CN103114727A - Method, device and system for controlling motion of tail end of boom and multi-section boom vehicle - Google Patents
Method, device and system for controlling motion of tail end of boom and multi-section boom vehicle Download PDFInfo
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- CN103114727A CN103114727A CN2013100457987A CN201310045798A CN103114727A CN 103114727 A CN103114727 A CN 103114727A CN 2013100457987 A CN2013100457987 A CN 2013100457987A CN 201310045798 A CN201310045798 A CN 201310045798A CN 103114727 A CN103114727 A CN 103114727A
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Abstract
The invention provides a motion control method, a device and a system of a tail end of an arm support and a multi-section arm support vehicle. The method is applied to a multi-section arm support vehicle and comprises the following steps: receiving movement rate indication information of the tail end of the arm support sent by an operator through a remote controller; wherein, the remote controller is positioned on a preset track or an extension line of the track; acquiring the position information of the tail end of the arm support and the position information of a remote controller; determining a motion azimuth angle of the tail end of the arm support according to the position information of the tail end of the arm support and the position information of the remote controller; and controlling the rotating speed of each arm support and the rotating speed of the large arm according to the movement rate and the movement azimuth angle in the movement rate indication information, so that the tail end of the arm support moves along the track. The invention solves the problems of wrong control and instability of the motion of the tail end of the arm support when each arm support and the rotary table are respectively controlled to rotate by adopting a trial-and-error method in the related art, and further improves the working efficiency.
Description
Technical field
The present invention relates to engineering machinery field, more specifically, relate to a kind of motion control method, device, system and single oil cylinder frame vehicle of arm support tail end.
Background technology
Flourish along with fields such as builing industry, high ferros, the various Construction traffics with jib equipment are widely used.Usually has the more piece jib at this class vehicle.This jib equipment generally includes interconnective more piece jib, is connected with arm support oil cylinder between adjacent jib, and this arm support oil cylinder can drive two adjacent jibs that are connected with this arm support oil cylinder and work as angle around the connecting axle rotating photo of these two adjacent jibs.Simultaneously, this jib Whole Equipment is fixed on support by turntable, and the jib Whole Equipment can carry out around the vertical pivot perpendicular to horizontal plane the rotation of 360 degree under the drive of turntable.This jib equipment common are pump truck, fire fighting truck etc., and take pump truck as example, pump truck is used for object is moved to another place from the three unities, and object is sling as construction equipment.
At present, above-mentioned jib equipment is widely used in various job sites and carries out concreting and other similar work.A kind of Construction traffic that typically has jib equipment is concrete mixer, and this vehicle carries out concrete pouring construction in the job site that needs concreting according to manipulation request.When jib equipment is used for concreting and other similar applications, its control is had higher requirement, especially need to control accurately the position of its jib end.
for the ease of controlling the position of jib end, designed a kind of remote controller in prior art, the structural representation of remote controller as shown in Figure 1, wherein, control stick 102 on remote controller 101 has a plurality of, the corresponding every joint jib of difference and jib turntable, the operator uses control stick 102 respectively every joint jib to be sent rotation direction and slewing rate control instruction, the jib turntable is sent direction of rotation and speed of rotation control instruction, above-mentioned jib and the jib turntable of respectively saving carried out corresponding motion according to instruction, obtain movement locus and the movement rate of arm support tail end after these movement combinations.Also can utilize the hydraulic valve operating grip to replace remote controller to send above-mentioned control instruction, and it is identical with remote controller to control result.
For realizing arm support tail end according to track and the speed motion of expectation, aforesaid operations person need to operate rotation direction and the slewing rate of every joint jib simultaneously, and operates simultaneously direction and the speed of the rotation of jib turntable.This needs the operator to calculate direction of rotation and the speed of the rotation direction of every joint jib and speed, jib turntable from known arm support tail end movement locus and speed.This is a complex calculations process, and operator's technical ability, working experience and alert and resourceful reflection degree are had relatively high expectations.Therefore in actual mechanical process, the operator needs the method operation jib by trial and error usually, often cause the control of arm support tail end movement locus and speed to go wrong in the trial and error process, thereby cause dangerous working condition and concrete waste problem, and then caused the low of operating efficiency.
Utilize trial-and-error method to control respectively control mistake and the unsettled problem that there be the arm support tail end motion in each joint jib and turntable rotation for aforesaid operations person, not yet propose at present effective solution.
Summary of the invention
The object of the invention is to provide a kind of motion control method, device, system and single oil cylinder frame vehicle of arm support tail end, with the accuracy of the arm support tail end operation that improves single oil cylinder frame vehicle.
According to an aspect of the present invention, provide a kind of motion control method of arm support tail end, be applied on single oil cylinder frame vehicle, the method comprises: the movement rate indication information that receives the arm support tail end that the operator sends by remote controller; Wherein, this remote controller is positioned on predefined track or on the extended line of track; Obtain the positional information of arm support tail end and the positional information of remote controller; Determine the motion azimuth of arm support tail end according to the positional information of the positional information of arm support tail end and remote controller; Respectively save the rotary speed of jib and the speed of gyration of large arm according to the movement rate in the movement rate indication information and motion azimuth control, make arm support tail end along orbiting motion.
Preferably, above-mentioned positional information and the positional information of the remote controller motion azimuth of determining arm support tail end according to arm support tail end comprises: the motion azimuth that arm support tail end is set
Wherein, (X
B, Y
B) be the position coordinates of arm support tail end, (X
S, Y
S) be the position coordinates of remote controller.
According to a further aspect in the invention, provide a kind of motion control device of arm support tail end, be applied to comprise on single oil cylinder frame vehicle: speed indication receiver module is used for receiving the movement rate indication information of the arm support tail end that the operator sends by remote controller; Remote controller is positioned on predefined track or on the extended line of track; Position information acquisition module is used for obtaining the positional information of arm support tail end and the positional information of remote controller; Motion azimuth determination module, the positional information that is used for the positional information of the arm support tail end that obtains according to position information acquisition module and remote controller is determined the motion azimuth of arm support tail end; Motion-control module, movement rate and the definite motion azimuth of determination module, motion azimuth for the movement rate indication information that receives according to speed indication receiver module, control respectively saves the rotary speed of jib and the speed of gyration of large arm, makes arm support tail end along orbiting motion.
Preferably, above-mentioned position information acquisition module comprises: the primary importance acquiring unit is used for obtaining by being arranged on primary importance checkout gear on arm support tail end the position coordinates of arm support tail end; Second place acquiring unit is used for obtaining by being arranged on second place checkout gear on remote controller the position coordinates of remote controller.
Preferably, above-mentioned motion azimuth determination module comprises: the azimuth setting unit is used for arranging the motion azimuth of arm support tail end
Wherein, (X
B, Y
B) be the position coordinates of arm support tail end, (X
S, Y
S) be the position coordinates of remote controller.
According to another aspect of the invention, a kind of kinetic control system of arm support tail end is provided, be applied on single oil cylinder frame vehicle, it is characterized in that, comprise: be arranged on the remote controller on the extended line of predefined track or track, be used for the movement rate indication information of the arm support tail end of reception operator input, and send the movement rate indication information; Be arranged on the primary importance checkout gear on arm support tail end, for detection of and send the positional information of arm support tail end; Be arranged on the second place checkout gear on remote controller, for detection of and send the positional information of remote controller; Controller, be used for receiving the movement rate indication information that remote controller sends, and receive the positional information of the arm support tail end that the primary importance checkout gear sends and the positional information of the remote controller that second place checkout gear sends, and determine the motion azimuth of arm support tail end according to the positional information of the positional information of arm support tail end and remote controller; Respectively save the rotary speed of jib and the speed of gyration of large arm according to the movement rate in the movement rate indication information and motion azimuth control, make arm support tail end along orbiting motion.
Preferably, said system also comprises the jig that is arranged on arm support tail end, is used for fixedly primary importance checkout gear.
Preferably, above-mentioned primary importance checkout gear and second place checkout gear are global position system GPS sensor or local positioning sensor.
In accordance with a further aspect of the present invention, provide a kind of single oil cylinder frame vehicle, this single oil cylinder frame vehicle comprises said system.
Preferably, above-mentioned single oil cylinder frame vehicle is pump truck.
The present invention can determine the motion azimuth of arm support tail end by the positional information of obtaining remote controller and arm support tail end, simultaneously can automatically control the rotary speed that respectively saves jib and the speed of gyration of large arm according to the jib movement rate that receives, so that arm support tail end is along predefined orbiting motion, guaranteed the accuracy of arm support tail end operation, solved and adopted trial-and-error method to control respectively each joint jib in the correlation technique and the turntable rotation exists control mistake and the unsettled problem of arm support tail end motion, and then improved operating efficiency.
Description of drawings
The accompanying drawing that consists of the application's a part is used to provide a further understanding of the present invention, and illustrative examples of the present invention and explanation thereof are used for explaining the present invention, do not consist of improper restriction of the present invention.In the accompanying drawings:
Fig. 1 is the structural representation according to the remote controller of correlation technique;
Fig. 2 is the motion control method flow chart according to the arm support tail end of the embodiment of the present invention;
Fig. 3 is the structural representation according to the kinetic control system of the arm support tail end of the embodiment of the present invention;
Fig. 4 is the structural representation according to the pumping vehicle arm rack of the embodiment of the present invention;
Fig. 5 is the structural representation according to two joint jibs of the embodiment of the present invention;
Fig. 6 is the structured flowchart according to the motion control device of the arm support tail end of the embodiment of the present invention; And
Fig. 7 is the kinetic control system structured flowchart according to the arm support tail end of the embodiment of the present invention.
The specific embodiment
Hereinafter also describe in conjunction with the embodiments the present invention in detail with reference to accompanying drawing.Need to prove, in the situation that do not conflict, embodiment and the feature in embodiment in the application can make up mutually.
Consider that the operator utilizes trial-and-error method to control respectively each joint jib and the turntable rotation can bring control mistake and the instability problem of arm support tail end motion, the embodiment of the present invention provides a kind of motion control method, device, system and single oil cylinder frame vehicle of arm support tail end.Be described below by specific embodiment.
The motion control method flow chart of arm support tail end as shown in Figure 2, the method are applied to specifically can be applied in the controller of more piece jib on single oil cylinder frame vehicle, and it comprises the following steps:
Step S202 receives the movement rate indication information of the arm support tail end that the operator sends by remote controller; Wherein, the remote controller of the present embodiment is positioned on predefined track or on the extended line of this track; This predefined track is the running orbit according to arm support tail end the best of construction requirement setting; The remote controller of the present embodiment can only have an operating grip, and the operator by this operating grip, the movement rate indication information of above-mentioned arm support tail end can occur;
Carry the movement rate of arm support tail end in the movement rate indication information of the present embodiment, this movement rate is that the operator arranges according to construction requirement;
Step S204 obtains the positional information of arm support tail end and the positional information of remote controller; The position coordinates of the arm support tail end that for example, can obtain by the primary importance checkout gear that is arranged on arm support tail end; The position coordinates of the remote controller that obtains by the second place checkout gear that is arranged on remote controller;
First or second place checkout gear can be GPS(Global Positioning System, global positioning system) sensor or local positioning sensor;
Preferably, above-mentioned primary importance checkout gear is arranged on arm support tail end by jig;
Step S206 determines the motion azimuth of arm support tail end according to the positional information of the positional information of arm support tail end and remote controller;
In the present embodiment, the motion azimuth of arm support tail end is set
Wherein, (X
B, Y
B) be the position coordinates of arm support tail end, (X
S, Y
S) be the position coordinates of remote controller;
Step S208 respectively saves the rotary speed of jib and the speed of gyration of large arm according to the movement rate in above-mentioned movement rate indication information and motion azimuth control, makes arm support tail end along above-mentioned predefined orbiting motion.
Wherein, the above-mentioned steps S202 of the present embodiment and step S204 do not have sequencing.
The method of the present embodiment can be determined the motion azimuth of arm support tail end by the positional information of obtaining remote controller and arm support tail end, simultaneously can automatically control the rotary speed that respectively saves jib and the speed of gyration of large arm according to the jib movement rate that receives, so that arm support tail end is along predefined orbiting motion, guaranteed the accuracy of arm support tail end operation, solved and adopted trial-and-error method to control respectively each joint jib in the correlation technique and the turntable rotation exists control mistake and the unsettled problem of arm support tail end motion, and then improved operating efficiency.
The structural representation of the kinetic control system of arm support tail end as shown in Figure 3, wherein, utilizing jig 303 that GPS position sensor 304, the one GPS position sensors 304 are installed at the end of jib 301 can be the position coordinates (X of arm support tail end
B, Y
B) send in arm rest controller.Position coordinates (the X that the 2nd GPS position sensor 306, the two GPS position sensors 306 are used for measuring remote controller 305 is installed on remote controller 305
S, Y
S), operating grip 307 is installed on remote controller 305, the operator utilizes this handle to send the instruction of arm support tail end movement rate, the method that the 2nd GPS position sensor 306 utilizes radio communication sends to the position coordinates of remote controller on arm rest controller, remote controller 305 also can utilize the method for radio communication that the arm support tail end speed command is sent on arm rest controller, also comprise in this figure: arm support tail end flexible pipe 302, expectation cloth track 308, and extended line 309.Based on system shown in Figure 3, to be applied in concreting as example, the concrete control procedure of arm support tail end comprises: before cloth begins, first regulate the jib terminal position and arm support tail end flexible pipe 302 is placed on the original position of cloth track, the operator carries remote controller 305 and stands on the extended line 309 of expecting cloth track 308.Arm rest controller is receiving arm support tail end position coordinates (X
B, Y
B) and the position coordinates (X of remote controller
S, Y
S) after, can calculate the arm support tail end motion azimuth of expectation:
After arm rest controller obtains above-mentioned azimuth and receives the arm support tail end movement rate instruction that comes from remote controller, can utilize these two parameters adjustings respectively to save the rotary speed of jib and the speed of gyration of large arm, and then realize the motion of arm support tail end is controlled, make arm support tail end carry out rectilinear motion according to the cloth track 208 of expectation.
The structural representation of pumping vehicle arm rack as shown in Figure 4, wherein, comprise: the jib track 405 of pump truck vehicle body 401, jib turntable 402, the jib extended line 404 in horizontal plane, expectation at the projection 403 on horizontal plane, jib, the length of the projection of jib 403 on horizontal plane is L, the angle theta of jib extended line and arm support tail end desired trajectory (utilizing the preceding method gained); The desired speed of arm support tail end is v, and the component of this speed v on jib extended line direction is v
y, with jib horizontal plane projection vertical direction on component be v
xHave
v
x=vsin(θ)
v
y=vcos(θ)
This moment, jib need be around the rotating angular velocity of jib turntable 402:
The below describes as an example of the structural representation of two joint jibs shown in Figure 5 example, wherein, comprise: horizon 501, jib first segment (hereinafter to be referred as arm one) 502, jib second section (being designated hereinafter simply as arm two) 503, the gyroaxis 504 of jib first segment, the gyroaxis 505 of jib second section, the length of arm one is L
1, arm one is α with the angle of horizontal plane, the length of arm two is L
2, arm two is β with the angle of arm one.Arm one is around the speed of gyration v of its gyroaxis 504
αWith the speed of gyration v of arm two around its gyroaxis 505
βBe respectively:
By controlling above-mentioned three speed v
θ, v
α, v
β, control the pump truck arm support tail end along the speed operation of track to expect of expectation.
Utilizing during said apparatus and method send the method for arm support tail end movement locus and speed instruction, the operator need not according to the arm support tail end movement locus of expectation and speed is resolved and operate separately every joint jib and turntable, operator's calculating and operating process have been simplified, and reduced possibility to the jib maloperation, reduced the dangerous of work and to the waste of material, increment operating efficiency.
Corresponding to said method, the embodiment of the present invention also provides a kind of motion control device of arm support tail end, this is applied on single oil cylinder frame vehicle, particularly, this device can be arranged in above-mentioned arm rest controller, the structured flowchart of the motion control device of arm support tail end as shown in Figure 6, this device comprise with lower module:
Speed indication receiver module 62 is used for receiving the movement rate indication information of the arm support tail end that the operator sends by remote controller; More remote controller is positioned on predefined track or on the extended line of this track;
Position information acquisition module 64 is used for obtaining the positional information of arm support tail end and the positional information of remote controller;
Motion azimuth determination module 66, the positional information that is used for the positional information of the arm support tail end that obtains according to position information acquisition module 64 and remote controller is determined the motion azimuth of arm support tail end;
Motion-control module 68, be used for the movement rate of the movement rate indication information that receives according to speed indication receiver module 62 and the motion azimuth that motion azimuth determination module 66 is determined, control respectively saves the rotary speed of jib and the speed of gyration of large arm, makes arm support tail end along above-mentioned predefined orbiting motion.
The device of the present embodiment can be determined the motion azimuth of arm support tail end by the positional information of obtaining remote controller and arm support tail end, simultaneously can automatically control the rotary speed that respectively saves jib and the speed of gyration of large arm according to the jib movement rate that receives, so that arm support tail end is along predefined orbiting motion, guaranteed the accuracy of arm support tail end operation, solved and adopted trial-and-error method to control respectively each joint jib in the correlation technique and the turntable rotation exists control mistake and the unsettled problem of arm support tail end motion, and then improved operating efficiency.
Wherein, position information acquisition module 64 comprises: the primary importance acquiring unit, for the position coordinates of the arm support tail end that obtains by the primary importance checkout gear that is arranged on arm support tail end; Second place acquiring unit is for the position coordinates of the remote controller that obtains by the second place checkout gear that is arranged on remote controller.
Preferably, the azimuth determination module 66 that moves comprises: the azimuth setting unit, and for the motion azimuth that arm support tail end is set
Wherein, (X
B, Y
B) be the position coordinates of arm support tail end, (X
S, Y
S) be the position coordinates of remote controller.
Corresponding to said method and device, the embodiment of the present invention also provides a kind of kinetic control system of arm support tail end, and this is applied on single oil cylinder frame vehicle, the kinetic control system structured flowchart of arm support tail end as shown in Figure 7, and this system comprises following device:
Be positioned at the remote controller 72 on the extended line of predefined track or track, be used for receiving the movement rate indication information of the arm support tail end of operator's input,
Be arranged on the primary importance checkout gear 74 on arm support tail end, for detection of and send the positional information of arm support tail end;
Be arranged on the second place checkout gear 76 on remote controller 72, for detection of and send the positional information of remote controller 72;
Controller 78, be used for receiving the movement rate indication information that remote controller 72 sends, and receive the positional information of the arm support tail end that primary importance checkout gear 74 sends and the positional information of the remote controller that second place checkout gear 76 sends, and determine the motion azimuth of arm support tail end according to the positional information of the positional information of arm support tail end and remote controller; Respectively save the rotary speed of jib and the speed of gyration of large arm according to the movement rate in the movement rate indication information and motion azimuth control, make arm support tail end along above-mentioned orbiting motion.
Preferably, this system also comprises the jig that is arranged on arm support tail end, is used for fixedly primary importance checkout gear 74.
Wherein, above-mentioned primary importance checkout gear 74 and second place checkout gear 76 are GPS sensor or local positioning sensor.
Corresponding to said method, device and system, the embodiment of the present invention also provides a kind of single oil cylinder frame vehicle, and this single oil cylinder frame vehicle comprises said system.This single oil cylinder frame vehicle can be the equipment such as pump truck or fire fighting truck.
As can be seen from the above description, movement locus and speed that the operator of the above embodiments of the present invention can expect arm support tail end accurately send to arm rest controller, avoided the method input expectation instruction by calculating and trial and error, operator's calculating and operating process have been simplified, and reduced possibility to the jib maloperation, reduce the dangerous of work and to the waste of material, promoted operating efficiency.
obviously, those skilled in the art should be understood that, above-mentioned each module of the present invention or each step can realize with general calculation element, they can concentrate on single calculation element, perhaps be distributed on the network that a plurality of calculation elements form, alternatively, they can be realized with the executable program code of calculation element, thereby, they can be stored in storage device and be carried out by calculation element, and in some cases, can carry out step shown or that describe with the order that is different from herein, perhaps they are made into respectively each integrated circuit modules, perhaps a plurality of modules in them or step being made into the single integrated circuit module realizes.Like this, the present invention is not restricted to any specific hardware and software combination.
The above is only 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 modifications and variations.Within the spirit and principles in the present invention all, any modification of doing, be equal to replacement, improvement etc., within all should being included in protection scope of the present invention.
Claims (10)
1. the motion control method of an arm support tail end, be applied to it is characterized in that on single oil cylinder frame vehicle, comprising:
Receive the movement rate indication information of the arm support tail end that the operator sends by remote controller; Wherein, described remote controller is positioned on predefined track or on the extended line of described track;
Obtain the positional information of described arm support tail end and the positional information of described remote controller;
Determine the motion azimuth of described arm support tail end according to the positional information of the positional information of described arm support tail end and described remote controller;
Respectively save the rotary speed of jib and the speed of gyration of large arm according to the movement rate in described movement rate indication information and described motion azimuth control, make described arm support tail end along described orbiting motion.
2. method according to claim 1, is characterized in that, determines that according to the positional information of the positional information of described arm support tail end and described remote controller the motion azimuth of described arm support tail end comprises:
The motion azimuth of described arm support tail end is set
Wherein, (X
B, Y
B) be the position coordinates of described arm support tail end, (X
S, Y
S) be the position coordinates of described remote controller.
3. the motion control device of an arm support tail end, be applied to it is characterized in that on single oil cylinder frame vehicle, comprising:
Speed indication receiver module is used for receiving the movement rate indication information of the arm support tail end that the operator sends by remote controller; Described remote controller is positioned on predefined track or on the extended line of described track;
Position information acquisition module is used for obtaining the positional information of described arm support tail end and the positional information of described remote controller;
Motion azimuth determination module, the positional information that is used for the positional information of the described arm support tail end that obtains according to described position information acquisition module and described remote controller is determined the motion azimuth of described arm support tail end;
Motion-control module, be used for movement rate and the definite described motion azimuth of determination module, described motion azimuth according to the described movement rate indication information of described speed indication receiver module reception, control respectively saves the rotary speed of jib and the speed of gyration of large arm, makes described arm support tail end along described orbiting motion.
4. device according to claim 3, is characterized in that, described position information acquisition module comprises:
The primary importance acquiring unit is used for obtaining by being arranged on primary importance checkout gear on described arm support tail end the position coordinates of described arm support tail end;
Second place acquiring unit is used for obtaining by being arranged on second place checkout gear on described remote controller the position coordinates of described remote controller.
5. device according to claim 4, is characterized in that, described motion azimuth determination module comprises:
The azimuth setting unit is for the motion azimuth that described arm support tail end is set
Wherein, (X
B, Y
B) be the position coordinates of described arm support tail end, (X
S, Y
S) be the position coordinates of described remote controller.
6. the kinetic control system of an arm support tail end, be applied to it is characterized in that on single oil cylinder frame vehicle, comprising:
Be arranged on the remote controller on the extended line of predefined track or described track, be used for receiving the movement rate indication information of the arm support tail end of operator's input, and send described movement rate indication information;
Be arranged on the primary importance checkout gear on described arm support tail end, for detection of and send the positional information of described arm support tail end;
Be arranged on the second place checkout gear on described remote controller, for detection of and send the positional information of described remote controller;
Controller, be used for receiving the described movement rate indication information that described remote controller sends, and receive the positional information of the described arm support tail end that described primary importance checkout gear sends and the positional information of the described remote controller that described second place checkout gear sends, and determine the motion azimuth of described arm support tail end according to the positional information of the positional information of described arm support tail end and described remote controller; Respectively save the rotary speed of jib and the speed of gyration of large arm according to the movement rate in described movement rate indication information and described motion azimuth control, make described arm support tail end along described orbiting motion.
7. system according to claim 6, is characterized in that, described system also comprises the jig that is arranged on described arm support tail end, is used for fixing described primary importance checkout gear.
8. system according to claim 6, is characterized in that, described primary importance checkout gear and described second place checkout gear are global position system GPS sensor or local positioning sensor.
9. a single oil cylinder frame vehicle, is characterized in that, described single oil cylinder frame vehicle comprises in claim 6 to 8 any one described system.
10. single oil cylinder frame vehicle according to claim 9, is characterized in that, described single oil cylinder frame vehicle is pump truck.
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|---|---|---|---|
| CN201310045798.7A CN103114727B (en) | 2013-02-05 | 2013-02-05 | Method, device and system for controlling motion of tail end of boom and multi-section boom vehicle |
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| CN201310045798.7A CN103114727B (en) | 2013-02-05 | 2013-02-05 | Method, device and system for controlling motion of tail end of boom and multi-section boom vehicle |
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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 |
| CN106481080A (en) * | 2016-08-29 | 2017-03-08 | 北汽福田汽车股份有限公司 | For the control method of pump truck rotation of rotary table, control device and pump truck |
| CN107700845A (en) * | 2017-08-25 | 2018-02-16 | 中国铁建重工集团有限公司 | A kind of concrete spreader and circular distributing method |
| CN109972843A (en) * | 2019-04-19 | 2019-07-05 | 长沙赛搏机器智能有限公司 | Arm support tail end hose control device, concrete pouring robot and concrete pumping equipment |
| CN111352448A (en) * | 2020-03-16 | 2020-06-30 | 湖南响箭重工科技有限公司 | Pump truck arm support follow-up control system and control method |
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