CN103115785A - Fault diagnosis method and system for vibration reduction system of concrete pump truck and concrete pump truck - Google Patents
Fault diagnosis method and system for vibration reduction system of concrete pump truck and concrete pump truck Download PDFInfo
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Abstract
The invention provides a fault diagnosis method and system for a vibration reduction system of a concrete pump truck and the concrete pump truck. The fault diagnosis method of the vibration reduction system of the concrete pump truck comprises the following steps: acquiring an included angle between two joint arms connected by a joint arm oil cylinder for starting active vibration reduction; judging whether the included angle is continuously increased or decreased within a preset time; and determining that the vibration reduction control valve block between the two sections of the knuckle arms breaks down under the condition that the included angle is continuously increased or decreased within the preset time. According to the technical scheme, whether the vibration reduction control valve block is abnormal is judged according to the change condition of the included angle of the adjacent sections reflecting the posture change of the arm support, so that a means is provided for judging the working state of the vibration reduction control valve block, the overall performance of the concrete pump truck active vibration reduction system is greatly improved, and the safety and stability of the operation of the pump truck are ensured.
Description
Technical field
The present invention relates to engineering machinery field, in particular to a kind of method for diagnosing faults and system and concrete mixer of concrete mixer vibration insulating system.
Background technology
Concrete mixer be a kind of for delivery of with the special-purpose machinery of casting concrete, progressively become indispensable key equipment in building operation.The complex structure of boom system of concrete pump truck, the vibration that can produce in pumping procedure, the vibration performance of jib is affected by the many-sides such as operating mode, pump displacement and jib attitude.
At present concrete mixer single oil cylinder, long-armed, large discharge capacity become the concreting machinery development trend, the vibration of arm characteristic is proposed stricter requirement, how to have reduced in the pump truck course of work vibration of jib in perpendicular and be concreting machinery technical field urgent problem in recent years.And the active damping controls technology is a kind of active and effective vibration damping control strategy because its controllability is good, strong adaptability, becomes the study hotspot of solidifying native pumping vehicle arm rack vibration control in recent years.
Chinese patent application No. 200710164414.8 " concrete pump intelligent monitoring and control system " discloses a kind of concrete pump intelligent monitoring and control system, and the setting of the various sensors of concrete pump hydraulic system and the monitoring of various status signals are introduced.But the Active vibration-reducing system of existing jib is to save the arm oil cylinder as topworks, detect and the control assembly complexity, once vibration insulating system breaks down, failure cause is difficult to analyze, directly affect the job stability of pump truck, even can cause security incident hidden danger when serious.
Detection and control assembly for concrete pump truck arm Active vibration-reducing system in prior art are complicated, and breaking down is difficult to analyze, and affects the problem of job stability, not yet proposes at present effective solution.
Summary of the invention
The present invention aims to provide a kind of method for diagnosing faults and system and concrete mixer of concrete mixer vibration insulating system, complicated with the detection and the control assembly that solve solidifying native pumping vehicle arm rack Active vibration-reducing system in prior art, breaking down is difficult to analyze, and affects the problem of job stability.
To achieve these goals, according to an aspect of the present invention, provide a kind of method for diagnosing faults of concrete mixer vibration insulating system.The method for diagnosing faults of this concrete mixer vibration insulating system comprises: two angles that save between arms that obtain the joint arm oil cylinder connection that starts active damping; Judge whether angle continues increase or reduce in Preset Time; In the situation that angle continues increase or reduce, determine that the vibration damping operation valve piece between two joint joint arms breaks down in Preset Time.
Further, the angles that obtain between the two joint joint arms that the joint arm oil cylinder that starts active damping connects comprise: the joint arm that obtains respectively close the arm support tail end in two joint joint arms angle and two joints with respect to the horizontal plane save joint arm angles with respect to the horizontal plane away from arm support tail end in arms; According near the joint arm of arm support tail end with respect to the horizontal plane angle and calculate the angle of two joint joint arms away from respect to the horizontal plane angle in the joint arm of arm support tail end.
Further, the joint arm that obtains respectively close the arm support tail end in two joint joint arms with respect to the horizontal plane angle and the joint arm angles with respect to the horizontal plane away from arm support tail end in two joint joint arms comprise: the joint arm angle with respect to the horizontal plane that obtains the close arm support tail end of the obliquity sensor measurement in the joint arm that is arranged on the close arm support tail end in two joint joint arms; Obtain the joint arm angle with respect to the horizontal plane away from arm support tail end away from the measurement of the obliquity sensor in the joint arm of arm support tail end that is arranged in two joint joint arms.
Further, also comprise after the joint arm angle with respect to the horizontal plane of the close arm support tail end of the obliquity sensor measurement in the joint arm that obtains the close arm support tail end in being arranged on two joint joint arms: whether the joint arm angle with respect to the horizontal plane of the close arm support tail end that judgement gets exceeds default inclination angle value scope; In the situation that exceed default inclination angle value scope near the joint arm angle with respect to the horizontal plane of arm support tail end, the obliquity sensor of determining to be arranged in the joint arm of close the arm support tail end in two joint joint arms breaks down, and also comprises after the joint arm angle with respect to the horizontal plane away from arm support tail end of measuring away from the obliquity sensor in the joint arm of arm support tail end that obtains in being arranged on two joint joint arms: judge whether the joint arm angle with respect to the horizontal plane away from arm support tail end that gets exceeds default inclination angle value scope; In the situation that exceed default inclination angle value scope away from the joint arm angle with respect to the horizontal plane of arm support tail end, determine that the obliquity sensor away from the joint arm of arm support tail end that is arranged in two joint joint arms breaks down.
Further, the joint arm of close the arm support tail end in obtaining respectively two joint joint arms with respect to the horizontal plane angle and the joint arm angle with respect to the horizontal plane away from arm support tail end in two joint joint arms after also comprise: respectively save arm inclination angle with respect to the horizontal plane in obtaining jib respectively, and save arm inclination angle with respect to the horizontal plane and the position of the length computation arm support tail end of Ge Jie arm according to each; Whether the amplitude of variation that judges the position of arm support tail end continues to increase in Preset Time; In the situation that continue in Preset Time to increase, determine that the vibration-damping control unit part breaks down in the amplitude of variation of the position of arm support tail end.
Further, also comprised before the angles between the two joint joint arms that obtain the joint arm oil cylinder connection that starts active damping: the rod chamber pressure and the rodless cavity pressure that obtain respectively the joint arm oil cylinder that starts active damping; Whether judge rod chamber pressure less than the first pressure preset value, and whether rodless cavity pressure is less than the second pressure preset value; In the situation that rod chamber pressure less than the first pressure preset value or rodless cavity pressure less than the second pressure preset value, determine the active damping functional fault of joint arm oil cylinder.
Further, the rod chamber pressure and the rodless cavity pressure that obtain respectively the joint arm oil cylinder that starts active damping comprise: obtain the rodless cavity pressure that the second pressure transducer in the rod chamber pressure that the first pressure transducer in the rod chamber that is arranged on respectively joint arm oil cylinder measures and the rodless cavity that is arranged on joint arm oil cylinder is measured.
Further, the rod chamber pressure that the first pressure transducer in obtaining the rod chamber that is arranged on respectively joint arm oil cylinder is measured and be arranged on the rodless cavity pressure that the second pressure transducer in the rodless cavity of joint arm oil cylinder measures after also comprise: judge that rod chamber pressure is whether in the first pressure value scope, when rod chamber pressure exceeds the first pressure value scope, determine that the first pressure transducer breaks down; Judge that rodless cavity pressure whether in the second pressure value scope, when rodless cavity pressure exceeds the second pressure value scope, determines that the second pressure transducer breaks down.
Further, whether judging rod chamber pressure less than the first pressure preset value, and whether rodless cavity pressure comprises also less than after the second pressure preset value: judge whether rod chamber pressure or rodless cavity pressure continue to increase in Preset Time; When rod chamber pressure or rodless cavity pressure continue to increase, determine that the control assembly of vibration insulating system breaks down in Preset Time.
Further, also comprise after obtaining angles between the two joint joint arms that the joint arm oil cylinder that starts active damping connects: judge respectively angle whether greater than the first angle value and angle whether less than the second angle value; In the situation that angle greater than the first angle value or angle whether less than the second angle value, determine the active damping functional fault of joint arm oil cylinder.
Further, also comprise after the active damping functional fault of determining joint arm oil cylinder: the active damping function of closing joint arm oil cylinder.
Further, determine that vibration damping operation valve piece between two joint joint arms also comprises after breaking down: the control electric current and the feedback current that detect respectively the control solenoid of vibration damping operation valve piece; Whether judgement controls the absolute value of electric current and feedback current difference greater than the predetermined current difference; In the situation that the absolute value of controlling electric current and feedback current difference determines that greater than the predetermined current value solenoid of vibration damping operation valve piece opens circuit.
A kind of fault diagnosis system of concrete mixer vibration insulating system also is provided according to another aspect of the present invention.The fault diagnosis system of this concrete mixer vibration insulating system comprises: joint arm angle acquisition module, for the angle between the two joint joint arms that obtain the joint arm oil cylinder connection that starts active damping; Vibration damping operation valve piece fault diagnosis module is used for judging whether angle continues increase or reduce in Preset Time; Continue increase or reduce in Preset Time in the situation that angle occurs, determine that the vibration damping operation valve piece between two joint joint arms breaks down.
Further, above-mentioned joint arm angle acquisition module also is used for obtaining the joint arm angle with respect to the horizontal plane of the close arm support tail end of the obliquity sensor measurement in the joint arm of close the arm support tail end that is arranged on two joint joint arms; Obtain the joint arm angle with respect to the horizontal plane away from arm support tail end away from the measurement of the obliquity sensor in the joint arm of arm support tail end that is arranged in two joint joint arms.
Further, the fault diagnosis system of this this concrete mixer vibration insulating system also comprises: the obliquity sensor fault diagnosis module, be used for judgement respectively near the joint arm of arm support tail end with respect to the horizontal plane angle and whether exceed default inclination angle value scope away from the joint arm angle with respect to the horizontal plane of arm support tail end; In the situation that exceed default inclination angle value scope near the joint arm angle with respect to the horizontal plane of arm support tail end, the obliquity sensor of determining to be arranged in the joint arm that two joints save the close arm support tail end in arms breaks down; In the situation that exceed default inclination angle value scope away from the joint arm angle with respect to the horizontal plane of arm support tail end, determine that the obliquity sensor away from the joint arm of arm support tail end that is arranged in two joint joint arms breaks down.
Further, the fault diagnosis system of this concrete mixer vibration insulating system also comprises: the jib vibration damping is controlled fault diagnosis module, be used for obtaining respectively jib and respectively save arm inclination angle with respect to the horizontal plane, and according to the position of the length computation arm support tail end of inclination angle and Ge Jie arm; Whether the amplitude of variation that judges the position of arm support tail end continues to increase in Preset Time; When the amplitude of variation of the position of arm support tail end continues to increase, determine that the vibration-damping control unit part breaks down in upper Preset Time.
Further, the fault diagnosis system of this concrete mixer vibration insulating system also comprises: the oil cylinder working-pressure acquisition module is used for obtaining respectively the rod chamber pressure of the first pressure transducer measurement that is arranged on the rod chamber that saves the arm oil cylinder and is arranged on the rodless cavity pressure that the second pressure transducer in the rodless cavity that saves the arm oil cylinder is measured; The pressure sensor failure diagnostic module is used for judging that rod chamber pressure whether in the first pressure value scope, in the situation that rod chamber pressure exceeds the first pressure value scope, determines that the first pressure transducer breaks down; Judge that rodless cavity pressure whether in the second pressure value scope, in the situation that rodless cavity pressure exceeds the second pressure value scope, determines that the second pressure transducer breaks down.
Further, the fault diagnosis system of this concrete mixer vibration insulating system also comprises: arm support oil cylinder piston position diagnostic module, be used for judging respectively angle whether greater than the first angle value and angle whether less than the second angle value; When angle during whether less than the second angle value, is determined the active damping functional fault of joint arm oil cylinder greater than the first angle value or angle.
Further, the fault diagnosis system of this concrete mixer vibration insulating system also comprises: vibration damping is controlled diagnostic module, is used for judging whether rod chamber pressure and rodless cavity pressure continue to increase in Preset Time; And when rod chamber pressure and rodless cavity pressure continue to increase, determine that the control assembly of vibration insulating system breaks down in Preset Time.
Further, the fault diagnosis system of this concrete mixer vibration insulating system also comprises: vibration damping operation valve piece solenoid fault diagnosis module is used for detecting respectively control electric current and the feedback current of the control solenoid of vibration damping operation valve piece; Whether judgement controls the absolute value of electric current and feedback current difference greater than the predetermined current difference; During greater than the predetermined current value, determine that the solenoid of vibration damping operation valve piece opens circuit when the absolute value of controlling electric current and feedback current difference.
Further, the fault diagnosis system of this concrete mixer vibration insulating system also comprises: the electrical circuit fault diagnostic module, for detection of the electric signal of each electric wiring, when can't detect the electric signal of electric wiring, determine that this electric wiring breaks down.
Further, the fault diagnosis system of this concrete mixer vibration insulating system also comprises: the flow sensor fault diagnosis module is used for obtaining the hydraulic fluid flow rate that the flow sensor that is arranged on joint arm oil cylinder place hydraulic circuit is measured; Judge whether hydraulic fluid flow rate exceeds default flow value scope; When hydraulic fluid flow rate exceeds default flow value scope, determine that flow sensor breaks down.
According to another aspect of the present invention, also provide a kind of concrete mixer.This concrete mixer uses Active vibration-reducing system to carry out vibration damping to jib, respectively saving of jib is separately installed with obliquity sensor on arm, each saves in the rod chamber of arm oil cylinder and rodless cavity and is respectively arranged with pressure transducer, each saves the flow sensor in the hydraulic circuit of arm place, and this concrete mixer comprises the fault diagnosis system of any vibration insulating system of above-mentioned introduction.
Further, this concrete mixer also comprises: fault display device, the diagnostic result and the output that are used for obtaining fault diagnosis system.
Use technical scheme of the present invention, the attitude that the lasting variation of carrying out the angle of adjacent segments arm in the jib of active damping by judgement draws jib changes, during due to vibration damping operation valve piece, can extremely cause saving the arm oil cylinder piston only toward a direction action because operation valve one end oil circuit advances to let out hydraulic oil, thereby the joint arm only moves along a direction in perpendicular.Therefore, whether the situation of change of the angle of the adjacent segments arm that the technical program changes according to reflection jib attitude is judged vibration damping operation valve piece abnormal, thereby provides means for the duty of judgement vibration damping operation valve piece.
Description of drawings
The Figure of description that consists of the application's a part 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 schematic diagram according to the concrete mixer vibration insulating system condition detecting system of the embodiment of the present invention;
Fig. 2 is the installation site schematic diagram according to the obliquity sensor assembly of the concrete mixer vibration insulating system condition detecting system of the embodiment of the present invention;
Fig. 3 is the installation site schematic diagram according to the pressure sensor assembly of the concrete mixer vibration insulating system condition detecting system of the embodiment of the present invention;
Fig. 4 calculates schematic diagram according to the arm support position that is the concrete mixer vibration insulating system of the embodiment of the present invention;
Fig. 5 is the theory diagram according to the touch-screen of the vibration insulating system condition detecting system of the concrete mixer of the embodiment of the present invention;
Fig. 6 is the schematic diagram according to the touch-screen display interface of the vibration insulating system condition detecting system of the concrete mixer of the embodiment of the present invention;
Fig. 7 is the processing procedure schematic diagram according to the vibration insulating system condition detecting system data of the concrete mixer of the embodiment of the present invention according to the embodiment of the present invention;
Fig. 8 is the schematic diagram according to the fault diagnosis system of the concrete mixer vibration insulating system of the embodiment of the present invention;
Fig. 9 is the schematic diagram according to a kind of preferred form of the fault diagnosis system of the concrete mixer vibration insulating system of the embodiment of the present invention;
Figure 10 is the schematic diagram according to the method for diagnosing faults of the concrete mixer vibration insulating system of the embodiment of the present invention.
Embodiment
Need to prove, in the situation that do not conflict, embodiment and the feature in embodiment in the application can make up mutually.Describe below with reference to the accompanying drawings and in conjunction with the embodiments the present invention in detail.
The embodiment of the present invention provides a kind of concrete mixer vibration insulating system condition detecting system, Fig. 1 is the schematic diagram according to the concrete mixer vibration insulating system condition detecting system of the embodiment of the present invention, as shown in Figure 1, this concrete mixer vibration insulating system condition detecting system comprises: obliquity sensor assembly 101, comprise a plurality of obliquity sensors that are arranged on the joint arm, each obliquity sensor is used for measuring this obliquity sensor place joint arm angle with respect to the horizontal plane; Pressure sensor assembly 103 comprises many groups and is arranged on the rod chamber oil-in of joint arm oil cylinder and the pressure transducer of rodless cavity oil-in, and every group of pressure transducer is used for measuring rod chamber pressure and the rodless cavity pressure of this group pressure transducer place joint arm oil cylinder; Detect controller 104, be connected with pressure sensor assembly with the obliquity sensor assembly respectively, be used for according to joint arm angle, the rod chamber pressure of joint arm oil cylinder and the running status of rodless cavity pressure judgement vibration insulating system with respect to the horizontal plane.
Detect the rod chamber pressure and the rodless cavity pressure that respectively save arm angle with respect to the horizontal plane and joint arm oil cylinder of controller 105 Real-time Obtaining reflection jib states, and judge accordingly the running status of vibration insulating system.Judge the ruuning situation of vibration insulating system thereby the attitude of utilizing jib changes, and utilize the running status of vibration insulating system to provide the foundation for next step output or control.
Wherein, the concrete installation site of obliquity sensor assembly 101 and pressure transducer 103 can Fig. 2 and Fig. 3 describe, Fig. 2 is the installation site schematic diagram according to the obliquity sensor assembly of the concrete mixer vibration insulating system condition detecting system of the embodiment of the present invention; Fig. 3 is the installation site schematic diagram according to the pressure sensor assembly of the concrete mixer vibration insulating system condition detecting system of the embodiment of the present invention.Need to prove, concrete pump truck arm is comprised of 3～6 sections joint arms, and the present embodiment is introduced with 5 sections joint arms, but technical scheme of the present invention is equally applicable to the jib vibration insulating system that other quantity joint arm forms.
As shown in Figure 2, the jib of the concrete mixer of the embodiment of the present invention comprises first segment arm 21, second section arm 22, the 3rd joint arm 23, the 4th joint arm 24, the 5th joint arm 25, end hose 71.first segment arm oil cylinder 51 is connected between vehicle body bottom frame 11 and first segment arm 21, second section arm oil cylinder 52 is connected between first segment arm 21 and second section arm 22, the 3rd joint arm oil cylinder 53 is connected between second section arm 22 and the 3rd joint arm 23, the 4th joint arm oil cylinder 54 is connected between the 3rd joint arm 23 and the 4th joint arm 24, the 5th joint arm oil cylinder 55 is connected between the 4th joint arm 24 and the 5th joint arm 25, wherein, each joint arm motion in vertical plane is driven by the joint arm hydraulic jack of correspondence, wherein the motion of first segment arm 21 is driven by first segment arm oil cylinder 51, the motion of second section arm 22 is driven by second section arm oil cylinder 52, the motion of the 3rd joint arm 23 is driven by the 3rd joint arm oil cylinder 53, the motion of the 4th joint arm 24 is driven by the 4th joint arm oil cylinder 54, the motion of the 5th joint arm 25 is driven by the 5th joint arm oil cylinder 55.The far-end of each joint arm is equipped with obliquity sensor near the hinge place, wherein the first obliquity sensor 61 is arranged on the end of first segment arm 21, the second obliquity sensor 62 is arranged on the end of second section arm 22, the 3rd obliquity sensor 63 is arranged on the end of the 3rd joint arm 23, the 4th obliquity sensor 64 is arranged on the end of the 4th joint arm 24, the 5th obliquity sensor 65 is arranged on the end of the 5th joint arm 25, is respectively used to measure corresponding joint arm angle with respect to the horizontal plane.Whole boom system is set on vehicle body bottom frame 11, and the core of control system assembly 12 is the vibration damping controller.The vibration damping controller is realized the decay control of vibration of arm by electric control circuit vibration damping operation valve piece.
In the present embodiment, pressure sensor assembly 103 is divided into five groups, every group of pressure transducer comprises two pressure transducers, secretion is arranged on the rodless cavity of corresponding joint arm oil cylinder and the oil-in of rod chamber, as shown in Figure 3, pressure transducer 511 and pressure transducer 512 are set in first segment arm oil cylinder 51, are arranged on respectively the oil-in of first segment arm oil cylinder 51 rodless cavities and rod chamber, be used for detecting rodless cavity and the rod chamber pressure of first segment arm oil cylinder 51; Be provided with pressure transducer 521 and pressure transducer 522 in second section arm oil cylinder 52, be arranged on respectively the oil-in of second section arm oil cylinder 52 rodless cavities and rod chamber, be used for detecting rodless cavity and the rod chamber pressure of second section arm oil cylinder 52; Be provided with pressure transducer 531 and pressure transducer 532 in the 3rd joint arm oil cylinder 53, be arranged on respectively the oil-in of the 3rd joint arm oil cylinder 53 rodless cavities and rod chamber, be used for detecting rodless cavity and the rod chamber pressure of the 3rd joint arm oil cylinder 53; Be provided with pressure transducer 541 and pressure transducer 542 in the 4th joint arm oil cylinder 54, be arranged on respectively the oil-in of the 4th joint arm oil cylinder 54 rodless cavities and rod chamber, be used for detecting rodless cavity and the rod chamber pressure of the 4th joint arm oil cylinder 54; Be provided with pressure transducer 551 and pressure transducer 552 in the 5th joint arm oil cylinder 55, be arranged on respectively the oil-in of the 5th joint arm oil cylinder 55 rodless cavities and rod chamber, be used for detecting rodless cavity pressure and the rod chamber pressure of the 5th joint arm oil cylinder 55.
In addition, the condition detecting system of the concrete mixer vibration insulating system in the present embodiment can also be provided with flow sensor assembly 41, is arranged in the hydraulic circuit of joint arm oil cylinder, is connected with detection controller 105, be used for measuring the hydraulic fluid flow rate of hydraulic circuit, and be transferred to the detection controller; Detect controller 105 and also be used for judging according to hydraulic fluid flow rate the running status of the hydraulic pump of vibration insulating system.Particularly, flow sensor assembly 41 is installed in series in the working connection of vibration insulating system, is used for detecting the oil circuit flow of vibration insulating system and the output energy of hydraulic pump, detects controller 105 whether be used for monitoring the work of hydraulic pump of vibration insulating system normal to offer.
Utilize above-mentioned obliquity sensor, the position that can also utilize the length of inclination angle value and jib to calculate arm support tail end, displacement situation with the judgement arm support tail end is determined the vibration of arm situation, Fig. 4 calculates schematic diagram according to the arm support position that is the concrete mixer vibration insulating system of the embodiment of the present invention, as shown in the figure, h
1, h
2, h
3, h
4, h
5Be respectively the length of first segment arm 21, second section arm 22, the 3rd joint arm 23, the 4th joint arm 24, the 5th joint arm 25,
Respectively the first obliquity sensor 61, the second obliquity sensors 62, the 3rd obliquity sensor 63, the 4th obliquity sensor 64, the 5th obliquity sensor 65 measurements angle with respect to the horizontal plane.Thereby l
1, l
2, l
3, l
4, l
5Be respectively the projection at vertical direction that respectively saves arm, so arm support tail end equilibrium position L is:
In formula, be tilted to lower time when saving arm, the inclination angle value of measurement should be calculated with negative value, thereby draws the true altitude position of arm support tail end.When pump truck carries out pumping, the variation of this terminal position has reflected the Vibration Condition of jib.
Electric wiring is as the signalling channel of vibration damping controller, therefore the condition detecting system of the concrete mixer vibration insulating system that provides of the embodiment of the present invention can also comprise: the electric wiring detection components, with the electric wiring of vibration insulating system be connected controller 105 and be connected respectively, be used for measuring the electric signal of electric wiring, and send the measurement result of electric signal to detection controller 105., detect controller 105, also be used for judging according to the measurement result of electric signal the running status of the electric wiring of vibration insulating system.Electric wiring in vibration insulating system comprises circuit, control electric current outlet line, the controller power source circuit of pick-up transducers signal.Do not receive sensor signal if detect controller 105, can think sensor communication line fault; If controlling electric current outputs to control and detects controller 105 after topworks and do not receive that feedback current is thought and control electric current outlet line fault; If detecting controller 105 detects the vibration damping control system and does not work and can think directly that supply line is abnormal.
The condition detecting system of the concrete mixer vibration insulating system in the present embodiment can also be provided with, be connected with the detection controller, be used for the running status that the output detections controller judges the vibration insulating system that draws, thereby make operating personnel can get information about the running status of vibration insulating system, thereby make corresponding adjustment.
After detecting controller 105 and judging the running status of vibration insulating system, can also further analyze vibration insulating system and whether break down, and when judging vibration insulating system and break down, the parts of analysis of failure or reason are to realize the fault diagnosis of vibration insulating system.Therefore, the condition detecting system of the concrete mixer vibration insulating system in the present embodiment can also be provided with accident warning device, is connected with the detection controller, is used for parts or the corresponding alerting signal of reason output of the fault that analysis draws according to the detection controller.
In addition, concrete mixer is a kind of big machinery, concrete parameter differences is very large, in order to guarantee to detect the judgment accuracy of controller 105, need to guarantee to detect controller 105 and be used for various parameters that judgement uses such as pumping vehicle arm rack parameter (as the quantity of joint arm, length etc.), sensor parameters (as the zone of reasonableness of measuring numerical value etc.), hydraulic system parameters (as pressure parameter, the flow parameter etc.) situation of realistic parts exactly.Therefore, the condition detecting system of the concrete mixer vibration insulating system in the present embodiment can also comprise parameter obtaining device, is connected with the detection controller, is used for receiving the parameter of vibration insulating system, and is transferred to the detection controller; Detect controller, also be used for utilizing the parameter of vibration insulating system according to each joint arm angle, the rod chamber pressure of joint arm oil cylinder and running status of rodless cavity pressure judgement vibration insulating system with respect to the horizontal plane.
The detection controller 105 of the condition detecting system of the concrete mixer vibration insulating system in the present embodiment directly is integrated in the vibration damping controller, realized by such arranging the effective combination that detects and control, can also send corresponding vibration reduction control signal for the running status of the vibration insulating system that draws according to judgement thereby detect controller 105.
for the first operation after convenient debugging and handling failure, the condition detecting system of the concrete mixer vibration insulating system in the present embodiment can also arrange the debug command receiving trap, be connected with the detection controller, be used for receiving debug command, and debug command is sent to detection controller 105, detecting controller 105 also is used for sending corresponding vibration damping debug signal according to debug command, and it is postrun according to joint arm angle with respect to the horizontal plane according to the vibration damping debug signal to obtain vibration insulating system, rod chamber pressure and the rodless cavity pressure of joint arm oil cylinder, and the debug results of judgement vibration insulating system.Operating personnel can control for a certain concrete action that vibration damping is controlled by assigning debug command, understand the state of vibration insulating system by the feedback of action, for further debugging or normal operation provide the foundation.
The above-mentioned parameter deriving means is used for arranging the parameter of vibration insulating system, and these parameters generally do not allow change by the designer of the vibration insulating system measured value setting according to actual machine and parts.Can be monitored the running status of whole vibration insulating system, comprises the wherein signal parameter of each sensor, as pressure, flow, jib attitude, pumping frequency etc., also comprises vibration damping control electric current, vibration of arm amplitude size etc.The fault that the failure message that accident warning device provides according to failure diagnosis unit occurs vibration insulating system is carried out word and is shown, offers place and reason that operating personnel's fault occurs, is convenient to its post-processed.The debug command receiving trap is that vibration insulating system is carried out initial stage debugging, confirms that the fault of system is eliminated, if fault alarm no longer in debug process can normally use vibration insulating system.
These four devices can concentrated setting in a personal-machine interactive device, as keyboard and display device, with user friendly setting.Preferably use a kind of touch-screen as human-computer interaction device at embodiments of the invention.Fig. 5 and Fig. 6 are respectively according to the theory diagram of the touch-screen of the vibration insulating system condition detecting system of the concrete mixer of the embodiment of the present invention and the schematic diagram of touch-screen display interface, as shown in the figure, touch-screen has comprised function button and the certain operations button of four devices such as, accident warning device, parameter obtaining device, debug command receiving trap.After the corresponding function button on operating personnel's point touching screen, enter corresponding function and operate for operating personnel, for example click " parameter setting " button, touch-screen carries out work as parameter obtaining device; Click " state demonstration " button, touch-screen carries out work as; Click " fault alarm " button, touch-screen carries out work as accident warning device; After clicking " vibration damping debugging " button, touch-screen carries out work as the debug command receiving trap.
Operation push-button on touch-screen can comprise the both direction key
Seven keys such as " previous step ", " next step ", " confirmation ", " returning ", " main monitoring ".The concrete function of these operation push-buttons can be: directionkeys is used for some of adjustment System and controls parameters and select correlation function, two keys of " previous step ", " next step " are used for the levels interface of touch-screen is switched, " confirmation " key is used for the parameter and the function that arrange are confirmed, the function of " returning to " key is used for turning back to other function interface, and " main monitoring " key is the main interface that directly turns back to touch-screen.The function of touch-screen can be carried out with similar operating means and display device equally, but touch-screen intuitive and convenient more.
Fig. 7 is the processing procedure schematic diagram according to the vibration insulating system condition detecting system data of the concrete mixer of the embodiment of the present invention according to the embodiment of the present invention, as shown in Figure 7, vibration damping controller 105 is processed by the data of signals collecting, signal resolution, the several steps of fault diagnosis, the data-switching of various sensors is become the running status of the vibration insulating system of correspondence.Wherein, signals collecting is the signals such as pressure transducer, obliquity sensor and flow sensor of Real-time Collection vibration insulating system, and signal resolution is that the signal that gathers is resolved the signal that the system of obtaining can identify and can show on display device.Fault diagnosis is that the signal after resolving is carried out fault diagnosis at trouble-shooter, judge whether vibration insulating system breaks down, and by the corresponding control signal of vibration damping controller output, guarantee to close vibration insulating system in first moment that fault occurs, with the safeguards system safety and stability.Simultaneously can also lead to accident warning device, position and the reason that the fault that identifies is occured also is described and shows with word or image mode.
The below is described in detail the fault diagnosis functions of vibration damping controller 105.The embodiment of the present invention provides fault diagnosis system and the method for diagnosing faults of concrete mixer vibration insulating system, fault diagnosis system can utilize the numerical value of each sensor judge whether vibration insulating system breaks down and determine concrete failure cause and production part as the concrete topworks of vibration damping controller 105, and method for diagnosing faults is the concrete methods of realizing of vibration damping controller 105.
Fig. 8 is the schematic diagram according to the fault diagnosis system of the concrete mixer vibration insulating system of the embodiment of the present invention, as shown in Figure 8, this fault diagnosis system comprises: joint arm angle acquisition module 81, for the angle between the two joint joint arms that obtain the joint arm oil cylinder connection that starts active damping; Vibration damping operation valve piece fault diagnosis module 82 is used for judging whether angle continues increase or reduce; When the lasting increase of angle between two joint joint arms occurring or reducing, determine that the vibration damping operation valve piece between two joint joint arms breaks down.
Between utilization joint arm, angle judges that the principle of the duty of vibration damping operation valve piece in Active vibration-reducing system is: cause that the abnormal reason of vibration damping operation valve piece has two: the control spool clamping stagnation of operation valve piece or the control solenoid of valve piece open circuit, if the control solenoid of valve piece opens circuit, the control electric current that the valve piece is sent can not produce magnetic field by solenoid, cause controlling spool and be failure to actuate, the arm support oil cylinder piston can occur equally only toward a direction action.It is that angle between the adjacent segments arm can only increase or reduce that the fault that oil cylinder piston only moves toward a direction is reflected to phenomenon on jib.
The concrete mode that joint arm angle acquisition module 81 obtains above-mentioned angle can adopt and directly read the angle sensor and measure, perhaps utilize the inclination angle of the relative level face of the obliquity sensor measurement of installing on every joint joint arm to calculate, wherein, when utilizing level inclination to calculate angle, joint arm angle acquisition module 81 also is used for obtaining the joint arm angle with respect to the horizontal plane of the close arm support tail end of the obliquity sensor measurement in the joint arm of close the arm support tail end that is arranged on two joint joint arms; Obtain the joint arm angle with respect to the horizontal plane away from arm support tail end away from the measurement of the obliquity sensor in the joint arm of arm support tail end that is arranged in two joint joint arms.Shown in the jib structure of the concrete mixer of Fig. 2, for example the 3rd joint arm oil cylinder 53 is for starting the joint arm oil cylinders of active damping, and second section arm 22 be the joint arm away from arm support tail end so, and the 3rd joint arm 23 is the joint arm of close arm support tail end.
Except above joint arm angle acquisition module 81 and vibration damping operation valve piece fault diagnosis module 82, the fault diagnosis system of the concrete mixer vibration insulating system of the present embodiment can also according to the characteristics of vibration insulating system, arrange other functional module so that Active vibration-reducing system is carried out comprehensive fault diagnosis.Fig. 9 is the schematic diagram according to a kind of preferred form of the fault diagnosis system of the concrete mixer vibration insulating system of the embodiment of the present invention.This preferred fault diagnosis system can also be selected following one or more diagnostic modules according to fault diagnosis functions: obliquity sensor fault diagnosis module 91, jib vibration damping are controlled fault diagnosis module 92, oil cylinder working-pressure acquisition module 93, pressure sensor failure diagnostic module 94, arm support oil cylinder piston position diagnostic module 95, vibration damping operation valve piece solenoid fault diagnosis module 96, electrical circuit fault diagnostic module 97, flow sensor fault diagnosis module 98.
In order to guarantee the normal operation of above-mentioned obliquity sensor, the fault diagnosis system of the concrete mixer vibration insulating system of the present embodiment can also arrange obliquity sensor fault diagnosis module 91.This obliquity sensor fault diagnosis module 91 is used for: respectively judgement near the joint arm of arm support tail end with respect to the horizontal plane angle and whether exceed default inclination angle value scope away from the joint arm angle with respect to the horizontal plane of arm support tail end; When exceeding default inclination angle value scope near the joint arm angle with respect to the horizontal plane of arm support tail end, the obliquity sensor of determining to be arranged in the joint arm that two joints save the close arm support tail end in arms breaks down; When the joint arm angle with respect to the horizontal plane away from arm support tail end exceeds default inclination angle value scope, determine that the obliquity sensors away from the joint arm of arm support tail end that are arranged in two joint joint arms break down.Default inclination angle value scope can save the actual parameter of arm and the measurement range of obliquity sensor arranges jointly according to the place, when abnormal data namely exceeds above-mentioned default inclination angle value scope originally, the judgement obliquity sensor breaks down, utilize this obliquity sensor fault diagnosis module 91 can in time find the abnormal of obliquity sensor, guaranteed the reliability of fault diagnosis system.
The Oscillation Amplitude of jib can reflect with the pressure in oil cylinder two chambeies or the vibration displacement of arm support tail end reflects under normal circumstances, and after applying vibration damping control, vibration of arm can reduce under normal circumstances, produces oil cylinder two cavity pressures or arm support tail end vibration displacement and also can diminish.When working by the Real-Time Monitoring vibration insulating system, arm support oil cylinder two cavity pressure intensity of variations and arm support tail end vibration displacement intensity of variation, diagnose extremely to vibration of arm.If when applying vibration damping control, arm support oil cylinder two cavity pressures change and continue change greatly, the arm support tail end vibration displacement amplitude that is obtained by every joint jib inclination angle and the conversion of jib length simultaneously becomes large, illustrate that vibration damping control is abnormal, need carry out fault alarm and in time close vibration damping control enabling.The situation of change that the arm support tail end vibration displacement can draw according to computing method shown in Figure 4 the arm support tail end position draws.
When using arm support tail end vibration displacement intensity of variation to judge whether the vibration-damping control unit part exists fault, the fault diagnosis system of the concrete mixer vibration insulating system of the present embodiment can also arrange the jib vibration damping and control fault diagnosis module 92, this jib vibration damping is controlled fault diagnosis module 92 and is used for obtaining respectively jib and respectively saves arm inclination angle with respect to the horizontal plane, and according to the position of the length computation arm support tail end of inclination angle and Ge Jie arm; Whether the amplitude of variation that judges the position of arm support tail end continues to increase in Preset Time; When the amplitude of variation of the position of arm support tail end continues to increase, determine that the vibration-damping control unit part breaks down in Preset Time.
When the pressure that uses oil cylinder two chambeies judges whether the vibration-damping control unit part exists fault, the fault diagnosis system of the concrete mixer vibration insulating system of the present embodiment can also arrange oil cylinder working-pressure acquisition module 93, and this oil cylinder working-pressure acquisition module 93 is used for obtaining respectively the rod chamber pressure of the first pressure transducer measurement that is arranged on the rod chamber that saves the arm oil cylinder and is arranged on the rodless cavity pressure that the second pressure transducer in the rodless cavity that saves the arm oil cylinder is measured.
In this case, the jib vibration damping is controlled fault diagnosis module 92, is used for also judging whether rod chamber pressure and rodless cavity pressure continue to increase in Preset Time; And when rod chamber pressure and rodless cavity pressure continue to increase, determine that the control assembly of vibration insulating system breaks down in Preset Time.Above-mentioned Preset Time can be in several sense cycle, and concrete time span can be according to the actual conditions setting.For example if there is continuous 5 sense cycle, testing result shows that the amplitude of variation of the position of arm support tail end continues to increase or rod chamber pressure or the lasting increase of rodless cavity pressure, can assert that the control of active damping is broken down.
In order to guarantee the normal operation of pressure transducer, the fault diagnosis system of the concrete mixer vibration insulating system of the present embodiment can also arrange pressure sensor failure diagnostic module 94.This pressure sensor failure diagnostic module 94 is used for: judge that rod chamber pressure whether in the first pressure value scope, when rod chamber pressure exceeds the first pressure value scope, determines that the first pressure transducer breaks down; Judge that rodless cavity pressure whether in the second pressure value scope, when rodless cavity pressure exceeds the second pressure value scope, determines that the second pressure transducer breaks down.Default pressure value scope can arrange jointly according to the actual parameter of joint arm oil cylinder and the measurement range of pressure transducer, and when abnormal data occurring, the judgement pressure transducer breaks down.
Due to the motion of joint arm by joint arm hydraulic oil cylinder driving, so the attitude of jib in fact corresponding the ruuning situation of joint arm oil cylinder, such as piston rod chamber part to the end this two joints arm substantially flatten, the differential seat angles between two joint arms are close to 0 degree.If piston rodless cavity part to the end this two joints arm accept, the differential seat angles between two joint arms are close to-180 degree.In this case, the angle that utilizes the adjacent segments arm just can corresponding draw the run location of piston in the joint arm oil cylinder that connects this two joints joint arm.In order in time to detect this fault, the fault diagnosis system of the concrete mixer vibration insulating system of the present embodiment can also arrange arm support oil cylinder piston position diagnostic module 95.This arm support oil cylinder piston position diagnostic module 95 is used for: judge respectively angle whether greater than the first angle value and angle whether less than the second angle value; When angle during whether less than the second angle value, is determined the active damping functional fault of joint arm oil cylinder greater than the first angle value or angle.Namely above-mentioned the first angle value and the second angle value can be according under joint arm oil cylinder limit contraction states, and the measured value of the two joint joint arms that this oil cylinder connects is determined.
When oil cylinder piston had run to the end of oil cylinder, vibration insulating system can't be to the control that decays of the Vibration Condition of jib, continues operation jib Active vibration-reducing system this moment and can cause control system to get muddled.So the trouble-shooter of the concrete mixer vibration insulating system of the embodiment of the present invention judges the running status of oil cylinder piston, the normal range of operation of piston is set in oil cylinder inside, when judging piston movement and exceed preset range, think that piston do not regulated leeway in one direction, need to close the active damping controls system this moment, guarantees the normal operation of concrete mixer.When the position of oil cylinder piston has exceeded the scope that Active vibration-reducing system can be adjusted, close the vibration damping control system, prevent the oil cylinder control disorder, affect concrete pumping work.
The means that the oil cylinder piston running status is obtained in the diagnosis of arm support oil cylinder piston position have two kinds, and are a kind of by detecting rod chamber and the rodless cavity pressure of oil cylinder, a kind of attitude by jib.For obtaining the position of oil cylinder piston by pressure detection, the specific works step of arm support oil cylinder piston position diagnostic module can for: obtain the rodless cavity pressure that the second pressure transducer in the rod chamber pressure that the first pressure transducer in the rod chamber that is arranged on respectively joint arm oil cylinder measures and the rodless cavity that is arranged on joint arm oil cylinder is measured; Position according to piston in rod chamber pressure and rodless cavity pressure judgement joint arm oil cylinder.For ease of narration, one group of pressure transducer that will be arranged on a joint arm oil cylinder herein is divided into the first pressure transducer and the second pressure transducer, wherein the first pressure transducer is the pressure transducer that is arranged on the rod chamber oil-in, and the second pressure transducer is the pressure transducer that is arranged on the rodless cavity oil-in.Utilize the principle of two cavity pressure judgement piston positions in oil cylinder to be: when piston moved near oil cylinder end, in corresponding cavity, because hydraulic oil is discharged from substantially, this moment, the corresponding cavity internal pressure was close to zero, and namely the hydraulic fluid pressure of oil cylinder has reflected the position of piston.Therefore, the corresponding relation of force value and piston position can set in advance according to the concrete condition of joint arm oil cylinder.
When finding that vibration damping operation valve piece fault causes jib attitude variation abnormality, for the fault of distinguishing vibration damping operation valve piece is due to the spool clamping stagnation or controls solenoid and open circuit and cause, the fault diagnosis system of the concrete mixer vibration insulating system of the present embodiment can also arrange vibration damping operation valve piece solenoid fault diagnosis module 96.This vibration damping operation valve piece solenoid fault diagnosis module 96 is used for: the control electric current and the feedback current that detect respectively the control solenoid of vibration damping operation valve piece; Whether judgement controls the absolute value of electric current and feedback current difference greater than the predetermined current difference; During greater than the predetermined current value, determine that the solenoid of vibration damping operation valve piece opens circuit when the absolute value of controlling electric current and feedback current difference.Because the control solenoid of valve piece opens circuit, control electric current to its transmission can not produce magnetic field by solenoid, causes the control spool of this part to be failure to actuate, and joint arm oil cylinder piston occurs only toward a direction action, this moment, feedback current was almost nil owing to opening circuit.Particularly, when feedback current is zero, determine that described control solenoid opens circuit; When described feedback current is non-vanishing, determine the control spool clamping stagnation of described vibration damping operation valve piece.Judge the concrete failure cause of valve piece by the break-make situation that detects solenoid.Therefore can utilize the difference of controlling electric current and feedback current, the break-make of magnetic test coil is namely controlled electric current but without feedback current, illustrates that solenoid opens circuit when existing.Thereby further draw the trouble location of vibration damping operation valve piece.
Electric wiring in vibration insulating system includes circuit, control electric current outlet line, the controller power source circuit of collection sensor signal.Therefore electric wiring is also determining the reliability of vibration insulating system, and the fault diagnosis system of the concrete mixer vibration insulating system of the present embodiment can also arrange electrical circuit fault diagnostic module 97.This electrical circuit fault diagnostic module 97 when can't detect the electric signal of electric wiring, determines that this electric wiring breaks down for detection of the electric signal of each electric wiring.For example do not receive sensor signal, can think sensor communication line fault; If controlling electric current outputs to control and does not receive that feedback current is thought after topworks and control electric current outlet line fault; If the vibration damping control system being detected does not work and can think directly that supply line is abnormal.Thereby can in time find the fault of vibration insulating system electric wiring.
In order to guarantee to be installed in series in the working connection of vibration insulating system, be used for detecting the functional reliability of flow sensor assembly 41 of the output energy of the oil circuit flow of vibration insulating system and hydraulic pump, the fault diagnosis system of the present embodiment concrete mixer vibration insulating system can also arrange flow sensor fault diagnosis module 98.This flow sensor fault diagnosis module 98 is used for: obtain the hydraulic fluid flow rate that the flow sensor that is arranged on joint arm oil cylinder place hydraulic circuit is measured; Judge whether hydraulic fluid flow rate exceeds default flow value scope; When hydraulic fluid flow rate exceeds default flow value scope, determine that flow sensor breaks down.Default flow value scope can be set by parameter obtaining device in advance according to concrete hydraulic circuit situation and the range of flow sensor.
The method for diagnosing faults of the concrete mixer vibration insulating system that the embodiment of the present invention provides, the fault diagnosis system of the concrete mixer vibration insulating system that provides by the above embodiment of the present invention is carried out, and, this method for diagnosing faults can be applied to comprise the concrete mixer vibration insulating system condition detecting system of above fault diagnosis system, Figure 10 is that the method for diagnosing faults of this concrete mixer vibration insulating system comprises according to the schematic diagram of the method for diagnosing faults of the concrete mixer vibration insulating system of the embodiment of the present invention:
Step S1001 obtains two angles that save between arms of the joint arm oil cylinder connection that starts active damping;
Step S1003 judges whether angle continues increase or reduce in Preset Time;
Step S1005 in the situation that angle continues increase or reduce, determines that the vibration damping operation valve piece between two joint joint arms breaks down in Preset Time.
Wherein, step S1001 can obtain by two joint joint arms and with respect to the horizontal plane inclination angle calculate this angle respectively, specifically can comprise: the joint arm that obtains respectively close the arm support tail end in two joint joint arms angle and two joints with respect to the horizontal plane save joint arm angles with respect to the horizontal plane away from arm support tail end in arms; According near the joint arm of arm support tail end with respect to the horizontal plane angle and calculate the angle of two joint joint arms away from respect to the horizontal plane angle in the joint arm of arm support tail end.
Can obtain by the measured value that reads obliquity sensor above-mentioned inclination angle with top rade, specifically can comprise: the joint arm angle with respect to the horizontal plane that obtains the close arm support tail end of the obliquity sensor measurement in the joint arm that is arranged on the close arm support tail end in two joint joint arms; Obtain the joint arm angle with respect to the horizontal plane away from arm support tail end away from the measurement of the obliquity sensor in the joint arm of arm support tail end that is arranged in two joint joint arms.
Be the functional reliability of assurance obliquity sensor, the joint arm angle with respect to the horizontal plane that obtains the close arm support tail end of the obliquity sensor measurement in the joint arm that is arranged on the close arm support tail end in two joint joint arms also comprises afterwards: whether the joint arm angle with respect to the horizontal plane that judges the close arm support tail end that gets exceeds default inclination angle value scope; In the situation that exceed default inclination angle value scope near the joint arm angle with respect to the horizontal plane of arm support tail end, the obliquity sensor of determining to be arranged in the joint arm of close the arm support tail end in two joint joint arms breaks down, and also comprises after obtaining the joint arm angles with respect to the horizontal plane away from arm support tail end of measuring away from the obliquity sensor in the joint arm of arm support tail end that are arranged in two joint joint arms: judge whether the joint arm angle with respect to the horizontal plane away from arm support tail end that gets exceeds default inclination angle value scope; In the situation that exceed default inclination angle value scope away from the joint arm angle with respect to the horizontal plane of arm support tail end, determine that the obliquity sensor away from the joint arm of arm support tail end that is arranged in two joint joint arms breaks down.Still the 3rd joint arm oil cylinder 53 is as example in the jib structure shown in Figure 2, and the second obliquity sensor and the 3rd obliquity sensor are respectively near the obliquity sensor in the joint arm of arm support tail end with away from the obliquity sensor in the joint arm of arm support tail end.
In order to verify the working effect of jib vibration damping, the joint arm of close the arm support tail end in obtaining respectively two joint joint arms with respect to the horizontal plane angle and the joint arm angle with respect to the horizontal plane away from arm support tail end in two joint joint arms after also comprise: respectively save arm inclination angle with respect to the horizontal plane in obtaining jib respectively, and save arm inclination angle with respect to the horizontal plane and the position of the length computation arm support tail end of Ge Jie arm according to each; Whether the amplitude of variation that judges the position of arm support tail end continues to increase in Preset Time; In the situation that continue in Preset Time to increase, determine that the vibration-damping control unit part breaks down in the amplitude of variation of the position of arm support tail end.
Active damping functional fault diagnostic function can also utilize the size of oil cylinder internal pressure to carry out.In this case, also comprised before the angles between the two joint joint arms that obtain the joint arm oil cylinder connection that starts active damping: the rod chamber pressure and the rodless cavity pressure that obtain respectively the joint arm oil cylinder that starts active damping; Whether judge rod chamber pressure less than the first pressure preset value, and whether rodless cavity pressure is less than the second pressure preset value; In the situation that rod chamber pressure less than the first pressure preset value or rodless cavity pressure less than the second pressure preset value, determine the active damping functional fault of joint arm oil cylinder.
Above-mentioned rod chamber pressure and the rodless cavity pressure that obtains respectively the joint arm oil cylinder that starts active damping specifically can comprise: obtain the rodless cavity pressure that the second pressure transducer in the first pressure transducer in the rod chamber that is arranged on respectively joint arm oil cylinder the rod chamber pressure of measuring and the rodless cavity that is arranged on joint arm oil cylinder is measured.
For guaranteeing the functional reliability of pressure transducer, also comprise after obtaining the rodless cavity pressure that the second pressure transducer in the rod chamber pressure that the first pressure transducer in the rod chamber that is arranged on respectively joint arm oil cylinder measures and the rodless cavity that is arranged on joint arm oil cylinder measures: judge that rod chamber pressure is whether in the first pressure value scope, when rod chamber pressure exceeds the first pressure value scope, determine that the first pressure transducer breaks down; Judge that rodless cavity pressure whether in the second pressure value scope, when rodless cavity pressure exceeds the second pressure value scope, determines that the second pressure transducer breaks down.
Whether judging rod chamber pressure less than the first pressure preset value, and whether rodless cavity pressure can also comprise less than after the second pressure preset value: judge whether rod chamber pressure or rodless cavity pressure continue to increase in Preset Time; When rod chamber pressure or rodless cavity pressure continue to increase, determine that the control assembly of vibration insulating system breaks down in Preset Time.Thereby obtain the effect of active damping by the method for pressure detection, and determine that further the control assembly of vibration insulating system breaks down.
Two angles that save arms that the method for diagnosing faults of the present embodiment can also use joint arm oil cylinder to connect draw the particular location of piston, particularly, can also comprise after step S1001: judge respectively angle whether greater than the first angle value and angle whether less than the second angle value; In the situation that angle greater than the first angle value or angle whether less than the second angle value, determine the active damping functional fault of joint arm oil cylinder.
Also comprise after the active damping functional fault of determining joint arm oil cylinder: close the active damping function of joint arm oil cylinder, to avoid occurring the oil cylinder control disorder, affect concrete pumping work.
For the fault of distinguishing vibration damping operation valve piece is due to the spool clamping stagnation or controls solenoid and open circuit and cause, determine that vibration damping operation valve piece between two joint joint arms can also comprise after breaking down: the control electric current and the feedback current that detect respectively the control solenoid of vibration damping operation valve piece; Whether judgement controls the absolute value of electric current and feedback current difference greater than the predetermined current difference; During greater than the predetermined current value, determine that the solenoid of vibration damping operation valve piece opens circuit when the absolute value of controlling electric current and feedback current difference.
The embodiment of the present invention also provides a kind of concrete mixer, use Active vibration-reducing system to carry out vibration damping to jib, respectively saving of jib is separately installed with obliquity sensor on arm, each saves in the rod chamber of arm oil cylinder and rodless cavity and is respectively arranged with pressure transducer, each saves the flow sensor in the hydraulic circuit of arm place, use the running status of the described condition detecting system judgement of above-described embodiment vibration insulating system, can also utilize the fault diagnosis system of the described vibration insulating system of above-described embodiment and the fault diagnosis that method for diagnosing faults carries out vibration insulating system.
Preferably, the concrete mixer that the embodiment of the present invention provides can also comprise:, the diagnostic result and the output that are used for obtaining fault diagnosis system.This can be the touch-screen of above-mentioned explanation.
Use technical scheme of the present invention, the attitude that the lasting variation of carrying out the angle of adjacent segments arm in the jib of active damping by judgement draws jib changes, during due to vibration damping operation valve piece, can extremely cause saving the arm oil cylinder piston only toward a direction action because operation valve one end oil circuit advances to let out hydraulic oil, namely save arm and only move along a direction in perpendicular.Therefore, whether the technical program is judged vibration damping operation valve piece according to the situation of change of the angle of the adjacent segments arm of reflection jib attitude variation abnormal, for the duty that judges vibration damping operation valve piece provides means.
obviously, those skilled in the art should be understood that, above-mentioned each module of the present invention or each step can realize with general calculation element, they can concentrate on single calculation element, perhaps be distributed on the network that a plurality of calculation elements form, alternatively, they can be realized with the executable program code of calculation element, thereby, they can be stored in memory storage and be carried out by calculation element, perhaps they are made into respectively each integrated circuit modules, perhaps a plurality of modules in them or step being made into the single integrated circuit module realizes.Like this, the present invention is not restricted to any specific hardware and software combination.
The above is only the preferred embodiments of the present invention, is not limited to the present invention, and for a person skilled in the art, the present invention can have various modifications and variations.Within the spirit and principles in the present invention all, any modification of doing, be equal to replacement, improvement etc., within all should being included in protection scope of the present invention.
Claims (24)
1. the method for diagnosing faults of a concrete mixer vibration insulating system, is characterized in that, comprising:
Obtain two angles that save between arms of the joint arm oil cylinder connection that starts active damping;
Judge whether described angle continues increase or reduce in Preset Time;
In the situation that described angle continues increase or reduce, determine that the vibration damping operation valve piece between described two joint joint arms breaks down in described Preset Time.
2. method for diagnosing faults according to claim 1, is characterized in that, two angles that save between arms that obtain the joint arm oil cylinder connection that starts active damping comprise:
Obtain respectively joint arm angle and the described two joint arm angles with respect to the horizontal plane away from arm support tail end that save in arms with respect to the horizontal plane of the close arm support tail end in described two joint joint arms;
According to described joint arm near arm support tail end angle and the described angle that calculates described two joint joint arms away from respect to the horizontal plane angle in the joint arm of arm support tail end with respect to the horizontal plane.
3. method for diagnosing faults according to claim 2, it is characterized in that, joint arm angle and the described two joint arm angles with respect to the horizontal plane away from arm support tail end that save in arms with respect to the horizontal plane that obtain respectively the close arm support tail end in described two joint joint arms comprise:
Obtain the described joint arm angle with respect to the horizontal plane near arm support tail end that the obliquity sensor in the joint arm that is arranged on the close arm support tail end in described two joint joint arms is measured;
Obtain the described joint arm angle with respect to the horizontal plane away from arm support tail end away from the measurement of the obliquity sensor in the joint arm of arm support tail end that is arranged in described two joint joint arms.
4. method for diagnosing faults according to claim 3, is characterized in that,
Also comprise after the described joint arm angle with respect to the horizontal plane near arm support tail end that obliquity sensor in the joint arm that obtains the close arm support tail end in being arranged on described two joint joint arms is measured:
Whether the described joint arm angle with respect to the horizontal plane near arm support tail end that judgement gets exceeds default inclination angle value scope;
In the situation that described joint arm angle with respect to the horizontal plane near arm support tail end exceeds described default inclination angle value scope, the obliquity sensor of determining to be arranged in the joint arm that described two joints save the close arm support tail end in arms breaks down,
Also comprise after the described joint arm angle with respect to the horizontal plane away from arm support tail end of measuring away from the obliquity sensor in the joint arm of arm support tail end that obtains in being arranged on described two joint joint arms:
Whether the described joint arm angle with respect to the horizontal plane away from arm support tail end that judgement gets exceeds described default inclination angle value scope;
In the situation that described joint arm angle with respect to the horizontal plane away from arm support tail end exceeds described default inclination angle value scope, determine that the obliquity sensors away from the joint arm of arm support tail end that are arranged in described two joint joint arms break down.
5. method for diagnosing faults according to claim 2, it is characterized in that, also comprise after the joint arm angle with respect to the horizontal plane away from arm support tail end during the joint arm angle and described two with respect to the horizontal plane of the close arm support tail end in obtaining respectively described two joint joint arms saves arms:
Obtain respectively and respectively save arm inclination angle with respect to the horizontal plane in jib, and according to described arm inclination angle and the described position of respectively saving the length computation arm support tail end of arm with respect to the horizontal plane respectively saved;
Whether the amplitude of variation that judges the position of described arm support tail end continues to increase in Preset Time;
In the situation that continue in described Preset Time to increase, determine that the vibration-damping control unit part breaks down in the amplitude of variation of the position of described arm support tail end.
6. method for diagnosing faults according to claim 1, is characterized in that, also comprised before the angles between the two joint joint arms that obtain the joint arm oil cylinder connection that starts active damping:
Obtain respectively rod chamber pressure and the rodless cavity pressure of the joint arm oil cylinder that starts active damping;
Whether judge described rod chamber pressure less than the first pressure preset value, and whether described rodless cavity pressure is less than the second pressure preset value;
In the situation that described rod chamber pressure less than described the first pressure preset value or described rodless cavity pressure less than described the second pressure preset value, determine the active damping functional fault of described joint arm oil cylinder.
7. method for diagnosing faults according to claim 6, is characterized in that, the rod chamber pressure and the rodless cavity pressure that obtain respectively the joint arm oil cylinder that starts active damping comprise:
Obtain the rodless cavity pressure that the second pressure transducer in the first pressure transducer in the rod chamber that is arranged on respectively described joint arm oil cylinder the rod chamber pressure of measuring and the rodless cavity that is arranged on described joint arm oil cylinder is measured.
8. method for diagnosing faults according to claim 7, it is characterized in that, also comprise after the rodless cavity pressure that the second pressure transducer in the rod chamber pressure that the first pressure transducer in obtaining the rod chamber that is arranged on respectively described joint arm oil cylinder is measured and the rodless cavity that is arranged on described joint arm oil cylinder is measured:
Judge that described rod chamber pressure whether in the first pressure value scope, when described rod chamber pressure exceeds described the first pressure value scope, determines that described the first pressure transducer breaks down;
Judge that described rodless cavity pressure whether in the second pressure value scope, when described rodless cavity pressure exceeds described the second pressure value scope, determines that described the second pressure transducer breaks down.
9. method for diagnosing faults according to claim 6, is characterized in that, whether judging described rod chamber pressure less than the first pressure preset value, and whether described rodless cavity pressure also comprises less than after the second pressure preset value:
Judge whether described rod chamber pressure or described rodless cavity pressure continue to increase in described Preset Time;
When described rod chamber pressure or described rodless cavity pressure continue to increase, determine that the control assembly of vibration insulating system breaks down in described Preset Time.
10. method for diagnosing faults according to claim 1, is characterized in that, two angles that save between arms that obtain the joint arm oil cylinder connection that starts active damping also comprise afterwards:
Judge respectively described angle whether greater than the first angle value and described angle whether less than the second angle value;
In the situation that described angle greater than described the first angle value or described angle whether less than described the second angle value, determine the active damping functional fault of described joint arm oil cylinder.
11. method for diagnosing faults according to claim 10 is characterized in that, also comprises after the active damping functional fault of determining described joint arm oil cylinder: the active damping function of closing described joint arm oil cylinder.
12. method for diagnosing faults according to claim 1 is characterized in that, determines that vibration damping operation valve piece between described two joint joint arms also comprises after breaking down:
Detect respectively control electric current and the feedback current of the control solenoid of described vibration damping operation valve piece;
Judge that whether the absolute value of described control electric current and described feedback current difference is greater than the predetermined current difference;
In the situation that the absolute value of described control electric current and described feedback current difference greater than described predetermined current value, determines that the solenoid of vibration damping operation valve piece opens circuit.
13. the fault diagnosis system of a concrete mixer vibration insulating system is characterized in that, comprising:
Joint arm angle acquisition module is for the angle between the two joint joint arms that obtain the joint arm oil cylinder connection that starts active damping;
Vibration damping operation valve piece fault diagnosis module is used for judging whether described angle continues increase or reduce in Preset Time; Continue increase or reduce in described Preset Time in the situation that described angle occurs, determine that the vibration damping operation valve piece between described two joint joint arms breaks down.
14. fault diagnosis system according to claim 13 is characterized in that,
Described joint arm angle acquisition module, the described joint arm angle with respect to the horizontal plane near arm support tail end of also measuring for the obliquity sensor in the joint arm that obtains the close arm support tail end that is arranged on described two joint joint arms; Obtain the described joint arm angle with respect to the horizontal plane away from arm support tail end away from the measurement of the obliquity sensor in the joint arm of arm support tail end that is arranged in described two joint joint arms.
15. fault diagnosis system according to claim 13 is characterized in that, also comprises:
The obliquity sensor fault diagnosis module is used for judging respectively whether described joint arm near arm support tail end angle and described joint arm angle with respect to the horizontal plane away from arm support tail end with respect to the horizontal plane exceeds default inclination angle value scope; In the situation that described joint arm angle with respect to the horizontal plane near arm support tail end exceeds default inclination angle value scope, the obliquity sensor of determining to be arranged in the joint arm that described two joints save the close arm support tail end in arms breaks down; In the situation that described joint arm angle with respect to the horizontal plane away from arm support tail end exceeds described default inclination angle value scope, determine that the obliquity sensors away from the joint arm of arm support tail end that are arranged in described two joint joint arms break down.
16. fault diagnosis system according to claim 13 is characterized in that, also comprises:
The jib vibration damping is controlled fault diagnosis module, and be used for obtaining respectively jib and respectively save arm inclination angle with respect to the horizontal plane, and according to described inclination angle and the described position of respectively saving the length computation arm support tail end of arm; Whether the amplitude of variation that judges the position of described arm support tail end continues to increase in described Preset Time; When the amplitude of variation of the position of described arm support tail end continues to increase, determine that the vibration-damping control unit part breaks down in the above Preset Time.
17. fault diagnosis system according to claim 13 is characterized in that, also comprises:
The oil cylinder working-pressure acquisition module is used for obtaining respectively the rodless cavity pressure that the second pressure transducer in the rod chamber pressure that the first pressure transducer of the rod chamber that is arranged on described joint arm oil cylinder measures and the rodless cavity that is arranged on described joint arm oil cylinder is measured;
The pressure sensor failure diagnostic module is used for judging that described rod chamber pressure whether in the first pressure value scope, in the situation that described rod chamber pressure exceeds described the first pressure value scope, determines that described the first pressure transducer breaks down; Judge that described rodless cavity pressure whether in the second pressure value scope, in the situation that described rodless cavity pressure exceeds described the second pressure value scope, determines that described the second pressure transducer breaks down.
18. fault diagnosis system according to claim 13 is characterized in that, also comprises:
Arm support oil cylinder piston position diagnostic module, be used for judging respectively described angle whether greater than the first angle value and described angle whether less than the second angle value; When described angle during whether less than the second angle value, is determined the active damping functional fault of described joint arm oil cylinder greater than the first angle value or described angle.
19. fault diagnosis system according to claim 18 is characterized in that, also comprises:
Vibration damping is controlled diagnostic module, is used for judging whether described rod chamber pressure and described rodless cavity pressure continue to increase in Preset Time; And when described rod chamber pressure and described rodless cavity pressure continue to increase, determine that the control assembly of vibration insulating system breaks down in Preset Time.
20. fault diagnosis system according to claim 13 is characterized in that, also comprises:
Vibration damping operation valve piece solenoid fault diagnosis module is used for detecting respectively control electric current and the feedback current of the control solenoid of described vibration damping operation valve piece; Judge that whether the absolute value of described control electric current and described feedback current difference is greater than the predetermined current difference; During greater than the predetermined current value, determine that the solenoid of vibration damping operation valve piece opens circuit when the absolute value of described control electric current and described feedback current difference.
21. fault diagnosis system according to claim 13 is characterized in that, also comprises:
The electrical circuit fault diagnostic module for detection of the electric signal of each electric wiring, when can't detect the electric signal of described electric wiring, determines that this electric wiring breaks down.
22. fault diagnosis system according to claim 13 is characterized in that, also comprises:
The flow sensor fault diagnosis module is used for obtaining the hydraulic fluid flow rate that the flow sensor that is arranged on described joint arm oil cylinder place hydraulic circuit is measured; Judge whether described hydraulic fluid flow rate exceeds default flow value scope; When described hydraulic fluid flow rate exceeds default flow value scope, determine that described flow sensor breaks down.
23. concrete mixer, use Active vibration-reducing system to carry out vibration damping to jib, it is characterized in that, respectively saving of described jib is separately installed with obliquity sensor on arm, each saves in the rod chamber of arm oil cylinder and rodless cavity and is respectively arranged with pressure transducer, the described flow sensor that respectively saves in the hydraulic circuit of arm place, this concrete mixer comprise the fault diagnosis system according to claim 13 to the described vibration insulating system of any one in 22.
24. concrete mixer according to claim 23 is characterized in that, also comprises:
Fault display device, the diagnostic result and the output that are used for obtaining described fault diagnosis system.
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| CN114233617B (en) * | 2021-12-27 | 2023-09-22 | 三一汽车制造有限公司 | Pumping system, fault diagnosis method and device thereof, storage medium and engineering machinery |
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