Correction method and device for elastic deformation of intelligent arm of pump truck
An elastic deformation, intelligent arm technology, applied in the processing of building materials, construction, building structure, etc., can solve problems such as affecting the accuracy of cloth, save manpower, material and financial resources, improve operation accuracy, and ensure the effect of accuracy
Active Publication Date: 2016-04-06
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 the boom can be considered to meet 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 deformation c...
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The invention discloses a method and device for correcting the elastic deformation of the intelligent arm of the pump truck, which is applied to the intelligent arm of the pump truck with n-section arms, wherein the n is greater than or equal to 2, and the method for correcting the elastic deformation of the intelligent arm of the pump truck includes : According to the finite element theory, calculate the elastic deformation fn of the nth section arm of the intelligent arm of the pump truck under the current load; according to the elastic deformation fn and the length of the nth section arm, obtain the pump The coordinates of the boom end of the car intelligent arm under the local coordinate system of the nth joint arm; and realize the coordinate conversion of the boom end under the local coordinate system of each joint arm by coordinate rotation and translation; and calculate the The position difference between the end of the boom at the current moment and the last moment in the local coordinate system of the same jib; perform the elastic deformation compensation operation according to the position difference. The method for correcting the elastic deformation of the intelligent arm of the pump truck provided by the invention can ensure the accuracy of deformation calculation and improve the operating accuracy of the arm frame.
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