阅读说明：本技术 一种混凝土湿喷机喷头液压控制系统 (A kind of concrete spraying machine spray head hydraulic control system ) 是由 刘飞香 罗忠群 刘伟 康磊 张玉良 柏泽楠 于 2019-10-08 设计创作，主要内容包括：本发明提供一种混凝土湿喷机喷头液压控制系统,包括多路阀以及与多路阀连接的水平摆动缸和垂直摆动缸,在多路阀与至少一个摆动缸之间设有控制模式切换装置,所述控制模式切换装置包括手动控制油路和自动控制油路,所述自动控制油路包括与摆动缸串联设置的双出杆式排量模拟缸以及位于排量模拟缸两侧行程末端的行程开关,通过摆动缸回油进入排量模拟缸并带动排量模拟缸跟随摆动缸同步运动实现将对摆动缸的摆角控制转换为对排量模拟缸的行程控制,同时通过所述行程开关配合换向阀控制摆动缸以及排量模拟缸进出油方向的自动切换,进而实现摆动缸的往复运动。本发明可实现对喷头摆动的自动控制,减轻重复操作压力,增加作业效率及安全性。(The present invention provides a kind of concrete spraying machine spray head hydraulic control system, including multi-way valve and the horizontal hunting cylinder and vertical oscillation cylinder that are connect with multi-way valve, control mode switch device is equipped between multi-way valve and at least one oscillating cylinder, the control mode switch device includes manually controlling oil circuit and automatic control oil circuit, the oil circuit that automatically controls includes the double simulation cylinders of rod-type discharge capacity out being arranged in series with oscillating cylinder and the travel switch positioned at discharge capacity simulation cylinder two sides end of travel, entering discharge capacity simulation cylinder by oscillating cylinder oil return and discharge capacity is driven to simulate cylinder follows oscillating cylinder to move synchronously the stroke control realized and will be converted to the swinging angle control of oscillating cylinder to discharge capacity simulation cylinder, the automatic switchover that reversal valve controls oscillating cylinder and discharge capacity simulates the oily direction of cylinder disengaging is cooperated by the travel switch simultaneously, and then realize the reciprocating motion of oscillating cylinder.The automatic control swung to spray head can be achieved in the present invention, mitigates repetitive operation pressure, increases operating efficiency and safety.)

1. a kind of concrete spraying machine spray head hydraulic control system, which is characterized in that including the multichannel being arranged on pipeline road Valve (1) and the horizontal hunting cylinder (2) and vertical oscillation cylinder (3) being connect with the multi-way valve (1), the multi-way valve (1) with Control mode switch device (4) are equipped between at least one oscillating cylinder；

The control mode switch device (4) includes manually controlling oil circuit and automatic control oil circuit, the automatic control oil circuit packet The stroke for including discharge capacity simulation cylinder (4-10) being arranged in series with oscillating cylinder and being located at discharge capacity simulation cylinder (4-10) end of travel is opened It closes, the swinging angle control of oscillating cylinder will be converted to pair by following oscillating cylinder to move synchronously realization by discharge capacity simulation cylinder (4-10) Discharge capacity simulates the stroke control of cylinder, while cooperating reversal valve to control oscillating cylinder and discharge capacity simulation cylinder disengaging by the travel switch The automatic switchover in oily direction, and then realize the reciprocating motion of oscillating cylinder.

2. concrete spraying machine spray head hydraulic control system according to claim 1, which is characterized in that described to manually control Oil circuit includes the first reversal valve (4-1) of connection multi-way valve (1) and oscillating cylinder, realizes hand by first reversal valve (4-1) Dynamic control oil circuit is switched on and off；

The automatic control oil circuit includes that the second reversal valve (4-2), third reversal valve (4-3) and discharge capacity simulate working oil path, institute Stating discharge capacity simulation working oil path includes the 4th reversal valve (4-4), the 6th reversal valve (4-6) and discharge capacity simulation cylinder (4-10)；It is described Third reversal valve (4-3) connection multi-way valve (1) and oscillating cylinder simultaneously automatically control being switched on and off for oil circuit, institute for realizing entire State the second reversal valve (4-2) be located between third reversal valve (4-3) and oscillating cylinder and cooperate travel switch realize to oscillating cylinder into The switching in fuel-displaced direction, the 4th reversal valve (4-4) the connection oscillating cylinder and discharge capacity simulate cylinder (4-10) and for realizing automatic Control model lower swing cylinder oil return enters discharge capacity simulation working oil path, and the 6th reversal valve (4-6) is located at the 4th reversal valve (4- 4) to follow oscillating cylinder to be switched into real time fuel-displaced between discharge capacity simulation cylinder (4-10) and for realizing discharge capacity simulation cylinder (4-10) Direction.

3. concrete spraying machine spray head hydraulic control system according to claim 2, which is characterized in that the discharge capacity simulation Working oil path further includes oil return selector valve (4-7), and the oil return selector valve (4-7) is located at the 4th reversal valve (4-4) and the 6th and changes Access discharge capacity simulation cylinder (4-10) is automatically selected between valve (4-6) and for realizing oscillating cylinder oil return.

4. concrete spraying machine spray head hydraulic control system according to claim 3, which is characterized in that the 6th commutation Valve (4-6) is fluid-control valve, and it controls oil circuit and connect with the 4th reversal valve (4-4)；The oil return selector valve (4-7) is hydraulic control Valve, and it controls oil circuit and connect with the 4th reversal valve (4-4).

5. concrete spraying machine spray head hydraulic control system according to claim 2, which is characterized in that the discharge capacity simulation Cylinder (4-10) is double rod piston-type hydraulic cylinders, and piston rod follows the corresponding forward or reverse of oscillating cylinder to move right or to the left Mobile, the full stroke displacement size of the corresponding oscillating cylinder of the range discharge capacity of discharge capacity simulation cylinder (4-10) is equal, The corresponding oscillating cylinder of the primary realization of cylinder (4-10) full stroke movement, which is simulated, by discharge capacity is rocked to maximum angle from 0 °.

6. concrete spraying machine spray head hydraulic control system according to claim 5, which is characterized in that the travel switch Including first sensor S1 (4-8) and second sensor S2 (4-9), two sensors are located at discharge capacity simulation cylinder (4-10) two It the end of travel of side and is electrically connected with the second reversal valve (4-2), is sent out by triggering respective sensor to the second reversal valve (4-2) Commutation signal realizes the automatic reciprocating control of oscillating cylinder out.

7. concrete spraying machine spray head hydraulic control system, feature according to any one of claim 2~6 exist In the control mode switch device (4) further includes discharge capacity analog regulation oil circuit, and the discharge capacity analog regulation oil circuit includes the 5th Reversal valve (4-5) and displacement control cylinder (4-11), the 5th reversal valve (4-5) connection multi-way valve (1) and displacement control cylinder (4- 11) and for realizing pressure oil enter discharge capacity simulation working oil path, the piston rod and discharge capacity mould of the displacement control cylinder (4-11) The discharge capacity regulating part of quasi- cylinder (4-10), which links, to be arranged, and is realized by the displacement control cylinder (4-11) and is simulated cylinder (4-10) to discharge capacity The adjusting of maximum pump discharge.

8. concrete spraying machine spray head hydraulic control system according to claim 7, which is characterized in that in the discharge capacity control The end of travel of cylinder (4-11) processed is equipped with displacement sensor (4-12), realizes that by the full swing angular transition of oscillating cylinder be discharge capacity The rectilinear path distance of master cylinder (4-11).

9. concrete spraying machine spray head hydraulic control system according to claim 8, which is characterized in that the discharge capacity simulation Adjusting oil circuit further includes overflow valve (4-13), and the overflow valve (4-13) connect with the rodless cavity of displacement control cylinder (4-11).

10. concrete spraying machine spray head hydraulic control system according to claim 8, which is characterized in that further include and institute At least one cantilever crane pitch control oil cylinder and at least one boom frame telescopic control oil cylinder for stating multi-way valve (1) connection, described Multi-way valve (1) and each control oil cylinder and horizontal hunting cylinder (2), vertical oscillation cylinder are equipped with balanced valve between (3).

Technical field

The invention belongs to concrete ejection trolley technical fields, particularly, it is hydraulic to be related to a kind of concrete spraying machine spray head Control system.

Background technique

Concrete sprayer is to be widely used in underground engineering, geotechnical engineering, municipal works, tunnelling, mine chisel A kind of engineering equipment in the fields such as rock, its working principle is that concrete, water and other additives will be contained using high voltage power Mixture be ejected into construction surface to form initial supporting, reliable supporting is for ensureing construction safety, improving construction quality Play a significant role.

Existing concrete sprayer is broadly divided into two types: wet-spraying machine and dry spraying machine.Wherein, dry spraying machine is will first to mix Solidifying soil is put into spraying machine after mixing with other additives (not aqueous), is then delivered the mixture at spray head by pump pressure It is sprayed after being mixed with water；And wet-spraying machine is put into spraying machine after first mixing concrete, water and other additives, then It is delivered the mixture at spray head after being mixed with accelerator and is sprayed by wind pressure.

Compared to dry-type jetting, wet shotcrete technology is had the advantage that

1, the dust concentration in work progress is greatly reduced, improves execution conditions, ensures that worker's is healthy and safe；

2, concrete ejection efficiency can reach 10 cubic metres per hour, be conducive to the integral construction efficiency for improving engineering；

3, the rebound degree during concrete spraying can be reduced to 10% hereinafter, rebound degree is low；

4, wet shot is conducive to be precisely controlled the ratio of mud, and the quality of gunite concrete is more preferable, not only saves material, and reduces Cost also advantageously improves construction quality, it is ensured that supporting intensity.

Existing concrete spraying machine has that structure is complicated and mature boom system, can greatly guarantee concrete ejection Construction smoothly completes.The boom system includes cantilever crane integral translation mechanism, horizontal and vertical principal arm swing mechanism, one to more Grade luffing mechanism, one arrive multi-stage expansion mechanism and the spray head control mechanism positioned at arm head, and referring to Fig. 1, the spray head controls machine Structure includes spray head 01, the cantilever crane 02 of stationary nozzle, the conveying pipeline 03 of connection spray head and the horizontal pendulum for controlling spray head movement Dynamic cylinder 2 and vertical oscillation cylinder 3, under the action of horizontal and vertical two-stage oscillating cylinder, cooperation cantilever crane is stretched and is adjusted the spray head Good angle is, it can be achieved that be accurately ejected into target position for operation slurry.

It is usually to first pass through remote control operation cantilever crane that spray head is moved to operating area is attached for conventional arm support control method Closely, spray head is then directed at by work surface by horizontal hunting cylinder and the movement of vertical oscillation cylinder.In spray head operation process, Gong Renxu The swing of vertical oscillation cylinder high-frequency reciprocating is controlled, realizes that slurry is sprayed repeatedly in same job area until meeting jet thickness It is required that while also need controlled level oscillating cylinder drive spray head moved horizontally along the direction for being parallel to work surface, be transferred to down Same spraying is carried out when in one job area.

During above-mentioned sprayed construction, distant bar is manually operated for the operation of spray head substantially and is realized, oscillating cylinder it is past Complex frequency and swing angle lean on the feel of worker and experience and call site to link up entirely, the Stability and veracity of spraying operation It not can guarantee, especially when facing continuous generous amount operation, unavoidable artificial fatigue problem will seriously reduce construction essence Degree；Even if realizing the monitoring of swing angle using the scheme of rotation sensor is installed additional on oscillating cylinder, there is also counteragents The inaccurate problem of delay, angle maximum position.In addition, the control that stops swinging is needed toward contact when adjusting work surface, in order to Worker frees hand to operate cantilever crane, it is difficult to promote operating efficiency.

Summary of the invention

The purpose of the present invention is to provide a kind of reciprocally swingings and swing angle for being able to achieve vertical oscillation cylinder in wet-spraying machine The hydraulic system of automatic control, to solve the problems, such as to propose in background technique.

To achieve the above object, the present invention provides a kind of concrete spraying machine spray head hydraulic control systems, including setting Multi-way valve on pipeline road and the horizontal hunting cylinder and vertical oscillation cylinder being connect with the multi-way valve, in the multi-way valve Control mode switch device is equipped between at least one oscillating cylinder.

The control mode switch device includes manually controlling oil circuit and automatic control oil circuit, the automatic control oil circuit packet The discharge capacity simulation cylinder being arranged in series with oscillating cylinder and the travel switch positioned at discharge capacity simulation cylinder end of travel are included, the row is passed through Amount simulation cylinder follows oscillating cylinder to move synchronously realization will be converted to the stroke control that cylinder is simulated to discharge capacity to the swinging angle control of oscillating cylinder System, while the automatic switchover that reversal valve controls oscillating cylinder and discharge capacity simulates the oily direction of cylinder disengaging is cooperated by the travel switch, And then realize the reciprocating motion of oscillating cylinder.

Preferably, the oil circuit that manually controls includes the first reversal valve for connecting multi-way valve and oscillating cylinder, passes through described the The realization of one reversal valve manually controls being switched on and off for oil circuit；

The automatic control oil circuit includes that the second reversal valve, third reversal valve and discharge capacity simulate working oil path, the discharge capacity Simulating working oil path includes that the 4th reversal valve, the 6th reversal valve and discharge capacity simulate cylinder；Third reversal valve connection multi-way valve and Oscillating cylinder simultaneously automatically controls being switched on and off for oil circuit for realizing entire, and second reversal valve is located at third reversal valve and pendulum Between dynamic cylinder and travel switch is cooperated to realize the switching for passing in and out oily direction to oscillating cylinder, the 4th reversal valve connection oscillating cylinder and Discharge capacity simulation cylinder simultaneously enters discharge capacity simulation working oil path, the 6th commutation for realizing automatic control mode lower swing cylinder oil return Valve is located between the 4th reversal valve and discharge capacity simulation cylinder and to follow oscillating cylinder to be switched into real time fuel-displaced for realizing discharge capacity simulation cylinder Direction.

Preferably, the discharge capacity simulation working oil path further includes oil return selector valve, and the oil return selector valve is located at the 4th and changes Access discharge capacity simulation cylinder is automatically selected between valve and the 6th reversal valve and for realizing oscillating cylinder oil return.

Preferably, the 6th reversal valve is fluid-control valve, and it controls oil circuit and connect with the 4th reversal valve；The oil return Selector valve is fluid-control valve, and it controls oil circuit and connect with the 4th reversal valve.

Preferably, discharge capacity simulation cylinder is double rod piston-type hydraulic cylinders, piston rod follow oscillating cylinder rotating forward or Reversion correspondence is moved right or is moved to the left, and ignores leakage and compression bring Volume Loss, the maximum of the discharge capacity simulation cylinder The full stroke displacement size of the corresponding oscillating cylinder of stroke volume is equal, simulates the primary realization of cylinder full stroke movement by discharge capacity Corresponding oscillating cylinder is rocked to maximum angle from 0 °.

Preferably, the travel switch includes first sensor S1 and second sensor S2, and two sensors are located at Discharge capacity is simulated the end of travel of cylinder two sides and is electrically connected with the second reversal valve, by triggering respective sensor to the second reversal valve Issue the automatic reciprocating control that commutation signal realizes oscillating cylinder.

Preferably, the control mode switch device further includes discharge capacity analog regulation oil circuit, the discharge capacity analog regulation oil Road includes the 5th reversal valve and displacement control cylinder, and the 5th reversal valve connects multi-way valve and displacement control cylinder and for realizing pressure Power oil enters discharge capacity simulation working oil path, and the discharge capacity regulating part linkage of the piston rod and discharge capacity simulation cylinder of the displacement control cylinder is set It sets, the adjusting for simulating cylinder maximum pump discharge to discharge capacity is realized by the displacement control cylinder.

Preferably, it is equipped with displacement sensor in the end of travel of the displacement control cylinder, realizes most putting on oscillating cylinder Dynamic angular transition is the rectilinear path distance of displacement control cylinder.

Preferably, the discharge capacity analog regulation oil circuit further includes overflow valve, and the overflow valve is with displacement control cylinder without bar Chamber connection.

It preferably, further include at least one the cantilever crane pitch control oil cylinder and at least one arm being connect with the multi-way valve Frame extension and contraction control oil cylinder is equipped with flat between the multi-way valve and each control oil cylinder and horizontal hunting cylinder, vertical oscillation cylinder Weigh valve.

Technical solution provided by the invention at least has the following beneficial effects:

1, structure of the invention uses modularized design, adds on the basis of existing wet-spraying machine spray head hydraulic control system Control mode switch device does not interfere original control system, and implementation is simple, easy to spread and be advantageously implemented engineer operation Automation and intelligence.

2, the control mode switch device that designs of the present invention is compatible manually with automatic two kinds of steer modes, independently transports between the two Row is not interfere with each other, and avoids safety problem occur in the case where automatically controlling failure；Two kinds of steer modes share oil sources, no high pressure Energy consumption and added flow waste, do not generate extra cost payout other than transformation process.

3, the realization of automatic control function is to simulate cylinder based on oscillating cylinder and discharge capacity to connect and the maximum of the two in the present invention Discharge capacity is equal, drives the discharge capacity of discharge capacity simulation cylinder to follow the discharge capacity of oscillating cylinder by oscillating cylinder oil return while changing, realizes discharge capacity Simulation cylinder is moved synchronously with oscillating cylinder, and then the control for turning over angle to spray head is converted to the control to oil cylinder rectilinear path distance System realizes the swinging angle control of spray head by the cooperation of travel switch and reversal valve and automatically moves back and forth.

4, the present invention realizes automatic mode using the oil return of oscillating cylinder low-pressure side as the pressure oil of discharge capacity simulation working oil path The flow pressure of lower original spray head oscillating cylinder is unaffected, while being back to ensure to enter the pressure oil of discharge capacity simulation cylinder always Oil, the present invention devises the 6th reversal valve of hydraulic control and oil return selector valve and the control oil circuit of the two connect with the 4th reversal valve It connects, it can be achieved that automatically selecting and switch to oscillating cylinder oil return circuit, and ensures that discharge capacity simulation cylinder follows oscillating cylinder synchronism switching Pass in and out oily direction.

5, the present invention is conducive to release by operator from repetition and in cumbersome spray head swinging operation operation, makes to grasp Make personnel and can be absorbed in be monitored operating area, greatly mitigate artificial fatigue, increases operating efficiency and operation peace Quan Xing；Automation based on spray head swing process simultaneously, advantageously to the intelligent development of wet shot machine operation.

Detailed description of the invention

To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment Attached drawing is briefly described, it should be apparent that, drawings discussed below is only some embodiments of the present invention, for this For the those of ordinary skill of field, without creative efforts, it can also be obtained according to these attached drawings others Attached drawing, in which:

Fig. 1 is structural schematic diagram of the concrete spraying machine at nozzle position；

Fig. 2 is spray head hydraulic control system in the prior art；

Fig. 3 is the spray head hydraulic control system in the embodiment of the present invention 1；

In figure: 01 spray head, 02 cantilever crane, 03 conveying pipeline；1 multi-way valve, 2 horizontal hunting cylinders, 3 vertical oscillation cylinders, 4 control models Switching device, the first reversal valve of 4-1, the second reversal valve of 4-2,4-3 third reversal valve, the 4th reversal valve of 4-4,4-5 the 5th commutate Valve, the 6th reversal valve of 4-6,4-7 oil return selector valve, the simulation of 4-8 first sensor S1,4-9 second sensor S2,4-10 discharge capacity Cylinder, 4-11 displacement control cylinder, 4-12 displacement sensor S3,4-13 overflow valve.

Specific embodiment

Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete Site preparation description, it is clear that the described embodiments are merely a part of the embodiments of the present invention, instead of all the embodiments.It is based on Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts all other Embodiment shall fall within the protection scope of the present invention.