WO2014043997A1 - Procédé de surveillance de pompe à béton sur camion, système de surveillance de pompe à béton sur camion et pompe à béton sur camion - Google Patents

Procédé de surveillance de pompe à béton sur camion, système de surveillance de pompe à béton sur camion et pompe à béton sur camion Download PDF

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Publication number
WO2014043997A1
WO2014043997A1 PCT/CN2012/085825 CN2012085825W WO2014043997A1 WO 2014043997 A1 WO2014043997 A1 WO 2014043997A1 CN 2012085825 W CN2012085825 W CN 2012085825W WO 2014043997 A1 WO2014043997 A1 WO 2014043997A1
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WO
WIPO (PCT)
Prior art keywords
center
gravity
vehicle
pump truck
concrete pump
Prior art date
Application number
PCT/CN2012/085825
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English (en)
Chinese (zh)
Inventor
万梁
李四中
王佳茜
彭志强
Original Assignee
中联重科股份有限公司
Priority date (The priority date 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 date listed.)
Filing date
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Application filed by 中联重科股份有限公司 filed Critical 中联重科股份有限公司
Publication of WO2014043997A1 publication Critical patent/WO2014043997A1/fr

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Classifications

    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
    • E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
    • E04G21/02—Conveying or working-up concrete or similar masses able to be heaped or cast
    • E04G21/04—Devices for both conveying and distributing
    • E04G21/0418—Devices for both conveying and distributing with distribution hose
    • E04G21/0436—Devices for both conveying and distributing with distribution hose on a mobile support, e.g. truck
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/62—Constructional features or details
    • B66C23/72—Counterweights or supports for balancing lifting couples
    • B66C23/78—Supports, e.g. outriggers, for mobile cranes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/88—Safety gear
    • B66C23/90—Devices for indicating or limiting lifting moment
    • B66C23/905—Devices for indicating or limiting lifting moment electrical
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
    • E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
    • E04G21/02—Conveying or working-up concrete or similar masses able to be heaped or cast
    • E04G21/04—Devices for both conveying and distributing
    • E04G21/0418—Devices for both conveying and distributing with distribution hose
    • E04G21/0445—Devices for both conveying and distributing with distribution hose with booms

Definitions

  • the present invention relates to the field of concrete pump truck monitoring technology, and in particular to a concrete pump truck monitoring method, a concrete pump truck monitoring system, and a concrete pump truck.
  • Wheeled construction machinery such as concrete pump trucks, need to deploy the legs before construction to ensure the safety of the boom.
  • the legs cannot be fully deployed.
  • the equipment tipping accident caused by the incomplete unfolding of the legs is one of the main causes of safety accidents of concrete pump trucks.
  • a pump truck with an X-shaped leg which can be supported by only one side of the leg, but the use of the pump has strict regulations on the working area: work using one-sided support
  • the area is approximately 130° from the position where the cloth boom is placed. Since the pump system is used, the control system can only recognize the condition that the legs are fully deployed or unilaterally deployed, thereby safely monitoring the rotation of the boom. In both cases, the angle of rotation of the boom is 0 to 360° and 0 to 130°, and when the outrigger is in a deployed position between the two operating conditions, the control system cannot calculate the safe range of the boom, which limits the safe working range of the pump.
  • the patent document CN102248933A proposes a method for determining the swingable angle of the boom by detecting the extent of the outriggers of the sensor.
  • the main limitation of the patent is that when the boom legs are known At the coordinates, only the minimum safe working range of the boom rotation can be determined, and the calculation of the maximum safe cloth range cannot be realized, so that the working range of the boom is not comprehensively covered, which limits the safe working range of the pump truck.
  • the one-side support of the outrigger cannot be fully deployed.
  • the present invention is directed to a concrete pump truck monitoring method, a concrete pump truck monitoring system, and a concrete pump truck that perform real-time monitoring of a pump truck to prevent it from tipping over.
  • a concrete pump truck monitoring method comprising the steps of: calculating a safety center of a center of a concrete pump truck according to a support position of the leg; The real-time position calculates the position of the center of gravity of the concrete pump truck; determines whether the center of gravity of the vehicle is located in the safe center of the center of gravity of the vehicle; and controls the action of the concrete pump truck according to the judgment result.
  • calculating the safety center of the center of the concrete pump truck according to the support position of the leg includes the following steps: obtaining the stroke of the piston rod of each leg cylinder; according to the stroke of the piston rod of each leg cylinder and each leg
  • the structural parameters of the cylinder calculate the coordinates of the support points of each leg; the safety center of the center of gravity of the vehicle is determined according to the coordinates of the support points of each leg, wherein the safety center of the center of gravity of the vehicle is the connection point of the support points of each leg The inner area enclosed by the formed polygon.
  • calculating the center of gravity of the concrete pump truck according to the real-time position of the boom includes the following steps: acquiring the boom rotation angle; acquiring the stroke of the piston rod of each boom cylinder of the boom; The stroke of the piston rod determines the attitude parameter of the boom under the angle of rotation; calculates the position of the center of gravity of the vehicle according to the structural parameters of the concrete pump truck and the attitude parameters of the boom, wherein the structural parameters of the concrete pump truck include the three-dimensional model of the boom.
  • determining whether the position of the center of gravity of the vehicle is located in the safety center of the center of gravity of the vehicle comprises the following steps: obtaining an intersection of the boundary of the safety region of the boom and the center of gravity of the vehicle on the same horizontal projection plane under the current turning angle; calculating the intersection point and the turntable The distance from the center, the safety distance is obtained; the distance between the center of gravity of the vehicle and the center of the turntable is obtained under the current turning angle, and the offset distance of the center of gravity of the vehicle is obtained; the distance between the safe distance and the center of gravity of the vehicle is compared; Whether the center of gravity of the vehicle is located in the safe area of the center of gravity of the vehicle.
  • determining whether the position of the center of gravity of the whole vehicle is located in the safety center of the center of gravity of the vehicle according to the comparison result comprises the following steps: when the safety distance > the center of gravity shift distance of the vehicle, determining that the center of gravity of the vehicle is located in the safety center of the center of gravity of the vehicle; When the distance ⁇ the center of gravity of the vehicle is offset, it is judged that the center of gravity of the vehicle exceeds the safety center of the center of gravity of the vehicle.
  • controlling the concrete pump truck according to the judgment result comprises the following steps: when determining that the center of gravity of the vehicle exceeds the safety center of the center of gravity of the vehicle, adjusting any arm movement of the boom or adjusting the rotation angle of the boom to make the center of gravity of the vehicle Move to the safe area of the center of gravity of the vehicle.
  • a concrete pump truck monitoring system including: a first calculating unit, configured to calculate a safety center of a center of a concrete pump truck according to a support position of the leg; Calculating the position of the center of gravity of the concrete pump truck according to the real-time position of the boom; the determining unit is respectively connected with the first calculating unit and the second calculating unit, and is used for determining whether the center of gravity of the whole vehicle is located in the safe center of the center of gravity of the vehicle; The unit is connected to the judging unit and is configured to control the action of the concrete pump truck according to the judgment result of the judging unit.
  • the first calculating unit comprises: a first collecting module, comprising: a first detecting device mounted on each leg cylinder for detecting the stroke of the piston rod; a first calculating module, configured to be used according to the piston of each leg cylinder Rod line The structural parameters of each leg and each leg cylinder are used to calculate the coordinates of the support points of each leg; the determining module is configured to determine the safety center of the center of gravity of the vehicle according to the coordinates of the support points of each leg.
  • the second calculating unit comprises: a second collecting module, comprising: an encoder mounted on the turntable for detecting the swing angle of the boom; and a third collecting module, comprising: each arm cylinder mounted on the boom for a second detecting device for detecting the stroke of each of the boom arms; a second calculating module for determining different attitude parameters of the boom at a swing angle according to a piston rod stroke of each boom cylinder; a third calculating module, for According to the structural parameters of the concrete pump truck and the attitude parameters of the boom, the position of the center of gravity of the vehicle is calculated.
  • the structural parameters of the concrete pump truck include the three-dimensional model of the boom.
  • the judging unit comprises: a fourth calculating module, configured to calculate a safety distance, wherein the safety distance means that at any rotation angle of the boom, the boundary between the boom and the safety center of the center of gravity of the vehicle is on the same horizontal projection surface The distance between the intersection point and the center of the turntable; the fifth calculation module, which is used to calculate the offset distance of the center of gravity of the vehicle, and the offset distance of the center of gravity of the vehicle refers to the distance between the center of gravity of the whole vehicle and the center of the turntable when the boom is at the angle of rotation; The module is configured to compare the distance between the safety distance and the center of gravity of the vehicle; the determining module is configured to determine, according to the comparison result, whether the position of the center of gravity of the vehicle is located in a safe area of the center of gravity of the vehicle.
  • a fourth calculating module configured to calculate a safety distance, wherein the safety distance means that at any rotation angle of the boom, the boundary between the boom and the safety center of the center of gravity of the vehicle is on the same
  • a concrete pump truck including a boom for performing a cloth work, a telescopic leg for supporting a concrete pump truck, and for monitoring safety of the boom work
  • the concrete pump truck monitoring system and the concrete pump truck monitoring system are any of the aforementioned concrete pump truck monitoring systems.
  • the action of the concrete pump truck can be controlled according to the judgment result, and the position of the center of gravity of the vehicle is prevented from exceeding the safety center of the center of gravity of the vehicle, thereby preventing the concrete pump truck from tipping over.
  • the invention can monitor the safety center of the center of gravity of the vehicle in any deployed position of the leg, and overcomes the defect that the prior art can only monitor the one-side deployment or the fully-expanded state of the leg, and avoids monitoring of the pump truck.
  • FIG. 1 is a schematic view showing a concrete pump monitoring method according to an embodiment of the present invention
  • 2 is a schematic view showing the deployment of a concrete pump truck leg according to an embodiment of the present invention
  • FIG. 3 is a schematic view showing the posture of the boom according to an embodiment of the present invention
  • FIG. 4 is a view showing an embodiment according to the present invention. Schematic diagram of the concrete pump truck monitoring system.
  • FIG. 1 a concrete pump truck monitoring method is provided, the method comprising steps S100 to S400.
  • S100 Calculate the safety center of the center of the concrete pump truck according to the support position of the leg.
  • S200 Calculate the center of gravity of the concrete pump truck according to the real-time position of the boom.
  • a method for calculating a safety area of a center of gravity of a concrete pump truck according to a support position of the leg comprising the steps of: obtaining a stroke of a piston rod of each leg cylinder This step is performed by a first detecting device built in or external to each leg cylinder. The coordinates of the support points of each leg are calculated based on the stroke of the piston rod of each leg cylinder and the structural parameters of each leg cylinder. The support points of each leg are connected to form a polygon, and the safety area of the center of gravity of the vehicle is determined according to the inner area enclosed by the polygon.
  • a method for calculating a position of a center of gravity of a concrete pump truck according to a real-time position of the boom comprising the steps of: acquiring a swing angle of the boom, the step being installed on the turntable The encoder is on. The stroke of the piston rod of each of the boom cylinders of the boom is obtained, and this step is performed in real time by a second detecting device built in or externally attached to each of the pitch cylinders. According to the stroke of the piston rod of each pitch arm cylinder, different attitude parameters of the boom are determined under the aforementioned turning angle. According to the structural parameters of the concrete pump truck and the attitude parameters of the boom, the position of the center of gravity of the vehicle is calculated.
  • the structural parameters of the concrete pump truck include the three-dimensional model of the boom.
  • the parameters in the three-dimensional model include: the centroid coordinates of each structural member of the concrete pump truck.
  • the calculation of the center of gravity of the vehicle and the controlled object are the extension and rotation of all the arm of the entire boom.
  • the boom When performing the cloth work, the boom will be in different postures.
  • the attitude of the boom is adjusted, the position of the center of gravity of the vehicle will change accordingly. Therefore, the judgment of the position of the center of gravity of the vehicle needs to be combined with the real-time posture of the boom.
  • the attitude of the boom can be determined by the attitude parameters.
  • the attitude parameters mainly include: the angle of rotation of the boom, the displacement of the piston rod of each arm cylinder, and the parameters in the three-dimensional model.
  • the center of gravity calculation formula is a well-known calculation method in physics and mathematics. As long as the input conditions are satisfied, the position of the center of gravity of the vehicle can be calculated according to a well-known calculation formula.
  • the conditions entered here include: the position of the center of gravity of each arm of the boom of the concrete pump truck and the relative position of each arm.
  • the center of gravity of each arm is included in the three-dimensional model of the boom, and the relative positions of the arms of the boom in different postures, that is, the attitude parameters of the boom can be fed back through the second detecting device on each of the arm cylinders Learned.
  • a calculation method for determining whether the position of the center of gravity of the whole vehicle is located in the safe area of the center of gravity of the vehicle further comprises the following steps: obtaining the safety of the center of gravity of the boom and the whole vehicle under the current turning angle The intersection of the boundaries of the region on the same horizontal projection plane. Calculate the distance between the intersection and the center of the turntable to get a safe distance. Obtain the distance between the center of gravity of the vehicle and the center of the turntable under the current turning angle, and obtain the offset distance of the center of gravity of the whole vehicle. Compare the distance between the safety distance and the center of gravity of the vehicle.
  • a safety factor can also be determined first, and then the vehicle's center of gravity offset distance is multiplied by the safety factor, and the obtained value is compared with the safety distance to determine the center of gravity of the vehicle. Whether the location is in the safe area of the center of gravity of the vehicle.
  • the safety factor is a defined value based on the structural parameters of the concrete pump truck and the safe operating regulations.
  • a method for determining whether the position of the center of gravity of the whole vehicle is located in the safe area of the center of gravity of the vehicle according to the comparison result includes the following steps: when the safety distance > the center of gravity shift distance of the vehicle , to determine the position of the center of gravity of the vehicle is located in the safe area of the center of gravity of the vehicle. When the safety distance ⁇ the center of gravity shift distance of the vehicle, it is judged that the center of gravity of the vehicle exceeds the safety center of the center of gravity of the vehicle. Or the following steps are included: When the safety distance > the center of gravity shift distance X safety factor, it is determined that the center of gravity of the vehicle is located in the safety center of the center of gravity of the vehicle.
  • a control method for controlling the action of the concrete pump truck according to the judgment result comprising the following steps: when determining that the center of gravity of the vehicle is located in the safe center of the center of gravity of the vehicle, Without adjustment, the boom continues the cloth operation.
  • the concrete pump truck includes a first leg 71, a second leg 72, a third leg 73, and a fourth leg 74.
  • the moving structural components that are highly correlated with the center of gravity of the concrete pump truck mainly include the turntable 50 and the boom, wherein the boom includes the first joint arm 61 and the second joint arm that are sequentially connected. 62.
  • the third section arm 63, the fourth section arm 64 and the fifth section arm 65 are connected to the turntable 50.
  • the boom generally includes five typical postures, wherein the first posture A extends horizontally for all the pitch arms; the second posture B extends vertically for all the pitch arms; the third posture C is the first pitch arm 61 and the second pitch arm 62.
  • the third section arm 63 extends horizontally, and the fourth section arm 64 and the fifth section arm 65 extend obliquely downward, so that the boom frame forms a generally arched posture of the ground;
  • the fourth posture D is the level of the first section arm 61 Extending, all the other arm arms extend vertically downwards to form the deepest position in the underground;
  • the fifth posture State E is a horizontal extension of the first section arm 61, the second section arm 62 and the third section arm 63 extend vertically downward, and the fourth section arm 64 and the fifth section arm 65 extend obliquely downward to form the ground recoil. attitude.
  • the rotation angle of the current boom be ⁇
  • the safety distance be X
  • the intersection of the boom and the center of gravity of the vehicle's center of gravity 80 on the same horizontal projection plane and calculate the position of the boom in the first attitude A.
  • a center of gravity G1 and a first vehicle center of gravity offset distance XI a second center of gravity G2 when the boom is in the second posture B and a second vehicle center of gravity offset distance X2, and a third weight of the boom in the third posture C
  • a concrete pump truck monitoring system including a first computing unit 10, a second computing unit 20, a determining unit 30, and a control unit 40.
  • the first calculating unit 10 and the second calculating unit 20 are respectively connected to the determining unit 30, and the determining unit 30 is connected to the control unit 40.
  • the first calculating unit 10 is configured to calculate a vehicle center of gravity safety area 80 of the concrete pump truck according to the supporting position of the leg, wherein the first calculating unit 10 comprises a first collecting module, a first calculating module and a determining module.
  • the first acquisition module includes a first detection device mounted on each leg cylinder, and the first detection device is configured to detect a piston rod stroke of the leg cylinder.
  • the first calculation module is configured to calculate the coordinates of the support points of each leg according to the piston rod stroke of each leg cylinder detected by the first detecting device and the structural parameters of each leg cylinder.
  • the determining module is configured to determine a vehicle center of gravity safety area 80 of the concrete pump truck according to the coordinates of the support points of each leg calculated by the first calculating module.
  • the vehicle center of gravity safety area 80 is specifically an area surrounded by a polygon formed by connecting the support points of each leg.
  • the second calculating unit 20 is configured to calculate the position of the center of gravity of the concrete pump truck according to the real-time position of the boom.
  • the second calculating unit 20 includes a second collecting module, a third collecting module, a second calculating module, and a third calculating module.
  • the second acquisition module includes an encoder mounted on the turntable 50 for detecting the angle of rotation of the boom.
  • the angle of rotation here refers to the angle between the rear axle of the concrete pump truck and the boom.
  • the third acquisition module includes a plurality of second detecting devices built into or external to each of the boom cylinders of the boom, and the second detecting device is configured to detect the piston rod stroke of the pitch cylinders in real time.
  • the second calculating module is configured to determine different attitude parameters of the boom at the current turning angle according to the piston rod stroke of each pitch arm cylinder detected by the second detecting device.
  • the third calculation module is configured to calculate the center of gravity of the vehicle according to the structural parameters of the concrete pump truck and the attitude parameters of the boom, wherein the structural parameters of the concrete pump truck include a three-dimensional model of the boom.
  • the determining unit 30 is configured to determine whether the position of the center of gravity of the whole vehicle is located in the safe area of the center of gravity of the vehicle.
  • the determining unit 30 includes a fourth calculating module, a fifth calculating module, a comparing module, and a judging module.
  • the fourth calculation module is used to calculate the safety distance.
  • the safety distance here refers to a certain rotation angle of the boom.
  • the boundary between the boom and the safety center of the center of gravity of the vehicle is between the intersection G of the same horizontal projection plane and the center of the turntable 50.
  • the distance is calculated by the fifth calculation module for calculating the offset distance of the center of gravity of the vehicle.
  • the offset distance of the center of gravity of the vehicle is the distance between the center of gravity of the vehicle and the center of the turntable 50 when the boom is at the aforementioned angle of rotation.
  • the comparison module is used to compare the distance between the safety distance and the center of gravity of the vehicle.
  • the judging module is configured to judge whether the position of the center of gravity of the whole vehicle is located in the safe area of the center of gravity of the vehicle according to the comparison result.
  • the control unit 40 is configured to control the action of the concrete pump truck according to the determination result of the determination unit 30.
  • the boom continues to perform the cloth operation; when the determining unit 30 obtains that the center of gravity of the vehicle exceeds the safety center of the center of gravity of the vehicle according to the real-time monitoring result, the control unit 40 issues an alarm signal pair.
  • the operation of the boom is intervened.
  • the center of gravity of the vehicle is moved into the safe area of the center of gravity of the vehicle, so as to prevent the center of gravity of the vehicle from exceeding the safety center of the center of gravity of the vehicle, thereby preventing the boom from exceeding Safe operating range.
  • first detecting device and second detecting device have various forms, including but not limited to positioning GPS, tilt sensor, wire displacement sensor, and hysteresis displacement sensor.
  • positioning GPS tilt sensor
  • wire displacement sensor wire displacement sensor
  • hysteresis displacement sensor a position monitoring device and method
  • a concrete pump including a boom for performing a cloth work, a telescopic leg for supporting a concrete pump truck, and for monitoring safety of the boom work
  • the concrete pump truck monitoring system, the concrete pump truck monitoring system is the concrete pump truck monitoring system described above, and the real-time monitoring of the position of all the legs is realized, and the calculation of the safety center of the center of the vehicle in any unfolded state is realized; Real-time monitoring of the movement position of the boom, realizing the calculation of the position of the center of gravity of the vehicle at any boom position; judging the safety of the concrete pump truck according to the position of the center of gravity of the vehicle in real time, and realizing the fabric of the boom in the maximum safe range.
  • the action of the concrete pump truck can be controlled according to the judgment result, and the position of the center of gravity of the vehicle is prevented from exceeding the safety center of the center of gravity of the vehicle, thereby preventing the concrete pump truck from tipping over.
  • the invention can monitor the safety center of the center of gravity of the vehicle in any deployed position of the leg, and overcomes the defect that the prior art can only monitor the one-side deployment or the fully-expanded state of the leg, and avoids monitoring of the pump truck.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • On-Site Construction Work That Accompanies The Preparation And Application Of Concrete (AREA)
  • Jib Cranes (AREA)

Abstract

Cette invention concerne un procédé de surveillance de pompe à béton sur camion, un système de surveillance de pompe à béton sur camion et une pompe à béton sur camion. Ledit procédé de surveillance de pompe à béton sur camion comprend les étapes consistant à : calculer une zone de sécurité de centre de gravité (80) d'une pompe à béton sur camion dans son ensemble sur la base de positions de support de pieds de support (71, 72, 73, 74); calculer un centre de gravité de la pompe à béton sur camion dans son ensemble sur la base des positions en temps réel de flèches (61, 62, 63, 64, 65); déterminer si le centre de gravité de l'ensemble du camion se trouve dans la zone de sécurité de centre de gravité (80) de l'ensemble du camion; commander les actions de la pompe à béton sur camion sur la base d'un résultat de détermination. Le procédé selon l'invention surveille le camion porte-pompe en temps réel pour empêcher le renversement du camion porte-pompe.
PCT/CN2012/085825 2012-09-18 2012-12-04 Procédé de surveillance de pompe à béton sur camion, système de surveillance de pompe à béton sur camion et pompe à béton sur camion WO2014043997A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201210347223.6A CN102841566B (zh) 2012-09-18 2012-09-18 混凝土泵车监控方法、混凝土泵车监控系统及混凝土泵车
CN201210347223.6 2012-09-18

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Publication Number Publication Date
WO2014043997A1 true WO2014043997A1 (fr) 2014-03-27

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PCT/CN2012/085825 WO2014043997A1 (fr) 2012-09-18 2012-12-04 Procédé de surveillance de pompe à béton sur camion, système de surveillance de pompe à béton sur camion et pompe à béton sur camion

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WO (1) WO2014043997A1 (fr)

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CN106585577B (zh) * 2016-12-12 2019-04-12 三一汽车制造有限公司 一种臂架系统控制方法、臂架控制系统及臂架设备
CN106585578B (zh) * 2016-12-12 2019-03-29 三一汽车制造有限公司 一种臂架系统控制方法、臂架控制系统及臂架设备
CN110863840A (zh) * 2019-11-29 2020-03-06 徐州中翰矿山设备制造有限公司 矿用混凝土气控输送泵车
CN111395767A (zh) * 2020-03-23 2020-07-10 湖南机电职业技术学院 一种臂架泵车防倾翻保护系统
CN111608392B (zh) * 2020-05-08 2022-04-12 中联重科股份有限公司 用于混凝土设备的防倾翻控制方法和系统、混凝土设备
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CN112026693A (zh) * 2020-08-19 2020-12-04 山东交通职业学院 工程机械防倾翻控制系统及其控制方法
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