CN103233581B - A kind of control method of concrete arm support pumper - Google Patents
A kind of control method of concrete arm support pumper Download PDFInfo
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- 102000005962 receptors Human genes 0.000 description 7
- 108020003175 receptors Proteins 0.000 description 7
- 239000010720 hydraulic oil Substances 0.000 description 4
- 230000007246 mechanism Effects 0.000 description 4
- 238000005086 pumping Methods 0.000 description 3
- 230000007480 spreading Effects 0.000 description 3
- 238000011065 in-situ storage Methods 0.000 description 2
- 239000003921 oil Substances 0.000 description 2
- 206010044565 Tremor Diseases 0.000 description 1
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- 238000009435 building construction Methods 0.000 description 1
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- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 238000009440 infrastructure construction Methods 0.000 description 1
- 238000011022 operating instruction Methods 0.000 description 1
- 238000012856 packing Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
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Abstract
The invention discloses the control method of a kind of concrete arm support pumper, wherein, including boom system, pump truck main body, turntable, turntable is arranged in pump truck main body, turntable rotates in pump truck main body, boom system is arranged on turntable, and boom system is made up of more piece foldable arm rack, is flexibly connected between more piece foldable arm rack；Drawing together multiple sensor, sensor is separately positioned on turntable and more piece foldable arm rack；Receiver of remote-control sytem, receiver of remote-control sytem includes control unit, and receiver of remote-control sytem is connected with pump truck, and the control unit of receiver of remote-control sytem sends operational order to pump truck；Receiver of remote-control sytem is connected with sensor, and receiver of remote-control sytem obtains the action data of the pump truck of sensor record；Also including remote control transmitter, remote control transmitter and receiver of remote-control sytem radio communication to connect, remote control transmitter transmits operational order to receiver of remote-control sytem.The present invention can realize the wireless remote control to jib and automatically control.
Description
Technical field
The present invention relates to concrete mixer control field, the control method of especially a kind of concrete arm support pumper.
Background technology
Concrete mixer has become the important tool of building trade due to its feature such as flexible, convenient, efficient, and the sustainable development of domestic infrastructure construction is that pump truck provides the bigger market space, also the various functions of pump truck is had higher requirement simultaneously.Boom system is the important component part of concrete mixer, can ensure that it quickly, is smoothly and precisely stretched over pouring position, have impact on the efficiency of concrete mixer work and accuracy to a great extent, therefore the automatization of boom system, intellectualized reconstruction become the hot issue of pump truck control field increasingly.
Owing to boom system is a complex set of multiple degrees of freedom redundancy structure, up to the present, the control of concrete pump truck arm is rested in manual mode mostly, namely operator are by controlling the motion of each joint arm, arm support tail end is made to move to the position of requirement, this mode is heavy and efficiency is low, and easily produces deviation in reality is poured into a mould.The so-called automatization of boom system, intellectualized reconstruction refer to and only need to specify concreting terminal position, can be achieved with single oil cylinder coordination under the control of the computer, make jib arrive continuously or directly by setup program and build end precalculated position.
Patent CN202031332U (denomination of invention: a kind of arm support mechanism for concrete pump truck, the day for announcing: on November 9th, 2011), the jib that beam mechanism is set to be sequentially connected by some joints forms, first joint jib is connected with the turntable (not shown) of concrete mixer, can adopt between the middle jib that minor details jib is adjacent and connect in various manners, minor details jib adopts fluid motor-driven to rotate with middle jib, hydraulic motor is arranged on minor details jib or middle jib, and is positioned on the rotation centerline of minor details jib and middle jib.Hydraulic motor passes through the hose connection of certain length with the arm-pump of concrete mixer, being hydraulic motor supply pressure oil by arm-pump, as power source, hydraulic motor drives minor details jib to rotate, minor details jib is rotated to jib final position by jib original position, and minor details jib rotary work completes.
Patent CN200820135498.2 (denomination of invention: a kind of concrete mixer, the day for announcing: August 12 in 2009) discloses a kind of concrete mixer, including chassis, chassis frame, engine in situ, drive mechanism, running gear, work system；Described engine in situ connects described running gear by described drive mechanism；Described work system includes hydraulic oil pump, hydraulic control system, pumping system, Spreading Boom Bracket System, described hydraulic oil pump provides driving force by described hydraulic control system to pumping system and Spreading Boom Bracket System, the work system electromotor of this invention imparts power to hydraulic oil pump by connection dish, shaft coupling, and hydraulic oil pump drives pumping system and Spreading Boom Bracket System to be operated by hydraulic control system.
But, what the concrete mixer that prior art includes relating in foregoing invention adopted is control mode manual, wired, operate distance, weight greatly, manually drags effort, especially high-building construction, inconvenience especially, further, control line is frequently dragged, it is easy to cause control line to damage, replacement cost is high, and cannot arrive the effect accurately not controlling position.
Summary of the invention
For the problems referred to above of existing existence, now provide the control method of a kind of concrete arm support pumper, it is possible to realize control wireless, Remote Control Automatic, it is to avoid in prior art Artificial Control mode bring numerous and diverse, use inconvenience, it is easy to the technical problem of damage.
Concrete technical scheme is as follows:
A kind of concrete arm support pumper, wherein, including boom system, pump truck main body, turntable, described turntable is arranged in described pump truck main body, described turntable rotates in described pump truck main body, described boom system is arranged on described turntable, and described boom system is made up of more piece foldable arm rack, is flexibly connected described in more piece between foldable arm rack；Also including multiple sensor, described sensor is separately positioned on foldable arm rack described in described turntable and more piece, and described sensor obtains the real time position data of described turntable and described foldable arm rack；
Also include the remote control transmitter for launching wireless signal, and for receiving the receiver of remote-control sytem of the wireless signal that described remote control transmitter is launched；
Described receiver of remote-control sytem includes control unit, and described receiver of remote-control sytem is connected with the actuator of described pump truck, and the control unit of described receiver of remote-control sytem sends operational order according to the instruction comprised in described wireless signal to the actuator of described pump truck；Described receiver of remote-control sytem is connected with described sensor, and described receiver of remote-control sytem obtains the position data of the described pump truck that described sensor gets.
Above-mentioned concrete arm support pumper, wherein, also includes display device, and described receiver of remote-control sytem is connected with described display device, for showing and monitor the running status of described pump truck.
Above-mentioned concrete arm support pumper, wherein, also includes support position, and described support position is arranged on described pump truck, and described support position is positioned at side relative with described turntable on described pump truck, and described support position is for fixing the described boom system under collapsed state.
Above-mentioned concrete arm support pumper, wherein, described support position is provided with the induction installation of the position of the described boom system determined under collapsed state.
Above-mentioned concrete arm support pumper, wherein, the foldable arm rack length that the distance between described support position and the junction of described turntable and described boom system is the longest equal in described more piece foldable arm rack.
A kind of control method of concrete arm support pumper, wherein, described method is arbitrary described concrete arm support pumper suitable in the claims 1-5, comprises the following steps:
Mobile described boom system and described turntable, described sensor obtains the position data of each described foldable arm rack and described turntable；
Being sent in described receptor by described position data, described receptor carries out computing and stores the predetermined path of movement of execution structure of described pump truck；
Described remote control transmitter sends the operational order of mobile described boom system and described turntable to described receiver of remote-control sytem；
Described remote control transmitter receives described operational order, carries out described boom system and the movement of described turntable according to predetermined movement locus.
The control method of above-mentioned concrete arm support pumper, wherein, in the step of mobile described boom system and described turntable, further comprising the steps of:
Draw the predetermined movement locus of described boom system and described turntable；
According to described predetermined movement locus, manual operation controls described jib and described turntable and runs once along predetermined movement locus, and described sensor obtains the position data of each described foldable arm rack and described turntable in the running of described jib and described turntable.
The control method of above-mentioned concrete arm support pumper, wherein, in the step of mobile described boom system and described turntable, further comprising the steps of:
S1: pre-determine initial point, movable length, mobile width data, set the moving range of a rectangle；
S2: in the rectangle moving range of described setting, sets mobile initial point, and using position to be arrived for described boom system as terminal, the top away from described boom system Yu the foldable arm rack of described turntable junction is moved in described rectangle moving range；
S3: commutate after moving one first distance along the length of described rectangle moving range or width in the top of described foldable arm rack, along width or a length direction mobile second distance again of described rectangle moving range；
S4: repeat the move mode in S3 step, described foldable arm rack is mobile until described terminal from described mobile initial point order.
Technique scheme provides the benefit that:
A kind of concrete arm support pumper in the present invention and control method thereof, adopt remote control system, communication, sensor and control device, the kinestate of jib is monitored and inputs instruction by input equipment to emitter, and send instruction by receptor to controlling device, it is achieved the wireless remote controlled intelligent of jib is controlled.
Accompanying drawing explanation
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, the accompanying drawing used required in embodiment or description of the prior art will be briefly described below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the premise not paying creative work, it is also possible to obtain other accompanying drawing according to these accompanying drawings.
Fig. 1 is the structural representation of a kind of concrete arm support pumper of the present invention.
Fig. 2 is the connection block diagram of a kind of concrete arm support pumper remote control system in the present invention.
Fig. 3 is the structural representation under a kind of concrete arm support pumper collapsed state of the present invention.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, the invention will be further described, but not as limiting to the invention.
As shown in fig. 1, a kind of concrete arm support pumper, wherein, including boom system 1, pump truck main body 2, turntable 3, turntable 2 is arranged in pump truck main body 2, and this turntable 3 rotates in pump truck main body 2, and boom system 1 is arranged on turntable 3, boom system 1 is made up of more piece foldable arm rack 4, is flexibly connected between more piece foldable arm rack 4；Also including multiple sensor (not indicating in figure), this sensor is separately positioned on turntable 3 and more piece foldable arm rack 4；
Further, as in figure 2 it is shown, the remote handling system of this concrete arm support pumper includes receiver of remote-control sytem and remote control transmitter, wherein, this receiver of remote-control sytem is connected with the execution structure of pump truck, and wherein, this actuator includes above-mentioned boom system 1 and turntable 3；
This receiver of remote-control sytem includes control unit, can send corresponding operational order to the actuator of pump truck by this control unit, for instance, it is possible to achieve control the motion of boom system 1 and turntable 3.
Also including remote control transmitter, remote control transmitter and receiver of remote-control sytem radio communication to connect, remote control transmitter transmits operational order to receiver of remote-control sytem.
In one embodiment of the present of invention, also include input equipment, this input equipment is connected with remote control transmitter, this input equipment sends operational order to emitter, specifically, this input equipment is operation rocking bar, button, switch or its multiple different input equipment combined, for realizing different operational orders.
In enforcement, operator operate input equipment, such as, above-mentioned all kinds of rocking bars, button and switch, enter the operating instructions to this remote control transmitter, after this remote control transmitter receives input instruction, pass through communication, the receiver of remote-control sytem of Xiang Yuqi pairing sends operation data, and the instruction received is transferred to control device by receiver of remote-control sytem, and control device output analog quantity or switching value directly control the action of the corresponding parts of this pump truck.
In one embodiment of the invention, also including display device, receiver of remote-control sytem is connected with display device, by this display device for showing and monitor the operation of pump truck, and carries out information feedback by receiver of remote-control sytem to remote control transmitter.
In one embodiment of the invention, this pump truck also includes support position 5, and this support position 5 is arranged in pump truck main body 2, and support position is positioned at side relative with turntable 3 in pump truck main body, and this support position 5 is for determining the boom system 1 storing point under collapsed state.In enforcement, it is possible at this support position 5 place, one induction installation is installed, it is used for determining whether this boom system 1 accurately drops on support position 5 place when packing up, and fixes this boom system 1 by support position 5.
In one embodiment of the invention, the foldable arm rack length that distance between this support position 5 and junction of turntable 3 and boom system 1 is the longest equal in more piece foldable arm rack, this the longest foldable arm rack is fixed and on this support position 5, what thereby may be ensured that whole boom system 1 is fixing, it is to avoid damage because trembling etc. in transit.
The invention also discloses the control method of a kind of concrete arm support pumper, wherein, the method is applicable to any of the above-described described concrete arm support pumper, comprises the following steps:
Mobile boom system 1 and turntable 3, sensor obtains the position data of each foldable arm rack 4 and turntable 3；
Being sent in receptor by position data, receptor carries out computing and stores the predetermined path of movement of this boom system and turntable；
Remote control transmitter sends the operational order of mobile boom system and turntable to receiver of remote-control sytem；
Remote control transmitter receives described operational order, carries out the movement of boom system and turntable according to predetermined movement locus.
In enforcement, being separately installed with the first angular transducer and the second angular transducer on this each foldable arm rack 4 and turntable 3, this first angular transducer and the second angular transducer are connected with receiver of remote-control sytem respectively.In enforcement, first the mode that each foldable arm rack 4 and turntable 3 move as required is allowed can to carry out a manual operation, the foldable arm rack in the first angular transducer on this each foldable arm rack 4 and second each moment of sensor record on turntable 3 and the position situation of turntable；Then the related data of record is sent in receiver of remote-control sytem, is analyzed processing to data through control unit, thus calculating and store the running orbit of whole boom system 1 and turntable 3；After remote control transmitter receives the operational order of operation boom system 1 by input equipment and be sent to receiver of remote-control sytem, this receiver of remote-control sytem is automatically according to the pattern presetting movement locus, relevant foldable arm rack 4 according to record and the position of turntable 3 and dynamic parameter, output control signal, controls foldable arm rack 4 and turntable 3 and according to the track set and automatically moves according to certain speed.
In one embodiment of the invention, it is possible to the predetermined movement locus of pre-rendered boom system 1 and turntable 2；According to predetermined movement locus, manual operation controls boom system 1 and moves along predetermined movement locus operation once, and this sensor obtains the position data of each foldable arm rack 4 and turntable 3；
Wherein, this predetermined movement locus includes the motion of often joint foldable arm rack 4 and turntable 3, also include the movement locus on foldable arm rack 4 top away from boom system 1 and the junction of turntable 3, specifically, initial point, movable length, mobile width data can be pre-determined, set the moving range 6 of a rectangle；Further, it is also possible to according to the demand implemented, arrange other moving range with fixed-area or shape, including rectilinear movement track, no longer repeated at this.
Then, in the rectangle moving range 6 of this setting, set mobile initial point 7, using position to be arrived for boom system 1 as terminal 8, pre-determine initial point, movable length, mobile width data, set the moving range of a rectangle；
One first distance is moved from mobile initial point along the length direction of rectangle moving range in the top of described foldable arm rack 4, then commutate a mobile second distance on the width further along rectangle moving range, then further along the first distance mobile same on the length direction of rectangle moving range, above-mentioned mobile step is so repeated until reaching home.
In one embodiment of the invention, it is also possible to first commutate after mobile one first distance on the width of rectangle moving range, then along a length direction mobile second distance again of rectangle moving range；Repeating above-mentioned move mode, foldable arm rack is mobile until described terminal from mobile initial point order.
Additionally, the present invention can also adopt other movement locus carry out the operation of boom system 1 and turntable 3 until reaching final position to be moved, no longer repeated at this.
On such scheme basis, by sensor, the position data of enforcement being sent to receptor, then receptor carries out computing and stores this predetermined movement locus, and sends operational order by remote control transmitter to control receptor；
Remote control transmitter moves boom system 1 and turntable 3 after receiving operational order according to predetermined movement locus.By the mode that above-mentioned track sets, it is also possible to preset the stretching, extension of boom system 1 and the movement locus of withdrawal, and then realize automatically stretching and regaining of boom system 1.
The foregoing is only preferred embodiment of the present invention, not thereby limit the claim of the present invention, so the equivalent structure change done by all utilizations description of the present invention and diagramatic content, be all contained in protection scope of the present invention.
Claims (7)
1. the control method of a concrete arm support pumper, it is applied to concrete arm support pumper, it is characterized in that, described concrete arm support pumper includes boom system, pump truck main body, turntable, described turntable is arranged in described pump truck main body, and described turntable rotates in described pump truck main body, and described boom system is arranged on described turntable, described boom system is made up of more piece foldable arm rack, is flexibly connected described in more piece between foldable arm rack；Also including multiple sensor, described sensor is separately positioned on foldable arm rack described in described turntable and more piece, and described sensor obtains the real time position data of described turntable and described foldable arm rack；
Also include the remote control transmitter for launching wireless signal, and for receiving the receiver of remote-control sytem of the wireless signal that described remote control transmitter is launched；
Described receiver of remote-control sytem includes control unit, and described receiver of remote-control sytem is connected with the actuator of described pump truck, and the control unit of described receiver of remote-control sytem sends operational order according to the instruction comprised in described wireless signal to the actuator of described pump truck；Described receiver of remote-control sytem is connected with described sensor, and described receiver of remote-control sytem obtains the position data of the described pump truck that described sensor gets；
The control method of described concrete arm support pumper, comprises the following steps:
Mobile described boom system and described turntable, described sensor obtains the position data of each described foldable arm rack and described turntable；
Being sent in described receptor by described position data, described receptor carries out computing and stores the predetermined path of movement of execution structure of described pump truck；
Described remote control transmitter sends the operational order of mobile described boom system and described turntable to described receiver of remote-control sytem；
Described remote control transmitter receives described operational order, carries out described boom system and the movement of described turntable according to predetermined movement locus.
2. the control method of concrete arm support pumper according to claim 1, it is characterised in that also including display device, described receiver of remote-control sytem is connected with described display device, for showing and monitor the running status of described pump truck.
3. the control method of concrete arm support pumper according to claim 1, it is characterized in that, also include support position, described support position is arranged on described pump truck, described support position is positioned at side relative with described turntable on described pump truck, and described support position is for fixing the described boom system under collapsed state.
4. the control method of concrete arm support pumper according to claim 3, it is characterised in that be provided with the induction installation of the position of the described boom system determined under collapsed state on described support position.
5. the control method of concrete arm support pumper according to claim 3, it is characterised in that the foldable arm rack length that the distance between described support position and the junction of described turntable and described boom system is the longest equal in described more piece foldable arm rack.
6. the control method of concrete arm support pumper according to claim 1, it is characterised in that in the step of mobile described boom system and described turntable, further comprising the steps of:
Draw the predetermined movement locus of described boom system and described turntable；
According to described predetermined movement locus, manual operation controls described boom system and described turntable and runs once along predetermined movement locus, and described sensor obtains the position data of each described foldable arm rack and described turntable in the running of described boom system and described turntable.
7. the control method of concrete arm support pumper according to claim 6, it is characterised in that in the step of mobile described boom system and described turntable, further comprising the steps of:
S1: pre-determine initial point, movable length, mobile width data, set the moving range of a rectangle；
S2: in the described rectangle moving range set, sets mobile initial point, and using position to be arrived for described boom system as terminal, the top away from described boom system Yu the foldable arm rack of described turntable junction is moved in described rectangle moving range；
S3: commutate after moving one first distance along the length of described rectangle moving range or width in the top of described foldable arm rack, along width or a length direction mobile second distance again of described rectangle moving range；
S4: repeat the move mode in S3 step, described foldable arm rack is mobile until described terminal from described mobile initial point order.
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103806666B (en) * | 2014-01-26 | 2015-02-18 | 三一汽车制造有限公司 | Concrete pump truck and cantilever crane control method |
| CN103806667B (en) * | 2014-01-26 | 2015-12-30 | 三一汽车制造有限公司 | A kind of concrete mixer and arm support control method and control device |
| CN105625726B (en) * | 2014-10-27 | 2018-02-16 | 湖南中联重科智能技术有限公司 | A kind of concrete mixer and its boom system |
| CN105275926B (en) * | 2015-11-12 | 2017-09-15 | 北汽福田汽车股份有限公司 | A kind of arm support control method and system |
| CN107045340A (en) * | 2017-04-26 | 2017-08-15 | 湖南五新隧道智能装备股份有限公司 | A kind of load wagon skeleton working rig control system and method |
| CN111243253A (en) * | 2020-01-10 | 2020-06-05 | 浙江金华文瑞机电有限公司 | Receiving circuit of conveying equipment controller and remote control method |
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Denomination of invention: A control method of concrete boom pump truck Effective date of registration: 20230105 Granted publication date: 20160706 Pledgee: Industrial Bank Co.,Ltd. Shanghai Songjiang sub branch Pledgor: SHANGHAI GENITE CONTROL TECHNOLOGY Co.,Ltd. Registration number: Y2023980030312 |
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