PL2520739T3 - Urządzenie rozprowadzające beton i sposób sterowania, układ sterowania i elektryczny układ sterowania złożonym ruchem wysięgnika tego urządzenia - Google Patents

Urządzenie rozprowadzające beton i sposób sterowania, układ sterowania i elektryczny układ sterowania złożonym ruchem wysięgnika tego urządzenia

Info

Publication number
PL2520739T3
PL2520739T3 PL11758810T PL11758810T PL2520739T3 PL 2520739 T3 PL2520739 T3 PL 2520739T3 PL 11758810 T PL11758810 T PL 11758810T PL 11758810 T PL11758810 T PL 11758810T PL 2520739 T3 PL2520739 T3 PL 2520739T3
Authority
PL
Poland
Prior art keywords
control system
boom
distributing device
composite motion
concrete distributing
Prior art date
Application number
PL11758810T
Other languages
English (en)
Inventor
Liang Wan
Jiaqian Wang
Peilin Li
Shuai Wang
Original Assignee
Zoomlion Heavy Industry Science And Technology Co., Ltd.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Zoomlion Heavy Industry Science And Technology Co., Ltd. filed Critical Zoomlion Heavy Industry Science And Technology Co., Ltd.
Publication of PL2520739T3 publication Critical patent/PL2520739T3/pl

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
    • B66C13/06—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads
    • B66C13/066—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads for minimising vibration of a boom
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/20—Control systems or devices for non-electric drives
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2221—Control of flow rate; Load sensing arrangements
    • E02F9/2225—Control of flow rate; Load sensing arrangements using pressure-compensating valves
    • E02F9/2228—Control of flow rate; Load sensing arrangements using pressure-compensating valves including an electronic controller
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
    • E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
    • E04G21/02—Conveying or working-up concrete or similar masses able to be heaped or cast
    • E04G21/04—Devices for both conveying and distributing
    • E04G21/0418—Devices for both conveying and distributing with distribution hose
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
    • E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
    • E04G21/02—Conveying or working-up concrete or similar masses able to be heaped or cast
    • E04G21/04—Devices for both conveying and distributing
    • E04G21/0418—Devices for both conveying and distributing with distribution hose
    • E04G21/0445—Devices for both conveying and distributing with distribution hose with booms
    • E04G21/0463—Devices for both conveying and distributing with distribution hose with booms with boom control mechanisms, e.g. to automate concrete distribution
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2221—Control of flow rate; Load sensing arrangements
    • E02F9/2232—Control of flow rate; Load sensing arrangements using one or more variable displacement pumps
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/30—Directional control
    • F15B2211/305—Directional control characterised by the type of valves
    • F15B2211/30525—Directional control valves, e.g. 4/3-directional control valve
    • F15B2211/3053—In combination with a pressure compensating valve
    • F15B2211/30535—In combination with a pressure compensating valve the pressure compensating valve is arranged between pressure source and directional control valve
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/30—Directional control
    • F15B2211/32—Directional control characterised by the type of actuation
    • F15B2211/327—Directional control characterised by the type of actuation electrically or electronically
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/30—Directional control
    • F15B2211/35—Directional control combined with flow control
    • F15B2211/351—Flow control by regulating means in feed line, i.e. meter-in control
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/665—Methods of control using electronic components
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/665—Methods of control using electronic components
    • F15B2211/6654—Flow rate control
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
    • F15B2211/71—Multiple output members, e.g. multiple hydraulic motors or cylinders
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
    • F15B2211/78—Control of multiple output members
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/43—Programme-control systems fluidic
    • G05B19/46—Programme-control systems fluidic hydraulic
PL11758810T 2010-03-26 2011-03-24 Urządzenie rozprowadzające beton i sposób sterowania, układ sterowania i elektryczny układ sterowania złożonym ruchem wysięgnika tego urządzenia PL2520739T3 (pl)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
CN2010101555841A CN101824916B (zh) 2010-03-26 2010-03-26 混凝土布料设备臂架复合运动控制系统、方法和电控系统
PCT/CN2011/072117 WO2011116700A1 (zh) 2010-03-26 2011-03-24 混凝土布料设备及其臂架复合运动控制系统、方法和电控系统
EP11758810.3A EP2520739B1 (en) 2010-03-26 2011-03-24 Concrete distributing device and control method, control system and electrical control system for composite motion of boom thereof

Publications (1)

Publication Number Publication Date
PL2520739T3 true PL2520739T3 (pl) 2018-02-28

Family

ID=42689062

Family Applications (1)

Application Number Title Priority Date Filing Date
PL11758810T PL2520739T3 (pl) 2010-03-26 2011-03-24 Urządzenie rozprowadzające beton i sposób sterowania, układ sterowania i elektryczny układ sterowania złożonym ruchem wysięgnika tego urządzenia

Country Status (5)

Country Link
US (1) US9045316B2 (pl)
EP (1) EP2520739B1 (pl)
CN (1) CN101824916B (pl)
PL (1) PL2520739T3 (pl)
WO (1) WO2011116700A1 (pl)

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CN101824916B (zh) * 2010-03-26 2011-11-09 长沙中联重工科技发展股份有限公司 混凝土布料设备臂架复合运动控制系统、方法和电控系统
CN102425580B (zh) * 2011-08-16 2015-04-29 中联重科股份有限公司 制动阀组、具有该制动阀组的液压系统和混凝土布料机
CN102493656B (zh) * 2011-12-26 2014-05-21 三一汽车制造有限公司 用于多节臂架的流量分配系统、装置和方法、工程机械设备
CN103851246B (zh) * 2012-12-07 2016-06-15 中国核动力研究设计院 一种多阀门串级调节方法及调节系统
CN103061511B (zh) * 2012-12-20 2015-03-11 中联重科股份有限公司 多自由度臂架的轨迹规划系统、方法及泵车
CN103147577B (zh) * 2013-02-27 2015-04-01 中联重科股份有限公司 多关节类机械臂架的控制方法、设备、系统及工程机械
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EP3015625A1 (en) * 2014-10-31 2016-05-04 CIFA SpA Method and apparatus to move an articulated arm
DE102014119033A1 (de) * 2014-12-18 2016-06-23 Linde Material Handling Gmbh Flurförderzeug mit einer Arbeitshydraulik
CN104906735B (zh) * 2015-04-21 2018-11-02 徐工消防安全装备有限公司 一种臂架运动自适应控制方法及消防车
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DE102017118274A1 (de) * 2017-08-10 2019-02-14 Putzmeister Engineering Gmbh Großmanipulator und hydraulische Schaltungsanordnung für einen Großmanipulator
CN107651567A (zh) * 2017-09-19 2018-02-02 中联重科股份有限公司 控制工程机械方法和系统、工程机械和机器可读存储介质
US11162241B2 (en) 2018-03-27 2021-11-02 Deere & Company Controlling mobile machines with a robotic attachment
US10689831B2 (en) 2018-03-27 2020-06-23 Deere & Company Converting mobile machines into high precision robots
DE102018109789A1 (de) * 2018-04-24 2019-10-24 Putzmeister Engineering Gmbh Verfahren und System zur hydraulischen Steuerung eines Betonverteilermasts
CN109057346A (zh) * 2018-10-17 2018-12-21 三汽车制造有限公司 泵车
DK3763949T3 (da) * 2019-07-08 2022-05-23 Hiab Ab Fremgangsmåde til at kontrollere et hydrauliksystem, et hydrauliksystem og en kran
CN111963505B (zh) * 2020-07-22 2022-03-25 中联重科股份有限公司 液压系统组合动作控制方法、控制装置及工程机械
CN111754141B (zh) * 2020-08-06 2024-03-01 湖南库特智能科技有限公司 一种泵车多臂协同控制方法及系统
CN113622674A (zh) * 2021-10-11 2021-11-09 徐州徐工施维英机械有限公司 一种混凝土臂架速度控制系统及方法

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Also Published As

Publication number Publication date
US20120253528A1 (en) 2012-10-04
US9045316B2 (en) 2015-06-02
EP2520739A4 (en) 2014-09-17
EP2520739A1 (en) 2012-11-07
EP2520739B1 (en) 2017-07-26
WO2011116700A1 (zh) 2011-09-29
CN101824916A (zh) 2010-09-08
CN101824916B (zh) 2011-11-09

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