CN106256754B - The scaling method and system and crane of the long line of telescopic arm cylinder - Google Patents
The scaling method and system and crane of the long line of telescopic arm cylinder Download PDFInfo
- Publication number
- CN106256754B CN106256754B CN201510332138.6A CN201510332138A CN106256754B CN 106256754 B CN106256754 B CN 106256754B CN 201510332138 A CN201510332138 A CN 201510332138A CN 106256754 B CN106256754 B CN 106256754B
- Authority
- CN
- China
- Prior art keywords
- cylinder
- long line
- telescopic
- arm
- telescopic arm
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Abstract
The embodiment of the invention discloses a kind of scaling method and system and crane of the long line of telescopic arm cylinder, it is related to technical field of engineering machinery, wherein, method includes：Telescopic arm is controlled to reach corresponding telescopic location according to the working condition information of setting；The registration of telescopic arm displacement transducer in its telescopic location is recorded, institute's displacement sensors are used to measure the long line of cylinder；Obtain the actual value of telescopic arm long line of cylinder in its telescopic location；According at least two groups of telescopic arms, in its corresponding telescopic location, the actual value of the registration of displacement transducer and the long line of cylinder determines the calibration coefficient of the long line of cylinder.The embodiment of the present invention can improve the accuracy of the measured value of the long line of cylinder.
Description
Technical field
The present invention relates to technical field of engineering machinery, the scaling method and system of especially a kind of long line of telescopic arm cylinder and
Crane.
Background technology
Single-cylinder bolt type telescopic boom is to promote each joint arm to carry out flexible telescopic arm using single telescopic oil cylinder, flexible
The cylinder head of oil cylinder is provided with the mechanism of plug cylinder pin and arm pin.N section (such as N >=5) single-cylinder bolt type telescopic boom basic structure be：
N joint arms according to being 1~N joint arms by the smooth number consecutively of outer layer to nexine, wherein, Section 1 arm is called basic arm, and it is with rising
Heavy-duty machine is got on the bus connected, and without flexible, 2~N joint arms can be stretched.1~N-1 joint arms every joint arm it is different
(for example, at 0%, 46%, 92%, 100% length) has an arm pin-and-hole respectively at length, and two sides of tail respectively has a cylinder
Pin-and-hole, the arm pin of i-th (i=2~N) joint arm can be inserted in the arm pin-and-hole of the i-th -1 joint arm, so as to realize the i-th joint arm and the i-th -1 section
Locking between arm, cylinder pin may be inserted into 2~N joint arms in the cylinder pin-and-hole of any one joint arm afterbody so that telescopic oil cylinder can
To promote each section telescopic arm to be stretched.
The specific workflow of telescopic arm is：Controller sends instruction and extracts cylinder pin, makes telescopic oil cylinder and current telescopic arm
Unblock, telescopic oil cylinder find after needing the i-th flexible joint arm according to the instruction of controller and plug cylinder pin, then pull up arm pin, allow
I-th joint arm and the unblock of the i-th -1 joint arm, telescopic oil cylinder promote the i-th joint arm to carry out expanding-contracting action, reach the percent position specified,
Then upper arm pegs are inserted to lock the i-th joint arm and the i-th -1 joint arm.The successful realization of these actions is required for accurately measuring telescopic oil cylinder
Collapsing length (the long line of cylinder), and then calculate also need to flexible distance, so as to telescopic arm reach corresponding position when carry out
Corresponding control action.
In the prior art, the long line of cylinder can be measured by displacement transducer, and still, displacement transducer is after long-term use
Error accumulation occurs, so as to cause the measurement result of the long line of cylinder inaccurate, and then causes when calculating distance of stretch out and draw back and deviation be present,
Desired position can not be reached by ultimately resulting in telescopic oil cylinder so that the automatic telescopic failure of telescopic arm.
The content of the invention
Technical problem to be solved of the embodiment of the present invention is：Solves the problems, such as the measurement result inaccuracy of the long line of cylinder.
According to an aspect of the present invention, there is provided a kind of scaling method of the long line of telescopic arm cylinder, including：According to the operation of setting
Work information control telescopic arm reaches corresponding telescopic location；Telescopic arm displacement transducer in its telescopic location is recorded to show
Number, institute's displacement sensors are used to measure the long line of cylinder；Obtain the actual value of telescopic arm long line of cylinder in its telescopic location；According to extremely
Few two groups of telescopic arms actual value of the registration of displacement transducer and the long line of cylinder in its corresponding telescopic location determines the mark of the long line of cylinder
Determine coefficient.
In one embodiment, methods described also includes：Determine whether telescopic arm reaches according to following method to stretch accordingly
Condense and put：The arm pin of telescopic arm whether back-off is judged, if arm pin back-off, it is determined that telescopic arm reaches corresponding flexible
Position.
In one embodiment, methods described also includes：According to the calibration coefficient of the long line of existing cylinder and telescopic arm at it
The registration of displacement transducer determines the measured value of the long line of cylinder during corresponding telescopic location；Judge the measured value and the long line of cylinder of the long line of cylinder
Actual value between difference whether be more than preset value；If being more than preset value, perform the basis at least two groups of telescopic arms and exist
The actual value of the registration of displacement transducer and the long line of cylinder determines the operation of the calibration coefficient of the long line of cylinder during its corresponding telescopic location.
In one embodiment, it is corresponding at its according to the calibration coefficient of the long line of existing cylinder and telescopic arm described in methods described
Telescopic location when displacement transducer registration determine that the measured value of the long line of cylinder includes：The survey of the long line of cylinder is determined according to equation below
Value Yi’：
Yi'=aXi+b
Wherein, i is integer more than or equal to 2, XiDisplacement transducer when reaching its telescopic location for the i-th section telescopic arm
Registration, a, b are the calibration coefficient of the long line of existing cylinder.
In one embodiment, the basis at least two groups of telescopic arms displacement transducer in its corresponding telescopic location shows
The actual value of number and the long line of cylinder determines that the calibration coefficient of the long line of cylinder includes：According at least two groups of telescopic arms in its corresponding telescopic location
When the registration of the displacement transducer and actual value of the long line of cylinder, according to formula Yi=aXi+ b carries out one-variable linear regression and is calculated newly
The long line of cylinder calibration coefficient a ' and b '；Wherein, i is integer more than or equal to 2, XiAccordingly stretched at it for the i-th section telescopic arm
Condense the registration of displacement transducer when putting, and a, b are the calibration coefficient of the long line of existing cylinder, YiFor the actual value of the long line of cylinder.
In one embodiment, acquisition telescopic arm actual value of the long line of cylinder in its telescopic location includes：According to stretching
The distance between the length and telescopic location and telescopic arm of contracting arm and basic arm, determine telescopic arm in its position of stretching accordingly
The actual value of the long line of cylinder when putting.
In one embodiment, institute's displacement sensors include stay wire displacement sensor.
According to another aspect of the present invention, there is provided a kind of calibration system of the long line of telescopic arm cylinder, including controller, the control
Device processed includes：Control unit, for controlling telescopic arm to reach corresponding telescopic location according to the working condition information of setting；Record
Unit, for recording the registration of telescopic arm displacement transducer in its telescopic location, institute's displacement sensors are used to measure cylinder length
Line；Acquiring unit, for obtaining the actual value of telescopic arm long line of cylinder in its telescopic location；Unit is demarcated, for according at least
Two groups of telescopic arms actual value of the registration of displacement transducer and the long line of cylinder in its corresponding telescopic location determines the demarcation of the long line of cylinder
Coefficient.
In one embodiment, the controller also includes：Judging unit, for whether to judge the arm pin of telescopic arm
Back-off, if arm pin back-off, it is determined that telescopic arm reaches corresponding telescopic location.
In one embodiment, the controller also includes：The long line measured value determining unit of cylinder, for according to existing cylinder
The calibration coefficient and telescopic arm of long line registration of displacement transducer in its corresponding telescopic location determine the measured value of the long line of cylinder；
Whether start unit, the difference for judging between the measured value of the long line of cylinder and the actual value of the long line of cylinder are more than preset value；It is if big
In preset value, then triggering demarcates unit and performs basis at least two groups of telescopic arms displacement transducer in its corresponding telescopic location
Registration and the long line of cylinder actual value determine the long line of cylinder calibration coefficient operation.
In one embodiment, the long line measured value determining unit of the cylinder is specifically used for：Determine that cylinder is grown according to equation below
The measured value Y of linei’：
Yi'=aXi+b
Wherein, i is integer more than or equal to 2, XiFor i-th section telescopic arm displacement transducer in its corresponding telescopic location
Registration, a, b be the long line of existing cylinder calibration coefficient.
In one embodiment, the demarcation unit is specifically used for：According at least two groups of telescopic arms in its position of accordingly stretching
The actual value of the registration of displacement transducer and the long line of cylinder when putting, according to formula Yi=aXi+ b carries out one-variable linear regression and is calculated
The calibration coefficient a ' and b ' of the long line of new cylinder；Wherein, i is integer more than or equal to 2, XiReach it for the i-th section telescopic arm to stretch
Condense the registration of displacement transducer when putting, and a, b are the calibration coefficient of the long line of existing cylinder, YiFor the actual value of the long line of cylinder.
In one embodiment, the acquiring unit is specifically used for：According to the length of telescopic arm and telescopic location, Yi Jishen
The distance between contracting arm and basic arm, determine the actual value of telescopic arm long line of cylinder in its corresponding telescopic location.
In one embodiment, the system also includes：Displacement transducer, in real time sending out the registration of displacement transducer
Give controller.
In one embodiment, the system also includes：Interactive display unit, for receiving the working condition of user's setting
Information is simultaneously sent to controller.
In one embodiment, institute's displacement sensors include stay wire displacement sensor.
In accordance with a further aspect of the present invention, there is provided a kind of crane, including the cylinder length that any one above-mentioned embodiment provides
The calibration system of line.
The embodiment of the present invention has the advantages that：
According to one embodiment of present invention, by least two groups of telescopic arms in its corresponding telescopic location displacement transducer
Registration and the actual value of the long line of cylinder can determine the calibration coefficient of the long line of cylinder, displacement is passed according to identified calibration coefficient
The registration of sensor is modified the measured value that can obtain the more accurately long line of cylinder, so as to correct displacement transducer in time
Measured deviation so that the measured value of the long line of cylinder is more accurate, improves the flexible control accuracy of telescopic arm and flexible success rate.
According to another embodiment of the invention, the difference between the measured value and actual value of the long line of cylinder is more than preset value
When, the calibration coefficient of the long line of cylinder is just redefined automatically, so as to again true in time in the measured value inaccuracy of the long line of cylinder
The calibration coefficient of the long line of cylinder is determined, to cause the measured value of the long line of cylinder more accurate.
Below by drawings and examples, technical scheme is described in further detail.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is the required accompanying drawing used in technology description to be briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, without having to pay creative labor, may be used also
To obtain other accompanying drawings according to these accompanying drawings.
Fig. 1 is the schematic flow sheet of scaling method one embodiment of the long line of telescopic arm cylinder of the present invention；
Fig. 2 is the schematic flow sheet of another embodiment of the scaling method of the long line of telescopic arm cylinder of the present invention；
Fig. 3 is the structural representation of calibration system one embodiment of the long line of telescopic arm cylinder of the present invention；
Fig. 4 is the structural representation of another embodiment of the calibration system of the long line of telescopic arm cylinder of the present invention；
Fig. 5 is the structural representation of another embodiment of the calibration system of the long line of telescopic arm cylinder of the present invention；
Fig. 6 is the structural representation of the calibration system further embodiment of the long line of telescopic arm cylinder of the present invention.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other under the premise of creative work is not made
Embodiment, belong to the scope of protection of the invention.
Unless specifically stated otherwise, the part and positioned opposite, the digital table of step otherwise illustrated in these embodiments
Do not limited the scope of the invention up to formula and numerical value.
Simultaneously, it should be appreciated that for the ease of description, the size of the various pieces shown in accompanying drawing is not according to reality
Proportionate relationship draw.
It may be not discussed in detail for technology, method and apparatus known to person of ordinary skill in the relevant, but suitable
In the case of, the technology, method and apparatus should be considered as authorizing part for specification.
In shown here and discussion all examples, any occurrence should be construed as merely exemplary, without
It is as limitation.Therefore, the other examples of exemplary embodiment can have different values.
It should be noted that：Similar label and letter represents similar terms in following accompanying drawing, therefore, once a certain Xiang Yi
It is defined, then it need not be further discussed in subsequent accompanying drawing in individual accompanying drawing.
It should be noted that unless otherwise indicated, otherwise in the present invention, " the long line of cylinder " word refers to telescopic oil cylinder
Collapsing length.
Fig. 1 is the schematic flow sheet of scaling method one embodiment of the long line of telescopic arm cylinder of the present invention.As shown in figure 1, this
The scaling method of embodiment includes：
Step 102, controller controls telescopic arm to reach corresponding telescopic location according to the working condition information of setting.
Wherein, telescopic location is telescopic location corresponding with working condition information.For a section telescopic arm, Ke Yi
Arm pin-and-hole is set at the ad-hoc location of telescopic arm, such as 0%, 46%, 92%, 100% length of telescopic arm so that telescopic arm
It can stretch to the position where arm pin-and-hole.
User can set working condition by interactive display unit, and the working condition information of setting is sent into control
Device, for example, the working condition information set as：Control Section 5 telescopic arm reaches 46% telescopic location, then controller is according to this
Working condition information control arm pin oil cylinder pulls up the arm pin of Section 5 telescopic arm, then controls telescopic oil cylinder to drive Section 5 to stretch
Arm reaches 46% position, then controls arm pin oil cylinder that arm pin is inserted on corresponding arm pin-and-hole.
For greater safety, it is preferable that after arm pin is plugged, telescopic oil cylinder can be controlled to bounce back, to realize arm pin back-off.
Step 104, the registration of controller record telescopic arm displacement transducer in its telescopic location, institute's displacement sensors
For measuring the long line of cylinder.
As a non-limiting example, displacement transducer can be stay wire displacement sensor.Displacement transducer in real time will
Its analog signal exported is sent to controller, and controller converts analog signals into data signal by A/D conversions, a certain
When section telescopic arm reaches its corresponding telescopic location, controller comes the data signal after conversion as the registration of displacement transducer
Record.
Step 106, controller obtains the actual value of telescopic arm long line of cylinder in its telescopic location.
Wherein, the actual value of the long line of cylinder can preserve in the controller in advance, or controller can be according to telescopic arm
The distance between length and the telescopic location of telescopic arm and the section telescopic arm and basic arm determine the actual value of the long line of cylinder.
Step 108, controller according at least two groups of telescopic arms in its corresponding telescopic location the registration of displacement transducer and
The actual value of the long line of cylinder determines the calibration coefficient of the long line of cylinder.
Wherein, the actual value of the registration of displacement transducer and the long line of cylinder can be with its corresponding telescopic location for one group of telescopic arm
Be different sections telescopic arm in its telescopic location the actual value of the registration of displacement transducer and the long line of cylinder, or or
Same section telescopic arm actual value of the registration of displacement transducer and the long line of cylinder in different telescopic locations.For example, controller exists
Telescopic arm is often saved in its corresponding telescopic location, records the registration X of displacement transduceri, and showing displacement transducer respectively
Number XiThe now actual value Y of the long line of cylinderiStore into two storehouses, such as the registration X by displacement transduceriStore storehouse A
In, by the actual value Y of the long line of cylinderiStore in storehouse B.It is determined that the long line of cylinder calibration coefficient when, controller can be from storehouse A
With at least two X are taken out in storehouse BiAnd Yi, and it is true according to the relation between the measured value of the long line of registration and cylinder of displacement transducer
The calibration coefficient of the long line of cylinder is made, so as to when next secondary control telescopic arm is flexible, according to the demarcation of the long line of the cylinder determined
Coefficient calculates the long line of cylinder, so that the measured value of the long line of cylinder is more accurate.
In the present embodiment, controller carries out the demarcation of the long line of cylinder after control telescopic arm reaches corresponding telescopic location,
I.e. by least two groups of telescopic arms, in its corresponding telescopic location, the actual value of the registration of displacement transducer and the long line of cylinder is determined
The calibration coefficient of the long line of cylinder, the measured value of the long line of cylinder can be obtained according to the calibration coefficient determined, so as to repair in time
The measured deviation of normotopia displacement sensor so that the measured value of the long line of cylinder is more accurate, improves the flexible control accuracy of telescopic arm
With flexible success rate.
It is pointed out that each step in above-described embodiment not represents sequential relationship, in specific perform, not must
So perform in the order described.For example, step 106 can be first carried out, then perform step 104.
, can be true according to following method when controller control telescopic arm reaches corresponding telescopic location in above-mentioned steps 102
Determine whether telescopic arm reaches corresponding telescopic location：Judge the arm pin of telescopic arm whether back-off, if arm pin back-off,
Determine that telescopic arm reaches corresponding telescopic location.
Fig. 2 is the schematic flow sheet of another embodiment of the scaling method of the long line of telescopic arm cylinder of the present invention.The present embodiment
Scaling method adds following steps 202 and step 204, the present embodiment only emphasis is to increased compared with embodiment illustrated in fig. 1
Step illustrates, and other steps may refer to above description.As shown in Fig. 2 the scaling method of the present embodiment includes：
Step 102, controller controls telescopic arm to reach corresponding telescopic location according to the working condition information of setting.
Step 104, the registration of controller record telescopic arm displacement transducer in its telescopic location, institute's displacement sensors
For measuring the long line of cylinder.
Step 106, controller obtains the actual value of telescopic arm long line of cylinder in its telescopic location.
Step 202, according to the calibration coefficient of the long line of existing cylinder and telescopic arm, in its corresponding telescopic location, displacement passes
The registration of sensor determines the measured value of the long line of cylinder.
A kind of implementation therein is：The measured value Y of the long line of cylinder is determined according to equation belowi’：
Yi'=aXi+b
Wherein, i is integer more than or equal to 2, XiDisplacement transducer when reaching its telescopic location for the i-th section telescopic arm
Registration, a, b are the calibration coefficient of the long line of existing cylinder.
Step 204, judge whether the difference between the measured value of the long line of cylinder and the actual value of the long line of cylinder is more than preset value；If
More than preset value, then step 108 is performed；Otherwise, step 108 is not performed.
Step 108, controller according at least two groups of telescopic arms in its corresponding telescopic location the registration of displacement transducer and
The actual value of the long line of cylinder determines the calibration coefficient of the long line of cylinder.
For example, controller can be according to multiple XiAnd Yi, according to formula Yi=aXi+ b carries out one-variable linear regression and calculated
The existing long line of cylinder is replaced to the calibration coefficient a ' and b ' of the new long line of cylinder, and with the calibration coefficient a ' and b ' of the new long line of cylinder
Calibration coefficient a and b.It will be understood by those skilled in the art that when carrying out one-variable linear regression calculating, can according to multiple points (Xi,
Yi straight line Y) is determinedi=aXi+ b so that the fore-and-aft distance sum of each point to this straight line is minimum, so that it is determined that go out a and
b。
With step shown in Fig. 1 similarly, each step in the present embodiment also not represents sequential relationship, for example, step 202
It can be performed before step 106.In the present embodiment, the difference between the measured value of the long line of cylinder and the actual value of the long line of cylinder is big
The calibration coefficient of the long line of cylinder is just redefined when preset value, reduces the computing pressure of controller.
Each embodiment is described by the way of progressive in this specification, what each embodiment stressed be and its
The difference of its embodiment, same or analogous part cross-reference between each embodiment.For system embodiment
For, because it is substantially corresponding with embodiment of the method, so description is fairly simple, referring to the portion of embodiment of the method in place of correlation
Defend oneself bright.
The scaling method and calibration system of the long line of telescopic arm cylinder provided by the invention are suitable to but are not limited to single cylinder bolt-type
The long line of cylinder of telescopic arm is demarcated.
Fig. 3 is the structural representation of calibration system one embodiment of the long line of telescopic arm cylinder of the present invention.As shown in figure 3, this
The calibration system of embodiment includes controller 301, and controller 301 includes control unit 3011, recording unit 3012, acquiring unit
3013 and demarcation unit 3014, wherein：
Control unit 3011, for controlling telescopic arm to reach corresponding telescopic location according to the working condition information of setting；
Recording unit 3012, for recording the registration of telescopic arm displacement transducer in its telescopic location, the displacement passes
Sensor is used to measure the long line of cylinder；
Acquiring unit 3013, for obtaining the actual value of telescopic arm long line of cylinder in its telescopic location；
Unit 3014 is demarcated, for the registration according at least two groups of telescopic arms displacement transducer in its corresponding telescopic location
The calibration coefficient of the long line of cylinder is determined with the actual value of the long line of cylinder.
In the present embodiment, after the control unit 3011 in controller 301 controls telescopic arm to reach corresponding telescopic location,
The demarcation of the progress long line of cylinder, i.e. demarcation unit 3014 displacement transducer in its corresponding telescopic location by least two groups of telescopic arms
Registration and the actual value of the long line of cylinder determine the calibration coefficient of the long line of cylinder, cylinder can be obtained according to the calibration coefficient determined
The measured value of long line, so that it is guaranteed that the measured value of the long line of cylinder is more accurate.
Demarcation unit 3014 it is determined that the long line of cylinder calibration coefficient when a kind of example implementations be：Demarcate unit
3014 with specific reference at least two groups of telescopic arms in its corresponding telescopic location the actual value of the registration of displacement transducer and the long line of cylinder,
According to formula Yi=aXi+ b carries out the calibration coefficient a ' and b ' that the long line of new cylinder is calculated in one-variable linear regression；
Wherein, i is integer more than or equal to 2, XiDisplacement transducer when reaching its telescopic location for the i-th section telescopic arm
Registration, a, b be the long line of existing cylinder calibration coefficient, YiFor the actual value of the long line of cylinder.
Acquiring unit 3013 obtain the long line of cylinder actual value when a kind of example implementations be：Acquiring unit 3013 has
Body determines that telescopic arm is corresponding at its according to the distance between the length and telescopic location and telescopic arm of telescopic arm and basic arm
Telescopic location when the long line of cylinder actual value.
In order to determine whether control unit 3011 has controlled telescopic arm to reach corresponding telescopic location, as shown in figure 4, being
The structural representation of another embodiment of the calibration system of the long line of telescopic arm cylinder of the present invention, the controller 301 in the present embodiment is also
Judging unit 3015 can be included, for judging the arm pin of telescopic arm whether back-off, if arm pin back-off, it is determined that stretch
Contracting arm reaches corresponding telescopic location.
Fig. 5 is the structural representation of another embodiment of the calibration system of the long line of telescopic arm cylinder of the present invention.As shown in figure 5,
Compared with embodiment illustrated in fig. 3, controller 301 can also include the calibration system of the present embodiment：
The long line measured value determining unit 3016 of cylinder, for the calibration coefficient according to the long line of existing cylinder and telescopic arm in its phase
The registration of displacement transducer determines the measured value of the long line of cylinder during the telescopic location answered；
Start unit 3017, for judging whether the difference between the measured value of the long line of cylinder and the actual value of the long line of cylinder is more than
Preset value；If being more than preset value, it is corresponding flexible at it that triggering demarcation unit 3014 performs the basis at least two groups of telescopic arms
The actual value of the registration of displacement transducer and the long line of cylinder determines the operation of the calibration coefficient of the long line of cylinder during position.
In the present embodiment, without all redefining the demarcation of the long line of cylinder after every section telescopic arm reaches corresponding telescopic location
Coefficient, but cylinder length is just redefined when the difference between the measured value of the long line of cylinder and the actual value of the long line of cylinder is more than preset value
The calibration coefficient of line, reduce the computing pressure of demarcation number and controller.
The long line measured value determining unit 3016 of cylinder determines that a kind of example implementations of the measured value of the long line of cylinder are：Cylinder is grown
Line measured value determining unit 3016 is specifically used for the measured value Y that the long line of cylinder is determined according to equation belowi’：
Yi'=aXi+b
Wherein, i is integer more than or equal to 2, XiFor i-th section telescopic arm displacement transducer in its corresponding telescopic location
Registration, a, b be the long line of existing cylinder calibration coefficient.
Fig. 6 is the structural representation of the calibration system further embodiment of the long line of cylinder of the present invention.As shown in fig. 6, this implementation
The calibration system of example can also include displacement transducer 302, in real time by displacement sensing in addition to including controller 301
The registration of device is sent to controller 301.The concrete structure of wherein controller 301 may refer to Fig. 3-Fig. 5.
As a non-limiting example, displacement transducer 302 can be stay wire displacement sensor.
In another embodiment of the calibration system of the long line of cylinder of the present invention, referring to Fig. 6, interaction display can also be included and filled
303 are put, for receiving the working condition information of user's setting and being sent to controller 301.
The calibration system of the long line of cylinder provided by the invention can be applied on crane.
In one embodiment of crane of the present invention, the long line of cylinder that any one above-mentioned embodiment provides can be included
Calibration system.
One of ordinary skill in the art will appreciate that：Realizing all or part of step of above method embodiment can pass through
Programmed instruction related hardware is completed, and foregoing program can be stored in a computer read/write memory medium, the program
Upon execution, the step of execution includes above method embodiment；And foregoing storage medium includes：ROM, RAM, magnetic disc or light
Disk etc. is various can be with the medium of store program codes.
Description of the invention provides for the sake of example and description, and is not exhaustively or by the present invention
It is limited to disclosed form.Many modifications and variations are obvious for the ordinary skill in the art.Select and retouch
State embodiment and be to more preferably illustrate the principle and practical application of the present invention, and one of ordinary skill in the art is managed
The present invention is solved so as to design the various embodiments with various modifications suitable for special-purpose.
Claims (15)
1. a kind of scaling method of the long line of telescopic arm cylinder, including：
Telescopic arm is controlled to reach corresponding telescopic location according to the working condition information of setting；
The registration of telescopic arm displacement transducer in its telescopic location is recorded, institute's displacement sensors are used to measure the long line of cylinder；
Obtain the actual value of telescopic arm long line of cylinder in its telescopic location；
According at least two groups of telescopic arms, in its corresponding telescopic location, the actual value of the registration of displacement transducer and the long line of cylinder determines
The calibration coefficient of the long line of cylinder；
Wherein, the basis at least two groups of telescopic arms in its corresponding telescopic location the registration of displacement transducer and the long line of cylinder it is true
Real value determines that the calibration coefficient of the long line of cylinder includes：
According at least two groups of telescopic arms in its corresponding telescopic location the actual value of the registration of displacement transducer and the long line of cylinder, according to
Formula Yi=aXi+ b carries out the calibration coefficient a ' and b ' that the long line of new cylinder is calculated in one-variable linear regression；
Wherein, i is integer more than or equal to 2, XiShow for i-th section telescopic arm displacement transducer in its corresponding telescopic location
Number, a, b be the long line of existing cylinder calibration coefficient, YiFor the actual value of the long line of cylinder.
2. according to the method for claim 1, it is characterised in that also include：Determine whether telescopic arm arrives according to following method
Up to corresponding telescopic location：
The arm pin of telescopic arm whether back-off is judged, if arm pin back-off, it is determined that telescopic arm reaches flexible position accordingly
Put.
3. according to the method for claim 1, it is characterised in that also include：
According to the calibration coefficient of the long line of existing cylinder and telescopic arm, the registration of the displacement transducer in its corresponding telescopic location is true
Determine the measured value of the long line of cylinder；
Judge whether the difference between the measured value of the long line of cylinder and the actual value of the long line of cylinder is more than preset value；If being more than preset value,
Then perform the basis at least two groups of telescopic arms in its corresponding telescopic location the registration of displacement transducer and the long line of cylinder it is true
Value determines the operation of the calibration coefficient of the long line of cylinder.
4. according to the method for claim 3, it is characterised in that the calibration coefficient according to the long line of existing cylinder and flexible
Arm registration of displacement transducer in its corresponding telescopic location determines that the measured value of the long line of cylinder includes：
The measured value Y of the long line of cylinder is determined according to equation belowi’：
Yi'=aXi+b
Wherein, i is integer more than or equal to 2, XiThe registration of displacement transducer when reaching its telescopic location for the i-th section telescopic arm,
A, b is the calibration coefficient of the long line of existing cylinder.
5. according to the method for claim 1, it is characterised in that acquisition telescopic arm long line of cylinder in its telescopic location
Actual value includes：
According to the length of telescopic arm and the distance between telescopic location and telescopic arm and basic arm, determine telescopic arm in its phase
The actual value of the long line of cylinder during the telescopic location answered.
6. according to the method described in claim 1-5 any one, it is characterised in that institute's displacement sensors include bracing wire displacement
Sensor.
7. a kind of calibration system of the long line of telescopic arm cylinder, including controller, the controller include：
Control unit, for controlling telescopic arm to reach corresponding telescopic location according to the working condition information of setting；
Recording unit, for recording the registration of telescopic arm displacement transducer in its telescopic location, institute's displacement sensors are used for
Measure the long line of cylinder；
Acquiring unit, for obtaining the actual value of telescopic arm long line of cylinder in its telescopic location；
Unit is demarcated, for according at least two groups of telescopic arms registration of displacement transducer and the long line of cylinder in its corresponding telescopic location
Actual value determine the calibration coefficient of the long line of cylinder；
Wherein, the demarcation unit is specifically used for：
According at least two groups of telescopic arms in its corresponding telescopic location the actual value of the registration of displacement transducer and the long line of cylinder, according to
Formula Yi=aXi+ b carries out the calibration coefficient a ' and b ' that the long line of new cylinder is calculated in one-variable linear regression；
Wherein, i is integer more than or equal to 2, XiThe registration of displacement transducer when reaching its telescopic location for the i-th section telescopic arm,
A, b be the long line of existing cylinder calibration coefficient, YiFor the actual value of the long line of cylinder.
8. system according to claim 7, it is characterised in that the controller also includes：
Judging unit, for judging the arm pin of telescopic arm whether back-off, if arm pin back-off, it is determined that telescopic arm reaches
Corresponding telescopic location.
9. system according to claim 7, it is characterised in that the controller also includes：
The long line measured value determining unit of cylinder, it is corresponding flexible at it for the calibration coefficient according to the long line of existing cylinder and telescopic arm
The registration of displacement transducer determines the measured value of the long line of cylinder during position；
Whether start unit, the difference for judging between the measured value of the long line of cylinder and the actual value of the long line of cylinder are more than preset value；
If being more than preset value, triggering demarcation unit performs basis at least two groups of telescopic arms displacement in its corresponding telescopic location and passed
The actual value of the long line of registration and cylinder of sensor determines the operation of the calibration coefficient of the long line of cylinder.
10. system according to claim 9, it is characterised in that the long line measured value determining unit of cylinder is specifically used for：
The measured value Y of the long line of cylinder is determined according to equation belowi’：
Yi'=aXi+b
Wherein, i is integer more than or equal to 2, XiShow for i-th section telescopic arm displacement transducer in its corresponding telescopic location
Number, a, b are the calibration coefficient of the long line of existing cylinder.
11. system according to claim 7, it is characterised in that the acquiring unit is specifically used for：
According to the length of telescopic arm and the distance between telescopic location and telescopic arm and basic arm, determine telescopic arm in its phase
The actual value of the long line of cylinder during the telescopic location answered.
12. according to the system described in claim 7-11 any one, it is characterised in that the system also includes：
Displacement transducer, for the registration of displacement transducer to be sent into controller in real time.
13. system according to claim 12, it is characterised in that the system also includes：
Interactive display unit, for receiving the working condition information of user's setting and being sent to controller.
14. system according to claim 12, it is characterised in that institute's displacement sensors include stay wire displacement sensor.
15. a kind of crane, it is characterised in that include the calibration system of the long line of cylinder described in claim 7-14 any one.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510332138.6A CN106256754B (en) | 2015-06-16 | 2015-06-16 | The scaling method and system and crane of the long line of telescopic arm cylinder |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510332138.6A CN106256754B (en) | 2015-06-16 | 2015-06-16 | The scaling method and system and crane of the long line of telescopic arm cylinder |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106256754A CN106256754A (en) | 2016-12-28 |
| CN106256754B true CN106256754B (en) | 2018-03-13 |
Family
ID=57713329
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510332138.6A Active CN106256754B (en) | 2015-06-16 | 2015-06-16 | The scaling method and system and crane of the long line of telescopic arm cylinder |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106256754B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109594506B (en) * | 2018-12-28 | 2021-02-05 | 江苏徐工工程机械研究院有限公司 | Guardrail cleaning vehicle calibration and control method and system and guardrail cleaning vehicle |
| CN114858141B (en) * | 2022-04-24 | 2023-08-08 | 深圳供电局有限公司 | Positioning device for monitoring points of telescopic boom of hoisting crane operation and implementation method thereof |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4589076A (en) * | 1983-10-17 | 1986-05-13 | Kabushiki Kaisha Kobe Seiko Sho | Method for controlling stretching and contracting operations of telescopic multistage boom |
| DE3908571A1 (en) * | 1989-03-16 | 1990-09-20 | Century Ii Gmbh Mobilkrane | Device for at least occasionally coupling the last two telescopic jib sections, guided one inside the other, of a crane jib |
| CN101746681A (en) * | 2008-12-09 | 2010-06-23 | 徐州重型机械有限公司 | Single-cylinder plug type telescopic jib crane, jib length measurement method and measurement device thereof |
| CN102735172A (en) * | 2012-06-25 | 2012-10-17 | 三一重工股份有限公司 | Boom length measuring device, boom length measuring method and telescopic boom |
| CN103145042A (en) * | 2013-03-12 | 2013-06-12 | 中联重科股份有限公司 | Detection method, device and system of telescopic boom length and telescopic boom apparatus |
| CN103204435A (en) * | 2013-03-19 | 2013-07-17 | 北京京城重工机械有限责任公司 | Method for positioning telescopic cylinder of single-cylinder pin type telescopic arm |
-
2015
- 2015-06-16 CN CN201510332138.6A patent/CN106256754B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4589076A (en) * | 1983-10-17 | 1986-05-13 | Kabushiki Kaisha Kobe Seiko Sho | Method for controlling stretching and contracting operations of telescopic multistage boom |
| DE3908571A1 (en) * | 1989-03-16 | 1990-09-20 | Century Ii Gmbh Mobilkrane | Device for at least occasionally coupling the last two telescopic jib sections, guided one inside the other, of a crane jib |
| CN101746681A (en) * | 2008-12-09 | 2010-06-23 | 徐州重型机械有限公司 | Single-cylinder plug type telescopic jib crane, jib length measurement method and measurement device thereof |
| CN102735172A (en) * | 2012-06-25 | 2012-10-17 | 三一重工股份有限公司 | Boom length measuring device, boom length measuring method and telescopic boom |
| CN103145042A (en) * | 2013-03-12 | 2013-06-12 | 中联重科股份有限公司 | Detection method, device and system of telescopic boom length and telescopic boom apparatus |
| CN103204435A (en) * | 2013-03-19 | 2013-07-17 | 北京京城重工机械有限责任公司 | Method for positioning telescopic cylinder of single-cylinder pin type telescopic arm |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106256754A (en) | 2016-12-28 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106256754B (en) | The scaling method and system and crane of the long line of telescopic arm cylinder | |
| CN110440970A (en) | A kind of system and method positioned at jack head end test anchor lower prestress | |
| CN104236893B (en) | Performance parameter test system and performance parameter test method of hydraulic damper | |
| CN105910743A (en) | Method for measuring tension of cable stayed bridge stay cable by using unmanned plane | |
| CN109269424A (en) | A kind of test specimen mark point position precision detection device and method | |
| CN105333834A (en) | System and method for automatic calibration of optical fiber strain coefficient | |
| CN106989856A (en) | A kind of system and method using effective prestress under detecting and stable intermediate plate displacement detection anchor | |
| CN104328739A (en) | Cable-force testing method of lifting rod of tied-arch bridge and construction control method thereof | |
| CN104074503B (en) | A kind of logging method of ultrasonic logging instrument system | |
| CN206113916U (en) | Contrary real -time control system that hangs down that transfers of steel column that does | |
| CN103204435B (en) | A kind of telescopic cylinder of single-cylinder pin type telescopic localization method | |
| CN114162507A (en) | Automatic three-dimensional warehouse stacker and goods grid self-adaptive positioning system and positioning method | |
| CN207472227U (en) | A kind of monitoring device of novel side slope surface displacement | |
| CN109387151A (en) | Tunnel model displacement and convergent measuring equipment and method in a kind of laboratory test | |
| CN110031325B (en) | Pile body stress testing system and method | |
| CN104534958B (en) | Reinforcing bar scene is quick to check chi | |
| CN103827628B (en) | Contour meter and method for measuring the contour of a workpiece having tangentially adjoining contour geometries | |
| CN205957871U (en) | Depth detection apparatus | |
| CN106256751B (en) | The control method and system and crane of single-cylinder bolt type telescopic boom arm pin back-off | |
| CN212079291U (en) | But simple and easy device of inside displacement measurement of cyclic utilization's country rock | |
| CN103575191B (en) | The proving installation of foundation model test failure surface | |
| CN218481100U (en) | Pipeline track detecting system | |
| CN112556598A (en) | Wire type sensing device for measuring space displacement | |
| JPH07208991A (en) | Method for measuring displacement | |
| CN113567136A (en) | High-thrust rocket engine structure pose measuring system and compensation method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |