CN103046749A - Cloth arm support retraction control method, control system, arm support limiting device and equipment - Google Patents
Cloth arm support retraction control method, control system, arm support limiting device and equipment Download PDFInfo
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- CN103046749A CN103046749A CN2012105550070A CN201210555007A CN103046749A CN 103046749 A CN103046749 A CN 103046749A CN 2012105550070 A CN2012105550070 A CN 2012105550070A CN 201210555007 A CN201210555007 A CN 201210555007A CN 103046749 A CN103046749 A CN 103046749A
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Abstract
The cloth arm support retraction control method comprises the following steps: a downlink driving step: the electric control type driving mechanism obtains the required downlink control current I0 to drive the first arm section (2) to rotate downwards around the hinge axis; a support control step: at a control time t0 when the inclination angle theta 1 of the first arm section (2) relative to the horizontal plane decreases to a preset inclination value theta t, the downlink control current I0 is reduced to zero at a momentary step change at the control time t0 or to zero within a first preset time delta t1 from the control time t 0. In addition, the invention also provides a material distribution arm support retraction control system, an arm support limiting device and material distribution equipment. The invention can make the retracting and supporting of the material distributing arm support more stable and reliable, slow down the impact, reduce the shaking of the material distributing arm support in the driving process of the pump truck and improve the stability and the safety of the pump truck.
Description
Technical field
The present invention relates to a kind of distributing arm support control method, particularly, relate to a kind of distributing arm support and regain control method.On this basis, the present invention relates to a kind of distributing arm support and regain control system.In addition, the present invention relates to a kind of jib stopping means.Further, the invention still further relates to a kind of apparatus for distributing that comprises described distributing arm support withdrawal control system and jib stopping means, for example concrete mixer.
Background technology
The apparatus for distributing of the sticky material such as concrete, mortar has distributing arm support such as concrete mixer, concrete spreader, mortar material distributing machine etc. are upper knownly, and material conveying pipe (for example elephant trunk) is installed on the distributing arm support.Described distributing arm support comprises hinged successively a plurality of arm joints, and wherein the first arm joint (those skilled in the art are also referred to as " basic arm joint ") is hinged on the panoramic table, and an end of the Material pipeline on the minor details arm joint connects the cloth flexible pipe usually.
Known ground, apparatus for distributing need to transport material to assigned address by the expansion of distributing arm support, for example concrete mixer arrives assigned address by distributing arm support supporter material conveying tube and by the expansion of distributing arm support with concrete conveyance, so the length of run of distributing arm support is much larger than the pump truck chassis length.Know for those skilled in the art ground, successively hinged a plurality of arms of distributing arm support are energy-conservation enough relative to each other to rotate around its hinging rotary axis, thereby can fold and launch.Particularly, the first arm joint consists of the hinging rotary axis that the first arm saves with the hinge axes of panoramic table, the second arm joint consists of the hinging rotary axis that the second arm saves with the hinge axes of the first arm joint, the 3rd arm joint consists of the hinging rotary axis that the 3rd arm saves with the hinge axes of the second arm joint, therefore analogize, namely consist of the hinging rotary axis of the first arm joint except the hinge axes of the first arm joint with panoramic table, the hinging rotary axis of arm joint after the hinge axes of the rear arm joint arm joint last with it of alternate arm joint consists of, wherein contextual order be with hinged the first arm of panoramic table joint for before, minor details arm joint is at last.Be separately installed with the driving oil cylinder that rotates around its hinging rotary axis for driving each arm joint between the first arm joint and the panoramic table and between the alternate arm joint, thereby so that distributing arm support can folding extension.Known ground, each driving oil cylinder has hydraulically extensible control loop separately, the reversal valve that each hydraulically extensible control loop that drives oil cylinder adopts on the existing distributing arm support is generally electric control reversing valve (such as 3-position 4-way solenoid operated directional valve, 3-position 4-way electro-hydraulic proportion reversing valve etc.), electromagnet by the control electric control reversing valve gets electric and dead electricity, thereby so that electric control reversing valve commutates to realize to drive the flexible of oil cylinder, control thus the expansion of each arm joint of distributing arm support or folding.
After the distributing arm support operation is finished, folding being placed into of distributing arm support need to be supported on the basis (for example chassis of concrete mixer), distributing arm support has two strong points usually under this state, referring to shown in Figure 1, namely save hinged panoramic table and be arranged on the supporting seat 4 that supports on the basis with the first arm, for example, with regard to concrete mixer, a strong point is panoramic table, and another strong point is exactly the other supporting seat 4 of hopper.Supporting seat 4 is vertically arranged, the top of this supporting seat 4 is formed with support slot, when being placed on the supporting basis after distributing arm support is folding, the bracing frame 3 of the first arm joint of distributing arm support extend in the support slot of supporting seat and supports on the bottom surface of this support slot.The A/F of the support slot of supporting seat 4 is usually greater than the width of bracing frame 3, just can be toward transferring under the situation of the basic support slot of aiming at supporting seat with the first arm joint of guaranteeing distributing arm support, namely in the certain limit corresponding with support slot, just can control the first arm joint and save with other arm and transfer.
But, the distributing arm support of prior art reclaims control and has obvious shortcoming, particularly, first, after other arm joint except the first arm joint 2 of distributing arm support 1 all folds on the first arm joint 2, so that the support slot that the first arm of distributing arm support joint 2 is aimed at supporting seat 4 is transferred, operating personnel's this moment (being the tractor driver) are by operation input apparatus (typically for example remote controller), control the electric control reversing valve in the expansion control loop of driving oil cylinder of the first arm joint, transfer in the support slot that supports to supporting seat so that the driving oil cylinder of this first arm joint retracts to control the first arm joint.But, when the switching of control electric control reversing valve, only rely on operating personnel's experience in the prior art, when operating personnel observe bracing frame 3 on the first arm joint 2 near supporting seat 4, then decontrol the first arm joint control button (namely switching to meta so that the first arm saves the electromagnet dead electricity of the electric control reversing valve of 2 correspondences with the control electric control reversing valve) on the remote controller, referring to shown in Figure 5, but existing electric control reversing valve is confined to traditional automatically controlled form, its control electric current is a slope and is reduced to gradually zero, therefore after the joint of the first arm on the decontroling remote controller control button, the electric control reversing valve corresponding to driving oil cylinder of the first arm joint also be for some time electric, be after the t1 of Fig. 5 decontrols the first arm joint control button on the remote controller constantly, also have electric current output within afterwards a period of time, namely the spool of electric control reversing valve can only be got back to meta lentamente.Be subjected to the impact of slope current, distributing arm support motional inertia and deadweight etc., the distributing arm support segment distance that also can down move, this distance has very large relation with operating personnel's operating habit and operating experience, the time little when large.If the first arm joint control button (namely input is so that the input signal of the electromagnet dead electricity of electric control reversing valve) on the remote controller is just decontroled in the first arm joint 2 position far away above supporting seat 4, after then distributing arm support stops to move downward, also has an intersegmental gap between the support slot bottom surface of bracing frame 3 and supporting seat 4; If the first arm of decontroling on the remote controller in position nearer above the supporting seat 4 at the first arm joint 2 saves control button, the bottom support pad 6(that bracing frame 3 on then the first arm saves can directly be pounded in support slot with huge motion momentum is generally cushion or cushion) on, thereby produce very large impact, greatly detracted application life of distributing arm support and supporting seat, even so that distributing arm support and corresponding support member are scrapped damage.Particularly, if the bracing frame 3 on the first arm joint 2 is parked in interior bottom support pad 6 tops of support slot of supporting seat 4, may there be certain gap between the two, like this in the pump truck driving process, whole distributing arm support just easily rocks, and the stability of pump truck and safety just reduce; Or the bracing frame on the distributing arm support 3 is directly pounded on bottom support pad 6 with larger momentum.Then can cause very large impact, cause sometimes car load to rock, greatly damage the life-span of the support member on distributing arm support and the supporting basis.
In addition, only rely on operating personnel rule of thumb to operate, be difficult to distributing arm support all is parked at every turn the position of the support slot of aiming at supporting seat, and can only be rough alignment in a scope, for so that bracing frame is aimed within the specific limits distributing arm support can both be put well, the support slot of supporting seat is generally large than bracing frame, this is just so that there is certain gap in the support slot side of bracing frame 3 sides and supporting seat 4, in the pump truck driving process, whole distributing arm support just easily rocks, and the stability of pump truck and safety just reduce.Particularly, three kinds of exemplary position of parking referring to Fig. 2, Fig. 3 and distributing arm support shown in Figure 4, bracing frame 3 on the distributing arm support 1 shown in Figure 2 is in the left side of support slot, Fig. 3 shows that the bracing frame 3 on the distributing arm support just is parked in the centre position of support slot, and Fig. 4 shows that the bracing frame 3 on the distributing arm support 1 is in the right side of support slot.In existing technology, only depend on the tractor driver to operate and be difficult to the bracing frame on the jib all is parked in the centre position at every turn, this just needs so that the size of the support slot of supporting seat is larger than bracing frame, thereby can between the support slot side of bracing frame side and supporting seat, leave certain gap, but the existence in this gap can cause distributing arm support to rock back and forth in the horizontal direction, be that distributing arm support can double swerve, to cause serious consequence like this, because the quality of boom system is very large, when pump truck on the way travels, the double swerve of jib can cause very large momentum, and the center of gravity of distributing arm support is in the top of pump truck, and this has just reduced stability and the safety of pump truck greatly.Simultaneously, the bump that moves in circles of distributing arm support 1 easily causes the loosening of connecting portion, loosening etc. such as bolt.The bump that moves in circles of distributing arm support is equivalent to apply the one-period shock loading at component, so just greatly reduces the life-span of component.
Typically, in the prior art so that the first arm of distributing arm support 1 joint 2 is aimed at the support slot of supporting seat 4, generally be to rotate to realize by the control panoramic table, panoramic table turns to initial position, the first arm joint 2 of distributing arm support 1 is just in time aimed at the support slot of supporting seat 4, operating personnel typically on the hydraulic control circuit of the rotary motor by input equipment (for example remote controller) control panoramic table electric control reversing valve drive panoramic table and rotate, but this control only is rule of thumb to estimate control by operating personnel, and the control electric current that the control panoramic table rotates is larger, buffering is not enough, as long as the panoramic table revolution knob on the slightly moving remote controller of operating personnel, panoramic table will drive the larger angle of distributing arm support revolution, and the opening size of the support slot of supporting seat is limited comparatively speaking, this so that bracing frame be difficult to arrive exactly supporting seat support slot directly over, even panoramic table has turned to so that the first arm joint of distributing arm support is aimed at the position of support slot sometimes, but because operating personnel's accident is actuated panoramic table revolution knob, also can need the position so that distributing arm support departs from.Therefore, be difficult to by operating personnel's operation bracing frame just be aimed at the support slot of supporting seat, can only be to operate back and forth back and forth the revolution knob, thereby jib is parked in certain scope, this work be very loaded down with trivial details; And, drop on the bottom support pad 6 of support slot at bracing frame before, whole boom system only has a strong point, it is panoramic table, the boom system center of gravity is away from this strong point, control panoramic table and come back rotation to be easy to cause apparatus for distributing this moment, and for example the car load of pump truck rocks, even causes security incident.
Because the above-mentioned shortcoming of prior art need to provide a kind of more controlled distributing arm support recycling and control method, to overcome or to alleviate the problems referred to above.
Summary of the invention
Technical problem to be solved by this invention provides a kind of distributing arm support recycling and control method, this distributing arm support recycling and control method can be so that the recovery support part of distributing arm support be steadily reliable, thereby so that distributing arm support can effectively support on the support member on supporting basis and slow down relatively reliably impact.
The further technical problem to be solved of the present invention provides a kind of distributing arm support recycling and control method, this distributing arm support recycling and control method not only can be so that the recovery support part of distributing arm support be steadily reliable, and can improve the degree of accuracy of the Support Position of distributing arm support on support member in relative efficiency ground.
On this basis, technical problem to be solved by this invention provides a kind of distributing arm support recovery control system, this distributing arm support recovery control system can carry out relatively steady reliably control to the recovery support part of distributing arm support, thereby also slows down relatively reliably impact on the basic support member of supporting so that distributing arm support can support to effectively.
Further, technical problem to be solved by this invention provides a kind of jib stopping means, and this jib stopping means can support the use with distributing arm support recovery control system of the present invention, thereby so that the stability of strutting system after the distributing arm support withdrawal is better.
In addition, technical problem to be solved by this invention provides a kind of apparatus for distributing, and the recovery support part of the distributing arm support of this apparatus for distributing is relatively steadily reliable, and it can effectively support on the basic support member of supporting and slow down relatively reliably impact.
In order to solve the problems of the technologies described above, the invention provides a kind of distributing arm support and regain control method, the first arm of described distributing arm support is energy-conservation enough to rotate around this first arm joint and the hinge axes of panoramic table by the driving of electric-controlled type driving mechanism, wherein, described distributing arm support is regained control method and is comprised: the downlink drive step: be at the support of described the first arm joint above the jib supporting part on supporting basis and by the rotating under the location status that can be supported in described jib supporting part of described the first arm joint, drive described the first arm joint so that described electric-controlled type driving mechanism obtains the descending control electric current I 0 that needs and rotate around described hinge axes; Support and control step: be reduced to the control time point t0 of default inclination angle value θ t in described the first arm joint inclination angle theta 1 with respect to the horizontal plane, so that described descending control electric current I 0 is reduced to zero or is reduced to zero in this control time point t0 moment step in the first Preset Time △ t1 that begins from this control time point t0.
Preferably, the span of described default inclination angle value θ t is 15 °≤θ t≤25 °, and the span of described the first Preset Time △ t1 is 0＜△ t1≤3s.
Preferably, described electric-controlled type driving mechanism comprises the driving oil cylinder that is hinged between panoramic table and described the first arm joint and the hydraulic control circuit of this driving oil cylinder, extension and contraction control reversal valve on this hydraulic control circuit is electric control reversing valve, described the first arm is energy-conservation enough to rotate around described hinge axes by the driving of described driving oil cylinder, described electric control reversing valve switches under the effect of described descending control electric current so that the operating position that described driving oil cylinder is retracted rotates thereby can drive described the first arm joint; Described support and control step also comprises: be reduced to the first auxiliary control time point ta of zero so that described electric control reversing valve obtains and the auxiliary control electric current I 1 of described descending control electric current I 0 opposite direction in described descending control electric current I 0, and so that should auxiliary control electric current I 1 increase to the predetermined current value or in the second Preset Time △ t2 that begins from this first auxiliary control time point ta, increase to described predetermined current value in the described first auxiliary time point ta moment step of controlling; And so that described auxiliary control electric current I 1 keeps described predetermined current value in the 3rd Preset Time Δ t3, and and then in the 4th Preset Time △ t3, be reduced to zero.
Particularly, the span of the second Preset Time △ t2 is 0＜△ t2≤3s; The span of described the 3rd Preset Time △ t3 is 1s≤△ t3≤3s; And the span of described the 4th Preset Time △ t4 is 3s≤△ t4≤5s.
Preferably, cross controller described electric-controlled type driving mechanism is controlled, and in described support and control step, described controller undo personnel are by the operation signal of input equipment input.
Typically, the support of described the first arm joint is the bracing frame that is arranged on this first arm joint, described supporting basis is the chassis of concrete mixer, the base of concrete spreader or the bottom of mortar material distributing machine, described supporting is provided with supporting seat on the basis, the top of this supporting seat is formed with support slot, and the jib supporting part of described brace foundation is the bottom surface of described support slot.
Preferably, described distributing arm support is regained control method and also is included in the panoramic table control step of carrying out before the described downlink drive step, this panoramic table control step comprises: control described panoramic table and drive described distributing arm support revolution, described panoramic table is turned to initial position and stop at this initial position, the support that saves at described the first arm of this initial position is supported in this jib supporting part by the zone line that can aim at described jib supporting part that rotates that this first arm saves.
Particularly, in described panoramic table control step, by detecting the angle of revolution of described panoramic table, and the angle of revolution that will detect compares with the initial angle of revolution corresponding to described initial position of panoramic table, rotates and stop at described initial position thereby control described panoramic table.
Preferably, described distributing arm support is regained control method and also is included in the arm joint folding step that carries out before the described panoramic table control step, in this arm joint folding step, so that other arm joint except described the first arm joint of described distributing arm support folds into described the first arm joint upward and folding putting in place, rotate simultaneously thereby drive described other arm joint at the joint of the first arm described in the described descending control step.
Particularly, other arm joint except described the first arm joint of described distributing arm support is respectively arranged with the second obliquity sensor, in described arm joint folding step, detects each described other arm by each described second obliquity sensor and saves whether folding putting in place.
Preferably, described panoramic table control step also comprises: control the revolution of described panoramic table by controller, after described panoramic table rotates and stops on the described initial position, within the revolution shielding scheduled time so that controller undo personnel by the revolution operation signal of input equipment input, turn round thereby operating personnel can not operate described panoramic table within this revolution shielding scheduled time.
Specifically selectively, the span of the described revolution shielding scheduled time is 3s to 5s.
As a kind of form of implementation, in described downlink drive step, if operating personnel operate described panoramic table revolution by described input equipment, then stop described downlink drive step, and re-execute successively described arm joint folding step, panoramic table control step, downlink drive step and support and control step.
Corresponding with above-mentioned distributing arm support withdrawal control method, the invention provides a kind of distributing arm support and regain control system, the first arm of described distributing arm support is energy-conservation enough to rotate around this first arm joint and the hinge axes of panoramic table by the driving of electric-controlled type driving mechanism, this electric-controlled type driving mechanism drives described the first arm joint and rotates around described hinge axes when obtaining the descending control electric current I 0 that needs, supporting basic jib supporting part so that the support of described the first arm joint is supported in, wherein, described distributing arm support regains that control system comprises controller and for detection of first obliquity sensor at the inclination angle of described the first arm joint, described controller is electrically connected on described the first obliquity sensor and electric-controlled type driving mechanism, in the removal process that described the first arm joint rotates, described controller is reduced to the control time point t0 of default inclination angle value θ t in described the first arm joint inclination angle theta 1 with respect to the horizontal plane, so that described descending control electric current I 0 is reduced to zero or is reduced to zero in the first Preset Time △ t1 that begins from this control time point t0 in this control time point t0 moment step.
Particularly, described electric-controlled type driving mechanism comprises the driving oil cylinder that is hinged between described panoramic table and described the first arm joint and the hydraulic control circuit of this driving oil cylinder, extension and contraction control reversal valve on this hydraulic control circuit is electric control reversing valve, described the first arm is energy-conservation enough to rotate around described hinge axes by the driving of described driving oil cylinder, described electric control reversing valve switches under the effect of described descending control electric current so that the operating position that described driving oil cylinder is retracted rotates thereby can drive described the first arm joint.
Preferably, described controller is reduced to the first auxiliary control time point ta of zero so that described electric control reversing valve obtains and the auxiliary control electric current I 1 of described descending control electric current I 0 opposite direction in described descending control electric current I 0, and so that should auxiliary control electric current I 1 increase to the predetermined current value or in the second Preset Time △ t2 that begins from this first auxiliary control time point ta, increase to described predetermined current value in the described first auxiliary time point ta moment step of controlling; And so that described auxiliary control electric current I 1 keeps described predetermined current value in the 3rd Preset Time △ t3, and and then in the 4th Preset Time △ t3, be reduced to zero.
Preferably, described distributing arm support regains the second obliquity sensor that control system comprises that also other each arm except described the first arm joint of being separately positioned on described distributing arm support saves and for detection of the rotary angle transmitter of described panoramic table angle of revolution, each described the second obliquity sensor and described rotary angle transmitter are electrically connected on described controller.
Further, the invention provides a kind of jib stopping means, comprise supporting seat, the top of this supporting seat is formed with the support slot for the support that supports distributing arm support, wherein, described support slot forms under the state in described support is supported on this support slot, the bottom surface of this support slot and side, both sides respectively can with bottom surface and the both sides contacts side surfaces of described support.
Preferably, be provided with the bottom support pad on the bottom surface of described support slot, be respectively arranged with the first side pad and the second side pad on the side, both sides.
In addition, the invention provides a kind of apparatus for distributing, comprise distributing arm support, wherein, described apparatus for distributing also comprises according to above-mentioned distributing arm support recovery control system.
Preferably, be provided with above-mentioned jib stopping means on the supporting basis of described apparatus for distributing.
Typically, described apparatus for distributing is concrete mixer, concrete spreader or mortar material distributing machine.
Pass through technique scheme, the present invention transfers the inclination angle in the process and descending control electric current I 0 is carried out specific aim control according to the first arm joint, be reduced to the control time point t0 of default inclination angle value θ t when the first arm joint inclination angle theta 1 with respect to the horizontal plane, so that described descending control electric current I 0 is reduced to zero or is reduced to zero in this control time point t0 moment step in the first Preset Time △ t1 that begins from this control time point t0.That is to say, distributing arm support of the present invention regains control system so that the withdrawal control of distributing arm support is more controlled, when the first arm joint inclination angle theta 1 with respect to the horizontal plane is reduced to default inclination angle value θ t, so that the electric-controlled type driving mechanism no longer or as quickly as possible no longer provides the driving force that rotates to the first arm joint, thereby the first arm joint basic motional inertia of self that relies in process subsequently rotates and supports on the described jib supporting part, by this default inclination angle value θ t choose can so that the first arm pitch from the jib supporting part on supporting basis apart from less, thereby can slow down significantly distributing arm support impact to the jib supporting part in regaining control procedure, be conducive to the prolongation in the application life of distributing arm support and relative supports.Under preferred form, the present invention further returns meta by applying auxiliary control electric current I 1 with the valve core reset that accelerates electric control reversing valve, thereby stop in the time on shorter ground providing downlink drive power to the first arm joint so that drive oil cylinder, so that distributing arm support slows down effect to the impact of jib supporting part is better, in this case, the default inclination angle value θ t of above-mentioned the first arm joint can arrange littlely, impact thereby alleviate better, guarantee the first arm joint drive the distributing arm support jib transfer final stage in the time by specific Current Control, slowly and by rule down move, effectively support on the jib supporting part and the alleviation impact of relative efficiency ground.In preferred embodiment, the present invention is by detecting control and other arm joint being folded into the first arm joint upward and folding putting in place in advance to panoramic table, can realize support on the first arm joint be parked in exactly jib supporting part (for example supporting seat) on the supporting basis directly over, automatically find final angle of revolution accurately, can guarantee the accuracy of distributing arm support stand, can reduce the operating time again, reduce operating personnel's workload.Simultaneously by other arm joint is folded on the first arm joint, can prevent effectively that other arm joint in the distributing arm support withdrawal process and possible obstruction from interfering, so that the withdrawal of distributing arm support of the present invention control is more reliable and more stable.
In addition, because the distributing arm support of preferred form of the present invention is regained control system by increasing the detection of panoramic table rotary angle transmitter, can be so that the each all alignings of the support of the first arm joint support the zone line of basic jib supporting part and support on the jib supporting part, in this case, supporting improved jib stopping means provided by the invention, because the size of support slot forms under the state in bracing frame supports to support slot so that the bottom surface of this support slot and side, both sides respectively with bottom surface and the both sides contacts side surfaces of bracing frame.Therefore can eliminate the gap between the side of the side of support (for example bracing frame) of the first arm joint and support slot, thereby so that distributing arm support is more reliable and more stable when apparatus for distributing is cut to operation under retracted state, avoided double swerve, this has improved the application life of distributing arm support of the present invention more, stability and safety when having improved apparatus for distributing (for example concrete mixer) transition operation, and the life-span of further having improved component.
Relevant other features and advantages of the present invention will partly be described in detail in the specific embodiment subsequently.
Description of drawings
Following accompanying drawing is used to provide a further understanding of the present invention, and consists of the part of manual, and itself and the following specific embodiment one are used from explanation the present invention, but protection scope of the present invention is not limited to following the drawings and the specific embodiments.In the accompanying drawings:
Fig. 1 is the schematic diagram of the braced structures on concrete mixer after distributing arm support is regained in the prior art.
Fig. 2 is the schematic diagram of the bracing frame on the distributing arm support on the left of the supporting seat deflection in the prior art.
Fig. 3 is the schematic diagram that the bracing frame on the distributing arm support mediates at supporting seat in the prior art, wherein has respectively the gap between the both sides of bracing frame and the supporting base.
Fig. 4 is the bracing frame on the distributing arm support of the prior art is partial to the right side at supporting seat schematic diagram.
Fig. 5 is the control map of current of electric control reversing valve of driving oil cylinder of the first arm joint of distributing arm support in the prior art.
Fig. 6 is that the distributing arm support recycling and control method of the specific embodiment of the invention is to the control map of current of the electric control reversing valve of the driving oil cylinder of the first arm joint.
Fig. 7 is the details of operation FB(flow block) that adopts distributing arm support recycling and control method of the present invention, and this details FB(flow block) has comprised the key technology design of distributing arm support recycling and control method of the present invention, but main be to adopt for programming.
Fig. 8 is the structural representation of the jib stopping means of the specific embodiment of the invention, and is wherein very close to each other between the bracing frame on the distributing arm support and the supporting seat.
Fig. 9 is the step block diagram of the distributing arm support recycling and control method of the specific embodiment of the invention.
Figure 10 is the structural principle block diagram of the distributing arm support recovery control system of the specific embodiment of the invention.
Description of reference numerals:
1 distributing arm support; 2 first arms joint;
3 bracing frames; 4 supporting seats;
5 approach switchs; 6 bottom support pads;
7 first side pads; 8 second side pads.
The specific embodiment
Below in conjunction with accompanying drawing the specific embodiment of the present invention is elaborated, should be understood that, the specific embodiment described herein only is used for description and interpretation the present invention, and protection scope of the present invention is not limited to the following specific embodiment.
For helping the understanding of technical solution of the present invention, below at first describe distributing arm support of the present invention and regain the specific embodiment of control system, and then illustrate that this distributing arm support regains the actual mechanical process of control system, this actual mechanical process has comprised the major technique design that distributing arm support of the present invention is regained control method, on this basis, will the specific embodiment of distributing arm support withdrawal control method of the present invention be described.In the description process with some possible variant of additional disclosure technical solution of the present invention.
As indicated above, the structure of the upper distributing arm support that adopts of apparatus for distributing (for example concrete mixer) is known ground, simple, distributing arm support 1 comprises hinged successively a plurality of arm joints, wherein the first arm joint 2(is also referred to as " first joint arm joint " or " basic arm joint ") be hinged on the panoramic table, thereby by the revolution of panoramic table, can drive distributing arm support and in 360 ° of scopes, turn round.In addition, be hinged with folding extension drive unit (typically be and drive oil cylinder) between panoramic table and the first arm joint 2 and between the adjacent arm joint, thereby so that the energy-conservation enough drivings by the folding extension drive unit of each arm be folded relative to each other or launch.
Referring to Fig. 1, Fig. 6 and shown in Figure 10, distributing arm support for above-mentioned apparatus for distributing, the distributing arm support of basic embodiment of the present invention is regained control system, the first arm joint 2 of described distributing arm support 1 can rotate around this first arm joint 2 and the hinge axes of panoramic table by the driving of electric-controlled type driving mechanism, this electric-controlled type driving mechanism drives the first arm joint 2 and rotates around described hinge axes when the descending control electric current I 0 that to need, supporting basic jib supporting part so that the support of described the first arm joint 2 is supported in, wherein, described distributing arm support regains that control system comprises controller and for detection of first obliquity sensor at the inclination angle of described the first arm joint 2, described controller is electrically connected on described the first obliquity sensor and electric-controlled type driving mechanism, in the first arm joint 2 removal process that rotate, described controller is reduced to the control time point t0 of default inclination angle value θ t in the first arm joint 2 inclination angle theta 1 with respect to the horizontal plane, so that descending control electric current I 0 is reduced to zero or is reduced to zero in the first Preset Time △ t1 that begins from this control time point t0 in this control time point t0 moment step.
Need to prove at this, with regard to distributing arm support of the present invention regain control system for distributing arm support with regard to, the at least the first arm joint 2 rotates around this first arm joint 2 and the hinge axes of panoramic table by the electric-controlled type driving mechanism, described electric-controlled type goes to mechanism can be multiple known form, such as the electric expansion bar (being automatically controlled push rod) etc. that is hinged between panoramic table and the first arm joint, joint rotates around described hinge axes as long as it can drive the first arm.Typically, described electric-controlled type driving mechanism comprises the driving oil cylinder that is hinged between described panoramic table and the first arm joint 2 and the hydraulic control circuit of this driving oil cylinder, extension and contraction control reversal valve on this hydraulic control circuit is electric control reversing valve, described the first arm joint 2 can rotate around described hinge axes by the driving of described driving oil cylinder, described electric control reversing valve switches under the effect of described descending control electric current so that the operating position that described driving oil cylinder is retracted rotates thereby can drive described the first arm joint 2.It is known to the first arm joint 2 structures that drive for those skilled in the art that this employing drives oil cylinder, and the hydraulic control circuit that drives oil cylinder adopts electric control reversing valve to carry out the commutation of oil circuit, thereby realizes driving the telescopic drive of oil cylinder.The form of electric control reversing valve (being generally three position four-way directional control valve) can be varied, such as solenoid operated directional valve, electro-hydraulic proportion reversing valve etc., also can adopt pilot operated directional control valve, and adopt the commutation of the control hydraulic control oil circuits such as solenoid operated directional valve at the hydraulic control oil circuit of this pilot operated directional control valve, thereby realize the commutation of pilot operated directional control valve.By so that the both sides electromagnet of electric control reversing valve gets electric or dead electricity, thereby and spool moves so that electric control reversing valve changes the operating position to drive so that corresponding electromagnet produces active force, namely switch the oil circuit direction.For example, with regard to above-mentioned descending control electric current I 0, this descending control current limliting I0 of side electromagnet acquisition when electric control reversing valve, namely switch to for example right position of electric control reversing valve, thereby so that drive rod chamber oil-feed, the rodless cavity oil return of oil cylinder, realize driving the retraction of oil cylinder with this, thus drive the first arm joint 2 around described jointed shaft to rotating, namely descending.
In above-mentioned basic embodiment of the present invention, rule of thumb operate difference by operating personnel merely unlike the prior art, the present invention transfers the inclination angle in the process and descending control electric current I 0 is carried out specific aim control according to the first arm joint, particularly, distributing arm support of the present invention is regained control system in the withdrawal control of distributing arm support, rotate to support in the process of the jib supporting part (for example bottom surface of the support slot of the supporting seat 4 of Fig. 1) that supports basis (for example concrete pump chassis) at the first arm joint 2, be reduced to the control time point t0 of default inclination angle value θ t when the first arm joint 2 inclination angle theta 1 with respect to the horizontal plane, so that described descending control electric current I 0 is reduced to zero or is reduced to zero in this control time point t0 moment step in the first Preset Time △ t1 that begins from this control time point t0.That is to say, distributing arm support of the present invention regains control system so that the withdrawal control of distributing arm support is more controlled, when the first arm joint 2 inclination angle theta 1 with respect to the horizontal plane is reduced to default inclination angle value θ t, so that electric-controlled type driving mechanism moment dead electricity or can be within the time of specific aim control dead electricity, thereby so that the electric-controlled type driving mechanism no longer or as quickly as possible no longer provides the driving force that rotates to the first arm joint 2, so that the first arm joint 2 basic motional inertia of self that relies in process subsequently rotates and supports on the described jib supporting part, because the first arm joint 2 inclination angle theta 1 with respect to the horizontal plane has been reduced to default inclination angle value θ t at this moment, by this default inclination angle value θ t choose can so that the jib supporting part on the first arm joint 2 distance supporting bases apart from less, thereby can slow down significantly distributing arm support impact to the jib supporting part in regaining control procedure, be conducive to the prolongation in the application life of distributing arm support and relative supports.Need to prove at this; in the withdrawal control of distributing arm support of the present invention; the improvement of most critical is the first arm is saved the control of transferring process; because other arm joint of distributing arm support is knownly hinged successively since the first arm joint; therefore transfer in the process at the first arm joint 2; other arm festival-gathering is followed the first arm joint 2 and is transferred; other arm joint can fold on the first arm joint in advance as hereinafter optimal way is described; also can the first arm joint transfer put in place after refolding to the first arm joint; perhaps can fold into first on the first arm joint 2 by part arm joint; transfer at the first arm joint 2 and again another part arm joint in other arm joint to be folded on the first arm joint after putting in place; in a word; regardless of its fold sequence that adopts, as long as the first arm joint 2 has adopted technical conceive of the present invention in regaining control, it all belongs to protection scope of the present invention.In addition, because the model of apparatus for distributing is various, there is certain difference in the size of the weight of distributing arm support and descending control electric current I 0, when technical conceive of the present invention was applied to concrete apparatus for distributing, those skilled in the art can determine suitable default inclination angle value θ t and the first Preset Time △ t1 for specific apparatus for distributing by limited simulated condition test by technical conceive according to the present invention.Typically, the span of described default inclination angle value θ t can be 15 °≤θ t≤25 °, and the span of described the first Preset Time △ t1 can be 0＜△ t1≤3s.
Regain in the control system at above-mentioned distributing arm support of the present invention, when the electric-controlled type driving mechanism of the first arm joint adopts the form of above-mentioned driving oil cylinder and the electric control reversing valve on the hydraulic control circuit thereof, participate in shown in Figure 6, preferably, described controller is reduced to the first auxiliary control time point ta of zero in described descending control electric current I 0, so that described electric control reversing valve obtains and the auxiliary control electric current I 1 of described descending control electric current I 0 opposite direction, and so that should auxiliary control electric current I 1 increase to the predetermined current value or in the second Preset Time △ t2 that begins from this first auxiliary control time point ta, increase to described predetermined current value in the described first auxiliary time point ta moment step of controlling; And so that described auxiliary control electric current I 1 keeps described predetermined current value in the 3rd Preset Time △ t3, and and then in the 4th Preset Time △ t3, be reduced to zero.Need to prove at this, Fig. 6 does not show the curent change form of step, but this belongs to technical conceive of the present invention equally, in Fig. 6, if descending control electric current I 0 step is reduced to zero, and assist control electric current I 1 step to increase to described predetermined current value, then the control time point t0 among Fig. 6, the first auxiliary time point ta of control and the second auxiliary time point tb that controls overlap, and then are followed successively by the 3rd auxiliary control time point tc and assist control electric current I 1 again to be reduced to zero time point te.The advantage of this preferred form is, its valve core reset that can accelerate electric control reversing valve returns meta, thereby stop in the time that on shorter ground the first arm is saved 2 downlink drive power be provided so that drive oil cylinder, thereby so that distributing arm support that the impact of jib supporting part is slowed down effect is better.Technician for Hydraulic Field knows ground, the spool of electric control reversing valve is from needing the regular hour so that the commutation operating position that the driving oil cylinder is retracted (for example right position) gets back to the meta of cutting-off liquid force feed supply, in this process merely so that descending control electric current I 0 is zero only to be the active force of having eliminated the electromagnet of electric control reversing valve one side, but only relying on the elastic reset of back-moving spring to return meta, the spool of electric control reversing valve needs the regular hour, and by preferred form of the present invention, annotate by the auxiliary control electric current I 1(to electric control reversing valve supply and described descending control electric current I 0 opposite direction: in this case should auxiliary control electric current I 1 be fed on the either side electromagnet of electric control reversing valve and all can realize purpose), the right-hand rule that produces electromagnetic force according to electromagnet as can be known, the electromagnetic force opposite direction that electromagnet produces when the electromagnetic force of the at this moment electromagnet of electric control reversing valve generation and above-mentioned descending control electric current I 0, thereby the spool of electric control reversing valve can switch back meta quickly by the driving of making a concerted effort of back-moving spring and electromagnetic force, in this case, the default inclination angle value θ t of above-mentioned the first arm joint 2 can arrange littlely, impacts thereby alleviate better.As mentioned above, because the model of apparatus for distributing is various, when technical conceive of the present invention was applied to concrete apparatus for distributing, those skilled in the art can determine suitable design parameter value for specific apparatus for distributing by limited simulated condition test by technical conceive according to the present invention.By the simulated condition test to the applicant's various apparatus for distributing, generally speaking, the span of the second Preset Time △ t2 can be 0＜△ t2≤3s; The span of described the 3rd Preset Time △ t3 can be 1s≤△ t3≤3s; And the span of described the 4th Preset Time △ t4 can be 3s≤△ t4≤5s.In addition, the predetermined current value of auxiliary control electric current I 1 generally can be about 1/5 of the working current value of the descending control electric current I 0 of electric control reversing valve.
Referring to Figure 10, regain on the basis of control system at above-mentioned distributing arm support of the present invention, preferably, described distributing arm support regains the second obliquity sensor that control system comprises that also other each arm except the first arm joint 2 of being separately positioned on distributing arm support 1 saves and for detection of the rotary angle transmitter of described panoramic table angle of revolution, each described the second obliquity sensor and described rotary angle transmitter are electrically connected on described controller.
By this preferred embodiment, can be by detecting the angle of revolution of panoramic table, and accurately panoramic table is turned back to initial position, the initial position of panoramic table is the position, initial angle of revolution that distributing arm support 1 is in retracted state, the support of the first arm of distributing arm support 1 joint 2 just in time is supported on this jib supporting part corresponding to the zone line of the basic jib supporting part of supporting in this case, and the jib supporting part on the support of this first arm joint and the supporting basis belongs to structure commonly used at the corresponding relation of the initial position of panoramic table in the structural configuration of apparatus for distributing.Distributing arm support of the present invention is regained control system by rotary angle transmitter is set, can detect easily the angle of revolution of panoramic table, thereby easily panoramic table is controlled to be and is turned back to initial position and (when detecting panoramic table and turn to initial position, can cuts off the hydraulic oil supply of rotary motor and rotary motor is braked by the commutation of reversal valve, hydraulic control circuit and the check mechanism thereof of relevant rotary motor belong to prior art, do not repeat them here).Described rotary angle transmitter can adopt the rotary angle transmitter of multiple known forms, such as Hall rotary angle transmitter etc., with regard to its installation form, can be identical with the installation form of common rotary angle transmitter, for example the magnetic field forming portion of Hall rotary angle transmitter can be fixed in the rotating shaft of panoramic table, rotor portion then is fixed on the panoramic table, thereby the rotor portion of Hall rotary angle transmitter is followed the magnetic line of force that panoramic table rotates and the cutting magnetic field forming portion produces, thereby produces the electrical signal detection corner.In addition, rotary angle transmitter also can adopt the photoelectricity rotary angle transmitter of extensive use etc.
In addition, by being set respectively, the second obliquity sensor can detect easily each other arm joint folding putting in place whether on the first arm joint on each other arm joint, in a preferred form of the invention, control the first arm save 2 descending before, can be so that each other arm joint folds on the first arm joint 2, for arbitrary concrete apparatus for distributing, because under the final retracted state of distributing arm support, each arm joint inclination angle with respect to the horizontal plane is necessarily (typically to be relative to each other parallel, namely parallel with horizontal plane, certainly be not limited to this), in this case, by obtaining the inclination angle of each other arm joint, and the inclination angle of each other arm joint is deducted the top rake of working as of the first arm joint 2, can judge the angle between each other arm joint and the first arm joint, thereby judging whether each other arm joint folds on the first arm joint puts in place.Generally speaking, obliquity sensor is a kind of sensor for measuring object change of pitch angle amount with respect to the horizontal plane, can be divided into solid pendulum-type obliquity sensor, liquid pendulum-type obliquity sensor and pendulum type in-gas inclination senser by its principle.The second obliquity sensor of the present invention and above-mentioned the first obliquity sensor can adopt any obliquity sensor.
Regaining control system at above-mentioned distributing arm support of the present invention preferably includes under the preferred form for detection of the rotary angle transmitter of panoramic table angle of revolution, because it can accurately be controlled to be panoramic table and be turned back to initial position, thereby so that the support of the first arm joint 2 is aimed at the zone line of the basic jib supporting part of supporting and is supported on the jib supporting part, for the repeatedly operation of simple dependence operating personnel in the prior art, distributing arm support of the present invention regain control system can so that the support on the distributing arm support accurately aim at the supporting basis the jib supporting part zone line and support on the jib supporting part, in terms of existing technologies namely, distributing arm support of the present invention is regained control system can provide a kind of more accurate reliably distributing arm support to regain control, this is so that the size of jib supporting part no longer needs the size more relatively large than the support portion of distributing arm support, so that the support on the first jib 2 of distributing arm support all can support on the jib supporting part on supporting basis within the specific limits.
Therefore, referring to shown in Figure 8, the present invention also provides a kind of jib stopping means, comprise supporting seat 4, the top of this supporting seat 4 is formed with the support slot for the support that supports distributing arm support 1, that is to say, the bottom surface of this support slot consists of the support on above-mentioned supporting basis, wherein, described support slot forms under the state in described support is supported on this support slot, the bottom surface of this support slot and side, both sides respectively can with bottom surface and the both sides contacts side surfaces of described support.For example, support on the first arm joint 2 can be bracing frame shown in Figure 13, supporting basis can be for the chassis of concrete mixer etc., under bracing frame 3 supports to state in the support slot, the size of support slot of the present invention form so that the bottom surface of this support slot and side, both sides respectively with bottom surface and the both sides contacts side surfaces of bracing frame 3.Preferably, be provided with bottom support pad 6 on the bottom surface of described support slot, be respectively arranged with the first side pad 7 and the second side pad 8 on the side, both sides.This bottom support pad 6 and the first side pad 7 and the second side pad 8 typically can be cushion, to strengthen buffering effect.Certainly in this case, the bottom surface of bracing frame 3 and side, both sides contact with the bottom support pad 6 of support slot bottom surface and the first side pad 7 on the side, both sides and the second side pad 8 respectively.Regain the improvement of the jib stopping means that control system matches by distributing arm support this and of the present invention, because the distributing arm support of preferred form of the present invention is regained control system by increasing the detection of panoramic table rotary angle transmitter, can be so that the each all alignings of the support of the first arm joint 2 support the zone line of basic jib supporting part and support on the jib supporting part, in this case, because the size of support slot forms under bracing frame 3 supports to state in the support slot so that the bottom surface of this support slot and side, both sides respectively with bottom surface and the both sides contacts side surfaces of bracing frame 3.Therefore can eliminate the gap between the side of the side of support (for example bracing frame 3) of the first arm joint 2 and support slot, thereby so that distributing arm support is more reliable and more stable when apparatus for distributing is cut to operation under retracted state, avoided double swerve, this has improved the application life of distributing arm support of the present invention more.Referring to shown in Figure 8, typically, the cross sectional shape of described support slot can be similar with prior art, namely form the cross section and be dovetail groove trapezoidal and wide at the top and narrow at the bottom, and shape and the support slot of the support (for example bracing frame 3) on the first arm joint 2 are complementary, and this shape can be so that described support more easily enters and supports in the described support slot.
Regain at above-mentioned distributing arm support of the present invention on the basis of technical scheme of control system and jib stopping means, the invention provides a kind of apparatus for distributing, this apparatus for distributing comprises distributing arm support, and wherein, this apparatus for distributing also comprises above-mentioned distributing arm support recovery control system.More preferably, can be provided with above-mentioned jib stopping means on the supporting basis of this apparatus for distributing.Typically, apparatus for distributing of the present invention can be concrete mixer, concrete spreader or mortar material distributing machine.Because apparatus for distributing of the present invention is equipped with distributing arm support of the present invention and regains control system, preferably include above-mentioned jib stopping means, so it has advantages of equally above-mentioned.
As mentioned above; the invention provides the distributing arm support withdrawal control system that a cover is used for apparatus for distributing; for example in preferred form shown in Figure 10; it can regain the angle of revolution of detecting in real time as required panoramic table in the control at distributing arm support by rotary angle transmitter; guarantee that panoramic table drives distributing arm support and automatically gets back to initial position, thereby so that the support (for example bracing frame 3) on the first arm joint 2 be in jib support (for example support slot of supporting seat 4) on the supporting basis directly over.Regain control system by above-mentioned distributing arm support of the present invention, the control mode that it is regained by improving distributing arm support, by corresponding detection method and control, when the inclination angle of the first arm joint 2 is worth less than default inclination angle, adjust the control electric current of the electric-controlled type driving mechanism (for example driving the electric control reversing valve of oil cylinder) of the first arm joint, thereby reduce the impact that distributing arm support is transferred, reduce car load and rock, improve the life-span of component.And the structure of the jib stopping means that supports by the support (for example bracing frame 3) that improves the first arm joint 2, eliminate the side clearance, prevent apparatus for distributing (for example concrete mixer is in the transition driving process) the rocking of distributing arm support in the transition process, so just can improve stability and the safety of pump truck, the life-span that can also improve component.
Before the specific embodiment of describing distributing arm support withdrawal control method of the present invention, below at first regain control system and jib stopping means as example take the distributing arm support of Figure 10 and preferred implementing form shown in Figure 6, with reference to Fig. 7 the specific operation process that distributing arm support of the present invention is regained control is described, need to prove at this, each operating process shown in Figure 7 is the details of practical operation more with embodying, it mainly supplies the programming reference of controller, although it has embodied the major technique design that distributing arm support of the present invention is regained control method, but distributing arm support withdrawal control method of the present invention is not limited to detail or specific detail process among Fig. 7, this will attach schematic illustration hereinafter, only be in order to help those skilled in the art to understand better the present invention with reference to the description of Fig. 7.
Referring to shown in Figure 7, the concrete control flow that distributing arm support shown in Figure 10 is regained control system mainly can be divided into for three steps: the first step, and other except the first arm joint 2 respectively saves the arm joint and all keeps well, namely folds on the first arm joint 2 and folding putting in place; Second step is adjusted panoramic table, makes panoramic table drive distributing arm support and gets back to initial position; Be exactly to adjust the driving oil cylinder of the first arm joint so that the first arm joint 2 drives whole distributing arm support decline at last, finally drop on the jib supporting part (for example supporting seat) on supporting basis.
In the above-mentioned first step, obliquity sensor on each arm joint detects the jib inclination angle in real time, and be transferred to controller, controller judges in real time whether the relation between each arm joint inclination angle meets the demands, under folded state, be parallel to each other as example with six joint arm pump trucks and each arm joint, if other arm joint except the first arm joint folds on the first arm joint 2 and folding putting in place, (this folding direction of sentencing each arm joint of concrete mixer is example successively on the contrary then should to satisfy following relation between the inclination angle between each arm joint, for example the first arm joint is opposite with the folding direction of the second arm joint, the 3rd arm joint is opposite with the folding direction of the second arm joint, at the inclination angle that each obliquity sensor detects, controller can be given the positive and negative of corresponding inclination angle automatically, for example the inclination angle of the first arm joint is for just, then the inclination angle of the second arm joint is alternately given positive and negative then for negative successively):
θ2－θ1=－180° （1）
θ3－θ2=180° （2）
θ4-θ3=-180° （3）
θ5－θ4=180° （4）
θ6－θ5=－180° （5）
θ1≠0° （6）
If the relation between each arm joint inclination angle does not satisfy formula (1)-(6), then circle collection, cycle criterion, until the relation between the inclination angle of each arm joint satisfies till the above-mentioned condition, namely the first arm joint 2 is in the top of the jib supporting part on supporting basis, and each other arm joint is the first arm joint 2 folding putting in place.Above-mentioned formula (1)-(5) represent the relation between the inclination angle of each arm joint, actual all can being converted into respect to the relation between the inclination angle of the first arm joint 2, be parallel to each other under folded state as example with each arm joint, each other arm joint is not limited to this with respect to the inclination angle relation of the first arm joint 2 under the folded state of the distributing arm support of actual pump truck herein.Also need to prove at this, at other each arm joint except the first arm joint 2 obliquity sensor is set, only be for so that folding control is more reliable, in the practical situation in fact since the stroke of the driving oil cylinder of each arm joint set, after the driving oil cylinder of each other arm joint was retracted and put in place, each other arm joint nature can fold and put in place.Following formula (6) expression the first arm joint does not also support on the jib supporting part on supporting basis, but the top of the jib supporting part on supporting basis.When regaining jib, general all be first will be except the first arm saves the arm that respectively saves all keep well and stick together, regain again the first arm joint, making the first arm joint drive whole cloth descends, in the concrete operations flow process herein, for operating personnel, only have the relation that saves between the inclination angle when each arm to satisfy above-mentioned condition, just expression each arm joint except the first segment arm is regained and is finished, and then the beginning second step.
The first step is finished, namely the relation between each arm joint inclination angle satisfies the relation of formula (1)-(6), then begin the second step in the jib withdrawal process, operating personnel are by input equipment (typically for example remote controller) operation panoramic table, so that driving distributing arm support, panoramic table realizes revolution, rotary angle transmitter is measured the angle of revolution in real time simultaneously, and send to controller, the controller Program carries out real-time judge, judge whether the angle of revolution gets back to initial initial angle of revolution, this initial angle of revolution is corresponding to the initial position of panoramic table, at this initial position, distributing arm support is in folded state and is supported on supporting basis upper (being the travel position that distributing arm support is in the transition operation), the initial angle of revolution of panoramic table generally may be prescribed as 0 °, if do not arrive initial angle of revolution, then operating personnel continue revolution by remote controller control panoramic table, rotary angle transmitter and controller gather in real time, judge, and when panoramic table turns to initial position electric control reversing valve and the check mechanism by controller control rotary motor so that panoramic table stops at initial position.Further, when the inclination angle that arrives initial angle of revolution and the first arm joint when the angle of revolution of panoramic table is not 0, then by controller the panoramic table that sends on the remote controller is turned round operator input signal zero setting, it is the panoramic table revolution operation signal that controller undo personnel send by remote controller, duration is 3 seconds, be that remote controller upper rotary knob lost efficacy in these 3 seconds, no matter how knob is turned round in operation, boom system is in all the time initial position and does not produce revolution, to remind the revolution of operating personnel's jib to put in place, next should operate jib transfers, that is to say, after described panoramic table rotates and stops on the described initial position, within 3 seconds the revolutions shielding scheduled time so that controller undo personnel by the revolution operation signal of input equipment input, turn round thereby operating personnel can not operate described panoramic table within this revolution shielding scheduled time.The revolution knob lost efficacy after 3 seconds, in follow-up the first arm joint downlink drive step, the decision operation personnel revolution knob on the remote controller whether again, if operating personnel operate the revolution knob, initial position has been departed from again in the angle of revolution that then represents boom system, and in this case, knob is in order to carry out pumpdown if operating personnel operate revolution, the extra pumpdown in order to carry out originally preparing to knock off for example, this moment distributing arm support the actual Halfway Stopping of withdrawal control procedure.If operating personnel only are the convolution knobs of touching remote controller because of accidental operation, then can re-start the withdrawal control procedure of distributing arm support, on the relation between the inclination angle of each jib of namely coming back to is judged, and carry out successively follow-up operating process in Fig. 7.Need to prove at this, distributing arm support of the present invention is regained the normal cloth operation that control can not affect operating personnel, the work of therefore regaining control procedure middle controller and respective sensor only is complementary, so that regain control more accurately reliably, but main control need of work is finished according to operating personnel's input operation signal, such as the folding control of each other arm joint, the revolution operation of panoramic table etc.
After second step is finished, then began for the 3rd step, the first arm joint downing switch on operating personnel's remote controller drives whole distributing arm support with the first arm joint and rotates around the hinge axes of this first arm joint with panoramic table, thereby realizes descending action.
Particularly, in this downlink drive, controller sends the general needs of descending control electric current I 0(according to operating personnel's operator input signal to the electric control reversing valve corresponding to driving oil cylinder of the first arm joint to carry out electric current through the amplification procedure in amplifier or the controller and amplifies), so that the rod chamber fuel feeding of the driving oil cylinder of the first arm joint and so that the first arm joint is descending, be reduced to the control time point t0 of default inclination angle value θ t when the inclination angle theta 1 of the first arm joint, controller is no longer carried out the operator input signal (namely shield the first arm joint downing switch on the remote controller and make its inefficacy) of the first arm joint downing switch on the remote controller, duration is the △ t among Fig. 6, this process middle controller according in advance the design, satisfying the control form of particular law controls the control electric current of electric control reversing valve corresponding to the driving oil cylinder of the first arm joint, particularly, referring to shown in Figure 6, it is 20 ° that controller is reduced in the default inclination angle value θ t(implementation form shown in Figure 7 in described the first arm joint 2 inclination angle theta 1 with respect to the horizontal plane) control time point t0, so that described descending control electric current I 0 is reduced to zero or be reduced to zero in this control time point t0 moment step in the first Preset Time △ t1 that begins from this control time point t0, and be reduced to the first auxiliary control time point ta of zero so that described electric control reversing valve obtains and the auxiliary control electric current I 1 of described descending control electric current I 0 opposite direction in described descending control electric current I 0, and so that should auxiliary control electric current I 1 increase to the predetermined current value or in the second Preset Time △ t2 that begins from this first auxiliary control time point ta, increase to described predetermined current value in the described first auxiliary time point ta moment step of controlling; And so that described auxiliary control electric current I 1 keeps described predetermined current value in the 3rd Preset Time Δ t3, and and then in the 4th Preset Time △ t3, be reduced to zero.By moving downward lentamente, can reduce the impact that boom system is transferred at the control arm frame system like this, guarantee that simultaneously the support between bracing frame and the supporting seat is effective.As indicated above, for different apparatus for distributing, controller can be different to the design parameter of the control Current Control of electric control reversing valve, there are certain relation in this and the weight of distributing arm support and the descending control size of current of control time point t0 etc., when technical conceive of the present invention is applied to concrete apparatus for distributing, can be by limited simulated condition test, select proper parameter value, for example, the present inventor is by the working condition measurement of a large amount of apparatus for distributing, the span of described default inclination angle value θ t can be 15 °≤θ t≤25 °, and the span of described the first Preset Time △ t1 can be 0＜△ t1≤3s.The span of described the second Preset Time △ t2 can be 0＜△ t2≤3s; The span of described the 3rd Preset Time △ t3 can be 1s≤△ t3≤3s, and the span of described the 4th Preset Time △ t4 can be 3s≤△ t4≤5s.In addition, the span of the above-mentioned revolution shielding scheduled time can be 3s to 5s, and the predetermined current value of auxiliary control electric current I 1 generally can be 1/5 of the working current value of the descending control electric current I 0 of electric control reversing valve.Certainly, control operation of the present invention has only provided typical span, and the present invention is not limited thereto.
Although it is not directly related with distributing arm support withdrawal control of the present invention, but what this needed additional description be, because the operating mode in the apparatus for distributing practical operation is changeable, the cloth operation is mainly carried out cloth according to operating personnel's operation, therefore the control program of controller of the present invention can not badly influence operating personnel's operation, for example, if the inclination angle of the first arm joint is less than 20 °, but distributing arm support is to move upward, what be that controller sends is " upload control electric current ", the operator input signal that can not the masking operation personnel sends by remote controller of this Time Controller then, the operating function of remote controller and normal remote control device are just the same.For another example, when distributing arm support begins to launch when carrying out the cloth operation from initial folded state, although the relation between the inclination angle of each arm joint satisfies formula (1)-(5), θ 1=0 °, therefore controller internal program actual having an effect not, but be in the detected state at the inclination angle of each jib; When the tractor driver controls the rising of the first arm joint a little, then θ is 1 ≠ 0 °, be that relation between the inclination angle of each arm joint satisfies formula (1)-(6), and the angle of revolution of panoramic table also is in position, initial angle of revolution, control program according to the design of the operating process of Fig. 7, this moment, remote controller upper rotary knob can lose efficacy the above-mentioned revolution shielding scheduled time, for example 3 seconds, but within this 3 second, the first arm on the remote controller saves up button and did not lose efficacy, the first arm joint is not up, after 3 seconds, the inclination angle of the first arm joint has generally surpassed default inclination angle value, and because controller sends is the upload control electric current, therefore controller can not carry out the Current Control of particular design to the electric control reversing valve corresponding to driving oil cylinder of the first arm joint, and does not limit any operation signal input on the remote controller yet, until operating personnel operate the panoramic table revolution.After the operation panoramic table, the control program in the controller comes back to the inclination angle detection state between the arm joint, and this can't have influence on operating personnel and operate the cloth operation that distributing arm support is just being gone.That is to say, generally speaking, only have when distributing arm support is regained, relation between each jib inclination angle could satisfy for example above-mentioned formula (1)-(6) fully, when operating personnel carry out normal cloth operation, control program in the controller only rests on first circulation, namely only gathers the dip angle signal of each arm joint, and the operation of distributing arm support is had no effect.Although the control program in the controller is not limited to concrete details flow process among Fig. 7, a whole set of control system only assist control for the recovery of distributing arm support but the controller internal program should be noted that, does not have a strong impact on and should not produce the operation of the expansion of distributing arm support or normally cloth operation.
By the description of above-mentioned concrete operations details flow process, can regain control to distributing arm support of the present invention and have basic understanding, but cloth of the present invention is regained the details that control method is not limited to the aforesaid operations flow process.
Referring to shown in Figure 9, the basic embodiment that distributing arm support of the present invention is regained control method comprises:
Downlink drive step: be at the support of described the first arm joint 2 above the jib supporting part on supporting basis and by the rotating under the location status that can be supported in described jib supporting part of described the first arm joint 2, drive described the first arm joint 2 so that described electric-controlled type driving mechanism obtains the descending control electric current I 0 that needs and rotate around described hinge axes;
Support and control step: be reduced to the control time point t0 of default inclination angle value θ t in described the first arm joint 2 inclination angle theta 1 with respect to the horizontal plane, so that described descending control electric current I 0 is reduced to zero or is reduced to zero in this control time point t0 moment step in the first Preset Time △ t1 that begins from this control time point t0.
In this basic embodiment; because other arm joint of distributing arm support is knownly hinged successively since the first arm joint; therefore transfer in the process at the first arm joint 2; other arm festival-gathering is followed the first arm joint 2 and is transferred; other arm joint can as above preferably fold on the first arm joint in advance; also can the first arm joint transfer put in place after refolding to the first arm joint; perhaps can fold into first on the first arm joint 2 by part arm joint; transfer at the first arm joint 2 and again another part arm joint in other arm joint to be folded on the first arm joint after putting in place; in a word; the withdrawal control method of any distributing arm support; regardless of its fold sequence that adopts; as long as the first arm joint 2 has adopted operating procedure of the present invention in regaining control, it all belongs to protection scope of the present invention.
In addition; although the detection by the panoramic table angle of revolution in the preferred embodiment is hereinafter controlled; so that the support (for example bracing frame 3) of the first arm of distributing arm support 1 joint 2 just in time is supported on this jib supporting part corresponding to the zone line (for example zone line of the support slot on the supporting seat 4) of the basic jib supporting part of supporting; but in this basic embodiment; as long as the support of described the first arm joint 2 is in the jib supporting part top on supporting basis and by the rotating under the location status that can be supported in described jib supporting part of described the first arm joint 2, all belongs to protection scope of the present invention.
As mentioned above, rule of thumb operate difference by operating personnel merely unlike the prior art, the present invention transfers the inclination angle in the process and descending control electric current I 0 is carried out specific aim control according to the first arm joint, particularly, distributing arm support of the present invention is regained control system in the withdrawal control of distributing arm support, rotate to support in the process of the jib supporting part (for example bottom surface of the support slot of the supporting seat 4 of Fig. 1) that supports basis (for example concrete pump chassis) at the first arm joint 2, be reduced to the control time point t0 of default inclination angle value θ t when the first arm joint 2 inclination angle theta 1 with respect to the horizontal plane, so that described descending control electric current I 0 is reduced to zero or is reduced to zero in this control time point t0 moment step in the first Preset Time △ t1 that begins from this control time point t0.That is to say, distributing arm support of the present invention regains control system so that the withdrawal control of distributing arm support is more controlled, when the first arm joint 2 inclination angle theta 1 with respect to the horizontal plane is reduced to default inclination angle value θ t, so that electric-controlled type driving mechanism moment dead electricity or can be within the time of specific aim control dead electricity, thereby so that the electric-controlled type driving mechanism no longer or as quickly as possible no longer provides the driving force that rotates to the first arm joint 2, so that the first arm joint 2 basic motional inertia of self that relies in process subsequently rotates and supports on the described jib supporting part, because the first arm joint 2 inclination angle theta 1 with respect to the horizontal plane has been reduced to default inclination angle value θ t at this moment, by this default inclination angle value θ t choose can so that the jib supporting part on the first arm joint 2 distance supporting bases apart from less, thereby can slow down significantly distributing arm support impact to the jib supporting part in regaining control procedure, be conducive to the prolongation in the application life of distributing arm support and relative supports.
Because the model of apparatus for distributing is various, there is certain difference in the size of the weight of distributing arm support and descending control electric current I 0, when technical conceive of the present invention was applied to concrete apparatus for distributing, those skilled in the art can determine suitable default inclination angle value θ t and the first Preset Time △ t1 for specific apparatus for distributing by limited simulated condition test by technical conceive according to the present invention.Typically, the span of described default inclination angle value θ t can be 15 °≤θ t≤25 °, and the span of described the first Preset Time △ t1 can be 0＜△ t1≤3s.
Particularly, be provided with the first obliquity sensor on described the first arm joint 2, in above-mentioned support and control step, detect the inclination angle of described the first arm joint 2 by the first obliquity sensor of this first arm joint 2.
Typically, the electric-controlled type driving mechanism of the first arm joint 2 comprises that being hinged on panoramic table and the first arm saves driving oil cylinder between 2 and the hydraulic control circuit of this driving oil cylinder, extension and contraction control reversal valve on this hydraulic control circuit is electric control reversing valve, described the first arm joint 2 can rotate around described hinge axes by the driving of described driving oil cylinder, described electric control reversing valve switches under the effect of described descending control electric current so that the operating position that described driving oil cylinder is retracted rotates thereby can drive described the first arm joint 2.
In this case, preferably, above-mentioned support and control step also comprises: be reduced to the first auxiliary control time point ta of zero so that described electric control reversing valve obtains and the auxiliary control electric current I 1 of described descending control electric current I 0 opposite direction in described descending control electric current I 0, and so that should auxiliary control electric current I 1 increase to the predetermined current value or in the second Preset Time △ t2 that begins from this first auxiliary control time point ta, increase to described predetermined current value in the described first auxiliary time point ta moment step of controlling; And so that described auxiliary control electric current I 1 keeps described predetermined current value in the 3rd Preset Time △ t3, and and then in the 4th Preset Time △ t3, be reduced to zero.The advantage of this preferred control form is, its valve core reset that can accelerate electric control reversing valve returns meta, thereby stop in the time that on shorter ground the first arm is saved 2 downlink drive power is provided so that drive oil cylinder, so that distributing arm support slows down effect to the impact of jib supporting part is better.Technician for Hydraulic Field knows ground, the spool of electric control reversing valve is from needing the regular hour so that the commutation operating position that the driving oil cylinder is retracted (for example right position) gets back to the meta of cutting-off liquid force feed supply, in this process merely so that descending control electric current I 0 is zero only to be the active force of having eliminated the electromagnet of electric control reversing valve one side, but only relying on the elastic reset of back-moving spring to return meta, the spool of electric control reversing valve needs the regular hour, and by preferred form of the present invention, by the auxiliary control electric current I 1 to electric control reversing valve supply and described descending control electric current I 0 opposite direction, so that the spool of electric control reversing valve can switch back meta quickly by the driving of making a concerted effort of back-moving spring and electromagnetic force, in this case, the default inclination angle value θ t of above-mentioned the first arm joint 2 can arrange littlely, impacts thereby alleviate better.
As mentioned above, because the model of apparatus for distributing is various, when technical conceive of the present invention was applied to concrete apparatus for distributing, those skilled in the art can determine suitable design parameter value for specific apparatus for distributing by limited simulated condition test by technical conceive according to the present invention.By the simulated condition test to the applicant's various apparatus for distributing, generally speaking, the span of the second Preset Time △ t2 can be 0＜△ t2≤3s; The span of described the 3rd Preset Time △ t3 can be 1s≤△ t3≤3s; And the span of described the 4th Preset Time △ t4 can be 3s≤△ t4≤5s.In addition, the predetermined current value of auxiliary control electric current I 1 generally can be about 1/5 of the working current value of the descending control electric current I 0 of electric control reversing valve.
The accidental operation of input equipment (for example remote controller) is had influence on the specific current control of regaining the last support and control step of control at distributing arm support for fear of operating personnel, preferably, by controller described electric-controlled type driving mechanism is controlled, and in above-mentioned support and control step, described controller undo personnel are by the operation signal of input equipment input.
Typically, referring to shown in Figure 1, the support of described the first arm joint 2 can be for being arranged on the bracing frame 3 on this first arm joint 2, described supporting basis can be the chassis of concrete mixer, the base of concrete spreader or the bottom of mortar material distributing machine, described supporting is provided with supporting seat 4 on the basis, the top of this supporting seat 4 is formed with support slot, and the jib supporting part of described brace foundation is the bottom surface of described support slot.
Regain at distributing arm support on the basis of technique scheme of control method, preferably, described distributing arm support is regained control method and also is included in the panoramic table control step of carrying out before the described downlink drive step, this panoramic table control step comprises: control described panoramic table and drive described distributing arm support 1 revolution, described panoramic table being turned to initial position and stop at this initial position, be supported in this jib supporting part at the support of described the first arm joint 2 of this initial position zone line that to aim at described jib supporting part that rotates by this first arm joint 2.
Particularly, in this panoramic table control step, by detecting the angle of revolution of described panoramic table, and the angle of revolution that will detect compares with the initial angle of revolution corresponding to described initial position of panoramic table, rotates and stop at described initial position thereby control described panoramic table.
By this preferred embodiment, can be by detecting the angle of revolution of panoramic table, and accurately panoramic table is turned back to initial position, the initial position of panoramic table is the position, initial angle of revolution that distributing arm support 1 is in retracted state, and the support of the first arm of distributing arm support 1 joint 2 just in time is supported on this jib supporting part corresponding to the zone line of the basic jib supporting part of supporting in this case.For the repeatedly operation of simple dependence operating personnel in the prior art, distributing arm support of the present invention regain control system can so that the support on the distributing arm support accurately aim at the supporting basis the jib supporting part zone line and support on the jib supporting part, in terms of existing technologies namely, distributing arm support of the present invention is regained control system can provide a kind of more accurate reliably distributing arm support to regain control.
More preferably, described distributing arm support is regained control method and also is included in the arm joint folding step that carries out before the described panoramic table control step, in this arm joint folding step, so that other arm joint except described the first arm joint 2 of described distributing arm support 1 folds on described the first arm joint 2 and folding putting in place, rotate simultaneously thereby drive described other arm joint at the joint of the first arm described in the described descending control step 2.This its advantage is effectively to prevent that the first arm joint from saving in the descending process at other arm of drive so that other arm joint folds on the first arm joint in advance, and other arm joint may bump with job site existence on every side.Certainly, as mentioned above, distributing arm support of the present invention is regained control method also can transfer the folding withdrawal order that folds into other arm joint on the first arm joint again after finishing or take other at the first arm joint, and this all belongs to protection scope of the present invention.
Typically, in described arm joint folding step, other arm joint except described the first arm joint 2 of described distributing arm support 1 is folded into respectively and is parallel to each other with described the first arm joint 2.For example above-mentioned with reference to the relation between the represented arm in the described formula of Fig. 7 (1)-(5) joint.A kind of exemplary position relation between this each arm that also belongs to distributing arm support saves.Particularly, other arm joint except described the first arm joint 2 of described distributing arm support 1 is respectively arranged with the second obliquity sensor, in described arm joint folding step, detects each described other arm by each described second obliquity sensor and saves whether folding putting in place.
Preferably, in above-mentioned panoramic table control step, this panoramic table control step also comprises: control the revolution of described panoramic table by controller, after described panoramic table rotates and stops on the described initial position, within the revolution shielding scheduled time so that controller undo personnel by the revolution operation signal of input equipment input, turn round thereby operating personnel can not operate described panoramic table within this revolution shielding scheduled time.For example, the span of the described revolution shielding scheduled time is 3s to 5s.By this preferred embodiment, if having turned round, panoramic table puts in place, can remind operating personnel, avoid operating personnel rule of thumb to continue to operate the panoramic table revolution, thereby so that distributing arm support of the present invention withdrawal control method is more accurately controlled.
In addition, as a kind of preventative form of implementation, for fear of in the above-mentioned downlink drive step of the first arm joint, operating personnel control the panoramic table revolution because of accidental operation, so that panoramic table departs from accurate described initial position, preferably, in above-mentioned downlink drive step, if operating personnel operate described panoramic table revolution by described input equipment, then stop described downlink drive step, and re-execute successively described arm joint folding step, panoramic table control step, downlink drive step and support and control step.Certainly, be extra pumpdown in order to carry out originally preparing to knock off if operating personnel operate panoramic table in the downlink drive step, then operating panoramic table is for normal pumpdown, this moment, distributing arm support of the present invention was regained the control method Halfway Stopping.
Can be found out by upper description, the invention has the advantages that: the present invention transfers the inclination angle in the process and descending control electric current I 0 is carried out specific aim control according to the first arm joint, be reduced to the control time point t0 of default inclination angle value θ t when the first arm joint 2 inclination angle theta 1 with respect to the horizontal plane, so that described descending control electric current I 0 is reduced to zero or is reduced to zero in this control time point t0 moment step in the first Preset Time △ t1 that begins from this control time point t0.That is to say, distributing arm support of the present invention regains control system so that the withdrawal control of distributing arm support is more controlled, when the first arm joint 2 inclination angle theta 1 with respect to the horizontal plane is reduced to default inclination angle value θ t, so that the electric-controlled type driving mechanism no longer or as quickly as possible no longer provides the driving force that rotates to the first arm joint 2, thereby the first arm joint 2 basic motional inertia of self that relies in process subsequently rotates and supports on the described jib supporting part, by this default inclination angle value θ t choose can so that the jib supporting part on the first arm joint 2 distance supporting bases apart from less, thereby can slow down significantly distributing arm support impact to the jib supporting part in regaining control procedure, be conducive to the prolongation in the application life of distributing arm support and relative supports.Under preferred form, the present invention further returns meta by applying auxiliary control electric current I 1 with the valve core reset that accelerates electric control reversing valve, thereby stop in the time on shorter ground providing downlink drive power to the first arm joint 2 so that drive oil cylinder, so that distributing arm support slows down effect to the impact of jib supporting part is better, in this case, the default inclination angle value θ t of above-mentioned the first arm joint 2 can arrange littlely, impact thereby alleviate better, guarantee the first arm joint 2 drive the distributing arm support jibs transfer final stage in the time by specific Current Control, slowly and by rule down move, effectively support on the jib supporting part and the alleviation impact of relative efficiency ground.In preferred embodiment, the present invention is by detecting control and other arm joint being folded into the first arm joint upward and folding putting in place in advance to panoramic table, can realize support on the first arm joint be parked in exactly jib supporting part (for example supporting seat) on the supporting basis directly over, automatically find final angle of revolution accurately, can guarantee the accuracy of distributing arm support stand, can reduce the operating time again, reduce operating personnel's workload.Simultaneously by other arm joint is folded on the first arm joint, can prevent effectively that other arm joint in the distributing arm support withdrawal process and possible obstruction from interfering, so that the withdrawal of distributing arm support of the present invention control is more reliable and more stable.
In addition, because the distributing arm support of preferred form of the present invention is regained control system by increasing the detection of panoramic table rotary angle transmitter, can be so that the each all alignings of the support of the first arm joint 2 support the zone line of basic jib supporting part and support on the jib supporting part, in this case, supporting improved jib stopping means provided by the invention, because the size of support slot forms under bracing frame 3 supports to state in the support slot so that the bottom surface of this support slot and side, both sides respectively with bottom surface and the both sides contacts side surfaces of bracing frame 3.Therefore can eliminate the gap between the side of the side of support (for example bracing frame 3) of the first arm joint 2 and support slot, thereby so that distributing arm support is more reliable and more stable when apparatus for distributing is cut to operation under retracted state, avoided double swerve, this has improved the application life of distributing arm support of the present invention more, stability and safety when having improved apparatus for distributing (for example concrete mixer) transition operation, and the life-span of further having improved component.
Below describe by reference to the accompanying drawings preferred embodiment of the present invention in detail; but; the present invention is not limited to the detail in the above-mentioned embodiment; in technical conceive scope of the present invention; can carry out multiple simple variant to technical scheme of the present invention, these simple variant all belong to protection scope of the present invention.
Need to prove that in addition each the concrete technical characterictic described in the above-mentioned specific embodiment in reconcilable situation, can make up by any suitable mode.For fear of unnecessary repetition, the present invention is to the no longer separately explanation of various possible combinations.
In addition, also can carry out any combination between the various embodiment of the present invention, as long as it is without prejudice to thought of the present invention, it should be considered as content disclosed in this invention equally.
Claims (22)
1. distributing arm support is regained control method, the first arm joint (2) of described distributing arm support (1) can rotate around this first arm joint (2) and the hinge axes of panoramic table by the driving of electric-controlled type driving mechanism, wherein, described distributing arm support withdrawal control method comprises:
The downlink drive step: the support at described the first arm joint (2) is in the jib supporting part top on supporting basis and saves rotating under the location status that can be supported in described jib supporting part of (2) by described the first arm, drives described the first arm joint (2) so that described electric-controlled type driving mechanism obtains the descending control electric current I 0 that needs and rotates around described hinge axes;
Support and control step: be reduced to the control time point t0 of default inclination angle value θ t in described the first arm joint (2) inclination angle theta 1 with respect to the horizontal plane, so that described descending control electric current I 0 is reduced to zero or is reduced to zero in this control time point t0 moment step in the first Preset Time △ t1 that begins from this control time point t0.
2. distributing arm support according to claim 1 is regained control method, and wherein, the span of described default inclination angle value θ t is 15 °≤θ t≤25 °, and the span of described the first Preset Time △ t1 is 0＜△ t1≤3s.
3. distributing arm support according to claim 1 is regained control method, wherein, described electric-controlled type driving mechanism comprises the driving oil cylinder that is hinged between panoramic table and described the first arm joint (2) and the hydraulic control circuit of this driving oil cylinder, extension and contraction control reversal valve on this hydraulic control circuit is electric control reversing valve, described the first arm joint (2) can rotate around described hinge axes by the driving of described driving oil cylinder, described electric control reversing valve switches under the effect of described descending control electric current so that the operating position that described driving oil cylinder is retracted rotates thereby can drive described the first arm joint (2);
Described support and control step also comprises: be reduced to the first auxiliary control time point ta of zero so that described electric control reversing valve obtains and the auxiliary control electric current I 1 of described descending control electric current I 0 opposite direction in described descending control electric current I 0, and so that should auxiliary control electric current I 1 increase to the predetermined current value or in the second Preset Time △ t2 that begins from this first auxiliary control time point ta, increase to described predetermined current value in the described first auxiliary time point ta moment step of controlling; And so that described auxiliary control electric current I 1 keeps described predetermined current value in the 3rd Preset Time △ t3, and and then in the 4th Preset Time △ t3, be reduced to zero.
4. distributing arm support according to claim 3 is regained control method, and wherein, the span of the second Preset Time △ t2 is 0＜△ t2≤3s; The span of described the 3rd Preset Time △ t3 is 1s≤△ t3≤3s; And the span of described the 4th Preset Time △ t4 is 3s≤△ t4≤5s.
5. distributing arm support according to claim 4 is regained control method, wherein, by controller described electric-controlled type driving mechanism is controlled, and in described support and control step, described controller undo personnel are by the operation signal of input equipment input.
6. distributing arm support according to claim 1 is regained control method, wherein, the support of described the first arm joint (2) is for being arranged on the bracing frame (3) on this first arm joint (2), described supporting basis is the chassis of concrete mixer, the base of concrete spreader or the bottom of mortar material distributing machine, be provided with supporting seat (4) on the described supporting basis, the top of this supporting seat (4) is formed with support slot, and the jib supporting part of described brace foundation is the bottom surface of described support slot.
According to claim 1 in 6 each described distributing arm support regain control method, wherein, described distributing arm support is regained control method and also is included in the panoramic table control step of carrying out before the described downlink drive step, this panoramic table control step comprises: control described panoramic table and drive described distributing arm support (1) revolution, described panoramic table is turned to initial position and stop at this initial position, the support that saves (2) at described the first arm of this initial position is supported in this jib supporting part by the zone line that can aim at described jib supporting part that rotates that this first arm saves (2).
8. distributing arm support according to claim 7 is regained control method, wherein, in described panoramic table control step, by detecting the angle of revolution of described panoramic table, and the angle of revolution that will detect compares with the initial angle of revolution corresponding to described initial position of panoramic table, rotates and stop at described initial position thereby control described panoramic table.
9. distributing arm support according to claim 8 is regained control method, wherein, described distributing arm support is regained control method and also is included in the arm joint folding step that carries out before the described panoramic table control step, in this arm joint folding step, so that other arm joint except described the first arm joint (2) of described distributing arm support (1) folds into described the first arm joint (2) upward and folding putting in place, rotate simultaneously thereby drive described other arm joint at the joint of the first arm described in the described descending control step (2).
10. distributing arm support according to claim 9 is regained control method, wherein, other arm joint except described the first arm joint (2) of described distributing arm support (1) is respectively arranged with the second obliquity sensor, in described arm joint folding step, detect each described other arm by each described second obliquity sensor and save whether folding putting in place.
11. distributing arm support according to claim 9 is regained control method, wherein, described panoramic table control step also comprises: control the revolution of described panoramic table by controller, after described panoramic table rotates and stops on the described initial position, within the revolution shielding scheduled time so that controller undo personnel by the revolution operation signal of input equipment input, turn round thereby operating personnel can not operate described panoramic table within this revolution shielding scheduled time.
12. distributing arm support according to claim 11 is regained control method, wherein, the span of the described revolution shielding scheduled time is 3s to 5s.
13. distributing arm support according to claim 11 is regained control method, wherein, in described downlink drive step, if operating personnel operate described panoramic table revolution by described input equipment, then stop described downlink drive step, and re-execute successively described arm joint folding step, panoramic table control step, downlink drive step and support and control step.
14. distributing arm support is regained control system, the first arm joint (2) of described distributing arm support (1) can rotate around this first arm joint (2) and the hinge axes of panoramic table by the driving of electric-controlled type driving mechanism, this electric-controlled type driving mechanism drives described the first arm joint (2) and rotates around described hinge axes when obtaining the descending control electric current I 0 that needs, supporting basic jib supporting part so that the support of described the first arm joint (2) is supported in, wherein, described distributing arm support is regained the first obliquity sensor that control system comprises controller and saves the inclination angle of (2) for detection of described the first arm, described controller is electrically connected on described the first obliquity sensor and electric-controlled type driving mechanism, in the removal process that described the first arm joint (2) rotates, described controller saves the control time point t0 that (2) inclination angle theta 1 with respect to the horizontal plane is reduced to default inclination angle value θ t at described the first arm, so that described descending control electric current I 0 is reduced to zero or is reduced to zero in the first Preset Time △ t1 that begins from this control time point t0 in this control time point t0 moment step.
15. distributing arm support according to claim 14 is regained control system, wherein, described electric-controlled type driving mechanism comprises the driving oil cylinder that is hinged between described panoramic table and described the first arm joint (2) and the hydraulic control circuit of this driving oil cylinder, extension and contraction control reversal valve on this hydraulic control circuit is electric control reversing valve, described the first arm joint (2) can rotate around described hinge axes by the driving of described driving oil cylinder, described electric control reversing valve switches under the effect of described descending control electric current so that the operating position that described driving oil cylinder is retracted rotates thereby can drive described the first arm joint (2).
16. distributing arm support according to claim 15 is regained control system, wherein, described controller is reduced to the first auxiliary control time point ta of zero so that described electric control reversing valve obtains and the auxiliary control electric current I 1 of described descending control electric current I 0 opposite direction in described descending control electric current I 0, and so that should auxiliary control electric current I 1 increase to the predetermined current value or in the second Preset Time △ t2 that begins from this first auxiliary control time point ta, increase to described predetermined current value in the described first auxiliary time point ta moment step of controlling; And so that described auxiliary control electric current I 1 keeps described predetermined current value in the 3rd Preset Time △ t3, and and then in the 4th Preset Time △ t3, be reduced to zero.
17. according to claim 15 or 19 described distributing arm supports regain control systems, wherein, described distributing arm support regains the second obliquity sensor that control system comprises that also other each arm except described the first arm joint (2) of being separately positioned on described distributing arm support (1) saves and for detection of the rotary angle transmitter of described panoramic table angle of revolution, each described the second obliquity sensor and described rotary angle transmitter are electrically connected on described controller.
18. jib stopping means, comprise supporting seat (4), the top of this supporting seat (4) is formed with the support slot for the support that supports distributing arm support (1), wherein, described support slot forms under the state in described support is supported on this support slot, the bottom surface of this support slot and side, both sides respectively can with bottom surface and the both sides contacts side surfaces of described support.
19. jib stopping means according to claim 18 wherein, is provided with bottom support pad (6) on the bottom surface of described support slot, be respectively arranged with the first side pad (7) and the second side pad (8) on the side, both sides.
20. apparatus for distributing comprises distributing arm support, wherein, described apparatus for distributing also comprises according to claim 14 each described distributing arm support recovery control system in 17.
21. apparatus for distributing according to claim 20 wherein, is provided with according to claim 18 on the supporting basis of described apparatus for distributing or 19 described jib stopping means.
22. according to claim 20 or 21 described apparatus for distributing, wherein, described apparatus for distributing is concrete mixer, concrete spreader or mortar material distributing machine.
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| CN108867747A (en) * | 2018-09-10 | 2018-11-23 | 徐工集团工程机械有限公司 | Engineer machinery operation cantilever crane self-return regulating system, method and engineering machinery |
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