Method for obtaining terminal position parameters of jib system, jib system and engineering machine

Abstract

The invention discloses a method for obtaining terminal position parameters of a jib system, the jib system and an engineering machine comprising the jib system. The disclosed method for obtaining the terminal position parameters of the jib system comprises the following steps of: detecting a displacement volume of each driving mechanism through a linear transducer; confirming an angle between the extending direction of each arm rest butt end and a scheduled reference plane according to the displacement volume of each driving mechanism; and simultaneously, obtaining the terminal position parameters of the jib system according to the angles, an angle between the extending direction of a corresponding deformed knuckle arm terminal and the scheduled reference plane, and a reference length ofa corresponding knuckle arm. Due to the utilization of the technical scheme, not only can the problem of bigger accumulated error caused by lower precision of a tilt angle sensor be solved, but also the displacement volume of each driving mechanism is detected through the proper linear transducer, the detecting precision of the displacement volume of each driving mechanism is easily ensured, the accuracy of the angle between the extending direction of each arm rest butt end and the scheduled reference plane is further ensured, and thus the terminal position parameters of the jib system are more accurate.

Description

technical field [0001] The invention relates to a boom control technology, in particular to a method for obtaining the terminal position parameters of a boom system, and also relates to a boom system and construction machinery including the boom system. Background technique [0002] Currently, boom systems are widely used in pump trucks and booms to deliver concrete or other materials. The boom system generally includes a multi-section boom; the root end of the first arm is hinged to a predetermined slewing mechanism through a horizontal axis; the end of the first arm is hinged to the root end of the second arm through a horizontal axis, and the end of the second arm is connected to the first The root ends of the three arms are hinged through a horizontal shaft, and the ends of the third arm and the root end of the fourth arm are hinged through a horizontal shaft; thus, the multi-section arms are hinged in sequence. The endmost jib protrudes outwards, the end of which forms...

AI Technical Summary

Problems solved by technology

Although this control method can improve the accuracy of the end position parameters of the boom system, due to the limitation of the measurement accuracy of the inclination sensor, the deviation between the end position parameters of the boom system and the target position parameters is still large, which cannot meet the requirements of the boom system. The need for accurate positioning and control of the tip

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