CN114751306A - Control method and device for preventing trolley from deviating and operating machine - Google Patents
Control method and device for preventing trolley from deviating and operating machine Download PDFInfo
- Publication number
- CN114751306A CN114751306A CN202210350677.2A CN202210350677A CN114751306A CN 114751306 A CN114751306 A CN 114751306A CN 202210350677 A CN202210350677 A CN 202210350677A CN 114751306 A CN114751306 A CN 114751306A
- Authority
- CN
- China
- Prior art keywords
- trolley
- rotation angle
- host
- preventing
- difference value
- 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
Images
Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C9/00—Travelling gear incorporated in or fitted to trolleys or cranes
- B66C9/16—Travelling gear incorporated in or fitted to trolleys or cranes with means for maintaining alignment between wheels and track
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention relates to the technical field of operating machinery, in particular to a control method and device for preventing a trolley from deviating and operating machinery. The control method for preventing the trolley from deviating comprises the following steps: acquiring a real-time rotation angle of a host, and obtaining a difference value between the real-time rotation angle and an initial rotation angle based on the initial rotation angle of the host, wherein the initial rotation angle is the rotation angle when the host starts to walk; and when the difference value is determined to exceed the preset interval, adjusting the walking parameters of the trolley to enable the difference value to fall into the preset interval. The control method, the device and the operating machine for preventing the trolley from deviating can effectively avoid the problem of trolley walking deviation in the synchronous walking process of the trolley and the host.
Description
Technical Field
The invention relates to the technical field of operating machinery, in particular to a control method and device for preventing a trolley from deviating and operating machinery.
Background
In the super-tonnage crawler crane field, because of super-lift counter weight is too big, super-lift counter weight can not mention when the host computer walking gyration and follows the host computer and move together, consequently, super-lift counter weight can't make the tray formula, and super-lift counter weight setting is on super-lift dolly usually. The super-lift trolley is provided with a walking crawler belt, and the super-lift trolley can move along with the main machine in the walking and rotating process. The super-lift trolley is connected with the host through a super-lift support rod, and the super-lift support rod is connected to a loading counterweight tray of the trolley.
As shown in fig. 1, in the initial stage of the synchronous walking of the host and the super lift trolley, the host walking center, the super lift brace 14 and the trolley walking center are on a straight line. However, in the walking process, the trolley caterpillar 15 and the main machine caterpillar 12 cannot be absolutely parallel due to the angular deviation between the main machine and the trolley and the fact that the speeds of the two caterpillar tracks of the trolley cannot be absolutely consistent. Therefore, the trolley inevitably deviates during the synchronous walking process of the main machine and the trolley, and the trolley has lateral force to act on the super lifting support rod 14, and the lateral force acts on the main machine upper vehicle 13 through the super lifting support rod 14. In order to prevent the lateral force from damaging the super-lift stay bar 14 or the stay bar connecting pin lug, the main frame upper vehicle 13 is in a free sliding state in the synchronous walking process. Therefore, during the synchronous traveling, the side thrust pushes the main body getting on board 13 to rotate, and when the traveling distance is long or the side thrust is large, the rotation angle of the main body getting on board 13 is obvious. When the main machine is pushed to rotate, the rear trolley deviates from the preset route.
During the travel and transition of the large crawler crane, the pavement base plate 11 is needed under the crawler. If the host and cart are not offset, as shown in fig. 1, the host and cart can be run on the same road substrate 11. If the vehicle deviates from the planned route, as shown in fig. 2, the rear vehicle track 15 may be turned outside the road bed 11. At this time, the road base plate 11 of the following car needs to be laid again, which wastes manpower, material resources and time. Moreover, if the deviation is too large, the main machine must be stopped to correct the rotation angle and the trolley position, and manpower, material resources and time are wasted greatly.
Therefore, how to avoid the problem of trolley walking deviation in the synchronous walking process of the trolley and the host becomes an important technical problem to be solved by technical personnel in the field.
Disclosure of Invention
The invention provides a control method and device for preventing a trolley from deviating and an operating machine, which can effectively avoid the problems that the rotating angle of a host changes and the trolley deviates from a road base plate due to the deviation of the trolley during the synchronous walking process of the trolley and the host.
The invention provides a control method for preventing a trolley from deviating, which comprises the following steps:
acquiring a real-time rotation angle of a host, and obtaining a difference value between the real-time rotation angle and an initial rotation angle based on the initial rotation angle of the host, wherein the initial rotation angle is the rotation angle when the host starts to walk;
and when the difference value is determined to exceed the preset interval, adjusting the walking parameters of the trolley to enable the difference value to fall into the preset interval.
According to the control method for preventing the deviation of the trolley, provided by the invention, when the difference is determined to exceed the preset interval, the walking parameters of the trolley are adjusted to enable the difference to fall into the preset interval, and the method comprises the following steps:
calculating the speed regulating value of the left and right travelling mechanisms of the trolley according to the difference value;
and adjusting the speed of the left and right travelling mechanisms of the trolley according to the speed adjusting value to enable the difference value to fall into the preset interval.
According to the control method for preventing the trolley from deviating, the preset interval is set to be (-B, A) degrees.
According to the control method for preventing the trolley from deviating, the A and the B are equal.
A second aspect of the present invention provides a control apparatus for preventing a vehicle from shifting, comprising:
the host rotation angle detection module is used for detecting the initial rotation angle of the host and the real-time rotation angle in the walking process;
the calculation module is used for calculating the difference value between the real-time rotation angle and the initial rotation angle;
and the control module is used for adjusting the walking parameters of the trolley when the difference value is determined to exceed the preset interval, so that the difference value falls into the preset interval.
According to the control device for preventing the trolley from deviating, the host rotation angle detection module is used for detecting the included angle between the loading central line of the host and the walking central line of the host.
According to the control device for preventing the trolley from deviating, the calculation module is provided with the preset unit, and the preset unit is used for a user to set the preset interval.
According to the control device for preventing the trolley from deviating, the travelling mechanism is a crawler travelling mechanism of the working machine.
A third aspect of the present invention provides a working machine comprising a main machine, a super lift strut, a trolley and a control device for preventing the trolley from shifting as described in any one of the above.
According to the work machine provided by the present invention, the control device is provided on the main machine or the carriage.
The trolley is connected with the upper part of the host machine, when the trolley generates route deviation, the trolley can drive the real-time rotation angle of the host machine to change correspondingly, and the route deviation amount of the trolley and the real-time rotation angle change value of the host machine correspond to each other. Therefore, the control method for preventing the trolley from shifting can effectively avoid the problem of the shifting of the trolley.
In addition, the control device for preventing the trolley from deviating and the operation machine provided by the invention both comprise a host rotation angle detection module, a calculation module and a control module, wherein the host rotation angle detection module is used for detecting the initial rotation angle of the host and the real-time rotation angle in the walking process; the calculation module is used for calculating the difference value between the real-time rotation angle and the initial rotation angle; and the control module is used for adjusting the walking parameters of the trolley when the difference value exceeds the preset interval so as to enable the difference value to fall into the preset interval. The derivation process of the beneficial effect is substantially similar to the derivation process of the beneficial effect brought by the control method for preventing the trolley from deviating, and the details are not repeated here.
Drawings
In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a schematic illustration of a prior art cart without deflection;
FIG. 2 is a schematic view of a prior art cart in the event of an offset;
FIG. 3 is a schematic diagram of a control method for preventing the cart from shifting in an embodiment of the present invention;
FIG. 4 is a schematic view of a control device for preventing the cart from shifting in an embodiment of the present invention;
reference numerals are as follows:
11: a road substrate; 12: a main machine crawler belt; 13: getting on the vehicle by the host machine; 14: a superlift brace rod; 15: a trolley crawler belt; 21: a host rotation angle detection module; 22: a calculation module; 23: and a control module.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Before construction, the host machine and the trolley are placed on the surface of the road base plate, and generally, the walking center line of the host machine, the walking center line of the trolley and the center line of the super-lift supporting rod are overlapped. Meanwhile, the projection of the central line of a main arm (not shown) connected with a host boarding pin shaft on the ground coincides with the walking central line of the host. After working for a period of time, the running deviation is easy to occur due to the self structural reasons of the running mechanism (crawler running mechanism) of the host machine and the running mechanism (crawler running mechanism) of the trolley, the distance between the turning center of the host machine and the turning center of the trolley can be changed, the super-lift support rod is of a rigid structure (formed by welding steel pipes and connected with the tail part of the host machine and the front part of the trolley on the vehicle), and therefore the pin shaft connected with the super-lift support rod and the host machine and the trolley can be damaged (due to the change of the distance between the two centers of the pin shaft, the damage is caused by the continuous change of the borne stress).
In order to avoid the pin shaft from being easily damaged, the service life is reduced, and the use cost is increased. In the prior art, the upper part of the main engine is generally set to be in a free sliding rotation state, the upper part of the main engine is in the free sliding rotation state, and the change of the distance between two rotation centers can be directly reflected in the change of the rotation angle of the main engine (the included angle between the projection of the main arm on the ground and the walking center line of the main engine is formed), so that the damage of the pin shaft caused by the large stress change at the pin shaft can be avoided.
However, a problem arises in this method, that is, if the traveling mechanism of the trolley or the host travels in a direction deviated from the first direction, the rotation angle of the host on the vehicle increases (the included angle between the projection of the main arm on the ground and the traveling center line of the host increases), and the operation precision needs to be considered when the super-large crane is used for performing the operation, that is, the rotation angle of the host is not expected to be too large (which may adversely affect the operation), the host needs to be stopped from traveling linearly, the included angle between the traveling center line of the host and the traveling center line of the trolley is adjusted, and if the operation is performed in this way, time and labor are wasted, and the increase of the generated working cost is caused.
In view of the above, referring to fig. 3, the control method for preventing the cart from deviating provided by the embodiment of the invention includes:
s11, acquiring a real-time rotation angle of the host, and obtaining a difference value between the real-time rotation angle and an initial rotation angle based on the initial rotation angle of the host, wherein the initial rotation angle is the rotation angle when the host starts to walk;
and S12, when the difference value is determined to exceed the preset interval, adjusting the walking parameters of the trolley to enable the difference value to fall into the preset interval.
After the host computer is started and before the host computer is operated, the current angle of the host computer is recorded as an initial angle (in this case, the controller on the host computer records the initial angle as 0 ° when the central line of the main arm is overlapped with the central line of the traveling mechanism of the host computer in the overlooking direction, and when the initial angle is not 0 °, an included angle exists between the two central lines, and in this case, the controller on the host computer records a specific rotation angle which is not 0 ° and takes the specific rotation angle as the initial rotation angle). The rotation angle is obtained in the prior art and is not described in detail herein.
In some embodiments, the traveling parameter of the trolley can be a speed parameter of left and right traveling mechanisms of the trolley, and it should be understood that adjusting the speed of the left and right traveling mechanisms of the trolley can adjust the left and right offset of the trolley.
Therefore, the step S12 may include:
calculating the speed regulating value of the left and right travelling mechanisms of the trolley according to the difference value between the real-time rotation angle and the initial rotation angle; specifically, the controller can calculate the speed regulating value of the left and right travelling mechanisms of the trolley according to the difference value of the angle according to preset regulating time (the time can be preset according to actual use conditions and can be set for 30s, 60s and the like);
and adjusting the speed of the left and right travelling mechanisms of the trolley according to the speed adjusting value to enable the difference value of the real-time rotation angle and the initial rotation angle to fall into a preset interval.
It should be noted that the main machine in this embodiment includes an upper machine, a lower machine, and a swing mechanism, the upper machine is disposed on the lower machine through the swing mechanism, the lower machine includes a traveling mechanism for driving the working machine to travel, the traveling mechanism is disposed on the left and right sides of the lower machine, and when the speeds of the traveling mechanisms on the two sides are different, the traveling direction of the working machine may be shifted.
The upper vehicle is arranged on the lower vehicle through the swing mechanism, and then the upper vehicle can perform swing motion on the lower vehicle.
The trolley is provided with a heavy counterweight and is connected with the upper vehicle through a superlift support rod. When the operation machinery carries out the operation, because the dolly is connected with the last car, the dolly can play the counter weight effect of host computer, prevents that the operation machinery from leading to unstable problem because of the load is great.
The rotation angle of the main machine refers to a rotation included angle generated by the getting-on central line of the main machine relative to the walking central line of the main machine. Under the conventional condition, at the moment when the main machine and the trolley start to walk, the walking center line of the main machine (the symmetrical center lines of the walking mechanisms on the two sides of the main machine), the rotation center line of the main machine and the walking center line of the trolley are superposed with each other, namely the initial rotation angle of the main machine is 0. Of course, in some special cases, there is also a case where the initial turning angle of the host is not 0.
Because the host computer is walked, the in-process that the host computer was walked to the dolly follow, the getting on the bus of host computer is in the slip state freely, the getting on the bus of host computer is connected to the dolly, when the route skew takes place for the dolly, the host computer receives the lateral force of dolly, and then the dolly can drive the real-time gyration angle of host computer and take place corresponding change, and the route offset of dolly and the real-time gyration angle change value of host computer are corresponding to each other, therefore, in the technical scheme that this embodiment provided, when confirming the difference of the real-time gyration angle in the host computer walking process and initial gyration angle surpassed and predetermine the interval, according to the difference, can calculate the speed regulating value who reachs the running gear about of dolly, wherein, initial gyration angle is the gyration angle when the host computer starts the walking. Then, according to the speed regulating value, the speed of the left and right travelling mechanisms of the trolley is regulated, so that the trolley generates reverse offset, and the travelling direction of the trolley can be corrected. Therefore, according to the control method for preventing the trolley from shifting, the problem that the trolley shifts in the process of walking along a straight line along with the host can be effectively solved.
For example, in some embodiments, as shown in fig. 2, when the cart is shifted to the right, the cart will be driven to get on the host to rotate to the left, i.e. the host will rotate to the left by an angle, and the shift of the cart to the right will be proportional to the real-time rotation angle of the host. At the moment, according to the change of the rotation angle generated by the host, the adjustment value of the left and right travelling mechanisms of the trolley is calculated, so that the speed of the right travelling mechanism of the trolley is higher than that of the left travelling mechanism of the trolley, and the trolley is gradually adjusted in a leftward offset manner. The "left" and "right" refer to the left and right directions of the operator in a state where the operator is performing normal driving in the cab.
When the trolley deviates leftwards, the adjustment mode of the trolley is the same as the principle of the adjustment mode, and the difference is that the adjustment direction is opposite, namely the speed of the left-side travelling mechanism of the trolley is controlled to be higher than that of the right-side travelling mechanism of the trolley, so that the trolley gradually deviates rightwards for adjustment.
In some embodiments, in step S12, when it is determined that the difference exceeds the preset interval, the walking parameters of the cart are adjusted so that the difference falls within the preset interval. The preset interval may be specifically set according to actual conditions, for example, in some embodiments, the setting range of the preset interval is (-B, a) degrees. The value B may be the same as the value a, for example, when it is determined that the difference between the real-time rotation angle and the initial rotation angle in the host traveling process is greater than (-0.2, 0.2) degrees, the traveling speeds of the left and right side traveling mechanisms of the cart are adjusted, so that the cart gradually shifts and is gradually adjusted, and further, the problem that the cart travels out of the road base plate to cause the road base plate to be re-laid is avoided. Of course, in other embodiments, the above-mentioned setting range (-B, a) may also be set to other ranges, for example, (-0.5, 0.3) degree, etc., and the user may select the preset range according to actual situations.
Referring to fig. 4, the embodiment of the present invention further provides a control device for preventing the cart from deviating, including a host rotation angle detection module 21, a calculation module 22, and a control module 23.
The host rotation angle detection module 21 is used for detecting an initial rotation angle of the host and a real-time rotation angle in a walking process. In some embodiments, the main body rotation angle detection module 21 may employ a rotary encoder. It should be noted that, the working machine provided with the slewing mechanism in the prior art is usually provided with a slewing angle detection device for detecting a slewing angle, and the main machine slewing angle detection module 21 in the present embodiment may detect the slewing angle of the main machine by using the slewing angle detection device in the prior art.
The calculation module 22 is used for calculating the difference value between the real-time rotation angle and the initial rotation angle;
and the control module 23 is configured to adjust a traveling parameter of the trolley when determining that the difference between the real-time rotation angle and the initial rotation angle exceeds the preset interval, so that the difference between the real-time rotation angle and the initial rotation angle falls within the preset interval.
In some embodiments, when the host starts to walk, the host rotation angle detection module 21 detects the rotation angle of the host and takes the detected angle as the initial rotation angle. When the host machine walks, the host machine rotation angle detection module 21 detects the real-time rotation angle of the host machine in real time, the difference between the real-time rotation angle and the initial rotation angle is calculated through the calculation module 22, and when the difference is larger than a preset interval, the control module 23 adjusts the walking parameters of the trolley, so that the difference between the real-time rotation angle and the initial rotation angle falls into the preset interval.
Specifically, the control module 23 can determine the speed adjustment value of the left and right travelling mechanisms of the trolley according to the calculated difference between the real-time rotation angle and the initial rotation angle. The control module 23 is used for adjusting the speed of the left and right travelling mechanisms of the trolley according to the speed adjusting value so as to correct the travelling direction of the trolley. The traveling speeds of the left and right traveling mechanisms of the cart may be controlled by the control module 23. The travelling speed of the left travelling mechanism and the right travelling mechanism of the trolley is controlled, so that the deviation direction of the trolley can be controlled, the reverse deviation adjustment of the trolley is further realized, and the trolley gradually returns to a normal travelling route.
It should be noted that, in some embodiments, the control module 23 may be disposed on the cart or the host, and of course, in other embodiments, the control module 23 may also be disposed on the server side.
In a further embodiment, the calculation module 22 is provided with a preset unit for a user to set a preset interval. So set up, the user can set up according to the normal offset that allows the dolly and predetermine the interval to be used for according to the different work condition, control the offset of dolly.
The traveling mechanism may be a crawler traveling mechanism of the working machine. Of course, in other embodiments, the running gear may also be provided as a wheeled running gear.
The embodiment of the invention also provides a working machine which comprises a main machine, a trolley and the control device for preventing the trolley from deviating in any embodiment. So set up, the problem that the dolly takes place the skew can effectively be avoided to the operation machinery that this embodiment provided. The derivation process of the beneficial effects may refer to the derivation process of the beneficial effects of the control method and the control device for preventing the cart from deviating, and is not described herein again.
In some embodiments, the work machine is a super tonnage crawler crane, i.e., a crawler crane on the order of 2000 tons and above.
In the working machine provided by the embodiment, the upper vehicle of the main machine is provided with the support rod, and the trolley is connected with the upper vehicle through the support rod. When the main machine works, the trolley is connected to the upper machine of the main machine through the support rod, so that the trolley can play a role of counterweight, and the stability of the working machine is ensured.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A control method for preventing a trolley from deviating is characterized by comprising the following steps:
acquiring a real-time rotation angle of a host, and obtaining a difference value between the real-time rotation angle and an initial rotation angle based on the initial rotation angle of the host, wherein the initial rotation angle is the rotation angle when the host starts to walk;
and when the difference value is determined to exceed the preset interval, adjusting the walking parameters of the trolley to enable the difference value to fall into the preset interval.
2. The control method for preventing the shift of the trolley according to claim 1, wherein when the difference value is determined to exceed the preset interval, the step of adjusting the traveling parameters of the trolley to make the difference value fall within the preset interval comprises:
calculating the speed regulating value of the left and right travelling mechanisms of the trolley according to the difference value;
and adjusting the speed of the left and right travelling mechanisms of the trolley according to the speed adjusting value to enable the difference value to fall into the preset interval.
3. The control method for preventing the shift of the cart according to claim 1, wherein the preset interval is set to (-B, a) degrees.
4. The control method for preventing the shift of the cart according to claim 3, wherein A and B are equal.
5. A control device for preventing a trolley from shifting is characterized by comprising:
the host rotation angle detection module is used for detecting the initial rotation angle of the host and the real-time rotation angle in the walking process;
the calculation module is used for calculating the difference value between the real-time rotation angle and the initial rotation angle;
and the control module is used for adjusting the walking parameters of the trolley when the difference value is determined to exceed the preset interval, so that the difference value falls into the preset interval.
6. The control device for preventing the deviation of the trolley as claimed in claim 5, wherein the main frame rotation angle detection module is used for detecting an included angle between a loading central line of the main frame and a walking central line of the main frame.
7. The control device for preventing the trolley from shifting according to claim 5, wherein the computing module is provided with a preset unit, and the preset unit is used for a user to set the preset interval.
8. The control device for preventing deviation of a vehicle according to claim 5, wherein said traveling mechanism is a crawler traveling mechanism of a working machine.
9. A working machine comprising a main machine, a super lift strut, a trolley and a control device for preventing deflection of the trolley as claimed in any one of claims 5 to 8.
10. The work machine of claim 9, wherein said control device is located on said host machine or said cart.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210350677.2A CN114751306A (en) | 2022-04-02 | 2022-04-02 | Control method and device for preventing trolley from deviating and operating machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210350677.2A CN114751306A (en) | 2022-04-02 | 2022-04-02 | Control method and device for preventing trolley from deviating and operating machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114751306A true CN114751306A (en) | 2022-07-15 |
Family
ID=82329060
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210350677.2A Pending CN114751306A (en) | 2022-04-02 | 2022-04-02 | Control method and device for preventing trolley from deviating and operating machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114751306A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
-
2022
- 2022-04-02 CN CN202210350677.2A patent/CN114751306A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| EP2712840B1 (en) | Crawler type travelling vehicle | |
| JP3541960B2 (en) | Automatic 3D position control method for construction machinery | |
| CN114751306A (en) | Control method and device for preventing trolley from deviating and operating machine | |
| CN107237269A (en) | A kind of many car group synchronous control systems of beam car based on pid loop and method | |
| US11136040B2 (en) | IMU based traction control for wheeled or tracked machine | |
| JP2009114751A (en) | Delivery device and delivery system | |
| JPS644013B2 (en) | ||
| JP2009024464A (en) | Delivery truck | |
| CN106458552A (en) | A load handling apparatus for a forklift | |
| KR20140052554A (en) | Self-propelled lift for transferring heavy structure | |
| JPH04325384A (en) | Conveying vehicle with horizontally maintaining function | |
| CN114834553B (en) | Engineering vehicle and walking control method thereof | |
| CN102530747A (en) | Synchronous structure of crawler-type counterweight trolley and crane comprising same | |
| CN116119536A (en) | Tunnel hoisting equipment | |
| JP4474445B2 (en) | Delivery method | |
| CN113027694B (en) | Transport mechanism, blade root transfer trolley, blade tip transfer trolley and blade transfer system | |
| JP6915794B1 (en) | Road-rail vehicle for pile driver and pile driver transportation method using it | |
| JP2922726B2 (en) | Excavator bucket guidance system | |
| JP3109842B2 (en) | Derailment detection mechanism for transport vehicles | |
| TWM625983U (en) | High-bed field semi-automatic following crawler truck | |
| JPS58139988A (en) | Automatic balance type crane | |
| CN115867480A (en) | Autonomous travel control method for track-type vehicle, controller for track-type vehicle, and track-type vehicle | |
| KR20210129419A (en) | Control System of Construction Equipment according to Slope of Road | |
| JP6149901B2 (en) | Mobile crane | |
| JPH09110371A (en) | Inclination compensating control method of tire traveling crane and device thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |