CN104249977A - Rotation control system of crawler crane - Google Patents
Rotation control system of crawler crane Download PDFInfo
- Publication number
- CN104249977A CN104249977A CN201310267543.5A CN201310267543A CN104249977A CN 104249977 A CN104249977 A CN 104249977A CN 201310267543 A CN201310267543 A CN 201310267543A CN 104249977 A CN104249977 A CN 104249977A
- Authority
- CN
- China
- Prior art keywords
- rear car
- front truck
- crawler belt
- control setup
- rotation
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Landscapes
- Jib Cranes (AREA)
Abstract
The present invention discloses a rotation control system of a crawler crane. According to the rotation control system, a front vehicle rotation encoder detects the rotation angle of the front vehicle rotation table; a rear vehicle rotation encoder detects the rotation angle of the rear vehicle rotation table; a length sensor detects the length change of the connection beam; a control device achieves the relative rotation angle of the rear vehicle relative to the front vehicle according to the rotation angle of the front vehicle rotation table and the rotation angle of the rear vehicle rotation table; during the direction change process of the crawler crane, the front vehicle is stationary, and the rear vehicle performs the circumference movement around the front vehicle; when the control device judges that the relative rotation angle exceeds the preset rotation angle threshold value or the length change detected by the length sensor exceeds the preset length change threshold value, the control device controls the rear vehicle to rotate in situ; and with the rotation encoder and length sensor combined detection method, the relative angle deviation between the front vehicle and the rear vehicle during rotation is detected in the real time form while the position deviation is detected, and the rotation manner is automatically corrected when the relative angle or distance between the front vehicle and the rear vehicle exceeds the allowable range, such that it is ensured that the work is safe and reliable.
Description
Technical field
The present invention relates to technical field of engineering machinery, particularly relate to a kind of rotary control system of crawler crane.
Background technology
Along with socioeconomic development, crawler crane bicycle adds the demand that the structure having surpassed rear counterweight cannot meet key project construction, and the compound type ultra-large type crawler crane structure possessing rear car independent power unit is arisen at the historic moment.The intelligentized control method of rotary system greatly reduces the operation easier of operator, on the basis meeting safety, stability, maximum possible provide human nature service for slinger author.At present, crane rotation controls only by detecting the current degreeof turn of rotary encoder signal framing, swing type mechanism generally comprises rotary encoder or angular transducer, the most frequently used control method: revise based on certain standard time initial and turn round zero point, the signal sent according to rotary encoder or angular transducer during work judges rotary position between car load 0-360 °.
It is no problem that the method uses under medium and small tonnage bicycle Turning course, after bicycle structure crawler crane only needs the drive of control swing type mechanism to surpass, counterweight is turned round, detect rotary encoder signal at any time, current car load degreeof turn can be obtained, control method is comparatively simple, easily realizes.But ultra-large type crawler crane, due to the problem of structural strength and rotary reducer power-handling capability, front truck swing type mechanism only cannot be relied on to realize revolution, need to add traveling gear composition rear car power unit, rely on rear car to be that the circular row in the center of circle has been come up revolution action with front truck.This switchback mode is comparatively complicated, if only rely on the rotary encoder of front truck to judge current degreeof turn, cannot learn rear car walking states, can not ensure that rear car is around the walking of front truck circle, likely causes the serious consequences such as framing member damage, overturning.
Summary of the invention
In view of this, the technical matters that the present invention will solve is to provide a kind of rotary control system of crawler crane, adopts the detection mode that rotary encoder combines with linear transducer.
A rotary control system for crawler crane, described crawler crane comprises front truck, rear car; Described front truck, rear car are equipped with independently traveling gear; Described front truck is provided with front truck turntable, and described rear car is provided with rear car turntable, and tie-beam connects described front truck turntable and rear car turntable; Described rotary control system comprises: front truck rotary encoder, rear car rotary encoder, linear transducer and control setup; Described front truck rotary encoder detects the degreeof turn of described front truck turntable; Described rear car rotary encoder detects the degreeof turn of described rear car turntable; Described linear transducer detects the length variations of described tie-beam; Wherein, described control setup, according to the degreeof turn of the degreeof turn of described front truck turntable and described rear car turntable, show that described rear car relatively and the relative rotation of front truck; In the process that described crawler crane turns to, described front truck is static, and described rear car moves in a circle around described front truck; When described control setup judge described relative rotation exceed length variations that default corner threshold value or described linear transducer detect exceed default length variations threshold value time, then control described rear car original place and rotate, make described relative rotation in described corner threshold value.
According to one embodiment of present invention, further, described degreeof turn does not exceed default corner threshold value, and, when the length variations that described linear transducer detects does not exceed default length variations threshold value, then described control setup controls described rear car and adopts differential walking mode to turn to.
According to one embodiment of present invention, further, when described crawler crane starts to turn to, the crawler belt service direction that described control setup controls the crawler belt service direction of described rear car and described front truck is perpendicular.
According to one embodiment of present invention, further, when described crawler crane starts to turn to, if described relative rotation is between-90 ° and 90 °, described control setup controls described rear car and carries out turning anticlockwise around described front truck, makes the crawler belt service direction of the crawler belt service direction of described rear car and described front truck perpendicular; Wherein, when the crawler belt of described front truck is parallel with the crawler belt of described rear car and two car working direction are consistent, described relative rotation is 90 °, when the crawler belt of described front truck is parallel with the crawler belt of described rear car and two car working direction are contrary, two car angles are-90 °, when the crawler belt of described front truck is vertical with the crawler belt of described rear car, when the crawler belt service direction of described rear car is conter clockwise, described relative rotation is 0 °.
According to one embodiment of present invention, further, when described crawler crane starts to turn to, if when described relative rotation is between 90 ° and 180 ° or between-90 ° and-180 °, then described control setup controls described rear car and carries out cw revolution, makes the crawler belt service direction of the crawler belt service direction of described rear car and described front truck perpendicular.
According to one embodiment of present invention, further, described control setup calculates described rear car two track-type differential ratios according to described rear car around the radius of turn that described front truck moves in a circle, and output current signal controls rear car motor driving reductor, makes described rear car move in a circle with differential walking mode around described front truck; Front truck rotary encoder, described rear car rotary encoder and described linear transducer described in described control setup Real-Time Monitoring send the signal of returning; When the length variations that described relative rotation exceedes default corner threshold value or the detection of described linear transducer exceedes default length variations threshold value, then described control setup judges that current revolution route has departed from the setting path domain of walk, controls described rear car cast adjustment run trace; When making described degreeof turn not exceed default corner threshold value by described rear car cast and the length variations that described linear transducer detects does not exceed default length variations threshold value, described control setup controls described rear car and is switched to differential walking mode.
According to one embodiment of present invention, further, also read out instrument is comprised, for showing the degreeof turn of described front truck turntable, the degreeof turn of described rear car turntable and the length variations of described tie-beam.
According to one embodiment of present invention, further, described tie-beam is metal framework structure.
The rotary control system of crawler crane of the present invention, by the detection mode that rotary encoder combines with linear transducer, the real-time relative angle deviation detected when front and back car turns round, detection position deviation simultaneously, when current vehicle and rear car relative angle or distance exceed allowed band, auto modification revolution mode, ensures that work is safer, reliably.
Description of the invention provides in order to example with for the purpose of describing, and is not exhaustively or limit the invention to disclosed form.Many modifications and variations are obvious for the ordinary skill in the art.Selecting and describing embodiment is in order to principle of the present invention and practical application are better described, and enables those of ordinary skill in the art understand the present invention thus design the various embodiments with various amendment being suitable for special-purpose.
Accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1 is the schematic diagram of the rotary control system embodiment according to crawler crane of the present invention;
Fig. 2 is the schematic diagram of rotary control system according to the present invention embodiment of actual deployment in crawler crane;
Fig. 3 A and 3B is the schematic diagram that rotary control system of the present invention controls rear car rotation; Wherein, Fig. 3 A is that rear car rotates schematic diagram around front truck, and Fig. 3 B and 3C is the schematic diagram of front car and rear car relative rotation;
Fig. 4 is the control flow schematic diagram of the control setup of rotary control system of the present invention.
Detailed description of the invention
With reference to the accompanying drawings the present invention is described more fully, exemplary embodiment of the present invention is wherein described.Below in conjunction with the accompanying drawing in the embodiment of the present invention, be clearly and completely described the technical scheme in the embodiment of the present invention, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, belong to the scope of protection of the invention.
Fig. 1 is the schematic diagram of the rotary control system embodiment according to crawler crane of the present invention.As shown in the figure: crawler crane comprises front truck, rear car.Front truck, rear car are equipped with independently traveling gear.Front truck is provided with front truck turntable, and rear car is provided with rear car turntable, and tie-beam connects front truck turntable and rear car turntable.Tie-beam is metal framework structure.
Rotary control system comprises: front truck rotary encoder 11, rear car rotary encoder 13, linear transducer 12 and control setup 14.Front truck rotary encoder 11 detects the degreeof turn of front truck turntable.Rear car rotary encoder 13 detects the degreeof turn of rear car turntable.Linear transducer detects the length variations of 14 tie-beams.
Control setup 14, according to the degreeof turn of the degreeof turn of front truck turntable and rear car turntable, show that rear car relatively and the relative rotation of front truck.In the process that crawler crane turns to, front truck is static, and rear car moves in a circle around front truck.
When control setup 14 judge relative rotation exceed length variations that default corner threshold value or linear transducer detect exceed default length variations threshold value time, then control rear car original place and rotate.
According to one embodiment of present invention, degreeof turn does not exceed default corner threshold value, and the length variations that linear transducer detects is not when exceeding default length variations threshold value, then control setup 14 controls rear car and adopts differential walking mode to turn to.
Crawler crane is made up of relatively independent power unit front truck and rear car, and middle tie-beam or other devices of relying on connects, thus forms an entirety, in order to realize the various functions of hoisting crane.
Rotary encoder (or angular transducer) is for convert the angular transposition mechanical quantity of output shaft to corresponding electric pulse with a kind of device of digital output.Mechanical displacement is converted to a kind of device that gageable, linearly electric signal exports by linear transducer.
Differential walking, for allowing hoisting crane both sides crawler belt with a kind of walking mode of different speed action, meets hoisting crane and turns round with radii fixus route around a fixing center of circle.
Fig. 2 is the schematic diagram of rotary control system according to the present invention embodiment of actual deployment in crawler crane.As shown in the figure: front truck rotary encoder 27 detects the degreeof turn of the turntable of front truck 21.Rear car rotary encoder 26 detects the degreeof turn of the turntable of rear car 22.Linear transducer detects the length variations of 25 tie-beams 23.Sleeve 24 is arranged on the afterbody of tie-beam 23.
Fig. 3 A and 3B is the schematic diagram that rotary control system of the present invention controls rear car rotation.As shown in the figure: in the process that crawler crane turns to, front truck is static, and rear car moves in a circle around front truck.
When rear car crawler belt and front truck crawler belt is in 90 ° and rear car working direction is conter clockwise time, the relative rotation of rear car and front truck is 0 °.Front truck is motionless, and rear car inwardly (i.e. cw) is 0 ° of-180 ° of cast, is outwards 0 ° of--180 ° of cast.
As shown in figs. 3 b and 3 c, front truck crawler belt is parallel with rear car crawler belt, and when two car working direction are consistent, two car angles are defined as 90 °.Otherwise, when working direction is reverse, be then-90 °.Wherein, when rear car crawler belt working direction is in interval as shown in Figure 3 C, think that the relative rotation of rear car and front truck changes between-90 °-90 °.When rear car crawler belt working direction is in interval as shown in Figure 3 B, think that rear car and front truck relative rotation change between (90 °-180 ° ,-90 °--180 °).
According to one embodiment of present invention, about relative rotation, i.e. rear car rotation of rotary table angle.Front truck rotary encoder draws car load degreeof turn, and by this value, under can reading current state over the display, car load turns round the number of degrees; Rear car rotary encoder draws rear car degreeof turn, by this value, considerablely measure the relative front truck corner of rear car, definition θ is the relative rotation of the relative front truck of rear car, definition rear car crawler belt and front truck crawler belt is in 90 ° and rear car working direction is conter clockwise time θ=0 °, and this value also can read over the display.
If operator enters switchback mode, control setup judges that car load is in turning anticlockwise state, rear car according to walking than with approximate arc pathway according to certain differential when front fitting radius, dependence rear car rotary encoder and linear transducer Real-Time Monitoring angle and position error signal simultaneously.
When wherein arbitrary deviation signal exceeds preset value, control setup exports correcting current signal, drives rear car pivot stud, and monitors now angle signal change, when after arrival preset value, stops pivot stud, continues to switch to differential walking mode.
If linear transducer signal gets too small or excessive, provide alerting signal all over the display, remind operator to note.If spurious signal continues to amplify, then automatically stop misoperation exporting, require operator's parking checking.Telltale also can show the degreeof turn of front truck turntable, the degreeof turn of rear car turntable and the length variations of tie-beam.
Rotary control system of the present invention introduces linear transducer as measuring unit, while monitoring degreeof turn, utilize linear transducer to measure offset deviation signal, and enter controller calculating as comparative quantity, the meeting auto modification control policy when hoisting crane front car and rear car distance exceeds allowed band, ensure that whole system work is safer, reliably.
Fig. 4 is the control flow schematic diagram of the control setup of rotary control system of the present invention.
Definition θ is the relative rotation of the relative front truck of rear car, definition rear car crawler belt and front truck crawler belt is in 90 ° and rear car working direction is conter clockwise time θ=0 °, front truck is motionless, and rear car is inwardly 0 ° of-180 ° of cast, is outwards 0 ° of--180 ° of cast.
δ is in car load turning course, the peak excursion angle that the relative front truck of rear car allows.λ is in car load turning course, the peak excursion position that the relative front truck of rear car allows.
When crawler crane starts to turn to, the crawler belt service direction that control setup controls the crawler belt service direction of rear car and front truck is perpendicular.
Step 401-403, when car load starts to turn round, first control setup judges the relative rotation of the relative front truck of current rear car, if be in (-90 °, 90 °) between, then think that rear car needs to carry out turning anticlockwise around front truck, and be automatically adjusted to θ=0 ° (now rear car crawler belt is in 90 ° with front truck crawler belt) according to current angle value, complete preparation before revolution.Control setup controls rear car and carries out turning anticlockwise around front truck, makes the crawler belt service direction of the crawler belt service direction of rear car and front truck perpendicular.
Step 404-407, calculate rear car two crawler travel differential ratios according to when front fitting radius, via controller process output current signal controls motor and drives reductor, makes rear car around front truck close to circular walking.
Real-Time Monitoring rotary encoder and linear transducer send the signal of returning, and compare with target offset value, when the angu-lar deviation of surveying or position deviation value exceed default scope, then think that current revolution route has departed from the setting path domain of walk, need cast to adjust run trace.
The automatic cast of rear car, until angu-lar deviation reaches preset range, switches return difference speed walking states, has continued car load Turning course.
Step 408-413, if when starting to turn round, judge that the relative rotation of the relative front truck of rear car is in (90 °, 180 °) ∪ (-90 °,-180 °) time, then think that rear car needs to carry out cw revolution around front truck, its mode is with above-mentioned turning anticlockwise mode, only angle changing detected value.
" cw ", " conter clockwise " in the present invention carries out the locality that rotates for the rear car in accompanying drawing.
According to one embodiment of present invention, the radius of turn that control setup moves in a circle around front truck according to rear car calculates rear car two track-type differential ratios, and output current signal controls rear car motor driving reductor, makes rear car move in a circle with differential walking mode around front truck.
Control setup Real-Time Monitoring front truck rotary encoder, rear car rotary encoder and linear transducer send the signal of returning.
When the length variations that relative rotation exceedes default corner threshold value or linear transducer detection exceedes default length variations threshold value, then control setup judges that current revolution route has departed from the setting path domain of walk, controls rear car cast adjustment run trace.
Do not exceed default corner threshold value when being made degreeof turn by rear car cast and the length variations that detects of linear transducer when not exceeding default length variations threshold value, control setup controls rear car and is switched to differential walking mode.
The rotary control system of crawler crane of the present invention, effectively reduces operator's labour intensity and operation easier, maximizedly utilizes Programmable Logic Controller, intellectualized operation, and maltilevel security safety method ensures that safety of operation is reliable.
Introduce the detection mode that rotary encoder combines with linear transducer first, the angular deviation before and after not only detecting in real time during car revolution, pays close attention to position deviation simultaneously.While meeting the stressed demand of framing member, maximum possible makes rear car around front truck intelligence circular turned, and operator only need pay close attention to change of error scope, and controls the rear car speed of travel by handle, and revolution simple operation loaded down with trivial details for complexity is intelligent.
Method and system of the present invention may be realized in many ways.Such as, any combination by software, hardware, firmware or software, hardware, firmware realizes method and system of the present invention.Said sequence for the step of method is only to be described, and the step of method of the present invention is not limited to above specifically described order, unless specifically stated otherwise.In addition, in certain embodiments, can be also record program in the recording medium by the invention process, these programs comprise the machine readable instructions for realizing according to method of the present invention.Thus, the present invention also covers the recording medium stored for performing the program according to method of the present invention.
Claims (8)
1. a rotary control system for crawler crane, is characterized in that:
Described crawler crane comprises front truck, rear car; Described front truck, rear car are equipped with independently traveling gear; Described front truck is provided with front truck turntable, and described rear car is provided with rear car turntable, and tie-beam connects described front truck turntable and rear car turntable;
Described rotary control system comprises: front truck rotary encoder, rear car rotary encoder, linear transducer and control setup; Described front truck rotary encoder detects the degreeof turn of described front truck turntable; Described rear car rotary encoder detects the degreeof turn of described rear car turntable; Described linear transducer detects the length variations of described tie-beam; Described front truck rotary encoder, described rear car rotary encoder and described linear transducer are all electrically connected with described control setup;
Wherein, in the process that described crawler crane turns to, described front truck is static, and described rear car moves in a circle around described front truck; Described control setup, according to the degreeof turn of the degreeof turn of described front truck turntable and described rear car turntable, show that described rear car relatively and the relative rotation of front truck; When described control setup judge described relative rotation exceed length variations that default corner threshold value or described linear transducer detect exceed default length variations threshold value time, then control described rear car original place and rotate, make described relative rotation in described corner threshold value.
2. the system as claimed in claim 1, is characterized in that:
In the process that described crawler crane turns to, when described control setup judges that described degreeof turn does not exceed default corner threshold value, and, when the length variations that described linear transducer detects does not exceed default length variations threshold value, then described control setup controls described rear car and adopts differential walking mode to turn to.
3. system as claimed in claim 2, is characterized in that:
When described crawler crane starts to turn to, the crawler belt service direction that described control setup controls the crawler belt service direction of described rear car and described front truck is perpendicular.
4. system as claimed in claim 3, is characterized in that:
When described crawler crane starts to turn to, if described relative rotation is between-90 ° and 90 °, described control setup controls described rear car and carries out turning anticlockwise around described front truck, makes the crawler belt service direction of the crawler belt service direction of described rear car and described front truck perpendicular;
Wherein, when the crawler belt of described front truck is parallel with the crawler belt of described rear car and two car working direction are consistent, described relative rotation is 90 °, when the crawler belt of described front truck is parallel with the crawler belt of described rear car and two car working direction are contrary, two car angles are-90 °, when the crawler belt of described front truck is vertical with the crawler belt of described rear car, when the crawler belt service direction of described rear car is conter clockwise, described relative rotation is 0 °.
5. system as claimed in claim 4, is characterized in that:
When described crawler crane starts to turn to, if when described relative rotation is between 90 ° and 180 ° or between-90 ° and-180 °, then described control setup controls described rear car and carries out cw revolution, makes the crawler belt service direction of the crawler belt service direction of described rear car and described front truck perpendicular.
6. system as claimed in claim 2, is characterized in that:
Described control setup calculates described rear car two track-type differential ratios according to described rear car around the radius of turn that described front truck moves in a circle, and output current signal controls rear car motor driving reductor, makes described rear car move in a circle with differential walking mode around described front truck;
Front truck rotary encoder, described rear car rotary encoder and described linear transducer described in described control setup Real-Time Monitoring send the signal of returning; When the length variations that described relative rotation exceedes default corner threshold value or the detection of described linear transducer exceedes default length variations threshold value, then described control setup judges that current revolution route has departed from the setting path domain of walk, controls described rear car cast adjustment run trace;
When making described relative rotation not exceed default corner threshold value by described rear car cast and the length variations that described linear transducer detects does not exceed default length variations threshold value, described control setup controls described rear car and is switched to differential walking mode.
7. system as claimed in claim 4, is characterized in that:
Also comprise read out instrument, for showing the degreeof turn of described front truck turntable, the degreeof turn of described rear car turntable and the length variations of described tie-beam.
8. the system as described in claim 1 to 7 any one, is characterized in that:
Described tie-beam is metal framework structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310267543.5A CN104249977A (en) | 2013-06-28 | 2013-06-28 | Rotation control system of crawler crane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310267543.5A CN104249977A (en) | 2013-06-28 | 2013-06-28 | Rotation control system of crawler crane |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104249977A true CN104249977A (en) | 2014-12-31 |
Family
ID=52185270
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310267543.5A Pending CN104249977A (en) | 2013-06-28 | 2013-06-28 | Rotation control system of crawler crane |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104249977A (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104929166A (en) * | 2015-06-07 | 2015-09-23 | 黄进堂 | Excavator |
| CN106522302A (en) * | 2016-12-05 | 2017-03-22 | 太原重型机械集团工程技术研发有限公司 | Excavator and excavator rotation angle detection device and method |
| CN109540074A (en) * | 2018-12-07 | 2019-03-29 | 中联重科股份有限公司 | Crane rotation angle calculation method and device, processor and crane |
| CN112374371A (en) * | 2020-11-20 | 2021-02-19 | 中船华南船舶机械有限公司 | Control method of crane rotation zero-position switch |
| CN113759925A (en) * | 2021-09-16 | 2021-12-07 | 中国煤炭科工集团太原研究院有限公司 | Control system and method for mining equipment |
| CN113865544A (en) * | 2021-08-31 | 2021-12-31 | 北京三一智造科技有限公司 | Method, device and equipment for measuring rotation angle of double-wheel milling cutter frame and operating machine |
| CN114198369A (en) * | 2021-12-21 | 2022-03-18 | 中联恒通机械有限公司 | Control method and control system for swing mechanism |
| CN116697970A (en) * | 2023-07-28 | 2023-09-05 | 苏州立方元智能科技有限公司 | Double-encoder workshop angle measuring device and measuring method |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002002526A (en) * | 2000-06-20 | 2002-01-09 | Kobelco Contstruction Machinery Ltd | Safety device for mutual cooperation vehicle |
| CN101226067A (en) * | 2008-02-01 | 2008-07-23 | 三一重工股份有限公司 | Turning angle detecting device for project vehicle turning table and project vehicle thereof |
| CN101920911A (en) * | 2010-04-13 | 2010-12-22 | 长沙中联重工科技发展股份有限公司 | Carrier vehicle, walking control device and method thereof |
| CN101973314A (en) * | 2010-10-27 | 2011-02-16 | 上海三一科技有限公司 | Multivariant four-track counterweight trolley synchronous control system and control method |
-
2013
- 2013-06-28 CN CN201310267543.5A patent/CN104249977A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002002526A (en) * | 2000-06-20 | 2002-01-09 | Kobelco Contstruction Machinery Ltd | Safety device for mutual cooperation vehicle |
| CN101226067A (en) * | 2008-02-01 | 2008-07-23 | 三一重工股份有限公司 | Turning angle detecting device for project vehicle turning table and project vehicle thereof |
| CN101920911A (en) * | 2010-04-13 | 2010-12-22 | 长沙中联重工科技发展股份有限公司 | Carrier vehicle, walking control device and method thereof |
| CN101973314A (en) * | 2010-10-27 | 2011-02-16 | 上海三一科技有限公司 | Multivariant four-track counterweight trolley synchronous control system and control method |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104929166B (en) * | 2015-06-07 | 2017-05-03 | 黄进堂 | Excavator |
| CN104929166A (en) * | 2015-06-07 | 2015-09-23 | 黄进堂 | Excavator |
| CN106522302A (en) * | 2016-12-05 | 2017-03-22 | 太原重型机械集团工程技术研发有限公司 | Excavator and excavator rotation angle detection device and method |
| CN106522302B (en) * | 2016-12-05 | 2018-09-25 | 太原重型机械集团工程技术研发有限公司 | The angle of revolution detection device and method of excavator, excavator |
| CN109540074A (en) * | 2018-12-07 | 2019-03-29 | 中联重科股份有限公司 | Crane rotation angle calculation method and device, processor and crane |
| CN112374371A (en) * | 2020-11-20 | 2021-02-19 | 中船华南船舶机械有限公司 | Control method of crane rotation zero-position switch |
| CN113865544A (en) * | 2021-08-31 | 2021-12-31 | 北京三一智造科技有限公司 | Method, device and equipment for measuring rotation angle of double-wheel milling cutter frame and operating machine |
| CN113759925A (en) * | 2021-09-16 | 2021-12-07 | 中国煤炭科工集团太原研究院有限公司 | Control system and method for mining equipment |
| CN113759925B (en) * | 2021-09-16 | 2023-11-24 | 中国煤炭科工集团太原研究院有限公司 | Control system and method for mining equipment |
| CN114198369A (en) * | 2021-12-21 | 2022-03-18 | 中联恒通机械有限公司 | Control method and control system for swing mechanism |
| CN114198369B (en) * | 2021-12-21 | 2024-02-27 | 中联恒通机械有限公司 | Control method and control system for slewing mechanism |
| CN116697970A (en) * | 2023-07-28 | 2023-09-05 | 苏州立方元智能科技有限公司 | Double-encoder workshop angle measuring device and measuring method |
| CN116697970B (en) * | 2023-07-28 | 2024-08-02 | 苏州立方元智能科技有限公司 | Double-encoder workshop angle measuring device and measuring method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104249977A (en) | Rotation control system of crawler crane | |
| CN102627231B (en) | Amplitude limiting device and method | |
| WO2012161062A1 (en) | Shovel provided with electric rotating device and control method therefor | |
| WO2017195600A1 (en) | Motor drive control device, electric power steering device, and vehicle | |
| CN105271004A (en) | Lifting device space positioning device adopting monocular vision and method | |
| CN102455177B (en) | Wheeled crane and wheel turn angle measuring device thereof | |
| CN103303304B (en) | Anti-tilting apparatus, anti-tipping method and concrete mixer truck | |
| CN102621991A (en) | Positioning control device, system and method of movement mechanism and engineering machinery | |
| CN203186409U (en) | Multi-wheel steering vehicle | |
| CN102944209A (en) | Equipment, system and method for determining rotation angle and engineering machinery | |
| JPWO2017195601A1 (en) | Motor drive control device, electric power steering device, and vehicle | |
| CN102472768A (en) | Vehicle control device and rotateon detection device used in same | |
| CN104443008A (en) | Electric power steering system | |
| CN103235594B (en) | Computing method of traction position correction of traction control system | |
| CN203529815U (en) | Rotating control system of crawler crane | |
| KR101586636B1 (en) | Remote Steering Apparatus And Control Method Thereof | |
| US10246092B2 (en) | Method and device for determining a driving state of an external motor vehicle | |
| CN102541060A (en) | Device and method for determining real-time position of stacker and reclaimer to avoid collision accidents | |
| CN116027815A (en) | Automatic centering and limit detection method and system | |
| KR20180017778A (en) | Complex Type Torque Sensor | |
| JP2011152807A (en) | Reach type forklift | |
| CN202264802U (en) | Inspection vehicle shunt control system | |
| CN102234076A (en) | Electrical control device for crawler-type counter weight trolley and control method thereof | |
| CN210626968U (en) | Accurate control system of bridge of turning of big span | |
| CN107253669A (en) | Rotary machinery locating and detecting device and position finding and detection method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20141231 |
|
| RJ01 | Rejection of invention patent application after publication |