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Control method and control device of mechanical arm as well as engineering machinery

A control method and control device technology, which is applied in the control of use feedback, the processing of building materials, construction, etc., can solve the problems of poor fluid transportation fluency and low control efficiency, and achieve the effect of less energy and high control efficiency

Inactive Publication Date: 2014-09-10
ZOOMLION HEAVY IND CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] The main purpose of the present invention is to provide a control method and control device of a mechanical arm and construction machinery to solve the problems of low control efficiency and poor fluid delivery fluency in the control of the mechanical arm in the prior art

Method used

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  • Control method and control device of mechanical arm as well as engineering machinery
  • Control method and control device of mechanical arm as well as engineering machinery
  • Control method and control device of mechanical arm as well as engineering machinery

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Embodiment Construction

[0019] It should be noted that, in the case of no conflict, the embodiments in the present application and the features in the embodiments can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and examples.

[0020] figure 2 is a schematic diagram of the basic steps of the control method of the manipulator according to the embodiment of the present invention, such as figure 2 As shown, the method can be completed by the controller of the construction machinery, and mainly includes the following steps:

[0021] Step S20: Calculate the turning degree between two adjacent arm segments in each group of the mechanical arm. Taking the five-section robotic arm as an example, four turning degrees are calculated in this step.

[0022] Step S22: Based on the principle that the turning degree of each group of adjacent arm segments in the mechanical arm is smaller after the movement, select a group of adja...

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Abstract

A control method and device for a mechanical arm, and engineering machinery used to overcome problems in the prior art of low control efficiency of mechanical arms and poor smoothness of flow in fluid conveyance. The method comprises: calculating the angle of closure of each set of two adjacent arm sections (1-4) of the mechanical arm; when the arm has been moved into position, selecting from among all sets of two adjacent arm sections that set of two adjacent arm sections (1-4) having the smallest such angle of closure; and using the selected set of two adjacent arm sections (1-4) as the motion arm for control. The mechanical arm thus allows maximum smoothness of flow in fluid conveyance and higher control efficiency.

Description

technical field [0001] The invention relates to the technical field of construction machinery, in particular to a control method and control device for a mechanical arm and construction machinery. Background technique [0002] With the development of technology, robotic arms are increasingly used in construction machinery. For example, the mechanical arm of a pump truck usually has five sections, and the joints are connected by hinges. Cement or other fluids can be transported from the pump truck body to the distribution location such as the pouring point of the building through the mechanical arm. [0003] For the control of the robotic arm, the usual control method is that the operator uses the remote control to control each section of the robotic arm separately, that is, to adjust the posture of each arm section one by one, so that the entire robotic arm moves from the initial posture to the target posture. This method is more complicated to operate and less efficient. ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D3/12E04G21/04
CPCE04G21/0418E04G21/0463
Inventor 李学俊王帅易伟春李仁玉李昱
Owner ZOOMLION HEAVY IND CO LTD