JPH0555672B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION Field of the Invention The present invention relates to a control system for the boom position of a concrete pump used in civil engineering construction work.

Conventional technology Conventionally, a boom device with a three-stage bending mechanism has been used as a device to streamline concrete pouring work.
Generally, a hydraulic cylinder is used to raise and raise the boom, and a hydraulic motor is used to swing the boom. In such a boom device, in order to move the concrete transport pipe outlet at the tip of the boom to the desired position, the operator must visually check the attitude of the boom at that time and judge the distance and direction from the target position. Then, the elevation hydraulic cylinders and swing hydraulic motors of each of the boom joints described above are operated as appropriate to move the position of the boom tip.

Problems to be Solved by the Invention When moving the concrete transport pipe discharge port at the tip of the boom to the target position, the movement of the tip of the boom, which is moved by each drive device, is centered around the joint center of each boom section. Since the arc movement is based on polar coordinates, multiple drive devices must be operated in sequence in order to move the boom tip position to the target position, which makes the operation complicated and time-consuming.
Moving in time required an operator's superior intuition and skill.

Means for solving the problem: A sensor that detects the elevation angle of the boom, a controller that sets the moving speed of the boom tip in the horizontal and vertical directions, and a boom axial component of the moving speed input from the controller. and a computer that calculates the elevation angle and turning speed of the boom based on the tangential component.

The computer corrects the input calculated value of the boom depression/elevation angle with the detected value of the boom depression/elevation angle input from the sensor, controls the boom drive device, and moves and rotates the boom to a desired position.

Function: By operating the joystick, the concrete pipe outlet at the tip of the boom can be moved linearly to the target position.

Embodiment In FIG. 1, 1 to 4 are the main members of the boom, which are No. 1 boom, No. 2 boom, No. 3 boom, and No. 4 boom, respectively. Reference numeral 5 designates the tip of a concrete transport pipe (not shown) attached to the boom, from which the pumped concrete is discharged. Hydraulic cylinders 11 to 14 raise and raise booms No. 1 to No. 4, respectively. 21-24
detects the elevation angle of No. 1 to No. 4 booms with angle sensors attached to the joints of the booms. Reference numeral 31 denotes a revolving table, and 32 a pinion gear attached to the output shaft of the revolving machine 33, which meshes with a gear provided on the outer periphery of the revolving table to rotate the boom device. 50 is a controller installed on the No. 4 boom, to which two joysticks 51 and 52 are attached. The joy stick 51 is a general type that can tilt a lever in any direction of 360 degrees on a horizontal plane, and it decomposes the vector given to the lever that is tilted and outputs it into components in two orthogonal directions. The moving speed of the boom tip given by tilting the boom is decomposed into an axial component and a tangential (swivel) component of the boom and input to the computer 55. The joystick 52 operates only in the upward and downward directions, and when the operator operates the lever in either the upward or downward direction, an upward or downward movement speed proportional to the angle at which the lever is tilted is input to the computer 55. .

The concrete transport pipe 5 is installed at right angles to the No. 4 boom 4, and when the No. 4 boom 4 is vertical, the concrete transport pipe 5 becomes horizontal, and the concrete that has been pumped is discharged horizontally. Ru.

In FIG. 2, reference numeral 50 is the aforementioned controller, and joysticks 51 and 52 are provided. 55 is a computer equipped with an A/D converter that converts the analog signals from the controller and each sensor 21 to 24, 40 into digital signals, and a D/A converter that converts the digital signals of the calculation results into analog signals. Equipped with , it can output angle commands and turning speed commands for No. 1 to No. 4 booms. Reference numeral 60 indicates the feedback servo system of the No. 1 boom, that is, the boom drive device. Although only the No. 1 boom system is shown in the figure, there are four other similar servo systems (No. 2 to No. .4 boom and swivel) and is connected to a computer 55. 61 is a servo amplifier, 62 is an electro-hydraulic servo valve, 11 is the aforementioned No. 1 boom elevation hydraulic cylinder, A is No. 1 boom, and 21 is an angle sensor. The servo systems of No. 2 to No. 4 booms have exactly the same configuration as the 60, and in the case of a swing system, a swing machine (hydraulic motor drive type) 33 is used instead of a hydraulic cylinder, and a speed sensor 40 is used instead of an angle sensor. becomes. A command value from the computer (for example, the elevation angle θ ₁ of the No. 1 boom) is input to the servo amplifier 61.
The detected value (for example, θ _S1 ) of a separate angle sensor 21 is fed back to the servo amplifier, and the difference between this command value and the detected angle value (θ ₁ - θ _S1 ) is amplified by the servo amplifier 61 and sent to the electric oil. Current flows through the servo valve 62, which operates the electro-hydraulic servo valve, supplies pressure oil to the hydraulic cylinder 11, causes the No. 1 boom 1 to move up and down, and the angle sensor 21 detects the current No. .1 boom angle is always detected and fed back to the servo amplifier 61, and the No. 1 boom 1 performs the upward and downward movement until the difference between the command value and the detected angle value becomes zero. In this way, each boom and the swing system always follow the command values from the computer 55 to elevate or swing.

In Fig. 3, when the joystick 51 of the controller 50 attached to the tip of the boom is tilted at a certain angle α with respect to the axis of the boom (the third
(See Figure a), the velocity V given to the joystick 51 is decomposed into the axial component V _R of the boom and the tangential component (swivel component) V _S and input into the computer. The computer calculates the tip position after a certain period of time (△t) using the following formula based on the boom's axial component V _R of the two input speed components, and calculates the tip position required for the boom tip to reach the calculated position. Each boom depression/elevation angle of No. 1 to No. 3 booms θ _S1 to θ _S3
is geometrically calculated based on the elevation angles θ ₁ to _{θ 3} of each boom before movement, and is output to the No. 1 to No. 3 boom servo systems.

Calculation formula X ₁ =X ₀ + _△ t・V _R Z ₁ =X ₀ +△ _t・V _Z The root is the origin.

Subscript i: 0 ⇒ Value before movement 1 ⇒ Value after movement If only joystick 51 is operated, V _Z
=0 〃 52 only 〃 V _R
=0.

Δt: Calculation loop time Further, the rotation speed V _CS of the pinion 32 of the swing machine 33 calculated by multiplying the gear ratio of the swing drive system from the tangential component V _S is output to the swing servo system. As a result, the R direction position of the boom tip moves from X ₀ to X ₁ (see the above calculation formula), and at the same time, the boom rotates at a speed of V _S. By repeating this operation in a very short time, the boom tip moves linearly in the direction in which the joystick is tilted while maintaining the tip height.

In addition, when the joystick 52 is operated either up or down, the vertical movement speed V _Z is input to the computer in the same way as above, and the tip position after a certain period of time (△t) is calculated by formula-1, and the boom tip is The boom elevation angles θ S1 to θ _S3 of booms No. 1 to No. 3 required to reach the calculated positions are calculated geometrically based on the elevation angles θ _{1 to} θ ₃ of each boom before movement. Search No. 1～
Output to No. 3 boom servo system. As a result, the height of the boom tip changes from Z ₀ to Z ₁ (see calculation formula).
By repeating this process, the boom tip moves vertically up and down while maintaining its position on the plane. In addition, the computer calculates the elevation angle of No. 4 boom geometrically based on the elevation angle of No. 1 to No. 3 booms so that No. 4 boom is always vertical, and sends it to the No. 4 boom servo system. As a result, the No. 4 boom always remains vertical even when the other booms are tilted upward, and the concrete transport pipe 5 at the tip, which is installed at right angles to the No. 4 boom, is always kept horizontal.

In the embodiment described above, the rotation system is subjected to speed feedback, but an oven loop without feedback may be used, or a position feedback system based on detection of the rotation angle may be used.

In the embodiment described above, the system is fully hydraulically driven using an electro-hydraulic servo valve, but of course it may be driven by an electric motor and is not limited by the drive system.

Joysticks 51 and 52 on the controller
Of course, there is no problem in installing other equipment, such as manual operation switches, concrete pump remote control switches, alarm devices, etc.

The number of bends of the boom is not particularly limited as long as it is folded in two or more stages.

The installation position of the controller is not limited to the tip of the boom, and may be installed on a structure other than the boom, such as a revolving table, or on the ground.

The No. 4 boom and the tip transport pipe do not necessarily need to be installed at right angles, and the elevation angle of the No. 4 boom may be set according to that angle.

Effects of the invention A: By simply tilting the joystick of the controller installed at the tip of the boom in the direction in which you want the boom tip to move, the boom tip will move in the direction in which the joystick is tilted while maintaining its height. The driving location can be moved with an extremely simple operation.

(b) Since the concrete transport pipe at the tip of the boom is always automatically kept horizontal, there is no need to be aware of changes in the angle of the pipe at the tip when operating the boom, and concrete flows smoothly and horizontally. As a result, there is no separation of concrete and high quality concrete can be poured.

C. When changing the height of the tip of the boom, the tip can be moved vertically up and down by simply operating one joystick, as in item 1, so the height can be changed extremely easily.

D. As described above, according to the present invention, it is extremely easy to operate the boom when moving the concrete pouring site, which not only greatly improves operability and saves labor, but also improves the quality of poured concrete. can be kept.

[Brief explanation of the drawing]

Fig. 1 is a schematic diagram showing an embodiment of the present invention, Fig. 2 is a flow sheet showing the control system of Fig. 1, Fig. 3 a is a plan view conceptually showing the boom device, and Fig. 3 b is a Figure 3a is a side view of Figure 3a; DESCRIPTION OF SYMBOLS 1-4...Main members of boom, 5...Tip part of concrete transport pipe, 11-14...Hydraulic cylinder, 21-24...Angle sensor, 31...Swivel table, 50...Controller, 51, 52
...Jyoi Staitsuku.

Claims (1)

[Scope of Claims] 1. A boom tip comprising a sensor for detecting the elevation angle of the boom and two joysticks for horizontal direction operation and vertical direction operation, and which is provided by operating a lever of the horizontal direction joystick. The moving speed of the boom is separated into the axial direction component and the turning direction component and outputted, and by operating the lever of the vertical joystick in the vertical direction, the vertical direction of the tip of the boom is proportional to the inclination angle of the lever. a controller that outputs a moving speed; a computer that calculates a boom elevation angle and a turning speed based on a boom axial component and a tangential component of the moving speed input from the controller; and a boom elevation angle input from the computer. a boom drive device that moves and rotates the boom to a required position by correcting the calculated value of by the detected value of the boom depression/elevation angle input from the sensor; .