CN104457654B - Telescopic arm telescopic combination state detection method, device and system and engineering machinery - Google Patents
Telescopic arm telescopic combination state detection method, device and system and engineering machinery Download PDFInfo
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- CN104457654B CN104457654B CN201410596412.6A CN201410596412A CN104457654B CN 104457654 B CN104457654 B CN 104457654B CN 201410596412 A CN201410596412 A CN 201410596412A CN 104457654 B CN104457654 B CN 104457654B
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- 238000001514 detection method Methods 0.000 title claims abstract description 34
- 238000000034 method Methods 0.000 claims abstract description 12
- 230000008602 contraction Effects 0.000 abstract 2
- 238000009434 installation Methods 0.000 abstract 1
- 238000005516 engineering process Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/02—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness
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Abstract
The invention discloses a method, equipment, a system and engineering machinery for detecting the telescopic combination state of a telescopic arm, wherein the method comprises the following steps: receiving a telescopic oil cylinder selection signal and a total length L (i) of a telescopic arm, wherein the telescopic oil cylinder selection signal is used for indicating whether a first telescopic oil cylinder or a second telescopic oil cylinder is selected currently, the first telescopic oil cylinder is used for controlling the extension and contraction of a section 2 from a section 2 to a section j, and the second telescopic oil cylinder is used for controlling the extension and contraction of a section j +1 from the section n; and determining the telescopic combination state of the telescopic arm at the ith moment according to the telescopic oil cylinder selection signal, the initial telescopic arm length L (0) and the total telescopic arm length L (i). The invention can realize that the telescopic arm telescopic combination state can be effectively and accurately detected in real time only according to the information sent by one length detection device and the telescopic oil cylinder selection switch, thereby reducing the cost increase caused by unnecessary assembly installation.
Description
Technical field
The present invention relates to engineering machinery, in particular it relates to which a kind of telescopic arm stretches assembled state detection method, equipment, be
System and engineering machinery.
Background technology
In the prior art, the engineering machinery (such as crane) for any flexible telescopic arm needs to install two length
Detection means (linear transducer (also known as small terminal box) i.e. at the second joint arm and the length at the n-th joint arm
Sensor (also known as big terminal box), such as n is 5) to come respectively to carry out the stroke of the first telescopic oil cylinder and the second telescopic oil cylinder
Detection, so that it is determined that the flexible assembled state (i.e. the stroke of the first telescopic oil cylinder and the second telescopic oil cylinder) of telescopic arm, in terms of
Calculate the bearing capacity under the current retracted position of telescopic arm.
But due to needing to install two linear transducers in the prior art, cost is higher and fault rate is also increased.Cause
This, lack in the prior art simple for structure, cost is relatively low, accuracy is higher telescopic arm stretch assembled state detection method, set
Standby and system.
The content of the invention
For lacking the flexible combination of telescopic arm that simple for structure, cost is relatively low, accuracy is higher present in prior art
The problem of condition detection method, equipment and system, should the invention provides a kind of flexible assembled state detection method of telescopic arm
Telescopic arm has n joint arms, and this method includes：Telescopic oil cylinder selection signal and telescopic arm total length L (i) are received, wherein this is stretched
Contracting oil cylinder selection signal is used to indicate that currently selected is the first telescopic oil cylinder or the second telescopic oil cylinder, and described first stretches
Oil cylinder is used to control Section 2 arm stretching to jth joint arm, and second telescopic oil cylinder is used to control the joint arm of jth+1 to the n-th joint arm
It is flexible, and the telescopic arm total length L (i) be Section 1 telescopic arm to length sum of the n-th section telescopic arm at the i-th moment,
Wherein i=1,2 ..., m, m are positive integer, 2≤j≤3；According to the telescopic oil cylinder selection signal, initially flexible arm lengths L (0),
And telescopic arm total length L (i) determines flexible assembled state of the telescopic arm at the i-th moment.
Correspondingly, present invention also offers a kind of flexible assembled state detection device of telescopic arm, the telescopic arm has n sections
Arm, the equipment includes：Receiver, for receiving telescopic oil cylinder selection signal and telescopic arm total length L (i), wherein this stretches
Oil cylinder selection signal is used to indicate that currently selected is the first telescopic oil cylinder or the second telescopic oil cylinder, the described first flexible oil
Cylinder is used to control Section 2 arm stretching to jth joint arm, and second telescopic oil cylinder is used to control the joint arm of jth+1 to the n-th joint arm
It is flexible, and the telescopic arm total length L (i) is Section 1 telescopic arm to length sum of the n-th section telescopic arm at the i-th moment, its
Middle i=1,2 ..., m, m are positive integer, 2≤j≤3；Processor, for according to the telescopic oil cylinder selection signal, initial telescopic arm
Length L (0) and telescopic arm total length L (i) determine flexible assembled state of the telescopic arm at the i-th moment.
In addition, present invention also offers a kind of flexible assembled state detecting system of telescopic arm, the telescopic arm has n joint arms,
The system includes：According to the flexible assembled state detection device of telescopic arm provided by the present invention；Device for detecting length, installed in institute
State on telescopic arm, for measuring telescopic arm total length L (i), wherein the telescopic arm total length L (i) is Section 1 telescopic arm to the
N saves length sum of the telescopic arm at the i-th moment, and i=1,2 ..., m, m are positive integer；And telescopic oil cylinder selecting switch, it is used for
Send telescopic oil cylinder selection signal.
In addition, including present invention also offers one kind according to the flexible assembled state detection system of telescopic arm provided by the present invention
The engineering machinery (such as crane) of system.
Using the flexible assembled state detection method of telescopic arm provided by the present invention, equipment, system and engineering machinery, lead to
Cross reception telescopic oil cylinder selection signal and telescopic arm total length L (i), and afterwards according to the telescopic oil cylinder selection signal,
Initially flexible arm lengths L (0) and telescopic arm total length L (i) determine flexible assembled state of the telescopic arm at the i-th moment,
Can realize i.e. can in real time, effectively according only to a device for detecting length and telescopic oil cylinder selecting switch transmitted information
Ground, be accurately detected telescopic arm stretch assembled state stretched there is provided the detection that simple for structure, cost is relatively low and the degree of accuracy is high
Method, equipment and the system of the flexible assembled state of contracting arm.
Other features and advantages of the present invention will be described in detail in subsequent embodiment part.
Brief description of the drawings
Accompanying drawing is, for providing a further understanding of the present invention, and to constitute a part for specification, with following tool
Body embodiment is used to explain the present invention together, but is not construed as limiting the invention.In the accompanying drawings：
Fig. 1 is the signal according to the flexible assembled state detection device of the example telescopic arm of one embodiment of the present invention
Figure；And
Fig. 2 is the flow according to the flexible assembled state detection method of the example telescopic arm of one embodiment of the present invention
Figure.
Description of reference numerals
The processor of 100 receiver 200
Embodiment
The embodiment of the present invention is described in detail below in conjunction with accompanying drawing.It should be appreciated that this place is retouched
The embodiment stated is merely to illustrate and explain the present invention, and is not intended to limit the invention.
In order to clearly illustrate the thought of the present invention, below by the inspection for assembled state detecting system of being stretched with telescopic arm
Survey process is described in detail.In telescopic arm stretches assembled state detecting system, it is assumed that the telescopic arm has n joint arms
(for example, n=5, the value can take different values according to the concrete configuration of different engineering machinery, only carried out herein with 5 joint arms
Exemplary illustration, the present invention is to this without limiting).
According to one embodiment of the present invention, the system can include：Device for detecting length, installed in the telescopic arm
On, for measuring telescopic arm total length L (i), wherein the telescopic arm total length L (i) is that Section 1 telescopic arm is flexible to the n-th section
Length sum of the arm at the i-th moment, and i=1,2 ..., m, m are positive integer；Telescopic oil cylinder selecting switch, for sending flexible oil
Cylinder selection signal；And telescopic arm provided by the present invention stretches assembled state detection device (by progress below explaining in detail
State).
Wherein, the device for detecting length can be measure Section 1 telescopic arm to n-th section telescopic arm the i-th moment length
Any appropriate detection means of sum (i.e. telescopic arm total length L (i)) is spent, for example, it can be mounted at Section 5 arm
Linear transducer (or terminal box).The telescopic oil cylinder selecting switch can be used for sending telescopic oil cylinder selection signal, for example, its
It can be the telescopic oil cylinder selecting switch in the prior art in OPS, when according to actual condition, be stretched needing operation first
Oil cylinder with control Section 2 arm to jth joint arm it is flexible when (wherein 2≤j≤3), operating personnel's (manual mode) or system are (automatic
Pattern) telescopic oil cylinder selecting switch can be chosen to the position of the first telescopic oil cylinder, that is, telescopic oil cylinder selection signal is sent to stretching
The receiver of the flexible assembled state detection device of contracting arm, for example, be now set to high level；When according to actual condition, fortune is being needed
The telescopic oil cylinder of row second with control the joint arm of jth+1 to the n-th joint arm it is flexible when, operating personnel's (manual mode) or system are (automatic
Pattern) telescopic oil cylinder selecting switch can be chosen to the position of the second telescopic oil cylinder, that is, telescopic oil cylinder selection signal is sent to stretching
The receiver of the flexible assembled state detection device of contracting arm, for example, be now set to low level, it should be appreciated that opposite configuration
Can also alternatively, the present invention is to this without limiting.
Further, Fig. 1 is set according to the flexible assembled state detection of the example telescopic arm of one embodiment of the present invention
Standby schematic diagram, as shown in figure 1, telescopic arm provided by the present invention stretches, (telescopic arm has n sections to assembled state detection device
Arm), it can include：Receiver 100, for receiving telescopic oil cylinder selection signal and telescopic arm total length L (i), wherein this is stretched
Contracting oil cylinder selection signal is used to indicate that currently selected is the first telescopic oil cylinder or the second telescopic oil cylinder, and described first stretches
Oil cylinder is used to control Section 2 arm stretching to jth joint arm, and second telescopic oil cylinder is used to control the joint arm of jth+1 to the n-th joint arm
It is flexible, and the telescopic arm total length L (i) be Section 1 telescopic arm to length sum of the n-th section telescopic arm at the i-th moment,
Wherein i=1,2 ..., m, m are positive integer, 2≤j≤3；Processor 200, for according to the telescopic oil cylinder selection signal, initial
Flexible arm lengths L (0) and telescopic arm total length L (i) determine flexible assembled state of the telescopic arm at the i-th moment.
Specifically, receiver 100 can receive the telescopic oil cylinder selection letter from telescopic oil cylinder selecting switch as described above
Number, and the telescopic arm total length L (i) from linear transducer.Afterwards, processor 200, can be selected according to the telescopic oil cylinder
Selecting signal, initial flexible arm lengths L (0) and telescopic arm total length L (i) determines the telescopic arm at flexible group of the i-th moment
Conjunction state.
According to one embodiment of the present invention, due to being equal to the length of Section 1 arm in original state telescopic arm total length,
Therefore the arm lengths L (0) that initially stretches is generally fixed value, therefore processor 200 can prestore the initially flexible brachium
Degree L (0) (or can also system start and receive the value first or can also all receive once the value in each calculate, this
Art personnel can modify or set to it as needed, and the present invention is to this without limiting).Then, processor
200 can indicate that currently selected is the first telescopic oil cylinder (for example, receiving high electricity in the telescopic oil cylinder selection signal of reception
It is flat) in the case of (referred to as the first situation), it is flexible according to the telescopic arm total length L (i) at the i-th moment and the i-th -1 moment
The difference of arm total length L (i-1) determines the collapsing length S (i) of Section 2 arm at the i-th moment, and stretching according to the i-th moment
Arm total length L (i), the collapsing length S (i) of Section 2 arm at the i-th moment to jth joint arm and the arm lengths L (0) that initially stretches are true
The joint arm of jth+1 at the i-th moment is determined to the collapsing length Q (i) of the n-th joint arm.For example, work as i=1, j=2, during n=5, according to above-mentioned
Step, processor 200 can be according to the telescopic arm total length L (1) and the i-th=0 at the i-th=1 moment (i.e. current time) of reception
The difference of the telescopic arm total length L (0) (fixed value) at moment (i.e. last moment) determines the flexible of Section 2 arm at the i-th=1 moment
Length S (1), i.e. S (1)=L (1)-L (0), and telescopic arm total length L (1) according to the i-th=1 moment, the i-th=1 moment
The collapsing length S (1) of Section 2 arm and initial flexible arm lengths L (0) determine Section 3 arm at the i-th=1 moment to Section 5 arm
Collapsing length Q (1), i.e. Q (1)=L (1)-S (1)-L (0).Afterwards, processor 200 can continue to calculate as described above works as i=
2, ..., the S (i) and Q (i) at m (m is positive integer) moment, i.e. S (m)=L (m)-L (m-1), Q (m)=L (m)-S (m)-L (0).Adopt
It is the flexible assembled state that can determine telescopic arm at the m moment with such embodiment：S (m), Q (m) and L (m) (its
In, as described above, L (m) comes from linear transducer).
Similarly, processor 200 can also indicate that currently selected is the in the telescopic oil cylinder selection signal that receives
In the case of two telescopic oil cylinders (low level) (referred to as second of situation), according to the telescopic arm total length L (i) at the i-th moment with
The difference at telescopic arm total length L (i-1) moment at the i-th -1 moment determines the joint arm of jth+1 the stretching to the n-th joint arm at the i-th moment
Length Q (i), and telescopic arm total length L (i) according to the i-th moment, the joint arm of jth+1 at the i-th moment to the n-th joint arm are flexible
Length Q (i) and the arm lengths L (0) that initially stretches determine Section 2 arm at the i-th moment to the collapsing length S (i) of jth joint arm.Example
Such as, i=1, j=2 are worked as, during n=5, according to above-mentioned steps, processor 200 can be according to the i-th=1 moment of reception (when i.e. current
Carve) telescopic arm total length L (1) and the i-th=0 moment (i.e. last moment) telescopic arm total length L (0) (fixed value) difference
Section 3 arm at the i-th=1 moment is determined to the collapsing length Q (1) of Section 5 arm, i.e. Q (1)=L (1)-L (0), and according to i-th
The telescopic arm total length L (1) at=1 moment, the collapsing length Q (1) of Section 3 arm at the i-th=1 moment to Section 5 arm and initial
Flexible arm lengths L (0) determines the collapsing length S (1), i.e. S (1)=L (1)-Q (1)-L (0) of Section 2 arm at the i-th=1 moment.It
Afterwards, processor 200 can continue to calculate as described above works as i=2 ..., the S (i) and Q (i) at m (m is positive integer) moment, i.e. Q (m)
=L (m)-L (m-1), S (m)=L (m)-Q (m)-L (0), you can to realize flexible combination shape of the detection telescopic arm at the m moment
State.
It should be appreciated that under actual condition, processor 200 to currently selected can be in i=1 receptions
First telescopic oil cylinder, is now calculated according to the first above-mentioned situation, when the i=2 moment, if received currently selected
It is the second telescopic oil cylinder, now processor 200 can be calculated according to above-mentioned second of situation again, arrives the m moment until calculating, i.e.,
Flexible assembled state of the accurate detection telescopic arm at the m moment can be realized.Using such embodiment, it can not install existing
Have a linear transducer installed additional at the second joint arm in technology, and i.e. utilizing works machinery can configure be arranged on the
The linear transducer and telescopic oil cylinder selecting switch of the measurement boom frame telescopic total length of 5 joint arms just can effectively, exactly, in fact
When measure flexible assembled state, while simplifying the overall structure of system, reduce cost overhead.
Fig. 2 is the flow chart according to the flexible assembled state detection method of the example telescopic arm of one embodiment of the present invention
(telescopic arm has n joint arms), as shown in Fig. 2 this method may comprise steps of：
In step 1001, telescopic oil cylinder selection signal and telescopic arm total length L (i) are received, the wherein telescopic oil cylinder is selected
Selecting signal is used to indicate that currently selected is the first telescopic oil cylinder or the second telescopic oil cylinder, and first telescopic oil cylinder is used for
Section 2 arm stretching to jth joint arm is controlled, second telescopic oil cylinder is used to control the joint arm of jth+1 stretching to the n-th joint arm,
And the telescopic arm total length L (i) saves telescopic arm in the length sum at the i-th moment, wherein i=for Section 1 telescopic arm to n-th
1,2 ..., m, m are positive integer, 2≤j≤3；
In step 1002, according to the telescopic oil cylinder selection signal, initially stretch arm lengths L (0) and telescopic arm overall length
Degree L (i) determines flexible assembled state of the telescopic arm at the i-th moment.
Preferably, it is described according to the telescopic oil cylinder selection signal, initially stretch arm lengths L (0) and telescopic arm overall length
Degree L (i) determines that flexible assembled state of the telescopic arm at the i-th moment includes：Current institute is indicated in telescopic oil cylinder selection signal
Selection be the first telescopic oil cylinder in the case of, according to the telescopic arm at the telescopic arm total length L (i) at the i-th moment and the i-th -1 moment
The difference of total length L (i-1) determines Section 2 arm at the i-th moment to the collapsing length S (i) of jth joint arm, and according to the i-th moment
Telescopic arm total length L (i), the collapsing length S (i) of Section 2 arm at the i-th moment to jth joint arm and initially stretch arm lengths
L (0) determines the joint arm of jth+1 at the i-th moment to the collapsing length Q (i) of the n-th joint arm；And indicated in telescopic oil cylinder selection signal
In the case that currently selected is the second telescopic oil cylinder, according to the telescopic arm total length L (i) at the i-th moment and the i-th -1 moment
The difference at telescopic arm total length L (i-1) moment determines the joint arm of jth+1 at the i-th moment to the collapsing length Q (i) of the n-th joint arm, with
And telescopic arm total length L (i) according to the i-th moment, the collapsing length Q (i) of the joint arm of jth+1 at the i-th moment to the n-th joint arm, with
And initially flexible arm lengths L (0) determines Section 2 arm at the i-th moment to the collapsing length S (i) of jth joint arm.
The embodiment of above method step is in the implementation of the flexible assembled state detecting system of above-mentioned telescopic arm
Illustrate in mode, will not be repeated here.
Correspondingly, present invention also offers including according to the flexible assembled state detecting system of telescopic arm provided by the present invention
Engineering machinery (not shown), the engineering machinery not only can as described above include stretched according to the telescopic arm of embodiment of the present invention
Contracting assembled state detecting system, and the engineering machinery can also be only with the flexible assembled state detection method of above-mentioned telescopic arm
And/or equipment carries out above-mentioned detection process.Stretched it should be appreciated that the engineering machinery can be any required detection telescopic arm
The engineering machinery (for example, crane, aerial ladder etc.) of assembled state.
, can using the flexible assembled state detection method of telescopic arm provided by the present invention, equipment, system and engineering machinery
So that realize i.e. can in real time, effectively according only to a device for detecting length and telescopic oil cylinder selecting switch transmitted information
Ground, be accurately detected telescopic arm stretch assembled state, it is not necessary to installing any detection device additional, there is provided simple for structure, cost
Method, equipment and the system of the high flexible assembled state of detection telescopic arm of the relatively low and degree of accuracy.
The preferred embodiment of the present invention is described in detail above in association with accompanying drawing, still, the present invention is not limited to above-mentioned reality
The detail in mode is applied, in the range of the technology design of the present invention, a variety of letters can be carried out to technical scheme
Monotropic type, these simple variants belong to protection scope of the present invention.
It is further to note that each particular technique feature described in above-mentioned embodiment, in not lance
In the case of shield, can be combined by any suitable means, in order to avoid unnecessary repetition, the present invention to it is various can
The combination of energy no longer separately illustrates.
In addition, various embodiments of the present invention can be combined randomly, as long as it is without prejudice to originally
The thought of invention, it should equally be considered as content disclosed in this invention.
Claims (6)
- A kind of assembled state detection method 1. telescopic arm stretches, the telescopic arm has n joint arms, it is characterised in that this method includes：Telescopic oil cylinder selection signal and telescopic arm total length L (i) are received, the wherein telescopic oil cylinder selection signal is used to indicate to work as It is preceding it is selected be the first telescopic oil cylinder or the second telescopic oil cylinder, first telescopic oil cylinder is used to control Section 2 arm to jth Joint arm it is flexible, second telescopic oil cylinder is used to controlling the joint arm of jth+1 flexible to the n-th joint arm, and the telescopic arm is total Length L (i) be Section 1 telescopic arm to the n-th section telescopic arm in the length sum at the i-th moment, wherein i=1,2 ..., m, m is just whole Number, 2≤j≤3；According to being determined the telescopic oil cylinder selection signal, initial flexible arm lengths L (0) and telescopic arm total length L (i) Flexible assembled state of the telescopic arm at the i-th moment.
- 2. according to the method described in claim 1, it is characterised in that described according to the telescopic oil cylinder selection signal, initially stretch Contracting arm lengths L (0) and telescopic arm total length L (i) determine that flexible assembled state of the telescopic arm at the i-th moment includes：Telescopic oil cylinder selection signal indicate it is currently selected be the first telescopic oil cylinder in the case of, according to stretching for the i-th moment The difference of the telescopic arm total length L (i-1) at contracting arm total length L (i) and the i-th -1 moment determines Section 2 arm at the i-th moment to jth The collapsing length S (i) of joint arm, and telescopic arm total length L (i) according to the i-th moment, Section 2 arm at the i-th moment to jth section The collapsing length S (i) of arm and initial flexible arm lengths L (0) determine the joint arm of jth+1 the stretching to the n-th joint arm at the i-th moment Length Q (i)；AndTelescopic oil cylinder selection signal indicate it is currently selected be the second telescopic oil cylinder in the case of, according to stretching for the i-th moment Contracting arm total length L (i) and the difference at telescopic arm total length L (i-1) moment at the i-th -1 moment determine the joint arm of jth+1 at the i-th moment To the collapsing length Q (i) of the n-th joint arm, and telescopic arm total length L (i), the joint arm of jth+1 at the i-th moment according to the i-th moment Collapsing length Q (i) and initial flexible arm lengths L (0) to the n-th joint arm determine Section 2 arm at the i-th moment to jth joint arm Collapsing length S (i).
- A kind of assembled state detection device 3. telescopic arm stretches, the telescopic arm has n joint arms, it is characterised in that the equipment includes：Receiver, for receiving telescopic oil cylinder selection signal and telescopic arm total length L (i), wherein telescopic oil cylinder selection is believed Number it is used to indicate that currently selected is the first telescopic oil cylinder or the second telescopic oil cylinder, first telescopic oil cylinder is used to control Section 2 arm is flexible to jth joint arm, and second telescopic oil cylinder is used to control the joint arm of jth+1 stretching to the n-th joint arm, and The telescopic arm total length L (i) be Section 1 telescopic arm to the n-th section telescopic arm in the length sum at the i-th moment, wherein i=1, 2 ..., m, m are positive integer, 2≤j≤3；Processor, for according to the telescopic oil cylinder selection signal, initially stretch arm lengths L (0) and telescopic arm total length L (i) flexible assembled state of the telescopic arm at the i-th moment is determined.
- 4. equipment according to claim 3, it is characterised in that the processor is used for：Telescopic oil cylinder selection signal indicate it is currently selected be the first telescopic oil cylinder in the case of, according to stretching for the i-th moment The difference of the telescopic arm total length L (i-1) at contracting arm total length L (i) and the i-th -1 moment determines Section 2 arm at the i-th moment to jth The collapsing length S (i) of joint arm, and telescopic arm total length L (i) according to the i-th moment, Section 2 arm at the i-th moment to jth section The collapsing length S (i) of arm and initial flexible arm lengths L (0) determine the joint arm of jth+1 the stretching to the n-th joint arm at the i-th moment Length Q (i)；AndTelescopic oil cylinder selection signal indicate it is currently selected be the second telescopic oil cylinder in the case of, according to stretching for the i-th moment Contracting arm total length L (i) and the difference at telescopic arm total length L (i-1) moment at the i-th -1 moment determine the joint arm of jth+1 at the i-th moment To the collapsing length Q (i) of the n-th joint arm, and telescopic arm total length L (i), the joint arm of jth+1 at the i-th moment according to the i-th moment Collapsing length Q (i) and initial flexible arm lengths L (0) to the n-th joint arm determine Section 2 arm at the i-th moment to jth joint arm Collapsing length S (i).
- A kind of assembled state detecting system 5. telescopic arm stretches, the telescopic arm has n joint arms, it is characterised in that the system includes：The flexible assembled state detection device of telescopic arm according to claim 3 or 4；Device for detecting length, on the telescopic arm, for measuring telescopic arm total length L (i), wherein the telescopic arm is total Length L (i) saves length sum of the telescopic arm at the i-th moment for Section 1 telescopic arm to n-th, and i=1,2 ..., m, m are positive integer； AndTelescopic oil cylinder selecting switch, for sending telescopic oil cylinder selection signal.
- The engineering machinery of assembled state detecting system 6. a kind of telescopic arm including described in claim 5 stretches.
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| CN201410596412.6A CN104457654B (en) | 2014-10-29 | 2014-10-29 | Telescopic arm telescopic combination state detection method, device and system and engineering machinery |
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| CN104457654A (en) | 2015-03-25 |
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