CN102774757A - Engineering machinery - Google Patents
Engineering machinery Download PDFInfo
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- CN102774757A CN102774757A CN2012102792561A CN201210279256A CN102774757A CN 102774757 A CN102774757 A CN 102774757A CN 2012102792561 A CN2012102792561 A CN 2012102792561A CN 201210279256 A CN201210279256 A CN 201210279256A CN 102774757 A CN102774757 A CN 102774757A
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Abstract
The invention provides an engineering machinery which comprises an engineering machinery chassis as well as a support system, a pumping system and a jib system that are arranged on the engineering machinery chassis, the jib system is provided with at least one hoisting mechanism and a hoisting safety control system. According to the engineering machinery, the pumping system and the jib system realize the pumping function of the engineering machinery, the jib system is matched with the hoisting mechanism so as to realize hoisting function of the engineering machinery, therefore, the jib can carry out pumping operation, and also can be used for hoisting weight objects for all floors in a construction site, so that the engineering machinery realizes multiple functions.
Description
Technical field
The present invention relates to engineering machinery field, in particular to a kind of construction machinery and equipment with pump function and hoisting function.
Background technology
Car hosit, it adopts telescopic jib, and shortcoming is that scope of work is limited; Can only be in the construction of spacious place, small space can't be worked, such as being directed against the lift heavy on certain floor plate on the building ground; The upper strata floor has limited the working space of telescopic crane boom, is difficult to accomplish the lift heavy task.Tower crane, its jib also are to be main with telescopic boom, except being difficult to the work at little working space, also have a defective to be that tower crane depends on fixing column, lack the alerting ability that moves at any time, so its scope of work also is restricted.Boom adopts folding arm to carry out cloth, on folding arm, is provided with hoisting device, makes it possess cloth and load-carrying ability simultaneously.Tower machine and boom all are that two kinds of functions are superposeed, and all must rely on body of the tower and support, and scope of work is restricted; And after the function stack, complex structure if the weight weight of lifting by crane on the folding arm is excessive, safety problem just occurred easily.
So, need a kind of construction machinery and equipment, at first need guarantee to accomplish lifting and pumpdown, secondly need guarantee that hoisting operation has enough alerting abilitys, can not have the operation dead angle, and scope of work is enough big.
Summary of the invention
The objective of the invention is to, a kind of construction machinery and equipment is provided, can accomplish lifting and pumpdown, when hoisting operation, have enough alerting abilitys, and scope of work is enough big.
In view of this; The present invention provides a kind of construction machinery and equipment, comprises engineering machinery chassis, is installed in support system, pumparound and boom system on the said engineering machinery chassis; At least one derricking gear is installed on said boom system; And the lifting safety control system, wherein: support system is used to support said engineering machinery chassis; Pumparound is used for pump concrete; Boom system; Comprise pivotally attached more piece jib in order; On said jib, be provided with the delivery pipe that is used for delivering concrete, said boom system can turn round action with respect to said engineering machinery chassis, and can fold and launch action between the said more piece jib; Derricking gear is installed in and is used to articulate weight on the said jib, the action through said jib with said weight handling to the desired location; The lifting safety control system is used for according to weight of heavy, and the heavy burden parameter of boom system and the support scope of support system are carried out safety control to the lifting operation of weight.
In this technical scheme, said pumparound and boom system have been realized the pump function of construction machinery and equipment, and said boom system cooperates derricking gear to realize the lifting function of construction machinery and equipment.This project machinery can pass through pump truck and tackling system, or hoisting crane and pumparound, or other machinery and lifting or pumparound wait and realize.Simultaneously, in order to guarantee the safety of lifting and pumpdown, design lifting safety control system guarantees that construction machinery and equipment can fulfil assignment smoothly.
In above-mentioned arbitrary technical scheme, preferably, said lifting safety control system comprises lifting force sensor and controller, and said lifting force sensor is arranged on and is used to detect said weight of heavy on the said derricking gear; Said controller is used for according to the said weight of heavy and the heavy burden upper limit of the jib that articulates said weight the lifting operation of weight being carried out safety control.In this technical scheme, in this technical scheme,, can prevent that weight of heavy is too high through the judgement of the heavy burden upper limit, can cause damage to the single-unit jib, thereby influence job safety.
In above-mentioned arbitrary technical scheme; Preferably; Said controller also is used for according to said weight of heavy; And the distance of the center of gyration of said weight to said boom system and said engineering machinery chassis confirms the heavy burden moment of said boom system, and according to the moment upper limit of said heavy burden moment and said boom system the lifting operation of weight carried out safety control.In this technical scheme, through the calculating of heavy burden moment, guarantee that the boom system single-piece is stressed at zone of reasonableness, can prevent effectively that the weight overload from causing damage to boom system integral body, further guaranteed the job safety of work mechanism.
In above-mentioned arbitrary technical scheme; Preferably; Said controller also is used for according to said weight of heavy; And the attitude of said boom system confirms the whole center of gravity of said construction machinery and equipment, and according to the support scope of said whole center of gravity and said support system the lifting operation of weight carried out safety control.In this technical scheme, and the calculating through center of gravity, can articulate in the process of weight and cause the complete machine of construction machinery and equipment to tumble.
In above-mentioned arbitrary technical scheme, preferably, said lifting safety control system also comprises the jib angular transducer, is used to detect the rotational angle of said more piece jib, to confirm the attitude of said boom system.In this technical scheme, utilized angular transducer, can detect the jib angle in real time, thereby confirm the attitude of boom system exactly.
In above-mentioned arbitrary technical scheme; Preferably; Said lifting safety control system also comprises: supporting leg linear transducer and/or supporting leg angular transducer; Be used to detect said support system supporting leg extension elongation and/or arrange angle, said controller according to the extension elongation of said supporting leg with/arrange angle, calculate the support scope of said support system.In this technical scheme, in conjunction with the real work situation of support system, can calculate its support scope exactly, to carry out anti-tipping judgement further exactly.
In above-mentioned arbitrary technical scheme; Preferably; Said lifting safety control system also comprises: the bearing force sensor; Be used to detect the bearing force of each supporting leg of said support system, said controller calculates the whole center of gravity of said construction machinery and equipment of said current time and said weight according to the support scope of the said bearing force and the said support system of each supporting leg.In this technical scheme, adopt to detect the mode of the bearing force of support system, can the more convenient center of gravity that calculates construction machinery and equipment more accurately, to carry out anti-tipping judgement.
In above-mentioned arbitrary technical scheme, preferably, the target that said controller is provided with according to the user is hung and is sent the position, confirms that said weight is hung and deliver to said target to hang when sending the position, to the distance of the center of gyration of said boom system and said engineering machinery chassis.In this technical scheme, as long as known user's target lift heavy position, then can predict to hang and send the position of accomplishing the back weight, to hang send completion after boom system whether exist and can vitiable danger carry out anticipation.
In above-mentioned arbitrary technical scheme, preferably, said derricking gear is one of cellular type derricking gear, removable derricking gear and pulley-type derricking gear or combination; The cellular type derricking gear comprises bearing plate, and said bearing plate is welded on the jib of said boom system, and said bearing plate is provided with the hole; Removable derricking gear comprises locating plate and weight body, and wherein, said locating plate is welded on the jib of said boom system, and said weight body detachably is connected on the said locating plate, and said weight body is provided with the hole; The pulley-type derricking gear; Comprise one or more pulleys, steel cable, suspension hook; Said one or more pulley can be rotatably set on the jib of said boom system; Said steel cable is walked around said one or more pulley, and an end of said steel cable connects said suspension hook, and the other end is connected the hoisting mechanism on the construction machinery and equipment.In above technical scheme, polytype derricking gear is provided, it will be appreciated by those skilled in the art that above-mentioned multiple derricking gear only makes example, the type that is not used in derricking gear limits.
Through above technical scheme, a kind of construction machinery and equipment provided by the invention can be accomplished lifting and pumpdown, guarantee that simultaneously hoisting operation has enough alerting abilitys, and scope of work is enough big.
Description of drawings
Fig. 1 is the work scheme drawing of construction machinery and equipment according to an embodiment of the invention;
Fig. 2 and Fig. 3 are the work scheme drawings of construction machinery and equipment according to an embodiment of the invention;
Fig. 4 is the local structure figure of construction machinery and equipment according to an embodiment of the invention;
Fig. 5 is the local structure figure of construction machinery and equipment according to an embodiment of the invention;
Fig. 6 is the local structure figure of construction machinery and equipment according to an embodiment of the invention.
The specific embodiment
In order more to be expressly understood above-mentioned purpose of the present invention, feature and advantage, the present invention is further described in detail below in conjunction with the accompanying drawing and the specific embodiment.Need to prove that under the situation of not conflicting, the application's embodiment and the characteristic among the embodiment can make up each other.
The present invention provides a kind of construction machinery and equipment; Comprise engineering machinery chassis; Be installed in support system, pumparound and boom system on the said engineering machinery chassis, at least one derricking gear is installed on said boom system, and the lifting safety control system; Wherein: support system is used to support said engineering machinery chassis; Pumparound is used for pump concrete; Boom system; Comprise pivotally attached more piece jib in order; On said jib, be provided with the delivery pipe that is used for delivering concrete, said boom system can turn round action with respect to said engineering machinery chassis, and can fold and launch action between the said more piece jib; Derricking gear is installed in and is used to articulate weight on the said jib, the action through said jib with said weight handling to the desired location; The lifting safety control system is used for according to weight of heavy, and the heavy burden parameter of boom system and the support scope of support system are carried out safety control to the lifting operation of weight.
In this technical scheme, in this technical scheme, said pumparound and boom system have been realized the pump function of construction machinery and equipment, and said boom system cooperates derricking gear to realize the lifting function of construction machinery and equipment.This project machinery can pass through pump truck and tackling system, or hoisting crane and pumparound, or other machinery and lifting or pumparound wait and realize.Simultaneously, in order to guarantee the safety of lifting and pumpdown, design lifting safety control system guarantees that construction machinery and equipment can fulfil assignment smoothly.
Said lifting safety control system comprises lifting force sensor and controller, and said lifting force sensor is arranged on and is used to detect said weight of heavy on the said derricking gear; Said controller is used for according to the said weight of heavy and the heavy burden upper limit of the jib that articulates said weight the lifting operation of weight being carried out safety control.In this technical scheme, in this technical scheme,, can prevent that weight of heavy is too high through the judgement of the heavy burden upper limit, can cause damage to the single-unit jib, thereby influence job safety.
Said controller also is used for according to said weight of heavy; And the distance of the center of gyration of said weight to said boom system and said engineering machinery chassis confirms the heavy burden moment of said boom system, and according to the moment upper limit of said heavy burden moment and said boom system the lifting operation of weight carried out safety control.In this technical scheme, through the calculating of heavy burden moment, guarantee that the boom system single-piece is stressed at zone of reasonableness, can prevent effectively that the weight overload from causing damage to boom system integral body, further guaranteed the job safety of work mechanism.
Said controller also is used for according to said weight of heavy, and the attitude of said boom system confirms the whole center of gravity of said construction machinery and equipment, and according to the support scope of said whole center of gravity and said support system the lifting operation of weight is carried out safety control.In this technical scheme, and the calculating through center of gravity, can prevent to cause the construction machinery and equipment complete machine to tumble because weight of heavy is too high.
Said lifting safety control system also comprises the jib angular transducer, is used to detect the rotational angle of said more piece jib, to confirm the attitude of said boom system.In this technical scheme, utilized angular transducer, can detect the jib angle in real time, simultaneously because the length of each joint jib is fixing known, so can confirm the attitude of boom system exactly.
Said lifting safety control system also comprises: supporting leg linear transducer and/or supporting leg angular transducer; Be used to detect said support system supporting leg extension elongation and/or arrange angle; Said controller according to the extension elongation of said supporting leg with/arrange angle, calculate the support scope of said support system.In this technical scheme, in conjunction with the real work situation of support system, can calculate its support scope exactly, with further, carry out anti-tipping judgement exactly.
Said lifting safety control system also comprises: the bearing force sensor; Be used to detect the bearing force of each supporting leg of said support system; Said controller calculates the whole center of gravity of said construction machinery and equipment of said current time and said weight according to the support scope of the said bearing force and the said support system of each supporting leg.In this technical scheme, adopt to detect the mode of the bearing force of support system, can the more convenient center of gravity that calculates construction machinery and equipment more accurately, to carry out anti-tipping judgement.
The target that said controller is provided with according to the user is hung and is sent the position, confirms that said weight is hung and deliver to said target to hang when sending the position, to the distance of the center of gyration of said boom system and said engineering machinery chassis.In this technical scheme, as long as known user's target lift heavy position, then can predict to hang and send the position of accomplishing the back weight, to hang send completion after boom system whether exist and can vitiable danger carry out anticipation.
Said derricking gear is one of cellular type derricking gear, removable derricking gear and pulley-type derricking gear or combination; The cellular type derricking gear comprises bearing plate, and said bearing plate is welded on the jib of said boom system, and said bearing plate is provided with the hole; Removable derricking gear comprises locating plate and weight body, and wherein, said locating plate is welded on the jib of said boom system, and said weight body detachably is connected on the said locating plate, and said weight body is provided with the hole; The pulley-type derricking gear; Comprise one or more pulleys, steel cable, suspension hook; Said one or more pulley can be rotatably set on the jib of said boom system; Said steel cable is walked around said one or more pulley, and an end of said steel cable connects said suspension hook, and the other end is connected the hoisting mechanism on the construction machinery and equipment.
The construction machinery and equipment that provides among the following embodiment is the basis with the concrete pump truck, specifies technical scheme of the present invention.
To present pump truck, it to become and have the construction machinery and equipment that pump plays function concurrently, need to solve following problem in the present embodiment: 1) design lifting derricking gear on pumping vehicle arm rack; 2) guarantee that hoisting heavy does not cause damage to pumping vehicle arm rack.
In the present embodiment, final improved pump truck can be as shown in Figure 1, on the boom system 102 of pump truck; Being provided with derricking gear 104 (is arranged on the more piece jib; By steel cable, pulley, suspension hook), can be used to articulate weight 106 (for clear derricking gear and weight are shown, the non-selected derricking gear that articulates weight carries out mark); Boom system 102 and at least one derricking gear 104 cooperating can be realized the lifting of weight 106.As shown in Figure 1, the technical scheme of present embodiment can winch to 106 on weight in the floor of building 108 centres, guarantees that hoisting operation has enough alerting abilitys, and the operation between the floor also can be accomplished smoothly, can not exist operation dead angle and scope of work enough big.
Pump truck according to a plurality of derricking gears of actual conditions from boom system, selects to use in this subjob derricking gear when operation.As shown in Figure 2; If the operation distance is shorter, the derricking gear that can only launch on the jib 202 fully carries out the lift heavy operation, and is and for example shown in Figure 3; Needs with weight hang deliver to more remote; Or during high height, can launch the derricking gear on the jib 306, by utilizing three joint jibs 302,304 and the 306 common lifting operations of accomplishing.
On the basis of such scheme,, realized in the present embodiment the pump truck function expansion with respect to traditional pump truck; Derricking gear is set on pumping vehicle arm rack; In specific embodiment, the jib that respectively saves of pump truck is all put derricking gear, and can be with car configuration lifting steel cable and suspension hook.In order to guarantee that lift heavy does not damage the jib of pump truck, need install the lifting safety control system additional, comprise lifting force sensor, jib angular transducer, supporting leg linear transducer, supporting leg angular transducer, bearing force sensor, controller.This system mainly relies on lifting force sensor acquisition weight weight information; Rely on the jib angular transducer to gather the jib attitude information; Rely on the supporting leg linear transducer to gather the length of stretching out of supporting leg; Rely on the angle of arranging of supporting leg angular transducer detection supporting leg, rely on the bearing force of each supporting leg of bearing force sensor.These information control of access devices calculate judgement by preset algorithm to current working in the controller.The calculating basis for estimation is following:
Judge the derricking gear of launching according to the lifting force sensor that detects weight information.
Controller judges according to the lift heavy upper-limit information of the single-unit jib at this derricking gear place whether weight weight exceeds standard, if exceed standard then report to the police, the moment judgement if do not exceed standard, is carried out in adjustment lift heavy position.
When controller carries out the moment judgement; Distance according to the center of gyration on jib attitude information, load information, derricking gear to the jib of launching and pump truck chassis calculates weight to the moment that jib applies, and judges whether this moment surpasses the moment upper limit of boom system; If exceed the moment upper limit then report to the police; Might cause damage to boom system integral body,, then carry out anti-tipping judgement if do not exceed the upper limit.
It should be noted that the attitude information that can come to gather in real time jib here, through the jib angular transducer; Also can be through receiving user's input; Confirm following certain attitude information of jib constantly because weight of heavy fixes, so based on jib in difference attitude constantly; Can judge that boom system is in difference heavy burden moment constantly, to transship judgement.
When controller carries out anti-tipping judgement, stretch out length and arrange angle, confirm the support scope of the supporting leg of support system according to the supporting leg of gathering; Simultaneously, based on the overall weight of weight and pump truck, and the distance of the center of gyration on weight to jib and pump truck chassis; Can calculate the whole center of gravity of weight and pump truck; If center of gravity does not satisfy the stability requirement of lifting, report to the police, allow adjustment; If center of gravity satisfies the stability requirement of lifting, carry out lift heavy work.
Judge similar with above-mentioned antioverloading; Because the distance of the center of gyration on weight to jib and pump truck chassis can calculate based on the data in real time of jib angular transducer; Can be user's input value also, so the anti-tipping judgement in the present embodiment can be carried out to different constantly.Additionally, if carry out anti-tipping judgement in real time, the bearing force sensor can be set on the supporting leg of support system, according to the stressed center of gravity that calculates construction machinery and equipment of supporting leg, the line stabilization property of going forward side by side judgement.
In the lift heavy process, the continuous Information Monitoring of each sensor, and based on user's input information, controller continues to judge and early warning, guarantees that the lift heavy operation accomplishes under the situation that jib intensity and whole vehicle stability all allow.
Be described in detail in the face of the derricking gear that is arranged on the pumping vehicle arm rack in the present embodiment down.
For guaranteeing to adapt to the lift heavy of various operating modes, the quantity of derricking gear does not limit.Said derricking gear form can have multiple, for example can be cellular type derricking gear, removable derricking gear, pulley-type derricking gear.
As shown in Figure 4, be the cellular type derricking gear, it mainly includes one porose bearing plate 402 is set, and bearing plate 402 directly is welded on the jib, and the effect that articulates weight is played in the hole on the bearing plate 402.
As shown in Figure 5, be removable derricking gear, it comprises locating plate 502 and 504 two parts of weight body.Locating plate 502 is welded on the jib; In order to restriction weight body 504 moving on jib, weight body 504 detachably is installed on the locating plate 502 through bolt, and weight body 504 is provided with the hole; Be used for hoisting heavy, it steadily is installed between the locating plate when the lift heavy operation.
As shown in Figure 6, be the pulley-type derricking gear, it mainly is made up of pulley 602, steel cable 604 and suspension hook 606.Said pulley 602 is pre-installed on jib; Said steel cable 604 and suspension hook 606 dispensing when pump truck dispatches from the factory, suspension hook 606 can articulate weight, and pulley 602 1 end connecting shackles 606; The other end can connect hoisting mechanism, with the position of moving the weight that is articulated on the suspension hook 606 through pulling steel cable 604.
In sum, through above technical scheme, can realize a kind of construction machinery and equipment, advantage is: utilize articulated boom, can carry out hoisting operation in the unapproachable narrow and small zone of telescopic boom; Rationally utilize the load-carrying ability of pump truck, expand the function of pump truck; Can prevent that jib from transshipping and pump truck is tumbled.
The above is merely 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 changes and variation.All within spirit of the present invention and principle, any modification of being done, be equal to replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (9)
1. a construction machinery and equipment is characterized in that, comprises engineering machinery chassis; Be installed in support system, pumparound and boom system on the said engineering machinery chassis; At least one derricking gear is installed on said boom system, and the lifting safety control system, wherein:
Support system is used to support said engineering machinery chassis;
Pumparound is used for pump concrete;
Boom system; Comprise pivotally attached more piece jib in order; On said jib, be provided with the delivery pipe that is used for delivering concrete, said boom system can turn round action with respect to said engineering machinery chassis, and can fold and launch action between the said more piece jib;
Derricking gear is installed in and is used to articulate weight on the said jib, the action through said jib with said weight handling to the desired location;
The lifting safety control system is used for according to weight of heavy, and the heavy burden parameter of boom system and the support scope of support system are carried out safety control to the lifting operation of weight.
2. construction machinery and equipment according to claim 1 is characterized in that, said lifting safety control system comprises lifting force sensor and controller, and said lifting force sensor is arranged on and is used to detect said weight of heavy on the said derricking gear; Said controller is used for according to the said weight of heavy and the heavy burden upper limit of the jib that articulates said weight the lifting operation of weight being carried out safety control.
3. construction machinery and equipment according to claim 2; It is characterized in that; Said controller also is used for according to said weight of heavy; And the distance of the center of gyration of said weight to said boom system and said engineering machinery chassis confirms the heavy burden moment of said boom system, and according to the moment upper limit of said heavy burden moment and said boom system the lifting operation of weight carried out safety control.
4. construction machinery and equipment according to claim 2; It is characterized in that; Said controller also is used for according to said weight of heavy; And the attitude of said boom system confirms the whole center of gravity of said construction machinery and equipment, and according to the support scope of said whole center of gravity and said support system the lifting operation of weight carried out safety control.
5. construction machinery and equipment according to claim 4 is characterized in that, said lifting safety control system also comprises the jib angular transducer, is used to detect the rotational angle of said more piece jib, to confirm the attitude of said boom system.
6. construction machinery and equipment according to claim 4; It is characterized in that; Said lifting safety control system also comprises supporting leg linear transducer and/or supporting leg angular transducer; Be used to detect said support system supporting leg extension elongation and/or arrange angle, said controller according to the extension elongation of said supporting leg with/arrange angle, calculate the support scope of said support system.
7. construction machinery and equipment according to claim 4; It is characterized in that; Said lifting safety control system also comprises the bearing force sensor; Be used to detect the bearing force of each supporting leg of said support system, said controller calculates the whole center of gravity of said construction machinery and equipment of said current time and said weight according to the support scope of the said bearing force and the said support system of each supporting leg.
8. construction machinery and equipment according to claim 3; It is characterized in that; The target that said controller is provided with according to the user is hung and is sent the position, confirms that said weight is hung and deliver to said target to hang when sending the position distance of the center of gyration of said weight to said boom system and said engineering machinery chassis.
9. according to each described construction machinery and equipment in the claim 1 to 8, it is characterized in that said derricking gear is one of cellular type derricking gear, removable derricking gear and pulley-type derricking gear or combination; The cellular type derricking gear comprises bearing plate, and said bearing plate is welded on the jib of said boom system, and said bearing plate is provided with the hole; Removable derricking gear comprises locating plate and weight body, and wherein, said locating plate is welded on the jib of said boom system, and said weight body detachably is connected on the said locating plate, and said weight body is provided with the hole; The pulley-type derricking gear; Comprise one or more pulleys, steel cable, suspension hook; Said one or more pulley can be rotatably set on the jib of said boom system; Said steel cable is walked around said one or more pulley, and an end of said steel cable connects said suspension hook, and the other end is connected the hoisting mechanism on the construction machinery and equipment.
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| CN105000478A (en) * | 2015-07-16 | 2015-10-28 | 柳州首光科技有限公司 | Lifting mechanism for engineering machinery |
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| CN108867747A (en) * | 2018-09-10 | 2018-11-23 | 徐工集团工程机械有限公司 | Engineer machinery operation cantilever crane self-return regulating system, method and engineering machinery |
| CN109534247A (en) * | 2019-01-04 | 2019-03-29 | 湖南五新隧道智能装备股份有限公司 | A kind of tunnel arch installation vehicle |
| 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 |
| CN114687561A (en) * | 2020-12-31 | 2022-07-01 | 三一汽车制造有限公司 | Method and device for controlling working machine and working machine |
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| CN105000478A (en) * | 2015-07-16 | 2015-10-28 | 柳州首光科技有限公司 | Lifting mechanism for engineering machinery |
| CN107840285A (en) * | 2017-12-03 | 2018-03-27 | 湖南星邦重工有限公司 | A kind of aerial work platform and arm support control system and method |
| 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 |
| CN112004977B (en) * | 2018-03-16 | 2022-06-14 | 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 |
| CN108867747A (en) * | 2018-09-10 | 2018-11-23 | 徐工集团工程机械有限公司 | Engineer machinery operation cantilever crane self-return regulating system, method and engineering machinery |
| CN108867747B (en) * | 2018-09-10 | 2023-10-03 | 江苏徐工工程机械研究院有限公司 | Automatic return adjusting system and method for engineering machinery operation arm support and engineering machinery |
| CN109534247A (en) * | 2019-01-04 | 2019-03-29 | 湖南五新隧道智能装备股份有限公司 | A kind of tunnel arch installation vehicle |
| CN114687561A (en) * | 2020-12-31 | 2022-07-01 | 三一汽车制造有限公司 | Method and device for controlling working machine and working machine |
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| CN102774757B (en) | 2015-05-06 |
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