Pump truck intelligent arm elastic deformation correction method and device
A technology of elastic deformation and intelligent arm, which is applied in the processing of building materials, construction, building construction, etc., can solve problems affecting the accuracy of fabrics, save manpower, material and financial resources, ensure accuracy, and improve operation accuracy.
Active Publication Date: 2014-05-21
SANY AUTOMOBILE MFG CO LTD
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Problems solved by technology
In the control process of the smart boom, if the elastic deformation is not corrected, the cloth accuracy will be affected
Method used
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[0020] It should be noted that, in the case of no conflict, the embodiments of the present invention 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. After an in-depth analysis of the relationship between the deformation and the load of each section of the intelligent arm of the pump truck, it is known that the average deformation of the boom is about 0.67%, and it can be considered that the boom meets the small deformation theory. The jib small deformation assumption is:
[0021] 1) There is a linear relationship between the deformation of the boom and the load;
[0022] 2) Only consider the deformation along the direction of the force (main deformation);
[0023] 3) The principle of superposition can be used to combine the deformation of the boom.
[0024] Since the arm frame satisfies the above small deformation theory, its elastic deforma...
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The invention discloses a pump truck intelligent arm elastic deformation correction method and device, wherein the pump truck intelligent arm elastic deformation correction method and device are applied to a pump truck intelligent arm provided with n arm segments, and n is greater than or equal to two. The pump truck intelligent arm elastic deformation correction method comprises the following steps: according to the finite element theory, the elastic deformation quantity fn of the nth arm segment of the pump truck intelligent arm under a current load is calculated; according to the elastic deformation quantity fn and the length of the nth arm segment, coordinates of an arm rest tail end of the pump truck intelligent arm in a local coordinate system of the nth arm segment are obtained through calculation; coordinate transformation of the arm rest tail end in local coordinate systems of all the arm segments is realized through rotation and translation of coordinates; differences between the position of the arm rest tail end at a current moment and the position of the arm rest tail end at previous moment in the local coordinate system of the same arm segment are calculated; according to the position differences, elastic deformation compensation is operated. The pump truck intelligent arm elastic deformation correction method can guarantee accuracy of deformation quantity calculation and improve operating accuracy of an arm rest.
Description
technical field [0001] The invention relates to the technical field of intelligent arms of pump trucks, in particular to a method and device for correcting elastic deformation of intelligent arms of pump trucks. Background technique [0002] The concrete pump truck is a complex multi-body system including multiple mechanisms. At present, the research on the boom of the concrete pump truck is to abstract it into a multi-rigid body system, and the booms and connecting rods of the pump truck boom are regarded as non-deformable rigid body. In fact, since the boom of the pump truck is a combination of a group of slender flexible parts, it is equivalent to a cantilever beam structure when it is working, and it interacts or couples with the rigid motion while the boom is deformed, so the long boom pump truck The boom is essentially a flexible body. During the actual distribution process of the pump truck, the boom is affected by its own weight and concrete load, which will cause e...
Claims
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IPC IPC(8): E04G21/04
Inventor 代晴华王建明曾启贾剑峰
Owner SANY AUTOMOBILE MFG CO LTD