CN109761147A - A kind of crawler crane foundation bearing rigidity online test method - Google Patents
A kind of crawler crane foundation bearing rigidity online test method Download PDFInfo
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- CN109761147A CN109761147A CN201910158790.9A CN201910158790A CN109761147A CN 109761147 A CN109761147 A CN 109761147A CN 201910158790 A CN201910158790 A CN 201910158790A CN 109761147 A CN109761147 A CN 109761147A
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- 239000002352 surface water Substances 0.000 claims abstract description 9
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Abstract
The invention belongs to crawler crane technical fields, provide a kind of crawler crane foundation bearing rigidity online test method, and obliquity sensor is mounted on caterpillar crane turntable；The vertical inclination angle of turntable when being turned back to 0 °, 90 °, 180 ° and 270 ° when crawler crane zero load is measured using the obliquity sensor, under the differently base system said conditions emulated in conjunction with crane, the vertical inclination angle change curve of turntable is turned round in crawler crane zero load, and the coefficient of subgrade reaction and surface water Pingdu at scene are obtained using interpolation method；Crawler crane loadmeter ideally is modified according to the field data obtained, the crawler crane loadmeter for the operation safety that is guaranteed using interpolation method, and then instructs crawler crane safety work.Whole process is automatically performed by vehicle-mounted PLC, easy to operate.
Description
Technical field
The present invention relates to a kind of online test method of foundation bearing rigidity, it is specifically a kind of suitable for crawler crane
The online test method of base load-bearing rigidity belongs to crawler crane technical field.
Background technique
Crawler crane due to the advantages that its lifting capacity is big, grounding pressure is small, cantilever crane combining form multiplicity, operating flexibility and
It is widely used in the fields such as petrochemical industry, electric power, metallurgy.And the requirement of earth bearing strength is usually only provided in crane operation instruction, and
The requirement of no foundation stiffness, this makes crane increase the risk of lateral tilt because foundation deformation is uncertain in use.
When crane job, non-uniform crawler belt grounding pressure leads to uneven settlement of foundation, in addition turntable, vehicle frame, track frame etc. are tied
The flexible deformation of component changes the inclination of complete machine and cantilever crane with the difference of loaded-up condition, and this variation would generally
Aggravate non-uniform settlement of foundation in turn, when settlement of foundation counter-force balances each other with grounding pressure, this coupling is
It terminates.This process may all occur in the luffing plane and plane of rotation (lateral) of cantilever crane.Because of the torque on crane
Limiter can provide respective amplitude and rated load weight, this passes through for operator according to the cantilever crane elevation angle that real-time detection arrives
Appropriate operation to jib lubbing mechanism guarantees that non-overloading provides safety guarantee to crane in the luffing plane；But in cantilever crane
Laterally, because without corresponding safety device, less in the presence of cantilever crane can be made to keep vertical mechanism, the lateral tilt of cantilever crane is
Inevitably.If the nonlinear strength or complete machine antirollover stability of cantilever crane just reach before reaching above-mentioned final state
Intensity or overthrow accident will occur for its limit, crane, especially for the long operating condition of large arm of the crawler crane of large-tonnage,
This risk is more prominent.Therefore, the load-bearing rigidity of crawler crane ground is obtained online in construction, and according to measured
Rigidity carries out reduction appropriate to crane rating and guarantees the work of crane to crawler crane basement process is instructed
Industry is of great significance safely.
Summary of the invention
The purpose of the present invention is to provide a kind of method of on-line measurement crawler crane foundation bearing rigidity, cooperation amendments
Crawler crane loadmeter afterwards, instructs crawler crane safety work.
Technical solution of the present invention:
A kind of crawler crane foundation bearing rigidity online test method, safety of the obliquity sensor as crawler crane
One of device is installed on caterpillar crane turntable；It is turned round when measuring crawler crane zero load using the obliquity sensor
The vertical inclination angle of turntable, the different coefficient of subgrade reactions (rigidity) emulated in conjunction with crane when to 0 °, 90 °, 180 ° and 270 °
Under the conditions of, the vertical inclination angle change curve of turntable is turned round in crawler crane zero load, and the coefficient of subgrade reaction at scene is obtained using interpolation method
And surface water Pingdu；According to the field data obtained, to crawler crane loadmeter ideally, using interpolation method into
Row amendment, the crawler crane loadmeter for the operation safety that is guaranteed, and then instruct crawler crane safety work；
Determining crawler crane and corresponding cantilever crane are combined, under horizontal foundation, minimum radius operating condition, using imitative
True method obtains the vertical inclination angle change curve of crawler crane zero load revolution turntable under differently base system said conditions, characterization
Coupling between caterpillar crane turntable inclination and coefficient of subgrade reaction is regular, wherein coefficient of subgrade reaction on vertical inclination angle change curve
It is the logarithm of practical coefficient of subgrade reaction；Typical indicatrix such as Fig. 2, wherein horizontal axis is angle of revolution, and the longitudinal axis is turntable longitudinal direction
Inclination angle；
Assuming that crawler crane is located on a unknown ground, it is unloaded under crawler crane minimum radius operating condition to return counterclockwise
It circles, the vertical inclination angle value for reading turntable when turntable is located at 0 °, 90 °, 180 ° and 270 ° is respectively β1、β2、β3And β4, then
Initial lateral (the vertical track frame direction) inclination angle of corresponding ground are as follows:
δ1=(β2-β4)/2
Initial longitudinal (the parallel caterpillar frame direction) inclination angle of ground are as follows:
δ2=(β1-β3)/2
Turntable is located at the calculating fore-and-aft tilt angle of 90 ° with 270 ° when corresponding foundation level are as follows:
γ2=γ4=(β2+β4)/2
Wherein, δ1For the initial lateral inclination angle of ground, δ2For the initial fore-and-aft tilt angle of ground, γ2With γ4For correspondingly
Turntable is located at the calculating fore-and-aft tilt angle of 90 ° with 270 ° when base level；
If δ1> 0, then basis is tilted to the right δ1° (basis left side high right side low)；If δ1< 0, then basis is tilted to the left-δ1°
(the high left side in basis right side is low)；If δ1=0, then basic left and right directions is horizontal；
If δ2> 0, then basis turns forward δ2° (basic rear high front low)；If δ2< 0, then basis tilts backwards-δ2°
(the high rear in basis front is low)；If δ2=0, then basic front-rear direction is horizontal.
The orientation and gyratory directions of crawler crane are as shown in Figure 3.
According to γ2With γ4Two vertical inclination angles variation adjacent thereto is read in position on vertical inclination angle change curve
Curve is in 90 ° and 270 ° of turntable longitudinal gradient α2、α4With θ2、θ4And two vertical inclination angle change curve corresponding ground base systems
Number logarithm k1With k2, wherein α2=α4, θ2=θ4；The then logarithm of coefficient of subgrade reaction to be asked are as follows:
k3=(γ2-α2)(k2-k1)/(θ2-α2)+k1
Corresponding practical coefficient of subgrade reaction are as follows:
It the use of the initial lateral inclination angle that interpolation method obtains ground is δ1, initial fore-and-aft tilt angle is δ2, coefficient of subgrade reaction k
Corresponding crawler crane loadmeter, instructs crawler crane safety work.
The invention has the advantages that: the initial lateral inclination angle, initial of crawler crane ground can be obtained online
Fore-and-aft tilt angle and coefficient of subgrade reaction, and then obtain site foundation coefficient crawler crane load corresponding with foundation level degree
Table.Whole process is automatically performed by vehicle-mounted PLC, easy to operate.
Detailed description of the invention
Fig. 1 is installation site of the obliquity sensor on turntable.
Fig. 2 is turntable vertical inclination angle indicatrix of certain crawler crane under a specific cantilever crane composite condition.
Fig. 3 is the gyratory directions and orientation diagram of crawler crane.
In figure: 1 turntable；2 obliquity sensors.
Specific embodiment
Below in conjunction with technical solution and the attached drawing specific embodiment that the present invention will be described in detail.
The present invention using on-line automatic the acquisitions turntable of obliquity sensor that is mounted on turntable positioned at 0 °, 90 °, 180 ° and
The vertical inclination angle of turntable at 270 °.Pass through the caterpillar crane turntable vertical inclination angle indicatrix being stored in PLC control system
Calculate the coefficient of subgrade reaction and surface water Pingdu of operation field automatically with foundation bearing algorithm of rigidity.Using being stored in PLC control
The crawler crane loadmeter of different coefficient of subgrade reactions and surface water Pingdu in system, calculates operation field working condition automatically
Under revised crawler crane loadmeter.Necessary reference is provided for the safety work of crawler crane.
(1) caterpillar crane turntable vertical inclination angle indicatrix is obtained.After the completion of crawler crane design, application simulation side
Method obtains all cantilever cranes and combines the turntable vertical inclination angle indicatrix under horizontal foundation, minimum radius operating condition, as shown in Figure 2.
Fig. 2 is turntable vertical inclination angle indicatrix of certain crawler crane under a specific cantilever crane composite condition, and horizontal axis is angle of revolution
Degree, the longitudinal axis is turntable vertical inclination angle.
(2) coefficient of subgrade reaction and surface water Pingdu calculation method.Assuming that crawler crane be located at certain construction site unknownly
On base, unloaded turning anticlockwise one week under crawler crane minimum radius operating condition, read turntable positioned at 0 °, 90 °, 180 ° and
The vertical inclination angle value of turntable is respectively β at 270 °1=-0.838 °, β2=0.059 °, β3=-0.195 °, β4=-0.552 °.Then
Initial lateral (the vertical track frame direction) inclination angle of corresponding ground are as follows:
δ1=(β2-β4)/2=0.306 °
Initial longitudinal (the parallel caterpillar frame direction) inclination angle of ground are as follows:
δ2=(β1-β3)/2=-0.322 °
Turntable is located at the calculating fore-and-aft tilt angle of 90 ° with 270 ° when corresponding foundation level are as follows:
γ2=γ4=(β2+β4)/2=-0.247 °
Using Fig. 2, available turntable is at 90 ° and 270 °, fore-and-aft tilt angle γ2=γ4=-0.247 ° is located at ground
Coefficient k1=3.954, k2Between=4.041, k is worked as by Fig. 2 reading1When=3.954, turntable is in 90 ° and 270 ° of fore-and-aft tilt angles
For α2=α4=-0.272 °；Work as k2When=4.041, turntable is θ with 270 ° of fore-and-aft tilt angles at 90 °2=θ4=-0.233 °.Then to
Seek the logarithm of coefficient of subgrade reaction are as follows:
k3=(γ2-α2)(k2-k1)/(θ2-α2)+k1=4.000846
Corresponding practical coefficient of subgrade reaction are as follows:
Finally, the initial lateral inclination angle of available construction site crawler crane ground is 0.306 °, and basis is to the right
Inclination (the high right side in basis left side is low)；Initial fore-and-aft tilt angle is -0.322 °, and basis tilts backwards (the high rear in basis front
It is low)；Coefficient of subgrade reaction is 10019kN/m3。
(3) by the caterpillar crane turntable vertical inclination angle indicatrix of acquisition, the calculation method of foundation stiffness, different grounds
Coefficient and the crawler crane loadmeter of surface water Pingdu are deposited into crawler crane PLC control system together.Simultaneously by inclination angle
Sensor is installed on turntable and is debugged, as shown in Figure 1.
(4) boom system is combined according to arrangement and method for construction behind crawler crane arrival construction site, PLC control system is adjusted
To the corresponding operating mode of combination boom system, cantilever crane is adjusted to minimum radius.Crawler crane zero load turning anticlockwise one
Week, turntable when system is located at 0 °, 90 °, 180 ° and 270 ° using the obliquity sensor automatic collection turntable being mounted on turntable
Vertical inclination angle value.PLC system calculates ground base system according to collected turntable vertical inclination angle value automatically according to inventive algorithm
Several and surface water Pingdu.In conjunction with the crawler crane loadmeter of different coefficient of subgrade reactions and surface water Pingdu, PLC control system is automatic
Calculate the operating condition and crawler crane loadmeter corresponding under the conditions of foundation stiffness.
Claims (1)
1. a kind of crawler crane foundation bearing rigidity online test method, which is characterized in that obliquity sensor rises as crawler belt
One of safety device of heavy-duty machine is installed on caterpillar crane turntable；Crawler crane is measured using the obliquity sensor
The vertical inclination angle of turntable when being turned back to 0 °, 90 °, 180 ° and 270 ° when unloaded, the different grounds emulated in conjunction with crane
Under coefficient condition, the vertical inclination angle change curve of turntable is turned round in crawler crane zero load, and the ground at scene is obtained using interpolation method
Coefficient and surface water Pingdu；Interpolation is used to crawler crane loadmeter ideally according to the field data obtained
Method is modified, the crawler crane loadmeter for the operation safety that is guaranteed, and then instructs crawler crane safety work；
Determining crawler crane and corresponding cantilever crane are combined, under horizontal foundation, minimum radius operating condition, using emulation side
Method obtains the vertical inclination angle change curve of crawler crane zero load revolution turntable under differently base system said conditions, characterizes crawler belt
It is in fact that rotating platform of crane, which is tilted coefficient of subgrade reaction in the coupling rule between coefficient of subgrade reaction wherein vertical inclination angle change curve,
The logarithm of border coefficient of subgrade reaction；
Assuming that crawler crane is located on a unknown ground, unloaded turning anticlockwise one under crawler crane minimum radius operating condition
In week, the vertical inclination angle value for reading turntable when turntable is located at 0 °, 90 °, 180 ° and 270 ° is respectively β1、β2、β3And β4, then correspond to
The initial lateral inclination angle of ground are as follows:
δ1=(β2-β4)/2
It wherein, is initially laterally vertical track frame direction；
Initial longitudinal (the parallel caterpillar frame direction) inclination angle of ground are as follows:
δ2=(β1-β3)/2
Wherein, initial longitudinal as parallel caterpillar frame direction；
Turntable is located at the calculating fore-and-aft tilt angle of 90 ° with 270 ° when corresponding foundation level are as follows:
γ2=γ4=(β2+β4)/2
Wherein, δ1For the initial lateral inclination angle of ground, δ2For the initial fore-and-aft tilt angle of ground, γ2With γ4For corresponding foundation level
When turntable be located at 90 ° and 270 ° of calculating fore-and-aft tilt angle；
If δ1> 0, then basis is tilted to the right δ1°, the high right side in basis left side is low；If δ1< 0, then basis is tilted to the left-δ1°, basis
The high left side in right side is low；If δ1=0, then basic left and right directions is horizontal；
If δ2> 0, then basis turns forward δ2°, the high front in basic rear is low；If δ2< 0, then basis tilts backwards-δ2°, basis
The high rear in front is low；If δ2=0, then basic front-rear direction is horizontal；
According to γ2With γ4The place vertical inclination angle change curve and its phase are read in position on the vertical inclination angle change curve of place
Two adjacent vertical inclination angle change curves are in 90 ° and 270 ° of turntable longitudinal gradient α2、α4With θ2、θ4And two vertical inclination angles
The corresponding coefficient of subgrade reaction logarithm k of change curve1With k2, wherein α2=α4, θ2=θ4；The then logarithm of coefficient of subgrade reaction to be asked are as follows:
k3=(γ2-α2)(k2-k1)/(θ2-α2)+k1
Corresponding practical coefficient of subgrade reaction are as follows:
It the use of the initial lateral inclination angle that interpolation method obtains ground is δ1, initial fore-and-aft tilt angle is δ2, coefficient of subgrade reaction is k correspondence
Crawler crane loadmeter, instruct crawler crane safety work.
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| CN201910158790.9A CN109761147B (en) | 2019-03-04 | 2019-03-04 | Online detection method for bearing rigidity of crawler crane foundation |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111910609A (en) * | 2020-07-31 | 2020-11-10 | 浙江三一装备有限公司 | Foundation bearing capacity test method |
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| EP2674384A1 (en) * | 2012-06-13 | 2013-12-18 | Liebherr-Werk Ehingen GmbH | Method for monitoring crane safety and crane |
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| CN103663210A (en) * | 2013-12-13 | 2014-03-26 | 中联重科股份有限公司 | Safety control method, device and system for crawler-type machine and engineering machinery |
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2019
- 2019-03-04 CN CN201910158790.9A patent/CN109761147B/en not_active Expired - Fee Related
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000044174A (en) * | 1998-07-30 | 2000-02-15 | Aichi Corp | Falling preventing device for working vehicle |
| JP2008037535A (en) * | 2006-08-03 | 2008-02-21 | Kobelco Cranes Co Ltd | Movable crane overwinding preventing device |
| CN200946075Y (en) * | 2006-08-18 | 2007-09-12 | 上海三一科技有限公司 | Pedrail crane arm holder safety control device |
| CN102351132A (en) * | 2011-09-29 | 2012-02-15 | 辽宁抚挖重工机械股份有限公司 | Gravity center and grounding pressure display device and method for crawler crane |
| EP2674384A1 (en) * | 2012-06-13 | 2013-12-18 | Liebherr-Werk Ehingen GmbH | Method for monitoring crane safety and crane |
| CN103569883A (en) * | 2012-07-26 | 2014-02-12 | 徐工集团工程机械股份有限公司 | Apparatus for acquiring specific ground pressure of crawler belt of crane and crane |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111910609A (en) * | 2020-07-31 | 2020-11-10 | 浙江三一装备有限公司 | Foundation bearing capacity test method |
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