CN103365301B - Boom mobility control method and device and concrete pump truck - Google Patents
Boom mobility control method and device and concrete pump truck Download PDFInfo
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- CN103365301B CN103365301B CN201310247676.6A CN201310247676A CN103365301B CN 103365301 B CN103365301 B CN 103365301B CN 201310247676 A CN201310247676 A CN 201310247676A CN 103365301 B CN103365301 B CN 103365301B
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- arm support
- boom
- angle
- tail end
- output unit
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Abstract
The invention discloses a boom mobility control method and device and a concrete pump truck. The boom mobility control method is used for controlling the linear movement of a boom tail end on a horizontal plane in any direction, and comprises the steps of determining the datum line of the horizontal plane; determining the included angle between the movement direction of the boom tail end and the datum line; calculating motion parameters needed by a boom according to the included angle and the current position of the boom; and controlling the tail end position of the boom according to the motion parameters. According to the invention, the working capability and the operating range of engineering machinery are greatly improved, the engineering machinery can be applicable to construction environments with limited fields, diversified practical construction requirements can be met, and the boom mobility control method has the advantages that the operation is simple, the implementation is easy, the intelligentized degree is high and the like.
Description
Technical field
The invention mainly relates to engineering machinery field, specifically, it is related to a kind of boom mobility control method, mobile control
Device, and it is provided with the concrete mixer of this arm support mobile controller.
Background technology
In recent years, engineering machinery develops rapidly, its automatization, intelligent level more and more higher, such as concrete mixer, wet shot
Machine, boom etc., enable automatic pouring column, crossbeam etc..The concrete pump truck intelligent arm support of prior art is by detection
Control realization is carried out in unit detection concrete pump truck arm inclination angle, oil cylinder working-pressure and arm support tail end position, and it is vertically or longitudinal
The movement of horizontal direction, and moved in the safety range of mechanical movement by its path planning of programme-control, security reliability
Higher.
However, the intelligent arm support of prior art there is also some shortcomings, mainly in path planning module, X, Y, Z axis is solid
Fixed, intelligent arm support moving direction must be perpendicular or parallel in coordinate system with pump truck center chassis line.And in practical work process,
Because place limits and the factors such as practice of construction requirement, the position of continuous placing is needed often to become certain folder with center chassis line
Angle.On the premise of not mobile chassis, prior art cannot meet the non-perpendicular or non-parallel side in center chassis line for the operator
The requirement of continuous placing is carried out on position.
The fast development built with Chinese national economy, the speeding up the construction of various heavy constructions, job site is to coagulation
The demand of the engineering machinery such as native pump truck, wet-spraying machine is increasing, the also more and more higher of the requirement to its performance.Therefore, how to provide
A kind of continuous linear cast of achievable optional position and the boom system of movement, increasing to engineering machinery to meet user
Demand, is those skilled in the art's technical problem urgently to be resolved hurrily.
Content of the invention
In view of this, it is an object of the invention to provide a kind of boom mobility control method and device, control is moved by this
Method and apparatus processed, so that the arm support of engineering machinery can move in horizontal plane any direction, overcomes prior art arm support and moves
The restricted big deficiency in dynamic orientation.
The boom mobility control method of the present invention, for control arm support tail end in the horizontal plane any direction straight line move
Dynamic, including：
Step 101：Determine the datum line in horizontal plane；
Step 102：Determine the moving direction of arm support tail end and the angle of described datum line；
Step 103：According to described angle and arm support current location, calculate the action parameter required for arm support；
Step 104：Control the terminal position of arm support according to described action parameter.
Further, in described step 101, line on the basis of the vertical direction of the perpendicular that arm support is located, or with
Line on the basis of the parallel horizontal direction of perpendicular that arm support is located.
The arm support mobile controller of the present invention, for control arm support tail end in the horizontal plane any direction straight line move
Dynamic, including angle output unit and processor, wherein：
Described angle output unit is used for the angle output of the moving direction of arm support tail end and the datum line in horizontal plane
To processor；
Described processor connects described angle output unit, for calculating the action parameter required for arm support, and according to institute
State the terminal position that action parameter controls arm support.
Further, described angle output unit includes direction knob and rotary encoder, described direction knob with described
Rotary encoder connects, and described direction knob can turn to the moving direction of datum line direction and arm support tail end, and described rotation is compiled
The angle signal of code device detection exports to described processor.
Further, the surface of described direction knob is provided with direction signs.
Further, described angle output unit also includes validating that button, and described ACK button connects described processor, institute
When stating ACK button action, described processor confirms and records the angle information receiving.
Further, described angle output unit also includes housing and installs band, described direction knob and rotary encoder
It is arranged on described housing, described installation band is connected on described housing, for described housing is installed on arm support tail end.
Further, connected by bus communication between described rotary encoder and described processor.
Further, described angle output unit is digital keys, for be manually entered the moving direction of arm support tail end with
The angle of datum line.
Another aspect of the present invention, also provides a kind of concrete mixer, including moveable arm support, and is provided with aforementioned
The arm support mobile controller of any one.
The boom mobility control method of the present invention and device, it is first determined the moving direction of arm support tail end and the folder of datum line
Angle, according to this angle and arm support current location, can calculate the action parameter required for arm support, exist such that it is able to realize arm support tail end
The movement of any direction on horizontal plane, substantially increases ability to work and the job area of engineering machinery, goes for place
Restricted construction environment requires it is possible to meet diversified practice of construction.
Additionally, in further technical scheme, angle output unit is used as by simple external add-in part, during operation
Operator only need to for direction knob to be respectively aligned to datum line and moving direction, you can inherently sat with revising in intelligent arm support
Mark, makes processor obtain moving direction information, and completes to move accordingly control by calculating.Whole process is simple to operate, easily
In enforcement, intelligence degree is high, reduces the labor intensity of operator, improves working performance.
Brief description
The accompanying drawing constituting the part of the present invention is used for providing a further understanding of the present invention, the schematic reality of the present invention
Apply example and its illustrate, for explaining the present invention, not constituting inappropriate limitation of the present invention.In the accompanying drawings：
Fig. 1 is the flow chart of the boom mobility control method of one embodiment of the invention；
Fig. 2 is the orientation diagram in operation for the concrete mixer of one embodiment of the invention；
Fig. 3 is the schematic diagram of the arm support mobile controller of one embodiment of the invention；
Fig. 4 is the structural representation of the angle output unit of one embodiment of the invention.
Description of reference numerals：
1 processor
2 direction knobs
21 direction signs
3 rotary encoders
4 ACK buttons
5 housings
6 install band
7 buses
Specific embodiment
It should be noted that in the case of not conflicting, the embodiment in the present invention and the feature in embodiment can phases
Mutually combine.To describe the present invention below with reference to the accompanying drawings and in conjunction with the embodiments in detail.
It is the flow chart of the boom mobility control method of one embodiment of the invention shown in Fig. 1.The arm support of this embodiment moves
Control method is used for controlling the rectilinear movement of arm support tail end any direction in the horizontal plane.In the vertical direction, arm support tail end
Moving direction is vertical with center chassis line, the action that vertically can be taken the air line by intelligent arm support technology of the prior art realization.
The boom mobility control method of this embodiment can be used for as engineering machinery such as concrete mixer, wet-spraying machine, booms
In.The arm support of such engineering machinery is typically made up of multiple joint arms, and each joint arm passes through its angle of pitch of flexible adjustment of amplitude oil cylinder,
And then realize different extended length.Additionally, such engineering machinery typically also includes slew gear, arm support is arranged at slew gear
On, revolution on achievable horizontal plane.
The boom mobility control method of this embodiment comprises the following steps：
Step 101：Determine the datum line in horizontal plane；
Datum line in described step 101 can determine it is preferable that for pump truck according to the structure choice of engineering machinery
Speech, can on the basis of the centerline direction on chassis line it is also possible to the direction vertical with the central plane vertical with chassis is as base
Directrix, additionally, for engineering machinery such as pump truck or booms, can also select to determine benchmark according to the orientation of arm support or supporting leg
Line, line (the i.e. method of the perpendicular that arm support current location is located such as on the basis of the vertical direction of the perpendicular that arm support is located
Line direction), or line on the basis of the parallel horizontal direction of the perpendicular that arm support is located, all can realize the technology of the present invention
Effect.
Step 102：Determine the moving direction of arm support tail end and the angle of described datum line；
The moving direction of arm support tail end is the moving direction requiring determination according to practice of construction.This moving direction is straight line side
To realize special operation., then taking concrete mixer as a example and can be according to this moving direction automatic pouring crossbeam.
Step 103：According to described angle and arm support current location, calculate the action parameter required for arm support；
In whole operation process, the action of arm support is made up of the action of multiple unit interval, turns in this unit interval arm support
Dynamic certain angle, and realize certain extended length.This action parameter preferably as after action the centre of gyration to arm support tail end
Distance or other may be by the parameter that calculates.
Step 104：Control the terminal position of arm support according to described action parameter.
Action parameter according to required for arm support in abovementioned steps 103, controls the amplitude of the amplitude oil cylinder of each joint arm, simultaneously
Control the rotational angle of slew gear.
It should be noted that abovementioned steps 101 and step 102 can be realized by modes such as artificial operation or measurements, aforementioned
Step 103 and step 104 can be realized by intelligent equipment, it would however also be possible to employ other possible modes, and the present invention is not limited
In this.
On the basis of technique scheme, due to have modified intrinsic coordinate in intelligent arm support, except perpendicular with chassis
Straight central plane hangs down beyond perpendicular and parallel orientation, can also all enable the rectilinear movement of arm support in other any directions, greatly
Improve greatly ability to work and the job area of engineering machinery, go for the restricted construction environment in place it is possible to expire
The diversified practice of construction of foot requires.
It is the orientation diagram in operation for the concrete mixer of one embodiment of the invention shown in Fig. 2.In this embodiment, coagulation
The arm support tail end of native pump truck needs to be moved linearly with A direction and pour into a mould.In order to control the action of arm support, with B direction in Fig. 2
Line on the basis of (direction vertical with the perpendicular that arm support is located), the angle between moving direction and datum line is α.Definition is worked as
The extended length (centre of gyration to arm support tail end distance in the horizontal plane) of front arm support is to rotate required for L, unit interval
Angle is Δ θ, and the extended length that unit interval rear arm support needs is L1, then can be obtained according to the law of sines：
L1/sin (90 ° of+α)=L/sin (180 ° of -90 ° of-α-Δ θ) (formula 1)
L1/cos α=L/cos (α+Δ θ) (formula 2)
I.e. L1=Lcos α/cos (α+Δ θ) (formula 3)
By aforementioned calculation, arm support extended length L1 corresponding with rotational angle Δ θ in the unit interval, root can be drawn
Controlling arm support extended length according to this result of calculation by amplitude oil cylinder is L1, you can to realize the rectilinear movement in A direction for the arm support；
Constantly calculate the extended length of subsequent time, you can constantly move on this A direction, realize continuous cast.
It should be noted that when specifically moving route, such rotation angle delta θ can be equal to zero, by reasonably
Select datum line, equally can calculate arm support extended length corresponding with zero-turn angle, realize the technique effect of the present invention.
In addition to aforementioned boom mobility control method, the present invention also provides a kind of arm support mobile controller.This arm support moves
Dynamic control device is used for controlling the rectilinear movement of arm support tail end any direction in the horizontal plane, including angle output unit and process
Device 1.Wherein, angle output unit exports the angle of the moving direction of arm support tail end and datum line to processor 1；Processor 1
Connection angle output unit, for calculating the action parameter required for arm support, and controls the end of arm support according to described action parameter
End position.
Angle between aforementioned moving direction and datum line can pass through manual measurement, and can be by being manually entered to processor
1.Correspondingly, this angle output unit is digital keys, for being manually entered the moving direction of arm support tail end and the folder of datum line
Angle.This angle output unit can also be other possible external forms and sensor.
As another kind of preferred implementation, in order to simplify operation, improve working performance, as shown in Figure 3 and Figure 4, this angle
Degree output unit includes direction knob 2 and rotary encoder 3, and direction knob 2 is connected with rotary encoder 3, and direction knob 2 can turn
Move the moving direction to datum line direction and arm support tail end, the angle signal of rotary encoder 3 detection may be output to processor 1.
This rotary encoder 3 can by the mechanical action of rotational displacement be converted to the signal of telecommunication, preferably rotary encoder 3 and processor 1 it
Between communicated to connect by (CAN) bus 7, they can also realize communication by way of other possibility.
In actual job, operator pass through hand-held aforementioned angular output unit, and it is right that direction knob 2 is turned to respectively
Quasi- datum line and moving direction, you can to complete the process of abovementioned steps 101 and step 102, very convenient to use.
The determination in datum line direction for the direction knob 2 can be confirmed by suspended pattern, and specifically, direction knob 2 goes to
After datum line, suspend some seconds, then processor 1 judges line position on the basis of this angle position, confirms and record this angle information.
Alternatively, this angle output unit also includes the ACK button 4 shown in Fig. 3 and Fig. 4, and ACK button 4 connects processor 1, really
When recognizing button 4 action, processor 1 confirms and records the angle information receiving.After direction knob 2 goes to datum line, press
This ACK button 4, processor 1 may determine and record this angle information.
Additionally, for the ease of the sensing of direction knob 2, direction signs 21 are provided with the surface of direction knob 2.The party
To mark 21 can be etching or be printed in the directionkeys on direction knob 2.
With reference to Fig. 4, in concrete structure design, preferably this angle output unit includes housing 5 and installs band 6, and direction is revolved
Button 2 and rotary encoder 3 are arranged on housing 5, install band 6 and are connected on housing 5, for housing 5 is installed on arm support tail end.
Operationally, angle output unit is arranged on arm support tail end (as concrete mixer by installing band 6 by operator
End hose), direction of operating knob 2 and ACK button 4 need to be easy in this position.After engineering machinery Support Position determines, turn
Dynamic direction knob 2, the direction signs 21 on Safety knob for electric appliance and datum line (as chassis axial location) is overlapped, presses ACK button
4 can confirm that datum line position.
After determining rectilinear movement route, then direction signs 21 are directed at desired level moving direction.Afterwards, operator
The horizontal linear that arm support carries out any direction need to can be controlled to move by remote control.Whole process simple to operate it is easy to implement,
Intelligence degree is high, reduces the labor intensity of operator, improves working performance.
In addition to aforementioned arm support mobile controller, the present invention also provides one kind to be provided with aforementioned arm support mobile controller
Concrete mixer.The for example moveable arm support of the other structures of this concrete mixer, revolving structure, chassis etc. may be referred to existing
Technology, will not be described here.
It should be clear that although the arm support mobile controller of the present invention is most appropriate to promotion and implementation on concrete mixer,
But the engineering machinery as wet-spraying machine, boom etc. can carry out arm support rectilinear movement also can be applied to technical scheme.
The foregoing is only presently preferred embodiments of the present invention, not in order to limit the present invention, all essences in the present invention
Within god and principle, any modification, equivalent substitution and improvement made etc., should be included within the scope of the present invention.
Claims (10)
1. a kind of boom mobility control method is it is characterised in that described boom mobility control method is used for controlling arm support tail end to exist
The rectilinear movement of any direction on horizontal plane, including：
Step 101：Determine the datum line in horizontal plane；
Step 102：Determine the moving direction of arm support tail end and the angle of described datum line；
Step 103：According to described angle and arm support current location, calculate the action parameter required for arm support, described arm support is current
Position includes the extended length of current arm support；
Step 104：Control the terminal position of arm support according to described action parameter.
2. boom mobility control method according to claim 1 is it is characterised in that in described step 101, be located with arm support
The vertical direction of perpendicular on the basis of line, or line on the basis of the parallel horizontal direction of the perpendicular that arm support is located.
3. a kind of arm support mobile controller is it is characterised in that described arm support mobile controller is used for controlling arm support tail end to exist
The rectilinear movement of any direction on horizontal plane, including angle output unit and processor (1), wherein：
Described angle output unit is used for exporting the angle of the moving direction of arm support tail end and the datum line in horizontal plane to institute
State processor (1)；
Described processor (1) connects described angle output unit, for calculating arm support according to described angle and arm support current location
Required action parameter, and control the terminal position of arm support according to described action parameter, wherein, described arm support current location bag
Include the extended length of current arm support.
4. arm support mobile controller according to claim 3 is it is characterised in that described angle output unit includes direction
Knob (2) and rotary encoder (3), described direction knob (2) is connected with described rotary encoder (3), described direction knob (2)
Can turn to the moving direction of datum line direction and arm support tail end, the angle signal that described rotary encoder (3) is detected export to
Described processor (1).
5. arm support mobile controller according to claim 4 is it is characterised in that surface in described direction knob (2)
On be provided with direction signs (21).
6. arm support mobile controller according to claim 4 is it is characterised in that described angle output unit also includes really
Recognize button (4), described ACK button (4) connects described processor (1), during described ACK button (4) action, described processor
(1) confirm and record the angle information receiving.
7. the arm support mobile controller according to any one of claim 4-6 is it is characterised in that described angle output unit
Also include housing (5) and band (6) is installed, described direction knob (2) and rotary encoder (3) are arranged on described housing (5), institute
State installation band (6) to be connected on described housing (5), for described housing (5) is installed on arm support tail end.
8. the arm support mobile controller according to any one of claim 4-6 is it is characterised in that described rotary encoder
(3) pass through bus (7) and described processor (1) between to communicate to connect.
9. arm support mobile controller according to claim 3 is it is characterised in that described angle output unit is pressed for numeral
Key, for being manually entered the moving direction of arm support tail end and the angle of datum line.
10. a kind of concrete mixer, including moveable arm support it is characterised in that being additionally provided with any one of claim 3-9 institute
The arm support mobile controller stated.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310247676.6A CN103365301B (en) | 2013-06-20 | 2013-06-20 | Boom mobility control method and device and concrete pump truck |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310247676.6A CN103365301B (en) | 2013-06-20 | 2013-06-20 | Boom mobility control method and device and concrete pump truck |
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| Publication Number | Publication Date |
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| CN103365301A CN103365301A (en) | 2013-10-23 |
| CN103365301B true CN103365301B (en) | 2017-02-08 |
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| CN201310247676.6A Active CN103365301B (en) | 2013-06-20 | 2013-06-20 | Boom mobility control method and device and concrete pump truck |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104018676B (en) * | 2014-03-04 | 2017-08-29 | 三一汽车制造有限公司 | A kind of engineering machinery and arm support control system and method |
| CN106597895B (en) * | 2016-12-12 | 2019-06-21 | 三一汽车制造有限公司 | A kind of boom system control method, arm support control system and arm support equipment |
| CN114687562B (en) * | 2020-12-31 | 2023-11-17 | 三一汽车制造有限公司 | Control method and device for working machine and working machine |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0215909B1 (en) * | 1985-03-19 | 1993-03-10 | Sauer, Inc. | Boom control system |
| DE102008017961A1 (en) * | 2008-04-08 | 2009-10-15 | Putzmeister Concrete Pumps Gmbh | Stationary or mobile concrete pump, particularly truck-mounted concrete pump, has controlling device with reference valve storage for trajectory of boom tip in construction site coordinate system |
| CN102346024A (en) * | 2011-07-12 | 2012-02-08 | 三一重工股份有限公司 | Method for obtaining terminal position parameters of jib system, jib system and engineering machine |
| CN102354213A (en) * | 2011-09-05 | 2012-02-15 | 中联重科股份有限公司 | Method, device and system for controlling boom tail end position of boom equipment |
| CN102393754A (en) * | 2011-09-28 | 2012-03-28 | 三一重工股份有限公司 | Arm support action control method and system, arm support tail end linear displacement control method and system, and concrete pump trucks |
-
2013
- 2013-06-20 CN CN201310247676.6A patent/CN103365301B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0215909B1 (en) * | 1985-03-19 | 1993-03-10 | Sauer, Inc. | Boom control system |
| DE102008017961A1 (en) * | 2008-04-08 | 2009-10-15 | Putzmeister Concrete Pumps Gmbh | Stationary or mobile concrete pump, particularly truck-mounted concrete pump, has controlling device with reference valve storage for trajectory of boom tip in construction site coordinate system |
| CN102346024A (en) * | 2011-07-12 | 2012-02-08 | 三一重工股份有限公司 | Method for obtaining terminal position parameters of jib system, jib system and engineering machine |
| CN102354213A (en) * | 2011-09-05 | 2012-02-15 | 中联重科股份有限公司 | Method, device and system for controlling boom tail end position of boom equipment |
| CN102393754A (en) * | 2011-09-28 | 2012-03-28 | 三一重工股份有限公司 | Arm support action control method and system, arm support tail end linear displacement control method and system, and concrete pump trucks |
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| CN103365301A (en) | 2013-10-23 |
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Denomination of invention: Boom mobility control method and device and concrete pump truck Effective date of registration: 20181227 Granted publication date: 20170208 Pledgee: Business Department of Hunan Branch of China Construction Bank Co., Ltd. Pledgor: SANY Automobile Manufacturing Co., Ltd. Registration number: 2018430000147 |
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Date of cancellation: 20211217 Granted publication date: 20170208 Pledgee: Business Department of Hunan Branch of China Construction Bank Co.,Ltd. Pledgor: Sany Automobile Manufacturing Co.,Ltd. Registration number: 2018430000147 |
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