Pump Truck Research Articles

Stability Analysis for Extendable Leg of Pump Truck

There are mainly two areas of the lap part for the force transmission on the extension type retractable outriggers of the concrete pump truck, especially the bottom plate. If the side vertical plate at opening area isn’t designed properly, it may cause instability, which is really hard to be solved by analytical method. During structural checking of the leg with front-stretching type by ANSYS, the vertical plate at the area overlapped with the base is found to be out of convergence when load reaches a certain magnitude. Then the geometric nonlinear analysis is done by ANSYS and LS-DYNA respectively, and the results of them both verify the above conclusion. And the results of them are compared and analyzed. Finally the structure is improved to avoid buckling, and the improved structure meets the design requirements after the re-calculation. It also shows that the geometric nonlinear large deformation analysis is effective in solving the problem of buckling stability of complex structures.

Dry Wear Behaviour of High Cr-C Steel within Concrete Pump Truck Pipe

Dry Wear Behaviour of High Cr-C Steel within Concrete Pump Truck Pipe

Modal Analysis of Concrete Pump Truck Boom

Boom is one of key components of concrete pump trucks which can be looked as a projecting beam when unfolded at pumping mode. Under different concrete pumping modes, vibration of boom is serious for the hydraulic cylinder switching over shock, which can lead to the early damage of boom structure. In the finite element analysis software, boom of 37 meters concrete pump truck is simulated for its modal. Natural frequencies and corresponding modes are got and analyzed. To reduce vibration of concrete pump trucks, advices are presented by finite element modal analysis.

An improved practical model for wear prediction of revolute clearance joints in crank slider mechanisms

A stationary clearance link algorithm (SCLA) for calculating the reaction-force of revolute clearance joints in crank slider mechanisms is proposed in this paper. The SCLA is more efficient than other algorithms of the same accuracy. Furthermore, based on the Winkler foundation model, an unsymmetrical Winkler foundation model and a double elastic layer Winkler model are proposed. By integrating a dynamic model and the unsymmetrical Winkler foundation model with Archard wear model, an improved integrated wear prediction model is also generated. A series of experiments have been performed to compare with the predicted analysis data, and the results showed a good agreement. As a real industry application, with the double elastic layer Winkler model, the integrated wear prediction model was successfully used to predict the wear depth of the joint bearing (bimetallic bearing) for the cantilever crane of a concrete pump truck of Sany Heavy Industry.

Finite Element Modeling and Strength Analysis of Boom System of Concrete Pump Truck

Concrete pump truck plays an important role in national economic development and infrastructure construction. The boom system is one of the most critical parts of concrete pump truck, so it is important to analysis the strength. In this paper, the research is on the concrete pump truck of 37 meters. The three-dimensional model is established in PRO/E. Then the model is imported to MSC.PATRAN / NASTRAN and the strength is analyzed. The results show that the maximum stress on the boom is far less than the yield limit of the material, the structure meet the strength requirements.

Remanufacturing Cleaning Technology and its Application in Concrete Pump Truck

Remanufacturing Cleaning is an important process during the remanufacturing engineering, which is unique and significantly different from the manufacturing process and has an important effect on ensuring the quality of remanufactured product. The cleanliness it achieved is an important quality index of remanufactured products, which directly affects the surface analysis, surface inspection, remanufacturing processing and assembly process and further affects the quality and cost of remanufactured products. First of all, this paper gives a systematic induction and summary on the cleaning techniques and methods of remanufacturing processes such as high-pressure water jet cleaning, ultrasonic cleaning and chemical cleaning. At the same time, the paper carries out a comparative analysis on merits and demerits of each cleaning technology. Secondly taking the remanufacturing cleaning of concrete pump truck for an example, this thesis emphasizes on introducing the cleaning techniques of pump truck vehicle cleaning and parts cleaning after dismantling, and then analysis the deficiencies of concrete pump truck cleaning from the perspective of resource and environment attribute. Finally, the paper gives development trend and prospect for the remanufacturing cleaning technology of concrete pump truck.

Trajectory Optimization Method for Follow-Up Control of Concrete Pump Truck

The follow-up control of concrete pump truck is in order to solve the problem that whole boom follows the movement of boom end under the artificial traction. Focus on real-time detection of boom end azimuth change and inverse kinematic problems of redundant boom system, two-axis gravitational accelerometer is used to detect azimuthal variation of boom end, and the best motion trajectory of boom is determined by solving constrained nonlinear optimization function which takes minimum displacement distance of barycentre for the whole boom as the optimization goal. At last, relative azimuth and translation of boom end, rotation of boom are solved together to make translation and rotation of boom being synchronization. In this way to ensure whole boom follows the artificial traction in theory. In order to verify the discussion above, matlab is used to simulate several different working conditions for the follow-up control of boom.

Study on the cooling performance of sea salt solution during reflood heat transfer in a long vertical tube

Following the March 2011 earthquake, the nuclear power plants in Japan were affected, and emergency systems were activated. The earthquake caused a tsunami, which hit the east coast of Japan, and caused a loss of all on-site and off-site power at the Fukushima Daiichi, leaving it without any emergency power. In this situation, freshwater and seawater were used by helicopter, fire truck, and concrete pump truck to remove heat. To investigate the effect of 35‰ sea salt solution on reflood heat transfer in a long vertical tube (1600mm in the heating length), quenching experiments were conducted. We have observed a more enhanced cooling performance in the case of the sea salt solution reflood. Consequently, the cooling performance is enhanced more than nearly 10s for sea salt solution. The enhancing cause of the cooling performance after the quenching experiments using the sea salt solution were investigated through the macroscopic observation, scanning electron microscopy (SEM), contact angles and SEM-energy dispersive X-ray spectroscopy (EDS) of the inner surface of the test section. The cause of the cooling performance enhancement for the sea salt solution is not related to the enhanced wettability of the liquid film on the heater surface due to the deposition of sea salts but the top quenching by earlier condensation of vapor during sea salt solution reflood.

Quality Control and Optimization of Concrete Pump Truck Painting Line Based on Properties of Mechanical Materials

This paper is based on the summary and analysis to the quality problem of the Pump Truck Painting Line, AHP and lean six sigma are used to analyze the quality problems of the Pump Truck Painting Line, and then the main factors which affect the painting quality are found, finally, some concrete measures are put forward to improve the quality of the Concrete Pump Truck Painting Line.

Collision-Free and Energy-Saving Trajectory Planning for Large-Scale Redundant Manipulator Using Improved PSO

The large-scale boom system, such as the five-arm concrete pump truck with the arm length of 36–65 meters, usually operates in an unknown dynamic outdoor environment. The motion safety and the energy consumption are thus the two vital measurements to the effectiveness of the trajectory planning for the large-scale boom system. Due to the redundancy of the large-scale boom system and some drawbacks of the original particle swarm optimization (PSO) algorithm, an improved PSO algorithm is presented to solve the inverse kinematic problem of the redundant large-scale boom system. By the improved PSO algorithm, the energy-saving trajectory planning of the large-scale boom system that operates in a workspace without obstacles and with obstacles is optimized, which considers different important degrees of the subgoals, respectively. The optimal results from the simulation study and the practical application verify the effectiveness of the proposed planning strategy. At the same time, the performance of the improved strategy is compared with that of the traditional, and the superiority is further demonstrated.

基于ADAMS的柔性混凝土泵车臂架仿真研究

混凝土泵车臂架模型的正确创建对控制算法的研究有至关重要的作用。本文运用Pro/E建立与实物等比例大小的泵车模型，并导入ANSYS中进行网格划分，在ADAMS中替代刚性臂，构建柔性的混凝泵车臂架系统。在ADAMS中编写仿真脚本文件，结合传感器的使用，对泵车工作时常见的起动和制动过程进行了仿真。通过对柔性体模态阻尼比的设置，使柔性泵车模型如实反映混凝土泵车的工作状态，以此验证模型的正确性，为进一步的控制算法研究奠定了基础。 Creating a correct model of the arms of truck-mounted concrete pump plays a crucial role in studying on the control algorithm. In this paper, we establish a model with the same size of a real truck-mounted concrete pump in the software Pro/E and then export its arms into ANSYS for meshing. In ADAMS, we replace the rigid arms with those flexible ones to build a system of flexible arms of truck-mounted concrete pump truck. In addition, we write a simulation script file, combining with the use of sensors, to simulate the process in which the pump starts and brakes as it works in a real working condition. We set the flexible arms’ modal damping ratio to make the model reflect the working condition of a real concrete pump correctly. So we can verify the correctness of the model we establish and carry out further researches about the control algorithm based on the flexible model.

Dynamic Simulation of Concrete Pump Truck’s Boom System Based on Rigid-Flexible Coupling Model

The concrete pump truck’s boom system of 5 booms is taken as the research object in this paper. Combined with finite element theory and multi-body dynamics theory, a rigid-flexible coupling model of concrete pump truck’s boom system is established by modal synthesis method. With the measured displacement-time curve of turntable as the excitation, the booms’ pumping process in horizontal mode is simulated by the dynamic simulation software ADAMS. Through the field experiment results, the rationality of the modal is verified. It provides an effective method for dynamics analysis and structure improve of the concrete pump truck’s boom system.

The Dynamic Analysis of Concrete Pump Truck Arm in Civil Engineering

The concrete pump truck integrates transportation with pouring process ，which is characterized with flexibility, facility and celerity in civil engineering. As for the concrete pump truck, the arm system is the most important because the rationality of the arm directly influences the performance and pouring position of the truck in its application in civil engineering. For the arm system of the concrete pump truck, the movement of the arm system and the hydraulic cylinder are analyzed respectively with multi-body dynamic theory. By using numerical arithmetic to resolve the dynamic equation, the terminal track of the arms is analyzed. It shows that the kinetic equation built by multi-body dynamics can describe the dynamic characteristics of pump truck exactly.

목조 사찰화재의 유형별 진압대책에 관한 연구

본 연구에서는 목조 사찰 화재시 펌프(물탱크)차의 현장 도착 가능여부에 따라 사찰화재 유형별 진압대책을 4가지 유형으로 분류하고, 각 유형별 화재진압 전술 및 방법을 도출하였다. 연구결과, 펌프(물탱크)차의 접근 및 소방용수 확보가 가능한 사찰은 일반 건축물화재 진압전술을 적용하지만, 그렇지 않은 경우는 헬기, Water Bag, 연계급수 집중 진압전술, 무선통신을 이용한 소방차 수위 자동전송 System 및 급수낭을 활용하고, 사찰 인근 소방서에 화재진압 장비(동력펌프, 호스, 노즐, 급수낭 등)를 적재한 일반 4륜구동 차량 배치와 A자 사다리를 활용한 진압대책 등이 필요한 것으로 나타났다. This study classifies the fire suppression measures implemented by wooden temples into four types according to availability of the pump trucks (water tanks) at the fire sites. And this study outlines the strategies and methods based on each type of fire suppression measure. The results show that the fire suppression strategy applied in general buildings is also employed in temples where pump trucks (water tanks) and fire-fighting water are available. For temples where trucks and water are not available, the helicopter, water bag, fire suppression strategy focused on water supply link, automatic transmission system of a fire engine's level by using radio communication network, and water bladder are used. In addition, general four-wheel-drive vehicles equipped with fire fighting tools such as motor pump, hose, nozzle, and water bladder should be deployed in fire stations around the temples. A fire suppression strategy using A-type ladders is also required.

Modeling and Simulation of Flexible Hydraulic Robotic Arm

The flexible robotic arm drived by hydraulic are widely applied in most kinds of large engineering equipments, such as concrete pump truck, bridge monitor truck,etc. Nevertheless, the flexible distortion always break the precision of end-position and cause liberation of the whole arm system. In this paper, the movement of flexible hydraulic robotic arm and hydraulic cylinders are separately analyzed with flexible multi-body dynamics. And the dynamic differential equation is built with the driving force of the hydraulic cylinder as the main force. The equation is based on the theory of flexible multi-body dynamics, building the coupled model of robotic arm system and hydraulic-driving system to study the relation between the end-position, angle and the hydraulic system. What’s more, the simulation model of the mechanical arms is built by the dynamic simulation software. The project will theorectically support the intelligent control or auxiliary control of large engineering equipments.

Development of Control Module of Condition Auto Monitoring System for Aircraft Ground Hydraulic Power Carts

This paper presents an analysis for the status and the deficiency of the condition monitoring system for AGHPCs, new design of the control module based on AT89C51 is given in this paper, at the same time, the development and the realizing of the control module are discussed in detail. For the realization of aircraft hydraulic pump truck state monitoring provides a theoretical basis for intelligent and implementation plan.

Damage Decoupling Analysis of Pump Truck Structure on Multi-Load

Selecting a typical four-boom pump truck, the characteristics of the boom structure system and load were analyzed. The calculation model of boom structural damage was established and the calculation process was carried out based on MATLAB. In actual conditions, the strain-time signal of the four-boom structure was tested and the impact of multi-load on the boom structural damage was analyzed by decoupling method. Studies show that the strain-time history of a pump truck is a random process. It is mainly composed of two parts. One part is the overall and slow wave caused by boom posture changing. Another part is the rapid fluctuation caused by intermittent pumping. The damage caused by arm posture changing is dominant in the total damage, and the damage caused by intermittent pumping is secondary. The results reveal the composition of pump truck structure's damage. It can provide strong support for the rational formulating of fatigue test program, structure optimum design, methods selecting of structural health monitoring and safe use of pump truck.

Modeling and Control of Flexible Hydraulic Robotic Arm

Flexible hydraulic robotic arm is a complicated system which coupled by mechanics and hydraulics. It is widely applied in all kinds of large engineering equipments, such as concrete pump truck, bridge monitor truck, arm frame of crane, etc. The arm system of the hydraulic robotic arm is a multi-body system with redundant freedom, strong nonlinear, coupled with rigid and flexible characters. So it is of great theoretic value and real engineering significance to study the arm system of the robotic arm. In this theme, the movement of flexible hydraulic robotic arm and hydraulic cylinders are seperately analyzed with flexible multi-body dynamics, and the mechanical hydraulic dynamic model of the driving system and the arm system is built with Lagrange Equation and Virtual Work Theory. And the dynamic differential equation is built with the driving force of the hydraulic cylinder as the main force. With the track programming and the optimization method, the dynamic converse problem of the arm end track is researched, so as to get the optimized rotation angle when the arm end reaches the expected point. By using the PD control theory, without decoupling and rank-decreasing, only with feed back from the hydraulic system to realize the close loop control of the arm end position, pose and movement, the relationship between the hydraulic system and the end position & pose is studied, so that the flexible distortion is reduced and the libration is restrained. What’s more, the simulation model of the mechanical arms is built by the dynamic simulation software. The simulation result prove that the movement equation built by this way can clearly describe each dynamic character of the mechanical arms.

Trajectory Planning for Concrete Pump Truck Based on Intelligent Hill Climbing and Genetic Algorithm

This paper takes the five –link concrete pump boom as the research object, and transforms its trajectory planning issue into a multi-object optimization problem. Using intelligent hill climbing algorithm and genetic algorithm, and integrating them closely to ensure real-time online planning for the pump truck effectively, and make the planned motion trajectory for the boom is global optimized under particular constrained conditions. Simulation and performance comparison experiments show that this hybrid algorithm is practical and effective, which offers a new approach for the trajectory planning problem of concrete pump truck.

Fatigue Strength Simulation of Boom System Structure of Pump Truck

The motion equation of boom system of pump truck carrying concrete flow is set up based on the coupled vibration theory of cantilevered pipe and the finite element theory. Dynamic stress history of boom system with parameters of dip angle α=0°is simulated combining MATLAB simulation analyses with ANSYS finite element model. The feasibility of this method is verified through field experiment. Stress histories are simulated by adjusting parameter of dip angle as follows: α=20°,52°and 80°.Great stress points are painted on the Goodman Fatigue Limit Diagram measured by experiment. And then fatigue strength assessment of boom system is done. The research method can be used for the design calculation of similar products.