CN204645658U - A kind of automatic cement irrigation system controlled based on Remote - Google Patents
A kind of automatic cement irrigation system controlled based on Remote Download PDFInfo
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- CN204645658U CN204645658U CN201520206297.7U CN201520206297U CN204645658U CN 204645658 U CN204645658 U CN 204645658U CN 201520206297 U CN201520206297 U CN 201520206297U CN 204645658 U CN204645658 U CN 204645658U
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- cement
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Abstract
The utility model discloses a kind of automatic cement irrigation system controlled based on Remote, achieved the intellectuality that long-range wireless remote control controls and cement waters of cement pouring by model remote controller, improve the efficiency of cement pouring; And focus on camera and wide-angle camera by arranging at discharging opening, not only achieve the precise positioning of cement pouring position, but also clearly can observe cement irrigation process and ambient environmental conditions, make cement irrigation process more directly perceived; By arranging ultrasonic sensor, achieve the real-time monitoring to peripheral obstacle in mechanical arm moving process, collision free obstruction, ensure that the safety of irrigation system; And by arranging surely high sensor, ensureing the intellectuality that the height of cement discharging opening regulates, avoid discharging opening too low and affect cement pouring; Meanwhile, by temperature pick up and humidity sensor, achieve the real-time detection of water/binder ratio example and stirring state etc., ensure that the quality of cement.
Description
Technical field
The utility model relates to cement pouring field, refers more particularly to a kind of automatic cement irrigation system controlled based on Remote.
Background technology
In the engineerings such as water conservancy, water power, subway, bridge, large foundation, highrise building and civilian construction, usually a large amount of concrete mixer that adopts carries out cement pouring, concrete mixer also claims jib concrete pump truck, concrete pump and hydraulic foldable jib are all arranged on automobile or towed vehicle chassis by it, and along jib transportation pipe road, export concrete eventually through end hose.Because jib has luffing, folding and revolute function, can in the scope reached by jib cloth.
Concrete mixer, when carrying out conveying operation, because cement transportation position is aloft many, therefore needs to be estimated by human pilot to estimate that pouring position is to determine delivery head; Or operating personnel and human pilot are linked up by Walkie talkie and are carried out pouring and locate.But there is a lot of defect in this maneuverability pattern: 1) need human pilot to carry out manual control at the construction field (site), intelligence degree and inefficiency; 2) transfer position difference can be caused not in time too large if exist to link up, even jeopardize operating personnel safely etc. situation occur.
Therefore, prior art needs further to be improved.
Utility model content
Problem to be solved in the utility model is, provides a kind of automatic cement irrigation system controlled based on Remote, solves existing cement pouring intelligence degree and the technical problem that cannot accurately locate of inefficiency, transfer position.
For solving the problems of the technologies described above, the technical solution adopted in the utility model is as follows:
A kind of automatic cement irrigation system controlled based on Remote, comprise cement pump truck, the control system that described cement pump truck includes mechanical arm, control manipulator motion and cement pouring, the holding vessel arranging cement pipe on the robotic arm and be connected with described cement pipe, comprise with described control system radio communication and for the model remote controller of control system described in remote control; The focusing camera of the video data for monitoring concrete column filling process is provided with, for several wide-angle camera of the video data of monitoring machine mechanical arm surrounding environment with for will the video data transmission of camera and wide-angle camera collection be focused on to the first signal transmission box of model remote controller at the mechanical arm place, discharging opening place of described cement pipe.
The described automatic cement irrigation system controlled based on Remote, wherein, described model remote controller carries out data communication by 2.4GHZ frequency networks and control system and the first signal transmission box.
The described automatic cement irrigation system controlled based on Remote, wherein, described model remote controller is provided with the display screen for showing the video data focusing on camera and wide-angle camera collection.
The described automatic cement irrigation system controlled based on Remote, wherein, also be provided with for monitoring surrounding environment at the mechanical arm place, discharging opening place of described cement pipe, and monitor data is sent to several ultrasonic sensors of model remote controller by the first signal transmission box; And/or for monitoring discharging opening height, and altitude information is sent to the fixed high sensor of model remote controller by the first signal transmission box.
The described automatic cement irrigation system controlled based on Remote, wherein, described cement irrigation system also comprise for monitor at ultrasonic sensor mechanical arm near obstruction time send the alarm unit of alarm signal, control the stop motion of system control machine mechanical arm when alarm unit is reported to the police.
The described automatic cement irrigation system controlled based on Remote, wherein, the feeding mouth of described cement pipe is provided with the mobility data for detecting cement and the mobility data of cement is transferred to the temperature pick up of secondary signal transmission box; And/or for detect cement water/binder ratio example and stir data, and by the water/binder ratio of cement example and stirred for several be reportedly defeated by secondary signal transmission box humidity sensor; And for the mobility data of cement, water/binder ratio example and stirred for several being reportedly defeated by the secondary signal transmission box of model remote controller.
The described automatic cement irrigation system controlled based on Remote, wherein, described model remote controller is transmitted box by 2.4GHZ frequency networks and secondary signal and is carried out data communication.
The described automatic cement irrigation system controlled based on Remote, wherein, described wide-angle camera includes 3 120 degree of wide-angle cameras, and around the mechanical arm place, discharging opening place being evenly distributed on cement pipe.
The described automatic cement irrigation system controlled based on Remote, wherein, described ultrasonic sensor includes 4, and around the mechanical arm place, discharging opening place being evenly distributed on cement pipe.
The described automatic cement irrigation system controlled based on Remote, wherein, described set-up of control system has for link model remote controller and by the data-interface of model remote controller remote control system in a wired fashion.
Compared with prior art, the automatic cement irrigation system controlled based on Remote of the present utility model mainly has following technical advantages: the long-range wireless remote control control 1) being achieved cement pouring by model remote controller, and intelligence degree and operating efficiency are all very high; 2) focusing camera and wide-angle camera are set at discharging opening, position can not only be watered to cement and accurately locate, can also more clearly observe cement irrigation process and ambient environmental conditions, make cement irrigation process more directly perceived; 3) can be monitored peripheral obstacle by ultrasonic sensor, avoid collision obstacle in irrigation process, ensure the safety of irrigation system; Ensure that the height of cement discharging opening is moderate by fixed high sensor simultaneously, avoid the too low cement that affects to water; 4) detect water/binder ratio example, stirring state etc. in real time, ensure the quality of cement.
Accompanying drawing explanation
The structure chart of the automatic cement irrigation system based on Remote control that Fig. 1 provides for the utility model.
Fig. 2 is the structural representation based on discharge port end in the automatic cement irrigation system of Remote control that the utility model provides.
Fig. 3 is the structural representation based on model remote controller in the automatic cement irrigation system of Remote control that the utility model provides.
Detailed description of the invention
In order to make technical problem to be solved in the utility model, technical scheme and beneficial effect clearly understand, below in conjunction with drawings and Examples, the utility model is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the utility model, and be not used in restriction the utility model.
Main thought of the present utility model increases long-range remote control function on the basis of conventional concrete pump truck, watered by model remote controller Remote cement, multiple camera and sensor are set, monitoring and the various operating datas recorded in cement irrigation process, in order to realize the visual and precision of cement pouring, and improve convenience and the safety of operation.
As depicted in figs. 1 and 2, the automatic cement irrigation system controlled based on Remote that the utility model provides, comprise cement pump truck 10, described cement pump truck 10 includes control system (not shown), mechanical arm 11, cement pipe 12 and holding vessel 13, set-up of control system is in driver's cabin, move in order to controller mechanical arm 11, the stirring and pouring etc. of cement, cement pipe 12 is arranged on mechanical arm 11, the feeding mouth 121 of cement pipe 12 is connected to holding vessel 13, and its discharging opening 122 is arranged on the end of mechanical arm 11.Control system controller mechanical arm 11 is moved, and discharging opening 122 is aimed at concrete column 30 and can start cement pouring.And control to realize Remote, as shown in Figure 3, cement irrigation system of the present utility model also comprises the model remote controller 40 with control system radio communication, described model remote controller 40 is for control system described in remote control, to control the stirring and pouring etc. of manipulator motion, cement, be provided with display screen 41, operating grip 42 and other buttons 43 etc.
Further, in order to realize the visual and precision of cement pouring, the present embodiment is provided with at the mechanical arm place, discharging opening 122 place of described cement pipe 12 and focuses on camera 21, several wide-angle camera 22 and the first signal transmission box 25, described focusing camera 21 is mainly used in the video data of monitoring concrete column 30 filling process, to ensure that the location of concrete column 30 is more accurate and intelligent.Described wide-angle camera 22 is for the video data of monitoring machine mechanical arm 11 surrounding environment, wide-angle camera 22 is preferably 3 120 degree of wide-angle cameras, and be evenly distributed on the surrounding of mechanical arm 11,360 degree of pan-shots can be realized like this, and it is limited owing to treating casting cement post surrounding environment more complicated, operating space, therefore the wide-angle camera 22 that the present embodiment is arranged can in robot arm 11 motion process, observe the surrounding environment of mechanical arm 11, user-friendly, avoid unnecessary collision.
In irrigation process, the video data transmission that the video data of shooting can send to the first signal transmission box 25, first letter conjunction transmission box 25 focusing camera 21 and wide-angle camera 22 to be gathered by focusing camera 21 and wide-angle camera 22 is to model remote controller 40.Meanwhile, the display screen 41 in model remote controller 40 shows above-mentioned video data, can observe irrigation process more intuitively by model remote controller and carry out precise positioning to concrete column in remote control process.
Further, several ultrasonic sensor 23 and Ding Gao sensor 24 is also provided with at the mechanical arm place, discharging opening 122 place of described cement pipe 12.Described ultrasonic sensor 23 is for monitoring surrounding environment; and monitor data is sent to model remote controller 40 by the first signal transmission box 25; ultrasonic sensor 23 is mainly used in detection of obstacles; time when near obstruction to preset distance; system can send warning; collision free to obstruction, with proterctive equipment safety.Therefore, the cement irrigation system of the present embodiment also includes alarm unit (not shown), for sending alarm signal when ultrasonic sensor 23 monitors mechanical arm near obstruction, controls the stop motion of system control machine mechanical arm 11 when alarm unit is reported to the police.Alarm unit can be arranged on model remote controller end, also can be arranged in control system or discharging opening 122 place place mechanical arm on.Type of alarm can be voice, flashing light or buzzing etc.Specifically can set according to actual conditions.Fixed high sensor 24 is mainly used in monitoring discharging opening 122 height, and altitude information is sent to model remote controller 40 by the first signal transmission box 25, altitude information can display on the display screen 41 of model remote controller 40 again, highly whether user can be suitable according to highly directly judging in model remote controller 40, if highly too low, then alarm unit can send alarm signal equally.Further, system can set the altitude range of a safety, and the altitude range of altitude information and setting is compared by model remote controller 40, and pointed out by voice mode highly whether suitable, as suggestion content comprises too high, suitable, too low etc.Voice message greatly strengthen the intellectuality of system, makes straighforward operation more convenient.Preferably, ultrasonic sensor 23 includes 4 and is evenly distributed on around the mechanical arm place, discharging opening 122 place of cement pipe 12, can realize 360 degree of comprehensive monitorings like this.
The feeding mouth 121 of described cement pipe 12 is provided with temperature pick up 27 and humidity sensor 26 and secondary signal and transmits box 28, described temperature pick up 27 is for detecting the mobility data of cement, and the mobility data of cement are transferred to secondary signal transmission box 28, described humidity sensor 26 is for detecting the water/binder ratio example of cement and stirring data, and by the water/binder ratio of cement example and stirred for several be reportedly defeated by secondary signal transmission box 28, stir data can embody cement mixing speed, stirring whether fill grading information.The mobility data of cement, water/binder ratio example and stirred for several are reportedly defeated by model remote controller 40 by secondary signal transmission box 28, model remote controller 40 demonstrates above-mentioned data by display screen 41, facilitate user to check reference, with auxiliary straighforward operation, and in time reply is made to the problem in cement mixing.Secondary signal transmission box 28 is preferably arranged on the top of holding vessel 13, to avoid signal disturbing, ensures data transmission quality.
In the present embodiment, model remote controller 40 and control system, the first signal transmission box 25 and secondary signal are transmitted box 28 and are all carried out data communication by 2.4GHZ frequency networks, and their inside is equipped with 2.4GHZ transceiver module.And set-up of control system has data-interface, for link model remote controller 40, and by model remote controller 40 remote control system in a wired fashion, like this after driver concrete mixer reaches assigned address, it not only can control manipulator motion, cement mixing and pouring etc. by the control system in driver's cabin, also directly aforesaid operations can be controlled by remote control device, not only convenient but also quick.
Below the irrigation process of the cement irrigation system that the utility model provides is specifically described.Driver concrete mixer arrives assigned address, and remote controller operation person Boot Model remote controller, establishes a communications link with control system, the action bars on operation model remote controller, and controller mechanical arm moves, and discharging opening is moved to concrete column place.In moving process, wide-angle camera is monitored mechanical arm surrounding environment, and by the video data transmission of monitoring to model remote controller, this video data is shown by the display screen of model remote controller, observe for operator, and whether the ultrasonic sensor that mechanical arm is arranged detects near obstruction, if near obstruction, then send alarm signal, the height of final version Sensor monitoring discharging opening and concrete column, and altitude information is presented on the display screen of model remote controller, by the height of height of observation data point reuse discharging opening and concrete column.Meanwhile, focus on camera and focus on concrete column, when focusing on successfully, the stop motion of remote pilot mechanical arm, starts cement pouring, casting cement in concrete column.
Simultaneously, in cement irrigation process, the temperature pick up and the humidity sensor that are arranged on feeding mouth place also detect the stirring state, water/binder ratio example etc. of cement, if find to exist extremely, then operator can take measures in time, the speed of adjustment cement mixing or water/binder ratio example etc., ensure that the cement being poured onto concrete column is all satisfactory.
In sum, the automatic cement irrigation system controlled based on Remote that the utility model provides, is achieved the intellectuality that long-range wireless remote control controls and cement waters of cement pouring, improves the efficiency of cement pouring by model remote controller; And focus on camera and wide-angle camera by arranging at discharging opening, not only achieve the precise positioning of cement pouring position, but also clearly can observe cement irrigation process and ambient environmental conditions, make cement irrigation process more directly perceived; By arranging ultrasonic sensor, achieve the real-time monitoring to peripheral obstacle in mechanical arm moving process, collision free obstruction, ensure that the safety of irrigation system; And by arranging surely high sensor, ensureing the intellectuality that the height of cement discharging opening regulates, avoid discharging opening too low and affect cement pouring; Meanwhile, by temperature pick up and humidity sensor, achieve the real-time detection of water/binder ratio example and stirring state etc., ensure that the quality of cement.
Should be understood that; application of the present utility model is not limited to above-mentioned citing; for those of ordinary skills, can be improved according to the above description or convert, all these improve and convert the protection domain that all should belong to the utility model claims.
Claims (10)
1. the automatic cement irrigation system controlled based on Remote, comprise cement pump truck, described cement pump truck includes the control system that mechanical arm, control manipulator motion and cement water, the holding vessel arranging cement pipe on the robotic arm and be connected with described cement pipe, it is characterized in that, to comprise with described control system radio communication and for the model remote controller of control system described in remote control; The focusing camera of the video data for monitoring concrete column filling process is provided with, for several wide-angle camera of the video data of monitoring machine mechanical arm surrounding environment with for will the video data transmission of camera and wide-angle camera collection be focused on to the first signal transmission box of model remote controller at the mechanical arm place, discharging opening place of described cement pipe.
2. according to claim 1 based on the automatic cement irrigation system that Remote controls, it is characterized in that, described model remote controller carries out data communication by 2.4GHZ frequency networks and control system and the first signal transmission box.
3. according to claim 1 based on the automatic cement irrigation system that Remote controls, it is characterized in that, described model remote controller is provided with the display screen for showing the video data focusing on camera and wide-angle camera collection.
4. according to claim 1 based on the automatic cement irrigation system that Remote controls, it is characterized in that, also be provided with for monitoring surrounding environment at the mechanical arm place, discharging opening place of described cement pipe, and monitor data is sent to several ultrasonic sensors of model remote controller by the first signal transmission box;
And/or for monitoring discharging opening height, and altitude information is sent to the fixed high sensor of model remote controller by the first signal transmission box.
5. according to claim 4 based on the automatic cement irrigation system that Remote controls, it is characterized in that, described cement irrigation system also comprise for monitor at ultrasonic sensor mechanical arm near obstruction time send the alarm unit of alarm signal, control the stop motion of system control machine mechanical arm when alarm unit is reported to the police.
6. according to claim 1 or 4 based on Remote control automatic cement irrigation system, it is characterized in that, the feeding mouth of described cement pipe is provided with the mobility data for detecting cement and the mobility data of cement is transferred to the temperature pick up of secondary signal transmission box;
And/or for detect cement water/binder ratio example and stir data, and by the water/binder ratio of cement example and stirred for several be reportedly defeated by secondary signal transmission box humidity sensor;
And for the mobility data of cement, water/binder ratio example and stirred for several being reportedly defeated by the secondary signal transmission box of model remote controller.
7., according to claim 6 based on the automatic cement irrigation system that Remote controls, it is characterized in that, described model remote controller is transmitted box by 2.4GHZ frequency networks and secondary signal and is carried out data communication.
8., according to claim 1 based on the automatic cement irrigation system that Remote controls, it is characterized in that, described wide-angle camera includes 3 120 degree of wide-angle cameras, and around the mechanical arm place, discharging opening place being evenly distributed on cement pipe.
9., according to claim 4 based on the automatic cement irrigation system that Remote controls, it is characterized in that, described ultrasonic sensor includes 4, and around the mechanical arm place, discharging opening place being evenly distributed on cement pipe.
10. according to claim 1 based on the automatic cement irrigation system that Remote controls, it is characterized in that, described set-up of control system has for link model remote controller and by the data-interface of model remote controller remote control system in a wired fashion.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520206297.7U CN204645658U (en) | 2015-04-08 | 2015-04-08 | A kind of automatic cement irrigation system controlled based on Remote |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201520206297.7U CN204645658U (en) | 2015-04-08 | 2015-04-08 | A kind of automatic cement irrigation system controlled based on Remote |
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| CN204645658U true CN204645658U (en) | 2015-09-16 |
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| CN201520206297.7U Withdrawn - After Issue CN204645658U (en) | 2015-04-08 | 2015-04-08 | A kind of automatic cement irrigation system controlled based on Remote |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104790670A (en) * | 2015-04-08 | 2015-07-22 | 深圳市富斯遥控模型技术有限公司 | Automatic cement pouring system based on remote control |
| CN110700854A (en) * | 2019-08-16 | 2020-01-17 | 中铁十二局集团有限公司 | Tunnel secondary lining vault concrete longitudinal continuous pouring construction method |
| US20210172282A1 (en) * | 2018-04-16 | 2021-06-10 | Yantai Jereh Petroleum Equipment & Technologies Co., Ltd. | New ultra-high power cementing apparatus integrated with remote control |
| WO2022175232A1 (en) * | 2021-02-16 | 2022-08-25 | Putzmeister Engineering Gmbh | Building material apparatus and use of at least one part sensor |
-
2015
- 2015-04-08 CN CN201520206297.7U patent/CN204645658U/en not_active Withdrawn - After Issue
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104790670A (en) * | 2015-04-08 | 2015-07-22 | 深圳市富斯遥控模型技术有限公司 | Automatic cement pouring system based on remote control |
| US20210172282A1 (en) * | 2018-04-16 | 2021-06-10 | Yantai Jereh Petroleum Equipment & Technologies Co., Ltd. | New ultra-high power cementing apparatus integrated with remote control |
| CN110700854A (en) * | 2019-08-16 | 2020-01-17 | 中铁十二局集团有限公司 | Tunnel secondary lining vault concrete longitudinal continuous pouring construction method |
| CN110700854B (en) * | 2019-08-16 | 2022-02-15 | 中铁十二局集团有限公司 | Tunnel secondary lining vault concrete longitudinal continuous pouring construction method |
| WO2022175232A1 (en) * | 2021-02-16 | 2022-08-25 | Putzmeister Engineering Gmbh | Building material apparatus and use of at least one part sensor |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20150916 Effective date of abandoning: 20170426 |
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| AV01 | Patent right actively abandoned |