CN102768088A - Method and device for acquiring bending moment of cantilever structure and engineering machinery - Google Patents

Method and device for acquiring bending moment of cantilever structure and engineering machinery Download PDF

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CN102768088A
CN102768088A CN201210282481.0A CN201210282481A CN102768088A CN 102768088 A CN102768088 A CN 102768088A CN 201210282481 A CN201210282481 A CN 201210282481A CN 102768088 A CN102768088 A CN 102768088A
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cantilever design
moment
flexure
attitude
supporting mechanism
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CN102768088B (en
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易小刚
罗超
沈华龙
李东
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Sany Heavy Industry Co Ltd
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Sany Heavy Industry Co Ltd
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Abstract

The invention provides a method and a device for acquiring a bending moment of a cantilever structure, which are applied to an engineering machinery comprising the cantilever structure and a machinery body. The device is supported on the ground by n supporting mechanisms. The method comprises the following steps of: acquiring a distances from a supporting force of the n supporting mechanisms to a preset rotating shaft; when the cantilever structure is in a first posture, acquiring a supporting force of the supporting mechanisms and constructing a bending moment balance equation; when the cantilever structure rotates by an angle relative to the first posture to be in a second posture, acquiring a supporting force of the supporting mechanisms and constructing a bending moment balance equation; according to the two bending moment balance equations, solving to obtain a gravity bending moment of the machinery body; and when the cantilever structure is in a random posture, acquiring the bending moment of the supporting mechanisms according to the supporting force of the supporting mechanisms and the distance from the supporting force and the preset rotating shaft and then subtracting the gravity bending moment of the machinery body from the bending moment of the supporting mechanisms to obtain the bending moment of the cantilever structure. Therefore, under the condition that the cantilever structure does not need to be disassembled, the bending moment of the cantilever structure in the random posture can be accurately acquired.

Description

A kind of acquisition methods of cantilever design moment of flexure, device and engineering machinery
Technical field
The present invention relates to engineering machinery field, in particular to a kind of acquisition methods and device of cantilever design moment of flexure, and the engineering machinery with deriving means of this cantilever design moment of flexure.
Background technology
The engineering machinery that concrete mixer etc. possess cantilever design has following architectural feature: comprise cantilever design and basic machine with cantilever; Cantilever design is rotatably installed on the basic machine; Cantilever design can be rotated arbitrarily with respect to basic machine, and when work cantilever design the cantilever attitude change at any time.Pump truck for example; Cantilever design is scalable and folding cantilever design; On the basic machine that be rotatably installed on the capstan head, capstan head is fixed on pump truck, because the span of cantilever design is very big, the moment of flexure that it applies position of rotation will be a heavy load up to hundreds of ton rice.Assessment of accurately obtaining design for capstan head, the analysis of fatigue lifetime, cantilever design performance of this load etc. all has crucial meaning.
Usually, the direct measurement of moment of flexure need be known power and two key elements of the arm of force.Yet if do not dismantle cantilever design, the weight of cantilever design is difficult to obtain; Cantilever design attitude when work is changeable, and center of gravity also can't obtain to the arm of force of predetermined rotating shaft under its any attitude.Therefore, in order to obtain the weight of cantilever design, usually cantilever design is disassembled from basic machine, place and carry out the most original measurement on the weighbridge, this need consume lot of manpower and material resources, and center of gravity can't obtain.In theory; Can obtain the weight and the center of gravity of cantilever design through the analysis finite element model; But owing to be difficult to the accurately hydraulic oil of any attitude lower cantalever structural system of metering and the weight of pipeline inner concrete, cause the theoretical calculation precision of center of gravity and weight of cantilever design not high.The indirect measuring mode that adopts the moving principle of surveying of quiet mark to realize dynamic bending moment is also arranged in the correlation technique.Because the static strain that static moment of flexure, dynamic bending moment can make test specimen a part produced equates with dynamic strain.Therefore, be benchmark with the static load, demarcate dynamic load through this intermediate quantity of strain.But,, cause measuring accuracy to be difficult to guarantee because the signal to noise ratio (S/N ratio) of strain signal is not high; And to the measurement of dynamic bending moment, depend on a large amount of static demarcating process in early stage, preliminary work is complicated; Static demarcating can't guarantee the continuity discerned, must rely on interpolation algorithm, thereby reduce precision.
Therefore, how under non-disassembly status, the actual moment of flexure of engineering machinery cantilever design effectively being obtained, is the technical matters that those skilled in the art need solution badly.
Summary of the invention
One object of the present invention is to provide a kind of acquisition methods and device of cantilever design moment of flexure, can be in the moment of flexure of the cantilever design that obtains engineering machinery under the non-disassembly status more accurately under any attitude; Another object of the present invention is to propose a kind of engineering machinery of using the deriving means of cantilever design moment of flexure.
According to an aspect of the present invention; A kind of acquisition methods of cantilever design moment of flexure is provided; Be applied to engineering machinery; Said cantilever design is installed in rotation on the basic machine of said engineering machinery, and said engineering machinery can be supported in ground through n supporting mechanism, and the acquisition methods of said cantilever design moment of flexure comprises:
Obtain n said supporting mechanism anchorage force to predetermined rotating shaft apart from x i
Be under first attitude in said cantilever design, obtain the anchorage force F of n said supporting mechanism i', make up the first moment of flexure balance equation:
Σ i = 1 n F i ′ x i = M d + M b ′ ;
Be under second attitude with respect to first attitude rotation β angle in said cantilever design, obtain the anchorage force F of n said supporting mechanism i＂ makes up the second moment of flexure balance equation:
Σ i = 1 n F i ′ ′ x i = M d + M b ′ ′ = M d + M b ′ cos ( β ) ;
Wherein, 1≤i≤n, M dBe the gravity bending moment of said basic machine, M ' bBe the gravity bending moment of said cantilever design under first attitude, M ＂ bBe the gravity bending moment of said cantilever design under second attitude;
Said first moment of flexure balance equation of simultaneous and the said second moment of flexure balance equation, the solving equation group obtains the gravity bending moment M of said basic machine d
Gravity bending moment M based on said basic machine d, be under any attitude in said cantilever design, according to the anchorage force F of n said supporting mechanism iAnd each anchorage force F iTo said predetermined rotating shaft apart from x i, obtain the moment M of said cantilever design bFor:
M b = Σ i = 1 n F i x i - M d .
In technique scheme; The moment of flexure of the moment of flexure of supporting mechanism and basic machine, cantilever design constitutes moment of flexure mobile equilibrium in the engineering machinery; Consider that cantilever design is under any attitude, the weight of basic machine with and can not change with respect to the arm of force of predetermined rotating shaft, so basic machine is a definite value with respect to the moment of flexure of predetermined rotating shaft; Therefore, the moment of flexure of supporting mechanism changes along with the variation of cantilever design dynamic bending moment.
Through making up the moment of flexure balance equation of cantilever design under two attitudes: cantilever design is in first attitude and makes up a moment of flexure balance equation, and second attitude after the rotation β angle makes up a moment of flexure balance equation again; Each attitude to cantilever design; Can detect the anchorage force on each suffered ground of supporting mechanism in the engineering machinery and the distance of each anchorage force to predetermined rotating shaft; Two moment of flexure balance equations of simultaneous are found the solution the gravity bending moment that this system of equations can calculate basic machine; Be under any attitude in said cantilever design, according to the anchorage force of n said supporting mechanism and the moment of flexure apart from the acquisition supporting mechanism of each anchorage force to said predetermined rotating shaft, the gravity bending moment that deducts basic machine again obtains the moment of flexure of cantilever design.Like this, the moment of flexure of cantilever design be can obtain under the situation of cantilever design need not to dismantle, precision and convenience that the cantilever design moment of flexure is obtained the result improved with respect to predetermined rotating shaft.
In technique scheme, preferably, said cantilever design is rotated said β angle in surface level, and perhaps, said cantilever design is rotated said β angle in perpendicular.
In technique scheme, preferably, said supporting mechanism is the supporting leg that is installed on the said basic machine, on said supporting leg, is provided for detecting the force transducer of anchorage force, and the position transducer that is used to detect the Support Position of said supporting mechanism.
According to a further aspect of the invention; The invention allows for a kind of acquisition methods of cantilever design moment of flexure; Be applied to engineering machinery; Said cantilever design is installed in rotation on the basic machine of said engineering machinery, and said engineering machinery can be supported in ground through n supporting mechanism, and the acquisition methods of said cantilever design moment of flexure comprises:
Obtain n said supporting mechanism anchorage force to predetermined rotating shaft apart from x i
Gravity bending moment M according to said basic machine d, M dBe definite value, be under any attitude, according to the anchorage force F of n said supporting mechanism in said cantilever design iAnd each anchorage force F iTo said predetermined rotating shaft apart from x i, obtain the moment M of said cantilever design bFor:
M b = Σ i = 1 n F i x i - M d , Wherein, 1≤i≤n.
The acquisition methods of the said cantilever design moment of flexure of this technical scheme equally can obtain the moment of flexure of cantilever design with respect to predetermined rotating shaft need not to dismantle under the situation of cantilever design, also improved precision and convenience that the cantilever design moment of flexure is obtained the result.
According to a further aspect in the invention; A kind of deriving means of cantilever design moment of flexure also is provided; Be applied to engineering machinery; Said cantilever design is installed in rotation on the basic machine of said engineering machinery, and said engineering machinery can be supported in ground through n supporting mechanism, and the deriving means of said cantilever design moment of flexure comprises processor, force transducer, position transducer and rotary angle transmitter; Said rotary angle transmitter is used to detect the anglec of rotation of cantilever design; Said force transducer is used to detect the anchorage force of n said supporting mechanism, and said position transducer is used to detect the Support Position of n said supporting mechanism, said processor can according to said Support Position calculate said anchorage force to predetermined rotating shaft apart from x i
Be under first attitude in said cantilever design, said processor is according to the anchorage force F of n said supporting mechanism i', make up the first moment of flexure balance equation:
Σ i = 1 n F i ′ x i = M d + M b ′ ;
Be under second attitude with respect to first attitude rotation β angle in said cantilever design, said processor is according to the anchorage force F of n said supporting mechanism i＂ makes up the second moment of flexure balance equation:
Σ i = 1 n F i ′ ′ x i = M d + M b ′ ′ = M d + M b ′ cos ( β ) ;
Wherein, 1≤i≤n, M dBe the gravity bending moment of basic machine, M ' bBe the gravity bending moment of cantilever design under first attitude, M ＂ bBe the gravity bending moment of cantilever design under second attitude;
Said processor is according to said first moment of flexure balance equation and the said second moment of flexure balance equation, and the solving equation group obtains the gravity bending moment M of said basic machine d
Be under any attitude in said cantilever design, said processor is according to the anchorage force F of n said supporting mechanism iAnd each anchorage force F iTo said predetermined rotating shaft apart from x i, and the gravity bending moment of said basic machine obtains the moment M of said cantilever design bFor:
M b = Σ i = 1 n F i x i - M d .
In technique scheme, preferably, said supporting mechanism is the supporting leg that is installed on the said basic machine, and force transducer and position transducer are arranged on the said supporting leg.
In technique scheme, preferably, said supporting leg is a telescopic outrigger, and said position transducer is specially the displacement transducer that detects the horizontal extension elongation of supporting leg; Said supporting leg is an oscillating support leg, and said position transducer is specially the angular transducer of wobble detection supporting leg start point.
In technique scheme, preferably, said rotary angle transmitter is used to detect the rotational angle of cantilever design in surface level, and perhaps, said rotary angle transmitter is used to detect the rotational angle of cantilever design in perpendicular.
In technique scheme, preferably, also comprise display, be connected with said processor, be used to be presented at the anchorage force F of said supporting mechanism under any attitude i, and the moment M of said cantilever design bCan monitor when rotating in the supporting mechanism size of each anchorage force and the moment of flexure situation of change of cantilever design in real time through display, be convenient to the working condition of supervision control engineering machinery along with cantilever design.
According to another aspect of the invention; A kind of engineering machinery also is provided; Comprise basic machine and cantilever design, said cantilever design is installed in rotation on the basic machine, and said engineering machinery can be supported in ground through supporting mechanism; The deriving means that comprises the cantilever design moment of flexure described in above-mentioned arbitrary technical scheme can obtain the moment of flexure of cantilever design under any attitude exactly under the non-disassembly status.This project machinery has the technique effect identical with the deriving means of above-mentioned cantilever design moment of flexure.
In technique scheme, preferably, said engineering machinery is specially concrete mixer, crane or high-altitude fire truck, and said cantilever design is the cantilever design of concrete mixer, crane or high-altitude fire truck.
Description of drawings
Fig. 1 shows the schematic top plan view of the engineering machinery that has cantilever design in the embodiment of the invention;
Fig. 2 shows the synoptic diagram of the deriving means of cantilever design moment of flexure in the embodiment of the invention;
Fig. 3 shows the force analysis synoptic diagram of engineering machinery shown in Figure 1;
Fig. 4 shows the cantilever design of engineering machinery shown in Figure 1 and rotates the synoptic diagram of β angle in the horizontal direction;
Fig. 5 shows the arm of force of cantilever design after rotation β angle of Fig. 4 and analyzes synoptic diagram;
Fig. 6 shows the cantilever design of engineering machinery shown in Figure 1 and rotates the synoptic diagram of β angle in vertical direction;
Fig. 7 shows the scheme of installation of rotary angle transmitter and force transducer according to an embodiment of the invention;
Fig. 8 shows the acquisition process synoptic diagram of basic machine moment of flexure and cantilever design moment of flexure under first attitude and second attitude;
Fig. 9 shows the cantilever design dynamic bending moment acquisition process synoptic diagram of the engineering machinery with cantilever design.
Embodiment
In order more to be expressly understood above-mentioned purpose of the present invention, feature and advantage, the present invention is further described in detail below in conjunction with accompanying drawing and embodiment.
As shown in Figure 1, in embodiments of the present invention, this project machinery comprises basic machine 10 and cantilever design 20, and cantilever design 20 is installed in rotation on this basic machine 10; This project machinery is supported in ground through supporting mechanism, and this supporting mechanism is four supporting legs 11,12,13,14 that are arranged on the basic machine 10.Be under any attitude in cantilever design 20, the moment of flexure of the moment of flexure of supporting mechanism and basic machine, cantilever design constitutes moment of flexure mobile equilibrium in the engineering machinery; Consider that cantilever design is under any attitude; The weight of basic machine with and can not change with respect to the arm of force of predetermined rotating shaft; So basic machine is a definite value with respect to the moment of flexure of predetermined rotating shaft, the moment of flexure of supporting mechanism changes along with the variation of the dynamic bending moment of cantilever design.Based on the moment of flexure principle of mobile equilibrium of engineering machinery, make up the moment of flexure balance equation of cantilever design under different attitudes, calculate the moment of flexure of cantilever design.
For the ease of understanding and explanation, through setting up appropriate coordinate system, and in this coordinate system, set up the moment of flexure balance equation.In Fig. 1; With the initial point o of the rotation center between cantilever design 20 and the basic machine 10 as coordinate system; With the length direction of engineering machinery X axle as coordinate system; With the Width of the engineering machinery Y axle as coordinate system, the X axle will be made as the Z-direction (not shown) perpendicular to the outside direction of paper perpendicular to the Y axle.In practical application, coordinate system is not limited to above-mentioned setting, can also above-mentioned coordinate system is arbitrarily angled around initial point o rotation, and through setting up the moment of flexure that cantilever design is carried out in the calculating of moment of flexure balance equation.
In the embodiments of the invention, in above-mentioned coordinate system with the Y axle as predetermined rotating shaft, set up the moment of flexure balance equation of supporting mechanism moment of flexure and basic machine, cantilever design moment of flexure.
As shown in Figure 2; The embodiment of the invention has proposed a kind of moment of flexure deriving means of cantilever design; Comprise: processor 31, force transducer 32, position transducer 33, rotary angle transmitter 34 and display 35, processor 31 is connected with force transducer 32, position transducer 33, rotary angle transmitter 34 and display 35.On four supporting legs 11,12,13,14 of engineering machinery force transducer 32 and position transducer 33 are set all; Force transducer 32 is used to detect the anchorage force of each supporting leg and testing result is sent to processor 31; Position transducer 33 is used to detect the Support Position of each supporting leg and testing result is sent to processor 31, thereby processor 31 obtains the distance of the extremely predetermined rotating shaft of anchorage force according to the Support Position of supporting leg; Concrete, when supporting leg was telescopic outrigger, this position transducer 33 was for detecting the displacement transducer of the horizontal extension elongation of supporting leg; When supporting leg was oscillating support leg, position transducer 33 was the angular transducer of wobble detection supporting leg start point.Rotary angle transmitter 34 is used to detect the anglec of rotation of cantilever design and testing result is sent to processor 31.Processor 31 also is connected to display 35, and display 35 is used to be presented at the anchorage force F of supporting mechanism under any attitude i, and the moment M of cantilever design bCan monitor when rotating in the supporting mechanism size of each anchorage force and the moment of flexure situation of change of cantilever design in real time through display 35, be convenient to the working condition of supervision control engineering machinery along with cantilever design.
As shown in Figure 3, four supporting legs are launched engineering machinery is supported, the anchorage force that force transducer 32 can be gathered four suffered ground of supporting leg of engineering machinery is respectively F i, direction is for perpendicular to the XY plane and to point to paper outside; The Support Position that position transducer 33 is gathered four supporting legs, it is x to the distance between the Y axle that processor 31 can obtain each anchorage force according to the Support Position i, i.e. the anchorage force F of supporting leg iCorresponding arm of force distance is x i, and the anchorage force of four supporting legs under this state between the Y axle apart from x iRemain unchanged.
The gravity of basic machine 10 is G d, the gravity of cantilever design 20 is G b, both directions are perpendicular to the XY plane and to point to paper inside; G dThe arm of force with respect to the Y axle is x d, G bThe arm of force with respect to the Y axle is x b
When cantilever design is under first attitude, cantilever design overlaps with the X axle in the projection on XY plane, and is as shown in Figure 3, and processor 31 is according to each anchorage force F i' and each anchorage force F i' between the Y axle apart from x i, the moment of flexure of each anchorage force in the acquisition supporting leg, the anchorage force moment of flexure of i supporting leg is F i' x i, i is more than or equal to 1 smaller or equal to 4 integer, makes up the first moment of flexure balance equation:
Σ i = 1 4 F i ′ x i = M d + M b ′ ,
Wherein, M d=G dx dThe gravity bending moment of expression basic machine 10, M ' b=G bx bThe gravity bending moment of expression cantilever design 20 under first attitude;
Be rotated counterclockwise the β angle in cantilever design with respect to first attitude and be under second attitude, processor 31 is according to each anchorage force F i＂ and each anchorage force F i＂ between the Y axle apart from x i, the moment of flexure of each anchorage force in the acquisition supporting leg makes up the second moment of flexure balance equation:
Σ i = 1 4 F i ′ ′ x i = M d + M b ′ ′ = M d + M b ′ cos ( β ) ,
Wherein, M ＂ b=G bx bCos (β)=M ' bCos (β), M ＂ bThe gravity bending moment of expression cantilever design 20 under second attitude.
Processor 31 simultaneous, the first moment of flexure balance equation and the second moment of flexure balance equation obtain following system of equations:
Σ i = 1 4 F i ′ x i = M d + M b ′ Σ i = 1 4 F i ′ ′ x i = M d + M b ′ cos ( β )
Make Ax=b, wherein,
A = 1 1 1 cos ( β ) ,
x=[M d M b′] T，
b = Σ i = 1 4 F i ′ x i Σ i = 1 4 F i ′ ′ x i T ,
Find the solution above-mentioned system of equations and obtain the gravity bending moment M of basic machine 10 d
Consider that cantilever design 20 is under any attitude; The gravity bending moment of the basic machine 10 of engineering machinery is a definite value; And the moment of flexure of supporting mechanism changes and changes along with the dynamic bending moment of cantilever design 20, can obtain the dynamic bending moment of cantilever design 20 under attitude arbitrarily according to the moment of flexure balance equation.
The gravity bending moment M of the basic machine 10 that obtains based on solution of equations d, be under any attitude in cantilever design 20, according to four anchorage force F 1, F 2, F 3, F 4And each anchorage force to Y axle apart from x 1, x 2, x 3, x 4, the moment of flexure that obtains cantilever design 20 does
In the above-described embodiments, with respect to basic machine 10 anglec of rotation β, cantilever design 20 can be at the surface level internal rotation angle degree β at XY place with cantilever design 20, and according to Fig. 4 and shown in Figure 5, the arm of force that is in the first attitude lower cantalever structure in cantilever design 20 is x b=L is in the arm of force x of the second attitude lower cantalever structure behind anglec of rotation β b=Lcos (β); Thereby the first attitude lower cantalever structure 20 is M ' with respect to the gravity bending moment of Y axle b=G bx b=G bL, the second attitude lower cantalever structure 20 is M ＂ with respect to the gravity bending moment of Y axle b=G bLcos (β)=M ' bCos (β).
Certainly; Cantilever design 20 also can be rotated on the plane perpendicular to XY, and according to shown in Figure 6, cantilever design 20 is anglec of rotation β on a vertical plane; The arm of force acquisition methods of cantilever design 20 is identical with above-mentioned arm of force obtain manner, the arm of force x of cantilever design under second attitude b=Lcos (β) is applied in the gravity bending moment that can obtain basic machine 10 in the above-mentioned moment of flexure balance equation group equally.
Need to prove to have in the engineering machinery of multi-joint cantilever design, as shown in Figure 6, the cantilever design of said engineering machinery has five hinged successively joint arms.When calculating the cantilever design moment of flexure in the above-described embodiments; Can do five joint cantilever designs as a whole; And whole cantilever design is rotated in surface level or vertical plane with respect to basic machine, through making up two moment of flexure balance equations, thereby obtain the moment of flexure of whole cantilever design.In concrete application process, can keep first joint arm static, second joint arm to the five joint arms are done as a whole, through making up two moment of flexure balance equations, make the as a whole moment of flexure that produces thereby obtain second joint arm to the five joint arms; According to this technical scheme, conspicuous, can obtain the moment of flexure of each joint arm in the multi-joint cantilever design.
Based on the above-mentioned implementation procedure of obtaining the cantilever design moment of flexure; Because cantilever design 20 can be rotated in surface level He in the vertical plane; Therefore, above-mentioned rotary angle transmitter 34 can comprise rotary encoder 341 and obliquity sensor 342, and is as shown in Figure 7; This rotary encoder 341 is installed on the articulated position of cantilever design 20 and basic machine 10; Be used to detect cantilever design 20 anglec of rotation in the horizontal direction, said obliquity sensor 342 is installed on the cantilever design 20, is used to detect cantilever design 20 anglec of rotation in vertical direction.
When engineering machinery was non-supporting leg type engineering machinery, the below of the basic machine of non-supporting leg type engineering machinery was provided with supporting mechanism and comes propping works machinery, and force transducer is installed on the supporting mechanism; Should be appreciated that this supporting mechanism can be lifting jack,, can the Support Position that four force transducers are installed on these four fulcrums respectively be detected the anchorage force on suffered ground so if the fulcrum of lifting jack also is four.Accordingly, the position of position transducer with the detection Support Position can also be set on supporting mechanism, thereby obtain the distance of anchorage force to predetermined rotating shaft.
Deriving means based on above-mentioned cantilever design moment of flexure; The present invention proposes a kind of in engineering machinery; Comprise basic machine and cantilever design, said cantilever design is installed in rotation on the basic machine, and said engineering machinery can be supported in ground through supporting mechanism; This project machinery comprises the deriving means of the cantilever design moment of flexure described in above-mentioned arbitrary technical scheme, can obtain the moment of flexure of cantilever design under any attitude under the non-disassembly status exactly.
In concrete the application, said engineering machinery is specially concrete mixer, crane or high-altitude fire truck, and said cantilever design is respectively the cantilever design of concrete mixer, crane or high-altitude fire truck.
As shown in Figure 8; The present invention proposes a kind of moment of flexure acquisition methods of cantilever mechanism, be applied to engineering machinery, cantilever design is installed in rotation on the basic machine of engineering machinery; Engineering machinery can be supported in ground through four supporting legs, and this moment of flexure acquisition methods comprises:
Four supporting legs of engineering machinery are launched, according to the Support Position of four supporting legs obtain each anchorage force to Y axle apart from x i
Be under first attitude in cantilever design, obtain the anchorage force F of four supporting legs i', make up the first moment of flexure balance equation:
Σ i = 1 n F i ′ x i = M d + M b ′ ;
Be under second attitude with respect to first attitude rotation β angle in cantilever design, obtain the anchorage force F of four supporting legs i＂ makes up the second moment of flexure balance equation:
Σ i = 1 n F i ′ ′ x i = M d + M b ′ ′ = M d + M b ′ cos ( β ) ,
Wherein, 1≤i≤n, M dBe the gravity bending moment of said basic machine, M ' bBe the gravity bending moment of said cantilever design under first attitude, M ＂ bBe the gravity bending moment of said cantilever design under second attitude;
The simultaneous first moment of flexure balance equation and the second moment of flexure balance equation obtain following system of equations:
Σ i = 1 4 F i ′ x i = M d + M b ′ Σ i = 1 4 F i ′ ′ x i = M d + M b ′ cos ( β )
Make Ax=b, wherein,
A = 1 1 1 cos ( β ) ,
x=[M d M b′] T，
b = Σ i = 1 4 F i ′ x i Σ i = 1 4 F i ′ ′ x i T ,
Find the solution above-mentioned system of equations and obtain the gravity bending moment M of basic machine 10 d
As shown in Figure 9, the gravity bending moment M of the basic machine 10 that obtains based on solution of equations d, be under any attitude in cantilever design, according to the anchorage force F of four supporting legs iAnd each anchorage force F iTo predetermined rotating shaft apart from x i, the moment of flexure that obtains cantilever design does
Figure BDA00001993968300113
Technique scheme is through making up two moment of flexure balance equations under the attitude: make up the equation based on the moment of flexure balance when cantilever design is in first attitude, make up a Bending Moment Equations based on the moment of flexure balance again after the rotation β angle.Each attitude to cantilever design; Can detect the distance of anchorage force and this anchorage force to predetermined rotating shaft on the suffered ground of supporting mechanism of engineering machinery; Therefore; Moment of flexure and cantilever design that two moment of flexure balance equations of simultaneous just can calculate basic machine are in the moment of flexure under first attitude and second attitude; Like this, the weight and the arm of force that need not to dismantle and need not to measure cantilever design just can obtain the moment of flexure of cantilever design with respect to predetermined rotating shaft, and the moment of flexure that has improved cantilever design is obtained result's precision and convenience.
In technique scheme, preferred, said cantilever design is rotated the β angle in surface level, and perhaps, said cantilever design is rotated the β angle in perpendicular.
With angle beta of cantilever design rotation; Can be on surface level, to rotate; Also can be on vertical plane, to rotate,, in the articulated position of cantilever design and basic machine rotary encoder is installed and is used for the anglec of rotation on the detection level direction if on surface level, rotate; If on vertical plane, rotate, be used for the anglec of rotation on the detection of vertical direction at mounted angle sensor on the cantilever design.
In specific embodiment, said supporting mechanism is the supporting leg that is installed on the said basic machine, on said supporting leg, is provided for detecting the force transducer of anchorage force and the position transducer that is used to detect the supporting mechanism Support Position.
In sum,, the moment of flexure of engineering machinery cantilever design be can under non-disassembly status, calculate, precision and convenience that the cantilever design moment of flexure is obtained the result improved according to moment of flexure deriving means of the present invention and moment of flexure acquisition methods; Can calculate the dynamic bending moment of cantilever design under any attitude, be design, Performance Evaluation, the analysis of Fatigue-life of bindiny mechanism and the cantilever design data that provide the foundation.
For the multiarticulate cantilever design on pump truck, crane or the high-altitude fire truck; Use this technical scheme and can obtain the moment of flexure of every joint cantilever design; And then can try to achieve the stressing conditions of this joint arm linkage assembly, for structural designs such as linkage assembly, driving mechanism, performance evaluation provide basic data.
Above embodiment; Be to be that object describes with engineering machinery with cantilever design; Those skilled in the art are to be understood that; Every engineering machinery with basic machine and cantilever design all can be obtained the dynamic bending moment of cantilever design through apparatus and method of the present invention in real time under the state of non-dismounting.
The above is merely the preferred embodiments of the present invention, is not limited to the present invention, and for a person skilled in the art, the present invention can have various changes and variation.All within spirit of the present invention and principle, any modification of being done, be equal to replacement, improvement etc., all should be included within protection scope of the present invention.

Claims (11)

1. the acquisition methods of a cantilever design moment of flexure; Be applied to engineering machinery, said cantilever design is installed in rotation on the basic machine of said engineering machinery, and said engineering machinery can be supported in ground through n supporting mechanism; It is characterized in that the acquisition methods of said cantilever design moment of flexure comprises:
Obtain n said supporting mechanism anchorage force to predetermined rotating shaft apart from x i
Be under first attitude in said cantilever design, obtain the anchorage force F of n said supporting mechanism i', make up the first moment of flexure balance equation:
Σ i = 1 n F i ′ x i = M d + M b ′ ;
Be under second attitude with respect to first attitude rotation β angle in said cantilever design, obtain the anchorage force F of n said supporting mechanism i", make up the second moment of flexure balance equation:
Σ i = 1 n F i ′ ′ x i = M d + M b ′ ′ = M d + M b ′ cos ( β ) ;
Wherein, 1≤i≤n, M dBe the gravity bending moment of said basic machine, M ' bBe the gravity bending moment of said cantilever design under first attitude, M ＂ bBe the gravity bending moment of said cantilever design under second attitude;
Said first moment of flexure balance equation of simultaneous and the said second moment of flexure balance equation, the solving equation group obtains the gravity bending moment M of said basic machine d
Gravity bending moment M based on said basic machine d, be under any attitude in said cantilever design, according to the anchorage force F of n said supporting mechanism iAnd each anchorage force F iTo said predetermined rotating shaft apart from x i, obtain the moment M of said cantilever design bFor:
M b = Σ i = 1 n F i x i - M d .
2. the acquisition methods of cantilever design moment of flexure according to claim 1 is characterized in that, said cantilever design is rotated said β angle in surface level, and perhaps, said cantilever design is rotated said β angle in perpendicular.
3. the acquisition methods of cantilever design moment of flexure according to claim 1 and 2; It is characterized in that; Said supporting mechanism is the supporting leg that is installed on the said basic machine; On said supporting leg, be provided for detecting the force transducer of anchorage force, and the position transducer that is used to detect the Support Position of said supporting mechanism.
4. the acquisition methods of a cantilever design moment of flexure; Be applied to engineering machinery, said cantilever design is installed in rotation on the basic machine of said engineering machinery, and said engineering machinery can be supported in ground through n supporting mechanism; It is characterized in that the acquisition methods of said cantilever design moment of flexure comprises:
Obtain n said supporting mechanism anchorage force to predetermined rotating shaft apart from x i
Gravity bending moment M according to said basic machine d, M dBe definite value, be under any attitude, according to the anchorage force F of n said supporting mechanism in said cantilever design iAnd each anchorage force F iTo said predetermined rotating shaft apart from x i, obtain the moment M of said cantilever design bFor:
M b = Σ i = 1 n F i x i - M d , Wherein, 1≤i≤n.
5. the deriving means of a cantilever design moment of flexure; Be applied to engineering machinery; Said cantilever design is installed in rotation on the basic machine of said engineering machinery; Said engineering machinery can be supported in ground through n supporting mechanism, it is characterized in that the deriving means of said cantilever design moment of flexure comprises processor, force transducer, position transducer and rotary angle transmitter; Said rotary angle transmitter is used to detect the anglec of rotation of cantilever design; Said force transducer is used to detect the anchorage force of n said supporting mechanism, and said position transducer is used to detect the Support Position of n said supporting mechanism, said processor can according to said Support Position calculate said anchorage force to predetermined rotating shaft apart from x i
Be under first attitude in said cantilever design, said processor is according to the anchorage force F of n said supporting mechanism i', make up the first moment of flexure balance equation:
Σ i = 1 n F i ′ x i = M d + M b ′ ;
Be under second attitude with respect to first attitude rotation β angle in said cantilever design, said processor is according to the anchorage force F of n said supporting mechanism i＂ makes up the second moment of flexure balance equation:
Σ i = 1 n F i ′ ′ x i = M d + M b ′ ′ = M d + M b ′ cos ( β )
Wherein, 1≤i≤n, M dBe the gravity bending moment of basic machine, M ' bBe the gravity bending moment of cantilever design under first attitude, M " bBe the gravity bending moment of cantilever design under second attitude;
Said processor is according to said first moment of flexure balance equation and the said second moment of flexure balance equation, and the solving equation group obtains the gravity bending moment M of said basic machine d
Be under any attitude in said cantilever design, said processor is according to the anchorage force F of n said supporting mechanism iAnd each anchorage force F iTo said predetermined rotating shaft apart from x i, and the gravity bending moment M of said basic machine d, obtain the moment M of said cantilever design bFor:
M b = Σ i = 1 n F i x i - M d .
6. the deriving means of cantilever design moment of flexure according to claim 5 is characterized in that, said supporting mechanism is the supporting leg that is installed on the said basic machine, and force transducer and position transducer are arranged on the said supporting leg.
7. the deriving means of cantilever design moment of flexure according to claim 6 is characterized in that, said supporting leg is a telescopic outrigger, and said position transducer is specially the displacement transducer that detects the horizontal extension elongation of supporting leg; Said supporting leg is an oscillating support leg, and said position transducer is specially the angular transducer of wobble detection supporting leg start point.
8. the deriving means of cantilever design moment of flexure according to claim 5; It is characterized in that; Said rotary angle transmitter is used to detect the rotational angle of cantilever design in surface level, and perhaps, said rotary angle transmitter is used to detect the rotational angle of cantilever design in perpendicular.
9. according to the deriving means of each described cantilever design moment of flexure in the claim 5 to 8, it is characterized in that, also comprise display, be connected, be used to be presented at the anchorage force F of said supporting mechanism under any attitude with said processor i, and the moment M of said cantilever design b
10. engineering machinery; Comprise basic machine and cantilever design, said cantilever design is installed in rotation on the basic machine, and said engineering machinery can be supported in ground through supporting mechanism; It is characterized in that, comprise the deriving means of each described cantilever design moment of flexure in the claim 5 to 9.
11. engineering machinery according to claim 10 is characterized in that, said engineering machinery is specially concrete mixer, crane or high-altitude fire truck, and said cantilever design is the jib structure of concrete mixer, crane or high-altitude fire truck.
CN201210282481.0A 2012-08-09 2012-08-09 Method and device for acquiring bending moment of cantilever structure and engineering machinery Active CN102768088B (en)

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