Cantilever crane system, engineering machinery and cantilever crane system terminal end location parameter obtaining method

Abstract

The invention provides a cantilever crane system, which comprises a plurality of joint arms which are sequentially hinged through horizontal hinge shafts and further comprises two length sensors installed on each joint arm. One length sensor is used for measuring the length of the corresponding joint arms after deformation, the other length sensor is used for measuring the length between the length sensor and the tail end of the corresponding joint arms, and a preset distance is retained between the two length sensors. A dip angle sensor is installed on each joint arm, and an included angle formed by a connection line of the two length sensors and a reference plane is obtained. According to detection results of the dip angle sensors and the length sensors, a processor obtains cantilever crane system terminal end location parameters. By means of the cantilever crane system, single dip angle sensors and double draw line encoders are adopted for single joint arms to obtain terminal end location parameters of the joint arms, and the cantilever crane system terminal end location parameters can be accurately obtained. Engineering machinery and a cantilever crane system terminal end location parameter obtaining method are further provided.

Description

technical field [0001] The invention relates to the technical field of boom control, in particular to a boom system, an engineering machine and a method for acquiring end position parameters of the boom system. Background technique [0002] As a mobile material transportation equipment, the multi-joint robotic arm is widely used in concrete transportation, high-altitude fire-fighting operations, port oil supply and other fields due to its strong versatility, wide operating range, and flexible operation. It has become an indispensable high-end in national construction. technical equipment. [0003] The boom system generally includes a multi-section boom, the big end of the first section arm is hinged with the predetermined chassis through a vertical axis; the big end of other section arms is hinged with the small end of the adjacent section arm through a horizontal hinge axis In this way, the multi-section arms are sequentially hinged and connected through the horizontal hin...

AI Technical Summary

Problems solved by technology

Although this method can improve the accuracy of the position parameters at the end of the boom system, due to the limitation of the measurement accuracy of the inclination sensor, the deviation between the position parameters at the end 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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