CN103604408B - Method, device and system for detecting working state parameters of booms and engineering machine - Google Patents
Method, device and system for detecting working state parameters of booms and engineering machine Download PDFInfo
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- CN103604408B CN103604408B CN201310595404.5A CN201310595404A CN103604408B CN 103604408 B CN103604408 B CN 103604408B CN 201310595404 A CN201310595404 A CN 201310595404A CN 103604408 B CN103604408 B CN 103604408B
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Abstract
The invention discloses a method for detecting working state parameters of booms, a method for judging the load of the booms, a device for detecting the working state parameters of the booms, a device for judging the load of the booms, a system for detecting the working state parameters of the booms, and an engineering machine. The method for detecting the working state parameters of the booms comprises the steps of receiving data, detected by an angle sensor, of the angle between a cambered surface tangent line of each of the two ends of each of the n booms and the horizontal plane, and the boom elongation, detected by an elongation sensor, of each of the booms except the first boom, and calculating the working state parameters of the booms according to the data of the angles and the boom elongation. According to the method for detecting the working state parameters of the booms, the method for judging the load of the booms, the device for detecting the working state parameters of the booms, the device for judging the load of the booms, the system for detecting the working state parameters of the booms, and the engineering machine, the working state parameters of the booms can be calculated accurately in real time, and safety of the engineering machine with the booms is improved.
Description
Technical field
The present invention relates to engineering machinery field, in particular it relates to a kind of arm support working status parameter detection method, a kind of arm
Frame load-carrying determination methods, a kind of arm support working status parameter testing equipment, a kind of arm support load-carrying judge equipment, a kind of work of arm support
State parameter detecting system and a kind of engineering machinery.
Background technology
Affected due to arm support (ladder) self-deformation and by actual working environment, its actual wicking height and amplitude are very
Difficult predetermined.For example, fire-fighting vehicle is typically provided the arm support of extension type aerial ladder arm support or foldable expansion, with work
Bucket, extinguishing device etc., are put out a fire and are succoured trapped personnel so that fire fighter ascends a height, and are that skyscraper fire extinguishing and speedily carrying out rescue work is rescued
The capital equipment helped.The main service behaviour of fire fighting truck is embodied in the arm support of its telescopic aerial ladder arm support or foldable expansion
On, and the height that the main performance of arm support (ladder) is exactly it can be raised and extensile amplitude.Therefore, accurately, in real time
Calculate arm support real work height and amplitude, the equipment performance of arm support is carried to realization and ensures that its job security is extremely heavy
Will.
In prior art, it is subtriangular computational methods to arm support working depth and amplitude calculation method.This meter
Calculation method only lifts angle and arm support extension elongation by detecting arm support, thus approximately obtaining arm support working depth and amplitude.
But, under actual working environment, due to the combined influence by many factors such as external applied load and own wts, arm support can occur
Certain deformation so that there is very large deviation in arm support real work height and ideal height, real work amplitude and desired amplitude,
There is potential safety hazard.
Content of the invention
For the above-mentioned problems in the prior art, the invention provides a kind of arm support working status parameter detection side
Method, the method includes: receives the cambered surface tangent line at the two ends of each joint arm frame of n joint arm frame being detected by angular transducer and Horizon
Angle-data between face and the arm support elongation by elongation quantity sensor detection each joint arm frame in addition to first segment arm support；
And according to described angle-data and described arm support lengthening variable arm support working status parameter.
Additionally, present invention also offers a kind of arm support load-carrying determination methods, the method includes: according to early warning constraints,
The load-carrying data of arm support working bucket and current arm support working status parameter judge whether the live load of described working bucket reaches
Maximum load；And in the case that the live load of described working bucket reaches maximum load, output alarm signal, wherein said
Arm support working status parameter calculates according to the arm support working status parameter detection method that the present invention provides.
Correspondingly, invention further provides a kind of arm support working status parameter testing equipment, this equipment includes: receptor,
Angle between the cambered surface tangent line at the two ends of each joint arm frame of the n joint arm frame being detected by angular transducer for reception and ground level
Degrees of data and the arm support elongation by elongation quantity sensor detection each joint arm frame in addition to first segment arm support；And control
Device, for according to described angle-data and described arm support lengthening variable arm support working status parameter.
Correspondingly, invention further provides a kind of arm support load-carrying judges equipment, this equipment includes: controller, this controller
For: described work is judged according to early warning constraints, the load-carrying data of arm support working bucket and current arm support working status parameter
Whether the live load making to struggle against reaches maximum load；And in the case that the live load of described working bucket reaches maximum load
Output alarm signal, wherein said arm support working status parameter is according to arm support working status parameter detection side provided by the present invention
Method is calculating.
In addition, present invention also offers a kind of arm support working status parameter detecting system, this system includes: angular transducer
For detecting the angle between the cambered surface tangent line at two ends of each joint arm frame of n joint arm frame and ground level；Elongation quantity sensor is used
Arm support elongation in detection each joint arm frame in addition to first segment arm support；And according to arm support working condition provided by the present invention
Parameter detection equipment, this equipment is connected with described angular transducer and described elongation quantity sensor respectively.
Correspondingly, the invention provides one kind is included according to arm support working status parameter detecting system provided by the present invention
Engineering machinery.
Arm support working status parameter detection method, equipment, system and the engineering machinery being provided using the present invention, Ke Yitong
Cross the angle receiving between the cambered surface tangent line at the two ends of each joint arm frame of n joint arm frame being detected by angular transducer and ground level
Data and by elongation quantity sensor detection the arm support elongation of each joint arm frame in addition to first segment arm support to be precisely calculated
Arm support working status parameter, using calculated arm support working status parameter can accurately calculate arm support real work height and
Amplitude, improves degree of accuracy and the safety of arm support work.
And, the arm support load-carrying that the present invention provides judges that equipment and method can work according to early warning constraints, arm support
The load-carrying data of bucket and current arm support working status parameter judge whether the live load of arm support working bucket reaches maximum load,
Reported to the police in the case that the live load of described working bucket reaches maximum load, be ensure that the safety of arm support working bucket.
Other features and advantages of the present invention will be described in detail in subsequent specific embodiment part.
Brief description
Accompanying drawing is used to provide a further understanding of the present invention, and constitutes the part of description, with following tool
Body embodiment is used for explaining the present invention together, but is not construed as limiting the invention.In the accompanying drawings:
Fig. 1 is the schematic diagram of the arm support working-station detection apparatus according to one embodiment of the present invention；
Fig. 2 is the schematic diagram of the arm support working condition according to one embodiment of the present invention；
Fig. 3 is the isoboles of the arm support working condition according to one embodiment of the present invention；
Fig. 4 further illustrates the isoboles of the arm support physical location shown in Fig. 3；
Fig. 5 further illustrates between the cambered surface tangent line at the two ends of arbitrary joint arm frame and the ground level shown in Fig. 2-Fig. 4
Angle；
Fig. 6 shows and calculates working range of arm support value x according to one embodiment of the present inventiontnSchematic diagram；
Fig. 7 shows and calculates arm support working depth value h according to one embodiment of the present inventiontnSchematic diagram；
Fig. 8 is the flow chart of the arm support working state detecting method according to one embodiment of the present invention；And
Fig. 9 is the flow chart of the arm support load-carrying determination methods according to one embodiment of the present invention.
Specific embodiment
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is described in detail.It should be appreciated that this place is retouched
The specific embodiment stated is merely to illustrate and explains the present invention, is not limited to the present invention.
Hereafter will taking the hook and ladder with arm support as a example illustrate the present invention thought it is understood that, this
Bright arm support working status parameter detection method, equipment, system and arm support load-carrying judge equipment and method can be used for any
There is the engineering machinery (for example, crane etc.) of arm support, the present invention does not limit to this.
Fig. 1 is the schematic diagram of the arm support working-station detection apparatus according to one embodiment of the present invention, as Fig. 1 institute
Show, this equipment includes: receptor 100, the two ends of each joint arm frame of the n joint arm frame being detected by angular transducer for reception
Angle-data between cambered surface tangent line and ground level and each joint arm in addition to first segment arm support by elongation quantity sensor detection
The arm support elongation of frame；And controller 200, for according to described angle-data and the work of described arm support lengthening variable arm support
State parameter.
Specifically, Fig. 2 is the schematic diagram of the arm support working condition according to one embodiment of the present invention.As Fig. 2 institute
Show, (hook and ladder for having three sections of arm shown in Fig. 2), wherein taking the hook and ladder with three sections of arm as a example
Arm support state 1 is arm support ideal position (not deforming), arm support state 2 arm support physical location, the work of three sections of arm
LOAD CELLS can be installed, to measure the live load of the working bucket 3 of three sections of arm at a making bucket 3.Angle is passed
The installation of sensor, can be selected according to practical situation, such as shown in Fig. 2 can be in the first segment arm support of three sections of arm
The end at whole story end, second section and three sections of arm be respectively mounted angular transducer (b, c, d, e, f as shown in Figure 2 etc.
Place), the angle between the cambered surface tangent line for the two ends of each joint arm frame of detection and ground level, so can realize detection every
The minimum number of angular transducer used while angle between the cambered surface tangent line at the two ends of one joint arm frame and ground level, saves
Resource.Because each joint arm frame is synchronization telescope, that is, in addition to first segment arm support, every joint arm frame (such as second and third joint arm frame)
Elongation is identical, therefore only needs to install elongation sensing at the top of the end of first segment arm support or second section arm support
Device, (for example, d, e shown in Fig. 2 etc.), for the arm support elongation of each joint arm frame in addition to first segment arm support for the detection
Ls(for example, the second section shown in Fig. 2, the arm support elongation ls of three sections of arm), the arm support elongation of first segment arm support is solid
Definite value l.It should be appreciated that those skilled in the art can select according to practical situation (for example, arm support type, fund input etc.)
Select installation site and the quantity of angular transducer, elongation quantity sensor and LOAD CELLS, the present invention is not limited to this
Fixed.
According to one embodiment of the present invention, receptor 100 can receive the n joint arm frame of described angular transducer detection
The cambered surface tangent line at the two ends of each joint arm frame and ground level between angle-data and described elongation quantity sensor detection
The arm support elongation of each joint arm frame in addition to first segment arm support.Afterwards, the controller 200 being connected with receptor 100 can basis
Described angle-data and described arm support lengthening variable arm support working status parameter.
Preferably, described arm support working status parameter may include that the working bucket bottom place plan range of the n-th joint arm frame
Arm support working depth value h of ground leveltn；And n-th joint arm frame working bucket top apart from the arm support centre of gyration arm support work
Range value xtn.It should be appreciated that described arm support working status parameter can also include live load and/or maximum load etc. instead
Reflect the various parameters of arm support state, the present invention is not defined to this.
As illustrated in fig. 2, it is assumed that arm support state 1 is arm support ideal position (not deforming), arm support state 2 is arm support
If physical location can be produced it can be seen that adopting and calculating above-mentioned arm support working status parameter with arm support state 1 in prior art
Raw very large deviation.In order to accurately calculate arm support working depth value htnWith working range of arm support value xtn, the present invention is using following methods
To calculate arm support working status parameter.
Fig. 3 is the isoboles of the arm support working condition according to one embodiment of the present invention.As shown in figure 3, by Fig. 2
Shown arm support physical location equivalent-simplification is the broken line shown in Fig. 3, and wherein arm support state 1 is arm support ideal position, arm support shape
State 2 is arm support physical location.Fig. 4 further illustrates the isoboles of the arm support physical location shown in Fig. 3.Fig. 5 shows further
Go out the angle between the cambered surface tangent line at the two ends of arbitrary joint arm frame and the ground level shown in Fig. 2-Fig. 4.Fig. 6 shows basis
One embodiment of the present invention calculates working range of arm support value xtnSchematic diagram.Fig. 7 shows a kind of real according to the present invention
The mode of applying calculates arm support working depth value htnSchematic diagram.
According to one embodiment of the present invention, because the arm support elongation of each joint arm frame is identical, described arm support work
State parameter calculates according to below equation:
htn=[l+(n-1)ls]·sinθ1-dn·cosθn+1+h0-h2
xtn=[l+(n-1)ls]·cosθ1+dn·sinθn+1-x0+x2Formula (1)
Wherein, n represents that engineering machinery has n joint arm frame, and l is the arm support regular length of first segment arm support, lsIt is except first
The arm support elongation (can be by described elongation quantity sensor detection) of the outer each joint arm frame of joint arm frame, θ1And θnFor first segment arm support
With the angle-data (can be detected by described angular transducer) of the n-th joint arm frame, h0And h2It is respectively first segment arm support top distance
The height of the working bucket 3 bottom place plane of the height of ground level and n-th section arm support tail end distance the n-th joint arm frame is (for fixed value
Can be stored in advance in controller 200, or h can also be received from system0And h2Value), x0And x2It is respectively first segment
Arm support top is apart from the work of the amplitude (i.e. horizontal range) of the arm support centre of gyration and n-th section arm support tail end distance the n-th joint arm frame
The amplitude at bucket top (can be stored in advance in controller 200 for fixed value, or can also receive x from system0And x2's
Value), dnSide-play amount between the arm support tail end theoretical position of the arm support tail end physical location for the n-th joint arm frame and the n-th joint arm frame.
For described side-play amount dnCan be calculated according to below equation:
dn≈(θ1-θ2)[l+(n-1)ls]+(θ2-θ2)[l+(n-2)ls]+…+(θn-θn+1)lsFormula (2)
Wherein, θ1、θ2、θ3、...、θn+1Angle-data for first segment arm support to the n-th joint arm frame.
According to formula (1) (2), controller 200 can calculate working range of arm support value x with n joint arm frametnAnd arm
Frame working depth value htn.
The derivation of above-mentioned formula (1) (2), according to one embodiment of the present invention, still taking three sections of arm as a example, is described
Journey.As shown in figure 4, α1、α2And α3Represent that first, second, and third joint arm frame simplifies between broken line and arm support theoretical position respectively
Angle, d represents between the arm support tail end physical location of three sections of arm and the arm support tail end theoretical position of three sections of arm
Side-play amount.Fig. 5 further illustrates between the cambered surface tangent line at the two ends of arbitrary joint arm frame and the ground level shown in Fig. 2-Fig. 4
Angle, wherein θiAnd θi+1Represent the ((end of this joint arm frame at (top of this joint arm frame) and i+1 at the i-th of this arm support respectively
End) measured by angle-data, that is, for three sections of arm, the angle-data recording is θ1To θ4；αiRepresent this joint arm frame letter
Change the angle between broken line and arm support theoretical position, diRepresent between the physical location of this section arm support tail end and arm support theoretical position
Displacement it may be assumed that
d=(l+2ls) sin α1+(l+ls)·sinα2+ls·sinα3Formula (3)
Because arm support tail end is due to deforming the displacement d occurring and arm support length or elongation (l or ls) compare much smaller,
It can be considered that:
αi≈sinαi
αi≈θi-θi+1Formula (4)
Formula (4) is substituted in formula (3), can obtain:
d≈(θ1-θ2)·(l+2ls)+(θ2-θ3)·(l+ls)+(θ3-θ4)·lsFormula (5)
Can obtain after formula (5) is simplified:
d≈(θ1-θ3)·l+(2θ1-θ2-θ4)·lsFormula (6)
As shown from the above formula, displacement d can draw according to the angle-data detecting and elongation, can enter below
One step tries to achieve arm support working status parameter (i.e. working range of arm support value xtn, with x in Fig. 6tIllustrate, and arm support working depth value htn,
With h in Fig. 7tIllustrate).
As shown in Figure 6 and Figure 7, following formula can be drawn by geometrical relationship:
Wherein, ht1And h1It is respectively the n-th section arm support tail end at the height of first segment arm support top place plane, hypothesis
Save the height apart from first segment arm support top place plane for the arm support tail end, x in the n-th of ideal positiont1And x1It is respectively the n-th joint arm
The amplitude (horizontal range) apart from first segment arm support top for the frame end, assume to be in the n-th section arm support tail end distance of ideal position
The amplitude at first segment arm support top.
Working range of arm support value x can be drawn by above formulatWith arm support working depth value ht:
ht=(l+2ls)·sinθ1-d·cosθ4+h0-h2
xt=(l+2ls)·cosθ1+d·sinθ4-x0+x2Formula (9)
It is possible to further formula (6) substitution above formula be can get:
ht=(l+2ls)sinθ1-[(θ1-θ3)l+(2θ1-θ2-θ4)ls]cosθ4+h0-h2
xt=(l+2ls)cosθ1+[(θ1-θ3)l+(2θ1-θ2-θ4)ls]sinθ4-x0+x2Formula (10)
According to above-mentioned derivation, for the engineering machinery with n joint arm frame, can be pushed away by above-mentioned similar calculating process
Derived expression (1) and (2), calculate arm support working depth value h with accuratetnWith working range of arm support value xtn.
Preferably, arm support working-station detection apparatus can also include display device (not shown), and this display device is permissible
It is connected with controller 200, the arm support working status parameter calculating for display, for example, show arm support working depth value htnAnd arm support
Work range value xtn, to facilitate related personnel to obtain above-mentioned parameter.
According to another embodiment of the invention, in order to ensure the safely and accurately work of the working bucket of hook and ladder
Make, present invention also offers a kind of arm support load-carrying judges equipment, this equipment includes: controller, this controller is used for: according to early warning
Constraints, the load-carrying data of arm support working bucket and current arm support working status parameter judge the live load of described working bucket
Whether reach maximum load；And reach output alarm signal in the case of maximum load in the live load of described working bucket,
The arm support working status parameter detection side that wherein said arm support working status parameter is provided according to the above-mentioned embodiment of the present invention
Method is calculating.
Specifically, when arm support working status parameter testing equipment obtains above-mentioned arm support working depth value htnWith arm support work
Make range value xtnAfterwards, above-mentioned parameter can be sent to arm support load-carrying and judges equipment by it, and this arm support load-carrying judges that equipment can root
According to early warning constraints, arm support working bucket load-carrying data (for example, at a LOAD CELLS detection working bucket work as front bearing
Weight) and current arm support working status parameter (for example, working range of arm support value x of calculatingtn) judge the current of described working bucket
Whether load-carrying reaches maximum load, wherein said early warning constraints can be stored in advance in arm support load-carrying judge equipment or its
In controller the working range of arm support value (or scope) of (can also be from external reception, such as, be manually entered etc. operation) with
Corresponding relation between heavy－duty.And, this equipment reaches the situation of maximum load in the live load judging described working bucket
Lower output alarm signal, wherein said arm support working status parameter detects according to arm support working status parameter provided by the present invention
Method is calculating.
According to one embodiment of the present invention, described early warning constraints can be working range of arm support value scope with
Corresponding relation between heavy－duty, such as corresponding relation can be represented using following form:
l≤xt≤xt1→p≤pmax1
xt1≤xt≤xt2→p≤pmax2
xt1≤xt≤xt(i+1)→p≤pmax(i+1)
Wherein, xtFor the current arm support work range value calculating, xt1-xt(i+1)Right for different brackets in object relation
The amplitude range answered, p is the real-time load of the working bucket 3 detecting, pmax1-pmax(i+1)For different brackets amplitude in object relation
Maximum load corresponding to scope.It should be appreciated that above-mentioned example is only the non-limiting example that early warning constraints is described,
Using any suitable early warning constraints, those skilled in the art can judge whether working bucket 3 reaches maximum load (example
As it is also possible to be realized with data base), the present invention is not defined to this.
According to another embodiment of the invention, this arm support load-carrying judges that equipment can also include alarm device, is used for
Operation of reporting to the police is carried out according to described alarm signal.Preferably, described alarm device includes the tool such as display screen, display lamp, buzzer
There is the device of indicative function.
For example, alarm device can show arm support working status parameter value (the such as arm support of calculating on a display screen in real time
Working depth value htnWith working range of arm support value xtn), live load p, reach early warning constraints (show corresponding grade
Amplitude range xt1-xt(i+1), and corresponding maximum load pmax1-pmax(i+1)), to remind related personnel.When alarm device receives
To this arm support load-carrying judge equipment output alarm signal when, its can with open instruction lamp and buzzer warn operator should
Increase weight when stopping immediately or adjust arm support amplitude and height, to avoid working bucket overweight, lead to the generation of security incident.According to upper
State embodiment, it is possible to achieve while monitor in real time is carried out to working bucket load-carrying, improve the safety of whole control process again.
Although it should be appreciated that here arm support load-carrying is judged that equipment is described with arm support working status parameter testing equipment
For independent equipment, but they can also be applied in combination by those skilled in the art according to practical situation, such as arm support working condition
The controller 200 of parameter detection equipment can also realize the function that above-mentioned arm support load-carrying judges equipment, and can also include arm
Frame load-carrying judges all or part element of equipment.
Fig. 8 is the flow chart of the arm support working state detecting method according to one embodiment of the present invention.As Fig. 8 institute
Show, the method following steps:
In step 1001, receive the cambered surface tangent line at the two ends of each joint arm frame of n joint arm frame detected by angular transducer
Angle-data and ground level between and the arm support by elongation quantity sensor detection each joint arm frame in addition to first segment arm support
Elongation；
In step 1002, according to described angle-data and described arm support lengthening variable arm support working status parameter.
Preferably, described arm support working status parameter includes: the working bucket bottom place plan range Horizon of the n-th joint arm frame
Arm support working depth value h in facetn；And n-th joint arm frame working bucket top apart from the arm support centre of gyration working range of arm support
Value xtn.
Preferably, the arm support elongation of described each joint arm frame is identical, and described arm support working status parameter is according to following public affairs
Formula calculates:
htn=[l+(n-1)ls]·sinθ1-dn·cosθn+1+h0-h2
xtn=[l+(n-1)ls]·cosθ1+dn·sinθn+1-x0+x2
Wherein, l is the arm support regular length of first segment arm support, lsIt is that the arm support of each joint arm frame in addition to first segment arm support is stretched
Long amount, θ1And θnFor the angle-data of first segment arm support and the n-th joint arm frame, h0And h2It is respectively first segment arm support top distance ground
The height of the working bucket bottom place plane of the height of plane and n-th section arm support tail end distance the n-th joint arm frame, x0And x2It is respectively
First segment arm support top is apart from the working bucket top of the amplitude of the arm support centre of gyration and n-th section arm support tail end distance the n-th joint arm frame
Amplitude, dnSkew between the arm support tail end theoretical position of the arm support tail end physical location for the n-th joint arm frame and the n-th joint arm frame
Amount.
Preferably, described side-play amount dnCalculated according to below equation:
dn≈(θ1-θ2)[l+(n-1)ls]+(θ2-θ3)[l+(n-2)ls]+…+(θn-θn+1)lsWherein, θ1、θ2、θ3、...、
θn+1Angle-data for first segment arm support to the n-th joint arm frame.
Fig. 9 is the flow chart of the arm support load-carrying determination methods according to one embodiment of the present invention.As shown in figure 9, should
Method comprises the following steps:
In step 2001, according to early warning constraints, the load-carrying data of arm support working bucket and current arm support working condition
Parameter, judges whether the live load of described working bucket reaches maximum load；
In step 2002, in the case that the live load of described working bucket reaches maximum load, output alarm signal, its
Described in arm support working status parameter calculated according to arm support working status parameter detection method provided by the present invention.
In said method step for arm support working status parameter, early warning constraints etc. computational methods, select and set
The embodiment put etc. is as described above, will not be described here.
Correspondingly, present invention also offers a kind of arm support working status parameter detecting system, this system may include that angle
Sensor, for detecting the angle between the cambered surface tangent line at two ends of each joint arm frame of n joint arm frame and ground level；Elongation passes
Sensor, for the arm support elongation of detection each joint arm frame in addition to first segment arm support；And according to enforcement provided by the present invention
The arm support working status parameter testing equipment of mode, this equipment is connected with described angular transducer and described elongation quantity sensor respectively
Connect.
Preferably, this system can also include judging equipment according to the arm support load-carrying of embodiment provided by the present invention,
Described arm support load-carrying judges that equipment is connected with described arm support working status parameter testing equipment.Meanwhile, this system can also use
Above-mentioned arm support working status parameter detection method and arm support load-carrying determination methods.
Above-mentioned numerous embodiments can be independently using being used in combination in combination, and those skilled in the art can
With according to practical situation Lai suitable selection and setting.
Correspondingly, present invention also offers a kind of arm support working condition including according to embodiment provided by the present invention
The engineering machinery of parameter detecting system, such as hook and ladder, crane etc. have the engineering machinery of arm support.
Arm support working status parameter detection method, equipment, system and the engineering machinery being provided using the present invention, Ke Yitong
Cross the angle receiving between the cambered surface tangent line at the two ends of each joint arm frame of n joint arm frame being detected by angular transducer and ground level
Data and by elongation quantity sensor detection the arm support elongation of each joint arm frame in addition to first segment arm support to be precisely calculated
Arm support working status parameter, using calculated arm support working status parameter can accurately calculate arm support real work height and
Amplitude, improves degree of accuracy and the safety of arm support work.
And, the arm support load-carrying that the present invention provides judges that equipment and method can work according to early warning constraints, arm support
The load-carrying data of bucket and current arm support working status parameter judge whether the live load of arm support working bucket reaches maximum load,
Reported to the police in the case that the live load of described working bucket reaches maximum load, be ensure that the safety of arm support working bucket.
Describe the preferred embodiment of the present invention above in association with accompanying drawing in detail, but, the present invention is not limited to above-mentioned reality
Apply the detail in mode, in the range of the technology design of the present invention, multiple letters can be carried out to technical scheme
Monotropic type, these simple variant belong to protection scope of the present invention.
It is further to note that each particular technique feature described in above-mentioned specific embodiment, in not lance
In the case of shield, can be combined by any suitable means, in order to avoid unnecessary repetition, the present invention to various can
The compound mode of energy no longer separately illustrates.
Additionally, combination in any can also be carried out between the various different embodiment of the present invention, as long as it is without prejudice to this
The thought of invention, it equally should be considered as content disclosed in this invention.
Claims (9)
1. a kind of arm support working status parameter detection method is it is characterised in that the method includes:
Receive the angle between the cambered surface tangent line at the two ends of each joint arm frame of n joint arm frame being detected by angular transducer and ground level
Degrees of data and the arm support elongation by elongation quantity sensor detection each joint arm frame in addition to first segment arm support；And
According to described angle-data and described arm support lengthening variable arm support working status parameter；
Wherein, described arm support working status parameter includes: the arm of the working bucket bottom place plan range ground level of the n-th joint arm frame
Frame working depth value htn；And n-th joint arm frame working bucket top apart from the arm support centre of gyration working range of arm support value xtn；
And
The arm support elongation of wherein said each joint arm frame is identical, and described arm support working status parameter calculates according to below equation:
htn=[l+ (n-1) ls]·sinθ1-dn·cosθn+1+h0-h2
xtn=[l+ (n-1) ls]·cosθ1+dn·sinθn+1-x0+x2
Wherein, l is the arm support regular length of first segment arm support, lsIt is the arm support elongation of each joint arm frame in addition to first segment arm support,
θ1And θnFor the angle-data of first segment arm support and the n-th joint arm frame, h0And h2It is respectively first segment arm support top apart from ground level
The height of the working bucket bottom place plane of height and n-th section arm support tail end distance the n-th joint arm frame, x0And x2It is respectively first segment
Arm support top apart from the amplitude of the amplitude of the arm support centre of gyration and the working bucket top of n-th section arm support tail end distance the n-th joint arm frame,
dnSide-play amount between the arm support tail end theoretical position of the arm support tail end physical location for the n-th joint arm frame and the n-th joint arm frame.
2. method according to claim 1 is it is characterised in that described side-play amount dnCalculated according to below equation:
dn≈(θ1-θ2)[l+(n-1)ls]+(θ2-θ3)[l+(n-2)ls]+…+(θn-θn+1)ls
Wherein, θ1、θ2、θ3、…、θn+1Angle-data for first segment arm support to the n-th joint arm frame.
3. a kind of arm support load-carrying determination methods are it is characterised in that the method includes:
According to early warning constraints, the load-carrying data of arm support working bucket and current arm support working status parameter, judge described work
Whether the live load making to struggle against reaches maximum load；And
In the case that the live load of described working bucket reaches maximum load, output alarm signal, wherein said arm support work
State parameter arm support according to claim 1 and 2 working status parameter detection method is calculating.
4. a kind of arm support working status parameter testing equipment is it is characterised in that this equipment includes:
Receptor, the cambered surface tangent line at the two ends of each joint arm frame of the n joint arm frame being detected by angular transducer for reception and ground
Angle-data between plane and the arm support elongation by elongation quantity sensor detection each joint arm frame in addition to first segment arm support
Amount；And
Controller, for according to described angle-data and described arm support lengthening variable arm support working status parameter；
Wherein, described arm support working status parameter includes: the arm of the working bucket bottom place plan range ground level of the n-th joint arm frame
Frame working depth value htn；And n-th joint arm frame working bucket top apart from the arm support centre of gyration working range of arm support value xtn；
And
The arm support elongation of wherein said each joint arm frame is identical, and described arm support working status parameter calculates according to below equation:
htn=[l+ (n-1) ls]·sinθ1-dn·cosθn+1+h0-h2
xtn=[l+ (n-1) ls]·cosθ1+dn·sinθn+1-x0+x2
Wherein, l is the arm support regular length of first segment arm support, lsIt is the arm support elongation of each joint arm frame in addition to first segment arm support,
θ1And θnFor the angle-data of first segment arm support and the n-th joint arm frame, h0And h2It is respectively first segment arm support top apart from ground level
The height of the working bucket bottom place plane of height and n-th section arm support tail end distance the n-th joint arm frame, x0And x2It is respectively first segment
Arm support top apart from the amplitude of the amplitude of the arm support centre of gyration and the working bucket top of n-th section arm support tail end distance the n-th joint arm frame,
dnSide-play amount between the arm support tail end theoretical position of the arm support tail end physical location for the n-th joint arm frame and the n-th joint arm frame.
5. equipment according to claim 4 is it is characterised in that described side-play amount dnCalculated according to below equation:
dn≈(θ1-θ2)[l+(n-1)ls]+(θ2-θ3)[l+(n-2)ls］+...+(θn-θn+1)lsWherein, θ1、θ2、θ3、…、θn+1For
First segment arm support is to the angle-data of the n-th joint arm frame.
6. a kind of arm support load-carrying judges equipment it is characterised in that this equipment includes:
Controller, this controller is used for:
Described work is judged according to early warning constraints, the load-carrying data of arm support working bucket and current arm support working status parameter
Whether the live load of bucket reaches maximum load；And
Reach output alarm signal in the case of maximum load in the live load of described working bucket, wherein said arm support works shape
State parameter arm support according to claim 1 and 2 working status parameter detection method is calculating.
7. a kind of arm support working status parameter detecting system is it is characterised in that this system includes:
Angular transducer, for detecting the angle between the cambered surface tangent line at two ends of each joint arm frame of n joint arm frame and ground level；
Elongation quantity sensor, for the arm support elongation of detection each joint arm frame in addition to first segment arm support；And
Arm support working status parameter testing equipment according to claim 4 or 5, this equipment respectively with described angular transducer
Connect with described elongation quantity sensor.
8. system according to claim 7 is it is characterised in that this system also includes arm support according to claim 6
Load-carrying judges equipment, and described arm support load-carrying judges that equipment is connected with described arm support working status parameter testing equipment.
9. a kind of engineering machinery including the arm support working status parameter detecting system described in claim 7 or 8.
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| CN105865401B (en) * | 2016-05-13 | 2018-11-20 | 北汽福田汽车股份有限公司 | Deformation quantity measuring method and device for scalable cantilever crane |
| CN106092036A (en) * | 2016-06-03 | 2016-11-09 | 北京工业职业技术学院 | A kind of formwork-support deformation remote real time monitoring system and method |
| CN107758513B (en) * | 2017-09-07 | 2019-04-23 | 北汽福田汽车股份有限公司 | Acquisition methods, device, crane, storage medium and the processor of construction information |
| CN110260832B (en) * | 2019-06-25 | 2020-10-16 | 上海市特种设备监督检验技术研究院 | Crane amplitude measuring method |
| CN111993414B (en) * | 2020-07-28 | 2022-04-12 | 北京轩宇智能科技有限公司 | Mechanical arm multi-joint linkage control method |
| CN112936242B (en) * | 2021-01-29 | 2022-07-26 | 中联重科股份有限公司 | Method and device for judging operation safety of arm support and engineering machinery |
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Address after: 410200 No. 997, Section 2, Tengfei Road, Wangcheng District, Changsha City, Hunan Province Patentee after: Hunan Zoomlion emergency equipment Co., Ltd Patentee after: Zoomlion Co., Ltd Address before: No.997 Jinxing Road, Wangcheng District, Changsha City, Hunan Province Patentee before: Changsha Zhonglian fire fighting Machinery Co., Ltd Patentee before: Zoomlion Co., Ltd |