CN203066485U - Intelligent arm support control system of concrete pump truck - Google Patents
Intelligent arm support control system of concrete pump truck Download PDFInfo
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- CN203066485U CN203066485U CN 201220734574 CN201220734574U CN203066485U CN 203066485 U CN203066485 U CN 203066485U CN 201220734574 CN201220734574 CN 201220734574 CN 201220734574 U CN201220734574 U CN 201220734574U CN 203066485 U CN203066485 U CN 203066485U
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Abstract
The utility model discloses an intelligent arm support control system of a concrete pump truck. The intelligent arm support control system of the concrete pump truck comprises a controller I, a controller II, a pulse width modulation (PWM) electric-hydraulic proportional multi-way valve, a remote control transmitter, a remote control receiver, a displayer, a multi-coil absolute rotary encoder V0, pressure detection devices and a dip angle detection device. The multi-coil absolute rotary encoder V0 is fixed on a control tower (5). The pressure detection devices are fixed at two ends of an oil cylinder on an arm support. The dip angle detection device is fixed on the arm support. The remote control transmitter is in wireless connection with the remote control receiver. The controller I, the controller II, the remote control receiver, the multi-coil absolute rotary encoder V0, the displayer and the dip angle detection device are mutually connected through a controller area network (CAN) bus. The controller II is connected with the pressure detection devices and the PWM electric-hydraulic proportional multi-way valve. The intelligent arm support control system of the concrete pump truck has the advantages that the movement of the arm support of the pump truck can be more flexible, and control accuracy is higher.
Description
Technical field
The utility model relates to a kind of concrete pump truck intelligent arm support control system, belongs to field of intelligent control technology.
Background technology
Concrete mixer is a kind of multi-arm frame engineering machinery, and its jib belongs to the multifreedom motion system.During pump truck work, need according to the difference of building task, the operator moves on to the position that needs to the discharging opening flexible pipe of jib end, adjusts the attitude of every joint jib then repeatedly.
In the prior art, all be that single-degree-of-freedom is manually controlled to the control of pumping vehicle arm rack.Saving the arm pump trucks with four is example: pump truck has a supporting remote controller, and five handles are arranged on the remote controller, respectively corresponding four joint arm and revolutions.The staff handles each handle on the remote controller, comes the control ratio valve, thereby controls hydraulic cylinder and rotary motor, finally realizes the change in location of the flexible and slew gear of every joint jib.This control mode can not realize pump truck build autonomous path planning and system keeps away operations such as barrier.Its automation, intelligent level are lower, build efficient, build precision and can not satisfy construction requirement.And the cloth flexible pipe needs 2～3 workmans to drag, and moves very effort.
Along with increasing of pumping vehicle arm rack joint number, existing control device has restricted the performance of pump truck advantage to a great extent.
Summary of the invention
At the problem that above-mentioned prior art exists, the utility model provides a kind of concrete pump truck intelligent arm support control system, makes the motion of pumping vehicle arm rack more flexible, and control accuracy is higher.
To achieve these goals, the technical solution adopted in the utility model is: a kind of concrete pump truck intelligent arm support control system, comprise the controller I, the controller II, PWM electro-hydraulic proportional multi-way valve, remote control transmitter, receiver of remote-control sytem and display, also comprise multi-turn absolute rotary encoder V0, pressure-detecting device and inclination detecting device, described multi-turn absolute rotary encoder V0 is fixed on the control tower, remote control transmitter and receiver of remote-control sytem wireless connections, the controller I, the controller II, receiver of remote-control sytem, multi-turn absolute rotary encoder V0, display and inclination detecting device interconnect by the CAN bus, and the controller II is connected with PWM electro-hydraulic proportional multi-way valve with pressure-detecting device respectively.
Pressure-detecting device comprises pressure sensor P0, pressure sensor P1, pressure sensor P2, pressure sensor P3, pressure sensor P4, pressure sensor P5, pressure sensor P6 and pressure sensor P7, pressure sensor P0 and pressure sensor P1 are fixed on the two ends of an arm oil cylinder, pressure sensor P2 and pressure sensor P3 are fixed on the two ends of two arm oil cylinders, pressure sensor P4 and pressure sensor P5 are fixed on the two ends of three arm oil cylinders, and pressure sensor P6 and pressure sensor P7 are fixed on the two ends of four arm oil cylinders.
Inclination detecting device comprises obliquity sensor A0, obliquity sensor A1, obliquity sensor A2, obliquity sensor A3, obliquity sensor A4, obliquity sensor A0 is fixed on the control tower, obliquity sensor A1 is fixed on first jib, obliquity sensor A2 is fixed on second jib, obliquity sensor A3 is fixed on the 3rd jib, and obliquity sensor A4 is fixed on the 4th jib.
Compared with prior art, the utility model adopt multi-turn absolute rotary encoder V0, pressure-detecting device and inclination detecting device can realize pump truck build autonomous path planning and system keeps away operations such as barrier, make the motion of pumping vehicle arm rack more flexible, control accuracy is higher; Owing to adopt controller to control the attitude that need not the every joint jib of manual adjustments, only need send regulating command, the utility model just can be regulated automatically, builds efficient thereby improved, and has alleviated labor intensity of operating personnel.
Description of drawings
Fig. 1 is structural representation of the present utility model;
Fig. 2 is the scheme of installation of pressure sensor of the present utility model;
Fig. 3 is the scheme of installation of obliquity sensor of the present utility model.
Among the figure: 1, an arm oil cylinder, 2, two arm oil cylinders, 3, three arm oil cylinders, 4, four arm oil cylinders, 5, control tower, 6, first jib, 7, second jib, the 8, the 3rd jib, the 9, the 4th jib.
The specific embodiment
The utility model is described in further detail below in conjunction with accompanying drawing.
As Fig. 1, Fig. 2 and shown in Figure 3, this concrete pump truck intelligent arm support control system, comprise the controller I, the controller II, PWM electro-hydraulic proportional multi-way valve, remote control transmitter, receiver of remote-control sytem and display, also comprise multi-turn absolute rotary encoder V0, pressure-detecting device and inclination detecting device, described multi-turn absolute rotary encoder V0 is fixed on the control tower 5, remote control transmitter and receiver of remote-control sytem wireless connections, the controller I, the controller II, receiver of remote-control sytem, multi-turn absolute rotary encoder V0, display and inclination detecting device interconnect by the CAN bus, and the controller II is connected with PWM electro-hydraulic proportional multi-way valve with pressure-detecting device respectively.
Pressure-detecting device comprises pressure sensor P0, pressure sensor P1, pressure sensor P2, pressure sensor P3, pressure sensor P4, pressure sensor P5, pressure sensor P6 and pressure sensor P7, pressure sensor P0 and pressure sensor P1 are fixed on the two ends of an arm oil cylinder 1, pressure sensor P2 and pressure sensor P3 are fixed on the two ends of two arm oil cylinders 2, pressure sensor P4 and pressure sensor P5 are fixed on the two ends of three arm oil cylinders 3, and pressure sensor P6 and pressure sensor P7 are fixed on the two ends of four arm oil cylinders 4.
Inclination detecting device comprises obliquity sensor A0, obliquity sensor A1, obliquity sensor A2, obliquity sensor A3, obliquity sensor A4, obliquity sensor A0 is fixed on the control tower 5, obliquity sensor A1 is fixed on first jib 6, obliquity sensor A2 is fixed on second jib 7, obliquity sensor A3 is fixed on the 3rd jib 8, and obliquity sensor A4 is fixed on the 4th jib 9.
The course of work: operating personnel handle remote control transmitter, receiver of remote-control sytem receives signal, signal is passed to the controller I, the controller I reads the angle value of control tower 5 anglecs of rotation that inclination angle detection value that inclination detecting device transmits and multi-turn absolute rotary encoder V0 transmit, the controller II is obtained the force value that pressure-detecting device detects, and be transferred to the controller I, the controller I is carried out analyzing and processing with these signals, the result who handles regulates PWM electro-hydraulic proportional multi-way valve by the controller II, the aperture of valve is changed, thereby the control arm support oil cylinder is flexible; The flexible meeting of oil cylinder changes the space angle value of jib, and obliquity sensor value and pressure sensor value also can be followed variation, finally realize the TRAJECTORY CONTROL of intelligent arm support system.
Claims (3)
1. concrete pump truck intelligent arm support control system, comprise the controller I, the controller II, PWM electro-hydraulic proportional multi-way valve, remote control transmitter, receiver of remote-control sytem and display, it is characterized in that, also comprise multi-turn absolute rotary encoder V0, pressure-detecting device and inclination detecting device, described multi-turn absolute rotary encoder V0 is fixed on the control tower (5), remote control transmitter and receiver of remote-control sytem wireless connections, the controller I, the controller II, receiver of remote-control sytem, multi-turn absolute rotary encoder V0, display and inclination detecting device interconnect by the CAN bus, and the controller II is connected with PWM electro-hydraulic proportional multi-way valve with pressure-detecting device respectively.
2. a kind of concrete pump truck intelligent arm support control system according to claim 1, it is characterized in that, described pressure-detecting device comprises pressure sensor P0, pressure sensor P1, pressure sensor P2, pressure sensor P3, pressure sensor P4, pressure sensor P5, pressure sensor P6 and pressure sensor P7, pressure sensor P0 and pressure sensor P1 are fixed on the two ends of an arm oil cylinder (1), pressure sensor P2 and pressure sensor P3 are fixed on the two ends of two arm oil cylinders (2), pressure sensor P4 and pressure sensor P5 are fixed on the two ends of three arm oil cylinders (3), and pressure sensor P6 and pressure sensor P7 are fixed on the two ends of four arm oil cylinders (4).
3. a kind of concrete pump truck intelligent arm support control system according to claim 1, it is characterized in that, described inclination detecting device comprises obliquity sensor A0, obliquity sensor A1, obliquity sensor A2, obliquity sensor A3, obliquity sensor A4, obliquity sensor A0 is fixed on the control tower (5), obliquity sensor A1 is fixed on first jib (6), obliquity sensor A2 is fixed on second jib (7), obliquity sensor A3 is fixed on the 3rd jib (8), and obliquity sensor A4 is fixed on the 4th jib (9).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220734574 CN203066485U (en) | 2012-12-27 | 2012-12-27 | Intelligent arm support control system of concrete pump truck |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220734574 CN203066485U (en) | 2012-12-27 | 2012-12-27 | Intelligent arm support control system of concrete pump truck |
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| CN203066485U true CN203066485U (en) | 2013-07-17 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN 201220734574 Expired - Fee Related CN203066485U (en) | 2012-12-27 | 2012-12-27 | Intelligent arm support control system of concrete pump truck |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103049006A (en) * | 2012-12-27 | 2013-04-17 | 徐工集团工程机械股份有限公司江苏徐州工程机械研究院 | Intelligent jib control system of concrete pump car |
| CN103629176A (en) * | 2013-11-11 | 2014-03-12 | 中联重科股份有限公司 | Movement component coordination action control method, device and system |
| CN104120885A (en) * | 2014-07-15 | 2014-10-29 | 三一集团有限公司 | Pump truck as well as system and method for monitoring fatigue health condition of pump truck boom |
| CN104806367A (en) * | 2014-01-29 | 2015-07-29 | 陕西汽车实业有限公司 | Special chassis system for pavement microcosmic reproduction vehicle |
| CN105275926A (en) * | 2015-11-12 | 2016-01-27 | 北汽福田汽车股份有限公司 | Boom control method and system |
| WO2016119186A1 (en) * | 2015-01-30 | 2016-08-04 | 徐州徐工基础工程机械有限公司 | Auger drill operation system, auger drill, and control method |
| CN106150101A (en) * | 2016-08-19 | 2016-11-23 | 北汽福田汽车股份有限公司 | The controller of jib, control system, control method and pump truck |
| JP2017226374A (en) * | 2016-06-24 | 2017-12-28 | 前田建設工業株式会社 | Structure inspection device |
| CN112049427A (en) * | 2020-08-31 | 2020-12-08 | 三一汽车制造有限公司 | Arm support control system and method and working vehicle |
-
2012
- 2012-12-27 CN CN 201220734574 patent/CN203066485U/en not_active Expired - Fee Related
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103049006A (en) * | 2012-12-27 | 2013-04-17 | 徐工集团工程机械股份有限公司江苏徐州工程机械研究院 | Intelligent jib control system of concrete pump car |
| CN103629176A (en) * | 2013-11-11 | 2014-03-12 | 中联重科股份有限公司 | Movement component coordination action control method, device and system |
| CN103629176B (en) * | 2013-11-11 | 2015-11-11 | 湖南中联重科智能技术有限公司 | Movement component coordination action control, Apparatus and system |
| CN104806367A (en) * | 2014-01-29 | 2015-07-29 | 陕西汽车实业有限公司 | Special chassis system for pavement microcosmic reproduction vehicle |
| CN104120885A (en) * | 2014-07-15 | 2014-10-29 | 三一集团有限公司 | Pump truck as well as system and method for monitoring fatigue health condition of pump truck boom |
| WO2016119186A1 (en) * | 2015-01-30 | 2016-08-04 | 徐州徐工基础工程机械有限公司 | Auger drill operation system, auger drill, and control method |
| CN105275926A (en) * | 2015-11-12 | 2016-01-27 | 北汽福田汽车股份有限公司 | Boom control method and system |
| JP2017226374A (en) * | 2016-06-24 | 2017-12-28 | 前田建設工業株式会社 | Structure inspection device |
| CN106150101A (en) * | 2016-08-19 | 2016-11-23 | 北汽福田汽车股份有限公司 | The controller of jib, control system, control method and pump truck |
| CN106150101B (en) * | 2016-08-19 | 2018-08-07 | 北汽福田汽车股份有限公司 | Controller, control system, control method and the pump truck of arm support |
| CN112049427A (en) * | 2020-08-31 | 2020-12-08 | 三一汽车制造有限公司 | Arm support control system and method and working vehicle |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130717 Termination date: 20161227 |