CN107140540A - Crane large arm single-point or 2 angle calibration methods and crane - Google Patents
Crane large arm single-point or 2 angle calibration methods and crane Download PDFInfo
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- CN107140540A CN107140540A CN201710544005.4A CN201710544005A CN107140540A CN 107140540 A CN107140540 A CN 107140540A CN 201710544005 A CN201710544005 A CN 201710544005A CN 107140540 A CN107140540 A CN 107140540A
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- large arm
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- hoc location
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/16—Applications of indicating, registering, or weighing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/20—Control systems or devices for non-electric drives
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Control And Safety Of Cranes (AREA)
- Jib Cranes (AREA)
Abstract
The present invention relates to crane field, it is intended to which the problem of solution is difficult to quick and precisely demarcate crane large arm angle in the prior art, there is provided a kind of crane large arm single-point or 2 angle calibration methods and crane.Crane large arm angle single-point calibration method comprises the following steps：Determine an ad-hoc location of large arm and the angle of corresponding crane large arm；The output valve of angular transducer when in ad-hoc location is recorded using adjustment system；The characteristic curve of angular transducer is demarcated with reference to the slope of angle, output valve and corresponding angle sensor.The beneficial effects of the invention are as follows can quick and precisely demarcate crane large arm angle, it is ensured that results in the accurate angle state of large arm, it is to avoid the danger such as mechanical interference caused by angle state indicates mistake directly or indirectly during use, crane uses safety.
Description
Technical field
The present invention relates to crane field, in particular to a kind of crane large arm single-point or 2 angle calibration sides
Method and crane.
Background technology
The large arm angle of crane is one of important parameter of crane safety control.
The correction or demarcation of current crane large arm angle are essentially all to debug the stage in factory to use electronics bevel protractor
Measure demarcation.After dispatching from the factory, once angle of arrival deviation is larger or angular transducer breaks down and changed, it is necessary in time
Re-scale.But typically it is difficult to obtain its special calibrating instrument as electronics bevel protractor in factory's external environment, so as to cause to be difficult to soon
The problem of fast accurate calibration crane large arm angle.
The content of the invention
The present invention is intended to provide a kind of crane large arm angle single-point calibration method, quick to solve to be difficult in the prior art
The problem of accurate calibration crane large arm angle.
Another object of the present invention is to provide a kind of lifting based on above-mentioned crane large arm angle single-point calibration method
Machine.
The present invention is intended to provide a kind of 2 scaling methods of crane large arm angle, quick to solve to be difficult in the prior art
The problem of accurate calibration crane large arm angle.
Possess it is still another object of the present invention to provide a kind of based on above-mentioned crane large arm angle dual-point calibration method
Crane.
What embodiments of the invention were realized in：
The present invention provides a kind of crane large arm angle single-point calibration method, and it comprises the following steps：
Determine an ad-hoc location of large arm and the angle A 0 of the corresponding crane large arm of ad-hoc location；
The output valve s0 of angular transducer when in ad-hoc location is recorded using the adjustment system of crane；
Angle is passed with reference to the slope K of angle A 0, output valve s0 and the corresponding angle sensor being pre-stored in adjustment system
The characteristic curve of sensor is demarcated, and characteristic curve meets formula：A=A0+ (s-s0)/K, wherein A are the required large arm obtained
Current angular, s be angular transducer current output valve.
In one embodiment of the invention：
Ad-hoc location is the first ad-hoc location；The determination mode of first ad-hoc location is：Adjust amplitude oil cylinder vertical to its
State, make between the tri-joint mechanism of crane large arm at right angles triangle, the plumbness of amplitude oil cylinder is by vertical detection instrument
Calibrating；The angle A 0 of corresponding crane large arm is that the geometric parameter of tri-joint mechanism when being in the first ad-hoc location by large arm is calculated
Draw.
In one embodiment of the invention：
Vertical detection instrument is horizontal vertical chi or plummet.
In one embodiment of the invention：
Ad-hoc location is the second ad-hoc location, and the determination mode of the second ad-hoc location is：Regulation amplitude oil cylinder is to making large arm
It is horizontal, the horizontality of large arm is using level detection instrument calibrating；The angle A 0 of corresponding crane large arm is to pass through
The geometric parameter of tri-joint mechanism is calculated when large arm is in the second ad-hoc location.
In one embodiment of the invention：
Level detection instrument is horizon rule.
The embodiment of the present invention also provides a kind of crane, and it includes body, crane arm, amplitude oil cylinder, adjustment system.Lifting
Arm one end is articulated with the A points of body.Amplitude oil cylinder one end is articulated with the B points of body, and the other end is articulated with the C points of crane arm.A
Point, B points, C points constitute the tri-joint mechanism of crane.Adjustment system includes first memory, second memory and arithmetic unit.First deposits
Reservoir prestore it is foregoing in corresponding angle sensor slope K numerical value.In second memory be pre-stored it is foregoing in it is specific
The angle A 0 of the corresponding crane large arm in position.Arithmetic unit be used for perform it is foregoing in formula：A=A0+ (s-s0)/K.
The present invention also provides a kind of 2 angle calibration methods of crane large arm, and it comprises the following steps：
Determine the angle A 1 of the corresponding crane large arm of the first ad-hoc location and the first ad-hoc location of large arm；
The output valve s1 of angular transducer when in ad-hoc location is recorded using the adjustment system of crane；
Determine the angle A 2 of the corresponding crane large arm of the second ad-hoc location and the second ad-hoc location of large arm；
The output valve s2 of angular transducer when in ad-hoc location is recorded using the adjustment system of crane；
Replace the slope K conduct of the corresponding angle sensor prestored in adjustment system using K1=(s2-s1)/(A2-A1)
The characteristic amendment slope of angular transducer, characteristic curve meets formula：A=A1+ (s-s1)/K1, wherein A are required
The current angular of the large arm obtained, s is the current output valve of angular transducer；
The determination mode of first ad-hoc location is：Amplitude oil cylinder is adjusted to its vertical state, makes the three of crane large arm
Rectangular triangle between hinge, the plumbness of amplitude oil cylinder is examined and determine by vertical detection instrument；Corresponding crane large arm
Angle A 1 is that the geometric parameter of tri-joint mechanism when being in the second ad-hoc location by large arm is inversely calculated；
The determination mode of second ad-hoc location is：Regulation amplitude oil cylinder to making large arm be horizontal, large arm it is horizontal
State is using level detection instrument calibrating；The angle A 2 of corresponding crane large arm is three when being in the second ad-hoc location by large arm
The geometric parameter of hinge is inversely calculated.
In an embodiment of inventive embodiments：
Vertical detection instrument is horizontal vertical chi or plummet.
In an embodiment of inventive embodiments：
Level detection instrument is horizon rule.
The embodiment of the present invention also provides a kind of crane, and it includes body, crane arm, amplitude oil cylinder, adjustment system；Lifting
Arm one end is articulated with the A points of body；Amplitude oil cylinder one end is articulated with the B points of body, and the other end is articulated with the C points of crane arm；A
Point, B points, C points constitute the tri-joint mechanism of crane large arm.Adjustment system includes second memory and arithmetic unit.Second memory is used
The corresponding crane of the ad-hoc location of angle A 1 and second of the corresponding crane large arm of the first ad-hoc location in storage is foregoing
The angle A 2 of large arm.Arithmetic unit be used for perform it is foregoing in formula K1=(s2-s1)/(A2-A1) and formula A=A0+ (s-s0)/
K1。
In summary, the crane large arm single-point angle calibration method and crane, crane in the embodiment of the present invention are big
2 angle calibration methods of arm and crane, which have, can quick and precisely demarcate crane large arm angle, it is ensured that result in large arm
Accurate angle state, it is to avoid the danger such as mechanical interference caused by angle state indicates mistake directly or indirectly during use
Danger, crane uses safe beneficial effect.
Brief description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be attached to what is used required in embodiment
Figure is briefly described, it will be appreciated that the following drawings illustrate only certain embodiments of the present invention, therefore is not construed as pair
The restriction of scope, for those of ordinary skill in the art, on the premise of not paying creative work, can also be according to this
A little accompanying drawings obtain other related accompanying drawings.
Fig. 1 is in structural representation during the first ad-hoc location for the crane in the embodiment of the present invention one；
Fig. 2 is in structural representation during the second ad-hoc location for the crane in the embodiment of the present invention one；
Fig. 3 be the embodiment of the present invention one in adjustment system schematic diagram；
Fig. 4 is in structural representation during the first ad-hoc location for the crane in the embodiment of the present invention two；
Fig. 5 is in structural representation during the second ad-hoc location for the crane in the embodiment of the present invention two；
Fig. 6 be the embodiment of the present invention two in adjustment system schematic diagram；
Fig. 7 is the operational flowchart in the embodiment of the present invention three.
Icon：100- cranes；10- bodies；20- crane arms；30- amplitude oil cylinders；40- adjustment systems；200- cranes.
Embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention
In accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is
A part of embodiment of the present invention, rather than whole embodiments.The present invention implementation being generally described and illustrated herein in the accompanying drawings
The component of example can be arranged and designed with a variety of configurations.
Therefore, the detailed description of embodiments of the invention below to providing in the accompanying drawings is not intended to limit claimed
The scope of the present invention, but be merely representative of the present invention selected embodiment.Based on the embodiment in the present invention, this area is common
The every other embodiment that technical staff is obtained under the premise of creative work is not made, belongs to the model that the present invention is protected
Enclose.
It should be noted that：Similar label and letter represents similar terms in following accompanying drawing, therefore, once a certain Xiang Yi
It is defined in individual accompanying drawing, then it further need not be defined and explained in subsequent accompanying drawing.
If occurring term " first ", " second " etc. in description of the invention to be only used for distinguishing description, and it is not intended that referring to
Show or imply relative importance.
Embodiment one
The present embodiment provides a kind of crane large arm angle single-point calibration method, the angle for demarcating measurement crane large arm
The angular transducer of degree, it comprises the following steps：
Determine an ad-hoc location of large arm and the angle A 0 of the corresponding crane large arm of the ad-hoc location；In the present embodiment
Ad-hoc location the first ad-hoc location or the second ad-hoc location may be selected.
Wherein, the determination mode of the first ad-hoc location is：Amplitude oil cylinder is adjusted to its vertical state, makes crane large arm
Tri-joint mechanism between rectangular triangle, the plumbness of amplitude oil cylinder examined and determine by vertical detection instrument；Corresponding crane is big
The angle A 0 of arm is that the geometric parameter of tri-joint mechanism when being in the first ad-hoc location by large arm is calculated.Corresponding vertical detection
Instrument is horizontal vertical chi or plummet.By taking plummet as an example, vertical calibration method is：Plummet is set, and then adjusting amplitude oil cylinder makes
Obtain amplitude oil cylinder is axially parallel to plumb line.The horizontal vertical chi or plummet that this place is used can be obtained easily at demarcation scene
, it is easy with obtaining without the specific purpose tool of the factory calibration such as buying or preparation electronics miter square, it can demarcate at any time
Advantage.
The determination mode of second ad-hoc location is：Regulation amplitude oil cylinder to making large arm be horizontal, large arm it is horizontal
State is using level detection instrument calibrating；The angle A 0 of corresponding crane large arm is three when being in the second ad-hoc location by large arm
The geometric parameter of hinge is calculated.Alternatively, level detection instrument is horizon rule.Similarly, the horizon rule that this place is used can
Easily obtained at demarcation scene, without purchase or the factory calibration such as preparation electronics miter square specific purpose tool, with obtaining
Obtain easily, the advantage that can be demarcated at any time.
Ad-hoc location determine after, using crane adjustment system record when in ad-hoc location angular transducer it is defeated
Go out value s0；
Angle is passed with reference to the slope K of angle A 0, output valve s0 and the corresponding angle sensor being pre-stored in adjustment system
The characteristic curve of sensor is demarcated, and characteristic curve meets formula：A=A0+ (s-s0)/K, wherein A are the required large arm obtained
Current angular, s be angular transducer current output valve.
The present embodiment also provides a kind of crane 100 based on foregoing crane large arm angle single-point calibration method.It please join
The crane seen in Fig. 1 or Fig. 2, the present embodiment includes body 10, foregoing large arm 20, foregoing amplitude oil cylinder 30, foregoing
Adjustment system 40.The one end of large arm 20 is articulated with the A points of body 10.The one end of amplitude oil cylinder 30 is articulated with the B points of body 10, the other end
It is articulated with the C points of large arm 20.A points, B points, C points constitute the tri-joint mechanism of crane.A points, B points, C points constitute three hinges of crane
Point.
Fig. 3 is referred to, adjustment system 40 includes first memory, second memory and arithmetic unit.First memory prestores
Have it is foregoing in corresponding angle sensor slope K numerical value.In second memory be pre-stored it is foregoing in ad-hoc location correspondence
Large arm 20 angle A 0.Arithmetic unit communicates to connect first memory and second memory, and for perform it is foregoing in formula：
A=A0+ (s-s0)/K.
To sum up, the crane large arm angle single-point calibration method in the present embodiment can quick and precisely demarcate crane large arm
Angle, it is ensured that result in the accurate angle state of crane large arm, it is to avoid because angle state indicates mistake during use
The danger such as mechanical interference caused by directly or indirectly, crane uses safe beneficial effect.
Embodiment two
The present embodiment provides a kind of 2 angle calibration methods of crane large arm, the angle for demarcating measurement crane large arm
The angular transducer of degree.It is with the difference of the crane large arm single-point angle calibration method in embodiment one, embodiment
The slope of angular transducer is not demarcated in one, and has demarcated the slope of angular transducer in the present embodiment simultaneously.It is based on
This is different, and the crane large arm single-point angle calibration method in embodiment one is applied to that performance is preferable, the accurate angle of slope is passed
The demarcation of sensor, and applicable performance is poor simultaneously, slope is inadequate for 2 angle calibration methods of crane large arm in the present embodiment
The demarcation of accurate angular transducer.
2 angle calibration methods of crane large arm in the present embodiment comprise the following steps：
Determine the angle A 1 of the corresponding crane large arm of the first ad-hoc location and the first ad-hoc location of large arm；
The output valve s1 of angular transducer when in ad-hoc location is recorded using the adjustment system of crane；
Determine the angle A 2 of the corresponding crane large arm of the second ad-hoc location and the second ad-hoc location of large arm；
The output valve s2 of angular transducer when in ad-hoc location is recorded using the adjustment system of crane；
Replace the slope K conduct of the corresponding angle sensor prestored in adjustment system using K1=(s2-s1)/(A2-A1)
The characteristic amendment slope of angular transducer, characteristic curve meets formula：A=A1+ (s-s1)/K1, wherein A are required
The current angular of the large arm obtained, s is the current output valve of angular transducer；
The determination mode of first ad-hoc location is：Amplitude oil cylinder is adjusted to its vertical state, makes the three of crane large arm
Rectangular triangle between hinge, the plumbness of amplitude oil cylinder is examined and determine by vertical detection instrument；Corresponding crane large arm
Angle A 1 is that the geometric parameter of tri-joint mechanism when being in the second ad-hoc location by large arm is inversely calculated；Alternatively, vertical inspection
Survey instrument is horizontal vertical chi or plummet.Vertical calibration method refer to the associated description in embodiment one.
The determination mode of second ad-hoc location is：Regulation amplitude oil cylinder to making large arm be horizontal, large arm it is horizontal
State is using level detection instrument calibrating；The angle A 2 of corresponding crane large arm is three when being in the second ad-hoc location by large arm
The geometric parameter of hinge is inversely calculated.Alternatively, level detection instrument is horizon rule.
Fig. 4, Fig. 5 are referred to, the embodiment of the present invention also provides a kind of based on foregoing 2 angle calibration sides of crane large arm
The crane 200 of method, it includes body 10, foregoing large arm 20, foregoing amplitude oil cylinder 30, foregoing adjustment system 40；Greatly
The one end of arm 20 is articulated with the A points of body 10；The one end of amplitude oil cylinder 30 is articulated with the B points of body 10, and the other end is articulated with large arm 20
C points；A points, B points, C points constitute the tri-joint mechanism of large arm 20.Please refer to Fig. 6, adjustment system 40 include second memory and
Arithmetic unit.Second memory be used to storing it is foregoing in the corresponding crane large arm of the first ad-hoc location angle A 1 and second it is special
The angle A 2 of corresponding large arm 20 is put in positioning.Arithmetic unit communicate to connect second memory, and for perform it is foregoing in formula K1
=(s2-s1)/(A2-A1) and formula A=A0+ (s-s0)/K1.
Embodiment three
The present embodiment provides a kind of calibration system of crane, and it can implement the crane large arm in embodiment one simultaneously
2 angle calibration methods of crane large arm in single-point angle calibration method and embodiment two.
The application method for referring to the calibration system in Fig. 7, the present embodiment is：Start calibration system, into calibration interface
Afterwards, according to system suggestion, choose whether to be demarcated；Select after "Yes", according to system suggestion select crane actual use
Angular transducer model, obtains the parameter (slope, measurement range etc.) of the angular transducer；Then according to system suggestion select
2 angle calibration methods of heavy-duty machine large arm single-point angle calibration method or crane large arm are demarcated；When regulation large arm is to required
Ad-hoc location after, confirmed by system up to after ad-hoc location, system, which is performed, stores the particular state lower angle sensor
Output valve, as the corresponding output valve of the large arm angle corresponding to the calibrated ad-hoc location, is used as new calibration result.
2 scaling methods of crane large arm angle in three embodiment descriptions of summary, the present invention can be quickly accurate
Really demarcate crane large arm angle, it is ensured that result in the accurate angle state of large arm 20, it is to avoid because of angle during use
The state instruction mistake directly or indirectly danger such as caused mechanical interference, crane uses safe beneficial effect.
The preferred embodiments of the present invention are the foregoing is only, are not intended to limit the invention, for the skill of this area
For art personnel, the present invention can have various modifications and variations.Within the spirit and principles of the invention, that is made any repaiies
Change, equivalent substitution, improvement etc., should be included in the scope of the protection.
Claims (10)
1. a kind of crane large arm angle single-point calibration method, it is characterised in that comprise the following steps：
Determine an ad-hoc location of large arm and the angle A 0 of the corresponding crane large arm of the ad-hoc location；The angle A 0 is
The geometrical relationship inverse of its tri-joint mechanism is obtained when corresponding to the pre-stored data of the ad-hoc location or being in the ad-hoc location by large arm
Go out；
The output valve s0 of angular transducer when in the ad-hoc location is recorded using the adjustment system of crane；
Slope K with reference to angle A 0, output valve s0 and the correspondence angular transducer being pre-stored in the adjustment system is diagonal
The characteristic curve of degree sensor is demarcated, and the characteristic curve meets formula：A=A0+ (s-s0)/K, wherein A are required
The current angular of the large arm obtained, s is the current output valve of angular transducer.
2. crane large arm angle single-point calibration method according to claim 1, it is characterised in that：
The ad-hoc location is the first ad-hoc location；The determination mode of first ad-hoc location is：Adjust amplitude oil cylinder to its
Vertical state, the plumbness of the amplitude oil cylinder is examined and determine by vertical detection instrument；The angle A 0 of corresponding crane large arm
The geometry of tri-joint mechanism during to correspond to the pre-stored data of first ad-hoc location or be in first ad-hoc location by large arm
Relation inverse is drawn.
3. crane large arm angle single-point calibration method according to claim 2, it is characterised in that：
The vertical detection instrument is horizontal vertical chi or plummet.
4. crane large arm angle single-point calibration method according to claim 1, it is characterised in that：
The ad-hoc location is the second ad-hoc location, and the determination mode of second ad-hoc location is：Regulation amplitude oil cylinder is to making
Large arm is horizontal, and the horizontality of large arm is using level detection instrument calibrating；The angle A 0 of corresponding crane large arm is
The geometrical relationship of tri-joint mechanism is anti-when corresponding to the first specific pre-stored data or being in second ad-hoc location by large arm
Draw.
5. crane large arm angle single-point calibration method according to claim 4, it is characterised in that：
The level detection instrument is horizon rule.
6. a kind of crane, it is characterised in that：
The crane includes body, crane arm, amplitude oil cylinder, adjustment system；Described crane arm one end is articulated with the body
A points；Described amplitude oil cylinder one end is articulated with the B points of the body, and the other end is articulated with the C points of the crane arm；The A
Point, B points, C points constitute the tri-joint mechanism of the crane；
The adjustment system includes first memory, second memory and arithmetic unit；
The first memory prestores just like the slope K of the correspondence angular transducer described in claim any one of 1-5
Numerical value；
The corresponding crane large arm of ad-hoc location as described in claim any one of 1-5 is pre-stored in the second memory
Angle A 0 or tri-joint mechanism geometric parameter；
The arithmetic unit is used to perform the formula as described in claim any one of 1-5：A=A0+ (s-s0)/K.
7. a kind of 2 angle calibration methods of crane large arm, it is characterised in that comprise the following steps：
Determine the first ad-hoc location of large arm and the angle A 1 of the corresponding crane large arm of first ad-hoc location；
The output valve s1 of angular transducer when in the ad-hoc location is recorded using the adjustment system of crane；
Determine the second ad-hoc location of large arm and the angle A 2 of the corresponding crane large arm of second ad-hoc location；
The output valve s2 of angular transducer when in the ad-hoc location is recorded using the adjustment system of crane；
Replace the slope K of the correspondence angular transducer prestored in the adjustment system using K1=(s2-s1)/(A2-A1)
As the characteristic amendment slope of angular transducer, the characteristic curve meets formula：A=A1+ (s-s1)/K1, wherein A
For the current angular of the required large arm obtained, s is the current output valve of angular transducer；
The determination mode of first ad-hoc location is：Amplitude oil cylinder is adjusted to its vertical state, makes the three of crane large arm
Rectangular triangle between hinge, the plumbness of the amplitude oil cylinder is examined and determine by vertical detection instrument；Corresponding crane is big
The angle A 1 of arm is that the geometric parameter of tri-joint mechanism when being in second ad-hoc location by large arm is inversely calculated；
The determination mode of second ad-hoc location is：Regulation amplitude oil cylinder to making large arm be horizontal, large arm it is horizontal
State is using level detection instrument calibrating；The angle A 2 of corresponding crane large arm is to be in second ad-hoc location by large arm
When tri-joint mechanism geometric parameter inversely calculate.
8. 2 angle calibration methods of crane large arm according to claim 7, it is characterised in that：
The vertical detection instrument is horizontal vertical chi or plummet.
9. 2 angle calibration methods of crane large arm according to claim 7, it is characterised in that：
The level detection instrument is horizon rule.
10. a kind of crane, it is characterised in that：
The crane includes body, crane arm, amplitude oil cylinder, adjustment system；Described crane arm one end is articulated with the body
A points；Described amplitude oil cylinder one end is articulated with the B points of the body, and the other end is articulated with the C points of the crane arm；The A
Point, B points, C points constitute the tri-joint mechanism of the crane large arm；
The adjustment system includes second memory and arithmetic unit；
The second memory is used to store the corresponding crane of the first ad-hoc location as described in claim any one of 7-9
The angle A 2 of the angle A 1 of large arm crane large arm corresponding with second ad-hoc location；
The arithmetic unit is used to perform formula K1=(s2-s1)/(A2-A1) and public affairs as described in claim any one of 7-9
Formula A=A0+ (s-s0)/K1.
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| CN201710544005.4A CN107140540B (en) | 2017-07-05 | 2017-07-05 | Crane large arm single-point or 2 angle calibration methods and crane |
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|---|---|---|---|
| CN201710544005.4A CN107140540B (en) | 2017-07-05 | 2017-07-05 | Crane large arm single-point or 2 angle calibration methods and crane |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110203830A (en) * | 2019-06-21 | 2019-09-06 | 三一汽车起重机械有限公司 | Method, apparatus, electronic equipment and the crane that crane normal amplitude obtains |
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| CN110203830A (en) * | 2019-06-21 | 2019-09-06 | 三一汽车起重机械有限公司 | Method, apparatus, electronic equipment and the crane that crane normal amplitude obtains |
| CN110203830B (en) * | 2019-06-21 | 2020-06-16 | 三一汽车起重机械有限公司 | Method and device for obtaining rated amplitude of crane, electronic equipment and crane |
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| CN107140540B (en) | 2018-09-07 |
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