CN105502181B - Hoisting arm structure, engineering machinery and measurement display table - Google Patents
Hoisting arm structure, engineering machinery and measurement display table Download PDFInfo
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- CN105502181B CN105502181B CN201510957571.9A CN201510957571A CN105502181B CN 105502181 B CN105502181 B CN 105502181B CN 201510957571 A CN201510957571 A CN 201510957571A CN 105502181 B CN105502181 B CN 105502181B
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- pivot
- hoisting
- arm structure
- connecting rod
- arm
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/62—Constructional features or details
- B66C23/64—Jibs
- B66C23/68—Jibs foldable or otherwise adjustable in configuration
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/16—Applications of indicating, registering, or weighing devices
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L3/00—Measuring torque, work, mechanical power, or mechanical efficiency, in general
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Jib Cranes (AREA)
Abstract
The invention provides a kind of acquisition methods of the hoisting moment of hoisting arm structure, hoisting arm structure, engineering machinery and measurement display table, wherein, hoisting arm structure includes：Basic arm；First swing arm, the first end of the first swing arm is pivotally connected on basic arm by first；First connecting rod, the first end of first connecting rod is pivotally connected on basic arm by second, and the second pivot is located at the side away from the first swing arm of the first pivot；Second connecting rod, the first end of second connecting rod is pivotally connected in the first swing arm by the 3rd, and the 3rd pivot is linked together by the first end of the 4th pivot and first connecting rod positioned at the first side being pivoted away from basic arm, the second end of second connecting rod；First actuator, the first actuator includes the first push rod, and the end of the first push rod is connected on the 4th pivot.The lifting arm of force that technical scheme solves during hoisting arm structure work of the prior art changes greatly, and then is difficult to control to the problem of hoisting moment.
Description
Technical field
The present invention relates to technical field of engineering machinery, in particular to a kind of hoisting arm structure, the rising of hoisting arm structure
The acquisition methods of gravitational moment, engineering machinery and measurement display table.
Background technology
In prior art, the mode of the crane control hoisting moment comprising lorry-mounted crane is：Using length
Spend sensor and angular transducer measures the change of the length in motion for the arm support and angle respectively, meanwhile, pressure transducer is surveyed
The pressure of amount amplitude oil cylinder.Actual hoisting moment is calculated by controller, is then contrasted with the rated moment setting, keep away
Exempt to overload, the hoisting moment recording or lifting capacity are shown by display screen.The lifting arm of force due to amplitude oil cylinder changes relatively
Greatly, in the case of amplitude oil cylinder pressure identical, different change angle, it is unequal for being applied to arm support hoisting moment, on
State situation very unfavorable for hoisting heavy.Therefore constant to ensure the hoisting moment being applied on arm support, then will be by control
The output pressure of device time changing oil cylinder processed, the amount of calculation of above-mentioned control process is very big.
Because power limits memory headroom and the limited calculated amount of device, in prior art, power limits device only in brachium and the work of regulation
Amplitude get on calculate, different brachiums and different between be by the corresponding less lifting capacity of next stage brachium or work range
To control.And above-mentioned control mode have lost part lifting performance.
In addition, for the more hoisting machinery of folding arm joint number, the device such as linear transducer and angular transducer is inconvenient to pacify
Dress and direct measurement, constrain the development of more piece folding arm.
Content of the invention
Present invention is primarily targeted at providing a kind of hoisting arm structure, the acquisition side of the hoisting moment of hoisting arm structure
Method, engineering machinery and measurement display table, are changed greatly with lifting arm of force when solving hoisting arm structure work of the prior art,
And then it is difficult to control to the problem of hoisting moment.
To achieve these goals, according to an aspect of the invention, it is provided a kind of hoisting arm structure, including：Substantially
Arm；First swing arm, the first end of the first swing arm is pivotally connected on basic arm by first；First connecting rod, the of first connecting rod
One end is pivotally connected on basic arm by second, and the second pivot is located at the side away from the first swing arm of the first pivot；Second
Connecting rod, the first end of second connecting rod is pivotally connected in the first swing arm by the 3rd, and the 3rd pivot is pivoted away from base positioned at first
The side of this arm, the second end of second connecting rod is linked together by the first end of the 4th pivot and first connecting rod；First driving
Part, the first actuator includes the first push rod, and the end of the first push rod is connected on the 4th pivot, wherein, the first pivot to second
The distance between pivot L1, the first pivot to the distance between the 3rd pivot L2, the 3rd pivot to the distance between the 4th pivot L3
And the 4th pivot to the distance between the second pivot L4Meet following relation：(L1+L2)2+L3 2=L4 2.
Further, the first pivot is to the distance between the second pivot L1Less than between the first pivot to the 3rd pivot away from
From L2.
Further, hoisting arm structure also includes：Second swing arm, the first end of the second swing arm is pivotally connected in by the 5th
On second end of the first swing arm；Third connecting rod, the first end of third connecting rod is pivotally connected in the first swing arm by the 6th, and the 6th
Pivot is located at the side away from the second swing arm of the 5th pivot；Fourth link, the first end of fourth link passes through the 7th pivot even
It is connected in the second swing arm, positioned at the 5th side being pivoted away from the first swing arm, the second end of fourth link passes through the to the 7th pivot
Eight pivots are linked together with the first end of third connecting rod；Second actuator, the second actuator includes the second push rod, the second push rod
End be connected on the 8th pivot, wherein, the 5th pivot to the distance between the 6th pivot L5, the 5th pivot is to the 7th pivot
The distance between L6, the 7th pivot to the distance between the 8th pivot L7And the 8th pivot to the distance between the 6th pivot L8
Meet following relation：(L5+L6)2+L7 2=L8 2.
Further, the first actuator is pivotally arranged away from one end of the first push rod.
Further, hoisting arm structure also includes mounting seat, and basic arm is arranged in mounting seat, and the first actuator is first
Oil cylinder, the cylinder body bottom of the first oil cylinder is pivotably coupled in mounting seat.
Further, the second actuator is the second oil cylinder, and the cylinder body bottom of the second oil cylinder is pivotably coupled to the first pendulum
On arm.
Further, hoisting arm structure also includes：Suspension hook, is arranged on the second end of the second swing arm.
According to a further aspect in the invention, there is provided a kind of engineering machinery, including hoisting arm structure, hoisting arm structure is upper
The hoisting arm structure stated.
Further it is characterised in that engineering machinery also includes turntable, the basic arm of hoisting arm structure is arranged on turntable
On.
According to a further aspect in the invention, there is provided a kind of acquisition methods of the hoisting moment of hoisting arm structure, its feature
It is, hoisting arm structure is above-mentioned hoisting arm structure, acquisition methods include：Step S1：Obtain the first drive of hoisting arm structure
The numerical value of the driving pressure of moving part；Step S2：Obtain the of hoisting arm structure by the numerical value of the driving pressure of the first actuator
The numerical value to the moment that the first swing arm of hoisting arm structure applies for two connecting rods, wherein, step S2 is obtained by below equation：M=
k*S*P*L；Wherein, M is the numerical value to the moment that the first swing arm applies for the second connecting rod, and k is the first push rod of hoisting arm structure
Thrust is subject to the ratio of the active force of the first push rod with second connecting rod, and S is the cross-sectional area of the first push rod of hoisting arm structure,
P is the driving pressure of the first actuator, and L is the distance of the first pivot of hoisting arm structure to second connecting rod.
According to a further aspect in the invention, there is provided a kind of measurement display table, measurement display table is used for measuring crane arm knot
It is characterised in that hoisting arm structure is above-mentioned hoisting arm structure, display table includes measuring cell and first to the hoisting moment of structure
Viewing area, measuring cell is used for obtaining the numerical value of the driving pressure of the first actuator of hoisting arm structure, the first viewing area
For showing the second connecting rod of the hoisting arm structure numerical value to the moment that the first swing arm of hoisting arm structure applies, wherein, first
The numerical value of the driving pressure of actuator and second connecting rod meet following relation to the numerical value of the moment that the first swing arm applies：M=k*
S*P*L；Wherein, M is the numerical value to the moment that the first swing arm applies for the second connecting rod, and k is pushing away of the first push rod of hoisting arm structure
Power is subject to the ratio of the active force of the first push rod with second connecting rod, and S is the cross-sectional area of the first push rod, and P is the first actuator
Driving pressure numerical value, L be hoisting arm structure the first pivot to second connecting rod distance.
Further, measurement display table also includes the second viewing area, and the second viewing area is used for display the first actuator
Driving pressure numerical value.
Further, the first viewing area includes the first scale strip, second viewing area the second scale strip, the first scale strip
On be provided with multiple first scale values, the second scale strip is provided with multiple second scale values, multiple first scale values and multiple
Second scale value corresponds setting, and measurement display table also includes pointer, and pointer is each passed through the first scale strip and the second scale
Bar.
Application technical scheme, by making between the first pivot, the second pivot, the 3rd pivot and the 4th pivot
Distance meets relation：(L1+L2)2+L3 2=L4 2, and then make between the first pivot, the second pivot, the 3rd pivot and the 4th pivot
Constitute special quadrilateral structure.When the first actuator work, the first push rod promotes second connecting rod and so that the first swing arm is swung,
During the first swing arm motion, between the line of the first pivot and the 3rd pivot and the 3rd pivot and the line of the 4th pivot
Angle change very little, and close to right angle.Said structure makes when the first swing arm motion, the 3rd pivot to second connecting rod away from
From varying less, namely the lifting arm of force of the first swing arm varies less and close to constant, with hoisting arm structure change angle, width
Degree and brachium are all unrelated.Therefore when hoisting arm structure works, as long as controlling the output pressure of the first actuator to can control
Gravitational moment, enormously simplify the control operation of hoisting moment.Therefore technical scheme solves of the prior art
Lifting arm of force during weighing arm arrangement works changes greatly, and then is difficult to control to the problem of hoisting moment.
Brief description
The Figure of description constituting the part of the application is used for providing a further understanding of the present invention, and the present invention shows
Meaning property embodiment and its illustrate for explaining the present invention, does not constitute inappropriate limitation of the present invention.In the accompanying drawings：
Fig. 1 shows the structural representation of the embodiment of the hoisting arm structure according to the present invention；
Fig. 2 shows the movement locus schematic diagram of hoisting arm structure in Fig. 1；And
Fig. 3 shows the structural representation of the measurement display table according to the application.
Wherein, above-mentioned accompanying drawing includes the following drawings labelling：
10th, basic arm；11st, the first scale value；12nd, the second scale value；20th, the first swing arm；21st, the first scale strip；22nd,
Two scale strips；23rd, pointer；30th, first connecting rod；40th, second connecting rod；50th, the first actuator；51st, the first push rod；60th, the second pendulum
Arm；70th, third connecting rod；80th, fourth link；90th, the second actuator；91st, the second push rod；100th, the first pivot；200th, the second pivot
Axle；300th, the 3rd pivot；400th, the 4th pivot；500th, the 5th pivot；600th, the 6th pivot；700th, the 7th pivot；800th, the 8th
Pivot；900th, suspension hook.
Specific embodiment
It should be noted that in the case of not conflicting, the embodiment in the application and the feature in embodiment can phases
Mutually combine.To describe the present invention below with reference to the accompanying drawings and in conjunction with the embodiments in detail.
As shown in figure 1, the hoisting arm structure of the present embodiment includes basic arm 10, the first swing arm 20, first connecting rod 30, second
Connecting rod 40 and the first actuator 50.Wherein, the first end of the first swing arm 20 is connected to basic arm 10 by the first pivot 100
On.The first end of first connecting rod 30 is connected on basic arm 10 by the second pivot 200, and the second pivot 200 is located at the first pivot
100 side away from the first swing arm 20.The first end of second connecting rod 40 is connected to the first swing arm 20 by the 3rd pivot 300
On, the 3rd pivot 300 is located at the side away from basic arm 10 for first pivot 100, and the 4th pivot is passed through at the second end of second connecting rod 40
Axle 400 is linked together with the first end of first connecting rod 30.First actuator 50 includes the first push rod 51, the end of the first push rod 51
Portion is connected on the 4th pivot 400, wherein, the distance between the first pivot 100 to the second pivot 200 L1, the first pivot 100 to
The distance between 3rd pivot 300 L2, the distance between the 3rd pivot 300 to the 4th pivot 400 L3And the 4th pivot 400 to
The distance between second pivot 200 L4Meet following relation：(L1+L2)2+L3 2=L4 2.
The technical scheme of application the present embodiment, by making the first pivot 100, the second pivot 200, the 3rd pivot 300 and the
The distance between four pivots 400 meet relation：(L1+L2)2+L3 2=L4 2, and then make the first pivot 100, the second pivot 200,
Special quadrilateral structure is constituted between 3rd pivot 300 and the 4th pivot 400.When the first actuator 50 works, first pushes away
Bar 51 promotes second connecting rod 40 simultaneously so that the first swing arm 20 is swung, during the first swing arm 20 motion, the first pivot 100 and the
Angle change very little between the line of three pivots 300 and the 3rd pivot 300 and the line of the 4th pivot 400, and close to right angle.
Said structure makes when the first swing arm 20 is moved, the distance change very little of the 3rd pivot 300 to second connecting rod 40, namely first
The lifting arm of force of swing arm 20 varies less and close to constant, all unrelated with the change angle of hoisting arm structure, amplitude and brachium.Cause
This, greatly simplifies as long as controlling the output pressure of the first actuator 50 to can control hoisting moment when hoisting arm structure works
The control operation of hoisting moment.When the technical scheme of therefore the present embodiment solves hoisting arm structure work of the prior art
The lifting arm of force change greatly, and then be difficult to control to the problem of hoisting moment.
In order to simplify structure and so that the movement locus of hoisting arm structure is become apparent from, the crane arm in Fig. 1 is tied by applicant
Structure is reduced to the structural scheme of mechanism in Fig. 2.In fig. 2, B point is the first pivot 100, A point position the second pivot 200, D point position the 3rd
Pivot 300, C point position the 4th pivot 400.Wherein, A, B, C and D tetra- is interconnected to form a quadrilateral structure, meanwhile, four
The length relation of the four edges of side shape ABCD meets：
(AB+BD)2+CD2=AC2；
Wherein, AB in, BD, CD while and movement relation during AC be：Because the first pivot 100 and the second pivot 200 are equal
On basic arm 10, therefore AB is just fixed edge.When the first push rod 51 works, BD edge B point and rotates, and AC edge A
Point rotates.
As shown in Fig. 2 when AB and BD is conllinear, with B as the center of circle, BC is radius to circle O1, with A as the center of circle, AC is half to circle O2
Footpath.Because quadric chain has relational expression (AB+BD)2+CD2=AC2, so when AB and BD is conllinear, CD is perpendicular to BD, Shen
Ask someone to find through research, move to C1 point when C point, when D point moves to D1 point, the length change very little of BC, this explanation is at this
During individual, triangle BCD is held essentially constant, and is right angled triangle (wherein, angle CDA is right angle), namely second connecting rod 40 arrives
The distance of the firstth pivot 100 is held essentially constant.
In order to verify above-mentioned conclusion further, applicant has carried out actual measurement to hoisting arm structure, specifically, in figure four
The ABCD of side shape concrete a size of：
AB=168.8；BD=479；DC=210；AC=681
It should be noted that there is trueness error due in machine-building, the first pivot 100, second in practical structures
The distance between pivot 200, the 3rd pivot 300 and the 4th pivot 400 relation can not fully meet (AB+BD)2+CD2=AC2.But
It is that above-mentioned trueness error actual deviation value after calculating is negligible.
When the first actuator 50 works, the pendulum angle of the first swing arm 20 and second connecting rod 40 to the first pivot 100
The relation of distance such as following table：
Table 1
| Elevation angle theta | 28 | 33 | 38 | 43 | 48 | 53 | 58 | 63 | 68 | 73 |
| Apart from l | 477.7 | 478.6 | 479 | 479 | 478.8 | 478.6 | 478.4 | 478.3 | 478.3 | 478.4 |
As can be seen from Table 1, when the first swing arm 20 swings, the distance change of second connecting rod 40 to the first pivot 100 is non-
Often little, its difference is negligible for final Calculating Torque during Rotary result.
From the foregoing, by making the first pivot 100 of hoisting arm structure, the second pivot 200, the 3rd pivot 300 and
The distance between four pivots 400 meet certain relation, and when the first swing arm 20 is moved, the 3rd pivot 300 is to second connecting rod 40
Distance change very little, namely the lifting arm of force of the first swing arm 20 varies less and close to constant, with hoisting arm structure variable phase angle
Degree, amplitude and brachium are all unrelated.As long as therefore the driving pressure by controlling the first actuator 50 can be carried out to hoisting moment
Stable control, eliminates linear transducer and angular transducer simultaneously, easy for installation.
As shown in figure 1, in the technical scheme of the present embodiment, the end of the first swing arm 20 is also associated with the second swing arm 60.
Specifically, hoisting arm structure also includes the second swing arm 60, third connecting rod 70, fourth link 80 and the second actuator 90.Wherein,
The first end of two swing arms 60 is connected on the second end of the first swing arm 20 by the 5th pivot 500.The first end of third connecting rod 70
It is connected in the first swing arm 20 by the 6th pivot 600, the 6th pivot 600 is positioned at the 5th pivot 500 away from the second swing arm 60
Side.The first end of fourth link 80 is connected in the second swing arm 60 by the 7th pivot 700, and the 7th pivot 700 is located at the
Five pivots 500 pass through the 8th pivot 800 and third connecting rod 70 away from the side of the first swing arm 20, the second end of fourth link 80
First end links together.Second actuator 90 includes the second push rod 91, and the end of the second push rod 91 is connected to the 8th pivot 800
On, wherein, the distance between the 5th pivot 500 to the 6th pivot 600 L5, between the 5th pivot 500 to the 7th pivot 700 away from
From L6, the distance between the 7th pivot 700 to the 8th pivot 800 L7And between the 8th pivot 800 to the 6th pivot 600 away from
From L8Meet following relation：(L5+L6)2+L7 2=L8 2.
Above-mentioned second swing arm 60, the motor process of third connecting rod 70, fourth link 80 and the second actuator 90 and length become
Change feature is consistent with basic arm 10, the first swing arm 20, first connecting rod 30, second connecting rod 40 and the first actuator 50, with reference to Fig. 2
Middle tetragon ABCD, will not be described here.
As shown in figure 1, in the technical scheme of the present embodiment, the first actuator 50 can pivot away from one end of the first push rod 51
Turn ground setting.Specifically, hoisting arm structure also includes mounting seat, and basic arm 10 is arranged in mounting seat, and the first actuator 50 is
First oil cylinder, the cylinder body bottom of the first oil cylinder is pivotably coupled in mounting seat.
As shown in figure 1, in the technical scheme of the present embodiment, the second actuator 90 is the second oil cylinder, the cylinder of the second oil cylinder
Body bottom is pivotably coupled in the first swing arm 20.
As shown in figure 1, in the technical scheme of the present embodiment, hoisting arm structure also includes suspension hook 900, suspension hook 900 is arranged
The second end in the second swing arm 60.
Present invention also provides a kind of engineering machinery, the embodiment of the engineering machinery according to the application includes crane arm knot
Structure, hoisting arm structure is above-mentioned hoisting arm structure.Wherein, engineering machinery also includes turntable, the basic arm 10 of hoisting arm structure
It is arranged on turntable.
Present invention also provides a kind of acquisition methods of the hoisting moment of hoisting arm structure, wherein, hoisting arm structure is upper
The hoisting arm structure stated, acquisition methods include：
Step S1：Obtain the numerical value of the driving pressure of the first actuator 50 of hoisting arm structure；
Step S2：The second connecting rod 40 of hoisting arm structure is obtained to rising by the numerical value of the driving pressure of the first actuator 50
The numerical value of the moment that first swing arm 20 of weighing arm structure applies, wherein, step S2 is obtained by below equation：
M=k*S*P*L；
Above-mentioned formula is the computing formula of moment, and wherein, M is second connecting rod 40 to the moment that the first swing arm 20 applies
Numerical value, k be hoisting arm structure the thrust of the first push rod 51 and second connecting rod 40 be subject to the first push rod 51 active force ratio,
S is the cross-sectional area of the first push rod 51 of hoisting arm structure, and P is the driving pressure of the first actuator 50, and L is hoisting arm structure
The first pivot 100 to second connecting rod 40 distance.
It should be noted that second connecting rod 40 is rising of hoisting arm structure to the numerical value of the moment that the first swing arm 20 applies
Gravitational moment numerical value.
Find after inventor's experiment, the thrust of the first push rod 51 is subject to the active force of the first push rod 51 with second connecting rod 40
Ratio k in the motor process of the first swing arm 20 be essentially definite value, experimental data table specific as follows：
Table 2
| Elevation angle theta | 28 | 33 | 38 | 43 | 48 | 53 | 58 | 63 | 68 | 73 |
| Ratio k | 1.04 | 1.04 | 1.04 | 1.03 | 1.03 | 1.02 | 1.01 | 1 | 0.99 | 0.98 |
Can be seen by table 2, when the first swing arm 20 is in the different elevation angle, k value is held essentially constant, therefore in above-mentioned public affairs
In formula, k can take definite value.Its value can obtain according to different mathematic calculation.
The acquisition methods of the hoisting moment according to above-mentioned hoisting arm structure, present invention also provides a kind of measurement display
Table, measurement display table is used for measuring the hoisting moment of hoisting arm structure, and hoisting arm structure is above-mentioned hoisting arm structure.Wherein,
Display table includes measuring cell and the first viewing area, and measuring cell is used for obtaining the drive of the first actuator 50 of hoisting arm structure
The numerical value of dynamic pressure, the first viewing area is used for showing first swing arm to hoisting arm structure for the second connecting rod 40 of hoisting arm structure
The numerical value of the moment of 20 applyings, wherein, the numerical value of the driving pressure of the first actuator and second connecting rod 40 are applied to the first swing arm 20
Plus the numerical value of moment meet following relation：
M=k*S*P*L；
M is the numerical value to the moment that the first swing arm 20 applies for the second connecting rod 40, and k is the first push rod 51 of hoisting arm structure
Thrust and second connecting rod 40 are subject to the ratio of the active force of the first push rod 51, and S is the cross-sectional area of the first push rod 51, and P is the
The numerical value of the driving pressure of one actuator 50, L is the distance of the first pivot 100 of hoisting arm structure to second connecting rod 40.
In the technical scheme of the present embodiment, measurement display table also includes the second viewing area, and the second viewing area is used for
Show the numerical value of the driving pressure of the first actuator 50.
As shown in figure 3, in the technical scheme of the present embodiment, the first viewing area includes the first scale strip 21, second shows
Show region the second scale strip 22, the first scale strip 21 is provided with multiple first scale values 11, the second scale strip 22 is provided with
Multiple second scale values 12, multiple first scale values 11 and multiple second scale value 12 correspond setting, and measurement display table is also
Including pointer 23, pointer 23 is each passed through the first scale strip 21 and the second scale strip 22.Above-mentioned measurement display table can be intuitively
Display pressure and moment can show, can preferably understand the size of hoisting moment
It should be noted that the measurement display table in the present embodiment be not limited to above-mentioned pointer display table or
Other display sheet forms.For example measurement display table is liquid crystal display watch, and wherein, the first viewing area and the second viewing area can
Think that liquid crystal display screen shows, namely pressure and hoisting moment are shown respectively by liquid crystal display screen.
These are only the preferred embodiments of the present invention, be not limited to the present invention, for those skilled in the art
For member, the present invention can have various modifications and variations.All any modifications within the spirit and principles in the present invention, made,
Equivalent, improvement etc., should be included within the scope of the present invention.
Claims (13)
1. a kind of hoisting arm structure is it is characterised in that include：
Basic arm (10)；
First swing arm (20), the first end of described first swing arm (20) is connected to described basic arm by the first pivot (100)
(10) on；
First connecting rod (30), the first end of described first connecting rod (30) is connected to described basic arm by the second pivot (200)
(10), on, described second pivot (200) is located at the side away from described first swing arm (20) of described first pivot (100)；
Second connecting rod (40), the first end of described second connecting rod (40) is connected to described first swing arm by the 3rd pivot (300)
(20), on, described 3rd pivot (300) is located at the side away from described basic arm (10) for described first pivot (100), and described the
Second end of two connecting rods (40) is linked together by the first end of the 4th pivot (400) and described first connecting rod (30)；
First actuator (50), described first actuator (50) includes the first push rod (51), the end of described first push rod (51)
It is connected on described 4th pivot (400),
Wherein, described first pivot (100) extremely the distance between described second pivot (200) L1, described first pivot (100) extremely
The distance between described 3rd pivot (300) L2, the distance between described 3rd pivot (300) to described 4th pivot (400) L3
And described 4th pivot (400) is to the distance between described second pivot (200) L4Meet following relation：
(L1+L2)2+L3 2=L4 2.
2. hoisting arm structure according to claim 1 is it is characterised in that described first pivot (100) is to described second pivot
The distance between axle (200) L1Less than the distance between described first pivot (100) to described 3rd pivot (300) L2.
3. hoisting arm structure according to claim 1 is it is characterised in that described hoisting arm structure also includes：
Second swing arm (60), the first end of described second swing arm (60) is connected to described first swing arm by the 5th pivot (500)
(20) on the second end；
Third connecting rod (70), the first end of described third connecting rod (70) is connected to described first swing arm by the 6th pivot (600)
(20), on, described 6th pivot (600) is located at the side away from described second swing arm (60) of described 5th pivot (500)；
Fourth link (80), the first end of described fourth link (80) is connected to described second swing arm by the 7th pivot (700)
(60), on, described 7th pivot (700) is located at the side away from described first swing arm (20) for described 5th pivot (500), described
Second end of fourth link (80) is linked together by the first end of the 8th pivot (800) and described third connecting rod (70)；
Second actuator (90), described second actuator (90) includes the second push rod (91), the end of described second push rod (91)
It is connected on described 8th pivot (800),
Wherein, described 5th pivot (500) extremely the distance between described 6th pivot (600) L5, described 5th pivot (500) extremely
The distance between described 7th pivot (700) L6, the distance between described 7th pivot (700) to described 8th pivot (800) L7
And described 8th pivot (800) is to the distance between described 6th pivot (600) L8Meet following relation：
(L5+L6)2+L7 2=L8 2.
4. hoisting arm structure according to claim 1 is it is characterised in that described first actuator (50) is away from described first
One end of push rod (51) is pivotally arranged.
5. hoisting arm structure according to claim 4 is it is characterised in that described hoisting arm structure also includes mounting seat, institute
State basic arm (10) to be arranged in described mounting seat, described first actuator (50) is the first oil cylinder, the cylinder of described first oil cylinder
Body bottom is pivotably coupled in described mounting seat.
6. hoisting arm structure according to claim 3 it is characterised in that described second actuator (90) be the second oil cylinder,
The cylinder body bottom of described second oil cylinder is pivotably coupled on described first swing arm (20).
7. hoisting arm structure according to claim 3 is it is characterised in that described hoisting arm structure also includes：
Suspension hook (900), is arranged on the second end of described second swing arm (60).
8. a kind of engineering machinery, including hoisting arm structure it is characterised in that described hoisting arm structure is to appoint in claim 1 to 7
Hoisting arm structure described in one.
9. engineering machinery according to claim 8 is it is characterised in that described engineering machinery also includes turntable, described lifting
The basic arm (10) of arm configuration is arranged on described turntable.
10. a kind of acquisition methods of the hoisting moment of hoisting arm structure are it is characterised in that described hoisting arm structure is claim
Hoisting arm structure any one of 1 to 7, described acquisition methods include：
Step S1：Obtain the numerical value of the driving pressure of the first actuator (50) of described hoisting arm structure；
Step S2：Obtain the second connecting rod of described hoisting arm structure by the numerical value of the driving pressure of described first actuator (50)
(40) numerical value to the moment that first swing arm (20) of described hoisting arm structure applies,
Wherein, described step S2 is obtained by below equation：
M=k*S*P*L；
Wherein, described M is the numerical value to the moment that described first swing arm (20) applies for the described second connecting rod (40), and described k is institute
State the thrust of the first push rod (51) of hoisting arm structure and described second connecting rod (40) is subject to the effect of described first push rod (51)
The ratio of power, described S is the cross-sectional area of first push rod (51) of described hoisting arm structure, and described P is described first driving
The driving pressure of part (50), described L be described hoisting arm structure the first pivot (100) to described second connecting rod (40) away from
From.
A kind of 11. measurement display tables, described measurement display table be used for measuring the hoisting moment of hoisting arm structure it is characterised in that
Described hoisting arm structure be claim 1 to 7 any one of hoisting arm structure, described display table include measuring cell and
First viewing area, measuring cell is used for obtaining the numerical value of the driving pressure of the first actuator (50) of described hoisting arm structure,
Described first viewing area is used for showing first pendulum to described hoisting arm structure for the second connecting rod (40) of described hoisting arm structure
The numerical value of the moment that arm (20) applies, wherein, the numerical value of driving pressure of described first actuator (50) and described second connecting rod
(40) following relation is met to the numerical value of the moment that described first swing arm (20) applies：
M=k*S*P*L；
Wherein, described M is the numerical value to the moment that described first swing arm (20) applies for the described second connecting rod (40), and described k is institute
State the thrust of the first push rod (51) of hoisting arm structure and described second connecting rod (40) is subject to the effect of described first push rod (51)
The ratio of power, described S is the cross-sectional area of described first push rod (51), and described P is the driving of described first actuator (50)
The numerical value of pressure, described L is the distance of first pivot (100) of described hoisting arm structure to described second connecting rod (40).
12. measurement display tables according to claim 11 are it is characterised in that described measurement display table also includes the second display
Region, described second viewing area is used for showing the numerical value of the driving pressure of described first actuator (50).
13. measurement display tables according to claim 12 are it is characterised in that described first viewing area includes the first scale
Bar (21), described second viewing area the second scale strip (22), described first scale strip (21) is provided with multiple first scales
Value (11), described second scale strip (22) is provided with multiple second scale values (12), the plurality of first scale value (11) and
The plurality of second scale value (12) corresponds setting, and described measurement display table also includes pointer (23), described pointer (23)
It is each passed through described first scale strip (21) and described second scale strip (22).
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| CN112405603B (en) * | 2019-08-20 | 2021-10-22 | 沈阳新松机器人自动化股份有限公司 | Heavy-load large-inertia transfer robot |
| CN110697586A (en) * | 2019-10-15 | 2020-01-17 | 湖北江威智能汽车股份有限公司 | Low-altitude crane |
| CN111943047A (en) * | 2020-07-30 | 2020-11-17 | 湖南双达机电有限责任公司 | Overload prevention control method and system for hoisting machinery and hoisting machinery |
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| CN201309800Y (en) * | 2008-06-17 | 2009-09-16 | 湛江市科海科技有限公司 | Novel intelligent crane weighing torque meter |
| CN101780926A (en) * | 2010-01-07 | 2010-07-21 | 上海三一科技有限公司 | Crawler crane moment limiting system |
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