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Method for compensating for deflection of concrete pump truck arm support

A technology of concrete pump truck and compensation method, which is applied in the processing of building materials, construction, building construction, etc. It can solve the problems that the results cannot correspond to the calculation model, the workload is heavy, and the precise position of the terminal cannot be determined, and the test can be achieved. Short cycle, compensation control error, easy to achieve effect

Active Publication Date: 2013-07-17
JIANGSU XCMG CONSTR MASCH RES INST LTD
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  • Abstract
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  • Application Information

AI Technical Summary

Problems solved by technology

The disadvantage is that the workload of the test is very large, so the measurement points have to be simplified, and the results cannot correspond to the calculation model. Another disadvantage is that the cumulative error is formed, and the precise position of the terminal cannot be determined in the end

Method used

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  • Method for compensating for deflection of concrete pump truck arm support
  • Method for compensating for deflection of concrete pump truck arm support
  • Method for compensating for deflection of concrete pump truck arm support

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Embodiment Construction

[0019] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0020] Such as figure 1 As shown, the present invention uses terminal real-time compensation. Firstly, the deformation data table of the boom is obtained through testing, and then the corresponding trajectory planning program, boom deformation data and joint variable reverse solution program are called according to the angle fed back by each inclination sensor, and the compensation The joint variables of each pouring point are solved to control the movement of the pouring gate.

[0021] Such as figure 2 As shown, the pouring space is first layered according to height, that is, the pouring space is divided into a series of plane pouring layers; in a certain plane pouring layer, the coordinates of the pouring mouth are expressed by cylindrical coordinates ( ); at the same pouring level and the same amplitude, the deformation of the boom will ...

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Abstract

The invention discloses a method for compensating for the deflection of a concrete pump truck arm support, belonging to the technical field of concrete pump truck arm supports. In the method, a terminal is used for compensating in real time; an arm support deformation data sheet which corresponds to a series of pouring locus coordinates is established by testing; and when operating personnel controls a pouring gate to move to the start pouring point of a specified pouring locus, a control system is used for calling a corresponding locus planning program, arm support deformation data and a joint variable inverse solution program by computing an angle value fed back by each joint arm inclination angle sensor and resolving the joint variable of each compensated pouring point to control the application of pouring gate movement. The method for compensating for the deflection of the arm support has the beneficial effects of easiness for controlling, high accuracy, easiness for implementing and capability of effectively compensating for the deflation of the arm support in the intelligent control process.

Description

technical field [0001] The invention relates to a method for compensating the deformation amount of a concrete pump truck boom, and belongs to the technical field of concrete pump truck booms. Background technique [0002] In the intelligent control of the concrete pump truck boom, each boom and turntable realizes closed-loop coordinated control through the control system. During construction, only need to operate the handle to give a movement direction of the discharge port at the end of the boom frame of the pump truck, and the coordinated action of the multi-section arms can be realized, so that the boom frame can automatically move the discharge port smoothly according to the prescribed track in the best shape. target location. However, in order to make the boom reach the specified position accurately, the deflection of the pouring gate of the boom caused by the deformation of the boom is an important factor that cannot be ignored. Therefore, an effective compensation ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): E04G21/02
Inventor 杨力夫罗衍领胡传正魏彬于立娟邱艳峰
Owner JIANGSU XCMG CONSTR MASCH RES INST LTD
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