WO2013023355A1 - Method and device for measuring opening angle of unfolded component of engineering machinery - Google Patents
Method and device for measuring opening angle of unfolded component of engineering machinery Download PDFInfo
- Publication number
- WO2013023355A1 WO2013023355A1 PCT/CN2011/078434 CN2011078434W WO2013023355A1 WO 2013023355 A1 WO2013023355 A1 WO 2013023355A1 CN 2011078434 W CN2011078434 W CN 2011078434W WO 2013023355 A1 WO2013023355 A1 WO 2013023355A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- distance
- construction machine
- deployment
- pivoting portion
- angle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Ceased
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/22—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring angles or tapers; for testing the alignment of axes
Definitions
- the present invention relates to the field of construction machinery, and more particularly to a method and apparatus for measuring a deployment angle of a construction machine deployment component.
- the deployment angle of a pump truck generally includes an angle of deployment of a pump truck leg and a deployment angle of a pump boom.
- the angle of the deployment of the pump truck leg is an important parameter for calculating the stability of the pump support, and the deployment angle of the pump boom is An important parameter that reflects the state of the boom.
- the measurement method of the deployment angle of the pump truck is scarce, and it is difficult to ensure the installation difficulty, measurement accuracy and reliability. As shown in FIG.
- a mechanical angle sensor 20 ′ is mounted on the rotating shaft 10 ′ of the pump truck leg, and the angle sensor 20 ′ senses the rotating shaft 10 ′.
- the angle is passed and converted into a voltage or communication signal and transmitted to the control module via transmission line 30'.
- the sensor in the above measuring device adopts a contact type sensing method (for example, using a potentiometer as an inductive element), and the sensor is relatively easy to be damaged.
- the object of the present invention is to solve the above problems in the prior art, and to provide a method and a device for measuring the deployment angle of an unfolding component of a construction machine with simple installation, convenient debugging, high precision and stable performance.
- a method for measuring a deployment angle of a construction machine deployment component is provided.
- the construction machine deployment component is pivotally coupled to the construction machine body through a first pivotal portion, and the first end of the cylinder is deployed.
- the second pivoting portion is connected to the engineering machine body, and the second end of the unfolding cylinder is connected to the engineering machine unfolding component through the third pivoting portion, and the first, second, and third pivoting portions are configured in a triangular structure.
- the measuring method comprises the following steps: obtaining the second pivot by the ranging sensor a third distance between the joint and the third pivoting portion; the processor coupled to the ranging sensor calculates the engineering machine deployment angle based on the first distance, the second distance, and the third distance.
- the unfolding cylinder comprises a cylinder block and a cylinder push rod
- the distance measuring sensor comprises: a launch receiver, the launch receiver is disposed on the cylinder block; the reflector, the reflector is disposed at the extended end of the cylinder push rod;
- the method for measuring the deployment angle of the unfolding component comprises the steps of: transmitting a receiver emitting beam, the transmitting receiver being disposed on a cylinder block of the developing cylinder; the reflector reflecting the beam emitted by the transmitting receiver to the transmitting receiver, the reflector being disposed at a protruding end of the cylinder push rod that can be extended and retracted along the cylinder block; the transmitting receiver converts the time between the emitted beam and the received beam into a signal output to the processor, and the processor calculates the elongation length of the cylinder push rod according to the signal The third distance is calculated, and the engineering machine deployment angle ⁇ is calculated by the third distance.
- the method for calculating the deployment angle by the processor is as follows: the rotation axis of the first pivoting portion is a defect; the extended end of the cylinder push rod passes through the third pivoting portion and the second connection fixed to the unfolding component of the construction machine
- the rotatably connected portion, the axis of the rotating shaft of the third pivoting portion is point B; the first end of the cylinder block is rotatably connected to the first connecting portion fixed on the main body of the engineering machine through the second pivoting portion
- the axis of the rotating shaft of the second pivoting portion is point C; when the unfolding of the unfolding of the engineering machine, the angle between AC and AB is ⁇ .
- the distance between point C and the transmitting end of the transmitting receiver is Li
- the distance between the reflecting end of the reflector and point B is L 2
- the distance between the transmitting receiver and the reflecting end of the reflector is L
- the calculation formula for the mechanical expansion angle ⁇ is:
- the measuring method of the unfolding angle of the construction machine unwinding component is a method of measuring the unfolding angle of the engineering machinery leg or a method of measuring the angle of the engineering mechanical boom.
- a measuring device for an unfolding angle of a construction machine unwinding member the engineering machine unfolding member being pivotally coupled to the construction machine body through the first pivoting portion, and the first of the cylinders is deployed The second end is connected to the engineering machine body through the second pivoting portion, and the second end of the unfolding cylinder is connected to the engineering machine unfolding part through the third pivoting portion, and the first, second and third pivoting portions are configured as a triangular structure a first distance between the first pivoting portion and the second pivoting portion, and a second distance between the first pivoting portion and the third pivoting portion, wherein the measuring device comprises: a distance measuring sensor, And obtaining a third distance between the second pivoting portion and the third pivoting portion; the processor is connected to the ranging sensor
- the unfolding cylinder comprises a cylinder block and a cylinder push rod
- the distance measuring sensor comprises: a transmitting receiver, the transmitting receiver is disposed on the cylinder block; the reflector, the reflector is disposed at the protruding end of the cylinder push rod;
- the transmitting receiver is for transmitting a light beam
- the reflector is for reflecting the light beam emitted by the transmitting receiver to the transmitting receiver
- the transmitting receiver is further for transmitting a signal reflecting the elongation of the cylinder push rod.
- the transmitting receiver is a laser sensor for emitting a laser beam to the reflector.
- the reflector is a laser reflector.
- one end of the cylinder block is fixed on the construction machine, and the extended end of the cylinder push rod is rotatably connected to the engineering machinery leg. Further, the first end of the cylinder block is fixed on the construction machine, and the first end of the cylinder push rod is rotatably connected to the engineering robot boom.
- a method and a device for measuring a deployment angle of a construction machine deployment member according to the present invention wherein a non-contact distance measurement sensor is used to measure a relationship between a second pivot portion and a third pivot portion determined by a variable of a cylinder push rod elongation The third distance is then calculated by the processor according to the third distance obtained by the ranging sensor and the remaining values of the fixed value.
- Fig. 1 is a schematic structural view of a conventional pumping truck leg deployment angle measuring device
- Fig. 2 is a structural mechanical leg of a measuring device for deploying an unfolding angle of a construction machine according to the present invention in a cylinder push rod extension
- FIG. 3 is a partial enlarged view of FIG. 2;
- FIG. 4 is a partial enlarged view of the engineering mechanical leg of the measuring device of the deployment angle of the construction machine unfolding member according to the present invention in a state in which the cylinder push rod is not extended;
- Figure 5 is a schematic view showing the angular relationship of the engineering mechanical legs of the measuring device of the unfolding angle of the construction machine according to the present invention in the state in which the cylinder push rod is extended;
- Figure 6 is a construction machine unfolding member according to the present invention; Schematic diagram of the angular relationship of the engineering mechanical legs of the measuring device of the unfolding angle in the state in which the cylinder push rod is not extended.
- the construction machine development member 100 is pivotally connected to the construction machine body through the first pivoting portion 71, and the cylinder is deployed.
- the first end is connected to the construction machine body through the second pivoting portion 51
- the second end of the deployment cylinder is connected to the construction machine unfolding member 100 through the third pivoting portion 61, the first, second and third pivots
- the connecting portion is configured as a triangular structure, the first pivoting portion 71 and the second pivoting portion 51 have a first distance therebetween, and the first pivoting portion 71 and the third pivoting portion 61 have a second distance therebetween
- the measuring device comprises a distance measuring sensor, configured to obtain a third distance between the second pivoting portion 51 and the third pivoting portion 61; and a processor connected to the ranging sensor according to the first distance, the second distance, and the third distance Calculate the angle of construction machinery.
- a pump truck is taken as an example.
- the third distance between the second pivoting portion 51 and the third pivoting portion 61 determined by the variable of the cylinder push rod elongation is measured, and then the processor obtains the first according to the ranging sensor.
- the three distances and the remaining values for the fixed values are used to calculate the angle at which the pump is deployed.
- the invention avoids errors or malfunctions caused by mechanical sensors during contact installation, prolongs sensor life and improves measurement accuracy.
- the measurement of the angle is an indirect calculation method, it is easier to intuitively obtain the distance of the numerical value, which simplifies the measurement process.
- the deployment cylinder comprises a cylinder block 10 and a cylinder push rod 30, and the distance measuring sensor comprises: a launch receiver 20, the launch receiver 20 is disposed on the cylinder block 10; the reflector 40, the reflector 40 is disposed on the cylinder push rod
- the projecting end of the light emitting device 20 is configured to emit a light beam
- the reflector 40 is configured to reflect the light beam emitted from the transmitting receiver 20 to the transmitting receiver 20
- the transmitting receiver 20 is further configured to transmit the reflecting cylinder push rod 30.
- the signal of the amount of elongation As shown in Fig. 2, Fig. 3 and Fig. 4, in the present embodiment, a pump truck is taken as an example.
- the measuring device for the deployment angle of the pumping-unrolling component is used to measure the deployment angle of the pumping truck legs.
- One end of the cylinder block 10 is fixed to the pump body, and the extended end of the cylinder push rod 30 is rotatably connected to the pump leg.
- a transmitter receiver 20 is mounted at the cylinder block 10 of the leg for emitting a beam of light. The spot is projected onto the reflector 40 and returned to the transmit receiver 20 by the reflector 40. According to the time when the transmitting receiver 20 emits and receives the light beam, the length of the cylinder push rod 30 is measured, and the transmitting receiver 20 outputs a continuously changing analog signal or digital signal, and the processor pushes the cylinder push rod 30 to be extended.
- the length is converted to the angle value at which the legs are deployed.
- the non-contact transmitting receiver and the reflector are used, and the sensor transmits a signal reflecting the elongation of the cylinder push rod to the processor, and the processor calculates the deployment angle of the pumping leg according to the signal transmitted by the transmitting receiver.
- This device avoids errors or malfunctions caused by mechanical sensors during contact installation, prolongs sensor life and improves measurement accuracy.
- the measurement of the angle is an indirect calculation method, it is easier to intuitively obtain the value of the cylinder expansion and contraction, which simplifies the measurement process.
- the first end of the cylinder block 10 is fixed to the construction machine, and the first end of the cylinder push rod 30 is rotatably coupled to the engineering robot boom.
- the measuring device for the deployment angle of the pumping vehicle deployment member is used to measure the deployment angle of the pump truck boom.
- the deployment state of the pump boom can be calculated, which provides a model for the boom state.
- the transmitting receiver 20 is a laser sensor that can emit a laser beam.
- the reflector 40 is a laser reflector. Since the pump truck belongs to a large construction machine, a laser beam sensor can be used to emit a concentrated beam signal, which can be smoothly reflected by the reflector 40 and received by the transmitter receiver 20 even if the distance is long.
- the laser sensor has high precision, which improves the accuracy of the pumping angle measurement.
- the third distance between the second pivoting portion 51 and the third pivoting portion 61 is obtained by the distance measuring sensor; the processor connected to the ranging sensor is The first distance, the second distance, and the third distance calculate a construction machine deployment angle.
- the distance measuring sensor comprises: a transmitting receiver 20, the transmitting receiver 20 is disposed on the cylinder block 10; the reflector 40, the reflector 40 is disposed at the protruding end of the cylinder push rod 30;
- the method for measuring the deployment angle of the vehicle deployment component includes the following steps: The transmitting receiver 20 emits a light beam, the transmitting receiver 20 is disposed on the cylinder block 10 of the developing cylinder; and the reflector 40 reflects the light beam emitted from the transmitting receiver 20 to the transmitting and receiving The reflector 20 is disposed at an extended end of the cylinder push rod 30 which is expandable and contractable along the cylinder block 10; the transmitting receiver 20 converts the time between the emitted light beam and the received light beam into a signal output to the processor, and processes The controller calculates the third distance based on the signal to calculate the elongation length of the cylinder push rod, and calculates the pumping vehicle deployment angle ⁇ by the third distance.
- the method of measuring the deployment angle of the construction machine deployment component is a method of measuring the deployment angle of the construction machinery leg.
- the transmitting receiver 20 converts the time of transmitting the beam and the receiving beam into an analog signal or a digital signal, and continuously transmits the signals to the processor, and the processor calculates the elongation length L of the cylinder push rod and finally calculates the pump deployment.
- Angle ⁇ The method avoids errors or malfunctions caused by mechanical sensors during contact installation, prolongs sensor life and improves measurement accuracy.
- the measurement of the angle is an indirect calculation method, it is easier to intuitively obtain the value of the cylinder expansion and contraction, which simplifies the measurement process.
- the method of measuring the deployment angle of the construction machine deployment member is a method of measuring the deployment angle of the engineering robot boom.
- the method for measuring the deployment angle of the pumping vehicle deployment component is used to measure the deployment angle of the pump truck boom, and the vehicle body angle value measured by the vehicle body inclination sensor can be used to calculate the deployment state of the pump truck boom.
- Boom state modeling provides another way to calculate.
- the processor calculates the deployment angle as follows: The rotation axis of the first pivoting portion 71 is point A; the extended end of the cylinder push rod 30 passes through the third pivoting portion 61 and is fixed.
- the second connecting portion 60 on the construction machine unfolding member 100 is rotatably connected, and the axis of the rotating shaft of the third pivoting portion 61 is point B; the first end of the cylinder block 10 is rotatable through the second pivoting portion 51.
- the ground is connected to the first connecting portion 50 fixed to the main body of the pump body, and the axis of the rotating shaft of the second pivoting portion 51 is C point; when the unfolding of the engineering machine development member 100 is the angle between AC and AB is a0
- the distance between point C and the transmitting end of the transmitting receiver 20 is L1
- the distance between the reflecting end of the reflector 40 and the point B is L2
- the distance between the transmitting end of the reflector 20 and the reflecting end of the reflector 40 is L;
- the formula for calculating the deployment angle a of the pump truck is:
- the aforementioned AB, AC and ⁇ are the structural properties of the legs, the values of which do not change with the expansion of the legs, and can be directly measured.
- the length of Li, L 2 depends on the mounting position of the transmitting receiver 20 and the reflector 40, and the value does not change with the deployment of the pump leg after the mounting position is determined.
- L varies with the expansion and contraction of the cylinder push rod 30 and can be measured by the transmitting receiver 20 in real time.
- the angle ⁇ in FIGS. 5 and 6 is the angle between AB and the axial line of the pump leg.
- the pumping vehicle deployment angle ⁇ can be calculated according to the structural characteristics of the pump truck and the measured distance between the transmitting receiver 20 and the reflecting end of the reflector 40. From the above description, it can be seen that the above-mentioned embodiments of the present invention achieve the following technical effects:
- the error or failure caused by the contact sensor during installation increases the life of the sensor and improves the measurement accuracy.
- the measurement of the angle is indirectly calculated, the amount of expansion and contraction of the cylinder is more easily and intuitively obtained. Simplifies the measurement process.
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
Description
工程机械展开部件的展开角度的测量方法及装置 技术领域 本发明涉及工程机械领域， 更具体地， 涉及一种工程机械展开部件的展开角度的 测量方法及装置。 背景技术 泵车的展开角度一般包括泵车支腿展开角度以及泵车臂架展开角度， 泵车支腿展 开的角度值是计算泵车支撑稳定性的重要参数， 而泵车臂架展开角度是反映臂架状态 的重要参数。 目前对泵车的展开角度的测量方法比较匮乏， 且表现出安装困难、 测量 精度和可靠性能难以保证的问题。 如图 1 所示， 以现有的泵车支腿的展开角度测量为例， 在泵车支腿的转动轴 10' 处安装机械式角度传感器 20'， 角度传感器 20'感应转动轴 10'转过的角度， 并将其转 换为电压或者通讯信号， 并通过传送线路 30'传输给控制模块。 然而， 当转动轴 10'的 连接处的尺寸不精确时， 上述测量装置的测量结果会产生较大的误差， 因此， 上述测 量装置对于转动轴的连接处的安装要求较高。 另外， 上述测量装置中的传感器采取接 触式的感应方式 （如以电位计为感应元件）， 传感器比较容易损坏。 发明内容 本发明目的在于解决现有技术中存在的上述问题，提供一种安装简单、调试方便、 精度较高、 性能稳定的工程机械展开部件的展开角度的测量方法及装置。 根据本发明的一个方面， 提供了一种工程机械展开部件的展开角度的测量方法， 工程机械展开部件通过第一枢接部可枢转地连接到工程机械车体上， 展开油缸的第一 端通过第二枢接部连接到工程机械车体上， 展开油缸的第二端通过第三枢接部连接到 工程机械展开部件上， 第一、 第二、 第三枢接部配置为三角形结构， 第一枢接部与第 二枢接部之间具有第一距离、 第一枢接部与第三枢接部之间具有第二距离， 测量方法 包括以下步骤： 通过测距传感器获得第二枢接部和第三枢接部之间的第三距离； 与测 距传感器相连接的处理器根据第一距离、 第二距离以及第三距离计算工程机械展开角 度。 进一步地， 展开油缸包括油缸缸体和油缸推杆， 测距传感器包括： 发射接收器， 发射接收器设置在油缸缸体上； 反射器， 反射器设置在油缸推杆的伸出端； 工程机械 展开部件的展开角度的测量方法包括以下步骤： 发射接收器发射光束， 发射接收器设 置在展开油缸的油缸缸体上； 反射器将发射接收器发射的光束反射给发射接收器， 反 射器设置在可沿油缸缸体伸缩的油缸推杆的伸出端； 发射接收器将发射光束和接收到 光束之间间隔的时间转换为信号输出给处理器， 处理器根据信号计算油缸推杆的伸长 长度计算第三距离， 并通过第三距离计算工程机械展开角度 α。 进一步地， 处理器计算展开角度的方法如下： 以第一枢接部的转动轴为 Α点； 油 缸推杆的伸长端通过第三枢接部与固定在工程机械展开部件上的第二连接部可转动地 连接， 第三枢接部转动轴的轴心为 B点； 油缸缸体的第一端通过第二枢接部可转动地 与固定在工程机械主体上的第一连接部相连接， 第二枢接部转动轴的轴心为 C点； 以 工程机械展开部件未展开时 AC与 AB之间的角度为 α。， C点与发射接收器的发射端 之间的距离为 Li，反射器的反射端与 B点之间的距离为 L2，发射接收器与反射器的反 射端之 间 的距离 为 L； 工程机械展开角 度 α 的计算公式为 ： BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to the field of construction machinery, and more particularly to a method and apparatus for measuring a deployment angle of a construction machine deployment component. BACKGROUND OF THE INVENTION The deployment angle of a pump truck generally includes an angle of deployment of a pump truck leg and a deployment angle of a pump boom. The angle of the deployment of the pump truck leg is an important parameter for calculating the stability of the pump support, and the deployment angle of the pump boom is An important parameter that reflects the state of the boom. At present, the measurement method of the deployment angle of the pump truck is scarce, and it is difficult to ensure the installation difficulty, measurement accuracy and reliability. As shown in FIG. 1 , taking the deployment angle measurement of the existing pump truck leg as an example, a mechanical angle sensor 20 ′ is mounted on the rotating shaft 10 ′ of the pump truck leg, and the angle sensor 20 ′ senses the rotating shaft 10 ′. The angle is passed and converted into a voltage or communication signal and transmitted to the control module via transmission line 30'. However, when the size of the joint of the rotating shaft 10' is inaccurate, the measurement result of the above measuring device causes a large error, and therefore, the above-mentioned measuring device requires a high degree of mounting for the joint of the rotating shaft. In addition, the sensor in the above measuring device adopts a contact type sensing method (for example, using a potentiometer as an inductive element), and the sensor is relatively easy to be damaged. SUMMARY OF THE INVENTION The object of the present invention is to solve the above problems in the prior art, and to provide a method and a device for measuring the deployment angle of an unfolding component of a construction machine with simple installation, convenient debugging, high precision and stable performance. According to an aspect of the present invention, a method for measuring a deployment angle of a construction machine deployment component is provided. The construction machine deployment component is pivotally coupled to the construction machine body through a first pivotal portion, and the first end of the cylinder is deployed. The second pivoting portion is connected to the engineering machine body, and the second end of the unfolding cylinder is connected to the engineering machine unfolding component through the third pivoting portion, and the first, second, and third pivoting portions are configured in a triangular structure. There is a first distance between the first pivoting portion and the second pivoting portion, and a second distance between the first pivoting portion and the third pivoting portion. The measuring method comprises the following steps: obtaining the second pivot by the ranging sensor a third distance between the joint and the third pivoting portion; the processor coupled to the ranging sensor calculates the engineering machine deployment angle based on the first distance, the second distance, and the third distance. Further, the unfolding cylinder comprises a cylinder block and a cylinder push rod, and the distance measuring sensor comprises: a launch receiver, the launch receiver is disposed on the cylinder block; the reflector, the reflector is disposed at the extended end of the cylinder push rod; The method for measuring the deployment angle of the unfolding component comprises the steps of: transmitting a receiver emitting beam, the transmitting receiver being disposed on a cylinder block of the developing cylinder; the reflector reflecting the beam emitted by the transmitting receiver to the transmitting receiver, the reflector being disposed at a protruding end of the cylinder push rod that can be extended and retracted along the cylinder block; the transmitting receiver converts the time between the emitted beam and the received beam into a signal output to the processor, and the processor calculates the elongation length of the cylinder push rod according to the signal The third distance is calculated, and the engineering machine deployment angle α is calculated by the third distance. Further, the method for calculating the deployment angle by the processor is as follows: the rotation axis of the first pivoting portion is a defect; the extended end of the cylinder push rod passes through the third pivoting portion and the second connection fixed to the unfolding component of the construction machine The rotatably connected portion, the axis of the rotating shaft of the third pivoting portion is point B; the first end of the cylinder block is rotatably connected to the first connecting portion fixed on the main body of the engineering machine through the second pivoting portion The axis of the rotating shaft of the second pivoting portion is point C; when the unfolding of the unfolding of the engineering machine, the angle between AC and AB is α. The distance between point C and the transmitting end of the transmitting receiver is Li, the distance between the reflecting end of the reflector and point B is L 2 , and the distance between the transmitting receiver and the reflecting end of the reflector is L; The calculation formula for the mechanical expansion angle α is:
AB2 +AC2 - (L +L7 +Lf AB 2 +AC 2 - (L +L 7 +Lf
a = arccos ! n a = arccos ! n
2xABxAC 。 进一步地， 工程机械展开部件的展开角度的测量方法为测量工程机械支腿展开角 度的方法或者为测量工程机械臂架展开角度的方法。 根据本发明的另一个方面，提供了一种工程机械展开部件的展开角度的测量装置， 工程机械展开部件通过第一枢接部可枢转地连接到工程机械车体上， 展开油缸的第一 端通过第二枢接部连接到工程机械车体上， 展开油缸的第二端通过第三枢接部连接到 工程机械展开部件上， 第一、 第二、 第三枢接部配置为三角形结构， 第一枢接部与第 二枢接部之间具有第一距离、 第一枢接部与第三枢接部之间具有第二距离， 其特征在 于， 测量装置包括： 测距传感器， 用于获得第二枢接部和第三枢接部之间的第三距离； 处理器， 与测距传感器相连接， 根据第一距离、 第二距离以及第三距离计算工程机械 展开角度。 进一步地， 展开油缸包括油缸缸体和油缸推杆， 测距传感器包括： 发射接收器， 发射接收器设置在油缸缸体上； 反射器， 反射器设置在油缸推杆的伸出端； 其中， 发 射接收器用于发射光束， 反射器用于将发射接收器发射的光束反射给发射接收器， 发 射接收器还用于传输反映油缸推杆伸长量的信号。 进一步地， 发射接收器用于向反射器发射激光束的激光传感器。 进一步地， 反射器为激光反射体。 进一步地， 油缸缸体的一端固定在工程机械上， 油缸推杆的伸出端与工程机械支 腿可转动的相连接。 进一步地， 油缸缸体的第一端固定在工程机械上， 油缸推杆的第一端与工程机械 臂架可转动的相连接。 采用本发明的工程机械展开部件的展开角度的测量方法及装置， 采用非接触式的 测距传感器测量由油缸推杆伸长量的变量决定的第二枢接部和第三枢接部之间的第三 距离， 随后处理器根据测距传感器得到的第三距离和其余的为定值的数值计算工程机 械展开角度。 本发明避免了机械式传感器在接触安装时导致的误差或者故障， 延长了 传感器寿命并提高了测量精度。 另外， 由于对角度的测量采取的是间接计算方式， 测 量的是更为容易直观获取数值的距离量， 简化了测量过程。 附图说明 构成本申请的一部分的附图用来提供对本发明的进一步理解， 本发明的示意性实 施例及其说明用于解释本发明， 并不构成对本发明的不当限定。 在附图中： 图 1是现有的泵车支腿展开角度测量装置的结构示意图； 图 2是根据本发明的工程机械展开部件的展开角度的测量装置的工程机械支腿在 油缸推杆伸出状态下的结构示意图； 图 3是图 2的局部放大图； 图 4是根据本发明的工程机械展开部件的展开角度的测量装置的工程机械支腿在 油缸推杆未伸出状态下的局部结构示意图； 图 5是根据本发明的工程机械展开部件的展开角度的测量装置的工程机械支腿在 油缸推杆伸出状态下的角度关系示意图； 以及 图 6是根据本发明的工程机械展开部件的展开角度的测量装置的工程机械支腿在 油缸推杆未伸出状态下的角度关系示意图。 具体实施方式 下面将参考附图并结合实施例来详细说明本发明。 如图 2和图 3所示， 根据本发明的工程机械展开部件的展开角度的测量装置， 工 程机械展开部件 100通过第一枢接部 71可枢转地连接到工程机械车体上，展开油缸的 第一端通过第二枢接部 51连接到工程机械车体上，展开油缸的第二端通过第三枢接部 61连接到工程机械展开部件 100上， 第一、 第二、 第三枢接部配置为三角形结构， 第 一枢接部 71与第二枢接部 51之间具有第一距离、 第一枢接部 71与第三枢接部 61之 间具有第二距离， 测量装置包括： 测距传感器， 用于获得第二枢接部 51和第三枢接部 61之间的第三距离； 处理器， 与测距传感器相连接， 根据第一距离、 第二距离以及第 三距离计算工程机械展开角度。 在本实施例中， 以泵车为例。 采用非接触式的测距传感器测量由油缸推杆伸长量 的变量决定的第二枢接部 51和第三枢接部 61之间的第三距离， 随后处理器根据测距 传感器得到的第三距离和其余的为定值的数值计算泵车展开角度。 本发明避免了机械 式传感器在接触安装时导致的误差或者故障， 延长了传感器寿命并提高了测量精度。 另外， 由于对角度的测量采取的是间接计算方式， 测量的是更为容易直观获取数值的 距离量， 简化了测量过程。 优选地， 展开油缸包括油缸缸体 10和油缸推杆 30， 测距传感器包括： 发射接收 器 20， 发射接收器 20设置在油缸缸体 10上； 反射器 40， 反射器 40设置在油缸推杆 30的伸出端； 其中， 发射接收器 20用于发射光束， 反射器 40用于将发射接收器 20 发射的光束反射给发射接收器 20， 发射接收器 20还用于传输反映油缸推杆 30伸长量 的信号。 如图 2、 图 3和图 4所示， 在本实施例中， 以泵车为例。 泵车展开部件的展开角 度的测量装置用于测量泵车支腿的展开角度。 油缸缸体 10的一端固定在泵车车体上， 油缸推杆 30的伸出端与泵车支腿可转动的相连接。 在支腿的油缸缸体 10处安装发射 接收器 20， 用于发射光束。 光斑投射在反射器 40上， 并被反射器 40返回至发射接收 器 20。 根据发射接收器 20发射和接受光束的时间， 测得油缸推杆 30伸长的长度， 发 射接收器 20输出连续变化的模拟信号或者数字信号， 处理器采集后再将油缸推杆 30 伸长的长度换算成支腿展开的角度值。 采用非接触式的发射接收器及反射器， 传感器 传输反映油缸推杆伸长量的信号给处理器， 处理器根据发射接收器传输的信号计算泵 车支腿展开角度。 此装置避免了机械式传感器在接触安装时导致的误差或者故障， 延 长了传感器寿命并提高了测量精度。另外， 由于对角度的测量采取的是间接计算方式， 测量的是更为容易直观获取数值的油缸伸缩量， 简化了测量过程。 根据本发明的另一个实施例， 油缸缸体 10的第一端固定在工程机械上， 油缸推杆 30的第一端与工程机械臂架可转动的相连接。 以泵车为例， 在此实施例中， 泵车展开部件的展开角度的测量装置用于测量泵车 臂架的展开角度。 通过测量每节臂架油缸伸缩量， 计算出每节臂架的展开角度， 辅以 车身倾角传感器测量的车身角度值， 即可计算泵车臂架展开状态， 这为臂架状态建模 提供了另外一种计算方式。 优选地， 发射接收器 20为可发射激光束的激光传感器。反射器 40为激光反射体。 由于泵车属于大型的施工机械， 使用激光传感器， 能发出集中的光束信号， 即使 距离较远也能顺利被反射器 40反射并被发射接收器 20接收。 另外， 激光传感器精度 很高， 因此提高了泵车展开角度测量的精度。 根据本发明的工程机械展开部件的展开角度的测量方法， 通过测距传感器获得第 二枢接部 51和第三枢接部 61之间的第三距离； 与测距传感器相连接的处理器根据第 一距离、 第二距离以及第三距离计算工程机械展开角度。 优选地， 以泵车为例， 测距传感器包括： 发射接收器 20， 发射接收器 20设置在 油缸缸体 10上； 反射器 40， 反射器 40设置在油缸推杆 30的伸出端； 泵车展开部件 的展开角度的测量方法包括以下步骤： 发射接收器 20发射光束， 发射接收器 20设置 在展开油缸的油缸缸体 10上；反射器 40将发射接收器 20发射的光束反射给发射接收 器 20， 反射器 40设置在可沿油缸缸体 10伸缩的油缸推杆 30的伸出端； 发射接收器 20将发射光束和接收到光束之间间隔的时间转换为信号输出给处理器， 处理器根据信 号计算油缸推杆的伸长长度计算第三距离， 并通过第三距离计算泵车展开角度 α 。 在本实施例中， 工程机械展开部件的展开角度的测量方法为测量工程机械支腿展 开角度的方法。发射接收器 20将发射光束和接收光束的时间转换为模拟信号或者数字 信号， 并将这些信号连续的传送给处理器， 处理器计算出油缸推杆的伸长长度 L并最 终计算出泵车展开角度 α 。本方法避免了机械式传感器在接触安装时导致的误差或者 故障， 延长了传感器寿命并提高了测量精度。 另外， 由于对角度的测量采取的是间接 计算方式， 测量的是更为容易直观获取数值的油缸伸缩量， 简化了测量过程。 根据本发明的工程机械展开部件的展开角度的测量方法的另一个实施例， 工程机 械展开部件的展开角度的测量方法为测量工程机械臂架展开角度的方法。 在此实施例中， 泵车展开部件的展开角度的测量方法用于测量泵车臂架的展开角 度， 辅以车身倾角传感器测量的车身角度值， 即可计算泵车臂架展开状态， 这为臂架 状态建模提供了另外一种计算方式。 优选地， 参见图 5和图 6， 处理器计算展开角度的方法如下： 以第一枢接部 71的 转动轴为 A点； 油缸推杆 30的伸长端通过第三枢接部 61与固定在工程机械展开部件 100上的第二连接部 60可转动地连接， 第三枢接部 61转动轴的轴心为 B点； 油缸缸 体 10的第一端通过第二枢接部 51可转动地与固定在泵车主体上的第一连接部 50相连 接， 第二枢接部 51转动轴的轴心为 C点； 以工程机械展开部件 100未展开时 AC与 AB之间的角度为 a0， C点与发射接收器 20的发射端之间的距离为 Ll， 反射器 40的 反射端与 B点之间的距离为 L2，发射接收器 20与反射器 40的反射端之间的距离为 L; 泵车展开角度 a的计算公式为： 2xABxAC. Further, the measuring method of the unfolding angle of the construction machine unwinding component is a method of measuring the unfolding angle of the engineering machinery leg or a method of measuring the angle of the engineering mechanical boom. According to another aspect of the present invention, there is provided a measuring device for an unfolding angle of a construction machine unwinding member, the engineering machine unfolding member being pivotally coupled to the construction machine body through the first pivoting portion, and the first of the cylinders is deployed The second end is connected to the engineering machine body through the second pivoting portion, and the second end of the unfolding cylinder is connected to the engineering machine unfolding part through the third pivoting portion, and the first, second and third pivoting portions are configured as a triangular structure a first distance between the first pivoting portion and the second pivoting portion, and a second distance between the first pivoting portion and the third pivoting portion, wherein the measuring device comprises: a distance measuring sensor, And obtaining a third distance between the second pivoting portion and the third pivoting portion; the processor is connected to the ranging sensor, and calculates the engineering machine deployment angle according to the first distance, the second distance, and the third distance. Further, the unfolding cylinder comprises a cylinder block and a cylinder push rod, and the distance measuring sensor comprises: a transmitting receiver, the transmitting receiver is disposed on the cylinder block; the reflector, the reflector is disposed at the protruding end of the cylinder push rod; The transmitting receiver is for transmitting a light beam, the reflector is for reflecting the light beam emitted by the transmitting receiver to the transmitting receiver, and the transmitting receiver is further for transmitting a signal reflecting the elongation of the cylinder push rod. Further, the transmitting receiver is a laser sensor for emitting a laser beam to the reflector. Further, the reflector is a laser reflector. Further, one end of the cylinder block is fixed on the construction machine, and the extended end of the cylinder push rod is rotatably connected to the engineering machinery leg. Further, the first end of the cylinder block is fixed on the construction machine, and the first end of the cylinder push rod is rotatably connected to the engineering robot boom. A method and a device for measuring a deployment angle of a construction machine deployment member according to the present invention, wherein a non-contact distance measurement sensor is used to measure a relationship between a second pivot portion and a third pivot portion determined by a variable of a cylinder push rod elongation The third distance is then calculated by the processor according to the third distance obtained by the ranging sensor and the remaining values of the fixed value. The invention avoids errors or malfunctions caused by mechanical sensors during contact installation, prolongs sensor life and improves measurement accuracy. In addition, since the measurement of the angle is an indirect calculation method, it is easier to intuitively obtain the distance of the numerical value, which simplifies the measurement process. BRIEF DESCRIPTION OF THE DRAWINGS The accompanying drawings, which are incorporated in FIG. In the drawings: Fig. 1 is a schematic structural view of a conventional pumping truck leg deployment angle measuring device; Fig. 2 is a structural mechanical leg of a measuring device for deploying an unfolding angle of a construction machine according to the present invention in a cylinder push rod extension FIG. 3 is a partial enlarged view of FIG. 2; FIG. 4 is a partial enlarged view of the engineering mechanical leg of the measuring device of the deployment angle of the construction machine unfolding member according to the present invention in a state in which the cylinder push rod is not extended; Figure 5 is a schematic view showing the angular relationship of the engineering mechanical legs of the measuring device of the unfolding angle of the construction machine according to the present invention in the state in which the cylinder push rod is extended; and Figure 6 is a construction machine unfolding member according to the present invention; Schematic diagram of the angular relationship of the engineering mechanical legs of the measuring device of the unfolding angle in the state in which the cylinder push rod is not extended. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, the present invention will be described in detail with reference to the accompanying drawings. As shown in FIG. 2 and FIG. 3, according to the measuring device for measuring the deployment angle of the construction machine development member of the present invention, the construction machine development member 100 is pivotally connected to the construction machine body through the first pivoting portion 71, and the cylinder is deployed. The first end is connected to the construction machine body through the second pivoting portion 51, and the second end of the deployment cylinder is connected to the construction machine unfolding member 100 through the third pivoting portion 61, the first, second and third pivots The connecting portion is configured as a triangular structure, the first pivoting portion 71 and the second pivoting portion 51 have a first distance therebetween, and the first pivoting portion 71 and the third pivoting portion 61 have a second distance therebetween, and the measuring device comprises a distance measuring sensor, configured to obtain a third distance between the second pivoting portion 51 and the third pivoting portion 61; and a processor connected to the ranging sensor according to the first distance, the second distance, and the third distance Calculate the angle of construction machinery. In this embodiment, a pump truck is taken as an example. Using a non-contact distance measuring sensor, the third distance between the second pivoting portion 51 and the third pivoting portion 61 determined by the variable of the cylinder push rod elongation is measured, and then the processor obtains the first according to the ranging sensor. The three distances and the remaining values for the fixed values are used to calculate the angle at which the pump is deployed. The invention avoids errors or malfunctions caused by mechanical sensors during contact installation, prolongs sensor life and improves measurement accuracy. In addition, since the measurement of the angle is an indirect calculation method, it is easier to intuitively obtain the distance of the numerical value, which simplifies the measurement process. Preferably, the deployment cylinder comprises a cylinder block 10 and a cylinder push rod 30, and the distance measuring sensor comprises: a launch receiver 20, the launch receiver 20 is disposed on the cylinder block 10; the reflector 40, the reflector 40 is disposed on the cylinder push rod The projecting end of the light emitting device 20 is configured to emit a light beam, the reflector 40 is configured to reflect the light beam emitted from the transmitting receiver 20 to the transmitting receiver 20, and the transmitting receiver 20 is further configured to transmit the reflecting cylinder push rod 30. The signal of the amount of elongation. As shown in Fig. 2, Fig. 3 and Fig. 4, in the present embodiment, a pump truck is taken as an example. The measuring device for the deployment angle of the pumping-unrolling component is used to measure the deployment angle of the pumping truck legs. One end of the cylinder block 10 is fixed to the pump body, and the extended end of the cylinder push rod 30 is rotatably connected to the pump leg. A transmitter receiver 20 is mounted at the cylinder block 10 of the leg for emitting a beam of light. The spot is projected onto the reflector 40 and returned to the transmit receiver 20 by the reflector 40. According to the time when the transmitting receiver 20 emits and receives the light beam, the length of the cylinder push rod 30 is measured, and the transmitting receiver 20 outputs a continuously changing analog signal or digital signal, and the processor pushes the cylinder push rod 30 to be extended. The length is converted to the angle value at which the legs are deployed. The non-contact transmitting receiver and the reflector are used, and the sensor transmits a signal reflecting the elongation of the cylinder push rod to the processor, and the processor calculates the deployment angle of the pumping leg according to the signal transmitted by the transmitting receiver. This device avoids errors or malfunctions caused by mechanical sensors during contact installation, prolongs sensor life and improves measurement accuracy. In addition, since the measurement of the angle is an indirect calculation method, it is easier to intuitively obtain the value of the cylinder expansion and contraction, which simplifies the measurement process. According to another embodiment of the invention, the first end of the cylinder block 10 is fixed to the construction machine, and the first end of the cylinder push rod 30 is rotatably coupled to the engineering robot boom. Taking the pump truck as an example, in this embodiment, the measuring device for the deployment angle of the pumping vehicle deployment member is used to measure the deployment angle of the pump truck boom. By measuring the expansion and contraction amount of each boom cylinder, calculating the deployment angle of each boom, and supplementing the body angle value measured by the vehicle inclination sensor, the deployment state of the pump boom can be calculated, which provides a model for the boom state. Another way of calculating. Preferably, the transmitting receiver 20 is a laser sensor that can emit a laser beam. The reflector 40 is a laser reflector. Since the pump truck belongs to a large construction machine, a laser beam sensor can be used to emit a concentrated beam signal, which can be smoothly reflected by the reflector 40 and received by the transmitter receiver 20 even if the distance is long. In addition, the laser sensor has high precision, which improves the accuracy of the pumping angle measurement. According to the method for measuring the deployment angle of the construction machine deployment component according to the present invention, the third distance between the second pivoting portion 51 and the third pivoting portion 61 is obtained by the distance measuring sensor; the processor connected to the ranging sensor is The first distance, the second distance, and the third distance calculate a construction machine deployment angle. Preferably, taking the pump truck as an example, the distance measuring sensor comprises: a transmitting receiver 20, the transmitting receiver 20 is disposed on the cylinder block 10; the reflector 40, the reflector 40 is disposed at the protruding end of the cylinder push rod 30; The method for measuring the deployment angle of the vehicle deployment component includes the following steps: The transmitting receiver 20 emits a light beam, the transmitting receiver 20 is disposed on the cylinder block 10 of the developing cylinder; and the reflector 40 reflects the light beam emitted from the transmitting receiver 20 to the transmitting and receiving The reflector 20 is disposed at an extended end of the cylinder push rod 30 which is expandable and contractable along the cylinder block 10; the transmitting receiver 20 converts the time between the emitted light beam and the received light beam into a signal output to the processor, and processes The controller calculates the third distance based on the signal to calculate the elongation length of the cylinder push rod, and calculates the pumping vehicle deployment angle α by the third distance. In the present embodiment, the method of measuring the deployment angle of the construction machine deployment component is a method of measuring the deployment angle of the construction machinery leg. The transmitting receiver 20 converts the time of transmitting the beam and the receiving beam into an analog signal or a digital signal, and continuously transmits the signals to the processor, and the processor calculates the elongation length L of the cylinder push rod and finally calculates the pump deployment. Angle α. The method avoids errors or malfunctions caused by mechanical sensors during contact installation, prolongs sensor life and improves measurement accuracy. In addition, since the measurement of the angle is an indirect calculation method, it is easier to intuitively obtain the value of the cylinder expansion and contraction, which simplifies the measurement process. According to another embodiment of the method for measuring the deployment angle of the construction machine deployment member according to the present invention, the method of measuring the deployment angle of the construction machine deployment member is a method of measuring the deployment angle of the engineering robot boom. In this embodiment, the method for measuring the deployment angle of the pumping vehicle deployment component is used to measure the deployment angle of the pump truck boom, and the vehicle body angle value measured by the vehicle body inclination sensor can be used to calculate the deployment state of the pump truck boom. Boom state modeling provides another way to calculate. Preferably, referring to FIG. 5 and FIG. 6, the processor calculates the deployment angle as follows: The rotation axis of the first pivoting portion 71 is point A; the extended end of the cylinder push rod 30 passes through the third pivoting portion 61 and is fixed. The second connecting portion 60 on the construction machine unfolding member 100 is rotatably connected, and the axis of the rotating shaft of the third pivoting portion 61 is point B; the first end of the cylinder block 10 is rotatable through the second pivoting portion 51. The ground is connected to the first connecting portion 50 fixed to the main body of the pump body, and the axis of the rotating shaft of the second pivoting portion 51 is C point; when the unfolding of the engineering machine development member 100 is the angle between AC and AB is a0 The distance between point C and the transmitting end of the transmitting receiver 20 is L1, the distance between the reflecting end of the reflector 40 and the point B is L2, and the distance between the transmitting end of the reflector 20 and the reflecting end of the reflector 40 is L; The formula for calculating the deployment angle a of the pump truck is:
AB2 +AC2 - (L +L7 +Lf AB 2 +AC 2 - (L +L 7 +Lf
a = arccos ! n a = arccos ! n
2xABxAC 。。 仍然以泵车支腿的展开角度测量为例，前述的 AB、AC和 αο均为支腿的结构属性， 其数值不随支腿展开而变化， 并且能够直接测量。 Li、 L2的长度随发射接收器 20以及 反射器 40的安装位置而定， 安装位置确定后其数值不随泵车支腿展开而变化。 L随油 缸推杆 30伸缩变化而变化， 能由发射接收器 20实时测量。 另外， 图 5和图 6中的角 度 αι为 AB与泵车支腿轴心线的夹角。 通过上述展开角度的计算公式可以根据泵车的 结构特征以及测得的发射接收器 20与反射器 40的反射端之间的距离为 L计算泵车展 开角度 α 。 从以上的描述中， 可以看出， 本发明上述的实施例实现了如下技术效果： 本发明的工程机械展开部件的展开角度的测量方法及装置， 采用非接触式的测距 传感器， 避免了机械式传感器在接触安装时导致的误差或者故障， 延长了传感器寿命 并提高了测量精度； 另外， 由于对角度的测量采取的是间接计算方式， 测量的是更为 容易直观获取数值的油缸伸缩量， 简化了测量过程。 以上所述仅为本发明的优选实施例而已， 并不用于限制本发明， 对于本领域的技 术人员来说， 本发明可以有各种更改和变化。 凡在本发明的精神和原则之内， 所作的 任何修改、 等同替换、 改进等， 均应包含在本发明的保护范围之内。 2xABxAC. . Still taking the deployment angle measurement of the pump truck legs as an example, the aforementioned AB, AC and αο are the structural properties of the legs, the values of which do not change with the expansion of the legs, and can be directly measured. The length of Li, L 2 depends on the mounting position of the transmitting receiver 20 and the reflector 40, and the value does not change with the deployment of the pump leg after the mounting position is determined. L varies with the expansion and contraction of the cylinder push rod 30 and can be measured by the transmitting receiver 20 in real time. In addition, the angle αι in FIGS. 5 and 6 is the angle between AB and the axial line of the pump leg. Through the above calculation formula of the deployment angle, the pumping vehicle deployment angle α can be calculated according to the structural characteristics of the pump truck and the measured distance between the transmitting receiver 20 and the reflecting end of the reflector 40. From the above description, it can be seen that the above-mentioned embodiments of the present invention achieve the following technical effects: The method and device for measuring the deployment angle of the construction machine deployment component of the present invention, using a non-contact distance measuring sensor, avoiding the mechanical The error or failure caused by the contact sensor during installation increases the life of the sensor and improves the measurement accuracy. In addition, since the measurement of the angle is indirectly calculated, the amount of expansion and contraction of the cylinder is more easily and intuitively obtained. Simplifies the measurement process. The above is only the preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes can be made to the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and scope of the present invention are intended to be included within the scope of the present invention.
Claims
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2011/078434 WO2013023355A1 (en) | 2011-08-15 | 2011-08-15 | Method and device for measuring opening angle of unfolded component of engineering machinery |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2011/078434 WO2013023355A1 (en) | 2011-08-15 | 2011-08-15 | Method and device for measuring opening angle of unfolded component of engineering machinery |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| WO2013023355A1 true WO2013023355A1 (en) | 2013-02-21 |
Family
ID=47714692
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| PCT/CN2011/078434 Ceased WO2013023355A1 (en) | 2011-08-15 | 2011-08-15 | Method and device for measuring opening angle of unfolded component of engineering machinery |
Country Status (1)
| Country | Link |
|---|---|
| WO (1) | WO2013023355A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106595555A (en) * | 2016-12-01 | 2017-04-26 | 上海佳豪船海工程研究设计有限公司 | Detection method of mounting angle of sectional bar on ship shell plate |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1484452A1 (en) * | 2003-06-02 | 2004-12-08 | Komatsu Ltd. | Working vehicle |
| CN101221447A (en) * | 2008-01-18 | 2008-07-16 | 中国农业大学 | A kind of mechanical automatic steering control method |
| CN201157323Y (en) * | 2008-03-07 | 2008-12-03 | 王福家 | Human arm simulating intellectual window cleaning machine |
| CN101327591A (en) * | 2008-07-22 | 2008-12-24 | 吉林大学 | Two-degree-of-freedom position feedback type two-way servo hand controller control system |
| CN101712442A (en) * | 2009-11-04 | 2010-05-26 | 大连理工汽车电子有限公司 | Light switch touch type autocrane supporting leg operation controller |
| JP2010143744A (en) * | 2008-12-22 | 2010-07-01 | Hiroshi Onodera | Clamshell bucket |
| CN102120230A (en) * | 2010-12-03 | 2011-07-13 | 长沙中联重工科技发展股份有限公司 | Device and method for measuring bending angle of bent piece |
-
2011
- 2011-08-15 WO PCT/CN2011/078434 patent/WO2013023355A1/en not_active Ceased
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1484452A1 (en) * | 2003-06-02 | 2004-12-08 | Komatsu Ltd. | Working vehicle |
| CN101221447A (en) * | 2008-01-18 | 2008-07-16 | 中国农业大学 | A kind of mechanical automatic steering control method |
| CN201157323Y (en) * | 2008-03-07 | 2008-12-03 | 王福家 | Human arm simulating intellectual window cleaning machine |
| CN101327591A (en) * | 2008-07-22 | 2008-12-24 | 吉林大学 | Two-degree-of-freedom position feedback type two-way servo hand controller control system |
| JP2010143744A (en) * | 2008-12-22 | 2010-07-01 | Hiroshi Onodera | Clamshell bucket |
| CN101712442A (en) * | 2009-11-04 | 2010-05-26 | 大连理工汽车电子有限公司 | Light switch touch type autocrane supporting leg operation controller |
| CN102120230A (en) * | 2010-12-03 | 2011-07-13 | 长沙中联重工科技发展股份有限公司 | Device and method for measuring bending angle of bent piece |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106595555A (en) * | 2016-12-01 | 2017-04-26 | 上海佳豪船海工程研究设计有限公司 | Detection method of mounting angle of sectional bar on ship shell plate |
| CN106595555B (en) * | 2016-12-01 | 2019-06-18 | 上海佳豪船海工程研究设计有限公司 | A kind of detection method of ship plank upper sectional material setting angle |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US5848485A (en) | System for determining the position of a tool mounted on pivotable arm using a light source and reflectors | |
| JP5439497B2 (en) | Traveling work machine with outrigger | |
| JP5513683B2 (en) | Device that optically measures the bending of rotating blades of wind turbines | |
| US20090177435A1 (en) | Method, System and Computer Program Product for Locating a Measuring Device and for Measuring Large Objects | |
| KR101834300B1 (en) | Positioning apparatus for excavating and similar equipment | |
| JP5351255B2 (en) | A device that provides information about the position of the movable coupler in a marine fluid shipping system. | |
| CN109799816B (en) | Alignment method and system for automatic charging of mobile robot | |
| US10094076B2 (en) | Surveying instrument, surveying instrument usage method, and construction machine control system | |
| CN102918209A (en) | Measuring apparatus for excavating and similar equipment | |
| CN104822616B (en) | Elevator for handling rotor blades of a wind turbine and method of operation thereof | |
| WO2015066976A1 (en) | System and method for detecting errors and guiding error correction | |
| CN102011765A (en) | Hydraulic cylinder with laser-measured piston rod stroke | |
| CN106802412A (en) | A kind of closely movable positioning system and its method based on laser and wireless technology | |
| WO2013023355A1 (en) | Method and device for measuring opening angle of unfolded component of engineering machinery | |
| CN102305605A (en) | Method and device for measuring spreading angle of engineering mechanical spreading component | |
| JP2008214997A (en) | Swing angle detection device for swivel work machine | |
| CN206002558U (en) | A kind of ultrasonic wind meter with laser calibration function | |
| CN106767555A (en) | A kind of shafting rocks the combination detection device and method with bounce | |
| CN103759816B (en) | The automatic measurement and positioning device of a kind of site light environment | |
| CN102809346A (en) | Position measuring device of motion platform and measuring method of position measuring device | |
| CN214224151U (en) | Device for calibrating laser swinger | |
| CN112611398A (en) | Apparatus and method for calibrating a laser scanner | |
| CN114296034A (en) | Double-sided target in millimeter wave radar | |
| CN220730425U (en) | Single-line laser radar calibration auxiliary tool | |
| CN117606407B (en) | A positioning system and method for a mining pipeline transport and installation vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| 121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 11871000 Country of ref document: EP Kind code of ref document: A1 |
|
| NENP | Non-entry into the national phase |
Ref country code: DE |
|
| 122 | Ep: pct application non-entry in european phase |
Ref document number: 11871000 Country of ref document: EP Kind code of ref document: A1 |