CN105484226A - Anti-sway system and control method for fast cornering of band hammer of dynamic compactor - Google Patents
Anti-sway system and control method for fast cornering of band hammer of dynamic compactor Download PDFInfo
- Publication number
- CN105484226A CN105484226A CN201510921078.1A CN201510921078A CN105484226A CN 105484226 A CN105484226 A CN 105484226A CN 201510921078 A CN201510921078 A CN 201510921078A CN 105484226 A CN105484226 A CN 105484226A
- Authority
- CN
- China
- Prior art keywords
- cornering
- magnetic valve
- motor
- band hammer
- proportion magnetic
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
- E02D3/00—Improving or preserving soil or rock, e.g. preserving permafrost soil
- E02D3/02—Improving by compacting
- E02D3/046—Improving by compacting by tamping or vibrating, e.g. with auxiliary watering of the soil
Landscapes
- Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Soil Sciences (AREA)
- Environmental & Geological Engineering (AREA)
- Agronomy & Crop Science (AREA)
- Mining & Mineral Resources (AREA)
- Paleontology (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Road Paving Machines (AREA)
- Earth Drilling (AREA)
Abstract
The invention discloses an anti-sway system and a control method for fast cornering of a band hammer of a dynamic compactor. The anti-sway system for fast cornering of the band hammer of the dynamic compactor comprises an inputting device, a cornering encoder, a controller, a proportional solenoid valve group and a motor, wherein the inputting device and the cornering encoder are electrically connected with the controller; and the controller is electrically connected with the motor through the proportional solenoid valve group. The control method for fast cornering of the band hammer of the dynamic compactor comprises the step of dividing a whole band hammer cornering movement process of tamping point switching of the band hammer into three stages including a quick forward-direction cornering stage, a free sliding and rotating stage and a reverse-direction cornering stage. The whole band hammer cornering movement process is optimized, the movement speed of the band hammer is increased through the quick forward-direction cornering stage, impact of the inertia of a cantilever crane to a cornering support is eliminated through the free sliding and rotating state, deflection of the band hammer during stopping of cornering is eliminated through reverse swaying in the reverse cornering stage, and tampering point positioning efficiency and tampering point positioning precision are improved; and labor intensity of operators is reduced, the service life of a machine is prolonged, and repair cost is reduced.
Description
Technical field
The present invention relates to a kind of band hammer fast rotation anti-swinging system, be specifically related to a kind of dynamic compaction machinery band hammer fast rotation anti-swinging system and control method.
Background technology
Dynamic compaction machinery is that the impact energy utilizing hammer ram height fall to produce is carried out loosening the soil the machinery of compaction treatment.Before construction, Construction Specifications need be carried out according to geological conditions, draw tamping point distribution map, then construct according to tamping point distribution map.When carrying out tamping point switching in work progress, dynamic compactor arm frame suspension centre does gyration by current tamping point to target tamping point by flexible wire ropes hammer ram of slinging, due to hammer ram very heavy (general 15-30t), wire rope very long (general 20 meters), hammer ram can at the effect lower swing of inertia, and speed of gyration is faster, and the amplitude of fluctuation of hammer ram is larger, be difficult to stop as early as possible, not only have impact on efficiency of construction and also have impact on construction precision.If revolution stops too fast simultaneously, the inertia of jib also can produce very large impact to pivoting support.
Existing dynamic compaction machinery, tamping point is switched and is realized by manual operation according to oneself operating experience and qualification by tractor driver.The shortcoming of manual mode of operation: tamping point switching efficiency of construction is low, precision is low, and the labour intensity of operator is large.
By retrieval, notification number is: CN103723629A, by name: a kind of crane and crane rope are prevented shaking patent discloses of control method: to detect the wire rope amplitude of oscillation in real time, if the wire rope amplitude of oscillation exceedes amplitude of oscillation setting value, automatic fine tuning controls jib speed of gyration, makes the wire rope amplitude of oscillation be less than amplitude of oscillation setting value.This method, there are following three obvious shortcomings: one, to need on the basis of manual handles the in real time pivotal movement velocity of adjustment, there is mechanism kinematic speed and the not quite identical phenomenon of handle aperture, reduce handling, especially when handle stops action, mechanism may also in motion, and there is certain potential safety hazard, they are two years old, when turning round wide point also in adjustment, revolution efficiency is low; Its three, when not considering that revolution action stops, the inertia of jib turn round stop time impact to pivoting support.
Summary of the invention
For above-mentioned prior art Problems existing, the invention provides a kind of dynamic compaction machinery band hammer fast rotation anti-swinging system and control method, solve jib when tamping point switches and, to the shock problem of pivoting support, solve the problem that band hammer swings; Improve tamping point location efficiency and positioning precision; Alleviate the labour intensity of operator.
To achieve these goals, the technical solution used in the present invention is: a kind of dynamic compaction machinery band hammer fast rotation anti-swinging system, comprise input unit, rotary encoder, controller, proportion magnetic valve group and motor, input unit and rotary encoder are electrically connected with controller, and controller passing ratio electromagnetic valve group is electrically connected with motor.
Further, described motor is rotating motor.
Further, described proportion magnetic valve group is turned round proportion magnetic valve, reversed turning proportion magnetic valve and free rotary proportion magnetic valve by forward and is formed.
A kind of dynamic compaction machinery band hammer fast rotation anti-sway control method, the whole band hammer gyration process that band hammer tamping point switches is divided into three phases, quick forward rotary phase, free rotary stage and reversed turning stage.
Quick forward rotary phase:
A. input unit by the flow of the jib weight of dynamic compaction machinery, hammer ram weight, rope capacity, motor and tamping point distribution map planning target angle of revolution
θ c, the free rotary angle of calculating
θ b, anti-wobble angle
θ dbe input in controller;
B. rotary encoder Real-time Collection angle of revolution
θ, and the data of Real-time Collection are transferred in controller;
C. when tamping point switches, if the angle of revolution of slewing equipment
θbe less than
θ bthen open forward revolution proportion magnetic valve, motor rotates forward, and slewing equipment is rapidly moved to and rotates forward spline point;
The free rotary stage: if d. angle of revolution
θbe less than
θ dthen close forward revolution proportion magnetic valve, open free rotary proportion magnetic valve, motor free rotary, retarded motion is to the spline point that trackslips under the effect of jib inertia with revolution frictional resistance to make slewing equipment, and when turning round stopping eliminating, jib weight is to the impact of pivoting support;
After reversed turning stage: e. arrives the spline point that trackslips, then carry out anti-wobble judgement, if angle of revolution
θbe not equal to
θ cthen close free rotary proportion magnetic valve, open reversed turning proportion magnetic valve, motor reverses, and slewing equipment is parked in and treats on tamping point, and eliminate deflection angle by backswing
β, achieve the quick anti-sway location of band hammer.
Compared with prior art, present invention optimizes whole band hammer gyration process, the speed of band hammer movement is improve by quick forward rotary phase, the impact of jib inertia to pivoting support is eliminated by the free rotary stage, anti-wobble through the reversed turning stage eliminates the beat turning round band when stopping and hammering into shape, improves tamping point location efficiency and positioning precision; Alleviate the labour intensity of operator, add the application life of machine, reduce maintenance cost.
Accompanying drawing explanation
Fig. 1 is electrical system block diagram of the present invention;
Fig. 2 is control principle drawing of the present invention;
Fig. 3 is control flow chart of the present invention;
Fig. 4 is dynamic compaction machinery band of the present invention hammer fast rotation anti-swing control device schematic diagram;
In figure: 1, band hammer, 2, wire rope, 3, jib, 4, rotary encoder, 5, motor.
Detailed description of the invention
Below in conjunction with accompanying drawing, the invention will be further described.
As shown in Figure 1, a kind of dynamic compaction machinery band hammer fast rotation anti-swinging system, comprise input unit, rotary encoder, controller, proportion magnetic valve group and motor, input unit and rotary encoder are electrically connected with controller, controller passing ratio electromagnetic valve group is electrically connected with motor, motor is rotating motor, and proportion magnetic valve group is turned round proportion magnetic valve, reversed turning proportion magnetic valve and free rotary proportion magnetic valve by forward and formed; As shown in Figure 4, rotary encoder is arranged in dynamic compaction machinery centre revolving device, the pivotal angle of Real-time Collection also sends to controller, band hammer 1 is by wire rope 2, walk around jib 3 top to be connected with dynamic compaction machinery, proportion magnetic valve group receives controller output signal, for controlling the forward, oppositely and be free to slide motion of motor 5, motor 5 is action executing elements, and passing ratio electromagnetic valve group realizes gyration.
As shown in Figures 2 and 3, a kind of dynamic compaction machinery band hammer fast rotation anti-sway control method, the whole band hammer gyration process that band hammer tamping point switches is divided into three phases, quick forward rotary phase, free rotary stage and reversed turning stage.
Quick forward rotary phase:
A. input unit by the flow of the jib weight of dynamic compaction machinery, hammer ram weight, rope capacity, motor and tamping point distribution map planning target angle of revolution
θ c, the free rotary angle of calculating
θ b, anti-wobble angle
θ dbe input in controller;
B. rotary encoder Real-time Collection angle of revolution
θ, and the data of Real-time Collection are transferred in controller;
C. when tamping point switches, if the angle of revolution of slewing equipment
θbe less than
θ bthen open forward revolution proportion magnetic valve, motor rotates forward, and slewing equipment is rapidly moved to and rotates forward spline point;
The free rotary stage: if d. angle of revolution
θbe less than
θ dthen close forward revolution proportion magnetic valve, open free rotary proportion magnetic valve, motor free rotary, retarded motion is to the spline point that trackslips under the effect of jib inertia with revolution frictional resistance to make slewing equipment, and when turning round stopping eliminating, jib weight is to the impact of pivoting support;
After reversed turning stage: e. arrives the spline point that trackslips, then carry out anti-wobble judgement, if angle of revolution
θbe not equal to
θ cthen close free rotary proportion magnetic valve, open reversed turning proportion magnetic valve, motor reverses, and slewing equipment is parked in and treats on tamping point, and eliminate deflection angle by backswing
β, achieve the quick anti-sway location of band hammer.
Embodiment: as shown in Figure 4, first controller opens forward revolution proportion magnetic valve, motor 5 rotates forward fast, slewing equipment is made to rapidly move to B point, then forward revolution proportion magnetic valve is closed, open free rotary proportion magnetic valve, motor 5 free rotary, make slewing equipment jib 3 inertia and revolution frictional resistance move under influence to D point, when turning round stopping eliminating, jib 3 weight is to the impact of pivoting support, finally close free rotary proportion magnetic valve, open reversed turning proportion magnetic valve, motor reverses, slewing equipment is made to be positioned at tamping point C, and eliminate deflection angle β by pivotal backswing, realize the band quick anti-sway location of hammer 1, improve tamping point location efficiency and positioning precision, alleviate the labour intensity of operator, add the application life of machine, reduce maintenance cost.
Claims (5)
1. a dynamic compaction machinery band hammer fast rotation anti-swinging system, it is characterized in that, comprise input unit, rotary encoder, controller, proportion magnetic valve group and motor, input unit and rotary encoder are electrically connected with controller, and controller passing ratio electromagnetic valve group is electrically connected with motor.
2. a kind of dynamic compaction machinery band hammer fast rotation anti-swinging system according to claim 1, it is characterized in that, described motor is rotating motor.
3. a kind of dynamic compaction machinery band hammer fast rotation anti-swinging system according to claim 2, it is characterized in that, described proportion magnetic valve group is turned round proportion magnetic valve, reversed turning proportion magnetic valve and free rotary proportion magnetic valve by forward and is formed.
4. a dynamic compaction machinery band hammer fast rotation anti-sway control method, is characterized in that, the whole band hammer gyration process that band hammer tamping point switches is divided into three phases, quick forward rotary phase, free rotary stage and reversed turning stage.
5. a kind of dynamic compaction machinery band hammer fast rotation anti-sway control method according to claim 4, is characterized in that, described
Quick forward rotary phase:
A. input unit by the flow of the jib weight of dynamic compaction machinery, hammer ram weight, rope capacity, motor and tamping point distribution map planning target angle of revolution
θ c, the free rotary angle of calculating
θ b, anti-wobble angle
θ dbe input in controller;
B. rotary encoder Real-time Collection angle of revolution
θ, and the data of Real-time Collection are transferred in controller;
C. when tamping point switches, if the angle of revolution of slewing equipment
θbe less than
θ bthen open forward revolution proportion magnetic valve, motor rotates forward, and slewing equipment is rapidly moved to and rotates forward spline point;
The free rotary stage: if d. angle of revolution
θbe less than
θ dthen close forward revolution proportion magnetic valve, open free rotary proportion magnetic valve, motor free rotary, make slewing equipment retarded motion to the spline point that trackslips;
After reversed turning stage: e. arrives the spline point that trackslips, then carry out anti-wobble judgement, if angle of revolution
θbe not equal to
θ cthen close free rotary proportion magnetic valve, open reversed turning proportion magnetic valve, motor reverses, and slewing equipment is parked in and treats on tamping point, realizes the quick anti-sway location of band hammer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510921078.1A CN105484226B (en) | 2015-12-14 | 2015-12-14 | A kind of dynamic compaction machinery band hammer fast rotation anti-swinging system and control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510921078.1A CN105484226B (en) | 2015-12-14 | 2015-12-14 | A kind of dynamic compaction machinery band hammer fast rotation anti-swinging system and control method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105484226A true CN105484226A (en) | 2016-04-13 |
| CN105484226B CN105484226B (en) | 2017-11-10 |
Family
ID=55671471
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510921078.1A Active CN105484226B (en) | 2015-12-14 | 2015-12-14 | A kind of dynamic compaction machinery band hammer fast rotation anti-swinging system and control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105484226B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001151469A (en) * | 1999-11-26 | 2001-06-05 | Kobelco Contstruction Machinery Ltd | Boom hoisting device for tower crane |
| CN103303800A (en) * | 2013-06-24 | 2013-09-18 | 中联重科股份有限公司 | Crane rotation control method and system and crane |
| CN103723629A (en) * | 2013-12-31 | 2014-04-16 | 珠海三一港口机械有限公司 | Crane and anti-swing control method for steel wire rope of crane |
| CN104528524A (en) * | 2014-12-25 | 2015-04-22 | 天津金岸重工有限公司 | Device for monitoring steel wire rope of lifting equipment in real time |
| CN104555733A (en) * | 2014-12-26 | 2015-04-29 | 中联重科股份有限公司 | Hoisting swing control method, equipment and system and engineering machinery |
| CN104760890A (en) * | 2015-03-31 | 2015-07-08 | 江苏鼎盛重工有限公司 | Lifting appliance anti-swaying device of rotary crane and control method of anti-swaying device |
-
2015
- 2015-12-14 CN CN201510921078.1A patent/CN105484226B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001151469A (en) * | 1999-11-26 | 2001-06-05 | Kobelco Contstruction Machinery Ltd | Boom hoisting device for tower crane |
| CN103303800A (en) * | 2013-06-24 | 2013-09-18 | 中联重科股份有限公司 | Crane rotation control method and system and crane |
| CN103723629A (en) * | 2013-12-31 | 2014-04-16 | 珠海三一港口机械有限公司 | Crane and anti-swing control method for steel wire rope of crane |
| CN104528524A (en) * | 2014-12-25 | 2015-04-22 | 天津金岸重工有限公司 | Device for monitoring steel wire rope of lifting equipment in real time |
| CN104555733A (en) * | 2014-12-26 | 2015-04-29 | 中联重科股份有限公司 | Hoisting swing control method, equipment and system and engineering machinery |
| CN104760890A (en) * | 2015-03-31 | 2015-07-08 | 江苏鼎盛重工有限公司 | Lifting appliance anti-swaying device of rotary crane and control method of anti-swaying device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105484226B (en) | 2017-11-10 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106698010B (en) | A kind of bagged cement Unpowered full-automatic carloader | |
| CN206486778U (en) | A kind of asphalt pavement construction rammer compacter | |
| CN103723629B (en) | Crane and anti-swing control method for steel wire rope of crane | |
| CN206554825U (en) | A kind of colliery multi-angle drilling rod catching robot | |
| CN104160097A (en) | Manual control device and method | |
| CN108774955A (en) | A kind of Bridge Rotation Construction Technique intelligence control system | |
| CN106869925A (en) | A kind of adjustable car body, centre-of-gravity broken rock machine and rock breaking method | |
| CN103395698A (en) | Safety control method, device and system for execution actions of crawling crane | |
| CN105484226A (en) | Anti-sway system and control method for fast cornering of band hammer of dynamic compactor | |
| EP2927177B1 (en) | Method and arrangement for controlling a crane | |
| CN204752024U (en) | Miniature hoisting accessory of movable | |
| CN204212143U (en) | A kind of automatic soil compactor that self-feeding conveyer belt is housed | |
| CN206624573U (en) | A kind of Architectural Equipment for being used to lift weight | |
| CN106769343A (en) | Device for preparing hollow cylindrical sample by sand rain method and sample preparation method thereof | |
| CN208280118U (en) | A kind of building lot tamper vehicle | |
| CN206680084U (en) | Crane hook control system and tower crane | |
| CN206298804U (en) | A kind of road construction rammer | |
| CN202237937U (en) | Batching device and asphalt stirring equipment with same | |
| CN203461708U (en) | Safety control system for action execution of crawler crane | |
| CN207417660U (en) | Building waste handling device | |
| CN103334466A (en) | Full-automatic sludge conveying system | |
| CN203373746U (en) | Crawler-type vibration immersed tube piling machine | |
| CN207240430U (en) | The vibrating forming machine of base of high-speed railway plate construction | |
| CN107416711B (en) | A kind of double-swing arm lifting equipment | |
| CN106516980A (en) | Gantry crane grab bucket path optimization method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |