CN103806667B - 一种混凝土泵车及臂架控制方法与控制装置 - Google Patents
一种混凝土泵车及臂架控制方法与控制装置 Download PDFInfo
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- CN103806667B CN103806667B CN201410038191.0A CN201410038191A CN103806667B CN 103806667 B CN103806667 B CN 103806667B CN 201410038191 A CN201410038191 A CN 201410038191A CN 103806667 B CN103806667 B CN 103806667B
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- Prior art keywords
- jib
- joint arm
- arm
- signal
- angle
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
- E04G21/02—Conveying or working-up concrete or similar masses able to be heaped or cast
- E04G21/04—Devices for both conveying and distributing
- E04G21/0418—Devices for both conveying and distributing with distribution hose
- E04G21/0445—Devices for both conveying and distributing with distribution hose with booms
- E04G21/0463—Devices for both conveying and distributing with distribution hose with booms with boom control mechanisms, e.g. to automate concrete distribution
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- On-Site Construction Work That Accompanies The Preparation And Application Of Concrete (AREA)
- Jib Cranes (AREA)
- Operation Control Of Excavators (AREA)
Abstract
Description
Claims (9)
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201410038191.0A CN103806667B (zh) | 2014-01-26 | 2014-01-26 | 一种混凝土泵车及臂架控制方法与控制装置 |
PCT/CN2015/070991 WO2015109976A1 (zh) | 2014-01-26 | 2015-01-19 | 一种混凝土泵车及臂架控制方法与控制装置 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201410038191.0A CN103806667B (zh) | 2014-01-26 | 2014-01-26 | 一种混凝土泵车及臂架控制方法与控制装置 |
Publications (2)
Publication Number | Publication Date |
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CN103806667A CN103806667A (zh) | 2014-05-21 |
CN103806667B true CN103806667B (zh) | 2015-12-30 |
Family
ID=50704011
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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CN201410038191.0A Active CN103806667B (zh) | 2014-01-26 | 2014-01-26 | 一种混凝土泵车及臂架控制方法与控制装置 |
Country Status (2)
Country | Link |
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CN (1) | CN103806667B (zh) |
WO (1) | WO2015109976A1 (zh) |
Families Citing this family (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN103806667B (zh) * | 2014-01-26 | 2015-12-30 | 三一汽车制造有限公司 | 一种混凝土泵车及臂架控制方法与控制装置 |
DE102016106427B3 (de) * | 2016-04-08 | 2017-03-23 | Reschwitzer Saugbagger Produktions Gmbh | Verfahren zur Steuerung der Bewegung eines Gelenkschlauchträgers eines Saugbaggers |
CN106150101B (zh) * | 2016-08-19 | 2018-08-07 | 北汽福田汽车股份有限公司 | 臂架的控制器、控制系统、控制方法及泵车 |
DE102016125145A1 (de) * | 2016-12-21 | 2018-06-21 | Schwing Gmbh | Großmanipulator mit automatisiertem Mastaufbau |
CN107520838B (zh) * | 2017-08-21 | 2020-05-29 | 珠海格力电器股份有限公司 | 机械手臂及其控制方法和装置 |
DE102019105814A1 (de) | 2019-03-07 | 2020-09-10 | Liebherr-Mischtechnik Gmbh | Gelenkarm-Steuerung einer Betonpumpe |
DE102019105817A1 (de) | 2019-03-07 | 2020-09-10 | Liebherr-Mischtechnik Gmbh | Gelenkarm-Steuerung einer Betonpumpe |
DE102019105871A1 (de) | 2019-03-07 | 2020-09-10 | Liebherr-Mischtechnik Gmbh | Gelenkarm-Steuerung einer Betonpumpe |
CN111754141B (zh) * | 2020-08-06 | 2024-03-01 | 湖南库特智能科技有限公司 | 一种泵车多臂协同控制方法及系统 |
CN112115929B (zh) * | 2020-11-23 | 2021-03-02 | 国网瑞嘉(天津)智能机器人有限公司 | 一种作业臂架移动位姿的确定方法、装置及存储介质 |
CN112784428B (zh) * | 2021-01-29 | 2023-03-17 | 华中科技大学鄂州工业技术研究院 | 一种基于dh参数的混凝土泵车拉格朗日动力学建模方法 |
CN114756063A (zh) * | 2022-03-30 | 2022-07-15 | 徐州徐工施维英机械有限公司 | 一种臂架轨迹规划的控制方法及泵车 |
Family Cites Families (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP4120905B2 (ja) * | 1999-03-31 | 2008-07-16 | 石川島建機株式会社 | ブーム付コンクリートポンプ車の運転制御装置 |
CN100591880C (zh) * | 2006-12-31 | 2010-02-24 | 三一重工股份有限公司 | 一种智能臂架控制装置 |
CN101487343B (zh) * | 2009-01-14 | 2011-01-19 | 三一重工股份有限公司 | 一种混凝土泵车的控制方法、装置及系统 |
CN201406841Y (zh) * | 2009-03-31 | 2010-02-17 | 北京易斯路电子有限公司 | 混凝土泵车智能臂架控制系统 |
JP2011074712A (ja) * | 2009-10-01 | 2011-04-14 | Ihi Construction Machinery Ltd | ブーム付きコンクリートポンプ車の残留コンクリート処理方法及び装置 |
CN101893900B (zh) * | 2010-06-29 | 2012-07-04 | 三一重工股份有限公司 | 工程机械及其臂架控制系统 |
CN103233581B (zh) * | 2013-02-08 | 2016-07-06 | 上海格尼特控制技术有限公司 | 一种混凝土臂架泵车的控制方法 |
CN103806667B (zh) * | 2014-01-26 | 2015-12-30 | 三一汽车制造有限公司 | 一种混凝土泵车及臂架控制方法与控制装置 |
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2014
- 2014-01-26 CN CN201410038191.0A patent/CN103806667B/zh active Active
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2015
- 2015-01-19 WO PCT/CN2015/070991 patent/WO2015109976A1/zh active Application Filing
Also Published As
Publication number | Publication date |
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WO2015109976A1 (zh) | 2015-07-30 |
CN103806667A (zh) | 2014-05-21 |
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C14 | Grant of patent or utility model | ||
GR01 | Patent grant | ||
PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of invention: Concrete pump truck and cantilever crane control method and device Effective date of registration: 20161101 Granted publication date: 20151230 Pledgee: Hunan Sany Road Machinery Co., Ltd. Pledgor: SANY Automobile Manufacturing Co., Ltd. Registration number: 2016430000042 |
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Date of cancellation: 20211126 Granted publication date: 20151230 Pledgee: HUNAN SANY ROAD MACHINERY Co.,Ltd. Pledgor: Sany Automobile Manufacturing Co.,Ltd. Registration number: 2016430000042 |