CN110242051A - A kind of arm support tail end control method and system - Google Patents
A kind of arm support tail end control method and system Download PDFInfo
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- CN110242051A CN110242051A CN201910549655.7A CN201910549655A CN110242051A CN 110242051 A CN110242051 A CN 110242051A CN 201910549655 A CN201910549655 A CN 201910549655A CN 110242051 A CN110242051 A CN 110242051A
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- bend pipe
- tail end
- arm support
- axis
- slewing equipment
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
- E04G21/02—Conveying or working-up concrete or similar masses able to be heaped or cast
- E04G21/04—Devices for both conveying and distributing
- E04G21/0418—Devices for both conveying and distributing with distribution hose
- E04G21/0445—Devices for both conveying and distributing with distribution hose with booms
- E04G21/0463—Devices for both conveying and distributing with distribution hose with booms with boom control mechanisms, e.g. to automate concrete distribution
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Jib Cranes (AREA)
Abstract
The invention discloses a kind of arm support tail end control method and systems, cantilever crane tail house is manipulated by remote-control handle to realize, arm support tail end mechanism is connected with the discharge nozzle that arm support tail end is arranged in, including the first bend pipe, second bend pipe, cloth hose, second slewing equipment of the first slewing equipment and driving the second bend pipe rotation that drive the first bend pipe to rotate, solenoid valve is provided on the hydraulic circuit of first slewing equipment and the second slewing equipment, by establishing two-dimensional coordinate system XOY in the horizontal plane, remote-control handle is moved along the compound direction of X-axis and Y-axis, direction signal is transmitted to signal receiver by way of wireless transmission, signal receiver exports X-axis and the corresponding current signal drive magnetic valve work of Y direction by conversion respectively, the first slewing equipment and the second slewing equipment are inputted respectively by the hydraulic oil of solenoid valve, in turn It drives the first bend pipe and the second bend pipe to rotate, completes the movement of arm support tail end target direction.Have the advantages that easy to operate, intelligence degree is high.
Description
Technical field
The invention mainly relates to technical field of engineering machinery, specifically, being related to a kind of arm support tail end control method and being
System.
Background technique
Concrete arm class engineering machinery needs to extend to arm support tail end into specified construction location before construction, then, existing
Constantly firmly dragging arm support tail end hose changes the position of end hose to field construction personnel, goes out to constantly replace concrete
The place of material is completed correlation and is poured.The control of arm support tail end moving direction is completely by manipulator's experience and manipulator to construction
The observation of position is controlled, for the cantilever crane (such as cantilever crane of concrete mixer) that more piece arm joint is hinged to, manipulator
Need to control every joint arm section, and the operation of every joint arm frame is mutually unrelated, the moving direction of arm support tail end is completely by manipulator
Experience hold.If manipulator's experience is insufficient, the moving direction of arm support tail end cannot be accurately held, then is needed to more piece arm joint
It is repeatedly adjusted, and then causes construction efficiency lower.
Summary of the invention
In view of this, changing traditional cantilever crane the purpose of the present invention is to provide a kind of arm support tail end control method and system
The extension style of construction, the big, arm by manipulator's operation difficulty when solving prior art operation of wireless operating arm support tail end
Frame end mobile accuracy relies on the defect of manipulator's experience substantially.
The present invention provides a kind of arm support tail end control methods, manipulate cantilever crane tail house by remote-control handle and realize, institute
It states arm support tail end mechanism and is connected with the discharge nozzle that arm support tail end is arranged in, including the first bend pipe, the second bend pipe, cloth hose,
Single-revolution device and the second slewing equipment, the first slewing equipment setting are discharging between pipe end and the first bend pipe beginning,
Second slewing equipment is arranged between the first bend pipe end and the second bend pipe beginning, described in the first slewing equipment driving
The rotation of first bend pipe, second slewing equipment drive the second bend pipe rotation, first slewing equipment and the second revolution
Solenoid valve is provided on the hydraulic circuit of device, the arm support tail end control method includes the following steps:
S1 establishes two-dimensional coordinate system XOY in the horizontal plane, wherein coordinate origin O is set as the center of remote-control handle, X-axis
It is set as horizontal cross, Y-axis is set as horizontal longitudinal；
S2, remote-control handle are moved along the compound direction of X-axis and Y-axis；
S3, direction signal are transmitted to signal receiver by way of wireless transmission；
S4, the signal receiver receive the direction signal in step S3, export X-axis and Y-axis side respectively by converting
It works to corresponding current signal drive magnetic valve；
S5 inputs the first slewing equipment and the second slewing equipment by the hydraulic oil of solenoid valve respectively, and then drives first
Bend pipe and the rotation of the second bend pipe, complete the movement of arm support tail end target direction.
Preferably, three-dimensional system of coordinate O is established1-X1Y1Z1, wherein coordinate origin O1It is set as cantilever crane rotation center, X1Setting
For along Mechanical Engineering Body length direction, Y1It is set as Mechanical Engineering Body width direction, Z1It is set as Mechanical Engineering Body height
Direction, first bend pipe and the second bend pipe are in X1O1Y1Plane and Y1O1Z1Any conversion angle rotation between plane.
Preferably, the remote-control handle is universal handle: when the remote-control handle moves along the y axis, described first is curved
Pipe is along X1O1Y1Plane Rotation；When the remote-control handle moves along the x axis, second bend pipe is along Y1O1Z1Plane Rotation；
Or, first bend pipe is along X when the remote-control handle moves along the x axis1O1Y1Plane Rotation；The remote control hand
When handle moves along the y axis, second bend pipe is along Y1O1Z1Plane Rotation.
Preferably, the remote-control handle is two straight in-line handles, and first straight in-line handle is rotated for controlling the first bend pipe,
Second straight in-line handle is for controlling the rotation of the second bend pipe.
Preferably, two straight in-line handles can only move along the y axis: first straight in-line handle is along the y axis
When mobile, first bend pipe is along X1O1Y1Plane Rotation；When second straight in-line handle moves along the y axis, described second
Bend pipe is along Y1O1Z1Plane Rotation.
Preferably, two straight in-line handles can only move along the x axis: first straight in-line handle is along the x axis
When mobile, first bend pipe is along X1O1Y1Plane Rotation；When second straight in-line handle moves along the x axis, described second
Bend pipe is along Y1O1Z1Plane Rotation.
Preferably, the signal receiver is electrically connected with the solenoid valve by harness.
Preferably, oil inlet pipe and oil return are provided between the solenoid valve and the first slewing equipment and the second slewing equipment
Pipe, the oil inlet pipe and oil return pipe are connected with the hydraulic fluid port of solenoid valve respectively.
Preferably, further include step S6: by the first bend pipe and the second bend pipe rotation after, when arm support tail end position with
In the case that target position information is inconsistent, position correction is carried out in such a way that artificial or wireless manipulation cloth hose is mobile,
For realizing mobile arm support tail end to designated place.
Another aspect of the present invention also provides a kind of arm support tail end control system, including remote-control handle, signal receiver
And arm support tail end mechanism:
The remote-control handle is mobile for manipulating cantilever crane tail house, establishes two-dimensional coordinate system XOY in the horizontal plane,
In, coordinate origin O is set as the center of remote-control handle, and X-axis is set as horizontal cross, and Y-axis is set as horizontal longitudinal, remote-control handle
Compound direction along X-axis and Y-axis moves；
The signal receiver is connected with remote-control handle and arm support tail end mechanism respectively, and the direction signal of remote-control handle passes through
After the mode of wireless transmission is transmitted to signal receiver, X-axis and the corresponding current signal of Y direction are exported respectively by converting；
The arm support tail end mechanism is connected with the discharge nozzle that arm support tail end is arranged in, including the first bend pipe, the second bend pipe, cloth
Expect hose, the first slewing equipment and the second slewing equipment, the first slewing equipment setting is in discharging pipe end and the first bend pipe
Between beginning, second slewing equipment is arranged between the first bend pipe end and the second bend pipe beginning, the first revolution dress
Driving the first bend pipe rotation is set, second slewing equipment drives the second bend pipe rotation, first slewing equipment
It is provided with solenoid valve on the hydraulic circuit of the second slewing equipment, along X-axis and the corresponding current signal drive magnetic valve of Y direction
Work inputs the first slewing equipment and the second slewing equipment by the hydraulic oil of solenoid valve respectively, so drive the first bend pipe with
The rotation of second bend pipe, completes the movement of arm support tail end target direction.
Arm support tail end control method of the invention and system, by remote-control handle swaying direction, arm support tail end moving direction phase
Mutual correlation gets up, firstly, establishing two-dimensional coordinate system XOY in the horizontal plane；Secondly, compound direction of the remote-control handle along X-axis and Y-axis
Mobile, direction signal is transmitted to signal receiver by way of wireless transmission；Then, signal receiver passes through conversion difference
Export X-axis and the corresponding current signal drive magnetic valve work of Y direction；Finally, the hydraulic oil by solenoid valve inputs respectively
First slewing equipment and the second slewing equipment, and then the first bend pipe and the rotation of the second bend pipe are driven, complete arm support tail end target side
To movement.Compared to the movement that tradition realizes arm support tail end displacement by adjusting cantilever crane section by section, on the one hand, the present invention is by the
Single-revolution device and the second slewing equipment respectively drive the first bend pipe and the rotation of the second bend pipe, realize the shifting of arm support tail end displacement
It is dynamic, the control to arm support tail end mobile first bend pipe and the second bend pipe is converted by the control of each single-unit cantilever crane, simplifies behaviour
Control work flow；On the other hand, by remote-control handle binding signal receiver, the first bend pipe of arm support tail end and second curved is manipulated
Pipe keeps the swaying direction of remote-control handle consistent with the moving direction of arm support tail end, and then in setting Plane Rotation to realize cantilever crane
The movement of tip displacement, it is easy to operate, intelligence degree is high and improves arm support tail end mobile accuracy and flexibility.
Detailed description of the invention
The attached drawing for constituting a part of the invention is used to provide further understanding of the present invention, schematic reality of the invention
It applies example and its explanation is used to explain the present invention, do not constitute improper limitations of the present invention.In the accompanying drawings:
Fig. 1 is the structure diagram of one embodiment of the invention arm support tail end control system；
Fig. 2 is the flow chart of one embodiment of the invention arm support tail end control method；
Fig. 3 is three-dimensional system of coordinate O in the present invention1-X1Y1Z1Schematic diagram.
Description of symbols:
1 universal handle
2 first slewing equipments
3 second slewing equipments
4 solenoid valves
5 signal receivers
6 harness
7 first oil inlet pipes
8 first oil return pipes
9 second oil inlet pipes
10 second oil return pipes
Specific embodiment
It should be noted that in the absence of conflict, the feature in embodiment and embodiment in the present invention can phase
Mutually combination.The present invention will be described in detail below with reference to the accompanying drawings and embodiments.
It should be noted that term " first ", " second " are mainly used for distinguishing different components, but do not have to component
Body limitation.
Fig. 1 is a kind of structure diagram of arm support tail end control system of the present invention.As shown in Figure 1, one embodiment of the invention mentions
The arm support tail end control system of confession, including remote-control handle, signal receiver 5 and arm support tail end mechanism:
Remote-control handle is mobile for manipulating cantilever crane tail house, establishes two-dimensional coordinate system XOY in the horizontal plane, wherein sits
Mark origin O is set as the center of remote-control handle, and X-axis is set as horizontal cross, and Y-axis is set as horizontal longitudinal, and remote-control handle is along X-axis
It is mobile with the compound direction of Y-axis；Signal receiver 5 is connected with remote-control handle and arm support tail end mechanism respectively, it is preferable that signal connects
It receives device 5 and remote-control handle is wirelessly connected, connect with arm support tail end mechanism by harness 6, the direction signal of remote-control handle passes through nothing
After the mode of line transmission is transmitted to signal receiver 5, X-axis and the corresponding current signal of Y direction are exported respectively by converting；Arm
Frame tail house is connected with the discharge nozzle that arm support tail end is arranged in, including the first bend pipe, the second bend pipe, cloth hose, first time
Rotary device 2 and the second slewing equipment 3, the setting of the first slewing equipment 2 is between discharging pipe end and the first bend pipe beginning, and second time
Rotary device 3 is arranged between the first bend pipe end and the second bend pipe beginning, and the first slewing equipment 2 drives the rotation of the first bend pipe, the
Two-revolution device 3 drives the second bend pipe to rotate, and is provided with electricity on the hydraulic circuit of the first slewing equipment 2 and the second slewing equipment 3
Magnet valve 4.Oil inlet pipe and oil return pipe, oil inlet pipe are provided between solenoid valve 4 and the first slewing equipment 2 and the second slewing equipment 3
It is connected respectively with the hydraulic fluid port of solenoid valve 4 with oil return pipe.
Specifically, the harness 6 that signal receiver 5 is connected with arm support tail end mechanism, first end and 5 phase of signal receiver
Even, second end is divided into two strands and is connected with the solenoid valve 4 being arranged in arm support tail end mechanism, for transmitting X-axis and Y-axis side respectively
Corresponding current signal is to solenoid valve 4 upwards；Solenoid valve 4 is provided with oil inlet P, oil return inlet T, two actuator ports A and B, the
Single-revolution device 2 is communicated by the first oil inlet pipe 7 with one of them hydraulic fluid port A, and the first oil return pipe 8 and one of them hydraulic fluid port B are passed through
Communicate, the second slewing equipment 3 is communicated by the second oil inlet pipe 9 with two hydraulic fluid port A wherein, by the second oil return pipe 10 with wherein it
Two hydraulic fluid port B are communicated.By above-mentioned setting, works along X-axis and the corresponding current signal drive magnetic valve 4 of Y direction, pass through electromagnetism
The hydraulic oil of valve 4 is input to the first slewing equipment 2 by the actuator port A and the first oil inlet pipe 7 of one of them and drives the
The rotation of one bend pipe is input to second by two actuator port A wherein and the second oil inlet pipe 9 by the hydraulic oil of solenoid valve 4
Slewing equipment 3 and then driving the second bend pipe rotation, are finally completed the movement of arm support tail end target direction.
Meanwhile as shown in Figure 1, in the present invention remote-control handle be universal handle 1, can rotate in any direction.It needs to illustrate
, above-mentioned remote-control handle can also pass through two straight in-line handles substitution.
In addition, manipulating cantilever crane tail house by remote-control handle also disclosed is a kind of arm support tail end control method
Realize, specifically, which is connected with the discharge nozzle that arm support tail end is arranged in, including the first bend pipe, the second bend pipe,
Cloth hose, the first slewing equipment 2 and the second slewing equipment 3, the setting of the first slewing equipment 2 is in discharging pipe end and the first bend pipe
Between beginning, the second slewing equipment 3 is arranged between the first bend pipe end and the second bend pipe beginning, and the first slewing equipment 2 is used for
The first bend pipe is driven to rotate, for the second slewing equipment 3 for driving second bend pipe to rotate, Fig. 2 is a kind of cantilever crane end of the present invention
Hold the flow chart of control method.As shown in Fig. 2, arm support tail end control method of the invention is realized especially by following steps:
S1 establishes two-dimensional coordinate system XOY in the horizontal plane, wherein coordinate origin O is set as the center of remote-control handle, X-axis
It is set as horizontal cross, Y-axis is set as horizontal longitudinal；
S2, remote-control handle are moved along the compound direction of X-axis and Y-axis；
S3, direction signal are transmitted to signal receiver 5 by way of wireless transmission；
S4, the signal receiver 5 receive the direction signal in step S3, export X-axis and Y-axis side respectively by converting
It works to corresponding current signal drive magnetic valve 4；
S5 inputs the first slewing equipment 2 and the second slewing equipment 3 by the hydraulic oil of solenoid valve 4 respectively, and then drives the
One bend pipe and the rotation of the second bend pipe, complete the movement of arm support tail end target direction.
It should be noted that the invention also includes step S6: passing through to further improve the mobile accuracy of arm support tail end
After crossing the first bend pipe and the rotation of the second bend pipe, in the case that the position of arm support tail end and target position information are inconsistent, pass through
The mobile mode of artificial or wireless manipulation cloth hose carries out position correction, for realizing mobile arm support tail end to designated place.
In further technical solution, as shown in figure 3, above-mentioned cantilever crane end-of-pipe control method establishes three-dimensional system of coordinate O1-
X1Y1Z1, wherein coordinate origin O1It is set as cantilever crane rotation center, X1It is set as along Mechanical Engineering Body length direction, Y1Setting
For Mechanical Engineering Body width direction, Z1It is set as Mechanical Engineering Body short transverse, the first bend pipe and the second bend pipe are in X1O1Y1
Plane and Y1O1Z1Any conversion angle rotation between plane.
In one embodiment, remote-control handle is universal handle 1: when remote-control handle moves along the y axis, the first bend pipe edge
X1O1Y1Plane Rotation；When remote-control handle moves along the x axis, the second bend pipe is along Y1O1Z1Plane Rotation；Or, remote-control handle is along X
When axis direction is mobile, the first bend pipe is along X1O1Y1Plane Rotation；When remote-control handle moves along the y axis, the second bend pipe is along Y1O1Z1
Plane Rotation.
In another embodiment, remote-control handle is two straight in-line handles, and first straight in-line handle is curved for controlling first
Pipe rotation, second straight in-line handle is for controlling the rotation of the second bend pipe.Specifically, two straight in-line handles can only move along the y axis
Dynamic: when first straight in-line handle moves along the y axis, the first bend pipe is along X1O1Y1Plane Rotation, second straight in-line handle is along Y-axis
When direction is mobile, the second bend pipe is along Y1O1Z1Plane Rotation；Or, two straight in-line handles can only move along the x axis: first straight
When line handle moves along the x axis, the first bend pipe is along X1O1Y1Plane Rotation；When second straight in-line handle moves along the x axis,
Second bend pipe is along Y1O1Z1Plane Rotation.
Compared to the movement that tradition realizes arm support tail end displacement by adjusting cantilever crane section by section, arm support tail end control of the invention
Method and system, remote-control handle swaying direction, arm support tail end moving direction is interrelated, firstly, building in the horizontal plane
Vertical two-dimensional coordinate system XOY；Secondly, remote-control handle is moved along the compound direction of X-axis and Y-axis, direction signal passes through wireless transmission
Mode be transmitted to signal receiver 5；Then, signal receiver 5 exports X-axis respectively by conversion and Y direction is electric accordingly
Signal drive magnetic valve 4 is flowed to work；Finally, inputting the first slewing equipment 2 and the second revolution respectively by the hydraulic oil of solenoid valve 4
Device 3, and then the first bend pipe and the rotation of the second bend pipe are driven, complete the movement of arm support tail end target direction.On the one hand, of the invention
The first bend pipe and the rotation of the second bend pipe are respectively driven by the first slewing equipment 2 and the second slewing equipment 3, realizes arm support tail end position
The control of each single-unit cantilever crane is converted the control to arm support tail end mobile first bend pipe and the second bend pipe, letter by the movement of shifting
Manipulation work flow is changed；On the other hand, by remote-control handle binding signal receiver 5, the first bend pipe of arm support tail end is manipulated
Keep the swaying direction of remote-control handle consistent with the moving direction of arm support tail end in setting Plane Rotation with the second bend pipe, and then comes
Realize arm support tail end displacement movement, it is easy to operate, intelligence degree is high and improve arm support tail end mobile accuracy and flexibly
Property.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Within mind and principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of arm support tail end control method manipulates cantilever crane tail house by remote-control handle and realizes, which is characterized in that the arm
Frame tail house is connected with the discharge nozzle that arm support tail end is arranged in, including the first bend pipe, the second bend pipe, cloth hose, first time
Rotary device and the second slewing equipment, the first slewing equipment setting are described between discharging pipe end and the first bend pipe beginning
Second slewing equipment is arranged between the first bend pipe end and the second bend pipe beginning, the first slewing equipment driving described first
Bend pipe rotation, second slewing equipment drive the second bend pipe rotation, first slewing equipment and the second slewing equipment
Hydraulic circuit on be provided with solenoid valve, the arm support tail end control method includes the following steps:
S1 establishes two-dimensional coordinate system XOY in the horizontal plane, wherein coordinate origin O is set as the center of remote-control handle, X-axis setting
For horizontal cross, Y-axis is set as horizontal longitudinal；
S2, remote-control handle are moved along the compound direction of X-axis and Y-axis；
S3, direction signal are transmitted to signal receiver by way of wireless transmission；
S4, the signal receiver receive the direction signal in step S3, export X-axis and Y direction phase respectively by converting
The current signal drive magnetic valve work answered；
S5 inputs the first slewing equipment and the second slewing equipment by the hydraulic oil of solenoid valve respectively, and then drives the first bend pipe
It is rotated with the second bend pipe, completes the movement of arm support tail end target direction.
2. arm support tail end control method according to claim 1, which is characterized in that establish three-dimensional system of coordinate O1-X1Y1Z1,
In, coordinate origin O1It is set as cantilever crane rotation center, X1It is set as along Mechanical Engineering Body length direction, Y1It is set as engineering machine
Tool vehicle-body width direction, Z1It is set as Mechanical Engineering Body short transverse, first bend pipe and the second bend pipe are in X1O1Y1Plane
And Y1O1Z1Any conversion angle rotation between plane.
3. arm support tail end control method according to claim 2, which is characterized in that the remote-control handle is universal handle:
When the remote-control handle moves along the y axis, first bend pipe is along X1O1Y1Plane Rotation；The remote-control handle is along the x axis
When mobile, second bend pipe is along Y1O1Z1Plane Rotation；
Or, first bend pipe is along X when the remote-control handle moves along the x axis1O1Y1Plane Rotation；The remote-control handle edge
When Y direction is mobile, second bend pipe is along Y1O1Z1Plane Rotation.
4. arm support tail end control method according to claim 1, which is characterized in that the remote-control handle is two straight line hands
Handle, first straight in-line handle is for controlling the rotation of the first bend pipe, and second straight in-line handle is for controlling the rotation of the second bend pipe.
5. arm support tail end control method according to claim 4, which is characterized in that two straight in-line handles only can be along Y
Axis direction is mobile: when first straight in-line handle moves along the y axis, first bend pipe is along X1O1Y1Plane Rotation；Second
When a straight in-line handle moves along the y axis, second bend pipe is along Y1O1Z1Plane Rotation.
6. arm support tail end control method according to claim 4, which is characterized in that two straight in-line handles only can be along X
Axis direction is mobile: when first straight in-line handle moves along the x axis, first bend pipe is along X1O1Y1Plane Rotation；Second
When a straight in-line handle moves along the x axis, second bend pipe is along Y1O1Z1Plane Rotation.
7. arm support tail end control method according to claim 1, which is characterized in that the signal receiver by harness with
Solenoid valve electrical connection.
8. arm support tail end control method according to claim 7, which is characterized in that the solenoid valve and the first slewing equipment
And second be provided with oil inlet pipe and oil return pipe between slewing equipment, the oil inlet pipe and oil return pipe respectively with the hydraulic fluid port of solenoid valve
It is connected.
9. arm support tail end control method according to any one of claim 1 to 8, which is characterized in that further include step S6:
By the first bend pipe and the second bend pipe rotation after when arm support tail end position and target position information it is inconsistent in the case where,
Position correction is carried out in such a way that artificial or wireless manipulation cloth hose is mobile, for realizing mobile arm support tail end to specified ground
Point.
10. a kind of arm support tail end control system, which is characterized in that including remote-control handle, signal receiver and arm support tail end mechanism:
The remote-control handle is mobile for manipulating cantilever crane tail house, establishes two-dimensional coordinate system XOY in the horizontal plane, wherein sits
Mark origin O is set as the center of remote-control handle, and X-axis is set as horizontal cross, and Y-axis is set as horizontal longitudinal, and remote-control handle is along X-axis
It is mobile with the compound direction of Y-axis；
The signal receiver is connected with remote-control handle and arm support tail end mechanism respectively, and the direction signal of remote-control handle passes through wireless
After the mode of transmission is transmitted to signal receiver, X-axis and the corresponding current signal of Y direction are exported respectively by converting；
The arm support tail end mechanism is connected with the discharge nozzle that arm support tail end is arranged in, including the first bend pipe, the second bend pipe, cloth are soft
Pipe, the first slewing equipment and the second slewing equipment, the first slewing equipment setting is at discharging pipe end and the first bend pipe beginning
Between, second slewing equipment is arranged between the first bend pipe end and the second bend pipe beginning, and first slewing equipment drives
Move first bend pipe rotation, second slewing equipment drives the second bend pipe rotation, first slewing equipment and the
It is provided with solenoid valve on the hydraulic circuit of two-revolution device, along X-axis and the corresponding current signal drive magnetic valve work of Y direction
Make, the first slewing equipment and the second slewing equipment are inputted by the hydraulic oil of solenoid valve respectively, and then the first bend pipe of driving and the
The rotation of two bend pipes, completes the movement of arm support tail end target direction.
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| CN109914809A (en) * | 2019-04-11 | 2019-06-21 | 长沙赛搏机器智能有限公司 | A kind of concrete arm tail house and concrete pumping equipment |
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Application publication date: 20190917 |