CN102799193B - Arm frame position control device, concrete mixer - Google Patents
Arm frame position control device, concrete mixer Download PDFInfo
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- CN102799193B CN102799193B CN201210328647.8A CN201210328647A CN102799193B CN 102799193 B CN102799193 B CN 102799193B CN 201210328647 A CN201210328647 A CN 201210328647A CN 102799193 B CN102799193 B CN 102799193B
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Abstract
The invention provides a kind of arm frame position control device, comprising: range cells, controller and multi-channel electromagnetic operation valve group, wherein, range cells gathers the distance near described jib and jib between barrier, and the distance signal of collection is sent to controller; Controller is connected to multi-channel electromagnetic operation valve group, judge whether the distance between jib and barrier is less than or equal to preset security distance according to distance signal, when distance between jib and barrier is less than or equal to preset security distance, send current regulating signal to multi-channel electromagnetic operation valve group; Multi-channel electromagnetic operation valve group, according to current regulating signal, controls the hydraulic pressure oil mass of corresponding arm support oil cylinder, to regulate the position of jib, makes the distance between jib and described barrier be greater than described preset security distance.By technical scheme of the present invention, automatic adjusting arm frame terminal position can be realized to safety range for construction, guarantee the safe and reliable of jib action.
Description
Technical field
The present invention relates to engineering machinery field, in particular to concrete mixer.
Background technology
At present, arm support pump truck because of its boundary of works area large, operating speed is fast, and more and more become the main flow in market, the jib of pump truck constantly increases, and its operation is more complicated, just higher to the requirement of safe reliability.Because construction site is complicated and changeable, may have arm support tail end and encounter barrier or workmen, cause unnecessary workmen's injury and jib to damage, this just requires that arm support tail end accurately can control avoiding obstacles or workmen in real time automatically.
In correlation technique, along with the continuous increase of pumping vehicle arm rack length, corresponding jib construction radius is also increasing, but be subject to the restriction of complete vehicle structure space and economic performance, the limited view of workmen, in complicated building site more piece jib interlock work progress, due to the uncertain factor of construction surface, the end of jib may encounter construction surface or workmen, causes unnecessary jib to damage and personnel's injury.How automatically to control jib terminal position, prevent from encountering the barrier in construction surface and workmen, guarantee that arm support tail end construction safety reliably becomes the key of control.
Therefore need a kind of jib of control automatically terminal position technology, can construct in automatic adjusting arm frame terminal position to safe range, guarantee the safe and reliable of jib action.
Summary of the invention
Consider above-mentioned background technology, an object of the present invention is to provide a kind of arm frame position control device, automatic adjusting arm frame terminal position can be realized to safety range for construction, guarantee the safe and reliable of jib action.
According to an aspect of the present invention, provide a kind of arm frame position control device, comprise: range cells, controller and multi-channel electromagnetic operation valve group, wherein, described range cells gathers the distance near described jib and described jib between barrier, and the distance signal of collection is sent to described controller; Described controller is connected to described multi-channel electromagnetic operation valve group, judge whether the distance between described jib and described barrier is less than or equal to preset security distance according to described distance signal, when distance between described jib and described barrier is less than or equal to described preset security distance, send current regulating signal to described multi-channel electromagnetic operation valve group; Described multi-channel electromagnetic operation valve group, according to described current regulating signal, controls the hydraulic pressure oil mass of corresponding arm support oil cylinder, to regulate the position of described jib, makes the distance between jib and described barrier be greater than described preset security distance.
Therefore, this multi-channel electromagnetic operation valve group is for realizing the control to each joint arm support oil cylinder hydraulic fluid flow rate, the size of proportioning valve electric current directly determines the flow area of spool, this range cells is used for the detection to the real-time attitude of jib, jib action message is fed back to controller, and then the proportional current of multi-channel electromagnetic operation valve group is revised, to adjust jib attitude.
In this technical scheme, range cells gathers the distance between jib and barrier, this distance is compared with safe distance, when not in safe distance, timely adjustment arm support position, make it in safe range, thus can effectively avoid jib to encounter barrier in construction surface and workmen, ensure that the security that jib is constructed.
In technique scheme, preferably, can also comprise: actuation member or display input screen, described preset security distance operating personnel inputted by described actuation member or described display input screen is sent to described controller and preserves.
Because working-yard situation is complicated, have a lot of uncertain factor, therefore safe distance also needs to carry out adjusting to guarantee construction safety according to different situations.Can preset security distance simply, easily by this technical scheme operating personnel.
In above-mentioned arbitrary technical scheme, preferably, when described controller is also less than or equal to described preset security distance for the distance between described jib and described barrier, send alarm signal to described actuation member and described display input screen.
In this technical scheme, when the distance of concrete mixer between jib and barrier is less than or equal to preset security distance, automatic control arm rack position, sends alarm signal on the one hand on the one hand, to operating personnel's warning, further ensure that the safety of construction.
In above-mentioned arbitrary technical scheme, preferably, can also comprise: alarm unit, be connected to described controller; When the distance of described controller between described jib and described barrier is less than or equal to described preset security distance, send alerting signal to described alarm unit, described alarm unit is reported to the police when receiving described alerting signal.
In this technical scheme, carry out alarm by alarm unit, avoid construction surface and site operation personal damage.
In above-mentioned arbitrary technical scheme, preferably, described range cells is laser ranging unit or infrared distance measurement unit or GPS range cells or ultrasonic ranging unit.
According to a further aspect in the invention, additionally provide a kind of concrete mixer, comprise jib, also comprise the arm frame position control device as described in above-mentioned arbitrary technical scheme, the range cells of described arm frame position control device is arranged at described jib.
In above-mentioned arbitrary technical scheme, preferably, the quantity of described range cells is at least two, is arranged at intervals at described jib.
In above-mentioned arbitrary technical scheme, preferably, described range cells is arranged at described arm support tail end, and the range finding direction of described range cells straight down.
In above-mentioned arbitrary technical scheme, preferably, described range cells is connected to described arm support tail end by vertical holding member, and top and the described arm support tail end of described vertical holding member are hinged.
In above-mentioned arbitrary technical scheme, preferably, described vertical holding member is an annulus, and the top of described annulus is rotatably installed in described arm support tail end by bearing pin, described bearing pin be axially perpendicular to described jib, described range cells is arranged on the bottom of described annulus.
Preferably, described vertical holding member can also be one in the disc cam of isosceles triangle, the drift angle of disc cam is rotatably installed in described arm support tail end by bearing pin, described bearing pin be axially perpendicular to described jib, described range cells is arranged on described disc cam base.
In technique scheme, range cells is connected to jib by vertical holding member, can guarantee that range cells detection side is to all the time straight down, guarantee between arm support tail end and construction surface, to keep suitable safe distance, realize automatic adjusting arm frame terminal position to safety range for construction, guarantee the safe and reliable of jib action.
Arm frame position control device in technique scheme also can be applicable to material distributing machine, full Terrain Cranes, truck-mounted crane.
According to technical scheme of the present invention, obtain the distance between jib and barrier by range cells, thus can construct in automatic adjusting arm rack position to safe range, guarantee the safe and reliable of jib action; Can warn to operating personnel time simultaneously beyond arm support position to safe range, guarantee construction safety further.
Accompanying drawing explanation
Fig. 1 shows the schematic diagram of arm frame position control device according to an embodiment of the invention;
Fig. 2 shows the structural representation of vertical holding member according to an embodiment of the invention;
Fig. 3 shows the structural representation of vertical holding member according to still another embodiment of the invention;
Fig. 4 shows the another kind of mounting means of range cells in concrete mixer according to an embodiment of the invention;
Fig. 5 shows the process flow diagram of arm support position control method according to an embodiment of the invention.
Component names in Fig. 1 to Fig. 4 and the corresponding relation between Reference numeral are:
102 range cells; 104 controllers; 106 multi-channel electromagnetic operation valve groups; 108 arm support oil cylinder; 110 display input screens; 112 executive components; 114 alarm units; 202 annulus; 208 mounting holes; 300 disc cams.
Embodiment
In order to more clearly understand above-mentioned purpose of the present invention, feature and advantage, below in conjunction with the drawings and specific embodiments, the present invention is further described in detail.
Set forth a lot of detail in the following description so that fully understand the present invention; but; the present invention can also adopt other to be different from other modes described here and implement, and therefore, protection scope of the present invention is not by the restriction of following public specific embodiment.
Below in conjunction with drawings and Examples, the present invention will be further described.It should be noted that, when not conflicting, the feature in the embodiment of the application and embodiment can combine mutually.
First composition graphs 1 describes arm frame position control device according to an embodiment of the invention in detail.Fig. 1 shows the schematic diagram of arm frame position control device according to an embodiment of the invention.
As shown in Figure 1, arm frame position control device 100 according to an embodiment of the invention, comprise: range cells 102, controller 104 and multi-channel electromagnetic operation valve group 106, wherein, range cells 102 gathers the distance near jib and jib between barrier, and the distance signal of collection is sent to controller 104; Controller 104 is connected to multi-channel electromagnetic operation valve group 106, judge whether the distance between jib and barrier is less than or equal to preset security distance according to distance signal, when distance between jib and barrier is less than or equal to preset security distance, send current regulating signal to multi-channel electromagnetic operation valve group 106; Multi-channel electromagnetic operation valve group 106, according to current regulating signal, controls the hydraulic pressure oil mass of corresponding arm support oil cylinder 108, to regulate the position of jib, makes the distance between jib and barrier be greater than preset security distance.
Therefore, this multi-channel electromagnetic operation valve group 106 is for realizing the control to each joint arm support oil cylinder hydraulic fluid flow rate, the size of proportioning valve electric current directly determines the flow area of spool, this range cells 102 is for the detection to the real-time attitude of jib, jib action message is fed back to controller 104, and then the proportional current of multi-channel electromagnetic operation valve group 106 is revised, to adjust jib attitude.
In this technical scheme, range cells 102 gathers the distance between jib and barrier, this distance is compared with safe distance, when not in safe distance, timely adjustment arm support position, make it in safe range, thus can effectively avoid jib to encounter barrier in construction surface and workmen, ensure that the security that jib is constructed.
In technique scheme, preferably, also comprise: actuation member 112(is telepilot such as) or display input screen 110(such as touch display input device), by actuation member 112 or display input screen 110, the preset security distance that operating personnel input is sent to controller 104 and preserves.
Because working-yard situation is complicated, have a lot of uncertain factor, therefore safe distance also needs to carry out adjusting to guarantee construction safety according to different situations.Can preset security distance simply, easily by this technical scheme operating personnel.
Preferably, when controller 104 is also less than or equal to described preset security distance for the distance between jib and barrier, send alarm signal to actuation member 112 and display input screen 110.
In this technical scheme, control arm rack position automatically on the one hand when the distance of concrete mixer between jib and barrier is less than or equal to preset security distance, sends alarm signal on the one hand, to operating personnel's warning, further ensure that the safety of construction.
Preferably, this concrete mixer can also comprise: alarm unit 114(such as hummer), be connected to controller 104; When the distance of controller 104 between jib and barrier is less than or equal to preset security distance, send alerting signal to alarm unit 114, alarm unit 114 is reported to the police when receiving alerting signal.Carry out alarm by alarm unit 114, avoid construction surface and site operation personal damage.
Concrete mixer according to an embodiment of the invention, comprises jib, also comprises arm frame position control device 100 as shown in Figure 1, and the range cells 102 of arm frame position control device 100 is arranged at jib.
Above-mentioned concrete mixer have employed arm frame position control device 100, and its effect produced is identical with the effect of arm frame position control device 100, no longer applies and states.
Preferably, described range cells 102 is arranged at arm support tail end, and the range finding direction of described range cells 102 straight down.
In this technical scheme, range cells 102 be arranged at arm support tail end and its range finding direction straight down, range cells 102 detects arm support tail end and distance immediately below it between barrier (i.e. construction surface), is convenient to the control to arm support tail end when pump truck is constructed.
Preferably, range cells 102 is connected to arm support tail end by vertical holding member, and top and the arm support tail end of vertical holding member are hinged.
As shown in Figure 2, in one embodiment, this vertical holding member is an annulus 202, the top of annulus 202 is provided with mounting hole 208, arm support tail end is provided with bearing pin, bearing pin be axially perpendicular to jib, annulus 202 is located in mounting hole 208 by bearing pin, realization is rotatably installed in arm support tail end, and range cells 102 is arranged on the bottom of annulus 202.
In this technical scheme, because this annulus 202 top is rotatably installed in arm support tail end, bearing pin be axially perpendicular to jib, range cells 102 is arranged on the bottom of annulus 202, like this, no matter how arm support position changes, and the range finding direction of range cells 102 still keeps straight down, the convenient distance detected between arm support tail end and divergence face.
In another embodiment, as shown in Figure 3, vertical holding member is one substantially in the disc cam 300 of isosceles triangle, and the drift angle of disc cam 300 is rotatably installed in jib by bearing pin, bearing pin be axially perpendicular to jib, range cells 102 is arranged on disc cam 300 base.
In figure 3, range cells 102 can be arranged on the bottom of disc cam 300, mounting hole 208 is equally also provided with above this disc cam 300, disc cam 300 can be rotatably installed in arm support tail end by this mounting hole 208, no matter how arm support tail end position changes, and the detection side of this range cells 102 is to remaining straight down.
Fig. 4 shows the another kind of mounting means of range cells 102 in concrete mixer according to an embodiment of the invention.
As shown in Figure 4, the quantity of described range cells 102 is at least two, is four in figure, the quantity of range cells 102 can select other quantity according to actual needs, each range cells 102 is arranged at intervals at jib, and in this implementation, range cells 102 is ultrasonic probe.On the delivery pipe supporting seat that ultrasonic probe is arranged on jib or on side plate, the detection range (i.e. preset security distance) of probe can be set by controller 104.When distance between jib and barrier is less than or equal to preset security distance, current regulating signal can be sent to multi-channel electromagnetic operation valve group 106, the closed-loop control of banked direction control valves proportional current can be realized, solve the problem that synchronous effect that equipment room property difference brings is inconsistent; Alerting signal can be sent to alarm unit 114 simultaneously.
Therefore, adopt ultrasonic ranging principle, under the control of the controller, ultrasonic signal is launched, when running into barrier by probe, produce echoed signal, sensor carries out data processing through controller after receiving echoed signal, judges the position of barrier, and is given a warning by hummer, warn in time, avoid jib impaired or personnel injury.
At this, those skilled in the art should be appreciated that, range cells 102 can be any one in laser ranging unit, infrared distance measurement unit, GPS range cells or ultrasonic ranging unit.These measuring equipments all can detect the distance between jib and barrier.
The concrete control procedure according to concrete mixer of the present invention is further illustrated below in conjunction with Fig. 5.
In this embodiment, range cells 102 can be arranged on arm support tail end, as shown in Figure 5, in step 502, the manual ringing of jib operating unit (such as telepilot) is converted into electric signal and controls jib attitude, in step 504, according to practice of construction situation, set barrier near arm support tail end and jib, such as maximum between construction surface (i.e. the plane at barrier place) safe operation distance h
0, in step 506, measure the vertical range h between arm support tail end and construction surface in real time, in step 508, judge whether the distance h measured is greater than h
0if judged result is for being greater than h
0, then step 514 is entered.If judged result is for being less than h
0, then enter step 510, illustrate that arm support tail end exceeds safe construction scope, continue to enter step 512, adjustment arm support tail end attitude, enters step 514, makes arm support tail end within the scope of safe construction.
From above-mentioned flow process, when there being jib to operate, the survey square sensor be arranged on the vertical holding member on arm support tail end can detect vertical square between arm support tail end with construction surface in real time from h, has preset a vertical square of arm support tail end safe construction from h by telepilot or display screen
0, controller compares detection square in real time from h square vertical with safe construction from h
0between size, work as h>h
0time, illustrate that arm support tail end is constructed in safe range; Work as h<h
0time, illustrate that arm support tail end exceeds safe construction scope, now, controller will send alarm signal to telepilot and display screen and automatically arm support tail end suitably be adjusted to rational safe construction square from scope, safe and reliable when realizing jib operation construction.
More than be described with reference to the accompanying drawings technical scheme of the present invention, consider in correlation technique, the continuous increase of pumping vehicle arm rack length, the limited view of workmen, in complicated building site more piece jib interlock work progress, end arm support may encounter construction surface or workmen, causes unnecessary jib to damage and personnel's injury, the present invention proposes a kind of arm support tail end position control technology, automatic adjusting arm frame terminal position can be realized to safety range for construction, guarantee the safe and reliable of jib action; Can warn to operating personnel time simultaneously beyond arm support tail end position to safe range, guarantee construction safety further.
The foregoing is only the preferred embodiments of the present invention, be not limited to the present invention, for a person skilled in the art, the present invention can have various modifications and variations.Within the spirit and principles in the present invention all, any amendment done, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (7)
1. a concrete mixer, comprises jib, it is characterized in that, also comprise arm frame position control device, described arm frame position control device, comprising: range cells (102), controller (104) and multi-channel electromagnetic operation valve group (106), wherein
Described range cells (102) gathers the distance near described jib and described jib between barrier, the distance signal of collection is sent to described controller (104), and described range cells (102) is arranged at described jib;
Described controller (104) is connected to described multi-channel electromagnetic operation valve group (106), judge whether the distance between described jib and described barrier is less than or equal to preset security distance according to described distance signal, when distance between described jib and described barrier is less than or equal to described preset security distance, send current regulating signal to described multi-channel electromagnetic operation valve group (106);
Described multi-channel electromagnetic operation valve group (106), according to described current regulating signal, controls the hydraulic pressure oil mass of corresponding arm support oil cylinder, to regulate the position of described jib, makes the distance between jib and described barrier be greater than described preset security distance;
Described range cells (102) is arranged at described arm support tail end, and the range finding direction of described range cells (102) straight down, described range cells (102) is connected to described arm support tail end by vertical holding member, and top and the described arm support tail end of described vertical holding member are hinged.
2. concrete mixer according to claim 1, it is characterized in that, also comprise: actuation member (112) or display input screen (110), described preset security distance operating personnel inputted by described actuation member (112) or described display input screen (110) is sent to described controller (104) and preserves.
3. concrete mixer according to claim 1, is characterized in that, also comprises: alarm unit (114), is connected to described controller (104);
When described controller (104) distance between described jib and described barrier is less than or equal to described preset security distance, send alerting signal to described alarm unit (114), described alarm unit (114) is reported to the police when receiving described alerting signal.
4. concrete mixer according to claim 1, is characterized in that, described range cells (102) is laser ranging unit or infrared distance measurement unit or GPS range cells or ultrasonic ranging unit.
5. concrete mixer according to any one of claim 1 to 4, is characterized in that, the quantity of described range cells (102) is at least two, is arranged at intervals at described jib.
6. concrete mixer according to any one of claim 1 to 4, it is characterized in that, described vertical holding member is an annulus (202), the top of described annulus (202) is rotatably installed in described arm support tail end by bearing pin, described bearing pin be axially perpendicular to described jib, described range cells (102) is arranged on the bottom of described annulus (202).
7. concrete mixer according to any one of claim 1 to 4, it is characterized in that, described vertical holding member is one in the disc cam (300) of isosceles triangle, the drift angle of disc cam (300) is rotatably installed in described arm support tail end by bearing pin, described bearing pin be axially perpendicular to described jib, described range cells (102) is arranged on described disc cam (300) base.
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| CN201210328647.8A CN102799193B (en) | 2012-09-07 | 2012-09-07 | Arm frame position control device, concrete mixer |
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| CN201210328647.8A CN102799193B (en) | 2012-09-07 | 2012-09-07 | Arm frame position control device, concrete mixer |
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| CN102799193A CN102799193A (en) | 2012-11-28 |
| CN102799193B true CN102799193B (en) | 2015-12-09 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103086285A (en) * | 2013-01-21 | 2013-05-08 | 三一帕尔菲格特种车辆装备有限公司 | Tipping prevention device, engineering machinery and tipping prevention method |
| CN103628687A (en) * | 2013-12-09 | 2014-03-12 | 湖南三一智能控制设备有限公司 | Concrete pouring method and system, and pouring equipment |
| CN103728987B (en) * | 2013-12-13 | 2016-05-25 | 中联重科股份有限公司 | Arm support control method, arm support control equipment, arm support control system and engineering machinery |
| CN103646505B (en) * | 2013-12-25 | 2016-01-27 | 中国电建集团成都勘测设计研究院有限公司 | Vibrate site safety monitoring and pre-alarming method in chassis operational process |
| CN103680060B (en) * | 2013-12-25 | 2016-06-22 | 中国电建集团成都勘测设计研究院有限公司 | Vibrate site safety monitoring and warning system in chassis running |
| CN104947585A (en) * | 2015-04-22 | 2015-09-30 | 湖南桥康智能科技有限公司 | Intelligent obstacle-avoiding control system of bridge detection robot |
| CN108915267A (en) * | 2018-08-31 | 2018-11-30 | 哈工大机器人（合肥）国际创新研究院 | A kind of wet shot manipulator with from cruise whitewashing function |
| CN110774434A (en) * | 2019-11-06 | 2020-02-11 | 湖南三一快而居住宅工业有限公司 | Concrete distributing method, control device and concrete distributing machine |
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| KR100606203B1 (en) * | 2004-04-19 | 2006-07-31 | 주식회사 디앤에스 | A concrete-mortar transfer system of concrete pump car |
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| CN101525944A (en) * | 2009-03-31 | 2009-09-09 | 北京易斯路电子有限公司 | Concrete pump truck intelligent arm support control system and control method thereof |
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Owner name: SANY AUTOMOBILE MANUFACTURING CO., LTD. Free format text: FORMER OWNER: SANYI HEAVY INDUSTRY CO LTD Effective date: 20130502 |
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