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1. 发明授权

US09302392B2 Method and device for controlling mechanical articulated arm 有权
标题翻译：用于控制机械铰接臂的方法和装置
公开(公告)号：US09302392B2
公开(公告)日：2016-04-05
申请号：US13807220
申请日：2011-06-22
申请人： Xiaogang Yi , Xiang Zhou , Antao Chen , Qiulian Deng
发明人： Xiaogang Yi , Xiang Zhou , Antao Chen , Qiulian Deng
IPC分类号： G05B15/00 , G05B19/00 , B25J9/16
CPC分类号： B25J9/1694 , B25J9/16 , B25J9/1633 , B25J9/1638 , G05B2219/39176
摘要： A control method of a mechanical articulated arm, wherein at least two tilt sensors are arranged in different positions of the articulated arm, comprising: calibrating zero positions of tilt sensors when articulated arm does not have elastic deformation, setting position of tail end of articulated arm as point P and point P′ before and after elastic deformation of articulated arm, and selecting point R on the articulated arm; detecting angles of two different positions of the articulated arm with the tilt angles before and after the elastic deformation, obtaining the angle offset Δθ of the articulated arm due to the elastic deformation, and calculating the length parameter La and the angle parameter θa of the articulated arm after deformation based on the lengths of OR and RP′; and controlling the action of the articulated arm according to position parameters Xp′ and Yp′ (to the point P′) obtained according to length parameter La and angle parameter θa.
摘要翻译：一种机械铰接臂的控制方法，其中至少两个倾斜传感器布置在铰接臂的不同位置，包括：当铰接臂不具有弹性变形时，校准倾斜传感器的零位置，铰接臂的尾端的设置位置作为关节臂弹性变形前后的点P和点P'，并在铰接臂上选择点R; 检测关节臂的两个不同位置的角度与弹性变形之前和之后的倾斜角度，获得角度偏移＆Dgr; 由于弹性变形，并根据OR和RP'的长度，计算出变形后关节臂的长度参数La和角度参数; a; 并且根据根据长度参数La和角度参数获得的位置参数Xp'和Yp'（到点P'）来控制铰接臂的动作; a。

2. 发明申请

US20130197695A1 METHOD AND DEVICE FOR CONTROLLING MECHANICAL ARTICULATED ARM 有权
标题翻译：用于控制机械臂的方法和装置
公开(公告)号：US20130197695A1
公开(公告)日：2013-08-01
申请号：US13807220
申请日：2011-06-22
申请人： Xiaogang Yi , Xiang Zhou , Antao Chen , Qiulian Deng
发明人： Xiaogang Yi , Xiang Zhou , Antao Chen , Qiulian Deng
IPC分类号： B25J9/16
CPC分类号： B25J9/1694 , B25J9/16 , B25J9/1633 , B25J9/1638 , G05B2219/39176
摘要： A control method of a mechanical articulated arm, wherein at least two tilt sensors are arranged in different positions of the articulated arm, comprising: calibrating zero positions of tilt sensors when articulated arm does not have elastic deformation, setting position of tail end of articulated arm as point P and point P′ before and after elastic deformation of articulated arm, and selecting point R on the articulated arm; detecting angles of two different positions of the articulated arm with the tilt angles before and after the elastic deformation, obtaining the angle offset Δθ of the articulated arm due to the elastic deformation, and calculating the length parameter La and the angle parameter θa of the articulated arm after deformation based on the lengths of OR and RP′; and controlling the action of the articulated arm according to position parameters Xp′ and Yp′ (to the point P′) obtained according to length parameter La and angle parameter θa.
摘要翻译：一种机械铰接臂的控制方法，其中至少两个倾斜传感器布置在铰接臂的不同位置，包括：当铰接臂不具有弹性变形时，校准倾斜传感器的零位置，铰接臂的尾端的设置位置作为关节臂弹性变形前后的点P和点P'，并在铰接臂上选择点R; 检测关节臂的两个不同位置的角度与弹性变形之前和之后的倾斜角度，由于弹性变形获得关节臂的角度偏移量，并且计算铰接的长度参数La和角度参数θa 基于OR和RP'的长度变形后的臂; 并且根据根据长度参数La和角度参数θa获得的位置参数Xp'和Yp'（到点P'）来控制铰接臂的动作。

3. 发明申请

US20120303314A1 ANGLE MEASUREMENT DEVICE, ANGLE MEASUREMENT METHOD AND CONSTRUCTION MACHINERY 审中-公开
标题翻译：角度测量装置，角度测量方法和建筑机械
公开(公告)号：US20120303314A1
公开(公告)日：2012-11-29
申请号：US13133358
申请日：2010-06-22
申请人： Xiaogang Yi , Xiang Zhou , Jihui Zhou , Wei Wang
发明人： Xiaogang Yi , Xiang Zhou , Jihui Zhou , Wei Wang
IPC分类号： G06F15/00 , G01P15/00
CPC分类号： G01C1/00 , E02F9/264 , G01C9/00
摘要： An angle measurement device includes a microprocessor, a primary acceleration transducer, an output device, and an auxiliary acceleration transducer. There is a predetermined angle between a positive direction of a primary sensitive axis of the primary acceleration transducer and that of a auxiliary sensitive axis of the auxiliary acceleration transducer; the primary acceleration transducer and the auxiliary acceleration transducer output respectively a first initial parameter and a second initial parameter; the microprocessor obtains a first actual parameter of the primary acceleration transducer according to the first initial parameter, the second initial parameter and the predetermined angle and then gets an angle parameter according to the first actual parameter; the first actual parameter characterizes the parameter of the primary acceleration transducer in the case of no external interference. An angle measurement method and a construction machinery with the angle measurement device is also provided. The provided angle measurement device and method can obtain measuring result in dynamic state accurately.
摘要翻译：角度测量装置包括微处理器，主加速度传感器，输出装置和辅助加速度传感器。在主加速度传感器的主感测轴的正方向与辅助加速度传感器的辅助感测轴的正方向之间存在预定角度; 主加速度传感器和辅助加速度传感器分别输出第一初始参数和第二初始参数; 微处理器根据第一初始参数，第二初始参数和预定角度获得主加速度传感器的第一实际参数，然后根据第一实际参数获得角度参数; 在没有外部干扰的情况下，第一个实际参数表征主加速度传感器的参数。还提供了角度测量方法和具有角度测量装置的施工机械。所提供的角度测量装置和方法可以准确地获得动态的测量结果。

4. 发明申请

US20120276855A1 WIRELESS LINK BACKUP SYSTEM 审中-公开
标题翻译：无线链路备份系统
公开(公告)号：US20120276855A1
公开(公告)日：2012-11-01
申请号：US13133579
申请日：2010-06-22
申请人： Xiaogang Yi , Xiang Zhou , Li Guo , Gaoshang Yao , Xiaoqi Mo
发明人： Xiaogang Yi , Xiang Zhou , Li Guo , Gaoshang Yao , Xiaoqi Mo
IPC分类号： H04B1/38
CPC分类号： H04B1/74
摘要： A wireless link backup system, including a first device and a second device, wherein the first device comprises a first controller and at least two first wireless transceivers; the at least two first wireless transceivers have the same working parameters; and the first controller is adapted to control such that only one of the first wireless transceivers is working at a time; the second device comprises a second controller and at least two second wireless transceivers; the at least two second wireless transceivers have the same working parameters; and the second controller is adapted to control such that only one of the second wireless transceivers is working at a time; and the working parameter of the first wireless transceiver match the working parameter of the second wireless transceiver, so that wireless connection between the first wireless transceiver and the second wireless transceiver can be established.
摘要翻译：一种无线链路备份系统，包括第一设备和第二设备，其中所述第一设备包括第一控制器和至少两个第一无线收发器; 所述至少两个第一无线收发器具有相同的工作参数; 并且第一控制器适于控制使得一次只有一个第一无线收发器正在工作; 所述第二设备包括第二控制器和至少两个第二无线收发器; 所述至少两个第二无线收发器具有相同的工作参数; 并且第二控制器适于控制使得仅一个第二无线收发器一次正在工作; 并且第一无线收发器的工作参数与第二无线收发器的工作参数匹配，从而可以建立第一无线收发器与第二无线收发器之间的无线连接。

5. 发明申请

US20130255245A1 HYDRAULIC OIL CYLINDER, HYDRAULIC CUSHION SYSTEM, EXCAVATOR AND CONCRETE PUMP TRUCK 有权
标题翻译：液压油缸，液压缸系统，挖掘机和混凝土泵车
公开(公告)号：US20130255245A1
公开(公告)日：2013-10-03
申请号：US13811594
申请日：2011-06-21
申请人： Xiaogang Yi , Yongdong Liu , Bingbing Chen
发明人： Xiaogang Yi , Yongdong Liu , Bingbing Chen
IPC分类号： F04B1/00
CPC分类号： F04B1/00 , F15B15/222
摘要： The present application discloses a hydraulic oil cylinder, of which a piston rod (3) is provided with at least two cushion collars (4, 11) which are axially slidable along the piston rod (3). Axial throttle oil channels (301a, 301b) are provided between the cushion collars (4, 11) and a piston (6). A first cushion collar (4) is provided with a sealing end face (401), and an end cover of a rod cavity (1) is provided with a sealing end face (101). The sealing end face (401) of the first cushion collar contacts with the sealing end face (101) of the end cover of the rod cavity to form a seal. Hydraulic oil within the rod cavity is discharged through one axial throttle oil channel (301a) to an oil passage B. A second cushion collar (11) is provided with a sealing end face (111), and an end cover of a rodless cavity (12) is provided with a sealing end face (121). The sealing end face (111) of the second cushion collar contacts with the sealing end face (121) of the end cover of the rodless cavity to form a seal. Hydraulic oil within the rodless cavity is discharged through another axial throttle oil channel (301b) to another oil passage A. The hydraulic oil cylinder can operate reliably and achieve a buffer function in a large load, high frequency operating condition, and thus has a longer operating life. And also, precision requirements for manufacturing the hydraulic oil cylinder are low, thereby facilitating production of the hydraulic oil cylinder. The present application also discloses a hydraulic cushion system, an excavator and a concrete pump truck which use the above hydraulic oil cylinder.
摘要翻译：本申请公开了一种液压油缸，其中活塞杆（3）设置有沿着活塞杆（3）可轴向滑动的至少两个缓冲套环（4,11）。轴向节流油通道（301a，301b）设置在缓冲套环（4,11）和活塞（6）之间。第一缓冲环（4）设置有密封端面（401），并且杆腔（1）的端盖设置有密封端面（101）。第一缓冲衬套的密封端面（401）与杆腔的端盖的密封端面（101）接触以形成密封。杆腔内的液压油通过一个轴向节流油通道（301a）排放到油通道B上。第二缓冲套环（11）设有密封端面（111）和无杆空腔的端盖 12）设置有密封端面（121）。第二缓冲衬套的密封端面（111）与无杆腔的端盖的密封端面（121）接触以形成密封。无杆空腔内的液压油通过另一个轴向节流油通道（301b）排放到另一个油路A.液压油缸可以可靠运行，并在大负荷，高频运行状态下实现缓冲功能，从而具有更长的使用寿命。另外，液压油缸的制造精度要求低，从而便于生产液压油缸。本申请还公开了使用上述液压油缸的液压缓冲系统，挖掘机和混凝土泵车。

6. 发明申请

US20130209296A1 Hydraulic Oil Cylinder, Correlative Device Thereof, Hydraulic Cushion System, Excavator And Concrete Pump Truck 审中-公开
标题翻译：液压油缸，相关设备，液压缓冲系统，挖掘机和混凝土泵车
公开(公告)号：US20130209296A1
公开(公告)日：2013-08-15
申请号：US13811636
申请日：2011-06-21
申请人： Xiaogang Yi , Yongdong Liu , Bingbing Chen
发明人： Xiaogang Yi , Yongdong Liu , Bingbing Chen
IPC分类号： F04B7/04
CPC分类号： F04B7/04 , F15B15/222
摘要： A hydraulic oil cylinder has a cushion collar, which is sleeved in the cushion position of a piston rod and can axially slide along the piston rod. In the oil cylinder cavity between an oil hole of the rod cavity and the terminal position of the piston end surface of the rod cavity during the piston extending movement, a sealing end surface of the rod cavity is provided, which can block the cushion collar and contact with the first end surface of the cushion collar to form a sealing surface. At least a throttle oil channel is provided between the cushion collar and the piston rod.
摘要翻译：液压油缸具有缓冲套环，其套在活塞杆的缓冲位置，并可沿活塞杆轴向滑动。在活塞延伸运动期间，在杆腔的油孔和杆腔的活塞端面的终端位置之间的油缸腔中设置有杆腔的密封端面，其可以阻塞缓冲环和与缓冲套环的第一端面接触以形成密封表面。在缓冲套环和活塞杆之间至少设有节流油通道。

7. 发明授权

US09187916B2 Boom system, engineering machinery, and a method for acquiring boom system distal end position parameter 有权
标题翻译：动臂系统，工程机械，以及获取臂架远端位置参数的方法
公开(公告)号：US09187916B2
公开(公告)日：2015-11-17
申请号：US14376748
申请日：2012-04-17
申请人： Xiaogang Yi , Zuoliang Zhang , Dong Li
发明人： Xiaogang Yi , Zuoliang Zhang , Dong Li
IPC分类号： E04G21/04 , G01B21/22 , B66C23/90 , G01B21/16
CPC分类号： E04G21/0463 , B66C23/905 , E04G21/0445 , G01B21/16 , G01B21/22
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.
摘要翻译：本发明提供了一种悬臂系统，其包括顺序地铰接在水平铰链轴上的多个关节臂，并且还包括：在每个关节臂上安装两个长度传感器，其中一个长度传感器测量变形后对应的关节臂的长度，并且另一长度传感器测量其与相应联合臂的远端之间的长度，并且两个长度传感器之间存在预设距离; 在每个关节臂上安装倾角传感器，并获得两个长度传感器之间的连接线与参考平面之间的角度; 根据倾角传感器和长度传感器的检测结果获得吊杆系统远端位置参数的处理器。根据本发明的悬臂系统，对于单个联合臂，使用单个倾角传感器和双牵引线编码器来获得关节臂的远端位置参数，并且可以更准确地获得悬臂系统的远端位置参数。本发明还提供一种工程机械和动臂系统远端位置参数获取方法。

8. 发明申请

US20120224983A1 MULTI-WAY VALVE, HYDRAULIC DEVICE AND CONCRETE PUMP VEHICLE 审中-公开
标题翻译：多路阀，液压装置和混凝土泵车
公开(公告)号：US20120224983A1
公开(公告)日：2012-09-06
申请号：US13508954
申请日：2010-11-04
申请人： Xiaogang Yi , Yongdong Liu , Yanghui Xiang
发明人： Xiaogang Yi , Yongdong Liu , Yanghui Xiang
IPC分类号： F15B15/18 , E04G21/04 , F15B13/02
CPC分类号： F15B11/161 , F15B2211/20538 , F15B2211/20546 , F15B2211/3138 , F15B2211/413 , F15B2211/41509 , F15B2211/426 , F15B2211/455 , F15B2211/6052 , F15B2211/6054 , F15B2211/71 , Y10T137/87885
摘要： A multi-way valve includes a plurality of parallel combination valves for controlling corresponding actuators (4-1-4-5). Each combination valve comprises proportional throttle valves (2-1-2-5) and reversing valves (3-1-3-5). An oil inlet of the proportional throttle valve is communicated with a main oil inlet (P), and an oil outlet of the proportional throttle valve is communicated with an oil inlet of the reversing valve. An oil outlet of the reversing valve is communicated with the main oil return port (T). Wherein, each combination valve further comprises a one-way control valve (9-1-9-5, 10-1-10-5) for obtaining the load pressure of corresponding actuator. One side of the one-way control valve is communicated with a pipeline between the proportional throttle valve and the actuator. The multi-way valve further includes a control element (8) which receives the load pressure fed back by each one-way control valve and responds to the load pressure to control the supply of hydraulic oil for the actuators. The multi-way valve has the load-sensitive function, thereby reducing energy loss and system heat productivity. A hydraulic equipment and a concrete pump vehicle corresponding to the multi-way valve are also provided.
摘要翻译：多路阀包括用于控制相应的致动器的多个并联组合阀（4-1-4-5）。每个组合阀包括比例节流阀（2-1-2-5）和换向阀（3-1-3-5）。比例节流阀的进油口与主油入口（P）连通，比例节流阀的出油口与换向阀的进油口连通。换向阀的出油口与主回油口（T）连通。其中，每个组合阀还包括用于获得相应致动器的负载压力的单向控制阀（9-1-9-5,10-1-10-5）。单向控制阀的一侧与比例节流阀和致动器之间的管道连通。多通阀还包括控制元件（8），其接收由每个单向控制阀反馈的负载压力并响应于负载压力以控制用于致动器的液压油的供应。多通阀具有负载敏感功能，从而减少能量损失和系统热量生产率。还提供了对应于多通阀的液压设备和混凝土泵车。

9. 发明授权

US09863407B2 Hydraulic oil cylinder, hydraulic cushion system, excavator and concrete pump truck 有权
公开(公告)号：US09863407B2
公开(公告)日：2018-01-09
申请号：US13811594
申请日：2011-06-21
申请人： Xiaogang Yi , Yongdong Liu , Bingbing Chen
发明人： Xiaogang Yi , Yongdong Liu , Bingbing Chen
IPC分类号： F15B15/22 , F04B1/00
CPC分类号： F04B1/00 , F15B15/222
摘要： The present application discloses a hydraulic oil cylinder, of which a piston rod (3) is provided with at least two cushion collars (4, 11) which are axially slidable along the piston rod (3). Axial throttle oil channels (301a, 301b) are provided between the cushion collars (4, 11) and a piston (6). A first cushion collar (4) is provided with a sealing end face (401), and an end cover of a rod cavity (1) is provided with a sealing end face (101). The sealing end face (401) of the first cushion collar contacts with the sealing end face (101) of the end cover of the rod cavity to form a seal. Hydraulic oil within the rod cavity is discharged through one axial throttle oil channel (301a) to an oil passage B.

10. 发明授权

US09381844B2 Pump truck stability control system, control method, and pump truck 有权
标题翻译：泵车稳定性控制系统，控制方法和泵车
公开(公告)号：US09381844B2
公开(公告)日：2016-07-05
申请号：US14376746
申请日：2012-04-14
申请人： Xiaogang Yi , Mingling Wu , Zhikui Wei
发明人： Xiaogang Yi , Mingling Wu , Zhikui Wei
IPC分类号： G06F7/70 , G06F19/00 , G06G7/00 , G06G7/76 , B60P1/00 , E04G21/04 , G05D15/00
CPC分类号： B60P1/00 , E04G21/04 , E04G21/0436 , E04G21/0463 , G05D15/00
摘要： The invention discloses a pump truck stability control system, which comprises a detecting device and a controlling device, wherein the detecting device is used for detecting current pumping state parameters, boom posture parameters, landing leg posture parameters, pump truck body position state parameters and current numerical signals of external load parameters acting on a boom system of a pump truck, and the controlling device is used for receiving the current numerical signals of the above parameters, calculating the complete machine gravity center position of the concrete pump truck according to the parameters, and performing stability control for the pump truck according to the position of the complete machine gravity center in a pump truck stability area. The stability control system comprehensively takes pump truck own factors and external load influence factors into consideration, gravity center computational precision is high, and construction safety of the concrete pump truck is enhanced. In addition, the invention further provides a pump truck stability control method and a pump truck comprising the pump truck stability control system.
摘要翻译：本发明公开了一种泵车稳定性控制系统，包括检测装置和控制装置，其中检测装置用于检测当前泵送状态参数，吊臂姿态参数，着陆腿姿态参数，泵车身位置状态参数和电流作用在泵车的起重臂系统上的外部负载参数的数字信号，控制装置用于接收上述参数的当前数字信号，根据参数计算混凝土泵车的整机重心位置，并根据整机重力位置在泵车稳定区域对泵车进行稳定控制。稳定控制系统综合考虑了泵车自身因素和外部负荷影响因素，重心计算精度高，混凝土泵车施工安全性提高。此外，本发明还提供了一种泵车稳定性控制方法和一种包括泵车稳定性控制系统的泵车。

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