CN102360228A - Cantilever crane action control system and concrete pump truck - Google Patents
Cantilever crane action control system and concrete pump truck Download PDFInfo
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- CN102360228A CN102360228A CN2011103016667A CN201110301666A CN102360228A CN 102360228 A CN102360228 A CN 102360228A CN 2011103016667 A CN2011103016667 A CN 2011103016667A CN 201110301666 A CN201110301666 A CN 201110301666A CN 102360228 A CN102360228 A CN 102360228A
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- 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
- E04G21/0463—Devices for both conveying and distributing with distribution hose with booms with boom control mechanisms, e.g. to automate concrete distribution
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- On-Site Construction Work That Accompanies The Preparation And Application Of Concrete (AREA)
Abstract
The invention relates to the technical field of cantilever crane control of a concrete pump track, and discloses a cantilever crane action control system, which comprises at least two groups of cantilever cranes, wherein each group of cantilever cranes comprises at least two adjacent crane sections, the tail end of the last crane section of the cantilever crane is used as the tail end of the group of cantilever cranes, and each group of cantilever cranes respectively controls the tail end of the cantilever crane for action by adopting an independent cantilever crane action control subsystem. The cantilever crane action control system can be used for singly carrying out single planning on each group of cantilever crane when carrying out control operation on the tail end of the cantilever crane of the cantilever crane system; and the quantity of the crane sections of each group of cantilever crane is less, the planning algorithm is simpler, and the tail end of the cantilever crane of the cantilever crane system with multiple crane sections can be more simply controlled. The invention also discloses a concrete pump truck with the cantilever crane action control system.
Description
Technical field
The present invention relates to concrete pump truck arm control technology field, relate in particular to a kind of jib motion control system.The invention still further relates to a kind of concrete mixer with above-mentioned jib motion control system.
Background technology
Concrete mixer is a kind of common construction implement, and it generally includes pump truck chassis, pumping mechanism, boom system.
Wherein, boom system generally includes fixed station 1, single oil cylinder joint 2, telescopic oil cylinder 3, linkage assembly 4, and is as shown in Figure 1; Boom system to have 5 joint arm joints is an example, and the two ends of each arm joint are hinged successively, and the head end and the fixed station 1 of first segment arm joint are hinged; The end of final section arm joint forms the jib terminal 5 of boom system; Concrete mixer is in work progress, and jib terminal 5 is aimed at construction area, and construction area is carried out the concrete depositing operation; Every joint arm joint is through telescopic oil cylinder 3 driven in rotation; When telescopic oil cylinder 3 stretched, telescopic oil cylinder 3 promoted to save the linkage assembly that is connected with arm, the rotation of linkage assembly pusher arm joint; Every joint arm joint can be realized the expansion and the gathering of arm joint around the pin joint rotation of its head end in plane shown in Figure 1.
In the prior art; Usually operator is regulated the terminal position of the jib of boom system through the jib remote controller, is example with the boom system of 5 joints, and operator is through 5 handles of jib remote controller; Action to every joint arm joint is controlled separately; Flexible such as the telescopic oil cylinder of first handle control first segment arm joint, thereby the expansion and the gathering of control first segment arm joint, the telescopic oil cylinder of second handle control second joint arm joint flexible; Thereby control the expansion and the gathering of the second joint arm joint, and the like.
There is following problem in this boom system control method, below is that example describes with Fig. 2, and Fig. 2 is the structural representation during the boom system second joint arm joint action among Fig. 1.
As shown in Figure 2; When the jib remote controller control second joint arm joint changes the θ angle, the distance of the end action d of the second joint jib, and jib terminal (i.e. the end of the 5th joint jib) will move significantly; Effect that Here it is so-called " amplification "; This " amplification " effect causes operator to be difficult to accomplish the terminal accurate adjusting of jib is accurately regulated as realizing the jib end, also needs simultaneously all the other arm joints to be carried out the adjustment of corresponding displacement; The displacement of all the other arm joints is difficult for confirming that what jib was terminal steadily moves with accurately positioning difficulty is bigger; Operator need carry out multi-pass operations, and labour intensity is big, fatiguability.
In order to solve the problems of the technologies described above; Along with the jib technical development; Occurred the terminal location technology (being called the intelligent arm support technology again) of a kind of jib in the prior art, it is under the situation of given pumping vehicle arm rack terminal position, and machine is planned the attitude of every joint arm joint automatically; That is to say; Operator only needs to provide through telepilot the translational speed instruction of the terminal x of jib, y, z direction, and the attitude of the every joint arm joint of boom system will be regulated automatically, makes the jib end go motion according to the speed of x, y, z direction; This technology make concrete mixer when construction to the controlling more flexibly of jib, more simply, visual pattern more, greatly reduce the labour intensity of operator.
The terminal location technology of this jib, the planning of jib exists uncertain, and control algolithm is complicated; It is only applicable to the control of the less boom system of arm joint number amount; For a fairly large number of boom system of jib, along with the increase of arm joint number amount, its control complexity is increasingly high; Algorithm becomes increasingly complex, thereby makes the terminal location technology of this jib be difficult to be applied in a fairly large number of boom system of jib.
Therefore, how to reduce the algorithm difficulty, realize the terminal control of jib of the boom system with single oil cylinder joint is become the technical barrier that those skilled in the art need to be resolved hurrily comparatively simply.
Summary of the invention
First purpose of the present invention provides a kind of jib motion control system, and this jib motion control system can reduce the algorithm difficulty, realize the terminal control of jib to the boom system with single oil cylinder joint comparatively simply.
Second purpose of the present invention provides a kind of concrete mixer with above-mentioned jib motion control system.
In order to realize above-mentioned first purpose; The invention provides a kind of jib motion control system; Comprise the jib group that is no less than two groups; Every group of jib group comprises at least two adjacent arms joints, and the end of the final section arm joint of said jib group be the jib group end of this jib group, and every group of jib group adopts independently jib to move RACS respectively and control said jib group end and move.
Preferably; Said jib action sub-control system comprises sub-controller, sub-arm joint actuating signal transmitter; Said sub-arm joint actuating signal transmitter; The signal of said sub-arm joint actuating signal transmitter sends end and is connected with the arm joint actuating signal receiving end of said controller, and the control signal of said controller is sent end and is connected with the control end of the telescopic oil cylinder of the respective arms joint of said jib group.
Preferably, after said sub-controller receives in the said jib group arm and saves pairing arm joint action command signal,, then control the attitude of said next joint arm joint and remain consistent with attitude formerly if do not receive the action command signal of next joint arm joint of this arm joint.
Preferably, also comprise sub-Attitute detecting device, said sub-Attitute detecting device detects the attitude of next joint arm joint of arm joint in the said jib group in real time; Said controller detects the attitude of said next joint arm joint according to said sub-Attitute detecting device, control attitude that said next joint arm saves and remains consistent with attitude formerly.
Preferably, said Attitute detecting device is the obliquity sensor that is used to detect said next joint arm joint and horizontal plane angle, and the angle signal output part of said obliquity sensor is connected with the attitude signal receiving end of said controller.
Preferably, said sub-arm joint actuating signal transmitter is an arm joint remote controller.
Preferably; Also comprise master controller; After said master controller receives the arm joint action command signal of said jib group,, then control the attitude of said next group arm joint group and remain consistent with attitude formerly if do not receive the action command signal of next group jib group of this arm joint group.
Preferably, also comprise arm joint remote controller, said arm joint remote controller comprises and is no less than two universal handle that each universal handle is corresponding to one group of jib group.
Jib motion control system provided by the invention; All arm joints of boom system are divided into the jib group that is no less than two groups; Every group of jib group comprises at least two adjacent arm joints; The end of the final section arm of said jib group joint be the jib group end of this jib group, and every group of jib group adopts independently jib to move RACS respectively and control said jib group end and move.
This jib motion control system is divided into the jib group that is no less than two groups with all arms joint of boom system, and every group of jib group adopts independently jib action RACS to control said jib group end respectively and move.When the jib end to boom system carries out control operation; Can plan separately every group of jib group separately; The arm joint number amount of every group of jib group is less, and planning algorithm is comparatively simple, can realize the terminal control of jib to the boom system with single oil cylinder joint comparatively simply.
When the jib end of boom system need be constructed in construction area among a small circle, only need action, can accomplish jibs such as the straight line tiling action in the construction area among a small circle near the terminal jib group of jib; After the construction of construction area is among a small circle accomplished, move jib group near fixed station again, just can boom system be moved to new place, another place, move again and accomplish the construction of construction area among a small circle near the terminal jib group of jib.Because during operation, only need action among a small circle near the terminal jib group of jib, control flexibly, energy consumption is little; When needs shift on a large scale, then move jib group near fixed station, therefore, and this jib motion action method, operating efficiency is higher, and energy consumption is lower.
In order to realize above-mentioned second purpose; The invention provides a kind of concrete mixer with above-mentioned jib motion control system; Because above-mentioned jib motion control system has above-mentioned technique effect, the concrete mixer with this jib motion control system also should possess the corresponding techniques effect.
Description of drawings
Fig. 1 is a kind of structural representation of typical boom system;
Fig. 2 is the structural representation when the boom system second joint arm joint moves among Fig. 1;
Fig. 3 is the theory diagram of a kind of embodiment of jib motion control system provided by the present invention;
Fig. 4 is the structural representation of a kind of embodiment of arm joint remote controller among Fig. 3;
Fig. 5 is the principle of work synoptic diagram of jib motion control system provided by the present invention;
Wherein, among Fig. 1-Fig. 5:
Fixed station 1, arm joint 2, first segment arm joint 21, the second joint arm save the 22, the 3rd joint arm joint the 23, the 4th joint arm joint the 24, the 5th and save arm joint 25, telescopic oil cylinder 3, linkage assembly 4, jib terminal 5;
The sub-arm joint actuating signal transmitter of the sub-arm joint actuating signal transmitter of master controller 10, first sub-controller 101, second sub-controller 102, first 111, second 112, the first jib group 121, the second jib group 122.
Embodiment
Below in conjunction with accompanying drawing content of the present invention is described, following description only is exemplary and indicative, should any restriction not arranged to protection scope of the present invention.
Please referring to Fig. 3, Fig. 5, Fig. 3 is the theory diagram of a kind of embodiment of jib motion control system provided by the present invention, and Fig. 5 is the principle of work synoptic diagram of jib motion control system provided by the present invention.
As shown in Figure 3; Jib motion control system provided by the invention; Comprise the jib group that is no less than two groups; Every group of jib group comprises at least two adjacent arms joints, and the end of the final section arm joint of said jib group be the jib group end of this jib group, and every group of jib group adopts independently jib to move RACS respectively and control said jib group end and move.
As shown in Figure 5; Boom system to have five joint arm joints is an example; Can first segment arm joint 21, the second joint arm joint 22 be set at the first jib group 121; The 3rd joint arm joint the 23, the 4th joint arm joint the 24, the 5th joint arm joint 25 is set at the second jib group, 122, the first jib groups 121 adopts first jib action RACS to control, the second jib group 122 adopts second jib action RACS to control.
Further in the scheme; Said first jib action sub-control system comprises first sub-controller, 101, the first sub-arm joint actuating signal transmitter 111; The said first sub-arm joint actuating signal transmitter 111; The signal of the said first sub-arm joint actuating signal transmitter 111 sends end and is connected with the arm joint actuating signal receiving end of said first sub-controller 101, and the control signal of said first sub-controller 101 is sent end and is connected with the control end of the telescopic oil cylinder of the respective arms joint of the said first jib group 121.
Said second jib action sub-control system comprises second sub-controller, 102, the second sub-arm joint actuating signal transmitter 112; The said second sub-arm joint actuating signal transmitter 112; The signal of the said second sub-arm joint actuating signal transmitter 112 sends end and is connected with the arm joint actuating signal receiving end of said second sub-controller 102, and the control signal of said second sub-controller 102 is sent end and is connected with the control end of the telescopic oil cylinder of the respective arms joint of the said second jib group 122.
This jib motion control system is divided into the jib group that is no less than two groups with all arms joint of boom system, and every group of jib group adopts independently jib action RACS to control said jib group end respectively and move.When the jib end to boom system carries out control operation; Can plan separately every group of jib group separately; The arm joint number amount of every group of jib group is less, and planning algorithm is comparatively simple, can realize the terminal control of jib to the boom system with single oil cylinder joint comparatively simply.
As shown in Figure 5; Zone with shade is construction area among a small circle; When the jib end of boom system need be constructed in construction area among a small circle, only need action, can accomplish jibs such as the straight line tiling action in the construction area among a small circle near the second terminal jib group 122 of jib; After the construction of construction area is among a small circle accomplished, move the first jib group 121 near fixed station again, just can boom system be moved to new place, another place, move again and accomplish the construction of construction area among a small circle near the second terminal jib group 122 of jib.Because during operation, only need action among a small circle near the second terminal jib group 122 of jib, control flexibly, energy consumption is little; When needs shift on a large scale, then move the first jib group 121 near fixed station, therefore, and this jib motion action method, operating efficiency is higher, and energy consumption is lower.
In the concrete scheme, said sub-arm joint actuating signal transmitter is sub-arm joint remote controller.Further in the scheme; Sub-arm joint remote controller can comprise the first sub-arm joint remote controller, the second sub-arm joint remote controller, sends the arm joint action command of the arm joint that needs adjustment respectively to first sub-controller 101, second sub-controller 102 through the first sub-arm joint remote controller, the second sub-arm joint remote controller.
In the preferred version; After said sub-controller receives in the said jib group arm and saves pairing arm joint action command signal; If do not receive the action command signal of next joint arm joint of this arm joint, then control the attitude of said next joint arm joint and remain consistent with attitude formerly.Formerly attitude is meant boom system before adjustment, also promptly before receiving arm joint action command, and the angle of said next joint arm joint and horizontal direction.
Concrete mixer is in work progress; When needing to transfer separately one in the jib group to save arm joint or single oil cylinder joint; The arm joint that need regulate can directly launch or draw in action after receiving arm joint action command; If simultaneously next joint arm joint of this arm joint during for the arm joint that need not regulate, the attitude of this next joint arm joint remains consistent with attitude formerly all the time.
Like this, if the jib movement angle that needs to regulate is that θ, line of motion displacement are d, then the terminal line of motion displacement of jib also is d; Change angle, the displacement of the lines of the angle that is changed, displacement of the lines that jib is terminal and the arm of being adjusted joint are identical; Can " not amplify " jib terminal angle, displacement of the lines, only save, just can realize steadily certain and accurate adjusting that jib is terminal through regulating a joint or single oil cylinder; Operator does not need multi-pass operations, and labour intensity is less.
In the concrete scheme, also comprise sub-Attitute detecting device, said sub-Attitute detecting device detects the attitude of next joint arm joint of arm joint in the said jib group in real time; Said controller detects the attitude of said next joint arm joint according to said sub-Attitute detecting device, control attitude that said next joint arm saves and remains consistent with attitude formerly.
In the preferred scheme, said Attitute detecting device is the obliquity sensor that is used to detect said next joint arm joint and horizontal plane angle, and the angle signal output part of said obliquity sensor is connected with the attitude signal receiving end of said controller.
In the preferred version; Also comprise master controller 10; After said master controller 10 receives the arm joint action command signal of said jib group,, then control the attitude of said next group arm joint group and remain consistent with attitude formerly if do not receive the action command signal of next group jib group of this arm joint group.
Formerly attitude is meant boom system before adjustment, also promptly before receiving arm joint action command, and the angle of said next group jib group and horizontal direction.
Concrete mixer is in work progress; When needing to adjust one group of jib group of boom system separately; The jib winding that need regulate can directly launch or draw in action after receiving arm joint action command; If simultaneously next group jib group of this jib group during for the arm joint that need not regulate, the attitude of this next group jib group remains consistent with attitude formerly all the time.
Like this; If needing the jib group end movement angle of the jib group of adjusting is that θ, line of motion displacement are d, then the terminal line of motion displacement of jib also is d, and change angle, the displacement of the lines of the angle that is changed, displacement of the lines that jib is terminal and the arm of being adjusted joint is identical can " not amplify " jib terminal angle, displacement of the lines; Only through regulating one or more groups jib group; Just can realize terminal steadily the moving and accurately regulating of jib, operator does not need multi-pass operations, and labour intensity is less.
In the preferred version, can be through two or more sets jib groups of arm joint remote controller straighforward operation, said arm joint remote controller comprises and is no less than two universal handle that each universal handle is corresponding to one group of jib group.In the concrete scheme, as shown in Figure 4, this arm joint remote controller comprises the first universal handle, the second universal handle, and the first universal handle, the second universal handle correspond respectively to the first jib group 121, the second jib group 122.
In the foregoing description; First segment arm joint 21, the second joint arm joint 22 is set at the first jib group 121; The 3rd joint arm joint the 23, the 4th joint arm joint the 24, the 5th joint arm joint 25 is set at the second jib group 122, and the present invention is not limited thereto, can also first segment arm joint 21, the second joint arm joint the 22, the 3rd joint arm joint 23 be set at the first jib group 121; The 4th joint arm joint the 24, the 5th joint arm joint 25 is set at the second jib group 122, and above scheme all should be in protection scope of the present invention.
The foregoing description is an example with the boom system with five joint arms joints, and jib motion control system provided by the present invention is introduced, and is appreciated that the arm joint number amount of boom system is not limited to five joints, and arm joint number amount can be four joints, six joints or more piece more.
In the foregoing description, boom system is divided into two groups of jib groups, the present invention is not limited thereto, according to the arm joint number of boom system, also can boom system be divided into three groups or many groups and control respectively.
The present invention also provides a kind of concrete mixer with above-mentioned jib motion control system; Because above-mentioned jib motion control system has above-mentioned technique effect; Concrete mixer with this jib motion control system also should possess the corresponding techniques effect, no longer is described in detail at this.
The above only is the description of the preferred implementation of invention; Should be pointed out that finiteness, and objectively have unlimited concrete structure owing to literal expression; For those skilled in the art; Under the prerequisite that does not break away from the principle of the invention, can also make some improvement and retouching, these improvement and retouching also should be regarded as protection scope of the present invention.
Claims (9)
1. jib motion control system; It is characterized in that; Comprise the jib group that is no less than two groups; Every group of jib group comprises at least two adjacent arms joints, and the end of the final section arm joint of said jib group be the jib group end of this jib group, and every group of jib group adopts independently jib to move RACS respectively and control said jib group end and move.
2. jib motion control system according to claim 1; It is characterized in that; Said jib action sub-control system comprises sub-controller, sub-arm joint actuating signal transmitter; Said sub-arm joint actuating signal transmitter, the signal of said sub-arm joint actuating signal transmitter send end and are connected with the arm joint actuating signal receiving end of said controller, and the control signal of said controller is sent end and is connected with the control end of the telescopic oil cylinder of the respective arms joint of said jib group.
3. jib motion control system according to claim 2; It is characterized in that; After said sub-controller receives in the said jib group arm and saves pairing arm joint action command signal; If do not receive the action command signal of next joint arm joint of this arm joint, then control the attitude of said next joint arm joint and remain consistent with attitude formerly.
4. jib motion control system according to claim 3 is characterized in that, also comprises sub-Attitute detecting device, and said sub-Attitute detecting device detects the attitude of next joint arm joint of arm joint in the said jib group in real time; Said controller detects the attitude of said next joint arm joint according to said sub-Attitute detecting device, control attitude that said next joint arm saves and remains consistent with attitude formerly.
5. jib motion control system according to claim 4; It is characterized in that; Said Attitute detecting device is the obliquity sensor that is used to detect said next joint arm joint and horizontal plane angle, and the angle signal output part of said obliquity sensor is connected with the attitude signal receiving end of said controller.
6. jib motion control system according to claim 2 is characterized in that, said sub-arm joint actuating signal transmitter is an arm joint remote controller.
7. according to each described jib motion control system of claim 1-6; It is characterized in that; Also comprise master controller; After said master controller receives the arm joint action command signal of said jib group,, then control the attitude of said next group arm joint group and remain consistent with attitude formerly if do not receive the action command signal of next group jib group of this arm joint group.
8. jib motion control system according to claim 1 is characterized in that, also comprises arm joint remote controller, and said arm joint remote controller comprises and be no less than two universal handle that each universal handle is corresponding to one group of jib group.
9. a concrete mixer is characterized in that, this concrete mixer has each described jib motion control system of claim 1-8.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110301666.7A CN102360228B (en) | 2011-09-28 | 2011-09-28 | Cantilever crane action control system and concrete pump truck |
| PCT/CN2012/074313 WO2013044627A1 (en) | 2011-09-28 | 2012-04-18 | Arm support action control system and concrete pump truck |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110301666.7A CN102360228B (en) | 2011-09-28 | 2011-09-28 | Cantilever crane action control system and concrete pump truck |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102360228A true CN102360228A (en) | 2012-02-22 |
| CN102360228B CN102360228B (en) | 2014-07-09 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201110301666.7A Expired - Fee Related CN102360228B (en) | 2011-09-28 | 2011-09-28 | Cantilever crane action control system and concrete pump truck |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN102360228B (en) |
| WO (1) | WO2013044627A1 (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2013044627A1 (en) * | 2011-09-28 | 2013-04-04 | 湖南三一智能控制设备有限公司 | Arm support action control system and concrete pump truck |
| WO2013044625A1 (en) * | 2011-09-28 | 2013-04-04 | 湖南三一智能控制设备有限公司 | Arm support action control method and system, arm support tail end linear displacement control method and system, and concrete pump |
| CN106476012A (en) * | 2016-10-18 | 2017-03-08 | 国网山东省电力公司电力科学研究院 | A kind of new auxiliary mechanical arm control system and its control method |
| CN109312570A (en) * | 2016-04-11 | 2019-02-05 | 德国施维英有限公司 | Large-scale manipulator with distributing hydraulic system |
| CN113073850A (en) * | 2021-03-16 | 2021-07-06 | 中联重科股份有限公司 | Method and device for controlling boom speed, controller and pumping machine |
| CN113958340A (en) * | 2020-07-21 | 2022-01-21 | 中铁一局集团有限公司 | Pouring mechanism and method for rotary lining trolley |
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| CN102360228B (en) * | 2011-09-28 | 2014-07-09 | 三一重工股份有限公司 | Cantilever crane action control system and concrete pump truck |
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- 2011-09-28 CN CN201110301666.7A patent/CN102360228B/en not_active Expired - Fee Related
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- 2012-04-18 WO PCT/CN2012/074313 patent/WO2013044627A1/en active Application Filing
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| EP0686224B1 (en) * | 1993-02-27 | 1997-03-26 | Putzmeister Aktiengesellschaft | Large manipulator, especially for self-propelled concrete pumps |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2013044627A1 (en) * | 2011-09-28 | 2013-04-04 | 湖南三一智能控制设备有限公司 | Arm support action control system and concrete pump truck |
| WO2013044625A1 (en) * | 2011-09-28 | 2013-04-04 | 湖南三一智能控制设备有限公司 | Arm support action control method and system, arm support tail end linear displacement control method and system, and concrete pump |
| CN109312570A (en) * | 2016-04-11 | 2019-02-05 | 德国施维英有限公司 | Large-scale manipulator with distributing hydraulic system |
| CN106476012A (en) * | 2016-10-18 | 2017-03-08 | 国网山东省电力公司电力科学研究院 | A kind of new auxiliary mechanical arm control system and its control method |
| CN106476012B (en) * | 2016-10-18 | 2019-04-02 | 国网山东省电力公司电力科学研究院 | A kind of control method of auxiliary mechanical arm control system |
| CN113958340A (en) * | 2020-07-21 | 2022-01-21 | 中铁一局集团有限公司 | Pouring mechanism and method for rotary lining trolley |
| CN113958340B (en) * | 2020-07-21 | 2024-01-23 | 中铁一局集团有限公司 | Rotary lining trolley pouring mechanism and method |
| CN113073850A (en) * | 2021-03-16 | 2021-07-06 | 中联重科股份有限公司 | Method and device for controlling boom speed, controller and pumping machine |
| CN113073850B (en) * | 2021-03-16 | 2022-05-31 | 中联重科股份有限公司 | Method and device for controlling boom speed, controller and pumping machine |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102360228B (en) | 2014-07-09 |
| WO2013044627A1 (en) | 2013-04-04 |
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