CN104032959B - 一种工程机械和臂架控制系统 - Google Patents
一种工程机械和臂架控制系统 Download PDFInfo
- Publication number
- CN104032959B CN104032959B CN201410175874.0A CN201410175874A CN104032959B CN 104032959 B CN104032959 B CN 104032959B CN 201410175874 A CN201410175874 A CN 201410175874A CN 104032959 B CN104032959 B CN 104032959B
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- CN
- China
- Prior art keywords
- vehicle body
- control
- arm support
- coordinate system
- body coordinate
- Prior art date
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Classifications
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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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
Abstract
Description
Claims (7)
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201410175874.0A CN104032959B (zh) | 2014-04-29 | 2014-04-29 | 一种工程机械和臂架控制系统 |
PCT/CN2015/077102 WO2015165346A1 (zh) | 2014-04-29 | 2015-04-21 | 一种工程机械和臂架控制系统 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201410175874.0A CN104032959B (zh) | 2014-04-29 | 2014-04-29 | 一种工程机械和臂架控制系统 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN104032959A CN104032959A (zh) | 2014-09-10 |
CN104032959B true CN104032959B (zh) | 2017-01-18 |
Family
ID=51463931
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201410175874.0A Active CN104032959B (zh) | 2014-04-29 | 2014-04-29 | 一种工程机械和臂架控制系统 |
Country Status (2)
Country | Link |
---|---|
CN (1) | CN104032959B (zh) |
WO (1) | WO2015165346A1 (zh) |
Families Citing this family (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN104032959B (zh) * | 2014-04-29 | 2017-01-18 | 三一汽车制造有限公司 | 一种工程机械和臂架控制系统 |
CN110242051A (zh) * | 2019-06-24 | 2019-09-17 | 长沙赛搏机器智能有限公司 | 一种臂架末端控制方法及系统 |
CN113445752B (zh) * | 2021-05-25 | 2022-03-25 | 中联重科股份有限公司 | 臂架末端运动的控制方法、装置、系统、介质及工程机械 |
CN114215362B (zh) * | 2021-12-17 | 2023-04-25 | 徐州徐工施维英机械有限公司 | 一种臂架自动避障系统、避障方法及泵车 |
CN114934550B (zh) * | 2022-06-07 | 2023-05-26 | 中联重科股份有限公司 | 用于控制臂架的方法、控制器及机械设备 |
Family Cites Families (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
SU1150331A1 (en) * | 1982-12-17 | 1985-04-15 | Pk B Glavenergostrojmekhanizat | Manipulator for construction work |
DE4306127C2 (de) * | 1993-02-27 | 2002-08-08 | Putzmeister Ag | Großmanipulator, insbesondere für Autobetonpumpen |
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 |
DE102007012575A1 (de) * | 2007-03-13 | 2008-09-18 | Putzmeister Concrete Pumps Gmbh | Großmanipulator |
JP2009269127A (ja) * | 2008-05-08 | 2009-11-19 | Sony Corp | 把持装置及びその制御方法 |
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 |
CN101604153B (zh) * | 2009-07-06 | 2011-06-29 | 三一重工股份有限公司 | 工程车辆臂架控制器、控制系统、工程车辆、及控制方法 |
CN102360222B (zh) * | 2011-07-14 | 2014-03-26 | 中联重科股份有限公司 | 控制工程机械的机械臂的方法、装置和遥控器 |
CN103206090B (zh) * | 2012-12-27 | 2016-08-10 | 徐工集团工程机械股份有限公司江苏徐州工程机械研究院 | 一种混凝土泵车智能臂架控制及其变形补偿的方法 |
CN104032959B (zh) * | 2014-04-29 | 2017-01-18 | 三一汽车制造有限公司 | 一种工程机械和臂架控制系统 |
-
2014
- 2014-04-29 CN CN201410175874.0A patent/CN104032959B/zh active Active
-
2015
- 2015-04-21 WO PCT/CN2015/077102 patent/WO2015165346A1/zh active Application Filing
Also Published As
Publication number | Publication date |
---|---|
WO2015165346A1 (zh) | 2015-11-05 |
CN104032959A (zh) | 2014-09-10 |
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PB01 | Publication | ||
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SE01 | Entry into force of request for substantive examination | ||
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: Engineering machinery, arm support control system and arm support control method Effective date of registration: 20181227 Granted publication date: 20170118 Pledgee: Business Department of Hunan Branch of China Construction Bank Co., Ltd. Pledgor: SANY Automobile Manufacturing Co., Ltd. Registration number: 2018430000147 |
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PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
PC01 | Cancellation of the registration of the contract for pledge of patent right |
Date of cancellation: 20211217 Granted publication date: 20170118 Pledgee: Business Department of Hunan Branch of China Construction Bank Co.,Ltd. Pledgor: Sany Automobile Manufacturing Co.,Ltd. Registration number: 2018430000147 |
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PC01 | Cancellation of the registration of the contract for pledge of patent right |