Control system for automatic positioning the working device of metamorphic concrete grouting machine

摘要

In order to improve the automation level of the metamorphic concrete grouting machine, an automatic positioning control system was developed based on the knowledge of signal acquisition and hydraulic control technology with PLC and HMI. Angle sensors installed on the arms of the grouting machine and the grouting working device were used in this system. Firstly, users determine the reference position according to practical needs, and use the PLC to complete information collection and respective reference positions recording. Then, before the grouting starts, PLC makes a real-time detection and compares the positions of the excavator boom, arm and the grouting working device, and controls the hydraulic cylinders of the excavator sequentially to adjust the positions through electro-hydraulic proportional velocity regulating valve and solenoid control valves. This control system can realize automatic positioning.