CN103365301A - Boom mobility control method and device and concrete pump truck - Google Patents
Boom mobility control method and device and concrete pump truck Download PDFInfo
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- CN103365301A CN103365301A CN2013102476766A CN201310247676A CN103365301A CN 103365301 A CN103365301 A CN 103365301A CN 2013102476766 A CN2013102476766 A CN 2013102476766A CN 201310247676 A CN201310247676 A CN 201310247676A CN 103365301 A CN103365301 A CN 103365301A
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- jib
- angle
- tail end
- datum line
- arm support
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Abstract
The invention discloses a boom mobility control method and device and a concrete pump truck. The boom mobility control method is used for controlling the linear movement of a boom tail end on a horizontal plane in any direction, and comprises the steps of determining the datum line of the horizontal plane; determining the included angle between the movement direction of the boom tail end and the datum line; calculating motion parameters needed by a boom according to the included angle and the current position of the boom; and controlling the tail end position of the boom according to the motion parameters. According to the invention, the working capability and the operating range of engineering machinery are greatly improved, the engineering machinery can be applicable to construction environments with limited fields, diversified practical construction requirements can be met, and the boom mobility control method has the advantages that the operation is simple, the implementation is easy, the intelligentized degree is high and the like.
Description
Technical field
The present invention relates generally to engineering machinery field, specifically, relates to a kind of jib control method for movement, mobile controller, and the concrete mixer that is provided with this jib mobile controller.
Background technology
In recent years, the engineering machinery develop rapidly, its robotization, intelligent level are more and more higher, such as concrete mixer, wet-spraying machine, boom etc., can realize automatic pouring column, crossbeam etc.The concrete pump truck intelligent arm support of prior art is to control by detecting unit detection concrete pump truck arm inclination angle, oil cylinder working-pressure and arm support tail end position to realize it vertically or the movement of vertical equity direction, and move in the safe range of mechanical movement by its path planning of programmed control, safe reliability is higher.
Yet the intelligent arm support of prior art also comes with some shortcomings, and mainly is that X in the path planning module, Y, Z axis are fixed, and the intelligent arm support moving direction must be perpendicular or parallel in coordinate system with pump truck center chassis line.And in the practical work process, because the factors such as place restriction and practice of construction requirement need the position of continuous placing and center chassis line often at a certain angle.Under the prerequisite of mobile chassis not, prior art can't satisfy the operator and carry out the requirement of continuous placing in the non-perpendicular or non-parallel orientation of center chassis line.
Along with the fast development that Chinese national economy is built, the speeding up the construction of various heavy constructions, the working-yard is increasing to the demand of the engineering machinery such as concrete mixer, wet-spraying machine, and is also more and more higher to the requirement of its performance.Therefore, how providing a kind of optional position continuous linear cast and mobile boom system realized, to satisfy user's demand increasing to engineering machinery, is the technical matters that those skilled in the art need to be resolved hurrily.
Summary of the invention
In view of this, the object of the present invention is to provide a kind of jib control method for movement and device, can so that the jib of engineering machinery can move at the surface level any direction, overcome the restricted large deficiency of prior art jib motion direction by this control method for movement and device.
Jib control method for movement of the present invention, the traveling priority for control arm support tail end any direction on surface level comprises:
Step 101: determine the datum line at surface level;
Step 102: determine the moving direction of arm support tail end and the angle of described datum line;
Step 103: according to described angle and jib current location, calculate the needed action parameter of jib;
Step 104: according to the terminal position of described action parameter control jib.
Further, in the described step 101, take the vertical direction of the perpendicular at jib place as datum line, perhaps take the parallel horizontal direction of the perpendicular at jib place as datum line.
Jib mobile controller of the present invention, the traveling priority for control arm support tail end any direction on surface level comprises angle output unit and processor, wherein:
Described angle output unit is used for exporting the moving direction of arm support tail end and the angle of datum line to processor;
Described processor connects described angle output unit, is used for calculating the needed action parameter of jib, and controls the terminal position of jib according to described action parameter.
Further, described angle output unit comprises direction knob and rotary encoder, described direction knob is connected with described rotary encoder, described direction knob can turn to the moving direction of datum line direction and arm support tail end, and the angle signal that described rotary encoder detects may be output to described processor.
Further, be provided with direction signs on the surface of described direction knob.
Further, described angle output unit also comprises ACK button, and described ACK button connects described processor, during described ACK button action, and the angle information that described processor is confirmed and record receives.
Further, described angle output unit also comprises housing and mounting strap, and described direction knob and rotary encoder are arranged on the described housing, and described mounting strap is connected on the described housing, is used for described housing is installed on arm support tail end.
Further, connect by bus communication between described rotary encoder and the described processor.
Further, described angle output unit is digital keys, is used for manually inputting the moving direction of arm support tail end and the angle of datum line.
Another aspect of the present invention also provides a kind of concrete mixer, comprises movably jib, and is provided with aforementioned each jib mobile controller.
Jib control method for movement of the present invention and device, at first determine the moving direction of arm support tail end and the angle of datum line, according to this angle and jib current location, can calculate the needed action parameter of jib, thereby can realize the movement of arm support tail end any direction on surface level, greatly improve ability to work and the scope of work of engineering machinery, gone for the restricted construction environment in place, and can satisfy diversified practice of construction requirement.
In addition, in further technical scheme, by simple outside adapter as the angle output unit, operating personnel only need to be with direction knob difference alignment fiducials line and moving direction during operation, namely can revise intrinsic coordinate in the intelligent arm support, make processor obtain moving direction information, and finish corresponding mobile control by calculating.Whole process operation is simple, and is easy to implement, and intelligent degree is high, reduced operating personnel's labour intensity, improved operating efficiency.
Description of drawings
The accompanying drawing that consists of a part of the present invention is used to provide a further understanding of the present invention, and illustrative examples of the present invention and explanation thereof are used for explaining the present invention, do not consist of improper restriction of the present invention.In the accompanying drawings:
Fig. 1 is the process flow diagram of the jib control method for movement of one embodiment of the invention;
Fig. 2 is the orientation diagram of concrete mixer when operation of one embodiment of the invention;
Fig. 3 is the schematic diagram of the jib mobile controller of one embodiment of the invention;
Fig. 4 is the structural representation of the angle output unit of one embodiment of the invention.
Description of reference numerals:
1 processor
2 direction knobs
21 direction signs
3 rotary encoders
4 ACK button
5 housings
6 mounting straps
7 buses
Embodiment
Need to prove, in the situation that do not conflict, embodiment and the feature among the embodiment among the present invention can make up mutually.Describe below with reference to the accompanying drawings and in conjunction with the embodiments the present invention in detail.
Shown in Figure 1 is the process flow diagram of the jib control method for movement of one embodiment of the invention.The jib control method for movement of this embodiment is used for the traveling priority of control arm support tail end any direction on surface level.In the vertical direction, the moving direction of arm support tail end is vertical with the center chassis line, can realize the action that vertically takes the air line by intelligent arm support technology of the prior art.
The jib control method for movement of this embodiment can be used for as in the engineering machinery such as concrete mixer, wet-spraying machine, boom.The jib of such engineering machinery generally is comprised of a plurality of joint arms, and each saves arm by its angle of pitch of flexible adjustment of amplitude oil cylinder, and then realizes different extended length.In addition, such engineering machinery generally also comprises slew gear, and jib is arranged on the slew gear, can realize the revolution on the surface level.
The jib control method for movement of this embodiment may further comprise the steps:
Step 101: determine the datum line at surface level;
Datum line in the described step 101 can be determined according to the structure choice of engineering machinery, preferably, for pump truck, can be take the centerline direction on chassis as datum line, also can be take the direction vertical with the vertical central plane in chassis as datum line, in addition, for engineering machinery such as pump truck or booms, can also select to determine datum line according to the orientation of jib or supporting leg, as take the vertical direction of the perpendicular at jib place as datum line (being the normal direction of the perpendicular at jib current location place), perhaps take the parallel horizontal direction of the perpendicular at jib place as datum line, all can realize technique effect of the present invention.
Step 102: determine the moving direction of arm support tail end and the angle of described datum line;
The moving direction of arm support tail end is to require definite moving direction according to practice of construction.This moving direction is rectilinear direction, to realize special operation.Take concrete mixer as example, then can be according to this moving direction automatic pouring crossbeam.
Step 103: according to described angle and jib current location, calculate the needed action parameter of jib;
In the whole operation process, the action of jib is comprised of the action of a plurality of unit interval, rotates certain angle at this unit interval jib, and realizes certain extended length.This action parameter also can be that other may be by the parameter that calculates such as the centre of gyration after the action to the distance of arm support tail end preferably.
Step 104: according to the terminal position of described action parameter control jib.
According to the needed action parameter of jib in the abovementioned steps 103, control respectively saves the amplitude of the amplitude oil cylinder of arm, controls simultaneously the rotational angle of slew gear.
Need to prove, abovementioned steps 101 and step 102 can realize by modes such as manually-operated or measurements, and abovementioned steps 103 and step 104 can realize by intelligent equipment, also can adopt other possible mode, and the present invention is not limited to this.
On the basis of technique scheme, owing to having revised intrinsic coordinate in the intelligent arm support, except with vertical with the parallel orientation of the vertical central plane on chassis, can also all can realize at other any direction the traveling priority of jib, ability to work and the scope of work of engineering machinery have greatly been improved, go for the restricted construction environment in place, and can satisfy diversified practice of construction requirement.
Shown in Figure 2 is the orientation diagram of concrete mixer when operation of one embodiment of the invention.In this embodiment, the arm support tail end of concrete mixer need to carry out traveling priority and cast with the A direction.In order to control the action of jib, B direction (direction vertical with the perpendicular at jib place) is as datum line in Fig. 2, and the angle between moving direction and the datum line is α.The extended length (centre of gyration is to the distance of arm support tail end on surface level) of definition current arm support is L, and the angle of required rotation of unit interval is Δ θ, and the extended length that jib needs after the unit interval is L1, then can get according to the law of sines:
L1/sin (90 °+α)=L/sin (180 ° of-90 °-α-Δ θ) (formula 1)
L1/cos α=L/cos (α+Δ θ) (formula 2)
Be L1=Lcos α/cos (α+Δ θ) (formula 3)
By aforementioned account form, can draw the jib extended length L1 corresponding with rotational angle Δ θ in the unit interval, be L1 according to this result of calculation by amplitude oil cylinder control jib extended length, can realize that namely jib is at the traveling priority of A direction; Constantly calculate next extended length constantly, can be constantly mobile on this A direction, realize continuous pouring.
Need to prove, when specific mobile alignment, such rotation angle delta θ can equal zero, and by selection reference line reasonably, can calculate equally the jib extended length corresponding with zero corner, realizes technique effect of the present invention.
Except aforementioned jib control method for movement, the present invention also provides a kind of jib mobile controller.This jib mobile controller is used for the traveling priority of control arm support tail end any direction on surface level, comprises angle output unit and processor 1.Wherein, the angle output unit exports the moving direction of arm support tail end and the angle of datum line to processor 1; Processor 1 connection angle output unit is used for calculating the needed action parameter of jib, and controls the terminal position of jib according to described action parameter.
Angle between aforementioned moving direction and the datum line can pass through manual measurement, and can be by manually inputing to processor 1.Correspondingly, this angle output unit is digital keys, is used for manually inputting the moving direction of arm support tail end and the angle of datum line.This angle output unit can also be other possible external form and sensor.
As another kind of preferred implementation, in order to simplify the operation, improve operating efficiency, as shown in Figure 3 and Figure 4, this angle output unit comprises direction knob 2 and rotary encoder 3, direction knob 2 is connected with rotary encoder 3, and direction knob 2 can turn to the moving direction of datum line direction and arm support tail end, and the angle signal that rotary encoder 3 detects may be output to processor 1.This rotary encoder 3 can be converted to electric signal with the mechanical action of rotational displacement, and by 7 communication connections of (CAN) bus, they also can may mode realize communication by other between preferred rotary encoder 3 and the processor 1.
When actual job, operating personnel turn to respectively alignment fiducials line and moving direction by hand-held aforementioned angle output unit with direction knob 2, namely can finish the process of abovementioned steps 101 and step 102, and are very convenient to use.
Direction knob 2 is determined and can be confirmed by suspended pattern the datum line direction, specifically, after direction knob 2 goes to datum line, suspends some seconds, and then processor 1 this angle position of judgement is the datum line position, confirms and records this angle information.Replacedly, this angle output unit also comprises Fig. 3 and affirmation button 4 shown in Figure 4, and ACK button 4 connects processor 1, during ACK button 4 action, and the angle information that processor 1 is confirmed and record receives.After direction knob 2 goes to datum line, press this ACK button 4, this angle information can be determined and record to processor 1.
In addition, for the ease of the sensing of direction knob 2, be provided with direction signs 21 on the surface of direction knob 2.This direction sign 21 can be etching or be printed in directionkeys on the direction knob 2.
With reference to figure 4, in the concrete structure design, preferably this angle output unit comprises housing 5 and mounting strap 6, and direction knob 2 and rotary encoder 3 are arranged on the housing 5, and mounting strap 6 is connected on the housing 5, is used for housing 5 is installed on arm support tail end.
When work, operating personnel are installed in arm support tail end (such as the end hose of concrete mixer) by mounting strap 6 with the angle output unit, and this position needs convenient operation direction knob 2 and ACK button 4.After the engineering machinery Support Position was determined, rotation direction knob 2 overlapped the direction signs 21 on the Safety knob for electric appliance and datum line (such as the chassis axial location), presses ACK button 4 and can confirm the datum line position.
After determining the traveling priority route, again direction signs 21 are aimed at the desired level moving direction.Afterwards, operating personnel only need can to control the horizontal linear that jib carries out any direction by telepilot and move.Whole process operation is simple, and is easy to implement, and intelligent degree is high, reduced operating personnel's labour intensity, improved operating efficiency.
Except aforementioned jib mobile controller, the present invention also provides a kind of concrete mixer that is provided with aforementioned jib mobile controller.Other structure of this concrete mixer is as movably jib, revolving structure, chassis etc. can with reference to prior art, not repeat them here.
Should be understood that, although jib mobile controller of the present invention is most appropriate to promotion and implementation on concrete mixer, the engineering machinery that can carry out the jib traveling priority such as wet-spraying machine, boom etc. also can be applicable to technical scheme of the present invention.
The above only is preferred embodiment of the present invention, and is in order to limit the present invention, within the spirit and principles in the present invention not all, any modification of doing, is equal to replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (10)
1. a jib control method for movement is characterized in that, described jib control method for movement is used for the traveling priority of control arm support tail end any direction on surface level, comprising:
Step 101: determine the datum line at surface level;
Step 102: determine the moving direction of arm support tail end and the angle of described datum line;
Step 103: according to described angle and jib current location, calculate the needed action parameter of jib;
Step 104: according to the terminal position of described action parameter control jib.
2. jib control method for movement according to claim 1 is characterized in that, in the described step 101, take the vertical direction of the perpendicular at jib place as datum line, perhaps take the parallel horizontal direction of the perpendicular at jib place as datum line.
3. a jib mobile controller is characterized in that, described jib mobile controller is used for the traveling priority of control arm support tail end any direction on surface level, comprises angle output unit and processor (1), wherein:
Described angle output unit is used for exporting the moving direction of arm support tail end and the angle of datum line to described processor (1);
Described processor (1) connects described angle output unit, is used for calculating the needed action parameter of jib, and controls the terminal position of jib according to described action parameter.
4. jib mobile controller according to claim 3, it is characterized in that, described angle output unit comprises direction knob (2) and rotary encoder (3), described direction knob (2) is connected with described rotary encoder (3), described direction knob (2) can turn to the moving direction of datum line direction and arm support tail end, and the angle signal that described rotary encoder (3) detects may be output to described processor (1).
5. jib mobile controller according to claim 4 is characterized in that, is provided with direction signs (21) on the surface of described direction knob (2).
6. jib mobile controller according to claim 4, it is characterized in that, described angle output unit also comprises ACK button (4), described ACK button (4) connects described processor (1), during described ACK button (4) action, the angle information that described processor (1) is confirmed and record receives.
7. each described jib mobile controller according to claim 4-6, it is characterized in that, described angle output unit also comprises housing (5) and mounting strap (6), described direction knob (2) and rotary encoder (3) are arranged on the described housing (5), described mounting strap (6) is connected on the described housing (5), is used for described housing (5) is installed on arm support tail end.
8. each described jib mobile controller is characterized in that according to claim 4-6, communicates to connect by bus (7) between described rotary encoder (3) and the described processor (1).
9. jib mobile controller according to claim 3 is characterized in that, described angle output unit is digital keys, is used for manually inputting the moving direction of arm support tail end and the angle of datum line.
10. a concrete mixer comprises movably jib, it is characterized in that, also is provided with each described jib mobile controller of claim 3-9.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310247676.6A CN103365301B (en) | 2013-06-20 | 2013-06-20 | Boom mobility control method and device and concrete pump truck |
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| CN201310247676.6A CN103365301B (en) | 2013-06-20 | 2013-06-20 | Boom mobility control method and device and concrete pump truck |
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| CN103365301A true CN103365301A (en) | 2013-10-23 |
| CN103365301B CN103365301B (en) | 2017-02-08 |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104018676A (en) * | 2014-03-04 | 2014-09-03 | 三一汽车制造有限公司 | Engineering machinery, arm support control system and arm support control method |
| CN106597895A (en) * | 2016-12-12 | 2017-04-26 | 三汽车制造有限公司 | Boom system control method, boom control system and boom device |
| CN114687562A (en) * | 2020-12-31 | 2022-07-01 | 三一汽车制造有限公司 | Method and device for controlling working machine and working machine |
| CN116065827A (en) * | 2021-11-01 | 2023-05-05 | 河北雷萨重型工程机械有限责任公司 | Pump truck cloth control method and device, electronic equipment and pump truck |
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| CN102346024A (en) * | 2011-07-12 | 2012-02-08 | 三一重工股份有限公司 | Method for obtaining terminal position parameters of jib system, jib system and engineering machine |
| CN102354213A (en) * | 2011-09-05 | 2012-02-15 | 中联重科股份有限公司 | Method, device and system for controlling boom tail end position of boom equipment |
| CN102393754A (en) * | 2011-09-28 | 2012-03-28 | 三一重工股份有限公司 | Arm support action control method and system, arm support tail end linear displacement control method and system, and concrete pump trucks |
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| EP0215909B1 (en) * | 1985-03-19 | 1993-03-10 | Sauer, Inc. | Boom control system |
| DE102008017961A1 (en) * | 2008-04-08 | 2009-10-15 | Putzmeister Concrete Pumps Gmbh | Stationary or mobile concrete pump, particularly truck-mounted concrete pump, has controlling device with reference valve storage for trajectory of boom tip in construction site coordinate system |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104018676A (en) * | 2014-03-04 | 2014-09-03 | 三一汽车制造有限公司 | Engineering machinery, arm support control system and arm support control method |
| CN104018676B (en) * | 2014-03-04 | 2017-08-29 | 三一汽车制造有限公司 | A kind of engineering machinery and arm support control system and method |
| CN106597895A (en) * | 2016-12-12 | 2017-04-26 | 三汽车制造有限公司 | Boom system control method, boom control system and boom device |
| CN114687562A (en) * | 2020-12-31 | 2022-07-01 | 三一汽车制造有限公司 | Method and device for controlling working machine and working machine |
| CN114687562B (en) * | 2020-12-31 | 2023-11-17 | 三一汽车制造有限公司 | Control method and device for working machine and working machine |
| CN116065827A (en) * | 2021-11-01 | 2023-05-05 | 河北雷萨重型工程机械有限责任公司 | Pump truck cloth control method and device, electronic equipment and pump truck |
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| CN103365301B (en) | 2017-02-08 |
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Denomination of invention: Boom mobility control method and device and concrete pump truck Effective date of registration: 20181227 Granted publication date: 20170208 Pledgee: Business Department of Hunan Branch of China Construction Bank Co., Ltd. Pledgor: SANY Automobile Manufacturing Co., Ltd. Registration number: 2018430000147 |
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