CN102147959A - Tilting alarm system and concrete pump truck comprising same - Google Patents
Tilting alarm system and concrete pump truck comprising same Download PDFInfo
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- CN102147959A CN102147959A CN2010101121749A CN201010112174A CN102147959A CN 102147959 A CN102147959 A CN 102147959A CN 2010101121749 A CN2010101121749 A CN 2010101121749A CN 201010112174 A CN201010112174 A CN 201010112174A CN 102147959 A CN102147959 A CN 102147959A
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Abstract
The invention discloses a tilting alarm system for a concrete pump truck, comprising a detection device (1), a control device (2) and an alarm device (3), wherein the detection device (1) is used for obtaining a plane angle reflecting the tilt direction of the concrete pump truck, a space angle reflecting the tilt degree of the concrete pump truck and an arm support angle reflecting the arm support position of the concrete pump truck; the control device (2) sends an alarm command when a current space angle of the concrete pump truck is larger than or equal to a predetermined alarm angle in a current tilt direction; and the alarm device (3) is used for receiving the alarm command and sending alarm signals. The tilting alarm system can send different alarm signals according to different danger degrees of the tilt of the concrete pump truck and has higher safety and reliability. Besides, the invention also discloses the concrete pump truck comprising the tilting alarm system.
Description
Technical field
The present invention relates to the concrete mixer technical field, particularly a kind of warning system of tumbling.In addition, the invention still further relates to a kind of concrete mixer that comprises the above-mentioned warning system of tumbling.
Background technology
Along with the fast development of China real estate industry, for building machinery, especially the demand of concrete mixer is also more and more.
When concrete mixer was worked in pumping, the car load horizontal sextant angle increased along with the rotation of jib, and when angle increased to a certain degree, can there be the possibility of tumbling in car load.In addition, because the supporting leg expansion is not in place, surface collapse, maloperation or emergency case, the danger that concrete mixer also can be tumbled.Given this, prior art has been developed a kind of warning system of tumbling, this system mainly comprise car load tumble detection, report to the police and three kinds of functions such as restriction jib action.This system is equipped with electrolevel, in order to the angle of inclination and the situation of change of real-time detection pump truck; When the fore-and-aft tilt angle surpasses 5 °, laterally surpass 3 ° or pump truck angle change when too fast, the also restriction jib action of reporting to the police automatically of this system.
Yet there is following defective in the above-mentioned warning system of tumbling of the prior art:
The first, can not export different alerting signals according to the hazard level that pump truck is tumbled, warning function is single, thereby operating personnel can not judge the hazard level that concrete mixer is tumbled according to alerting signal.
The second, because the uncertainty of the arm support position and the direction of tumbling, the action of restriction jib might strengthen the possibility that pump truck is tumbled to a certain extent, thereby there is unsafe factor in the action of restriction jib.
As from the foregoing, how sending different alerting signals according to the hazard level of concrete mixer, and improve the safe reliability of the warning system of tumbling, is the problem that those skilled in the art needs solution badly.
Summary of the invention
The technical problem to be solved in the present invention provides a kind of warning system of tumbling, and this system can send different alerting signals according to the different hazard level that concrete mixer is tumbled, and has higher safe reliability.In addition, another technical matters that will solve of the present invention is for providing a kind of concrete mixer that comprises the above-mentioned warning system of tumbling.
For solving the problems of the technologies described above, the invention provides a kind of warning system of tumbling, be used for concrete mixer, comprising:
Pick-up unit is used to obtain reflect the space angle of inclined degree of Plane Angle, the described concrete mixer of reflection of the vergence direction of described concrete mixer and the jib angle that reflects the arm support position of described concrete mixer;
Control device, when described concrete mixer present space angle during more than or equal to the predetermined warning angle under the current vergence direction, described control device sends alarm command;
Warning device is used to receive described alarm command, and sends alerting signal;
The difference of more described Plane Angle of described control device and described jib angle, when described difference was positioned at different spans, described warning device sent different alerting signals.
Preferably, in the time of in described difference is in same span, along with the difference of described difference value, described warning device sends different alerting signals.
Preferably, described pick-up unit comprises:
First angle detection device is used to detect the fore-and-aft tilt angle and the transverse pitch angle of described concrete mixer, and described fore-and-aft tilt angle and transverse pitch angle are sent to described control device;
Second angle detection device is used to detect described jib angle;
Described control device draws described space angle and described Plane Angle according to described fore-and-aft tilt angle and described transverse pitch angle.
Preferably, the alarm region of the described warning system of tumbling is divided into first alarm region and second alarm region, and described predetermined warning angle is the first predetermined warning angle or the second predetermined warning angle; In described Plane Angle is in described first alarm region and described space angle when being greater than or equal to the described first predetermined warning angle, perhaps in described Plane Angle is in described second alarm region and described space angle when being greater than or equal to the described second predetermined warning angle, described control device sends alarm command, and described warning device sends alerting signal according to this instruction.
Preferably, defining the longitudinal axis of described concrete mixer by its centre of gyration is 0 ° of datum line in the part of the tailstock one side; The scope of described first alarm region comprises 15 ° to 165 ° zones and 195 ° to 345 ° zones; Described second alarm region comprises 165 ° to 195 ° zones and 345 ° to 15 ° zones.
Preferably, the numerical value of the described first predetermined warning angle is 3 °, and the numerical value of the described second predetermined warning angle is 5 °.
Preferably, described first angle detection device is two-dimentional obliquity sensor.
Preferably, described two-dimentional obliquity sensor is installed on the below of described concrete mixer rotary table, and the last plane of described two-dimentional obliquity sensor is parallel with the lower plane of described rotary table.
Preferably, described second angle detection device is a scrambler.
In addition, for solving above-mentioned dealing with problems, the present invention also provides a kind of above-mentioned each described warning system of tumbling that comprises.
From the above mentioned, the warning system of tumbling provided by the present invention can be sent different alarm commands according to the residing different spans of the described Plane Angle and the difference of described jib angle; Warning device sends the different alerting signal of hazard level according to this different alarm command.Difference between described Plane Angle and the described jib angle is big more, sends the more little alerting signal of hazard level, such as the time of can sending alerting signal short or that relatively relax; Difference between described first Plane Angle and second Plane Angle is more little, sends the big more alerting signal of hazard level, the long or more urgent alerting signal such as the time of can sending.Operating personnel can be different according to this hazard level alerting signal, in time adjust, such as the jib that can control concrete mixer along moving away from the direction of hazardous location.
In addition, the warning system of tumbling provided by the present invention is not provided with the function of restriction jib action, thereby can avoid the negative consequence that the action of restriction jib is brought in the prior art, promptly limit the jib action and can strengthen the possibility that concrete mixer is tumbled to a certain extent, thereby improved the safe reliability of work.
Description of drawings
Fig. 1 is the structural representation of the warning system of tumbling in an embodiment of the present invention;
Fig. 2 is the structural representation of the warning system of tumbling among the another kind of embodiment of the present invention;
Fig. 3 is the synoptic diagram of the Plane Angle of the vergence direction of the described concrete mixer of reflection in an embodiment of the present invention;
Fig. 4 shows the fore-and-aft tilt angle of concrete mixer and the structural representation of transverse pitch angle in an embodiment of the present invention;
Fig. 5 is for showing tumble first alarm region of warning system and the synoptic diagram of second alarm region in an embodiment of the present invention.
Embodiment
Core of the present invention provides a kind of warning system of tumbling, and this system can send different alerting signals according to the different hazard level that concrete mixer is tumbled, and has higher safe reliability.In addition, another core of the present invention is for providing a kind of concrete mixer that comprises the above-mentioned warning system of tumbling.In order to make those skilled in the art understand technical scheme of the present invention better, the present invention is described in further detail below in conjunction with the drawings and specific embodiments.
Please refer to Fig. 1, Fig. 2 and Fig. 3, Fig. 1 is the structural representation of the warning system of tumbling in an embodiment of the present invention; Fig. 2 is the structural representation of the warning system of tumbling among the another kind of embodiment of the present invention; Fig. 3 is the synoptic diagram of the Plane Angle of the vergence direction of the described concrete mixer of reflection in an embodiment of the present invention.
In one embodiment, the warning system of tumbling provided by the present invention comprises:
Pick-up unit 1 is used to obtain reflect the space angle of inclined degree of Plane Angle, the described concrete mixer of reflection of the vergence direction of described concrete mixer and the jib angle that reflects the arm support position of described concrete mixer; Need to prove at this, as shown in Figure 2, pick-up unit 1 can comprise first angle detection device 11 and second angle detection device 12, first angle detection device 11 is used to detect the fore-and-aft tilt angle and the transverse pitch angle of described concrete mixer, and described fore-and-aft tilt angle and transverse pitch angle sent to control device 2, control device 2 draws described space angle and described Plane Angle according to described fore-and-aft tilt angle and described transverse pitch angle.Second angle detection device 12 is used to detect described jib angle.But pick-up unit 1 is not limited to this, and the detecting element that can detect above-mentioned three angles of other types or the combination of detecting element are obviously also within the protection domain of present embodiment.
Control device 2, when described concrete mixer present space angle during more than or equal to the predetermined warning angle under the current vergence direction, control device 2 sends alarm command.
Warning device 3 is used to receive described alarm command, and sends alerting signal; It is to be noted; in this embodiment; type for this warning device 3 does not limit; this warning device 3 can send warning with voice signal; such as loudspeaker device; certainly can also send warning by light signal, therefore, the warning device 3 of any type all falls within the protection domain of present embodiment.
The difference of control device 2 more described Plane Angle and described jib angle, when described difference was positioned at different spans, warning device 2 sent different alerting signals.This is illustrated, such as being that value unit is provided with different spans with 30 °, described span is respectively 0 °～30 °, 30 °～60 °, 60 °～90 °, 90 °～120 °, 120 °～150 °, 150 °～180 °, when described difference was in above-mentioned different span, warning device 3 sent different alerting signals.When described difference is in 150 °～180 °, the hazard level that concrete mixer is tumbled is minimum, this moment, warning device 3 can send relatively mitigation or the short alerting signal of time ratio, along with described span is successively decreased successively, the hazard level that concrete mixer is tumbled increases gradually, when described difference is in 0 °～30 °, the hazard level maximum that concrete mixer is tumbled, this moment, warning device can send alerting signal more urgent or that the time is long.Certainly, present embodiment does not limit for the unit that span is set, such as can also as value unit span being set with 20 °, 10 °, 5 ° or other arbitrary values.Certainly, in the span of a series, different value units can also be set.
Plane Angle to the vergence direction that above reflects described concrete mixer, the space angle that reflects the inclined degree of described concrete mixer, and the jib angle that reflects the arm support position of the described concrete mixer explanation of making explanations: concrete mixer is lain in a horizontal plane on the level ground, at the built-in Liru in this level ground coordinate system shown in Figure 3, this moment, the projection of the centre of gyration in the level ground of concrete mixer was defined as center O, the Plane Angle at the place, lower end of Y-axis is defined as 0 ° of angle, thereby 180 ° of the Plane Angle of the other end correspondence of Y-axis, the Plane Angle of the two ends correspondence of X-axis is respectively 90 ° and 270 °.Reflect that the jib angle of the arm support position of described concrete mixer is the Plane Angle at the projection place of jib in the level ground of concrete mixer, i.e. this projection is with respect to the angle between 0 ° of linea angulata.In addition, when concrete mixer lies in a horizontal plane on the level ground, reference field of definition in concrete mixer, this reference field is parallel with the level ground; When the concrete mixer run-off the straight, the angle between this reference field and the level ground is the space angle of the inclined degree of the described concrete mixer of reflection.Moreover, when concrete mixer tilts, suppose that arbitrary supporting leg of concrete mixer fixes, and concrete mixer does not rotate, the centre of gyration in surface level be projected as center O ', connection center O and center O ', the Plane Angle θ at line segment OO ' place is the Plane Angle of the vergence direction of the described concrete mixer of reflection.
From the above mentioned, the warning system of tumbling provided by the present invention can be sent different alarm commands according to the residing different spans of the described Plane Angle and the difference of described jib angle; Warning device 3 sends the different alerting signal of hazard level according to this different alarm command.Difference between described Plane Angle and the described jib is big more, sends the more little alerting signal of hazard level, such as the time of can sending alerting signal short or that relatively relax; Difference between described Plane Angle and the described jib angle is more little, sends the big more alerting signal of hazard level, the long or more urgent alerting signal such as the time of can sending.Operating personnel can be different according to this hazard level alerting signal, in time adjust, such as the jib that can control concrete mixer along moving away from the direction of hazardous location.
In addition, the warning system of tumbling provided by the present invention is not provided with the function of restriction jib action, thereby can avoid the negative consequence that the action of restriction jib is brought in the prior art, promptly limit the jib action and can strengthen the possibility that concrete mixer is tumbled to a certain extent, thereby improved the safe reliability of work.
In sum, the warning system of tumbling provided by the present invention can be sent different alerting signals according to the different hazard level that concrete mixer is tumbled, and has higher safe reliability.
Need to prove, hereinbefore, reflect the Plane Angle of the vergence direction of described concrete mixer, the space angle of inclined degree of the described concrete mixer of reflection, and the jib angle that reflects the arm support position of described concrete mixer, be notion commonly used and common practise known to those skilled in the art, know how according to described fore-and-aft tilt angle and transverse pitch angle with it will be apparent to those skilled in that, and draw described Plane Angle and described space angle, thereby be clearly in conjunction with known theorem and computing formula.
In the above-described embodiments, we can also make further improvement.Particularly, in the time of in described difference is in same span, along with the difference of described difference value, described warning device sends different alerting signals.Such as in 0 °～30 ° spans, along with described difference is decremented to 0 ° successively by 30 °, jib is gradually to more the hazardous location is close, and the hazard level that concrete mixer is tumbled is increasing, and this moment, warning device 3 can send alerting signal more and more urgent or that the time is more and more longer.Obviously, this structural design can further improve the safe reliability of work of the present invention.
In the above-described embodiments, the alarm region of the warning system of tumbling can be divided into first alarm region and second alarm region, and described predetermined warning angle can be the first predetermined warning angle or the second predetermined warning angle; In described first Plane Angle is in described first alarm region and described space angle when being greater than or equal to the described first predetermined warning angle, perhaps in described second Plane Angle is in described second alarm region and described space angle when being greater than or equal to the described second predetermined warning angle, control device 2 sends alarm command, and warning device 3 sends alerting signal according to this instruction.
Please refer to Fig. 4, Fig. 4 shows the fore-and-aft tilt angle of concrete mixer and the structural representation of transverse pitch angle in an embodiment of the present invention.
In the above-described embodiments, as shown in Figure 4, the fore-and-aft tilt angle is the angle that the Y direction tilts, promptly by+Y to-angle that the Y direction is rotated, perhaps serve as reasons-Y is to+angle that the Y direction is rotated; The transverse pitch angle is the angle that directions X tilts, promptly by+X to-angle that directions X rotated, perhaps serve as reasons-X is to+angle that X rotated.
Because the restriction of concrete mixer self structure, the restriction difference of its zones of different tip-over angle, when the angle that designing requirement is tilted when directions X is greater than or equal to 3 °, when perhaps the angle that tilts when the Y direction is greater than or equal to 5 °, car load sends alerting signal, but only run-off the straight on directions X or Y direction of car load, the inclination of car load has not regulation, so the angle that will tilt according to the angle and the Y direction of directions X inclination, promptly above-mentioned described transverse pitch angle and fore-and-aft tilt angle draw space angle and the Plane Angle that car load tilts.
In the above-described embodiments, the numerical value of the first predetermined warning angle can be 3 °, and the numerical value of the second predetermined warning angle can be 5 °.Certainly; different according to concrete mixer model and structure; the numerical value of the above-mentioned first predetermined warning angle and the second predetermined warning angle might change, thereby the first predetermined warning angle and second of any number is scheduled to the warning angle all within the protection domain of the foregoing description.
Please refer to Fig. 5, Fig. 5 is for showing tumble first alarm region of warning system and the synoptic diagram of second alarm region in an embodiment of the present invention.
By mentioned earlier, car load tilts to have erratic behavior, thereby need calculate described space angle and described Plane Angle according to the angle gauge of directions X and the inclination of Y direction, thereby we are divided into two alarm regions according to the pressure of the weight of car load and supporting leg with 360 ° of plane domains of concrete mixer work, be first alarm region and second alarm region, and to define the longitudinal axis of described concrete mixer by its centre of gyration be 0 ° of datum line in the part of the tailstock one side, as shown in Figure 5.
As shown in Figure 3, each alarm region comprises two symmetrical zones again, and first alarm region comprises regional A and area B, and regional A is 15 ° to 165 ° zones, and area B is 195 ° to 345 ° zones; Second alarm region comprises zone C and region D, and zone C is 165 ° to 195 ° zones, and region D is 345 ° to 15 ° zones.
Certainly; along with complete vehicle weight and supporting leg pressure change; the division of first alarm region and second alarm region might change; know how to mark off the different alarm region of scope, thereby first alarm region of dividing arbitrarily and second alarm region are all within the protection domain of the foregoing description according to different complete vehicle weights and supporting leg pressure with it will be apparent to those skilled in that.
In the above-described embodiments, first angle detection device 11 is specifically as follows two-dimentional obliquity sensor, and this obliquity sensor has high resolving power and accuracy, thereby the reliability and the accuracy of the warning system work that can guarantee to tumble.
In addition, in order further to improve the accuracy that detects, above-mentioned obliquity sensor is installed in the below of concrete mixer rotary table, and the lower plane of the last plane of necessary this sensor of assurance and rotary table is parallel.
Particularly, in the above-described embodiments, second angle detection device 12 is specifically as follows scrambler, detects described jib angle by scrambler, and is simple and convenient, the reliability height.Certainly, the present invention does not get rid of by the described jib angle of second angle detection device, 12 detections of other types is set yet.
Particularly, in the above-described embodiments, control device 2 can be the pump truck controller, and it mainly carries out functions such as data acquisition, data computation, driving executive component, is the core parts of this warning system of tumbling.The major function of pump truck controller is by carrying out analytical calculation to the received signal, thereby determines the hazard level that pump truck is tumbled, and sends different alarm commands according to the difference of hazard level.
It is to be noted, in the above-described embodiments, the described warning system of tumbling mainly is applicable to the concrete mixer with monolateral operation function, applied warning system and the foregoing description of tumbling of the concrete mixer of the monolateral operation function of tool is not basic identical, different is: in the concrete mixer that does not have monolateral operation function, because described jib angle can not detect, thereby the also difference between this jib angle and the described Plane Angle relatively just, that is can not further send different alerting signals according to the difference of danger.
The warning system of tumbling provided by the present invention is applicable to that mainly ground slowly subsides because the pump truck supporting leg launches not in placely, the caused pump truck of maloperation and the emergency case situation of tumbling.When full duty, must guarantee that supporting leg all opens, guarantee the car load level.When using monolateral operation function, must guarantee to prop the horizontality of supporting leg.As indicated above, if car load tilts to surpass the angle of regulation, warning device will send alerting signal, and this moment, operating personnel will in time adjust the height of supporting leg, guaranteed the horizontality of car load.
Concrete mixer provided by the present invention comprises the described warning system of tumbling of above-mentioned any specific embodiment; Other parts of the warning system of tumbling can be with reference to prior art, and this paper no longer launches.
More than to a kind of warning system and comprise that the concrete mixer of this system is described in detail of tumbling provided by the present invention.Used specific case herein principle of the present invention and embodiment are set forth, the explanation of above embodiment just is used for helping to understand method of the present invention and core concept thereof.Should be pointed out that for those skilled in the art, under the prerequisite that does not break away from the principle of the invention, can also carry out some improvement and modification to the present invention, these improvement and modification also fall in the protection domain of claim of the present invention.
Claims (10)
1. the warning system of tumbling is used for concrete mixer, it is characterized in that, comprising:
Pick-up unit (1) is used to obtain reflect the space angle of inclined degree of Plane Angle, the described concrete mixer of reflection of the vergence direction of described concrete mixer and the jib angle that reflects the arm support position of described concrete mixer;
Control device (2), when described concrete mixer present space angle during more than or equal to the predetermined warning angle under the current vergence direction, described control device sends alarm command;
Warning device (3) is used to receive described alarm command, and sends alerting signal;
The difference of more described Plane Angle of described control device (2) and described jib angle, when described difference was positioned at different spans, described warning device sent different alerting signals.
2. the warning system of tumbling as claimed in claim 1 is characterized in that, in the time of in described difference is in same span, along with the difference of described difference value, described warning device (3) sends different alerting signals.
3. the warning system of tumbling as claimed in claim 2 is characterized in that, described pick-up unit (1) comprising:
First angle detection device (11) is used to detect the fore-and-aft tilt angle and the transverse pitch angle of described concrete mixer, and described fore-and-aft tilt angle and transverse pitch angle are sent to described control device (2);
Second angle detection device (12) is used to detect described jib angle;
Described control device (2) draws described space angle and described Plane Angle according to described fore-and-aft tilt angle and described transverse pitch angle.
4. the warning system of tumbling as claimed in claim 3 is characterized in that, the alarm region of the described warning system of tumbling is divided into first alarm region and second alarm region, and described predetermined warning angle is the first predetermined warning angle or the second predetermined warning angle; In described Plane Angle is in described first alarm region and described space angle when being greater than or equal to the described first predetermined warning angle, perhaps in described Plane Angle is in described second alarm region and described space angle when being greater than or equal to the described second predetermined warning angle, described control device (2) sends alarm command, and described warning device (3) sends alerting signal according to this instruction.
5. the warning system of tumbling as claimed in claim 4 is characterized in that, defining the longitudinal axis of described concrete mixer by its centre of gyration is 0 ° of datum line in the part of the tailstock one side; The scope of described first alarm region comprises 15 ° to 165 ° zones and 195 ° to 345 ° zones; Described second alarm region comprises 165 ° to 195 ° zones and 345 ° to 15 ° zones.
6. the warning system of tumbling as claimed in claim 5 is characterized in that, the numerical value of the described first predetermined warning angle is 3 °, and the numerical value of the described second predetermined warning angle is 5 °.
7. as each described warning system of tumbling of claim 1 to 6, it is characterized in that described first angle detection device (11) is two-dimentional obliquity sensor.
8. the warning system of tumbling as claimed in claim 7 is characterized in that described two-dimentional obliquity sensor is installed on the below of described concrete mixer rotary table, and the last plane of described two-dimentional obliquity sensor is parallel with the lower plane of described rotary table.
9. as each described warning system of tumbling of claim 1 to 6, it is characterized in that described second angle detection device (12) is a scrambler.
10. a concrete mixer is characterized in that, comprises as each described warning system of tumbling of claim 1 to 9.
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| CN 201010112174 CN102147959B (en) | 2010-02-08 | 2010-02-08 | Tilting alarm system and concrete pump truck comprising same |
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| CN 201010112174 CN102147959B (en) | 2010-02-08 | 2010-02-08 | Tilting alarm system and concrete pump truck comprising same |
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| CN102588505A (en) * | 2012-02-06 | 2012-07-18 | 三一重工股份有限公司 | Pump truck stability control system, pump truck stability control method and pump truck |
| CN103303304A (en) * | 2013-07-02 | 2013-09-18 | 徐州徐工施维英机械有限公司 | Overturn prevention device, overturn prevention method and concrete mixing truck |
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| CN102588505A (en) * | 2012-02-06 | 2012-07-18 | 三一重工股份有限公司 | Pump truck stability control system, pump truck stability control method and pump truck |
| WO2013117046A1 (en) * | 2012-02-06 | 2013-08-15 | 湖南三一智能控制设备有限公司 | Pump truck stability control system, control method, and pump truck |
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| CN103303304A (en) * | 2013-07-02 | 2013-09-18 | 徐州徐工施维英机械有限公司 | Overturn prevention device, overturn prevention method and concrete mixing truck |
| CN103419736A (en) * | 2013-09-11 | 2013-12-04 | 重庆望江工业有限公司 | Rollover alarm device of self-discharging lorry |
| CN105628412A (en) * | 2014-10-28 | 2016-06-01 | 中联重科股份有限公司 | Testing mechanism for engineering machinery and testing method thereof |
| CN105628412B (en) * | 2014-10-28 | 2018-03-23 | 中联重科股份有限公司 | Mechanism for testing and its method of testing for engineering machinery |
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| CN112004977A (en) * | 2018-03-16 | 2020-11-27 | 普茨迈斯特工程有限公司 | Concrete pump vehicle and method for controlling a concrete pump vehicle in relation to stability |
| CN111268568A (en) * | 2020-03-23 | 2020-06-12 | 湖南网大科技有限公司 | Automatic control method for emergency risk avoidance of instability of automobile crane |
| CN111305572A (en) * | 2020-03-23 | 2020-06-19 | 湖南网大科技有限公司 | Cantilever crane pump truck unstability urgent danger prevention automatic control system |
| WO2023138482A1 (en) * | 2022-01-18 | 2023-07-27 | 三一汽车制造有限公司 | Control method and control device of pump truck support legs, and control method of pump truck |
| CN114954710A (en) * | 2022-07-13 | 2022-08-30 | 河南焦煤能源有限公司 | Overturn prevention control method suitable for crawler-type drainage pump truck |
| CN114954710B (en) * | 2022-07-13 | 2023-08-04 | 河南焦煤能源有限公司 | Anti-overturning control method suitable for crawler-type drainage pump truck |
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