Precise material distribution control system of intelligent concrete spreader

Abstract

The invention discloses a precise material distribution control system of an intelligent concrete spreader, which comprises an operation table, a walking structure, a suction device, a discharging device, a rotating device and a counterweight damping device, and is characterized in that the walking structure is arranged below the operation table; the suction device is arranged on the operation table and is connected with an external concrete supply source; the feeding end of the discharging device is rotatably connected with the discharging end of the suction device through a rotating device; the counterweight damping device is arranged on the side, away from the discharging end, of the discharging device so as to change the position of the counterweight end according to the rotation acceleration of the discharging device. The position of the balance weight end is changed through the balance weight damping device according to the rotation acceleration of the discharging device, structural elastic deformation caused by inertia moment due to acceleration / deceleration is effectively restrained, the drifting condition during material distribution is reduced, and the material distribution precision is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of concrete placing, and in particular to a precise placing control system of an intelligent concrete placing machine. Background Art

[0002] A concrete placing boom is a mechanical device specially used for distributing and laying concrete in construction. It can effectively transport concrete from a mixer truck or pump truck to a specific location on the construction site, ensuring that the concrete is evenly distributed. It is suitable for various complex construction site environments.

[0003] In the related art, dynamic interference factors such as mechanical vibration disturbance and inertial force impact of the concrete placing boom will cause the positioning of the end of the boom to drift, affecting the placing accuracy.

[0004] For example, the inertia moment generated by the rapid movement of the discharge end can cause elastic deformation of the structure, resulting in end positioning drift, which further leads to inaccurate placement of the material. In addition, as a complex fluid, the flow characteristics of concrete change during the pumping process, that is, the periodic push of the pump causes pressure fluctuations, resulting in periodic fluctuations in flow, which increases the difficulty of control.

[0005] Traditional concrete placing booms lack an effective dynamic compensation mechanism and cannot be adjusted in real time to address the above problems, thus limiting the accuracy and efficiency of placing concrete. Summary of the invention

[0006] The present invention aims to solve one of the technical problems in the above-mentioned technology at least to some extent.

[0007] To achieve the above-mentioned purpose, the first aspect of the present invention proposes a precise material distribution control system of an intelligent concrete placing boom, comprising: an operating table, a walking structure, a suction device, a discharging device, a rotating device and a counterweight damping device, wherein the walking structure is arranged below the operating table; the suction device is arranged on the operating table and connected to an external concrete supply source; the feeding end of the discharging device and the discharging end of the suction device are rotatably connected through the rotating device; the counterweight damping device is arranged on a side of the discharging device away from the discharging end to change the position of the counterweight end according to the rotational acceleration of the discharging device.

[0008] In addition, the precise material distribution control system of the intelligent concrete placing boom according to the present invention may also have the following additional technical features:

[0009] As a further description of the above technical solution: the suction device includes a feed pipe, a suction pump and an arm pipe, wherein the suction pump is fixedly installed on the operating table; the feed pipe is connected to an external concrete supply source and is connected to the suction pump; the arm pipe is fixedly installed on the operating table and is connected to the suction pump.

[0010] As a further description of the above technical solution: a support frame is arranged on the feed pipe, and the support frame is fixedly installed on the bottom of the operating table; an arm frame is arranged on the operating table, and the arm frame supports the arm pipe.

[0011] As a further description of the above technical solution: the discharge device includes a discharge pipe, a heater, a pressure balance chamber and a Venturi discharge head, wherein the discharge pipe is rotatably connected to the discharge end of the suction device; a plurality of heaters are arranged at intervals on the outer wall of the discharge pipe; the pressure balance chamber is connected to the discharge pipe; and the Venturi discharge head is connected to the discharge end of the discharge pipe.

[0012] As a further description of the above technical solution: the pressure balance chamber includes a chamber and an elastic diaphragm, wherein the chamber is connected to the discharge pipe; the elastic diaphragm is arranged in the chamber and separates the chamber into a filling chamber, and the filling chamber is filled with nitrogen.

[0013] As a further description of the above technical solution: the Venturi discharge head includes a contraction portion, a throat and an expansion portion which are connected in sequence, wherein the contraction portion is connected to the discharge end of the discharge pipe.

[0014] As a further description of the above technical solution: the heater is a heating wire, the heating wire is wound around the discharge pipe, and a protective shell is provided on the outer ring.

[0015] As a further description of the above technical solution: the rotating device includes a mounting frame, a first driving motor, a driving gear and a driven gear, wherein the mounting frame is fixedly mounted on the discharge end of the suction device; the first driving motor is mounted on the mounting frame; the driving gear is arranged on the output end of the first driving motor; the driven gear is arranged on the rotatable discharge device and is meshed and connected with the driving gear.

[0016] As a further description of the above technical solution: the counterweight damping device includes a fixed frame, a second drive motor, a bidirectional lead screw, a lead screw slider, a counterweight block and an acceleration sensor, wherein the fixed frame is fixedly arranged on the discharging device and away from the discharging end of the discharging device; the second drive motor is arranged on the fixed frame; the bidirectional lead screw is connected to the second drive motor; the lead screw slider is arranged on the bidirectional lead screw; the counterweight block is arranged on the lead screw slider; the acceleration sensor is arranged on the discharging device; and a controller is arranged on the fixed frame to drive the second drive motor according to the acceleration value of the acceleration sensor to move the counterweight block.

[0017] As a further description of the above technical solution: a camera is mounted on the discharging end of the discharging device.

[0018] According to the precise material distribution control system of the intelligent concrete placing boom of the present invention, the position of the counterweight end is changed according to the rotational acceleration of the discharging device through the counterweight damping device, thereby effectively suppressing the structural elastic deformation caused by the inertia moment caused by acceleration / deceleration, and improving the material distribution accuracy; in addition, the pressure balance chamber can absorb the instantaneous pressure change in the discharging pipe, reduce the influence of the pumping cycle fluctuation, ensure the material distribution accuracy, and guarantee the concrete laying quality.

[0019] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0021] Figure 1 is a structural schematic diagram of a precise concrete placing control system of an intelligent concrete placing boom according to an embodiment of the present invention;

[0022] Figure 2 is a structural schematic diagram of a precise material placing control system of an intelligent concrete placing boom according to another embodiment of the present invention;

[0023] Figure 3 is a schematic structural diagram of a discharging device according to an embodiment of the present invention;

[0024] Figure 4 is a schematic diagram of a local A enlarged structure according to an embodiment of the present invention;

[0025] Figure 5 is a schematic diagram of the connection structure of a discharging device, a rotating device and a counterweight damping device according to an embodiment of the present invention;

[0026] Figure 6 is a schematic diagram of the internal structure of a pressure balance chamber according to an embodiment of the present invention;

[0027] Figure 7 is a schematic diagram of the internal structure of a Venturi discharge head according to an embodiment of the present invention;

[0028] As shown in the figure:

[0029] 100-operating table;

[0030] 200- walking structure;

[0031] 300-Suction device;

[0032] 310-feed pipe, 311-support frame, 320-suction pump, 330-arm pipe, 331-arm frame

[0033] 400-discharging device;

[0034] 410 - discharge pipe, 420 - heater, 430 - pressure balance chamber, 431 - chamber, 432 - elastic diaphragm, 401 - filling chamber, 440 - Venturi discharge head, 441 - contraction part, 442 - throat, 443 - expansion part;

[0035] 500-rotating device;

[0036] 510-mounting frame, 520-first driving motor, 530-driving gear, 540-driven gear;

[0037] 600-Counterweight damping device;

[0038] 610-fixed frame, 620-second drive motor, 630-bidirectional lead screw, 640-lead screw slider, 650-counterweight block. DETAILED DESCRIPTION

[0039] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0040] The precise material placing control system of the intelligent concrete placing boom according to the embodiment of the present invention will be described below with reference to the accompanying drawings.

[0041] like Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 and Figure 7 As shown, the precise material placing control system of the intelligent concrete placing boom according to the embodiment of the present invention may include an operating platform 100 , a walking structure 200 , a suction device 300 , a discharging device 400 , a rotating device 500 and a counterweight damping device 600 .

[0042] The walking structure 200 is arranged below the operating platform 100 , and the suction device 300 is arranged on the operating platform 100 and connected to an external concrete supply source.

[0043] As a possible situation, the walking structure 200 is a universal wheel with a brake structure, and the relevant staff can push the operating table to move the entire device.

[0044] As another possible situation, the walking structure 200 is a wheel, and a hub motor is connected to the wheel. The relevant staff can remotely control the walking structure 200 through a remote controller, so that the relevant staff can operate remotely.

[0045] The feed end of the discharge device 400 is rotatably connected to the discharge end of the suction device 300 via a rotating device 500 , and the counterweight damping device 600 is arranged on a side of the discharge device 400 away from the discharge end to change the position of the counterweight end according to the rotation acceleration of the discharge device 400 .

[0046] To clearly explain the above embodiment, in one embodiment of the present invention, the counterweight damping device 600 includes a fixing frame 610, a second driving motor 620, a bidirectional lead screw 630, a lead screw slider 640, a counterweight block 650 and an acceleration sensor.

[0047] Among them, the fixed frame 610 is fixedly set on the discharging device 400 and away from the discharging end of the discharging device 400, the second drive motor 620 is set on the fixed frame 610, the bidirectional screw 630 is connected to the second drive motor 620, the screw slider 640 is set on the bidirectional screw 630, the counterweight block 650 is set on the screw slider 640, and the acceleration sensor is set on the discharging device 400.

[0048] The fixing frame 610 is provided with a controller to drive the second driving motor 620 according to the acceleration value of the acceleration sensor so as to move the counterweight 650 .

[0049] Specifically, when spreading concrete in the construction area, first, the relevant staff connects the suction device 300 to an external concrete supply source (such as a concrete hopper, etc.), and then uses the suction action of the suction device 300 to suck the concrete into the discharging device 400 and discharge it from the discharging end of the discharging device 400.

[0050] Relevant staff can start the rotating device 500 so that the rotating device 500 drives the discharging device 400 to rotate, thereby realizing the swing-type discharging of the discharging device 400, and combining with the movement of the walking structure 200 to realize the distribution of materials in the construction area.

[0051] At the same time, when the relevant staff drives the rotating device 500 to drive the discharging device 400, the discharging device 400 rotates, and the acceleration sensor monitors its acceleration in real time, and feeds back the data to the controller. The controller calculates the necessary compensation amount, and drives the second drive motor 620 to rotate the bidirectional screw 630, drive the screw slider 640 to move, and then adjust the position of the counterweight block 650, effectively compensating for the inertia moment caused by acceleration or deceleration, reducing structural deformation, and improving the cloth laying accuracy.

[0052] It should be noted that the above compensation formula is Δx=(I*α) / (m*g), where Δx: compensation displacement, that is, the distance the mass block needs to be moved, I: moment of inertia, that is, the inertia measure of an object rotating around its axis, α: angular acceleration, the acceleration of an object rotating around its axis, m: the mass of the compensation mass block, and g: gravitational acceleration, approximately 9.81m / s2.

[0053] It is understandable that after obtaining the angular acceleration value, the corresponding compensation displacement can be calculated by setting a fixed moment of inertia and the mass of the compensation mass block (ie, the counterweight block 650).

[0054] For example, when the moment of inertia is set to 50, the angular acceleration is 2rad / s2, and the counterweight mass is 10kg, the moment of inertia is I*α=100. According to the above formula, it can be calculated that Δx≈1.02m, and the compensation torque is m*g*Δx=10*9.81*1.02≈100. At this time, the moment of inertia is equal to the compensation torque. In theory, torque offset can be achieved, thereby reducing the drift of the discharging device 400 during discharging, thereby making the discharging position more accurate.

[0055] In addition, the bidirectional lead screw 630 converts the rotational motion into linear displacement, and the displacement of the second drive motor 620 per step = lead / (number of steps / revolution). The controller can calculate the specific number of rotation steps based on the required Δx, thereby achieving more precise position control.

[0056] It should be noted that when the initial position of the screw slider 640 is not on the rotation axis of the discharge device 400, distance compensation is required. Therefore, the actual torque offset cannot be achieved 100%, but most of the torque offset can be achieved.

[0057] In one embodiment of the present invention, the suction device 300 includes a feed pipe 310 , a suction pump 320 , and an arm pipe 330 .

[0058] The suction pump 320 is fixedly mounted on the operating platform 100 , the feed pipe 310 is connected to an external concrete supply source and communicates with the suction pump 320 , and the arm pipe 330 is fixedly mounted on the operating platform 100 and communicates with the suction pump 320 .

[0059] To clearly explain the above embodiment, in one embodiment of the present invention, a support frame 311 is provided on the feed pipe 310 , and the support frame 311 is fixedly installed on the bottom of the operating table 100 ; an arm frame 331 is provided on the operating table 100 , and the arm frame 331 supports the arm pipe 330 .

[0060] It should be noted that when performing concrete spreading operations, relevant staff connects the feed pipe 310 to an external concrete supply source and starts the suction pump 320, so that the concrete is transported to the discharge device 400 along the arm pipe 330 through the pressure of the suction pump 320, wherein the arm frame 331 provides necessary support for the arm pipe 330, so that even when the arm pipe 330 is long or needs to change direction, the stability and directionality of the concrete flow can be maintained.

[0061] In one embodiment of the present invention, the discharging device 400 includes a discharging pipe 410 , a heater 420 , a pressure balancing chamber 430 and a venturi discharging head 440 .

[0062] Among them, the discharge pipe 410 is rotatably connected to the discharge end of the suction device 300, multiple heaters 420 are arranged at intervals on the outer wall of the discharge pipe 410, the pressure balance chamber 430 is connected to the discharge pipe 410, and the Venturi discharge head 440 is connected to the discharge end of the discharge pipe 410.

[0063] It should be noted that when the concrete enters the discharge pipe 410 from the suction device 300 through the arm pipe 330, the heater 420 heats the outer wall to ensure that the concrete maintains a suitable working temperature and avoids premature solidification or excessive viscosity affecting fluidity. As the concrete flows into the pressure balance chamber 430, it automatically adjusts its position according to the internal pressure to absorb pressure fluctuations caused by flow changes, thereby maintaining pressure stability during the entire discharge process and ensuring the smoothness of the concrete flow. After the concrete reaches the Venturi discharge head 440, the flow rate is precisely controlled to ensure that the concrete can be evenly and continuously laid to the target position.

[0064] As a possible scenario, a camera is mounted on the discharging end of the discharging device 400, and relevant staff can observe the cloth conditions in the cloth area through the camera to facilitate remote operation.

[0065] To clearly explain the previous embodiment, in one embodiment of the present invention, the heater 420 is a heating wire, which is wound around the discharge pipe 410 and is provided with a protective shell on the outer ring. This can not only effectively maintain the appropriate temperature of the concrete during the discharge process and improve its fluidity, but also provide necessary physical protection and safety measures to ensure the efficient and stable operation of the entire system.

[0066] It should be noted that when spreading concrete, a suitable temperature range can be set according to the specific characteristics of the concrete and the requirements of the construction environment. The heating wire starts to generate heat after being energized, and transfers the heat to the discharge pipe 410, thereby indirectly heating the concrete flowing through the discharge pipe 410.

[0067] In addition, since the heating wire is tightly wound around the outer wall of the discharge pipe 410, the heat can be evenly distributed on the entire surface of the discharge pipe 410, ensuring that the concrete always remains within an ideal temperature range during the flow process, which helps to maintain good fluidity of the concrete and avoid degradation of material properties due to low temperature.

[0068] To clearly explain the above embodiment, in one embodiment of the present invention, the pressure balance chamber 430 includes a chamber 431 and an elastic diaphragm 432 .

[0069] The chamber 431 is communicated with the discharge pipe 410 , and the elastic diaphragm 432 is disposed in the chamber 431 and separates the chamber 431 into a filling chamber 401 , and the filling chamber 401 is filled with nitrogen.

[0070] It should be noted that when concrete enters the pressure balance chamber 430 through the discharge pipe 410, if the flow rate suddenly increases or decreases, the pressure in the chamber 431 will change. At this time, the elastic diaphragm 432 will expand and contract according to the change in pressure, so that the volume of nitrogen in the filling chamber 401 is adjusted accordingly to absorb the pressure fluctuation, thereby effectively reducing the setting caused by the unstable flow of concrete. Even when the flow rate of concrete changes rapidly, a relatively constant pressure level can be maintained, thereby ensuring that the concrete can flow out of the discharge pipe 410 evenly and continuously, avoiding inaccurate or interrupted distribution due to uneven pressure.

[0071] To clearly explain the above embodiment, in one embodiment of the present invention, the venturi discharge head 440 includes a contraction portion 441 , a throat 442 , and an expansion portion 443 that are connected in sequence, wherein the contraction portion 441 is connected to the discharge end of the discharge pipe 410 .

[0072] It should be noted that when concrete enters the contraction portion 441 from the discharge pipe 410, the cross-sectional area of ​​the pipe gradually decreases. According to the Bernoulli principle, the flow rate will increase accordingly. This process not only improves the fluidity of the concrete, but also helps eliminate possible air bubbles and reduces the risk of blockage.

[0073] When passing through the throat 442, the concrete flow rate reaches a peak value because the cross-sectional area reaches a minimum. At the same time, the local pressure drops to a minimum. The pressure change helps to stabilize the flow of concrete and ensure that it passes through the discharge head at a consistent speed and amount.

[0074] As the concrete enters the expansion section 443, the cross-sectional area of ​​the pipe gradually increases and the flow rate decreases steadily. This design avoids turbulence or reverse pressure waves caused by sudden deceleration, ensuring that the concrete can be laid evenly and continuously to the target position.

[0075] In addition, by reasonably designing the proportional relationship between the contraction portion 441, the throat 442 and the expansion portion 443, the spraying distance and coverage of the concrete can be adjusted according to actual construction requirements to achieve a more precise distribution effect.

[0076] In one embodiment of the present invention, the rotating device 500 includes a mounting frame 510 , a first driving motor 520 , a driving gear 530 , and a driven gear 540 .

[0077] Among them, the mounting frame 510 is fixedly installed on the discharge end of the suction device 300, the first drive motor 520 is installed on the mounting frame 510, the driving gear 530 is arranged on the output end of the first drive motor 520, and the driven gear 540 is arranged on the rotatable discharge device 400 and is meshed and connected with the driving gear 530.

[0078] It should be noted that when it is necessary to adjust the cloth position and angle of the discharging device 400, the relevant staff can turn on the first driving motor 520 to make the driving gear 530 connected thereto rotate accordingly, thereby realizing the rotation of the driven gear 540 meshing with the driving gear 530, and then causing the discharging device 400 connected to the driven gear 540 to rotate.

[0079] In summary, according to the precise material distribution control system of the intelligent concrete placing boom according to the embodiment of the present invention, the counterweight damping device 600 changes the position of the counterweight end according to the rotational acceleration of the discharging device 400, thereby effectively suppressing the structural elastic deformation caused by the inertia moment caused by acceleration / deceleration, and improving the material distribution accuracy; in addition, the pressure balance chamber 430 can absorb the instantaneous pressure changes in the discharging pipe 410, reduce the influence of the pumping cycle fluctuation, ensure the material distribution accuracy, and guarantee the concrete laying quality.

[0080] In the description of this specification, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0081] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0082] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A precise material distribution control system for an intelligent concrete placing boom, characterized in that: The invention comprises an operating platform (100), a walking structure (200), a suction device (300), a discharging device (400), a rotating device (500) and a counterweight damping device (600), wherein: The walking structure (200) is arranged below the operating platform (100); The suction device (300) is arranged on the operating platform (100) and is connected to an external concrete supply source; The feeding end of the discharging device (400) is rotatably connected to the discharging end of the suction device (300) via the rotating device (500); The counterweight damping device (600) is arranged on a side of the discharging device (400) away from the discharging end, so as to change the position of the counterweight end according to the rotational acceleration of the discharging device (400).

2. According to the precise material distribution control system of the intelligent concrete placing boom as described in claim 1, it is characterized in that: The suction device (300) comprises a feed pipe (310), a suction pump (320) and an arm pipe (330), wherein: The suction pump (320) is fixedly mounted on the operating table (100); The feed pipe (310) is connected to an external concrete supply source and is connected to the suction pump (320); The arm pipe (330) is fixedly mounted on the operating table (100) and is connected to the suction pump (320).

3. According to the precise material distribution control system of the intelligent concrete placing boom as described in claim 2, it is characterized in that: The feed pipe (310) is provided with a support frame (311), and the support frame (311) is fixedly installed on the bottom of the operating table (100); the operating table (100) is provided with an arm frame (331), and the arm frame (331) supports the arm pipe (330).

4. According to the precise material distribution control system of the intelligent concrete placing boom as described in claim 1, it is characterized in that: The discharge device (400) comprises a discharge pipe (410), a heater (420), a pressure balance chamber (430) and a Venturi discharge head (440), wherein: The discharge pipe (410) is rotatably connected to the discharge end of the suction device (300); A plurality of heaters (420) are arranged at intervals on the outer wall of the discharge pipe (410); The pressure balance chamber (430) is arranged in communication with the discharge pipe (410); The Venturi discharge head (440) is disposed in communication with the discharge end of the discharge pipe (410).

5. According to the precise material distribution control system of the intelligent concrete placing boom as described in claim 4, it is characterized in that: The pressure balance chamber (430) comprises a chamber (431) and an elastic diaphragm (432), wherein: The chamber (431) is in communication with the discharge pipe (410); The elastic diaphragm (432) is disposed in the chamber (431) and separates the chamber (431) into a filling chamber (401), wherein the filling chamber (401) is filled with nitrogen.

6. According to the precise material distribution control system of the intelligent concrete placing boom as described in claim 4, it is characterized in that: The venturi discharge head (440) comprises a contraction portion (441), a throat (442) and an expansion portion (443) which are connected in sequence, wherein: The contraction portion (441) is in communication with the discharge end of the discharge pipe (410).

7. According to the precise material distribution control system of the intelligent concrete placing boom as claimed in claim 4, it is characterized in that: The heater (420) is a heating wire, which is wound around the discharge pipe (410) and has a protective shell disposed on its outer ring.

8. The precise material distribution control system of the intelligent concrete placing boom according to claim 1, characterized in that: The rotating device (500) comprises a mounting frame (510), a first driving motor (520), a driving gear (530) and a driven gear (540), wherein: The mounting frame (510) is fixedly mounted on the discharge end of the suction device (300); The first driving motor (520) is mounted on the mounting frame (510); The driving gear (530) is arranged on the output end of the first driving motor (520); The driven gear (540) is disposed on the rotatable discharging device (400) and is meshedly connected with the driving gear (530).

9. The precise material distribution control system of the intelligent concrete placing boom according to claim 1, characterized in that: The counterweight damping device (600) comprises a fixing frame (610), a second driving motor (620), a bidirectional lead screw (630), a lead screw slider (640), a counterweight block (650) and an acceleration sensor, wherein: The fixing frame (610) is fixedly disposed on the discharging device (400) and is away from the discharging end of the discharging device (400); The second driving motor (620) is arranged on the fixing frame (610); The bidirectional lead screw (630) is connected to the second drive motor (620); The lead screw slider (640) is arranged on the bidirectional lead screw (630); The counterweight block (650) is arranged on the lead screw slider (640); The acceleration sensor is arranged on the discharging device (400); The fixing frame (610) is provided with a controller for driving the second driving motor (620) according to the acceleration value of the acceleration sensor, so as to move the counterweight (650).

10. The precise material distribution control system of the intelligent concrete placing boom according to claim 1, characterized in that: A camera is mounted on the discharging end of the discharging device (400).

Images