CN115467526A

CN115467526A - Arm support control method and system, engineering machinery and machine readable storage medium

Info

Publication number: CN115467526A
Application number: CN202211065186.XA
Authority: CN
Inventors: 曾中炜; 尹君; 谭语
Original assignee: Zoomlion Heavy Industry Science and Technology Co Ltd
Current assignee: Zoomlion Heavy Industry Science and Technology Co Ltd
Priority date: 2022-08-29
Filing date: 2022-08-29
Publication date: 2022-12-13

Abstract

The invention provides a boom control method, a boom control system, an engineering machine and a machine-readable storage medium, wherein the boom control method comprises the following steps: acquiring a mode instruction input by a mobile phone; judging whether the mode instruction contains authorization mode information or not; under the condition that the mode instruction contains authorization mode information, acquiring a construction control instruction input by a constructor, and controlling the arm support to drive the material conveying pipe to move to an appointed material distribution position according to the construction control instruction; and under the condition that the mode command does not contain authorized mode information, acquiring a manipulator control command input by a manipulator, and controlling the arm support to drive the material conveying pipe to move to the specified material distribution position according to the manipulator control command. The method can select the mode by combining the construction requirement and the construction difficulty, enables constructors to conveniently make cloth points move according to the site construction requirement under the condition that the cantilever crane cannot be accurately controlled, avoids the condition that the precision does not reach the standard due to high construction difficulty, can accurately reflect the construction intention, improves the reliability of the cantilever crane operation and control, and reduces the construction difficulty.

Description

Arm support control method and system, engineering machinery and machine readable storage medium

Technical Field

The invention belongs to the technical field of engineering machinery, and particularly relates to a boom control method and system, engineering machinery and a machine readable storage medium.

Background

At present, the professional degree of control of the pump truck arm support is high, and a skilled manipulator is needed to operate the arm support according to the requirements of a construction party better, so that the material distribution point at the tail end of the arm support moves in the direction to perform reasonable material distribution. In a control mode of the tail end of the boom of the pump truck in the prior art, an inclination angle change mode is usually adopted to detect the inclination direction generated by the traction of a hose at the tail end of the boom, and the intention of a moving material distribution point of a constructor cannot be truly reflected all the time under the condition of hose deformation, so that the inclination angle change detection is unreliable, and the boom is poor in control precision and low in reliability; due to the visual field limitation of the position of the manipulator, the manipulator cannot accurately control the construction site condition and the construction requirement, and the working difficulty and the working strength of the manipulator are increased under the condition that the control of the tail end of the arm support needs high-precision construction.

Disclosure of Invention

The invention mainly aims to provide a boom control method, a boom control system, engineering machinery and a machine readable storage medium, and aims to solve the technical problems of poor boom tail end control precision and high working difficulty in the prior art.

In order to achieve the above object, the present invention provides a method for controlling a boom, wherein a feed delivery pipe is arranged at a tail end of the boom, and the method for controlling the boom comprises:

acquiring a mode instruction input by a mobile phone;

judging whether the mode instruction contains authorization mode information or not;

under the condition that the mode instruction contains authorization mode information, acquiring a construction control instruction input by a constructor, and controlling the arm support to drive the conveying pipe to move to an appointed material distribution position according to the construction control instruction;

and under the condition that the mode instruction does not contain authorized mode information, acquiring a manipulator control instruction input by a manipulator, and controlling the arm support to drive the material conveying pipe to move to an appointed material distribution position according to the manipulator control instruction.

In the embodiment of the invention, the step of controlling the arm support to drive the conveying pipe to move to the specified distribution position according to the construction control instruction comprises the following steps:

acquiring traction angle information and arm support control information input by a constructor;

obtaining the driving demand of the arm support according to the traction angle information and the arm support control information;

and driving the arm support to drive the conveying pipe to move to an appointed material distribution position according to the driving demand.

In an embodiment of the present invention, the obtaining of the driving demand of the boom according to the traction angle information and the boom manipulation information includes:

judging whether the arm support control information contains cloth point moving operation or not;

and under the condition that the arm support control information comprises a material distribution point moving operation, obtaining the driving demand of the arm support according to the traction angle information and the material distribution point moving information.

The invention also provides a boom control system, wherein a feed delivery pipe is arranged at the tail end of the boom, and the boom control system comprises:

the first manipulator is used for acquiring a mode command input by a mobile phone;

the second operator is used for acquiring a construction control instruction input by a constructor;

the driving controller is configured to obtain a mode instruction input by a mobile phone, judge whether the mode instruction contains authorization mode information or not, and control the arm support to drive the conveying pipe to move to a specified material distribution position according to a construction control instruction under the condition that the mode instruction contains the authorization mode information; and under the condition that the mode instruction does not contain authorized mode information, controlling the arm support to drive the conveying pipe to move to an appointed material distribution position according to a manipulator control instruction.

In the embodiment of the invention, the second operator is also used for acquiring traction angle information and arm support control information input by constructors, the drive controller is further configured to acquire the traction angle information and arm support control information input by the constructors, obtain the drive demand of the arm support according to the traction angle information and the arm support control information, and drive the arm support to drive the conveying pipe to move to the specified distribution position according to the drive demand.

In this embodiment of the present invention, the drive controller is further configured to determine whether the boom control information includes a material distribution point movement operation, and obtain a drive demand of the boom according to the traction angle information and the material distribution point movement information when the boom control information includes the material distribution point movement operation.

In an embodiment of the present invention, the second operator includes:

the traction device comprises a traction sliding block and a traction disc used for being connected with the conveying pipeline in a surrounding mode, the traction sliding block is used for performing revolution motion relative to the traction disc under the driving of constructors, and the traction disc is used for detecting the traction angle of the traction sliding block and sending traction angle information to the driving controller;

the operating handle is installed on the traction sliding block, the operating handle is electrically connected with the driving controller through the traction sliding block, the traction disc and the driving controller in sequence, and the operating handle is used for sending arm support control information to the driving controller.

In an embodiment of the present invention, the traction apparatus includes: the conducting ring is arranged around the traction disc, the traction sliding block is provided with a conducting head corresponding to the conducting ring, and the conducting head is electrically connected with the operating handle; and the elastic pressing mechanism is arranged on the traction sliding block and is used for pressing the conductive head onto the conductive ring along the radial direction of the conveying pipe.

In an embodiment of the present invention, the elastic pressing mechanism includes: the conductive head is mounted on the mounting rack; the elastic piece is elastically compressed between the mounting frame and the traction sliding block, and the traction sliding block is provided with a limiting part for limiting the mounting frame and the elastic piece so as to enable the mounting frame to be limited at an electric connection position relative to the traction disc.

In an embodiment of the present invention, the traction apparatus further includes: the variable resistance detection circuit comprises a variable resistance ring and a variable resistance sliding sheet which is matched and connected with the variable resistance ring, the variable resistance ring is arranged outside the traction disc, and the variable resistance sliding sheet is arranged on the traction sliding block; and the signal processor is connected with the variable resistance detection circuit and is used for processing the resistance value change signal of the variable resistance detection circuit into a communication signal and sending the communication signal to the driving controller.

In the embodiment of the invention, the varistor detection circuit further comprises an electric connection ring coaxially arranged with the varistor ring, the electric connection ring and the varistor ring are both connected with the varistor slide sheet, the varistor ring is provided with a wiring opening, one end of the signal processor is electrically connected with the head end of the wiring opening, and the other end of the signal processor is electrically connected with the electric connection ring.

In the embodiment of the invention, the traction disc is provided with a hollow cavity for the feed delivery pipe to pass through, the hollow cavity is matched with the feed delivery pipe in shape, the cavity wall of the hollow cavity is used for being attached to the close surface of the feed delivery pipe, the traction disc is provided with an annular track groove in sliding fit with the traction sliding block, and the hollow cavity and the annular track groove are sequentially nested from inside to outside and are coaxially arranged.

In an embodiment of the present invention, the traction disc includes: the hollow cavity is arranged in the mounting cylinder; the limiting track ring is annularly arranged outside the mounting cylinder, a supporting plate is supported between the mounting cylinder and the limiting track ring, the mounting cylinder, the limiting track ring and the supporting plate are encircled to form the annular track groove, and the limiting track ring is used for resisting and limiting the traction sliding block.

In an embodiment of the present invention, the traction slider includes: the sliding block main body is provided with a protection cavity for the limiting track ring to extend into, the conducting ring is arranged on the limiting track ring, and the elastic pressing mechanism is arranged in the protection cavity; and the limiting baffle is arranged in the slider main body and stretches into the annular track groove, the limiting track ring is used for abutting the limiting baffle, and the limiting baffle is externally rotatably sleeved with an inner roller in rolling contact with the limiting track ring.

In the embodiment of the invention, the traction sliding block further comprises a clamping plate positioned in the protective cavity, an outer roller is rotatably sleeved outside the clamping plate, and the limiting track ring is clamped between the inner roller and the outer roller.

In the embodiment of the invention, the axial end parts of the limiting track rings are protruded out of the supporting plate, so that the annular track grooves are formed on two sides of the supporting plate in the thickness direction.

In the embodiment of the invention, the outer surface of the mounting cylinder is provided with a reference direction mark, the axial end part of the mounting cylinder protrudes out of the limiting track ring, and the reference direction mark is arranged close to the axial end part of the mounting cylinder.

In an embodiment of the present invention, the traction apparatus further includes: the knob is arranged on the traction disc and can move relative to the traction disc; the clamping plate is connected with the knob and used for clamping or loosening the conveying pipeline under the driving of the knob.

In an embodiment of the present invention, the second operator further comprises a pulling rope connected between the pulling slider and the operating handle.

The invention further provides engineering machinery which comprises the arm support with the material conveying pipe and the arm support control system.

Through the technical scheme, the second manipulator provided by the embodiment of the invention has the following beneficial effects:

when the tail end of the arm support needs to be controlled, a mode instruction input by a manipulator can be obtained firstly, the manipulator can select a control mode according to site construction conditions or arm support control precision, the manipulator can select an authorization mode and input authorization mode information under the condition that the site construction conditions cannot be accurately mastered or the requirement on arm support control precision is high, the arm support is controlled according to a construction control instruction to drive the material conveying pipe to move to a specified material distribution position under the condition that the mode instruction contains authorization mode information, the arm support control right of the manipulator is completely released to a constructor on the site, the condition that the intention of the constructor for moving the material distribution point cannot be truly reflected can be avoided, the reliability of arm support control is improved, the manipulator only needs to safely monitor the arm support control, the operation difficulty and the working strength of the manipulator can be reduced, the manipulator can select a conventional mode and input conventional mode information under the condition that the site construction conditions or the requirement on arm support control precision is not high, and the manipulator controls the material conveying pipe to drive the material conveying pipe to move to the specified material distribution position according to the manipulator control instruction under the condition that the mode instruction does not contain authorization mode information. The manipulator can select modes by combining construction requirements and construction difficulty, and under the condition that the cantilever crane cannot be accurately controlled, constructors can conveniently make cloth points to move according to site construction requirements, the condition that the precision does not reach the standard due to large construction difficulty is avoided, the construction intention can be accurately reflected, the reliability of control of the cantilever crane is improved, the construction difficulty is reduced, and the cantilever crane can be applied to different construction scenes.

Additional features and advantages of the invention will be set forth in the detailed description which follows.

Drawings

The accompanying drawings, which are included to provide an understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:

FIG. 1 is a schematic diagram of a second manipulator according to an embodiment of the present invention;

FIG. 2 is a schematic cross-sectional view of a second manipulator according to another embodiment of the present invention;

FIG. 3 is a schematic view of a portion of the structure of FIG. 2;

FIG. 4 is a schematic view showing a structure of a second manipulator and a feed conveyor pipe according to still another embodiment of the present invention;

FIG. 5 is a schematic view of the operating handle according to an embodiment of the present invention;

FIG. 6 is a schematic view of the operating principle of the operating handle according to another embodiment of the present invention;

fig. 7 is a schematic diagram of a matching principle of the varistor detection circuit and the signal processor according to an embodiment of the present invention;

fig. 8 is a schematic diagram of a matching principle of a varistor detection circuit and a signal processor according to another embodiment of the present invention;

fig. 9 is a schematic diagram of a matching principle of a varistor detection circuit and a signal processor according to yet another embodiment of the present invention;

fig. 10 is a flowchart illustrating a boom control method according to an embodiment of the present invention;

fig. 11 is a schematic structural diagram of a boom control system according to an embodiment of the present invention;

fig. 12 is a schematic structural diagram of a first manipulator in an embodiment according to the invention.

Description of the reference numerals

Reference name

200. Boom control system 126 support plate

210. First operator 2 operating handle

220. Mode key 21 button

230. Operation switch 22 varistor

240. Drive controller 3 varistor detection circuit

100. Second operator 31 varistor ring

1. Draw gear 32 wiring opening

11. Traction slider 33 electrical connection ring

111. Variable resistance slide sheet of slide block main body 34

112. Protective cavity 4 signal processor

113. Spacing baffle 5 conducting ring

114. Inner roller 6 conductive head

115. Splint 7 elasticity hold-down mechanism

116. Outer roller 71 mounting rack

117. Mounting hole 72 spacing groove

118. Limiting piece 73 elastic piece

12. 8 knobs of traction disk

121. Annular track groove 9 clamping plate

122. Installation cylinder 10 traction rope

123. Hollow cavity 20 mouthpiece

124. Reference direction mark 300 material conveying pipe

125. Limiting orbital ring

Detailed Description

The following detailed description of specific embodiments of the invention refers to the accompanying drawings. It should be understood that the specific embodiments described herein are merely illustrative and explanatory of the invention and are not restrictive thereof.

Referring to the drawings, a boom control method according to the present invention is described below, where a boom end is provided with a material conveying pipe 300, as shown in fig. 10, in a first embodiment of the present invention, the boom control method includes:

step S10, acquiring a mode instruction input by a mobile phone;

step S20, judging whether the mode instruction contains authorization mode information;

step S30, under the condition that the mode instruction contains authorization mode information, acquiring a construction control instruction input by a constructor, and controlling the arm support to drive the material conveying pipe 300 to move to an appointed material distribution position according to the construction control instruction;

and S40, under the condition that the mode instruction does not contain authorized mode information, acquiring a manipulator control instruction input by a manipulator, and controlling the arm support to drive the material conveying pipe 300 to move to a specified material distribution position according to the manipulator control instruction.

In this embodiment, when the end of the boom needs to be controlled, a mode instruction input by the manipulator may be obtained first, so that the manipulator may select a control mode according to a site construction condition or a boom control accuracy, and may select an authorization mode and input authorization mode information under a condition that the site construction condition cannot be accurately controlled or the boom control accuracy requirement is high, and in a condition that the mode instruction includes authorization mode information, the manipulator controls the boom to drive the material delivery pipe 300 to move to a specified material distribution position according to the construction control instruction, and completely transfers the boom control right of the manipulator to a constructor on site, so that a condition that the intention of the constructor to move the material distribution point cannot be truly reflected can be avoided, the reliability of the boom control is improved, and the manipulator only needs to safely monitor the boom control, so that the operation difficulty and the working strength of the manipulator can be reduced, and in a condition that the site construction condition or the boom control accuracy requirement is not high, the manipulator may select a conventional mode and input conventional mode information, and control the material delivery pipe 300 to move to the specified material distribution position according to the manipulator control instruction under a condition that the mode instruction does not include authorization mode information. In the embodiment, the manipulator can select modes by combining construction requirements and construction difficulty, and under the condition that the arm support cannot be accurately controlled, constructors can conveniently make cloth points to move according to site construction requirements, the condition that the construction difficulty greatly causes the problem that the precision does not reach the standard is avoided, the construction intention can be accurately reflected, the reliability of arm support control is improved, the construction difficulty is reduced, and the manipulator can be applied to different construction scenes.

Based on the first embodiment, the present invention provides a second embodiment, wherein the controlling the boom to drive the material conveying pipe 300 to move to the designated material distribution position according to the construction control instruction includes:

and driving the arm support to drive the material conveying pipe 300 to move to the specified material distribution position according to the driving demand.

In this embodiment, the traction angle information and the boom control information input by the constructor may be first obtained, the driving demand of the boom may be calculated according to the traction angle information and the boom control information based on the spatial kinematics algorithm in the prior art, and finally the boom may be driven according to the driving demand. The boom control information may include traction speed information and boom lifting information.

Based on the second embodiment, the present invention provides a third embodiment, and obtaining the driving demand of the boom according to the traction angle information and the boom manipulation information includes:

and under the condition that the arm support control information comprises the material distribution point movement operation, obtaining the driving demand of the arm support according to the traction angle information and the material distribution point movement information.

Before calculating the driving demand of the arm support, the arm support control information can be judged, under the condition that the arm support control information contains the material distribution point moving operation, the traction angle information and the material distribution point moving information can be combined for settlement to obtain the driving demand of the arm support, and under the condition that the arm support control information does not contain the material distribution point moving operation, the arm support is driven to rotate only directly according to the traction angle information. In the embodiment, unnecessary calculation and transmission signals can be avoided, and accurate and quick arm support control is realized.

As shown in fig. 11, the present invention further provides a boom control system, a feed delivery pipe 300 is disposed at a tail end of the boom, and the boom control system 200 includes a first manipulator 210, a second manipulator 100 and a driving controller 240; a first operator 210 for acquiring a mode command input by a handset; the second manipulator 100 is used for collecting construction control instructions input by constructors; the driving controller 240 is configured to obtain a mode instruction input by a manipulator, judge whether the mode instruction includes authorized mode information, control the boom to drive the material conveying pipe 300 to move to an appointed material distribution position according to a construction control instruction when the mode instruction includes the authorized mode information, and control the boom to drive the material conveying pipe 300 to move to the appointed material distribution position according to the manipulator control instruction when the mode instruction does not include the authorized mode information; . As shown in fig. 12, in one embodiment, the first operator 210 includes a mode key 220 and an operation switch 230.

When the tail end of the arm support needs to be controlled, the manipulator can select a control mode according to the site construction condition or the arm support control precision, the manipulator can select an authorization mode and input a mode command through the first operator 210 under the condition that the site construction condition cannot be accurately controlled or the arm support control precision requirement is high, a constructor can input a construction control command through the second operator 100 under the condition that the drive controller 240 judges that the mode command contains authorization mode information, the drive controller 240 can control the arm support to drive the material conveying pipe 300 to move to a specified material distribution position according to the construction control command, the arm support control right of the manipulator is completely transferred to the constructor on the site, the condition that the intention of the constructor for moving a material distribution point cannot be truly reflected can be avoided, the reliability of the arm support control is improved, the manipulator only needs to safely monitor the arm support control, the operation difficulty and the working strength of the manipulator can be reduced, the manipulator can select a conventional mode and input conventional mode information under the condition that the manipulator can accurately control the site construction condition or the control precision requirement is low, and the manipulator can drive the controller 240 to drive the material conveying pipe 300 to control the specified material distribution position according to the mode command under the condition that the mode command does not contain the authorized material conveying mode information. The manipulator in the embodiment can select the mode by combining the construction requirement and the construction difficulty, and under the condition that the cantilever crane cannot be accurately controlled, constructors can conveniently make cloth points to move according to the site construction requirement, the condition that the construction difficulty greatly causes the accuracy to be not up to standard is avoided, the construction intention can be accurately reflected, the reliability of the cantilever crane control is improved, the construction difficulty is reduced, and the cantilever crane control method can be applied to different construction scenes.

In an embodiment, the second manipulator 100 is further configured to acquire traction angle information and boom control information input by a constructor, and the drive controller 240 is further configured to acquire the traction angle information and the boom control information input by the constructor, obtain a drive demand of the boom according to the traction angle information and the boom control information, and drive the boom to drive the feed delivery pipe 300 to move to an assigned distribution position according to the drive demand. In the embodiment, traction angle information and boom control information input by a constructor can be firstly obtained, on the basis of a spatial kinematics algorithm in the prior art, the driving demand of the boom is calculated according to the traction angle information and the boom control information, and finally the boom is driven according to the driving demand. The boom manipulation information may include traction speed information and boom lifting information.

In another embodiment, the driving controller 240 is further configured to determine whether the boom control information includes a material distribution point moving operation, and obtain a driving demand of the boom according to the traction angle information and the material distribution point moving information when the boom control information includes the material distribution point moving operation. Before calculating the driving demand of the boom, the driving controller 240 may first determine the boom control information, and may combine and settle the traction angle information and the distribution point movement information to obtain the driving demand of the boom under the condition that the boom control information includes the distribution point movement operation, and only need to directly drive the boom to rotate according to the traction angle information under the condition that the boom control information does not include the distribution point movement operation. According to the embodiment, unnecessary calculation and transmission signals can be avoided, and accurate and rapid arm support control is realized.

In an embodiment, the second operator 100 comprises a traction device 1 and an operating handle 2; the traction device 1 comprises a traction slide block 11 and a traction disc 12 used for being connected with the material conveying pipe 300 in a surrounding mode, the traction slide block 11 is used for performing revolution motion relative to the traction disc 12 under the driving of constructors, and the traction disc 12 is used for detecting the traction angle of the traction slide block 11 and sending traction angle information to the driving controller 240; the operating handle 2 is installed on the traction slider 11, the operating handle 2 is electrically connected with the driving controller 240 through the traction slider 11, the traction disc 12 in sequence, and the operating handle 2 is used for sending arm support control information to the driving controller 240.

It will be appreciated that the second manipulator 100 in this embodiment is primarily intended for use in pump trucks, and the delivery pipe 300 is primarily intended for use as a hose for delivering concrete. The traction angle information of the traction slider 11 can be detected between the traction slider 11 and the traction disk 12 in an electromagnetic induction mode or a resistance and voltage change mode, such as a magnetostrictive principle: the traction slider 11 is a permanent magnet, the traction disc 12 is an annular magnetostrictive rod, and power supply and signals of the traction disc 12 can be led out through a cable and then connected with the pump truck.

When the second manipulator 100 in this embodiment is used, the traction disc 12 can be firstly sleeved outside the material conveying pipe 300 at the tail end of the arm support in a surrounding manner, so that the traction disc 12 is tightly connected with the material conveying pipe 300, when the arm support needs to be dragged or lifted, the traction slider 11 can perform revolution motion relative to the traction slider 11 in a manner of dragging the traction slider 11, the revolution angle of the traction slider 11 is used as the traction angle of the material conveying pipe 300 and is used as a visual communication bridge between a constructor and a manipulator, so that the traction direction change is in an external direction, the inclination angle detection which is difficult to observe in the prior art is replaced, the condition that the inclination angle change detection is unreliable can be avoided, and the reliability and the precision of arm support traction are improved; the traction disc 12 can detect the traction angle of the traction sliding block 11 and send traction angle information to the drive controller 240, a constructor can also input an arm support control instruction through the operation handle 2, the operation handle 2 is electrically connected with the traction disc 12 all the time through the traction sliding block 11, the arm support control information can be stably sent to the drive controller 240 through the traction device 1, the condition that the signal transmission quality is poor is avoided, the drive controller 240 can stably and accurately drive the arm support by combining the traction angle information and the arm support control information, and the conveying pipe 300 is driven to move to a specified material distribution point. In the embodiment, the second manipulator 100 replaces the inclination angle detection with the revolution motion of the outer part of the traction sliding block 11 through the matching of the traction device 1 and the operating handle 2, and the operating handle 2 is electrically connected with the traction device 1 all the time, so that the stability of signal transmission is ensured, and the control reliability of the tail end of the arm support is improved, and the control precision of the tail end of the arm support is improved.

Moreover, the constructor pulls the slider 11 to realize the mode of traction angle adjustment by revolution motion, the load motion that the constructor directly pulls the conveying pipe 300 is cancelled, the condition that the moving speed of the constructor cannot follow the moving speed of the cantilever crane can be avoided, the traction operation can be carried out no matter the moving speed of the cantilever crane is slow or fast, the potential safety hazard that the cantilever crane is out of control due to construction efficiency is improved, the load traction in the prior art is cancelled, and the construction efficiency is improved.

It should be noted that the operating handle 2 may be an input handle in the prior art, or the operating handle 2 in fig. 2, 5, and 6, where the operating handle 2 includes a button 21 and a varistor 22, and the operating handle 2 in fig. 2 may drive a contact position of the varistor 22 to change, so as to change a resistance value of the operating handle 2, where the operating handle 2 in fig. 2 and 6 is a three-wire system, and in the figures, "+", "-" is a power line pin, and "s" is a signal line pin, and arm rest manipulation information may be detected by a linearly changing voltage signal. The operating handle 2 in fig. 2 adopts a two-wire system, the boom control information can be detected through the change of the resistance value, and the resistance value or the voltage signal generated when the button 21 is in the middle can be identified as the boom-free operation requirement. In other embodiments, the continuously variable analog-quantity operating handle 2 may be replaced with a form of "speed-step adjuster" plus a "direction switch" of the switching quantity.

As shown in fig. 2 and 3, the traction device 1 includes a conductive ring 5 and an elastic pressing mechanism 7; the conducting ring 5 is arranged around the traction disc 12, the traction sliding block 11 is provided with a conducting head 6 corresponding to the conducting ring 5, and the conducting head 6 is electrically connected with the operating handle 2; the elastic pressing mechanism 7 is installed on the traction sliding block 11, and the elastic pressing mechanism 7 is used for pressing the conductive head 6 to the conductive ring 5 along the radial direction of the material conveying pipe 300. In this embodiment, the three conductive rings 5 surround the traction disc 12 at intervals in the vertical direction, the three conductive heads 6 are connected to the three conductive rings 5 in a one-to-one correspondence manner, the conductive heads 6 are connected to the operating handle 2 through cables, and the boom control information input by the constructor through the operating handle 2 can be transmitted to the driving controller 240 through the cables after passing through the conductive heads 6 and the conductive rings 5. In this embodiment, the elastic pressing mechanism 7 presses the conductive head 6 against the conductive ring 5 to form electrical communication, so that when the traction slider 11 is dragged to perform circumferential revolution motion relative to the traction disc 12, the operation handle 2 is always electrically connected with the traction disc 12 through the traction slider 11, and the communication stability of the operation handle 2 is further improved.

In the embodiment of the present invention, the elastic pressing mechanism 7 includes a mounting frame 71 and an elastic member 73; the conductive head 6 is mounted on the mounting frame 71; the elastic member 73 is elastically compressed between the mounting bracket 71 and the traction slider 11, and the traction slider 11 is provided with a limiting member 118 for limiting the mounting bracket 71 and the elastic member 73 so as to limit the mounting bracket 71 to an electrical connection position relative to the traction disc 12. As shown in fig. 3, in the embodiment, the mounting block 71 is provided with a limiting groove 72, the limiting member 118 is cylindrical and extends into the limiting groove 72, the elastic member 73 can be a spring sleeved outside the limiting member 118, and the limiting member 118, the elastic member 73 and the mounting block 71 are sequentially nested and limited, so that the mounting block 71 can be prevented from shifting relative to the traction disc 12, and the connection stability of the conductive head 6 and the conductive ring 5 can be ensured.

In the embodiment of the invention, the traction device 1 further comprises a variable resistance detection circuit 3 and a signal processor 4; the variable resistance detection circuit 3 comprises a variable resistance ring 31 and a variable resistance sliding sheet 34 which is in fit connection with the variable resistance ring 31, the variable resistance ring 31 is annularly arranged outside the traction disc 12, and the variable resistance sliding sheet 34 is installed on the traction sliding block 11; and the signal processor 4 is connected with the variable resistance detection circuit 3, and the signal processor 4 is used for processing the resistance value change signal of the variable resistance detection circuit 3 into a communication signal and sending the communication signal to the driving controller 240. The signal processor 4 in the present embodiment may employ a signal processor in the related art; specifically, when the traction slider 11 revolves relative to the traction disc 12, the resistance-variable slip sheet 34 is driven to move relative to the resistance-variable ring 31, so that the resistance value changes, the resistance value changes to serve as traction angle information, and the traction angle information is processed by the signal processor 4 to serve as a communication signal and then can be sent to the drive controller 240. In the embodiment, the resistance change detection circuit 3 is formed among the signal processor 4, the traction disc 12 and the traction slider 11, and the traction angle information is detected in a mode that the traction slider 11 revolves to change the resistance value, so that the circuit structure is simple, and the detection of the traction angle can be facilitated. The traction device 1 in this embodiment further includes an interface unit 20 electrically connected to the signal processor 4, and the interface unit 20 and the driving controller 240 can be connected to realize communication.

In the embodiment of the present invention, the varistor detection circuit 3 further includes an electrical connection ring 33 coaxially disposed with the varistor ring 31, the electrical connection ring 33 and the varistor ring 31 are both connected to the varistor slide 34, the varistor ring 31 is provided with a wiring opening 32, one end of the signal processor 4 is electrically connected to a head end of the wiring opening 32, and the other end of the signal processor is electrically connected to the electrical connection ring 33. In this embodiment, the electrical connection ring 33 and the resistance variable ring 31 are both matched with the resistance variable sliding sheet 34, and the resistance variable ring 31 is opened, so that the resistance change detection of the resistance variable detection circuit 3 can be facilitated. As shown in fig. 7 to 9, the present invention specifically provides three embodiments of the varistor detection circuit 3, wherein the electrical connection ring 33 in fig. 7 and 8 is a conductive wire, the signal processor 4 in fig. 7 adopts a two-wire system, and the pins of the power wire are respectively connected to the head end of the wiring opening 32 and the electrical connection ring 33; in fig. 8, the signal processor 4 adopts a three-wire system, power line pins of the signal processor 4 are respectively connected with the head end and the tail end of the wiring opening 32, and signal line pins of the signal processor 4 are connected with the electrical connection ring 33; in fig. 9, the electrical connection ring 33 is an external varistor with an opening, the varistor ring 31 is connected to the tail end of the electrical connection ring 33, the signal processor 4 adopts a two-wire system, and the power line pins of the signal processor 4 are respectively connected to the head end of the varistor ring 31 and the head end of the electrical connection ring 33.

In the embodiment of the present invention, the traction disc 12 is provided with a hollow cavity 123 for the feed pipe 300 to pass through, the hollow cavity 123 matches with the feed pipe 300 in shape, the cavity wall of the hollow cavity 123 is used for being tightly attached to the feed pipe 300, the traction disc 12 is provided with an annular track groove 121 in sliding fit with the traction slider 11, and the hollow cavity 123 and the annular track groove 121 are sequentially nested from inside to outside and coaxially arranged. In this embodiment, the hollow cavity 123 and the annular track groove 121 are sequentially nested and coaxially arranged from inside to outside, and after the material conveying pipe 300 passes through the hollow cavity 123, the cavity wall of the hollow cavity 123 is annularly arranged outside the material conveying pipe 300, so that the protection and connection area of the traction disc 12 on the material conveying pipe 300 can be increased, and the use stability of the traction device 1 is improved while the installation of the traction disc 12 is facilitated. In this embodiment, by providing the annular track groove 121 in sliding fit with the traction slider 11, the movement track of the traction slider 11 can be accurately limited, and the situation that the traction slider 11 is separated from the sliding track is avoided. In addition, the annular track groove 121 and the hollow cavity 123 in this embodiment are coaxially arranged, so that the traction angle of the traction slider 11 relative to the traction disc 12 can be conveniently calculated after the traction slider 11 slides.

In an embodiment of the present invention, traction disk 12 includes a mounting cylinder 122 and a limiting orbital ring 125; the hollow cavity 123 is opened in the mounting cylinder 122; the limiting track ring 125 is annularly arranged outside the mounting cylinder 122, a supporting plate 126 is supported between the mounting cylinder 122 and the limiting track ring 125, an annular track groove 121 is defined by the mounting cylinder 122, the limiting track ring 125 and the supporting plate 126, and the limiting track ring 125 is used for resisting the limiting traction sliding block 11. The installation cylinder 122 in this embodiment is a cylindrical hollow cylindrical structure, and the mode that specifically props up the spacing track ring 125 from the installation cylinder 122 through the backup pad 126 forms the annular track groove 121, provides the sliding space for drawing the slider 11, and the spacing track ring 125 can keep out the spacing slider 11 that draws to avoid drawing the slider 11 and break away from the condition of annular track groove 121 orbit, further guaranteed the movement orbit of drawing the slider 11.

In the embodiment of the present invention, the traction sliding block 11 includes a sliding block main body 111 and a limit baffle 113; the slider body 111 is provided with a protection cavity 112 into which the limiting track ring 125 extends, the conducting ring 5 is embedded around the limiting track ring 125, and the elastic pressing mechanism 7 is installed in the protection cavity 112; the limiting baffle 113 is installed on the slider body 111 and extends into the annular track groove 121, the limiting track ring 125 is used for resisting the limiting baffle 113, and the limiting baffle 113 is rotatably sleeved with an inner roller 114 in rolling contact with the limiting track ring 125. As shown in fig. 3, the cross section of the slider main body 111 in this embodiment is U-shaped, the protection cavity 112 cooperates with the limit baffle 113 to limit the limit baffle 113, and can protect the conductive ring 5 and the conductive head 6 in the protection cavity 112, so as to prevent the conductive ring 5 and the conductive head 6 from being damaged by external components. The annular track groove 121 provides a sliding space for the limiting baffle 113, and can ensure that the limiting baffle 113 is always in limiting fit with the limiting track ring 125.

In the embodiment of the present invention, the traction sliding block 11 further includes a clamping plate 115 located in the protection cavity 112, the outer roller 116 is rotatably sleeved outside the clamping plate 115, and the limiting track ring 125 is clamped between the inner roller 114 and the outer roller 116. In this embodiment, the inner and outer sides of the limiting track ring 125 are respectively provided with the inner roller 114 and the outer roller 116, so that the stability of the cooperation between the traction disc 12 and the traction slider 11 is improved, and the movement compliance of the traction slider 11 is improved.

In the embodiment of the present invention, the axial end of the limiting track ring 125 protrudes from the supporting plate 126, so that the two sides of the supporting plate 126 in the thickness direction form the annular track groove 121. In one embodiment, the electrical connection ring 33 and the varistor ring 31 are respectively disposed around the upper end and the lower end of the limiting track ring 125, the supporting plate 126 is embedded with cables respectively connected to the electrical connection ring 33, the varistor ring 31 and the three conductive rings 5, and the cables in the supporting plate 126 extend into the hollow cavity 123 from the mounting cylinder 122 and are connected to the signal processor 4 in the hollow cavity 123; the foreign steamer of two upper and lower interior gyro wheels 114 is the electrically conductive metal finished piece of being connected with electric go-between 33, varistor ring 31 electricity, and the embedded cable that is connected two upper and lower interior gyro wheels 114 electricity that is equipped with of slider main part 111, sets up through the embedding of cable in this embodiment, combines the protection in protection chamber 112, can guarantee the stability of communication, avoids the condition that the cable is damaged by external parts simultaneously, has guaranteed second operation ware 100's life.

In one embodiment, the supporting plate 126 is annularly disposed outside the mounting cylinder 122 and vertically connected to the mounting cylinder 122, the length of the limiting track ring 125 is greater than the thickness of the supporting plate 126, and the axial ends of the limiting track ring 125 protrude out of the supporting plate 126, so that the upper and lower sides of the supporting plate 126 form the annular track grooves 121. The supporting plate 126 in this embodiment is an annular flat plate, the limiting track ring 125 and the mounting cylinder 122 are both hollow cylindrical structures, and the supporting plate 126 can ensure that the outer edge of the mounting cylinder 122 is connected to the inner wall of the limiting track ring 125, so as to improve the connection stability between the limiting track ring 125 and the mounting cylinder 122, as shown in fig. 3, the supporting plate 126 is located at a lower position in the middle of the mounting cylinder 122. Through the length that is greater than spacing track ring 125 in the thickness of backup pad 126, and the axial tip of spacing track ring 125 all protrudes in backup pad 126, make the upper and lower both ends of backup pad 126 all be formed with annular track groove 121, the upper and lower both ends of pulling slider 11 all are provided with limit baffle 113 and splint 115, limit baffle 113 and the splint 115 downwardly extending that are located the upper end, the limit baffle 113 that is located the lower extreme upwards extends with splint 115, and be provided with the slip clearance between limit baffle 113 and the backup pad 126, thereby avoid producing the interference between limit baffle 113 and the backup pad 126, mounting bracket 71 is located between two splint 115 and sets up with two splint 115 intervals, enable the upper and lower both ends of pulling slider 11 all with annular track groove 121 sliding fit, and spacing relative spacing track ring 125, thereby improve the stability of cooperation between pulling slider 11 and the spacing track ring 125.

In the embodiment of the present invention, the outer surface of the mounting cylinder 122 is provided with a reference direction mark 124, the axial end of the mounting cylinder 122 protrudes out of the limiting track ring 125, and the reference direction mark 124 is arranged near the axial end of the mounting cylinder 122. Specifically, the length of the mounting cylinder 122 is greater than the length of the limiting orbital ring 125, the axial end portions of the mounting cylinder 122 all protrude out of the limiting orbital ring 125, and the reference direction mark 124 is disposed near the axial end portion of the mounting cylinder 122. As shown in fig. 4, the reference direction mark 124 is a mark pattern located above the traction sheave 11, and in other embodiments, the reference direction mark 124 may be a protruding mark, a mark lamp, or the like, which is not limited by the invention. The preliminary calibration may be completed by dragging the drag slider 11 to a position aligned with the reference direction mark 124, with the reference direction mark 124 position as the calibration position. After the traction sliding block 11 is calibrated, the subsequent angle calculation after the revolution motion of the traction sliding block 11 can be facilitated, and the traction construction efficiency and accuracy of the material conveying pipe 300 are improved.

In the embodiment of the invention, the traction device 1 further comprises a knob 8 and a clamping plate 9; the knob 8 is arranged on the traction disc 12 and can move relative to the traction disc 12; the clamping plate 9 is connected with the knob 8, and the clamping plate 9 is used for clamping or loosening the feed delivery pipe 300 under the driving of the knob 8. In an embodiment, the clamping plate 9 is an arc-shaped plate, the knob 8 is in threaded connection with the mounting cylinder 122 of the traction disc 12, and can extend out or contract relative to the hollow cavity 123 in a threaded rotation manner, and drive the clamping plate 9 to move, so that the clamping plate 9 can clamp or loosen the material conveying pipe 300, and the traction device 1 is further fastened on the material conveying pipe 300, and the traction device 1 is more stable and convenient to use. For improving the structural strength of the installation cylinder 122, the installation cylinder 122 may be provided with an avoiding groove for avoiding the snap-gauge 9.

In an embodiment of the invention, the second operator 100 further comprises a traction rope 10 connected between the traction slider 11 and the operating handle 2. The traction slider 11 is provided with a mounting hole 117 for the traction rope 10 to pass through, the traction rope 10 can be detachably connected with the traction slider 11 through a bolting mode, so that the length of the traction rope 10 can be conveniently adjusted, and the traction rope 10 can be conveniently pulled by a constructor for the traction slider 11. The operating handle 2 is connected to the head end of the traction rope 10, and a cable for electrically connecting the traction sliding block 11 with the operating handle 2 is arranged in the traction rope 10.

The invention also provides an engineering machine, which comprises a boom with a delivery pipe 300 and the boom control system 200 as described above, wherein the specific structure of the delivery pipe 300 refers to the above embodiments. Since the engineering machine adopts all the technical solutions of all the embodiments, at least all the beneficial effects brought by the technical solutions of the embodiments are achieved, and no further description is given here, in one embodiment, the engineering machine is a concrete pump truck.

In the description of the present invention, it is to be understood that the terms "first", "second", and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or to imply that the number of technical features indicated are in fact significant. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless explicitly specified otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; may be mechanically coupled, may be electrically coupled or may be in communication with each other; they may be directly connected or indirectly connected through intervening media, or they may be interconnected within two elements or in a relationship where two elements interact with each other unless otherwise specifically limited. The specific meanings of the above terms in the present invention can be understood according to specific situations by those of ordinary skill in the art.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.

Claims

1. A boom control method is characterized in that a delivery pipe (300) is arranged at the tail end of a boom, and the boom control method comprises the following steps:

acquiring a mode instruction input by a mobile phone;

under the condition that the mode instruction contains authorization mode information, acquiring a construction control instruction input by a constructor, and controlling the arm support to drive the conveying pipe (300) to move to a specified material distribution position according to the construction control instruction;

and under the condition that the mode instruction does not contain authorized mode information, acquiring a manipulator control instruction input by a manipulator, and controlling the arm support to drive the conveying pipe (300) to move to a specified material distribution position according to the manipulator control instruction.

2. The boom control method according to claim 1, wherein the step of controlling the boom to drive the conveying pipe (300) to move to a specified distribution position according to the construction control instruction comprises the following steps:

and driving the arm support to drive the conveying pipe (300) to move to an appointed material distribution position according to the driving demand.

3. The boom control method according to claim 2, wherein the obtaining of the driving demand of the boom according to the traction angle information and the boom manipulation information comprises:

and under the condition that the arm support control information comprises the movement operation of the material distribution point, obtaining the driving demand of the arm support according to the traction angle information and the movement information of the material distribution point.

4. A boom control system is characterized in that a delivery pipe (300) is arranged at the tail end of a boom, and the boom control system (200) comprises:

the first manipulator (210) is used for acquiring a mode command input by a manipulator;

the second manipulator (100) is used for collecting construction control instructions input by constructors;

the driving controller (240) is configured to obtain a mode instruction input by a manipulator, judge whether the mode instruction contains authorized mode information or not, obtain a construction control instruction input by a constructor under the condition that the mode instruction contains the authorized mode information, and control the arm support to drive the conveying pipe (300) to move to a specified material distribution position according to the construction control instruction; and under the condition that the mode instruction does not contain authorized mode information, acquiring a manipulator control instruction input by a manipulator, and controlling the arm support to drive the conveying pipe (300) to move to a specified material distribution position according to the manipulator control instruction.

5. The boom control system according to claim 4, wherein the second manipulator (100) is further configured to collect traction angle information and boom manipulation information input by a constructor, and the driving controller (240) is further configured to obtain the traction angle information and the boom manipulation information input by the constructor, obtain a driving demand of the boom according to the traction angle information and the boom manipulation information, and drive the boom to drive the conveying pipe (300) to move to a specified distribution position according to the driving demand.

6. The boom control system according to claim 5, wherein the drive controller (240) is further configured to determine whether the boom control information includes a material distribution point movement operation, and in a case that the boom control information includes the material distribution point movement operation, obtain a driving demand of the boom according to the traction angle information and the material distribution point movement information.

7. The boom control system of claim 5, characterized in that the second manipulator (100) comprises:

the traction device (1) comprises a traction sliding block (11) and a traction disc (12) which is used for being connected with the conveying pipeline (300) in a surrounding mode, the traction sliding block (11) is used for performing revolution motion relative to the traction disc (12) under the driving of constructors, and the traction disc (12) is used for detecting the traction angle of the traction sliding block (11) and sending traction angle information to the driving controller (240);

the operating handle (2) is installed on the traction sliding block (11), the operating handle (2) is electrically connected with the driving controller (240) sequentially through the traction sliding block (11), the traction disc (12) and the driving controller, and the operating handle (2) is used for sending arm support control information to the driving controller (240).

8. The boom control system according to claim 7, characterized in that the traction device (1) comprises:

the conducting ring (5) is arranged on the traction disc (12) in a surrounding mode, the traction sliding block (11) is provided with a conducting head (6) corresponding to the conducting ring (5), and the conducting head (6) is electrically connected with the operating handle (2);

the elastic pressing mechanism (7) is installed on the traction sliding block (11), and the elastic pressing mechanism (7) is used for pressing the conductive head (6) onto the conductive ring (5) along the radial direction of the conveying pipe (300).

9. The boom control system according to claim 8, characterized in that the resilient press mechanism (7) comprises:

a mounting bracket (71), the conductive head (6) being mounted to the mounting bracket (71);

the elastic piece (73) is elastically compressed between the mounting frame (71) and the traction sliding block (11), and the traction sliding block (11) is provided with a limiting piece (118) for limiting the mounting frame (71) and the elastic piece (73) so as to limit the mounting frame (71) at an electric connection position relative to the traction disc (12).

10. The boom control system according to claim 7, characterized in that the traction device (1) further comprises:

the variable resistance detection circuit (3) comprises a variable resistance ring (31) and a variable resistance slide sheet (34) which is matched and connected with the variable resistance ring (31), the variable resistance ring (31) is arranged outside the traction disc (12) in a surrounding mode, and the variable resistance slide sheet (34) is installed on the traction slide block (11);

and the signal processor (4) is connected with the variable resistance detection circuit (3), and the signal processor (4) is used for processing the resistance value change signal of the variable resistance detection circuit (3) into a communication signal and sending the communication signal to the driving controller (240).

11. The boom control system according to claim 10, wherein the resistance-change detection circuit (3) further comprises an electrical connection ring (33) coaxially disposed with the resistance-change ring (31), the electrical connection ring (33) and the resistance-change ring (31) are both connected to the resistance-change sliding sheet (34), the resistance-change ring (31) is provided with a wiring opening (32), one end of the signal processor (4) is electrically connected to a head end of the wiring opening (32), and the other end of the signal processor is electrically connected to the electrical connection ring (33).

12. The boom control system according to any one of claims 8 to 11, characterized in that the traction disc (12) is provided with a hollow cavity (123) for the feed delivery pipe (300) to pass through, the hollow cavity (123) is matched with the feed delivery pipe (300) in shape, the cavity wall of the hollow cavity (123) is used for being closely attached to the feed delivery pipe (300), the traction disc (12) is provided with an annular track groove (121) in sliding fit with the traction slider (11), and the hollow cavity (123) and the annular track groove (121) are sequentially nested from inside to outside and coaxially arranged.

13. Boom control system according to claim 12, characterized in that the traction disc (12) comprises:

the mounting cylinder (122), the hollow cavity (123) is arranged in the mounting cylinder (122);

the limiting track ring (125) is annularly arranged outside the mounting cylinder (122), a supporting plate (126) is supported between the mounting cylinder (122) and the limiting track ring (125), the mounting cylinder (122), the limiting track ring (125) and the supporting plate (126) are encircled to form the annular track groove (121), and the limiting track ring (125) is used for resisting and limiting the traction sliding block (11).

14. Boom control system according to claim 13, characterized in that the traction slider (11) comprises:

the sliding block main body (111) is provided with a protection cavity (112) into which the limiting track ring (125) extends, the conducting ring (5) is annularly arranged on the limiting track ring (125), and the elastic pressing mechanism (7) is arranged in the protection cavity (112);

limiting baffle (113), install in slider main part (111) and stretch into in annular track groove (121), limiting track ring (125) are used for keeping out limiting baffle (113), just limiting baffle (113) outer rotatable cover be equipped with limiting track ring (125) rolling contact complex inside roller (114).

15. The boom control system according to claim 14, wherein the traction slider (11) further comprises a clamping plate (115) located in the protection cavity (112), an outer roller (116) is rotatably sleeved outside the clamping plate (115), and the limiting track ring (125) is clamped between the inner roller (114) and the outer roller (116).

16. The boom control system according to claim 13, wherein axial ends of the limiting track ring (125) protrude from the support plate (126), so that the annular track groove (121) is formed on both sides of the support plate (126) in the thickness direction.

17. The boom control system according to claim 13, wherein a reference direction mark (124) is provided on an outer surface of the mounting barrel (122), axial ends of the mounting barrel (122) are protruded from the limiting track ring (125), and the reference direction mark (124) is provided near the axial end of the mounting barrel (122).

18. The boom control system according to any of the claims 7-11, characterized in that the traction device (1) further comprises:

a knob (8) which is arranged on the traction disc (12) and can move relative to the traction disc (12);

the clamping plate (9) is connected with the knob (8), and the clamping plate (9) is used for clamping or loosening the material conveying pipe (300) under the driving of the knob (8).

19. Boom control system according to any of the claims 7-11, characterized in that the second manipulator (100) further comprises a pulling rope (10) connected between the pulling slider (11) and the operating handle (2).

20. A working machine, characterized in that the working machine comprises a boom with a feed conveyor pipe (300) and a boom control system (200) according to any one of claims 4-19.

21. A machine-readable storage medium having stored thereon instructions for causing a machine to perform a boom control method according to any of claims 1-3.