A walking spreader with a dynamically balanced arm and a control method thereof

Abstract

The application relates to a walking distributor with a dynamic balance arm and a control method thereof, which comprises a distributor main body, an arm support structure and a dynamic balance arm structure, the distributor main body is provided with a movable base; the arm support structure comprises a plurality of standard sections, a displacement sensor is arranged at the end of each standard section; the dynamic balance arm structure comprises a telescopic balance arm, an inclined support structure, a sensor processing module and a counterweight control module, the telescopic balance arm comprises a driving motor, a lead screw and a cross mechanism, the counterweight control module is fixed at the tail end of the cross mechanism, the driving motor is fixed on a distributor rotating support, the lead screw is connected with the counterweight control module; the upper and lower ends of the inclined support structure are respectively provided with upper and lower ear plates, the upper ear plate is hinged with a clamping plate at the tail of the cross mechanism, the lower ear plate is hinged with a clamping plate of a distributor rotating support, and the middle part of the inclined support structure is a telescopic adjusting rod; the sensor processing module is electrically connected with the displacement sensor and the counterweight control module.

Description

Technical Field

[0001] This invention belongs to the field of engineering machinery technology, and specifically relates to a walking concrete placing machine with a dynamic balance arm and its control method. Background Technology

[0002] A concrete placing boom is a type of concrete conveying equipment. With the development of large-scale machinery in my country, self-propelled mobile placing booms are becoming increasingly widely used to improve work efficiency and expand the concrete pouring range. Adopting a 360° full-rotation boom structure, these booms offer flexible rotation, simplifying operation and easily meeting the need for complete coverage without blind spots during concrete placement. However, the complex on-site construction environment necessitates the use of long counterweight balancing structures to balance the overturning and impact forces during concrete placement. This results in the placing boom system occupying a significant amount of workspace. Furthermore, it is difficult to avoid protruding obstacles during movement and concrete pouring operations, requiring the use of tower cranes to assist in obstacle avoidance. This reduces work efficiency and fails to fully utilize the flexible and automated characteristics of mobile placing booms, thus limiting their application scope.

[0003] Therefore, how to provide a walking fabric placing machine with a dynamic balancing arm and its control method is a technical problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0004] This invention provides a traveling concrete placing boom with a dynamic balancing arm and its control method, which can replace existing large placing boom mechanisms with long counterweight balancing structures. The dynamic balancing arm can extend and retract according to the boom shape during concrete placement to balance the overturning and impact forces of the concrete, thus stabilizing the operation of the placing boom and eliminating the need for fixed installations that occupy a large amount of workspace. Furthermore, if the placing boom encounters obstacles during movement, the dynamic balancing arm can automatically retract to avoid them, eliminating the need for a tower crane to lift the entire machine for movement. This improves work efficiency, increases the safety and flexibility of the placing boom, saves on-site construction space, and expands the application range of large placing booms.

[0005] To solve the above technical problems, the present invention includes the following technical solutions:

[0006] A traveling fabric placing machine with a dynamic balancing arm includes:

[0007] The main body of the fabric placing machine is equipped with a movable base;

[0008] The boom structure includes several standard sections, each standard section including a concrete delivery duct, boom, hydraulic cylinder and connecting rod, and a displacement sensor is installed at the end of each standard section;

[0009] A dynamic balance arm structure includes a telescopic balance arm, a diagonal brace structure, a sensor processing module, and a counterweight control module. The telescopic balance arm includes a drive motor, a lead screw, and a cross mechanism. The cross mechanism is composed of sections of square tubing connected together. The counterweight control module is fixed to the end of the cross mechanism. The drive motor is fixed to the rotating support of the fabric placing machine. The lead screw is connected to the counterweight control module. The drive motor drives the lead screw to extend and retract, thereby causing the counterweight control module and the cross mechanism to extend and retract, thus realizing the dynamic adjustment of the balance arm. The diagonal brace structure has an upper ear plate and a lower ear plate at its upper and lower ends, respectively. The upper ear plate is hinged to the clamping plate at the tail of the cross mechanism, and the lower ear plate is hinged to the clamping plate of the rotating support of the fabric placing machine. The middle part of the diagonal brace structure is a telescopic adjustable rod. The sensor processing module is electrically connected to the displacement sensor and the counterweight control module.

[0010] Furthermore, the cross mechanism includes rotatable nodes, each of which is formed by three intersecting square tubes fixed by bolts.

[0011] Furthermore, the movable base can be either roller-type or track-type; the mode of movement is not limited here.

[0012] The present invention also provides a control method for a traveling concrete placing machine with a dynamic balancing arm, and provides the traveling concrete placing machine with a dynamic balancing arm for backup. The control method includes:

[0013] Step S1: Input the original parameters;

[0014] Step S2: The displacement sensor outputs the distance between each section of the boom;

[0015] Step S3: The sensor processing module receives and processes the data;

[0016] Step S4: The counterweight control module receives the displacement value ΔL of the balance arm to be adjusted.

[0017] If ΔL > 0, the overturning force of the boom system exceeds the safe range. The counterweight control module controls the drive motor to extend the lead screw by ΔL.

[0018] Where ΔL is the adjustment displacement of the balance arm, VL=L-L', L' is the length of the balance arm in the previous working state; L is the length of the telescopic balance arm. Where G is the weight of the counterweight and g is the weight of the counterweight arm;

[0019] When the concrete placing boom is not in operation and needs to move to avoid obstacles, the boom retracts, the sensor processing module calculates the overturning moment T of the boom in this state, and the counterweight boom retracts by ΔL.

[0020] Based on the actual structural dimensions of the concrete placing boom, the following parameters are calculated: boom self-weight P1, concrete weight P2, dynamic load P3, wind load P4, and the angle φ between the boom and adjacent booms. i The relationship can be converted into the overturning moment T when the fabric placing machine is working, T = f(φ). i In the dynamic load calculation, the working load is multiplied by the dynamic load factor to convert it into a static load.

[0021] The included angle φ between adjacent booms is calculated using a displacement sensor installed at the end of the boom. i , i represents the i-th boom section, l i Let d represent the length of the i-th boom section. i This indicates the horizontal distance of the i-th boom section as measured by the displacement sensor.

[0022] Furthermore, the φ i The calculation method is as follows:

[0023] 1. When boom i is at the lower end of boom i-1, φ i The angle of depression,

[0024] II. When boom i is at the upper end of boom i-1, φ i Angle of elevation,

[0025] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0026] I. This invention provides a traveling concrete placing boom with a dynamic balancing arm, comprising a placing boom body, a boom structure, and a dynamic balancing arm structure. The placing boom body is equipped with a movable base. The boom structure includes several standard sections, each standard section including a concrete conveying duct, a boom, a hydraulic cylinder, and a connecting rod. A displacement sensor is installed at the end of each standard section. The dynamic balancing arm structure includes a telescopic balancing arm, a bracing structure, a sensor processing module, and a counterweight control module. The telescopic balancing arm includes a drive motor, a lead screw, and a cross mechanism. The cross mechanism includes sections of square tubing connected together. The structure comprises a cross mechanism with a counterweight control module fixed at its end, a drive motor fixed to the rotating support of the concrete placing boom, a lead screw connected to the counterweight control module, and the drive motor driving the lead screw to extend and retract, thereby causing the counterweight control module and the cross mechanism to extend and retract, thus achieving dynamic adjustment of the balance arm. The inclined support structure has upper and lower ear plates at its upper and lower ends, respectively. The upper ear plate is hinged to the clamping plate at the tail of the cross mechanism, and the lower ear plate is hinged to the clamping plate of the rotating support of the concrete placing boom. A telescopic adjustable rod is located in the middle of the inclined support structure. The sensor processing module is electrically connected to the displacement sensor and the counterweight control module. This traveling concrete placing boom with a dynamic balance arm can automatically extend and retract the telescopic balance arm according to the working state of the boom during concrete placement, used to balance the overturning force and impact force during concrete placement, increasing the safety and stability of the concrete placing boom.

[0027] II. The present invention provides a walking concrete placing machine with a dynamic balance arm. The walking concrete placing machine with a telescopic balance arm does not need to occupy a large amount of working space, thus saving working space and increasing the application range of large concrete placing machines.

[0028] Third, the present invention provides a control method for a traveling concrete placing boom with a dynamic balance arm. By extending and retracting the balance arm, obstacles can be avoided, and the entire machine can be moved without the need for a tower crane to lift it. This improves work efficiency, increases the safety and flexibility of the concrete placing boom, and makes the construction concrete placing boom more intelligent and industrialized. Attached Figure Description

[0029] Figure 1 This is a schematic diagram of the structure of the walking fabric placing machine with a dynamic balance arm in Embodiment 1 of the present invention;

[0030] Figure 2 This is a schematic diagram of the cross mechanism in the walking fabric placing machine with a dynamic balance arm in Embodiment 1 of the present invention;

[0031] Figure 3 This is a schematic diagram of the steps of the control method for a walking fabric placing machine with a dynamic balancing arm in Embodiment 1 of the present invention.

[0032] In the picture:

[0033] 10 - Movable base; 20 - Diagonal bracing structure; 30 - Counterweight control module; 40 - Cross mechanism; 50 - Drive motor. Detailed Implementation

[0034] The following detailed description, in conjunction with the accompanying drawings and specific embodiments, provides a walking fabric placing machine with a dynamic balancing arm and its control method according to the present invention. The advantages and features of the present invention will become clearer from the following description. It should be noted that the accompanying drawings are all in a very simplified form and use non-precise proportions, used only to facilitate and clarify the illustration of the embodiments of the present invention. For ease of description, the terms "upper" and "lower" used below correspond to the upper and lower directions in the accompanying drawings, but this should not be construed as a limitation of the technical solution of the present invention.

[0035] Example 1

[0036] The following is combined with Figures 1 to 3 The present invention provides a detailed description of the structural composition of the walking fabric placing machine with a dynamic balancing arm.

[0037] A traveling concrete placing boom with a dynamic balance arm includes a placing boom body, a boom structure, and a dynamic balance arm structure. The placing boom body is equipped with a movable base 10. The boom structure includes several standard sections, each standard section including a concrete conveying duct, a boom, a hydraulic cylinder, and a connecting rod. A displacement sensor is installed at the end of each standard section. The dynamic balance arm structure includes a telescopic balance arm, a diagonal bracing structure 20, a sensor processing module, and a counterweight control module 30. The telescopic balance arm includes a drive motor 50, a lead screw, and a cross mechanism 40. The cross mechanism 40 is composed of sections of square tubing connected together. The counterweight control module 30 is fixed at the end of the 40, and the drive motor 50 is fixed on the rotating support of the fabric placing machine. The lead screw is connected to the counterweight control module 30. The drive motor 50 drives the lead screw to extend and retract, thereby causing the counterweight control module 30 and the cross mechanism 40 to extend and retract, thus realizing the dynamic adjustment of the balance arm. The upper and lower ends of the inclined brace structure 20 are respectively provided with upper ear plates and lower ear plates. The upper ear plate is hinged to the clamping plate at the tail of the cross mechanism 40, and the lower ear plate is hinged to the clamping plate of the rotating support of the fabric placing machine. The middle part of the inclined brace structure 20 is a telescopic adjustable rod. The sensor processing module is electrically connected to the displacement sensor and the counterweight control module 30 respectively.

[0038] Specifically, the diagonal brace structure 20 is used to support the weight of the counterweight in the counterweight control module 30. The middle of the diagonal brace structure 20 is a telescopic adjustable rod, which can extend and retract with the automatic opening and closing of the balance arm. The drive motor 50 drives the lead screw to extend and retract, thereby causing the counterweight and the cross mechanism to extend and retract, achieving dynamic adjustment of the balance arm. The sensor processing module's input / output interface is connected to the displacement sensor and the counterweight control module 30, respectively. The counterweight control module 30 is connected to the drive motor 50 and is used to control the opening and closing of the drive motor 50.

[0039] In this embodiment, more preferably, the cross mechanism 40 includes rotatable nodes, each of which is formed by three intersecting square tubes and fixed by bolts.

[0040] In this embodiment, more preferably, the movable base is a roller type or a track type, and the method of movement is not limited here.

[0041] The present invention also provides a control method for a traveling concrete placing machine with a dynamic balancing arm, and provides the traveling concrete placing machine with a dynamic balancing arm for backup. The control method includes:

[0042] Step S1: Input the original parameters;

[0043] Step S2: The displacement sensor outputs the distance between each section of the boom;

[0044] Step S3: The sensor processing module receives and processes the data;

[0045] Step S4: The counterweight control module 30 receives the displacement value ΔL of the balance arm to be adjusted.

[0046] If ΔL > 0, the overturning force of the boom system exceeds the safe range. The counterweight control module 30 controls the drive motor to extend the lead screw by ΔL.

[0047] Where ΔL is the adjustment displacement of the balance arm, VL=L-L', L' is the length of the balance arm in the previous working state; L is the length of the telescopic balance arm. Where G is the weight of the counterweight and g is the weight of the counterweight arm;

[0048] When the concrete placing boom is not in operation and needs to move to avoid obstacles, the boom retracts, the sensor processing module calculates the overturning moment T of the concrete placing boom in this state, and the counterweight boom retracts ΔL, which reduces the footprint of the concrete placing boom and can flexibly avoid protruding obstacles on site during movement, saving on-site construction space.

[0049] Based on the actual structural dimensions of the concrete placing boom, the following parameters are calculated: boom self-weight P1, concrete weight P2, dynamic load P3, wind load P4, and the angle φ between the boom and adjacent booms. i The relationship can be converted into the overturning moment T when the fabric placing machine is working, T = f(φ). i In the dynamic load calculation, the working load is multiplied by the dynamic load factor to convert it into a static load.

[0050] The included angle φ between adjacent booms is calculated using a displacement sensor installed at the end of the boom. i , i represents the i-th boom section, l i Let d represent the length of the i-th boom section. i This indicates the horizontal distance of the i-th boom section as measured by the displacement sensor.

[0051] Furthermore, the φ i The calculation method is as follows:

[0052] 1. When boom i is at the lower end of boom i-1, φ i The angle of depression,

[0053] II. When boom i is at the upper end of boom i-1, φ i Angle of elevation,

[0054] Displacement sensors measure the distance of each boom section relative to the main body of the concrete placing boom in real time. The data is transmitted to the sensor processing module to calculate the boom posture and the load data of the concrete pouring. The calculation results are transmitted to the counterweight control module in real time. The counterweight control module determines whether the overturning force of the concrete placing boom system exceeds the safe range, and the drive motor drives the lead screw to extend and retract to ensure that the concrete placing boom is in a safe and balanced state.

[0055] The above examples are preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the above embodiments. The above embodiments only illustrate several implementations of the present invention, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the invention patent. It should be noted that, for those skilled in the art, several modifications and improvements can be made without departing from the concept of the present invention, and these all fall within the protection scope of the present invention. Therefore, the protection scope of this patent should be determined by the appended claims.

Claims

1. A control method of a walking spreader with a dynamic balance arm, providing a walking spreader with a dynamic balance arm, comprising: a spreader body, the spreader body being provided with a movable base; an arm structure, the arm structure comprising a plurality of standard sections, each standard section comprising a concrete conveying pipe, an arm, a cylinder and a connecting rod, each end of the standard section being provided with a displacement sensor; a dynamic balance arm structure, the dynamic balance arm structure comprising a telescopic balance arm, a diagonal bracing structure, a sensor processing module and a counterweight control module, the telescopic balance arm comprising a driving motor, a lead screw and a cross mechanism, the cross mechanism comprising a plurality of square tubes connected section by section, the cross mechanism being fixed at an end with the counterweight control module, the driving motor being fixed on a rotating support of the spreader, the lead screw being connected with the counterweight control module, the driving motor driving the lead screw to extend or retract, driving the counterweight control module and the cross mechanism to extend or retract, thereby achieving dynamic adjustment of the balance arm; the diagonal bracing structure being provided at upper and lower ends with upper and lower ear plates, respectively, the upper ear plate being hingedly connected with a clamping plate at a tail of the cross mechanism, the lower ear plate being hingedly connected with a clamping plate of a rotating support of the spreader, a middle part of the diagonal bracing structure being a telescopic adjusting rod; the sensor processing module being electrically connected with the displacement sensor and the counterweight control module; characterized in that the control method comprises: Step S1: inputting original parameters; Step S2: the displacement sensor outputting distances of each section of the arm; Step S3: the sensor processing module receiving and processing data; Step S4: the counterweight control module receiving a balance arm to be adjusted displacement value AL, if AL>0, at this time the arm system overturning force exceeds the safety range, the counterweight control module controls the driving motor to drive the lead screw to extend AL. Wherein, △L is the adjustment displacement of the balance arm, △L=L-L', L' is the length of the balance arm in the last working state; L is the length of the telescopic balance arm, Wherein, G is the weight of the counterweight, g is the self-weight of the balance arm; When the spreader is in a non-working state and needs to move to avoid obstacles, the boom is retracted, the sensor processing module calculates the overturning moment of the spreader in this state T , the balance arm is retracted ΔL, According to the actual structure size parameters of the material distributor, the self-weight P1 of the boom, the gravity P2 of the concrete, the dynamic load P3, the wind load P4 and the angle between the adjacent booms are calculated, and the overturning moment of the material distributor during work is converted into , T , wherein the work load is multiplied by the dynamic load coefficient to convert into the static load calculation during the calculation of the dynamic load. The displacement sensor arranged at the end of the boom calculates the included angle between adjacent booms i represents the i-th section boom, L represents the length of the i-th section boom, D represents the horizontal distance of the i-th section boom measured by the displacement sensor; and The calculation method is as follows: ， I. When the boom i is at the lower end of the boom i-1, is the depression angle; II. When the arm i is at the upper end of the arm i-1, for the elevation angle, .

2. The control method of a walking spreader having a dynamically balanced arm according to claim 1, characterized by, The cross mechanism comprises rotatable nodes, each rotatable node being formed by three square tubes intersecting and being fixed by bolts.

3. The control method of a walking spreader having a dynamically balanced arm according to claim 1, characterized by, The movable base is of a roller type or a track type.

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