BOOM SYSTEM, ENGINEERING MACHINERY, AND A METHOD FOR ACQUIRING BOOM SYSTEM DISTAL END POSITION PARAMETER

摘要

The present invention provides a boom system, comprising a plurality of joint arms sequentially hinged through a horizontal hinge shaft, and further comprising: mounting two length sensors on each joint arm, wherein one length sensor measures the length of a corresponding joint arm after deformation, and the other length sensor measures the length between it and the distal end of the corresponding joint arm, and there is a preset distance between the two length sensors; mounting a dip angle sensor on each joint arm, and obtaining the angle between the connection line between the two length sensors and a reference plane; a processor which obtains boom system distal end position parameters according to the detection results of the dip angle sensor and the length sensors. The boom system according to the present invention, for a single joint arm, uses a single dip angle sensor and double draw line coders to obtain the distal end position parameters of the joint arm, and can more accurately obtain the boom system distal end position parameters. The present invention also provides an engineering machinery and a boom system distal end position parameter obtaining method.

主权项

1. A boom system comprising n joint arms sequentially hinged through a horizontal hinge shaft, a processor, n dip angle sensors and 2n length sensors, and n being a positive integer, wherein
each joint arm is mounted with a first length sensor and a second length sensor; at the ith joint arm, the predetermined distance between the second length sensor and the first length sensor is Lai, the length Lbi of the ith deformed joint arm is obtained through the first length sensor, and the length Lci between the second length sensor and the distal end of the ith deformed joint arm is obtained through the second length sensor; each joint arm is mounted with one said dip angle sensor, an angle αi between the connection line between the first length sensor and the second length sensor and a reference plane is obtained, wherein i=1, 2, . . . , n; the processor obtains boom system distal end position parameters (x′tip, y′tip) according to the detection results of the dip angle sensor and the length sensors:xTip′=∑i=1nLbi·cos(arccosLbi2+Lai2-Lci22Lai·Lbi-αi),yTip′=∑i=1nLbi·sin(arccosLbi2+Lai2-Lci22Lai·Lbi-αi).