Lifting arm intellectual control device

FIELD: construction.

SUBSTANCE: device consists of a control unit and an angle measurement unit with the former calculating the lifting arm position coordinates based on the angle measurement data to have been collected and exercising control over varied drive mechanisms accordingly. The device is additionally equipped with a remote control unit that broadcasts wireless remote control commands to support control over translocations. The directional control command consists of X-axis component, Y-axis component and Z-axis component referenced to a rectangular coordinate system with the rectangular coordinate system plotted within a space where its X, Y and Z axes correspond to each of the axial components of the directional control command of the remote control unit. When the remote control unit conveys a directional control command the control unit defines the lifting arm end in-plane relocation direction relying on the X-axis component, the Y-axis component and the Z-axis component of the directional control command to have been received and decomposes the total transposition into a sum of motions of specific arm sections and the rotating platform so that the lifting arm end become relocated exactly in the direction assigned by the control command.

EFFECT: rectilinear control over the lifting arm end relocation trajectory.

23 cl, 12 dwg

 

The technical field to which the invention relates.

The present invention relates to a control device by an arrow. More specifically, the invention relates to intelligent control device boom.

Prerequisites to the creation of inventions

A variety of construction machinery arrow widely used. The arrow represents the device includes at least three sections, pivotally connected by horizontal axes of the hinges. Each section of the boom can be rotated at a substantial angle around the axis of the hinge. When this arrow as a whole is attached to the frame of the vehicle by means of a turntable that can rotate the arrow in the whole 360 degrees around the vertical axis, the vertical relative to the horizontal plane. A typical application of this arrows is to work as construction equipment, such as moving objects from one place to another and their ascent. Currently, such a boom devices are widely used on construction site for laying concrete and other similar works.

For example, concrete pump with betonoraspredelitelnogo arrow is a typical construction machine with an arrow. This machine is applicable for concrete placement in accordance with the requirements of the government, Stroitel the different sites, require the laying of concrete. When the boom lifting device is used for concrete placement, etc., requirements management for the boom device are relatively hard, especially there is a need to accurately control the path of movement of the end of the boom.

Figure 1 shows the design of the boom such truck-mounted concrete pump. Design and management principles of this boom will be described hereinafter with reference to Figure 1.

As shown in figure 1, the pump 8 includes a bolt 9 and the frame 10 of the machine, formed on the chassis of the car.

Shown in figure 1, the bolt 9 is composed of five sections 12-16 of the boom, pivotally connected with each other, and a rotating platform driven by the motor and configured to rotate around a vertical axis 18. Five boom sections are called the first counter 12, the second counter 13, the third counter 14, the fourth counter 15 and the fifth counter 16, each section of the boom is controlled by an associated one of the cylinders 31-35, respectively, which can rotate their respective controlled the sections around their respective axes of hinges. When this rotary platform 11 can also be driven in rotation of the rotary motor 30 (not shown in figure 1, see Figure 2). During construction, by moving the control knob of the device dis is Antonovo management the operator can control the movement of the boom and the rotation of the turntable so as to place the end 20 of the boom with end sleeve 17, over land, on which will be placed concrete. The end sleeve 17 is connected with a Bush pump, and concrete is emitted through the end sleeve 17 so as to carry out the concrete.

Figure 2 shows the control system by moving the arrows shown in figure 1, according to the prior art. This system includes a device 40 remote control that can transmit wireless remote control signal receiver 41, mounted on the machine, electro-hydraulic control element, namely electric proportional multi-way valve 52, the hydraulic motor 30 and the Executive unit 53, consisting of cylinders 31-35.

As shown in figure 2, the device 40 remote control includes six proportional levers 42-47 control, which can move up and down along the primary direction of regulation and can transmit remote control signals in the form of analog values to control the rotary platform and the respective boom sections, respectively. Remote control signals are transmitted to the receiver 41, mounted on the vehicle, what exploits radio waves 51 at a certain frequency. The device 40 remote control also includes a number of other mechanisms 48, 49, 49', 49" switch, the actuation of which other, related, radio remote control are transmitted through radio waves 51 at a certain frequency to the receiver 41. When adjusting the operating position of the end of the boom, if the required action for a specific partition arrows or rotary action control command can be transmitted by manipulating the direction of forward or backward appropriate proportional levers 42-47 management. After receiving the radio signals, the receiver 41 generates control pulse modulated signals (PWM signals)corresponding to each section of the jib, or rotating platform, electric proportional multi-way valve 52 to control. Electric proportional multi-way valve 52 includes an electric proportional valves 56-60 for driving the cylinders 31-35, respectively, and additionally includes an electric proportional valve 55 to drive the reversible motor 30. The moving rod cylinders 31-35 causes the sections of the boom to rotate partially around the axis of the hinge. The rotation of the motor 30 can make use of the gearbox is the trelat 9 in General be rotated around a vertical axis 18.

Described above is a typical way to implement the actions of a single-section boom. This option does not require arrows measurement systems and sensors, and systems coordinate transformation is supported by your computer, but it causes difficulties in functioning. For example, if we assume in figure 1 that the end sleeve 17 to move from the positions shown in the drawing, in position a, without changing the height of the end 20 of the boom, the operator must move at least two or more of the boom sections. Thus, the operator must control two of the levers 43-47 control to move the sleeve 17 from the position shown in the drawing, in position a, without changing the height. However, if you want to perform this operation quickly, even for an experienced operator can be hard to keep at the same height as the end 20 of the boom during the move process.

In the prior art have been proposed a number of technical solutions for the implementation of automatic control of the movement of the boom, using the means of automatic control, in order to solve the above problem moving multiple arrows without changing its working height. According to these technical solutions simple and easy bolt through and the measuring systems and sensors arrows, and system coordinate transformation is supported by your computer.

For example, in German patent DE-A-4306127 (see also U.S. patent 6862509)owned by the company Putzmeister, a device control shaft in which is formed a cylindrical system, which has three axes: ψ, r and h (see Figure 1). Three coordinate axes correspond to the rotation arrows (ψ), to lengthen or shorten the arm (r) and increase or decrease the height of the boom (h).

In the patent owned by the company Putzmeister to manage in three directions of the cylindrical coordinate system defined above, is used, the control lever having three directions of the basic regulation. Each direction of the main control lever corresponds to one coordinate axis. When the operator moves the control lever, a signal corresponding to the associated coordinate axis, is generated according to the direction of movement of the control lever, and through calculation by a computer, control components, corresponding to the relative rotation of the respective boom sections and the rotation arrows on the whole, are generated so that the boom can be controlled to move it in the given coordinate system in accordance with the action of the control lever. Control components by tre the coordinate axes can also be combined so what action controls can transmit the control signals related to more than two directions of the coordinate axes, in order to perform the control end of the boom is a simple but accurate way, especially management on coordinate axes parallel to the horizontal plane.

In intelligent device management arrow, proposed in the above patent, formed where the coordinate system is largely intuitively, which is very convenient for the operator to move the end of the boom from one position to another in space.

However, the smart control device described above, it has obvious drawbacks.

For normal use arrows, such as its use in truck-mounted concrete pump when laying concrete, how to move the end of the boom from one spatial location to another spatial location, is the only one related to her work with them. In addition, there is a need for precise control of movement trajectory of the end of the boom, so that was done the correct execution of the installation.

During the laying, laying along straight lines perpendicular to each other, is a typical method of installation. With this method of laying the trajectory of the moving end of the boom should represent the nternet line.

Mode cylindrical coordinates proposed in the prior art, the motion trajectory of the end of the boom is typically an arc rather than a straight line, due to adaptation to the axis of rotation. Figure 3 shows the process of forming the path, running from point a in the plane at the point D in the same plane mode cylindrical coordinates described above. In this example, assume that the movement in the direction of the axis h (height) is not required, i.e. moving from point a to point D is at the same height.

In Fig. 3A shows the projection of the initial position of the arrows on the horizontal plane. In this position, the N end of the boom is located at point a in the plane of the cylindrical coordinates with the turntable as the origin Of coordinates. Existing demand management are shown in Fig.3b, this movement of the end of N arrows from the current point a to point D, and the desired motion trajectory is a straight line from point a to point D shown in Fig.3b. However, in the mode of the cylindrical coordinates of the real trajectory of the N end of the boom is not a straight line.

On Figs shows the trajectory of the end of the boom in the mode of cylindrical coordinates. In this mode, the cylindrical coordinates of the trajectory of the moving end of the boom is unfolded moved on the e-axis ψ and the axis r. During this folding movement of the N end of the boom will rotate around the axis ψ in the direction of the axis and simultaneously to move along the axis r, i.e. a straight line in the direction of MN extension boom. In the initial state of the N end of the boom MN coincides with the point a, i.e. the projection of the arrows MN on the horizontal plane - OA; the projection of the arrows on the plane in the next time unit S, because the bolt is rotated and at the same time is lengthened while it is moving. Similarly, the projection of the arrows on the plane in the next time unit - OS, and the projection of the arrows on the plane, move to the destination specified position D - OD. Thus, the trajectory of the projection of the N end of the boom on the plane represents a polyline from point a to point D. This line is the trajectory generated only from multiple points corresponding to certain points in time. In fact, the trajectory of the end of N arrows from point a to point D represents an arc with increasing radius. This path does not have a negative effect in General construction work. However, in the case of laying cement etc. where requirements management for the path of the N end of the boom is relatively high above the motion trajectory can not meet the requirements for operation the s.

The invention

The present invention provides intelligent device management boom that can move the end of the boom from one position to another along a rectilinear trajectory and thereby satisfies the requirements of the construction in which the movement trajectory of the end of the boom should be a straight line.

The present invention provides intelligent device management arrow, which is articulated to the rotary platform made with the possibility of rotation around the vertical axis and mounted on the machine frame, and the boom has at least three sections, pivotally connected to each other through the horizontal axes of the hinges, with each section of the boom is made with the possibility of limited rotation around the axes of the hinges are parallel to each other, relative to the rotary platform or the other of the boom sections under the action of drive mechanisms, and the specified intelligent device management arrow contains:

a control unit for controlling the respective actuators according to the control commands so that the end of the boom moves in the given coordinate system in accordance with the control commands;

the unit of angle measurement, which includes sensors for measuring the angles between the boom sections, is also the angle of rotation of the turntable, this block is used to provide measured values of the angles of the control unit, which calculates position information of the boom on the basis of measured values of the angles, in accordance with which adjusts the control of the respective drive mechanisms;

the remote control for the transmission of control commands in the form of a wireless remote control;

in which the remote control can provide commands to control the movement used in the rectangular coordinate system, and the management team moving includes a component on the X-axis component, Y component and Z-axis;

rectangular coordinate system is established in space, the X-axis, Y-axis and Z-axis of this rectangular coordinate system corresponding to a component X component Y component and Z-axis commands motion control remote control device, respectively, and the plane formed by the plane rectangular coordinate system containing the X axis and the Y axis parallel to the horizontal plane, while the upward direction, vertical to the horizontal plane, is always regarded as a positive direction of the Z axis;

when the remote control device transmits a command to control the movement of the, the control unit determines the direction of movement of the end of the boom in a plane rectangular coordinate system on the basis of component X and component Y of the received control commands to move and sows move move each section of the boom and turntable so that the end of the boom is moved in the direction of the management team moving in a rectangular coordinate system.

Preferably, the remote control uses a proportional control lever having two main areas of regulation, to ensure that the management team movement, and one of the main direction of regulation corresponds to the X-axis, the other main direction of regulation corresponds to the Y-axis, when the proportional control lever is tilted in a direction other than the main directions of the regulation, the management team movement is generated based on the component along the X-axis, obtained by the projection of the displacement is proportional to the control lever on the main direction of the regulation on the X-axis, and the component along the Y-axis is obtained by the projection of the displacement is proportional to the control lever corresponding to the main direction control the y-axis.

Preferably, when the supplied command to set the key of the rectangular coordinate system, is formed of a rectangular coordinate system, bounded by the X axis and Y axis, using the turntable as the origin, and the direction of extension of the boom as a positive direction of the Y-axis of this rectangular coordinate system.

Preferably, the installation command rectangular coordinate system is transmitted, when the proportional control lever remote control device is returned to the Central position.

Preferably, the rectangular coordinate system is set as follows: records the initial position of the point end of the boom in a horizontal plane, then recorded the final position of the point in the horizontal plane in which the end of the boom will come eventually after moving the end of the boom, a direction connecting line from the start point to the end point serves as the positive direction of X-axis, in accordance with what is set rectangular coordinate system. After you install the coordinate system moving the proportional control lever remote control device in the main direction of movement corresponding to the X-axis corresponds to the movement of the end of the boom parallel to the axis X of the plane rectangular coordinate system, the displacement is proportional to the control lever astrostatistics offices in the main direction of regulation, the corresponding Y-axis corresponds to the movement of the end of the boom parallel to the Y axis of the plane rectangular coordinate system.

Preferably, the remote control has a switch to choose the training mode, when the training mode is selected by the selection switch learning mode, recording starts horizontal plane in which is located the end of the boom so as to define a rectangular coordinate system.

Preferably, the vehicle installed with the arrow attached to the receiver, which is used to receive remote control commands transmitted from the remote control device, and converting the received remote control commands to the output flow control signals.

Preferably, the drive mechanism is a hydraulic cylinder and hydraulic motor driven electric proportional valve.

Preferably, the control unit includes:

block folding team option for receiving flow control signals coming from the receiver and unfolding flow of control signals in the command code corresponding to the control command transmitted from the control mechanism for remote control;

the computing unit actual position of the La retrieve data about the measured value of the angles, issued by the unit of measurement of angles, and to calculate on the basis of these data, information about the position of the boom;

block scheduling travel for receiving the command code issued by the block folding team on the parameter and the position information of the boom generated by the computing unit of the actual situation, in order to calculate the amount of movement of each section of the boom and turntable, is required to move the end of the boom to the target position and hold it on this straight line or plane, and the specified amount of movement serves as a transfer plan;

a flow control unit for receiving the transfer plan, issued by the block scheduling move, and outputting the control voltage or the control current, the control of each section of the boom and turntable on the basis of the issued transfer plan;

the power supply of the actuator for receiving the control voltage or the control current corresponding to each section of the boom and tilt the platform generated by the flow control unit, and generating a voltage corresponding value on the basis of the control voltage or the control current to control the magnitude and direction of opening of the electric proportional valve to further control the movement of the rod GI is rollinger, as well as the rotation of the motor in the position defined by the plan moving.

Preferably, information about the position of the boom, calculated by the computing unit actual position includes position coordinates of the ends of each section of the boom and the end of the boom.

Preferably, when block scheduling travel plans to move, the target position is initially obtained as follows: on the basis of the component along the X-axis component and Y-axis commands motion control in the adopted code command calculates the direction of movement of the end of the boom; on the basis of the movement direction and a predefined parameter step length is obtained target position of the end of the boom by adding the length of the step to the current position of the end of the boom in the direction of movement.

Preferably, the flow control unit adjusts the output of the control voltage or the control current corresponding to each section of the boom and swivel platform, based on the received real-time information about the position of the boom, to ensure that the end of the boom moves in the horizontal plane.

Preferably, the angle is proportional to the control lever on the remote control corresponds to the speed of movement, the block is Board flow adjusts the output of the control voltage or the control current in accordance with the moving speed.

Preferably, the flow control unit calculates the difference between the speed of travel of the end of the boom and speed commands based on the received real-time information about the position of the arrows, in accordance with which adjusts the output of the control voltage or the control current corresponding to each section of the boom and tilt the platform to carry out simultaneous control of travel arrow.

Preferably, after receiving the plan of the movement, the flow control unit assesses the acceptability of the transfer plan, if the plan of movement is acceptable, it generates a control voltage or control current, and if the transfer plan is unacceptable, it requires the unit plan move to reschedule the move.

Preferably, the evaluation unit flow control acceptability of transfer plan includes an assessment of the continuity of the displacement of each section of the boom and turntable relative to the current position, if the movement is continuous, the transfer plan is acceptable, and if the movement is not continuous, the transfer plan is unacceptable.

Preferably, the remote control device includes a mode switch control to select the mode control is tion, which can be a control mode in a rectangular coordinate system, a control mode in a cylindrical coordinate system or the manual control mode.

Preferably, the remote control device additionally has a proportional control lever to control the lifting and lowering of the end of the boom, in order to control the displacement of the free end of the boom up or down along the z axis.

Preferably, the power supply generates a power supply voltage or the supply current using pulse width modulation (PWM), or current, in particular using the received control voltage or control current to control the width of the rectangular pulse or control amperage to get the desired power supply voltage or the supply current.

Preferably, the control unit additionally includes a display unit feedback for the remote control and this unit transmits information of interest to the operator, a receiver mounted on the vehicle, and the receiver transmits it to the remote control device in the form of radio waves, while the remote control has an LCD display to show the information received feedback.

Preferably, the remote control has proporz the national control lever to control the movement of each section of the boom and turntable and the proportional control lever to control the movement of the end of the boom up and down along the z axis.

Preferably, the data transmission between receiver unit and control unit of angle measurement is transmitted via the bus controller area network.

Preferably, the remote control has a switch to turn coordinate to rotate the established coordinate system at a certain angle in the horizontal plane.

Unlike prior art smart device control shaft according to the present invention provides a control mode in a rectangular coordinate system.

In this control mode, the operator transmits a command to the motion control including a component along the X-axis component and Y-axis on a plane parallel to the horizontal plane, and the component along the Z axis in the vertical direction using the remote control, and then the control unit controls the arrow to move it in the direction of the management teams moving in a rectangular coordinate system on the basis of the current position of the end of the boom and commands motion control. Because the movement is planned in a rectangular coordinate system, management rectilinear movement can be performed intuitively. According to the present invention can be obtained rectilinear movement trajectory in the horizontal plosko is I.

With the control device proposed by the present invention, the operator becomes possible to easily perform the linear control movement trajectory of the end of the boom, which is especially suitable for cases requiring that the motion trajectory of the end of the boom was a straight line, such as truck-mounted concrete pump, etc.

Brief description of drawings

Figure 1 is a schematic drawing showing the boom, which will be implemented in the present invention;

Figure 2 represents the device control shaft according to the prior art;

Figure 3 represents the process of forming the path in the mode of a cylindrical coordinate system according to the prior art;

Figa represents the projection of the end of the boom in initial position;

Fig.3b represents the desired trajectory of the moving end of the boom;

Figs is a movement trajectory of the N end of the boom in the mode of a cylindrical coordinate system;

Figure 4 is a conceptual block diagram of the intelligent device control shaft according to the first variant implementation of the present invention;

Figure 5 represents the installation process of the rectangular coordinate system the way penny is investing according to the first variant implementation of the present invention;

Figa is a rectangular coordinate system set for the proportional control lever;

Fig.5b represents the projection of the arrows on the horizontal plane, when the proportional control lever is set at the Central position;

Figs is a rectangular coordinate system, installed in the horizontal plane of the end of the boom in the boom position described above;

Fig.5d is a schematic drawing illustrating the direction of the slope of the proportional control lever;

Fige is a schematic drawing illustrating the determination of the trajectory of movement when the end of the boom moves in a straight line in a rectangular coordinate system;

6 is a schematic drawing illustrating how the smart device control arrows according to the first variant implementation of the present invention sets a rectangular coordinate system training method.

A detailed description of the preferred embodiments

Next will be described an implementation option intelligent device management arrow the invention for the construction boom truck-mounted concrete pump shown in figure 1. Design boom truck-mounted concrete pump has been described above and poet who will not be described here again. As the key problem to be solved by the present invention, is to control the movement of the boom in a horizontal plane, the following description will be mainly focused on the management of the movement of the boom in a horizontal plane. Control lifting and lowering of the boom in the vertical plane will not be described in detail here because it is simpler than the motion in the horizontal plane.

Figure 4 shows the principal structural diagram of the intelligent devices of the control shaft according to the first variant implementation of the present invention.

As shown in figure 4, this smart device control shaft includes a device 70 remote control, receiver 82, mounted on truck-mounted concrete pump, block 89 of angle measurement, the unit 90 controls.

The device 70 remote control includes five proportional levers 71-75 control, each of the proportional levers 71-75 management is the main area of regulation, along which it can move forward or backward, and the proportional control lever 75 has two main areas of regulation, along which it can move back and forth and left and right, respectively, to transmit the control signal is. Further, the device 70 remote control has a switch 77 mode selection, which is made in the form of a self-holding selector switch with three working positions corresponding to different modes, including manual mode, the operation mode in the cylindrical coordinate system, and mode in a rectangular coordinate system. Additionally, the device 70 remote control has several other mechanisms of control. The control signal generated by the manipulation of the control mechanism, for example, proportional controls, accordingly generates a wireless signal 83 remote control and then passes it.

On the truck-mounted concrete pump fixed receiver 82 for receiving a wireless signal 83 remote control, transmitted from the device 70 remote control, converting it into a stream of control signals, which is then passed to the block 90 control via bus 85 data controller area network (CAN). Because you need to pass a lot of control signals for transferring information used bus controller area network, which on the one hand effectively reduces the attenuation of the signal along the length of the electric wire, and on the other hand reduces the weight of the beam electric Ave is water.

Block 89 of angle measurement includes six angle sensor 88 for measuring the angles between the respective boom sections, the angle between the first counter and the frame of the machine, and the rotation angle of the turntable, measured from the Central position, in which the arrow is located, when it is in the retracted state, and transfer the above measured values of angles on the unit 90 controls.

Figure 4 also shows the electrical proportional multi-way valve 52 and the block 53 of the actuator, the design and principle of operation which is similar to the actuator shown in figure 2 and described above. Identical elements are denoted by the same reference positions and will not be described again.

Block 90 control receives a stream of control signals transmitted from the receiver 82, and the measured angle is transferred from block 89 of angle measurement via bus 85 data controller area network, and then performs calculation on the basis of the above data to generate the supply voltage for controlling the motor and the cylinders in the block 53 of the actuator. Block 90 control converts the control commands to the power supply, which is basic to the arrows to navigate according to the desired path.

The block 90 includes the following sub-blocks: block 91 races is ladymania team option block 92 calculation of the actual situation, the block 93 planning the move, block 94 flow control and output unit 95 PWM (pulse width modulation) voltage. The sub-blocks included in the unit 90 controls can be implemented or in the form of software modules or hardware modules.

Block 91 folding team option receives a stream of control signals transmitted via the bus 85, and lays it on recognised codes of commands that correspond to the provisions of the governance mechanisms, such as switches and the control lever device 70 remote control. Codes of commands related to the technical problem solved by the present invention include the mode of operation, the direction of the slope and the amount of movement of the control lever in the remote control, team training and treatment, as well as other codes of the team, which includes the state of fixation of the boom and turntable. In fact, the tilt direction and amount of movement of the control lever are commands to control movement, such as movement direction and speed of the end of the boom. Mode polar coordinates or rectangular coordinates of the block 91 folding team option recognizes the received real-time data transmitted from the t device 70 remote control, and lays them on the various codes of the commands described above, and then transmits the codes to the block 93 planning movement as input parameters block 93 planning the move. In the manual control mode is a control command for a specific section of the boom directly transmitted to the output unit 95 PWM voltage.

Blocks 92 calculate the actual provisions are used to obtain data on the measured values of angles generated by the block 89 of angle measurement via bus 85 data controller area network, and calculating the information about the actual position of the arrows 9 in accordance with these calculated values. Position information contains information regarding the progress of the cylinders 31-35, and position coordinates of the ends of each section of the boom, including the end of the boom, which are calculated in accordance with the ratio between the sides and angles of an arbitrary square after receipt of the angle of displacement of each section of the boom, and the calculation result is transmitted to the block 93 planning the move.

Block 93 planning movement is used for receiving the command code issued by the block 91 folding team setting, and information about the actual position of the boom 9, calculated by the block 92 calculate the actual position and contains the actual position of the ends of each section of the arrows is, to calculate the target position. The coordinates of the target position obtained by adding to the current position of the end of the boom predefined step 20 in the direction of movement, indicated by the command transfer control of the proportional control lever. On the basis of the target position calculated state of fixation between each section of the boom 9 and the turntable 11, and the current position of each section of the boom 9 and the turntable 11, the direction and amount of movement of each section of the boom 9 and the turntable 11, the necessary follow-up the desired path. Block 93 planning the move may need to be moving under the following limiting conditions, comprising: a first strut 12 is fixed, the first and second rack 12 and 13 are fixed, a turntable fixed, none of the boom sections 9 are not fixed and rotating platform included in the rectangular coordinate. The result calculated by the block 93 planning the move, is issued at block 94 flow control. Block 93 planning the move will perform the function of determining the direction and trajectory of movement of the end 20 of the boom and unfolding movement of the end 20 of the boom to move sections 12-16 of the boom and turntable 11. Towards the giving and the motion trajectory of the end 20 of the boom will be determined according to the command control the movement submitted by the operator through the device 70 remote control and current mode control.

The transfer plan, obtained by the block 93 planning the move should ensure the desired movement of the boom, for example, movement of the end 20 of the boom in a plane parallel to the horizontal plane.

Block 94 flow control is used to obtain the transfer plan, issued by the block scheduling move, and assessing the acceptability of the transfer plan. If it is decided that the transfer plan is acceptable and feasible, the transfer plan will be used as the basis, on the basis of which the management of the flow of the working fluid drive mechanisms for each section of the boom and turntable, in accordance with block 94 flow control generates the control voltage or control current to each of the transfer mechanism. These control voltage or control current to determine the magnitude and direction of opening of each valve electric proportional control multi-way valve 52. Thereby determine the direction and magnitude of fluid flow, distributed in the hydraulic cylinder of each section of the boom and the hydraulic motor turntable. The flow direction determines the direction in which the shock is to achieve or retract, will move the piston rod of the hydraulic cylinder, and in which direction, forward or reverse, will rotate the hydraulic motor, and the flow rate determines the speed of travel of the hydraulic cylinder and rotary platforms. The interaction between each section of the boom and turntable determines the trajectory of the moving end of the boom. Assessment of whether the transfer plan acceptable estimates, does not exceed the amount of the working fluid supply to each drive element for maximum valve in General, the flow of operating fluid to avoid the situation where the requested move cannot be implemented. If the supply of the working fluid exceeds the maximum for valves in General, the block 94 of the control flow can be reduced in the same proportion the flow of operating fluid to each driving element to implement normal movement. Assessment of whether the transfer plan is acceptable, further includes evaluating the continuity of the displacement of each section of the boom and turntable 11 with respect to the current position. The term "continuity" means that there is no break in the movement of each section of the boom and turntable 11 with respect to the current position, i.e. no excessive oscillation movement between adjacent time periods in order to avoid uneven movement. If it is decided, Thu is moving satisfies the requirement of continuity, the transfer plan is acceptable; if it is decided that the movement does not satisfy the requirement of continuity, the transfer plan is unacceptable. The speed of movement of the end 20 of the boom is maintained corresponding to the amount of movement is proportional to the control lever through block 94 flow control, i.e. the speed is slow when the amount of movement is small, and the speed is fast when the amount of movement is great. Next, block 94, the flow control can get the actual boom position based on the measured value and the actual position of the boom, and thus to obtain the actual movement trajectory of the end of the boom, in accordance with which to adjust the control voltage or control current to perform the servo control. In addition, the block 94 flow control can also get information about the speed of the end 20 of the boom, based on the change in position of the boom in unit time, in accordance with which to adjust the control voltage or control current, to perform synchronous control of the boom.

Through these block 93 planning the move and block 94 flow control, the movement mode of the cylindrical coordinates and rectangular coordinates can be carried out with the cooperation of the boom sections and regards the now platform.

The output unit 95 PWM voltage is used to obtain the control voltage or the control current for each section of the boom and turntable 11, issued by the block 94 flow control, or direct obtaining the parameters of the commands issued by the block 91 folding team parameter, and generating the PWM voltage supply or current supply to actuate the electric proportional valves 56-60 in accordance with the command to operate and manage electric proportional valves 55-60, and, thus, to control the movement of the cylinders 31-35, and rotation of the motor 30. Moving cylinders 31-35 causes related sections are rotatable around the axes of the hinges, and the rotation of the motor 30 also makes use of the gearbox arrow 9 in General be rotated around a vertical axis 18. As a result of rotation of all of the boom sections together with turn arrows 9 in General, the end 20 of the boom follows the path, the desired operator.

The above smart device control shaft has three steering modes, including manual mode, the control mode in the cylindrical coordinate system, a control mode in a rectangular coordinate system. The mode control wybir is carried out by stepwise switching of the switch 77 of the operation.

When the manual control unit 91 folding team option decomposes the signals received from the proportional control levers, signals corresponding to managed elements. I.e. the signals from the proportional levers 71-74 control correspond to the sections 12-15 of the arrows, the first pillar 86 regulation (the control lever is tilted forward or backward) is proportional to the lever 75 control complies with section 16 of the boom, and the second main direction 87 of regulation (control lever is tilted left or right) is proportional to the lever 75 control correspond to the rotary platform 11. Spread out the control signals are transmitted to the output unit 95 PWM signal, which generates a PWM voltage to operate the electric proportional multi-way valve 52, through the branching circuit 97. Control mode manual control similar to the operation in the prior art, shown in figure 2. The manual control mode is used in situations when an agreed way of working boom is not good, or there is a breakdown in the system that provides a consistent way of working. The direction of inclination of the specified proportional control levers corresponding to the direction of movement of the boom sections or turntable. The value of re is edenia specified proportional control levers correspond to the speed of movement of the sections or turntable. The greater the amount of movement is proportional to the lever, the greater the speed of movement of the sections or turntable.

The specified control mode in a cylindrical coordinate system is essentially the same as described in the application at the German patent DE-A-4306127 company Putzmeister, i.e. the cylindrical coordinate system has three coordinates: ψ, r and h (see Figure 1). This variant embodiment of the invention differs from the decision of the company Putzmeister fact that on the basis of the design of the control lever available on the remote control device in this embodiment, regulation of the coordinate r corresponds to the first principal direction 86 of the control lever 75 management, i.e. forward or backward lever 75 control corresponds to an increase or decrease in the coordinates r, which represents the movement arrows in the direction of lengthening or shortening, while the height h of the end of the boom remains unchanged. At the same time, the regulation of coordinates ψ meets the second main direction 87 of the control arm 75 of the control, i.e. the slope of the left or right arm 75 of the control corresponds to the increase or decrease coordinates ψthat represents the rotation of the turntable clockwise or counterclockwise. As a 2-coordinate moving mountains the horizontal plane subgroups regulatory action regulation of these two coordinates are combined in the control lever, it has two main areas of regulation. If the angle of inclination of the lever 75 of the control is determined by the specified angle relative to the main areas of regulation, and both coordinates r and ψ participate in the movement of the end of the boom, thereby arrow performs a combination of lengthening or shortening and rotation, while the height h of the end of the boom remains unchanged. Adjusting the height h of the end of the boom by a separate lever 71 control and does not depend on the moving end of the boom in a horizontal plane. Forward tilt control lever increases the height h and tilt back reduces the height h. The above functions are implemented by the interaction of block 92 calculate the actual position of the block 93 planning the move, block 94 flow control and output unit 95 PWM voltage or TPV unit 90 controls.

When the control mode in the cylindrical coordinate system block 93 planning the move determines whether the arrow 9 be lengthened or shortened, simply in accordance with the direction of movement, forward or backward, the lever 75 control in the main direction of regulation, in accordance with what is calculated in the subsequent path of the arrows. On Figs shows the trajectory of the moving end of the boom when the control mode in cylindrical systems the coordinates. As shown in Figs formed in the end the motion trajectory of the end of the boom is a curve line.

When the control mode in the cylindrical system of coordinates planning move is relatively simple, since the rotation arrows refers only to the movement of the turntable 11, which has no corresponding relationship with the coordinate, and no special calculation is required. When planning a move, you only need to put the moves on the coordinate r, in the direction extending or retracting, moving each section of the boom. No planning for the turntable is not required.

The main disadvantage of the above-mentioned control mode in a cylindrical coordinate system has been described above, i.e. when the control mode in the cylindrical coordinate system, although it is convenient to move the end of the boom from one point to another in a horizontal plane, the motion trajectory between two points is a curved line. It is impossible to form a rectilinear movement from one point to another in the same horizontal plane, if the arrow does not only move along the coordinate r, in the direction of extension or retraction, without rotary movement. No straightforward move may not be receiving what about, if the rotation occurs.

The control mode in the rectangular coordinate system is a unique mode of operation. Taking into account that a straight-line motion is the primary method of movement required when performing the installation, in this embodiment, developed a new control mode in a rectangular coordinate system for device management. When this control mode in a rectangular coordinate system, it becomes possible to obtain a straight-line motion from one point to another in the same horizontal plane, i.e. the motion trajectory is a straight line. Accordingly, the mode of operation is particularly suitable for laying cement during construction.

The control mode in the rectangular coordinate system introduces orthogonal X-axis and Y-axis, which differ from the coordinates ψ and r is the cylindrical coordinate system and the Z-axis, which is similar to the axis h of the cylindrical coordinate system and will not be described in detail. As shown in Figa, the first main direction 86 of regulation (forward and backward) is proportional to the lever 75 management is defined as the longitudinal axis Y, and the second main direction 87 of regulation (left and right) is defined as the horizontal axis X. These definitions specify the relationship is between the main directions of the control lever 75 control and the rectangular coordinate system. When the lever 75 management is tilted toward the direction of regulation, other than the basic regulation, the components move through two main areas of regulation are commands move along the X-axis and Y-axis respectively.

X axis direction and the Y-axis of a rectangular coordinate system on the device 70 remote control to set very easily, as the main direction control lever 75 of the control is fixed. However, the direction of the X axis and the Y axis direction of the rectangular coordinate system in the horizontal plane in which the end of the boom is moved to ask some very difficult, as this requires a frame of reference. This alternative implementation, based on the requirements, offers two ways to specify a rectangular coordinate system in which the end of the boom moves in the horizontal plane, i.e. centering method and learning method is proportional to lever 75 control.

The centering method is proportional to lever 75 control means that the rectangular coordinate system horizontal plane of movement of the boom is set in accordance with the position of the boom, when a proportional lever 75 is located in the center. The so-called "centre" means that is proportional to the lever 75 is located in a Central position about what their main areas of regulation.

As mentioned above, the displacement is proportional to the lever 75 control causes a reaction in the unit 90 controls. When the rectangular coordinate system is defined centering method, the device 90 management considers centering proportional lever 75 control as a special case, i.e. considers centering proportional lever 75 of the control point as a section, before and after, between the two control processes. When a proportional lever 75 control centered, the previous process control ends, and starts the next process, and it requires a new rectangular coordinate system.

New rectangular coordinate system can be set as follows: when a proportional lever 75 control centered, a turntable is used as the origin of coordinates, and the direction in which the boom extends, is used as the positive y axis direction As shown in Fig.5b, when a proportional lever 75 control centered, the projection of the arrows on the horizontal plane - MN. When the lever 75 control is in a Central position in the next time the system of coordinates moving arrows, which corresponds to the coordinate system specified proportional lever 75 control is exerted on Figa, is as follows: point N is used as the origin of coordinates of the coordinate system, the direction of extension of the boom is used as a direction along the Y-axis, and the direction along the X-axis is further defined in accordance with a specific direction on y-axis On Figs shows a rectangular coordinate system defined on the basis of the provisions of the arrows shown in Fig.5b.

After the rectangular coordinate system is proportional to the lever 75 control and the rectangular coordinate system horizontal plane of movement of the boom set, two rectangular coordinate system correspond to each other, i.e. the direction of the slope is proportional to the lever 75 management in its rectangular coordinate system specifies the direction in which the end of the boom must be moved in a rectangular coordinate system the horizontal plane of movement of the boom.

The tilt lever 75 from the origin O' of the coordinates of the point a', as shown in Fig.5d means that the N end of the boom is required to move from point a, which coincides with the origin Of coordinates at the point D, and the velocity of the N end of the boom is connected with the amount of movement is proportional to the lever 75 control. The greater the amount of movement is proportional to the lever 75 of the control, the greater the speed of the move is at the end of the boom. In contrast to the control mode in the cylindrical coordinate system the motion trajectory from point a to point D is displayed on the X axis and the Y-axis of a rectangular coordinate system. I.e. the N end of the boom is moved in the direction of the straight line AD and get straight the path that requires the speed of travel of the end of the boom along the X-axis was aligned with the velocity of the end of the boom along the Y-axis to hold the end of the N arrows moving in the direction of the AD.

Block 93 planning movement determines the direction of movement of the boom in a rectangular coordinate system based on the direction of tilt is proportional to the lever 75 control. In order to obtain the direction of movement, you have to plan your move, to ensure the correct direction of movement of the boom and get straight path. So as to move the arrows on the X-axis and to move the arrows on the Y-axis is not the only one driving device moving in a rectangular coordinate system is greatly complicated.

Because the movement of the end of the boom is displayed on the X-axis and Y-axis in a rectangular coordinate system, block 93 planning the move must calculate the turning parts, all specifications agreed between the om boom and the extension and retraction of the boom, to ensure that the arrow always moves in the direction of movement specified by the commands, along a straight line. Block 93 planning travel plans to move in the following way: first it calculates the desired direction of movement based on the value of the component along the X-axis component and Y-axis commands motion control; then calculates the coordinate position attained after moving to a pre-defined step in the direction of travel from the current position, in accordance with what has been planned to the desired movement of each section of the boom and turntable 11 required to reach this position. It is also necessary to keep the height of the end 20 of the boom unchanged during the movement in terms of moving. In addition, when the actual moving unit 94 flow control checks the transfer plan for continuity of displacement and performs the servo control and clock management. During the move, if the device 70 remote control still sends the same command motion control, block 93 planning the move continues to receive the following coordinate position based on the setting step, and planning the next move. The parameter step is a pre-set value of the parameter, who determines what is the stride length unit 93 of the planning of the move is to plan the move.

As shown in Figi, the step is assumed to be 1 meter, and you want to move from point a to point D. Thus, the need to move to point b', which is located at a distance of 1 m from point A. As we know from Five, the bolt must be rotated in a clockwise direction at an angle of CA' (it is assumed that the angle is equal to θand the boom must be nominated on the length L (L=MB'-MA). The transfer plan, issued by the block 93 planning movement is used to ensure that the boom is extended to a length L, and at the same time, the arrow will rotate in the clockwise direction by the angle θ. To move from point a to point D, it is required to continuously provide the next point', in accordance with block 93 planning a move can calculate a series of plans for the move, which will cause the end of 20 arrows to move along the straight line AD. Using the servo and clock control unit 94 controls the flow becomes possible to ensure that the end 20 of the boom to move to point D along an essentially straight path.

Centering a way to specify a rectangular coordinate system can successfully meet the requirements of the retention of the moving end of the boom along a straight line. However, in this method are still some drawbacks. Therefore, this invention also provides a training method to specify a rectangular coordinate system in the horizontal plane. Learning how to set a rectangular coordinate system are invited for the following reason: in real situations, concrete placement, such as laying transverse beams or flat plates, the end plates need only be moved in two directions in a horizontal plane, one of the directions parallel to the cross beam, another direction perpendicular to the cross beam in the horizontal plane. As shown in Fig.6, it is assumed that the desired direction of movement of the end of the boom is moving from the projection point N in projection point N' in the horizontal plane. Points N and N' are two different points of the cross-beam, which is the purpose of styling. The position of the points N and N' may be recorded by the control unit, when the end of the boom is in two points, and then to define a rectangular coordinate system moving the boom through a connecting line between two points. Next, the coordinate system will remain unchanged in the working situation and generates a fixed rectangular coordinate system. After a fixed rectangular coordinate system was the Adana, the displacement is proportional to the lever 75 control in the second main direction 87 of the regulation is rectilinear movement parallel to a straight line NN', for example PP', is shown in Fig.6. Also moving is proportional to the lever 75 control in the first main direction 86 regulation is rectilinear movement perpendicular to a straight line NN'. Even when the control lever will move again after centering, it will still retain this dependence, i.e. the coordinate system will not change because of a change in position of the boom, while the coordinates of the two points N and N' will not be cleared.

To obtain this function, the device 70 remote control according to this variant implementation has a special switch 76 selecting a training mode, as shown in Figure 4. Preferably, the switch 76 selecting a training mode contains the switch with automatic reset, with three positions, which is located in a Central position without external force, is in the front position, designated as "training" mode when shifted forward, and is in the rear position indicated by "cleansing" mode when shifted back. When switch 77 selection mode is set to rectangular coordinates, is used to switch 76 selecting a training mode to send the command to remember the coordinates of a certain point and click to clear the values of the coordinates of a certain point. Commands are then passed on to the block 90 control via bus 85 data controller area network to be executed by the unit 90 controls. As shown in Fig.6, after memorizing the coordinates of the two points N and N', the direction of extension of the boom and the direction perpendicular to the straight line NN', defined as a positive direction of the y axis it is Convenient to define the X-axis after the Y-axis is defined. The X and Y coordinates in a rectangular coordinate system can be obtained and recorded using a method of storing two points.

After the rectangular coordinate system is defined by the learning method, the operation unit 90 controls in this coordinate system is the same, when the rectangular coordinate system is defined centering method.

To obtain the above new feature, as shown in figure 4, the block 90 control in this embodiment also includes a display unit 96 feedback for remote control devices. This unit transmits information of interest to the operator, to the receiver 82 mounted in the car, via bus 85 data controller area network connected to the unit 90 controls, and then transmits to the device 70 remote control, held in the hand of the operator, by means of radio waves 84 of a certain frequency. On zhidkokristal the com display 81, installed on the device 70 remote control, can display graphics and text. Thus, the operator may receive feedback information associated with the current operation. This function is optional and is not required to implement intelligent control.

In addition, so that you can easily install another rectangular coordinate system after one rectangular coordinate system was installed, a special switch (not shown) to rotate the coordinate system can be placed on the device 70 remote control. After the rectangular coordinate system was established, it becomes possible to use a switch to rotate the coordinate system in the horizontal plane at a certain angle. This switch can be used to facilitate the installation of a new rectangular coordinate system on the basis of a defined rectangular coordinate system.

In comparison with the prior art, the above variant implementation differs in that the control device sets the control mode in the rectangular coordinate system. In this control mode, control components, issued by the proportional control lever or other control mechanisms, rusk is adelayda in accordance with the axes X, Y, Z rectangular coordinate system to obtain the desired information about the movement direction and planning and motion control on the basis of this information, resulting in obtaining a rectangular path in the desired direction. With the installation of a rectangular coordinate system becomes easy to manage the end 20 of the boom to move it along the straight path, thereby the construction requirements for laying of concrete or the like can be sufficiently satisfied. Some technical features of the present invention can be implemented in other ways in accordance with the prior art. For example, the device 70 remote control may transmit a control command through the wires; function proportional lever 75 control can be implemented by direct input of numbers indicating the direction of movement and speed; and electric proportional multi-way valve 52 may be proportional servo valve, servoproportional valve or other electrically operated selector valve, which may be more convenient to implement.

The above embodiments of the invention should be understood as examples of implementation of the present invention, and the specification of the sheets in the art may be changes and modifications, without going beyond the scope of the invention which is limited solely by the attached claims.

1. Intelligent device management arrow, which is articulated to the rotary platform made with the possibility of rotation around the vertical axis and mounted on the machine frame, and the boom has at least three sections, pivotally connected to each other through the horizontal axes of the hinges, with each section of the boom is made with the possibility of limited rotation around the axes of the hinges are parallel to each other, relative to the rotary platform or the other of the boom sections under the action of drive mechanisms, and the intelligent device control shaft includes: a control unit for controlling the respective actuators according to the control commands so that the end of the boom moves in the given coordinate system in accordance with the control commands; a unit of angle measurement, which includes sensors for measuring the angles between the boom sections and the rotation angle of the turntable, with the specified block is used to provide measured values of the angles of the control unit, which calculates position information of the boom on the basis of measured values of the angles, in accordance with which adjusts the control matched with the existing drive mechanisms; and the remote control for the transmission of control commands in the form of a wireless remote control; in which the remote control can provide commands to control the movement used in the rectangular coordinate system, and the management team moving includes a component on the X-axis component, Y component and Z-axis; the rectangular coordinate system is set in space, the X-axis, Y-axis and Z-axis of this rectangular coordinate system corresponding to a component X component Y component and Z-axis commands motion control remote control device, respectively, and the plane defined by the plane rectangular coordinate system containing the X axis and the Y axis parallel to the horizontal plane, the upward direction, vertical to the horizontal plane, is always regarded as a positive direction of the Z-axis; when the remote control device transmits a command to the motion control, the control unit determines the direction of movement of the end of the boom in a plane rectangular coordinate system on the basis of component X and component Y of the received control commands to move, and sows move move each section of the boom and turntable so, coconet boom is moved in the direction the specified management team moving in a rectangular coordinate system.

2. The device according to claim 1, in which the remote control uses a proportional control lever having two main areas of regulation, to ensure that the management team movement, and one of the main direction of regulation corresponds to the X-axis, the other main direction of regulation corresponds to the Y-axis, when the proportional control lever is tilted in a direction other than the main directions of the regulation, the management team movement is generated based on the component along the X-axis, obtained by the projection of the displacement is proportional to the control lever on the main direction of the regulation on the X-axis, and the component along the Y-axis is obtained by the projection of the displacement is proportional to the control lever on the corresponding the main direction of regulation y axis.

3. The device according to claim 2, in which, when passed to the install command rectangular coordinate system, sets a rectangular coordinate system bounded by the X axis and Y axis, using the turntable as the origin, and the direction of extension of the boom as the positive direction of Y-axis rectangular coordinate system.

4. The device according to claim 3, in which command the mouth of ovci rectangular coordinate system is transmitted, when the proportional control lever remote control device is returned to the Central position.

5. The device according to claim 2, in which the rectangular coordinate system is set as follows: records the initial position of the point end of the boom in a horizontal plane, then recorded the final position of the point in the horizontal plane in which the end of the boom will come eventually after moving the end of the boom, a direction connecting line from the start point to the end point serves as the positive direction of X-axis, in accordance with what is set rectangular coordinate system, while after installation coordinate system moving the proportional control lever remote control device in the main direction of movement corresponding to the X-axis corresponds to the movement of the end of the boom parallel to the X-axis plane rectangular coordinate system, the displacement is proportional to the control lever of the remote control device in the main direction of regulation corresponding to the Y-axis corresponds to the displacement of the free end of the boom parallel to the Y axis of the plane rectangular coordinate system.

6. The device according to claim 5, in which the remote control has a switch to choose the training mode, in which, when the training mode is selected by the selection switch learning mode, recording starts horizontal plane in which is located the end of the boom so as to define a rectangular coordinate system.

7. Device according to any one of claims 1 to 6, in which the vehicle is running boom, mounted receiver, which is used to receive remote control commands transmitted from the remote control device, and converting the received remote control commands to the output flow control signals.

8. The device according to claim 7, in which the drive mechanism is a hydraulic cylinder and hydraulic motor driven electric proportional valve.

9. The device according to claim 8, in which the control unit includes:

block folding team option for receiving flow control signals coming from the receiver and unfolding flow of control signals in the command code corresponding to the control command transmitted from the control mechanism on the remote control device; a computing unit of the actual situation to retrieve the data about the measured value of the angles given by the unit of measurement of angles, and to calculate on the basis of these data, information about the position of the arrows; block scheduling displace the Oia to obtain the command code, issued by the block folding team on the parameter and the position information of the boom generated by the computing unit of the actual situation, in order to calculate the amount of movement of each section of the boom and turntable, is required to move the end of the boom to the target position and hold it on this straight line or plane, and the specified amount of movement serves as a transfer plan; the flow control unit for receiving the transfer plan, issued by the block scheduling move, and outputting the control voltage or the control current, the control of each section of the boom and turntable based on the issued plan move; the power supply of the actuator for receiving the control voltage or the control current corresponding to each section of the boom and tilt the platform generated by the flow control unit, and generating a voltage corresponding value on the basis of the control voltage or the control current, in order to control the magnitude and direction of opening of the electric proportional valve, and further to control the movement of the rod of the hydraulic cylinder, and the rotation of the motor in the position defined by the plan moving.

10. The device according to claim 9, in which information about the position of the boom, the calculated unit calculating, key writing, the actual position, includes position coordinates of the ends of each section of the boom and the end of the boom.

11. The device according to claim 9, in which when the block scheduling travel plans to move, the target position is initially obtained as follows: on the basis of the component along the X-axis component and Y-axis commands motion control in the adopted code command calculates the direction of movement of the end of the boom; on the basis of the movement direction and a predefined parameter step length is obtained target position of the end of the boom by adding the length of the step to the current position of the end of the boom in the direction of movement.

12. The device according to claim 9, in which the flow control unit adjusts the output of the control voltage or the control current corresponding to each section of the boom and swivel platform, based on the received real-time information about the position of the boom, to ensure that the end of the boom moves in the horizontal plane.

13. The device according to claim 9, in which the tilt angle is proportional to the control lever on the remote control corresponds to the speed, the flow control unit adjusts the output of the control voltage or the control current in accordance with the moving speed.

14. The device is .13, in which the flow control unit calculates the difference between the speed of travel of the end of the boom and speed commands based on the received real-time information about the position of the arrows, in accordance with which adjusts the output of the control voltage or the control current corresponding to each section of the boom and tilt the platform to carry out simultaneous control of travel arrow.

15. The device according to claim 9, in which after receiving the plan of the movement, the flow control unit assesses the acceptability of the transfer plan, if the plan of movement is acceptable; it generates a control voltage or control current, and if the transfer plan is unacceptable, it requires the unit plan move to reschedule the move.

16. The device according to item 15, in which the evaluation unit flow control acceptability of transfer plan includes an assessment of the continuity of the displacement of each section of the boom and turntable relative to the current position, if the movement is continuous, the transfer plan is acceptable, and if the movement is not continuous, the transfer plan is unacceptable.

17. The device according to claim 9, in which the remote control device includes a mode switch control is to select the control mode, which can be a control mode in a rectangular coordinate system, a control mode in a cylindrical coordinate system or the manual control mode.

18. The device according to claim 9, in which the remote control device additionally has a proportional control lever to control the lifting and lowering of the end of the boom, in order to control the displacement of the free end of the boom up or down along the z axis.

19. The device according to claim 9, in which the power supply of the actuator generates a power supply voltage or the supply current using pulse width modulation or current, in particular, using the received control voltage or control current to control the width of the rectangular pulse or control amperage to get the desired power supply voltage or the supply current.

20. The device according to claim 9, in which the control unit additionally includes a display unit feedback for the remote control and this unit transmits information of interest to the operator, a receiver mounted on the vehicle, and the receiver transmits it to the remote control device in the form of radio waves, while the remote control has an LCD display to show the information received feedback.

21. The device according to claim 9, in which the device is about the remote control has a proportional control lever to control the movement of each section of the boom and turntable, and the proportional control lever to control the movement of the end of the boom up and down along the z axis.

22. Device according to any one of claims 1 to 6, in which the data between receiver unit and control unit of angle measurement is transmitted via the bus controller area network.

23. Device according to any one of claims 1 to 6, in which the remote control has a switch to turn coordinate to rotate the established coordinate system at a certain angle in the horizontal plane.



 

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2 cl, 1 dwg

FIELD: transport.

SUBSTANCE: device contains movable chassis, support platform, pitch and roll sensors made of dielectric with rheostat winding, control block made as amplifier of signals from vertical pitch and roll sensors with rheostat guides oriented in longitudinal and lateral planes, control panel for lifting and lowering rods of remote hydraulic cylinders.

EFFECT: enhancing leveling accuracy.

3 dwg

FIELD: mechanics.

SUBSTANCE: support-rotating device (SRD) incorporates rotary-roller support with its lower part rigidly attached to the self-propelled chassis frame and furnished gear ring arranged along its outer edge, and its upper movable part accommodating platform rigidly fixed thereon. The platform supports manipulator and mechanism to turn the said platform with the manipulator horizontally and relative to the self-propelled chassis frame, the latter being furnished with a motor and a reduction gear with its output shaft provided with a drive gear in mesh with the aforesaid gear ring of the support fixed part. A rotary plate is fitted on the reduction gear output shaft, furnished with additional gears driven from the drive gear via a flexible link, e.g. a roller chain and lantern gears, one of them being fitted on the drive gear shaft, the others on the additional gear shafts. The said additional gears are in mesh with the fixed support gear ring.

EFFECT: longer life of SRD and machine proper.

4 cl, 2 dwg

The invention relates to the field of robotics and can be used to control the robot with complex kinematic scheme
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