CN211473427U - Pump truck arm support follow-up control system - Google Patents
Pump truck arm support follow-up control system Download PDFInfo
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- CN211473427U CN211473427U CN201922208654.4U CN201922208654U CN211473427U CN 211473427 U CN211473427 U CN 211473427U CN 201922208654 U CN201922208654 U CN 201922208654U CN 211473427 U CN211473427 U CN 211473427U
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Abstract
The utility model discloses a pump truck boom follow-up control system, which comprises a sensor, a control device and an actuating mechanism, wherein the sensor is electrically connected with the control device and is used for detecting the current pose of the pump truck boom and transmitting the current pose information to the control device; the control device is respectively electrically connected with the sensor and the actuating mechanism and is used for sending a displacement instruction to the actuating mechanism according to the current pose information transmitted by the sensor; the actuating mechanism is electrically connected with the control device and used for adjusting the tail end position of the arm support of the pump truck according to the displacement instruction sent by the control device. The utility model provides a pump truck cantilever crane follow-up control system, degree of automation is high, control accuracy is high and operating efficiency is high.
Description
Technical Field
The utility model relates to a concrete pump truck field especially discloses a pump truck cantilever crane follow-up control system.
Background
The concrete pump truck is a typical engineering machine, and the basic process of construction is that an arm support system of the concrete pump truck is operated to reach a pouring position, then a hydraulic pumping system of a truck body is used for conveying and pouring concrete through a distributing pipe, the pouring position is controlled, and the concrete pump truck is actually realized by controlling the position of the tail end of the arm support.
At present, the boom control mode mainly controls a hydraulic multi-way valve through a remote controller, and then realizes the angle change of a rotary table and a single-section boom through a hydraulic motor, a hydraulic oil cylinder and each actuating mechanism, thereby realizing the control of the tail end position of a distributing pipe.
Fig. 1 shows a typical prior art five-arm boom system, which comprises a turntable 100 fixed to the chassis of a vehicle, five-arm sections, and hydraulic cylinders for connecting adjacent joints. The first arm section 101 is controlled by a first hydraulic oil cylinder 201 connected to the rotary table 100 and the arm support to realize limited rotation around a hinge shaft of the rotary table 100. The second arm section 102 drives the link mechanism between the first arm section 101 and the second arm section 102 through the second hydraulic oil cylinder 202, so that the second arm section 102 and the first arm section hinge shaft rotate in a limited manner. The other arm section control principle is the same as the second arm section. In the construction process, the change of the posture of the arm support and the adjustment of the angle of the rotary table are realized by operating the handle of the remote controller, so that the hose fixed at the tail end of the arm support is moved to the position above a required pouring position, and the pouring of concrete is realized.
The existing remote control panel of the five-section arm pump truck is generally provided with 7 proportional rockers for controlling the position of an arm support. The corresponding analog quantity signals can be generated by operating the reciprocating motion of the corresponding rocker, the signals are received by a remote control receiver arranged on the vehicle body and then are transmitted to a control device, and the control device drives the multi-way valve in a proportional control mode, so that the hydraulic oil cylinder drives the transmission mechanism, and the forward tilting and backward tilting motion of the single-section arm frame is realized. In the same way, the rotation of the turntable is changed clockwise and anticlockwise.
The change principle of the single-section arm support is expressed, the tail end position of the arm support needs to be adjusted to realize the change of the pouring position in the specific construction process, and the aim is usually realized by the cooperative action of multiple arm sections in the multi-degree-of-freedom structure. Therefore, the operation of the operator becomes extremely complicated, the associated boom is often required to be selected to perform combined action according to the moving direction, the application experience and the field judgment capability of the operator are highly required, and the mode also causes the control precision of the tail end position of the boom to be low and the operation efficiency to be low.
Therefore, the existing concrete pump truck has low arm frame pouring control precision and operation efficiency, and is a technical problem to be solved urgently.
SUMMERY OF THE UTILITY MODEL
The utility model provides a pump truck cantilever crane follow-up control system aims at solving the current concrete pump truck cantilever crane and pours the technical problem that control accuracy and operating efficiency are low.
The utility model provides a pump truck cantilever crane follow-up control system, including sensor, controlling means and actuating mechanism, wherein, the sensor is connected with controlling means electricity for detect the current position appearance of pump truck cantilever crane, and convey current position appearance information to controlling means; the control device is respectively electrically connected with the sensor and the actuating mechanism and is used for sending a displacement instruction to the actuating mechanism according to the current pose information transmitted by the sensor; the actuating mechanism is electrically connected with the control device and used for adjusting the tail end position of the arm support of the pump truck according to the displacement instruction sent by the control device.
Further, the sensor includes a tilt sensor and a rotary encoder,
the inclination angle sensor is connected with the control device and used for detecting the current inclination angle of each arm support in the pump truck arm support and transmitting the current inclination angle information to the control device;
the rotary encoder is connected with the control device and used for detecting the current rotary angle of each arm support in the pump truck arm support and transmitting the current rotary angle information to the control device.
Further, the pump truck arm support follow-up control system also comprises an operating mechanism,
the operating mechanism is in wireless connection with the control device and is used for sending an expected arm support tail end speed signal to the control device;
the control device is in wireless connection with the operating mechanism and is used for controlling the action of the actuating mechanism according to the speed signal of the tail end of the arm support sent by the operating mechanism.
Further, the operating mechanism comprises a follower device with a universal rocker.
Furthermore, a hand ring is arranged on the follow-up device,
and the bracelet is used for sending a desired arm support tail end speed signal to the control device through rotation and pulling operation.
Further, the control device comprises a receiver and a controller,
the receiver is wirelessly connected with the bracelet and used for wirelessly receiving a boom tail end speed signal sent by the bracelet;
and the controller is used for correspondingly controlling the action of the actuating mechanism according to the current inclination angle information transmitted by the inclination angle sensor, the current rotation angle information transmitted by the rotary encoder and the boom tail end speed signal wirelessly received by the receiver.
Further, the actuator comprises a digital multiplex valve,
and the digital multi-way valve is respectively connected with the controller, each section of arm support and the slewing device and is used for adjusting the opening degree of the valve core under the control of the controller to realize the automatic combined action of each section of arm support and the slewing device so as to enable the material distribution device at the tail end of the arm support to reach the expected position.
Further, the inclination angle sensor is connected with the controller through a CAN bus.
Further, the rotary encoder is connected with the controller through a CAN bus.
Further, the receiver is connected with the controller through a CAN bus.
The utility model discloses the beneficial effect who gains does:
the utility model provides a pump truck cantilever crane follow-up control system adopts sensor, controlling means and actuating mechanism, detects the current position appearance of pump truck cantilever crane through the sensor, and controlling means sends the displacement instruction to actuating mechanism according to the current position appearance information that the sensor sent over; the actuating mechanism adjusts the tail end position of the pump truck arm support according to a displacement instruction sent by the control device, so that the distributing pipe at the tail end position of the pump truck arm support is aligned with the pouring position. The utility model provides a pump truck cantilever crane follow-up control system, degree of automation is high, control accuracy is high and operating efficiency is high.
Drawings
Fig. 1 is a schematic structural diagram of a conventional five-section arm support system;
fig. 2 is a functional block diagram of a first embodiment of a pump truck boom servo control system provided by the present invention;
fig. 3 is a functional block diagram of a second embodiment of a pump truck boom servo control system provided by the present invention;
fig. 4 is a functional block diagram of a third embodiment of the pump truck boom servo control system provided by the present invention.
The reference numbers illustrate:
100. a turntable; 101. a first arm section; 102. a second arm section; 103. a third arm section; 104. a fourth arm section; 105. a fifth arm section; 106. a distributing pipe; 201. a first hydraulic cylinder; 202. A second hydraulic cylinder; 203. a third hydraulic cylinder; 204. a fourth hydraulic cylinder; 205. a fifth hydraulic cylinder; 10. a sensor; 20. a control device; 30. an actuator; 11. a tilt sensor; 12. a rotary encoder; 40. an operating mechanism; 41. a follower device; 411. a bracelet; 21. a receiver; 22. a controller; 31. a digital multiple valve.
Detailed Description
In order to better understand the technical solution, the technical solution will be described in detail with reference to the drawings and the specific embodiments.
As shown in fig. 2, fig. 2 is a functional block diagram of a first embodiment of a pump truck boom follow-up control system provided by the present invention, in this embodiment, the pump truck boom follow-up control system includes a sensor 10, a control device 20 and an execution mechanism 30, wherein the sensor 10 is electrically connected to the control device 20, and is configured to detect a current pose of a pump truck boom and transmit information of the current pose to the control device 20; the control device 20 is electrically connected with the sensor 10 and the actuator 30 respectively and is used for sending a displacement instruction to the actuator 30 according to the current pose information transmitted by the sensor 10; the actuating mechanism 30 is electrically connected to the control device 20, and is configured to adjust a position of a distal end of the boom of the pump truck according to a displacement instruction sent by the control device 20.
In the above structure, please refer to fig. 2 to 4, the sensor 10 includes a tilt sensor 11 and a rotary encoder 12, the tilt sensor 11 is connected to the control device 20, and is configured to detect a current tilt angle of each arm support in the arm support of the pump truck, and transmit information of the current tilt angle to the control device 20; the rotary encoder 12 is connected to the control device 20, and is configured to detect a current rotation angle of each arm support in the pump truck arm support, and transmit information of the current rotation angle to the control device 20. In the present embodiment, the tilt sensor 11 can be a dual-axis tilt sensor manufactured by the Beijing, China, West, Mass., and having a model number of SWK6-QJ 02-001. The rotary encoder 12 may be implemented as an ohron rotary encoder model E6B 2.
Preferably, referring to fig. 2 to 4, the pump truck boom follow-up control system provided in this embodiment further includes an operating mechanism 40, where the operating mechanism 40 is wirelessly connected to the control device 20, and is configured to send a desired boom terminal speed signal to the control device 20; the control device 20 is wirelessly connected with the operating mechanism 40, and is configured to control the actuator 30 to operate according to a boom end speed signal sent by the operating mechanism 40. In particular, the operating mechanism 40 comprises a follower device 41 with a cardan rocker. The follower 41 can trigger a speed signal in any direction of 360 deg. on the horizontal plane. The follower device 41 is provided with a bracelet 411, and the bracelet 411 is used for sending a desired arm support terminal speed signal to the control device 20 through rotation and pulling operations.
Further, referring to fig. 2 to 4, in the pump truck boom follow-up control system provided in this embodiment, the control device 20 includes a receiver 21 and a controller 22, where the receiver 21 is wirelessly connected to the bracelet 411 and is configured to wirelessly receive a boom terminal speed signal sent by the bracelet 411; and the controller 22 is configured to correspondingly control the actuator 30 to operate according to the current tilt angle information transmitted by the tilt sensor 11, the current rotation angle information transmitted by the rotary encoder 12, and the boom end speed signal wirelessly received by the receiver 21. The controller 22 may be a single chip microcomputer, a programmable logic controller, or the like, and is within the protection scope of the present patent. For example, the singlechip can be a singlechip of ATMEL company with model number AT89C 51. The Programmable Logic Controller can adopt a Programmable Logic Controller (PLC) with a Siemens model number of S7-200 series.
Specifically, as shown in fig. 2 to 4, in the servo control system for the arm support of the pump truck provided in this embodiment, the actuating mechanism 30 includes a digital multi-way valve 31, where the digital multi-way valve 31 is respectively connected to the controller 22, each arm support and the slewing device, and is used for adjusting the opening of the valve core under the control of the controller 22 to realize automatic joint action of each arm support and the slewing device, so that the material distribution device at the end of the arm support reaches an expected position. In the present embodiment, the tilt sensor 11 and the controller 22 are connected by a CAN bus. The rotary encoder 12 and the controller 22 are connected by a CAN bus. The receiver 21 and the controller 22 are connected by a CAN bus. The digital multi-way valve 31 is a digital control valve with German Leishile model number of 4WE10C3X/CG24N9K 4.
As shown in fig. 2 to 4, the operation steps of the pump truck boom follow-up control system provided in this embodiment are as follows:
firstly, switching a mode on a remote controller to an intelligent control mode.
And secondly, detecting the current rotation angle information transmitted back by the rotary encoder 12 and the inclination angle information of each section of the arm support transmitted back by the inclination angle sensor 11.
The third step: the follower device 41 is provided with the bracelet 411, the bracelet 411 can rotate in any direction in the horizontal plane, the positive direction when the follower device 41 is installed is an X axis, the positive direction perpendicular to the X axis is a Y axis, an angle formed between the bracelet 411 and the positive direction when the bracelet is installed corresponds to the motion speed of the tail end of the arm support, the bracelet 411 is operated to rotate and pulled according to the expected tail end moving direction, and then a specific expected speed signal in the horizontal plane can be sent.
The fourth step: the controller 22 intelligently plans the angle variation of the rotary table and each section of arm support according to the detected rotary angle information, the inclination angle information of each section of arm support and the received expected speed signal, and then controls the digital multi-way valve 31 to complete the action.
Compared with the prior art, the follow-up control system for the arm support of the pump truck provided by the embodiment adopts the sensor, the control device and the actuating mechanism, the current pose of the arm support of the pump truck is detected by the sensor, and the control device sends a displacement instruction to the actuating mechanism according to the current pose information transmitted by the sensor; and the executing mechanism adjusts the tail end position of the pump truck arm support according to the displacement instruction sent by the control device. The pump truck boom follow-up control system provided by the embodiment has the advantages of high automation degree, high control precision and high operation efficiency.
While the preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the appended claims be interpreted as including the preferred embodiment and all such alterations and modifications as fall within the scope of the invention. It will be apparent to those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (8)
1. A pump truck boom follow-up control system is characterized by comprising a sensor (10), a control device (20) and an actuating mechanism (30), wherein,
the sensor (10) is electrically connected with the control device (20) and is used for detecting the current pose of the arm support of the pump truck and transmitting the current pose information to the control device (20);
the control device (20) is respectively electrically connected with the sensor (10) and the actuating mechanism (30) and is used for sending a displacement instruction to the actuating mechanism (30) according to the current pose information transmitted by the sensor (10);
the actuating mechanism (30) is electrically connected with the control device (20) and is used for adjusting the tail end position of the pump truck arm support according to the displacement instruction sent by the control device (20); the pump truck arm support follow-up control system also comprises an operating mechanism (40),
the operating mechanism (40) is wirelessly connected with the control device (20) and is used for sending a desired boom tail end speed signal to the control device (20);
the control device (20) is wirelessly connected with the operating mechanism (40) and is used for controlling the actuating mechanism (30) to act according to the arm support tail end speed signal sent by the operating mechanism (40);
the sensor (10) comprises a tilt sensor (11) and a rotary encoder (12),
the tilt angle sensor (11) is connected with the control device (20) and is used for detecting the current tilt angle of each section of arm support in the pump truck arm support and transmitting the current tilt angle information to the control device (20);
the rotary encoder (12) is connected with the control device (20) and used for detecting the current rotary angle of each arm support in the pump truck arm support and transmitting the current rotary angle information to the control device (20).
2. The pump truck boom servo control system of claim 1,
the operating mechanism (40) comprises a follower device (41) with a universal rocker.
3. The pump truck boom servo control system of claim 2,
a hand ring (411) is arranged on the follow-up device (41),
the bracelet (411) is used for sending a desired arm support tail end speed signal to the control device (20) through rotation and pulling operation.
4. The pump truck boom servo control system of claim 3,
the control device (20) comprises a receiver (21) and a controller (22),
the receiver (21) is wirelessly connected with the bracelet (411) and is used for wirelessly receiving a boom tail end speed signal sent by the bracelet (411);
the controller (22) is used for correspondingly controlling the action of the actuating mechanism (30) according to the current inclination angle information transmitted by the inclination angle sensor (11), the current rotation angle information transmitted by the rotary encoder (12) and the boom tail end speed signal wirelessly received by the receiver (21).
5. The pump truck boom servo control system of claim 4,
the actuator (30) comprises a digital multi-way valve (31),
the digital multi-way valve (31) is respectively connected with the controller (22), each section of arm support and the slewing device, and is used for adjusting the opening degree of the valve core under the control of the controller (22) to realize the automatic combined action of each section of arm support and the slewing device so as to enable the material distribution device at the tail end of the arm support to reach the expected position.
6. The pump truck boom follow-up control system according to claim 4 or 5,
the inclination angle sensor (11) is connected with the controller (22) through a CAN bus.
7. The pump truck boom follow-up control system according to claim 4 or 5,
the rotary encoder (12) is connected with the controller (22) through a CAN bus.
8. The pump truck boom follow-up control system according to claim 4 or 5,
the receiver (21) is connected to the controller (22) via a CAN bus.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201922208654.4U CN211473427U (en) | 2019-12-10 | 2019-12-10 | Pump truck arm support follow-up control system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201922208654.4U CN211473427U (en) | 2019-12-10 | 2019-12-10 | Pump truck arm support follow-up control system |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111352448A (en) * | 2020-03-16 | 2020-06-30 | 湖南响箭重工科技有限公司 | Pump truck arm support follow-up control system and control method |
| CN115305979A (en) * | 2022-08-16 | 2022-11-08 | 湖南中联重科智能高空作业机械有限公司 | Method, processor and device for controlling engineering equipment arm support and engineering equipment |
| CN115305980A (en) * | 2022-08-16 | 2022-11-08 | 湖南中联重科智能高空作业机械有限公司 | Method, processor, device and engineering equipment for controlling folding arm type arm support |
-
2019
- 2019-12-10 CN CN201922208654.4U patent/CN211473427U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111352448A (en) * | 2020-03-16 | 2020-06-30 | 湖南响箭重工科技有限公司 | Pump truck arm support follow-up control system and control method |
| CN115305979A (en) * | 2022-08-16 | 2022-11-08 | 湖南中联重科智能高空作业机械有限公司 | Method, processor and device for controlling engineering equipment arm support and engineering equipment |
| CN115305980A (en) * | 2022-08-16 | 2022-11-08 | 湖南中联重科智能高空作业机械有限公司 | Method, processor, device and engineering equipment for controlling folding arm type arm support |
| CN115305980B (en) * | 2022-08-16 | 2023-09-15 | 湖南中联重科智能高空作业机械有限公司 | Method, processor, device and engineering equipment for controlling folding arm type arm support |
| CN115305979B (en) * | 2022-08-16 | 2023-09-19 | 湖南中联重科智能高空作业机械有限公司 | Method, processor, device and engineering equipment for controlling arm support of engineering equipment |
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