架油缸12输送流量小于或等于流量Q2的液压油。 Then the control unit delivery flow rate Q2 is smaller than or equal to the hydraulic oil flow rate calculating unit according to the Q2 output of the first boom cylinder 12. 此时,第四臂节41末端以小于或等于预定速度vO运动,由于其他各个臂节末端距离第一臂节11的根端铰点的距离小于b,因此,在相同角速度的情况下,整个臂架上各点的运动速度均小于第四臂节41末端的速度,换而言之臂架上各点的运动速度均未超过预定速度。 At this time, the end of the fourth arm section 41 equal to or less than the predetermined speed vO motion, since the distance of the first arm base end section of the hinge point 11 of each of the other end of the boom section is smaller than the distance b, so the, at the same angular velocity, the entire the moving speed of the boom is less than the speed of each point of the end section of the fourth arm 41, the speed of movement of each point on the boom in other words no more than a predetermined speed.

[0073] 由此可见,与上述控制方法类似地,采用上述控制器也能够使得在折叠臂架的展开或收拢过程中,预定臂架油缸驱动的预定臂节的根端铰点至臂架末端之间的各臂节的末端均以不大于预定速度vO运动,保证了折叠臂架的展开或收拢的安全性和稳定性。 [0073] Thus, similarly to the above-described control method, it is possible to control such that the above-described folding of the boom to expand or collapse during the driving of the boom cylinder a predetermined section of the predetermined arm hinge points to the root end of the boom end end of each arm between the sections are not greater than the predetermined speed vO movement, to ensure the folding of the boom to expand or collapse of security and stability.

[0074] 请参考图4,图4本发明所提供折叠臂架的控制系统的一种具体实施方式的结构示意图。 [0074] Please refer to FIG. 4, a schematic structural view of a specific embodiment of a control system of the folding boom of the present invention is provided FIG.

[0075] 在一种具体实施方式中,如图4所示,本发明还提供一种折叠臂架的控制系统,至少包括: [0075] In one embodiment, shown in Figure 4, a control system of the present invention further provides a folding boom, comprising at least:

[0076] 检测单元,用于获取折叠臂架的一个预定臂架油缸的当前行程L2;获取预定臂架油缸驱动的预定臂节的根端铰点至臂架末端之间的各臂节的末端到预定臂节的根端铰点的最大距离r2 ; [0076] The detection unit for acquiring current travel L2 of a predetermined folding boom of the boom cylinder; obtaining a predetermined hinge point of the root end of the boom cylinder is driven to a predetermined end of each boom section of the boom sections between the end of the boom the maximum distance from the root end section of the hinge point of the predetermined arm R2;

[0077] 计算单元,用于根据当前行程L2和最大距离r2计算在预定臂架油缸驱动下使具有最大距离r2的臂节末端以预定速度vO运动时预定臂架油缸需要的流量Q2 ; [0077] calculation means for calculating the arm tip section having a maximum at a predetermined distance r2 boom cylinder driven at a predetermined speed when the boom cylinder flow vO predetermined movement required for the current itinerary Q2 L2 and a maximum distance r2;

[0078] 控制单元,用于将流量小于或等于流量Q2的液压油输送至预定臂架油缸。 [0078] a control unit for flow is less than or equal to the flow rate Q2 of the hydraulic oil delivered to a predetermined boom cylinder.

[0079] 例如在上述具体实例中,首先检测单元获取第一臂架油缸12的当前行程L2,并利用长度检测部件或角度检测部件或位移检测部件等获取最大距离r2为第四臂节41末端到第一臂节11根端的距离b。 [0079] In the above-described specific examples, for example, first, a first detecting unit acquires the current boom cylinder stroke L2 12, and using a length or angle detecting means detecting displacement detecting means or other means to obtain the maximum distance r2 fourth arm end section 41 a first arm section 11 to the end of the distance b. 然后上述控制系统的计算单元根据当前行程L2、距离b计算出第一臂架油缸12需要的流量Q2。 The control unit then calculates the stroke L2 of the current system, 12 need to calculate the distance b of the first boom cylinder flow rate Q2. 最后控制单元根据计算单元输出的流量Q2向第一臂架油缸12输送流量小于或等于流量Q2的液压油。 Finally, the control unit is less than or equal to the delivery flow of the hydraulic fluid flow rate Q2 calculated in accordance with the flow rate Q2 of the first unit outputs the boom cylinder 12. 此时,第四臂节41末端以小于或等于预定速度vO运动,由于其他各个臂节末端距离第一臂节11的根端铰点的距离小于b,因此,在相同角速度的情况下,整个臂架上各点的运动速度均小于第四臂节41末端的速度,换而言之臂架上各点的运动速度均未超过预定速度。 At this time, the end of the fourth arm section 41 equal to or less than the predetermined speed vO motion, since the distance of the first arm base end section of the hinge point 11 of each of the other end of the boom section is smaller than the distance b, so the, at the same angular velocity, the entire the moving speed of the boom is less than the speed of each point of the end section of the fourth arm 41, the speed of movement of each point on the boom in other words no more than a predetermined speed.

[0080] 由此可见,与上述控制方法、控制器类似地,采用上述控制系统也能够使得在折叠臂架的展开或收拢过程中,预定臂架油缸驱动的预定臂节的根端铰点至臂架末端之间的各臂节的末端均以不大于预定速度vO运动,保证了折叠臂架的展开或收拢的安全性和稳定性。 [0080] Thus, the above-described control method, similarly to the controller, the control system can be employed such that the boom in the folded or collapsed during deployment, the root end of the boom cylinder to drive a predetermined hinge point of the arm sections to a predetermined end of each arm between the end of the boom sections are not greater than the predetermined speed vO movement, to ensure the folding of the boom to expand or collapse of security and stability.

[0081] 具体的方案中,控制单元用于在计算出预定臂架油缸需要的流量Q2后,将流量等于流量Q2的液压油输送至预定臂架油缸。 [0081] In a specific embodiment, the control unit is used in the calculation of a predetermined desired boom cylinder flow rate Q2, the flow rate is equal to the flow rate Q2 of the hydraulic oil delivered to a predetermined boom cylinder. 这使得在折叠臂架的展开或收拢过程中,预定臂架油缸驱动下具有最大距离r2的臂节末端以预定速度vO运动,这使得在保证安全运行的前提下,使得折叠臂架展开或收拢的时间减少,提高折叠臂架的工作效率。 This makes folding of the boom to expand or collapse during the predetermined boom cylinder drive arm section having the maximum distance r2 terminal at a predetermined speed vO motion, which makes the premise of ensure safe operation, so that the boom folded to expand or collapse reducing time and improve work efficiency of the folding boom.

[0082] 进一步地,计算单元用于根据公式Q2=rlQl/r2获得流量Q2 ;其中,rl为预定臂节的根端铰点至臂架末端之间的各臂节长度之和,即为图3所示的折叠臂架的预定臂架油缸的根端铰点距离臂架末端的各个臂节末端距离预定臂架油缸的根端铰点的最大距离,Ql为同一行程L2条件下,最大距离r2为rl时,具有最大距离为rl的臂节末端以预定速度vO运动时预定臂架油缸需要的液压油流量。 [0082] Further, means for obtaining a flow rate Q2 calculated according to the formula Q2 = rlQl / r2; wherein, rl is the root end of the hinge point of the arm sections to a predetermined length of each boom section and between the end of the boom, that is, FIG. the maximum distance from the end of each boom section end of the boom hinge point of the root end of the predetermined folding boom boom cylinder 3 shown in a predetermined distance from the root end of the hinge point of the boom cylinder, Ql, L2 is the same travel conditions, the maximum distance r2 is rl, a terminal having the maximum distance of the arm section rl predetermined flow of hydraulic oil to the boom cylinder when a predetermined desired speed vO movement. 这样,在控制系统的工作过程中直接建立起流量Q2与最大距离r2 二者之间的对应关系,节省了大量实验和分析的工作量,并且能够确保控制精度。 Thus, during operation of the control system to establish direct correspondence between the two maximum flow rate Q2 and the distance r2, saving a lot of experiments and analysis of the workload, and the control accuracy can be ensured.

[0083] 在进一步的实施例中,上述控制系统的检测单元可以具体通过以下几种方式获取最大距离r2: [0083] In a further embodiment, the control system detecting unit may acquire the maximum distance r2 specifically in the following ways:

[0084] 第一种,可以先获取各臂架油缸的行程,根据各臂架油缸的行程获取所述预定臂节的根端铰点至臂架末端之间的各臂节的末端到所述预定臂节的根端铰点的距离,再获取上述距离中的最大值。 [0084] The first, you can obtain the respective stroke of the boom cylinder, acquires the predetermined hinge point of the arm section of the root end to the tip of each arm between the end of the boom sections of the boom cylinder in accordance with the stroke of each a predetermined distance from the root end section of the hinge point of the arm, and then obtaining the maximum value of the distance. [0085] 第二种,可以通过检测部件检测所述折叠臂架的各臂节的角度参数,根据各臂节的角度参数获取所述预定臂节的根端铰点至臂架末端之间的各臂节的末端到所述预定臂节的根端铰点的距离,再获取上述距离中的最大值。 [0085] Second, the parameters may be detected folding angle of each boom section of the boom by a detecting means, arm section acquires the predetermined hinge point to the root end of the boom end according to the angle between the arm sections of each of the parameters the end sections of each arm to the predetermined distance from the root end section of the hinge point of the arm, and then obtaining the maximum value of the distance.

[0086] 如上述控制方法中描述的相同,采用上述第一种和第二种检测单元能够较为准确地获取最大距尚r2,进一步提闻控制精度。 [0086] The control method described in the same above-described first and second detection means can be more accurately obtain the maximum distance still r2, to further improve the control accuracy smell.

[0087] 第三种,可以通过检测部件检测检测所述预定臂节的根端铰点至臂架末端之间的各臂节的末端到所述预定臂节的根端铰点的距离,再获取上述距离中的最大值。 [0087] Third, the root end may be a predetermined hinge point of the arm section is detected by the detecting means to detect the end of each arm between the end of the boom sections from the root end to the hinge point of the predetermined section of the arm, and then obtaining the maximum value of the distance. 由此可见,如上述控制方法中描述的相同,采用这种控制方法能够直接、快速地获取最大距离r2,进一步提高控制效率。 Thus, as described in the above-described control method of the same, with this control method can be directly and rapidly acquire the maximum distance r2, to further improve the control efficiency.

[0088] 此外,本发明还提供一种混凝土布料机械,包括折叠臂架;折叠臂架采用如上的折叠臂架的控制系统。 [0088] Further, the present invention also provides a concrete placing machine, comprising a folding boom; folding boom control system as described above using the folding boom. 具体地,该混凝土布料机械具体为混凝土泵车或混凝土搅拌泵车,当然,还可以为其他种类的混凝土布料机械。 In particular, the concrete pump truck cloth mechanical stirring is particularly concrete pump or concrete, of course, may also be other types of concrete distributing machinery.

[0089] 由于上述折叠臂架的控制系统具有上述技术效果,因此包括该控制系统的混凝土布料机械也应当具有相应的技术效果,在此不再赘述。 [0089] Since the foldable boom control system having the technical effect, and therefore the control system comprises a concrete distributing machinery also has corresponding technical effects should, not be described herein.

[0090] 以上对本发明所提供的一种混凝土布料机械及其折叠臂架的控制方法、控制器、控制系统进行了详细介绍。 [0090] The foregoing control method of a concrete placing boom of the machinery and the folding of the present invention provides a controller, the control system described in detail. 本文中应用了具体个例对本发明的原理及实施方式进行了阐述,以上实施例的说明只是用于帮助理解本发明的方法及其核心思想。 Herein through specific examples and embodiments of the principles of the present invention are set forth in the above described embodiments are only used to help understand the method and core idea of ​​the present invention. 应当指出,对于本技术领域的普通技术人员来说,在不脱离本发明原理的前提下,还可以对本发明进行若干改进和修饰,这些改进和修饰也落入本发明的保护范围内。 It should be noted that those of ordinary skill in the art, in the present invention without departing from the principles of the premise, may also be a number of modifications and improvements of the present invention, and these improvements and modifications also fall within the scope of the present invention.

Claims (12)

1.一种折叠臂架的控制方法,所述折叠臂架包括多个自臂架根端至臂架末端依次连接的臂节以及至少一个臂架油缸,每一所述臂架油缸与至少一个臂节连接,能够驱动与该臂架油缸连接的一个臂节运动;其特征在于,所述控制方法包括如下步骤: 获取所述折叠臂架的一个预定臂架油缸的当前行程L2 ;获取所述预定臂架油缸驱动的预定臂节的根端铰点至臂架末端之间的各臂节的末端到所述预定臂节的根端铰点的最大距离r2 ; 根据所述当前行程L2和所述最大距离r2计算在所述预定臂架油缸驱动下使具有所述最大距离r2的臂节末端以预定速度vO运动时所述预定臂架油缸需要的流量Q2 ; 将流量小于或等于所述流量Q2的液压油输送至所述预定臂架油缸。 A method of controlling a folding boom, said boom comprising a folding boom from a plurality of the root end to the end of the boom arm sections and sequentially connecting at least a boom cylinder, each of the boom cylinder and at least one jib section is connected, a drive arm can be connected to the articulation of the boom cylinder; characterized in that said control method comprising the steps of: obtaining the folding boom of a predetermined current stroke L2 of the boom cylinder; acquiring the predetermined driving the boom cylinder root end sections of the hinge point of the arm to a predetermined end of each arm between the end of the boom sections to the predetermined maximum distance from the root end section of the hinge point of the arm R2; according to the current and the stroke L2 said maximum distance r2 calculated at the end section of the arm having a predetermined maximum distance r2 of the lower boom cylinder driven at a predetermined speed of movement of said predetermined vO desired boom cylinder flow rate Q2; flow rate equal to or less than the flow rate Q2 oil delivered to the hydraulic boom cylinder is predetermined.
2.根据权利要求1所述的折叠臂架的控制方法,其特征在于,在计算出所述预定臂架油缸需要的流量Q2后,将流量等于所述流量Q2的液压油输送至所述预定臂架油缸。 The control method of folding the boom to claim 1, wherein, in the calculation of the predetermined desired boom cylinder flow rate Q2, the flow rate equal to the flow rate Q2 of the hydraulic oil delivered to the predetermined boom cylinder.
3.根据权利要求1所述的折叠臂架的控制方法,其特征在于,所述流量Q2根据公式Q2=rlQl/r2 获得; 其中,rl为所述预定臂节的根端铰点至臂架末端之间的各臂节长度之和,Ql为同一行程L2条件下,最大距离r2为rl时,具有最大距离rl的臂节末端以预定速度vO运动时所述预定臂架油缸需要的液压油流量。 The control method of folding boom according to claim 1, wherein said flow rate Q2 is obtained according to the formula Q2 = rlQl / r2; wherein, rl as the predetermined root end to the hinge point of the boom arm sections the length of each arm between the end sections and, at the same stroke as Ql, L2 conditions, the maximum distance is rl r2, the arm having a tip section at a maximum distance rl predetermined movement speed vO said predetermined desired boom cylinder hydraulic fluid flow.
4.根据权利要求1所述的折叠臂架的控制方法,其特征在于,所述流量Q2根据预定臂架油缸的当前行程L2、所述最大距离r2查询数据库获得。 The control method of the boom folded to claim 1, wherein said flow rate Q2 stroke L2 of the boom cylinder in accordance with a predetermined current, the maximum distance r2 query the database for.
5.根据权利要求1-4任一项所述的折叠臂架的控制方法,其特征在于,所述最大距离r2通过以下方式之一获得: 1)检测各臂架油缸的行程,根据各臂架油缸的行程获取所述预定臂节的根端铰点至臂架末端之间的各臂节的末端到所述预定臂节的根端铰点的距离,再获取上述距离中的最大值; 2)检测所述预定臂节的根端铰点至臂架末端之间的各臂节的末端到所述预定臂节的根端铰点的距离,再获取上述距离中的最大值; 3)检测所述折叠臂架的各臂节的角度参数,根据各臂节的角度参数获取所述预定臂节的根端铰点至臂架末端之间的各臂节的末端到所述预定臂节的根端铰点的距离,再获取上述距离中的最大值。 The control method of folding the boom according to any one of claims 1-4, characterized in that said maximum distance r2 obtained by one of the following ways: 1) the detection of each stroke of the boom cylinder, according to each arm the stroke of cylinder holder arm section acquires the predetermined root end to the tip of each arm hinge point between the end of the boom sections from the root end to the hinge point of the predetermined section of the arm, and then obtaining the maximum value of the distances; 2) detecting the predetermined section of the root end of the hinge arm to the end point of each arm between the end of the boom sections from the root end to the hinge point of the predetermined section of the arm, and then obtaining the maximum value of the distances; 3) angle detecting parameters of each boom section of the boom folded to obtain the predetermined hinge point of the arm section of the root end to the tip of each arm between the end of the boom section to the jib section in accordance with predetermined angular parameters of each arm sections from the root end of the hinge point, and then obtaining the maximum value of the distance.
6.一种折叠臂架的控制器,所述折叠臂架包括多个自臂架根端至臂架末端依次连接的臂节以及至少一个臂架油缸,每一所述臂架油缸与至少一个臂节连接,能够驱动与该臂架油缸连接的一个臂节运动;所述控制器至少包括计算单元和控制单元,其特征在于, 所述计算单元能够根据所述折叠臂架的预定臂架油缸的当前行程L2及所述预定臂架油缸驱动的预定臂节的根端铰点至臂架末端之间的各臂节的末端到所述预定臂节的根端铰点的最大距离r2,计算在所述预定臂架油缸驱动下使具有所述最大距离r2的臂节末端以预定速度vO运动时所述预定臂架油缸需要的流量Q2 ; 所述控制单元能够根据所述流量Q2将流量小于或等于所述流量Q2的液压油输送至所述预定臂架油缸。 A controller folding boom, said boom comprising a folding boom from a plurality of the root end to the end of the boom arm sections and sequentially connecting at least a boom cylinder, each of the boom cylinder and at least one jib section is connected, a drive arm can be connected to the articulation of the boom cylinder; said controller comprises at least a computing unit and a control unit, characterized in that the computing unit can be predetermined in accordance with the boom cylinder of the folding boom current predetermined stroke L2, and the boom cylinder drive arm section a predetermined hinge point to the root end of each arm tip end of the boom sections between the predetermined maximum distance r2 to the root end section of the hinge point of the arms, calculated end of the arm section having the maximum distance r2 is predetermined in the boom cylinder is driven at a predetermined speed of movement of said predetermined vO desired boom cylinder flow rate Q2; the control unit can according to the flow rate Q2 is smaller than the flow rate or Q2 is equal to the flow rate of the hydraulic oil delivered to the boom cylinder is predetermined.
7.一种折叠臂架的控制系统,所述折叠臂架包括多个自臂架根端至臂架末端依次连接的臂节以及至少一个臂架油缸,每一所述臂架油缸与至少一个臂节连接,能够驱动与该臂架油缸连接的一个臂节运动;其特征在于,所述控制系统至少包括: 检测单元,用于获取所述折叠臂架的一个预定臂架油缸的当前行程L2 ;获取所述预定臂架油缸驱动的预定臂节的根端铰点至臂架末端之间的各臂节的末端到所述预定臂节的根端铰点的最大距离r2 ; 计算单元,用于根据所述当前行程L2和所述最大距离r2计算在所述预定臂架油缸驱动下使具有所述最大距离r2的臂节末端以预定速度vO运动时所述预定臂架油缸需要的流量Q2 ; 控制单元,用于将流量小于或等于所述流量Q2的液压油输送至所述预定臂架油缸。 A control system of the folding boom, said boom comprising a folding boom from a plurality of the root end to end of the boom arm sections connected successively and at least a boom cylinder, each of the boom cylinder and at least one jib section is connected, a drive arm can be connected to the articulation of the boom cylinder; characterized in that at least the control system comprising: a detection unit for acquiring the current stroke of the folding boom of the boom cylinder in a predetermined L2 ; obtaining a predetermined hinge point of the root end of a predetermined driving the boom cylinder to the end of each boom section of the boom sections between the end of the boom to a predetermined maximum distance from the root end section of the hinge point of the arm R2; calculating unit for when the calculation of the end section of the arm having a predetermined maximum distance r2 of the lower boom cylinder driven at a predetermined speed of movement of said predetermined vO boom cylinder flow rate required according to the current stroke and the maximum distance L2 r2 Q2 ; a control unit for the delivery flow of the hydraulic oil is less than or equal to the predetermined flow rate Q2 of the boom cylinder.
8.根据权利要求7所述的折叠臂架的控制系统,其特征在于,所述控制单元用于在计算出所述预定臂架油缸需要的流量Q2后,将流量等于所述流量Q2的液压油输送至所述预定臂架油缸。 8. The control system of the folding boom of claim 7, wherein said control unit is used in the calculation of the predetermined desired boom cylinder flow rate Q2, the flow rate is equal to the hydraulic flow rate Q2 oil delivered to the boom cylinder is predetermined.
9.根据权利要求7所述的折叠臂架的控制系统,其特征在于,所述计算单元用于根据公式Q2 = rlQl/r2获得流量Q2 ; 其中,rl为所述预定臂节的根端铰点至臂架末端之间的各臂节长度之和,Ql为同一行程L2条件下,最大距离r2为rl时,具有最大距离为rl的臂节末端以预定速度vO运动时所述预定臂架油缸需要的液压油流量。 9. The folding boom control system according to claim 7, wherein said means for obtaining a flow rate Q2 calculated according to the formula Q2 = rlQl / r2; wherein, rl as the predetermined root end section of the hinge arm point-to-length sections of each arm between the boom end and, at the same stroke as Ql, L2 conditions, the maximum distance rl r2 is, having a maximum distance rl at a tip of the arm section when the predetermined speed of movement of said predetermined boom vO cylinder hydraulic oil flow needs.
10.根据权利要求7-9任一项所述的折叠臂架的控制系统,其特征在于,所述检测单元用于通过以下方式之一获得所述最大距离r2: 1)检测各臂架油缸的行程,根据各臂架油缸的行程获取所述预定臂节的根端铰点至臂架末端之间的各臂节的末端到所述预定臂节的根端铰点的距离,再获取上述距离中的最大值; 2)检测所述预定臂节的根端铰点至臂架末端之间的各臂节的末端到所述预定臂节的根端铰点的距离,获取上述距离中的最大值; 3)检测所述折叠臂架的各臂节的角度参数,根据各臂节的角度参数获取所述预定臂节的根端铰点至臂架末端之间的各臂节的末端到所述预定臂节的根端铰点的距离,再获取上述距离中的最大值。 10. A control system according to any one of the 7-9 fold boom according to claim, wherein said means for obtaining said maximum detection distance r2 by one of the following: 1) detect the boom cylinder stroke, the predetermined stroke of each cylinder of the boom arm sections obtained according to the root end to the tip of each arm hinge point between the end of the boom sections from the root end to the hinge point of the predetermined section of the arm, and then acquires the the maximum distance; 2) detecting the predetermined section of the root end boom hinge point to the end of each arm between the end of the boom sections from the root end to the hinge point of the predetermined section of the arm, acquires the distances maximum; 3) detecting the angle of folding boom arm sections each parameter, acquisition of the predetermined hinge point of the root end of the arm section based on the angle parameter of each arm sections of each arm to the tip end of the boom sections between the the predetermined distance of the hinge point of the arm base end section, and then obtaining the maximum value of the distance.
11.一种混凝土布料机械,包括折叠臂架;其特征在于,所述折叠臂架采用如权利要求7-10任一项所述的折叠臂架的控制系统。 A concrete placing machine comprising folding boom; wherein said boom is folded using folding boom control system as claimed in any one of claims 7-10.
12.根据权利要求11所述的混凝土布料机械,其特征在于,具体为混凝土泵车或混凝土搅拌泵车。 12. A machine according to claim 11, wherein the concrete fabric, wherein specifically for the concrete pump truck stirring or concrete.
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