CN112141895A - Method for measuring stress of supporting leg of crane - Google Patents
Method for measuring stress of supporting leg of crane Download PDFInfo
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- CN112141895A CN112141895A CN202011326178.7A CN202011326178A CN112141895A CN 112141895 A CN112141895 A CN 112141895A CN 202011326178 A CN202011326178 A CN 202011326178A CN 112141895 A CN112141895 A CN 112141895A
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- leg
- supporting leg
- vertical
- angle
- stress
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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
- B66C13/00—Other constructional features or details
- B66C13/16—Applications of indicating, registering, or weighing devices
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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
- B66C15/00—Safety gear
Abstract
The invention provides a method for measuring stress of a support leg of a crane, and belongs to the technical field of engineering machinery. The crane comprises operation equipment and a plurality of support legs for supporting the operation equipment, wherein each support leg is respectively provided with an angle sensor and a force sensor, and the support leg stress measuring method of the crane comprises the following steps: and respectively acquiring an angle signal of the angle sensor corresponding to each supporting leg and a pressure signal of the force sensor, and respectively calculating the vertical stress of each supporting leg according to the angle signal of the angle sensor of each supporting leg and the pressure signal of the force sensor. This application can effectively improve the atress detection accuracy to the landing leg of hoist, prevents that the hoist from taking place to tumble the accident to improve the security of hoist.
Description
Technical Field
The invention relates to the technical field of engineering machinery, in particular to a method for measuring stress of a supporting leg of a crane.
Background
In a construction machine, for example, a concrete pump truck, a wheel crane, etc., when operating, the whole working equipment is usually supported by a plurality of legs. In the case of a crane, the crane often has a tipping accident due to improper support or overload during operation. To prevent the crane from tipping over during operation, it is often necessary to monitor the leg force of the legs.
In the prior art, two methods for monitoring the leg force are provided, wherein the first method is to calculate the leg force by monitoring the pressure in the leg oil cylinder, but the piston in the leg oil cylinder has friction with the inner wall of the leg oil cylinder in the reciprocating process, and in addition, the problem of pressure holding inside the leg oil cylinder is caused, so that the monitoring result of the leg force has larger error; the second method is to arrange a force sensor on the landing leg, and the force sensor can detect the landing leg force, but the crane cannot ensure that the landing leg is always perpendicular to the ground in the operation process, so that the landing leg force monitored by the force sensor is not necessarily perpendicular to the ground, and therefore, the monitoring result of the landing leg force by the method has a large error. Because the two methods have larger errors in the detection results of the leg force, the possibility of rollover accidents exists in the operation process of the crane, and the safety of the crane is not ensured.
Disclosure of Invention
The invention aims to provide a method for measuring the stress of a supporting leg of a crane, which can effectively improve the stress detection accuracy of the supporting leg of the crane, prevent the crane from tipping accidents and improve the safety of the crane.
The embodiment of the invention is realized by the following steps:
the embodiment of the invention provides a method for measuring stress of supporting legs of a crane, wherein the crane comprises operation equipment and a plurality of supporting legs for supporting the operation equipment, each supporting leg is respectively provided with an angle sensor and a force sensor, and the method for measuring the stress of the supporting legs of the crane comprises the following steps: respectively acquiring an angle signal of an angle sensor corresponding to each support leg and a pressure signal of a force sensor; and correspondingly calculating the vertical stress of each supporting leg according to the angle signal of the angle sensor of each supporting leg and the pressure signal of the force sensor.
Optionally, the support legs include support leg oil cylinders, and after the vertical stress of each support leg is correspondingly calculated according to the angle signal of the angle sensor of each support leg, the method for measuring the stress of the support legs of the crane further includes: and correspondingly adjusting the telescopic amount of the supporting leg oil cylinder of each supporting leg according to the vertical stress of each supporting leg.
Optionally, the landing leg has and predetermines the atress scope, and according to perpendicular atress, the flexible volume that corresponds regulation landing leg hydro-cylinder includes: respectively comparing the vertical stress of each support leg obtained by calculation with a preset stress range; when the vertical stress of the supporting leg exceeds the preset stress range, the telescopic amount of the supporting leg oil cylinder of the supporting leg is correspondingly adjusted.
Optionally, when the vertical force of the supporting leg exceeds the preset force range, the corresponding telescopic amount of the supporting leg cylinder for adjusting the supporting leg comprises: if the vertical stress of the supporting leg is smaller than the preset stress range, the supporting leg oil cylinder of the supporting leg is adjusted to extend out; and if the vertical stress of the supporting leg is larger than the preset stress range, adjusting the supporting leg oil cylinder of the supporting leg to retract.
Optionally, correspondingly calculating the vertical force of each leg according to the angle signal of the angle sensor of each leg respectively includes: the perpendicularity of the supporting legs is obtained according to the angle signal of the angle sensor of each supporting leg; and calculating the vertical stress of each supporting leg according to the verticality and the pressure signal corresponding to the supporting leg.
Optionally, the support leg includes an upright support leg, the angle sensor and the force sensor are respectively disposed on the upright support leg, and obtaining the perpendicularity of the support leg according to an angle signal of the angle sensor of each support leg includes: respectively acquiring an angle signal of an angle sensor of each vertical supporting leg, and calculating an angle cosine value corresponding to the angle signal of each vertical supporting leg; and taking the angle cosine value as the verticality of the vertical supporting leg.
Calculating the vertical stress of each support leg according to the verticality and the pressure signal corresponding to the support leg comprises the following steps: and calculating the vertical stress of each vertical supporting leg according to the formula Fy = F multiplied by cosA, wherein Fy is the vertical stress of one vertical supporting leg, F is a pressure signal, and cosA is the verticality.
Optionally, the support legs include mutually connected vertical support legs and horizontal support legs, the vertical support legs and the horizontal support legs are vertically arranged, the angle sensor and the force sensor are respectively arranged on the vertical support legs, and obtaining the verticality of the support legs according to the angle signal of the angle sensor of each support leg comprises: respectively acquiring an angle signal of an angle sensor of each vertical supporting leg, and calculating an angle cosine value corresponding to the angle signal of each vertical supporting leg; and obtaining the verticality of the vertical supporting leg according to the angle cosine value.
Optionally, the crane further includes a warning device, and the method for measuring the stress of the support leg of the crane further includes:
and controlling the warning device according to the vertical stress.
The embodiment of the invention has the beneficial effects that:
the embodiment of the invention provides a method for measuring the stress of the supporting legs of a crane, wherein the crane comprises operation equipment and a plurality of supporting legs for supporting the operation equipment, an angle sensor and a force sensor are respectively arranged on each supporting leg, a controller respectively acquires an angle signal of the angle sensor corresponding to each supporting leg and a pressure signal of the force sensor through the angle sensor and the force sensor, then the controller respectively calculates the vertical stress of each supporting leg according to the angle signal of the angle sensor of each supporting leg, so that whether the bottom surface where the crane operates is flat or not and whether each supporting leg is in a vertical state or not are not considered, the vertical stress of each supporting leg can be obtained through the method, the accuracy of monitoring the force of each supporting leg by the crane in the operation process is effectively improved, if the vertical stress of the supporting leg of any supporting leg exceeds a preset stress range, the telescopic amount of the corresponding supporting legs can be adjusted or the operator is reminded of emergency stop to prevent the possibility that the crane is overturned, so that the safety of the crane is further ensured.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
FIG. 1 is a schematic structural diagram of a support leg of a crane according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a crane according to an embodiment of the present invention in a state where a leg of the crane is inclined;
FIG. 3 is a second schematic structural view of a support leg of a crane according to an embodiment of the present invention;
FIG. 4 is a third schematic structural view of a support leg of a crane according to an embodiment of the present invention;
FIG. 5 is a second schematic structural view illustrating a tilted state of a leg of a crane according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of a force analysis of the inclination state of the outrigger of the crane according to the embodiment of the present invention;
FIG. 7 is a flow chart of the vertical stress of the calculation leg of the crane according to the embodiment of the invention;
FIG. 8 is a flow chart of the embodiment of the invention for adjusting the telescopic amount of the oil cylinder of the supporting leg according to the vertical stress of the supporting leg;
FIG. 9 is a flow chart of the crane for correspondingly adjusting the telescopic amount of the support oil cylinder according to the embodiment of the invention;
FIG. 10 is a flow chart of calculating the vertical stress of the corresponding support leg according to the verticality of the crane according to the embodiment of the invention;
fig. 11 is a flowchart for calculating vertical stress of an upright leg of a crane according to an embodiment of the present invention.
Icon: 100-support legs; 112-a force sensor; 113-an angle sensor; 114-a second leg tray; 120-horizontal leg support; 130-upright legs; 131-erecting an oil cylinder; 132-first leg tray.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that: the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," "outer," and the like are used in an orientation or positional relationship indicated based on the orientation or positional relationship shown in the drawings, or as would be customary when the product is used, and are used merely to facilitate the description and simplify the description, rather than to indicate or imply that the device or element so referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be considered as limiting the invention. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In one aspect of the embodiments of the present invention, a method for measuring stress of a outrigger 100 of a crane is provided, where the crane includes a work device and a plurality of outriggers 100 for supporting the work device, and an angle sensor 113 and a force sensor 112 are respectively disposed on each of the outriggers 100.
For example, referring to fig. 1, in which fig. 1 is a schematic structural diagram of a leg 100 of a crane provided in the present invention, the leg 100 includes an upright leg 130, and an angle sensor 113 and a force sensor 112 are respectively disposed on the upright leg 130.
For example, referring to fig. 3, in which fig. 3 is a second schematic structural diagram of a leg 100 of a crane according to an embodiment of the present invention, the leg 100 further includes a horizontal leg 120 connected to an upright leg 130, the upright leg 130 and the horizontal leg 120 are vertically disposed, and an angle sensor 113 and a force sensor 112 are respectively disposed on the upright leg 130.
Fig. 7 is a flowchart for calculating the vertical stress of the outrigger 100 according to an embodiment of the present invention, referring to fig. 7, a method for measuring the stress of the outrigger 100 of the crane includes:
and S10, respectively acquiring an angle signal of the angle sensor corresponding to each support leg and a pressure signal of the force sensor.
And S20, correspondingly calculating the vertical stress of each supporting leg according to the angle signal of the angle sensor of each supporting leg and the pressure signal of the force sensor.
The crane further comprises a controller electrically connected to the angle sensor 113 and the force sensor 112, respectively.
The angle sensor 113 monitors a deflection angle of the corresponding leg 100 during crane operation, where the deflection angle is an included angle between the extending direction of the corresponding leg 100 and the vertical direction, or an included angle between the extending direction of the corresponding leg 100 and the gravity direction of the leg 100. When the deflection angle is greater than 0 or less than 0, it indicates that the pressure monitored by the force sensor 112 on the leg 100 is not the vertical force of the corresponding leg 100, and the monitoring result has an error, in order to eliminate the error, the angle sensor 113 is additionally arranged, and the vertical force of the corresponding leg 100 is calculated according to the pressure monitored by the force sensor 112 and the angle monitored by the angle sensor 113.
Specifically, referring to fig. 2, for example, the deflection angle is a, that is, the angle signal obtained by the angle sensor 113 is a, and referring to fig. 6, the pressure signal obtained by the force sensor 112 is F, it is obvious that when the angle signal is a, the vertical force applied to the corresponding leg 100 is not F, but is divided into F and FThe vertical force of the corresponding leg 100 is Fy, that is: fy = F × cosA, from which the vertical force of the corresponding leg 100 can be calculated. By calculating the vertical force of each leg 100, the integrated leg force of the plurality of legs 100 can be calculated. For example, the crane has a total of 4 support legs 100, the vertical stress of each support leg 100 is calculated by the above method, and then the vertical stresses of the 4 support legs 100 are sequentially added to obtain the comprehensive support leg force of the crane, so that the operation equipment can be protected and prevented from tipping, and the working conditions can be selected according to the obtained comprehensive support leg force, for example, the weight of the counterweight, whether the crane is provided with the super-lift device, the number of the auxiliary arms and the like can be checked according to the total weight of the operation equipment and the comprehensive support leg force, wherein the auxiliary arm is a selective installation device in the crane, and the lifting height of the crane can be increased through the auxiliary arm. In addition, calculation of the suspended weight in the moment limiter and moment control can be realized, wherein the moment limiter is a crane safety protection device, corresponding moment is calculated by taking a boom rotating shaft of the crane as a center, the moment comprises a tipping moment and a counter tipping moment, and when the counter tipping moment is larger than the tipping moment, the crane is stable. Specifically, the total weight W of the crane is calculated according to the comprehensive supporting leg force before hoisting0And during hoisting, calculating the total weight W of the crane according to the comprehensive leg force1Weight of hoisting material W = W1-W0And the comprehensive supporting leg force is the vertical stress of each supporting leg, and in the existing calculation model, the obtained comprehensive supporting leg force is not the vertical stress of each supporting leg, so that the obtained weight of the hoisted object has certain error, and the weight of the hoisted object calculated by the embodiment is more accurate than that of the hoisted object obtained by the existing calculation model, so that the moment control of the crane can be realized, and the safety operation of the crane is further protected.
In addition, the crane includes a plurality of legs 100, wherein the plurality is generally 4, 5, 6, 8, etc., and is not limited herein.
The embodiment of the invention provides a method for measuring the stress of a supporting leg 100 of a crane, wherein the crane comprises a working device and a plurality of supporting legs 100 for supporting the working device, an angle sensor 113 and a force sensor 112 are respectively arranged on each supporting leg 100, a controller respectively acquires an angle signal of the angle sensor 113 and a pressure signal of the force sensor 112 corresponding to each supporting leg 100 through the angle sensor 113 and the force sensor 112, then the controller correspondingly calculates the vertical stress of each supporting leg 100 according to the angle signal of the angle sensor 113 of each supporting leg 100, whether each supporting leg 100 is in a vertical state or not, and the angle sensor 113 corrects the angle data and the pressure data acquired by the force sensor 112 to realize the calculation of the force of one supporting leg 100. By the aid of the method, the vertical stress of each supporting leg 100 can be obtained, the accuracy of monitoring the stress of each supporting leg in the operation process of the crane is effectively improved, and if the vertical stress of any supporting leg 100 exceeds a preset stress range, the crane can be prevented from tipping over by adjusting the telescopic amount of the corresponding supporting leg 100 or reminding an operator of emergency stop, so that the safety of the crane is further ensured. Optionally, in this embodiment, the support leg 100 includes a support leg cylinder.
Fig. 8 is a flowchart of adjusting the telescopic amount of the leg cylinder according to the vertical stress of the leg 100 according to the embodiment of the present invention, referring to fig. 8, after calculating the vertical stress of each leg according to the angle signal of the angle sensor of each leg and the pressure signal of the force sensor, respectively, at S20, the method for measuring the stress of the leg of the crane further includes:
and S30, correspondingly adjusting the telescopic amount of the support leg oil cylinder of the support leg according to the vertical stress of each support leg.
The support oil cylinder is electrically connected with the controller, and the controller can control the movable rod of the support oil cylinder to extend or retract so as to control the extension or the shortening of the corresponding support 100.
According to the angle signal obtained by the angle sensor 113 and the pressure signal obtained by the force sensor 112, if the calculated vertical stress of the corresponding supporting leg 100 exceeds the preset stress range of the corresponding supporting leg 100, the controller controls the oil cylinder to act, so that the stability of the operation equipment is ensured as much as possible, and the possibility of the crane tipping is avoided.
Fig. 9 is a flowchart of correspondingly adjusting the telescopic amount of the leg oil cylinder according to the embodiment of the present invention, referring to fig. 9, optionally, the leg 100 has a preset stress range, and S30, where, according to the vertical stress, correspondingly adjusting the telescopic amount of the leg oil cylinder includes:
and S31, comparing the calculated vertical stress of each support leg with a preset stress range.
And S32, correspondingly adjusting the telescopic amount of the supporting leg oil cylinder of the supporting leg when the vertical stress of the supporting leg exceeds the preset stress range.
Illustratively, if the calculated vertical stress of one supporting leg 100 is smaller than the preset stress range, the controller controls the movable rod of the supporting leg oil cylinder to extend out of the oil cylinder so as to prevent one side of the operating equipment corresponding to the supporting leg 100 from inclining and further cause the mechanical engineering to tip over, the controller controls the movable rod of the supporting leg oil cylinder to extend out, the stability of the operating equipment is ensured, the tipping over of the crane is prevented, and the safety of the crane is improved.
Illustratively, if the calculated vertical stress of one supporting leg 100 is larger than the preset stress range, the controller controls the movable rod of the supporting leg oil cylinder to retract into the oil cylinder so as to prevent one side of the operating equipment corresponding to the supporting leg 100 from inclining and further causing the mechanical engineering to tip over, the controller controls the movable rod of the supporting leg oil cylinder to retract, the stability of the operating equipment is ensured, the crane is prevented from tipping over, and the safety of the crane is improved.
Optionally, when the vertical force of the supporting leg 100 exceeds the preset force range, the corresponding adjustment of the telescopic amount of the supporting leg cylinder of the supporting leg 100 includes: if the vertical stress of the supporting leg 100 is smaller than the preset stress range, adjusting the supporting leg oil cylinder of the supporting leg 100 to stretch out; and if the vertical stress of the supporting leg 100 is larger than the preset stress range, adjusting the supporting leg oil cylinder of the supporting leg 100 to retract.
It should be noted that the extension of the leg cylinder means that the movable rod of the leg cylinder extends, and the specific extension is correspondingly adjusted according to the vertical stress of the leg 100. The retraction of the supporting leg oil cylinder refers to the retraction of a movable rod of the supporting leg oil cylinder, and the specific retraction value is correspondingly adjusted according to the vertical stress of the supporting leg 100.
Fig. 10 is a flowchart of calculating a vertical force of the corresponding leg 100 according to a verticality according to an embodiment of the present invention, referring to fig. 10, optionally, the step of calculating the vertical force of each leg according to the angle signal of the angle sensor of each leg in S20 includes:
and S21, obtaining the perpendicularity of the support legs according to the angle signals of the angle sensor of each support leg.
And S22, calculating the vertical stress of each supporting leg according to the verticality and the corresponding pressure signal of the supporting leg.
In the actual working environment of the crane, the horizontal oil cylinder is deformed or improperly supported, so that the landing leg 100 is inclined, that is, the extending direction of the landing leg 100 forms an angle with the vertical direction, which may cause the crane to tip over, and therefore it is necessary to determine the perpendicularity of the corresponding landing leg 100 according to the angle signals and the pressure signals obtained by the angle sensor 113 and the force sensor 112.
For example, referring to fig. 5, the deflection angle is a, that is, the angle signal obtained by the angle sensor 113 is a, referring to fig. 3 and fig. 6, the pressure signal obtained by the force sensor 112 is F, the vertical force Fy of the corresponding leg 100 is calculated according to the obtained angle signal a and the obtained pressure signal F, then the vertical force Fy is compared with the preset force range, and the controller controls the stretching amount of the leg cylinder according to the comparison result.
Referring to fig. 1, the leg 100 may optionally include an upright leg 130, and the angle sensor 113 and the force sensor 112 are respectively disposed on the upright leg 130. Fig. 11 is a flowchart of calculating the vertical force of the upright leg 130 according to the embodiment of the present invention, please refer to fig. 11, S21, where the obtaining the perpendicularity of the leg according to the angle signal of the angle sensor of each leg includes:
s211, respectively acquiring an angle signal of the angle sensor of each vertical supporting leg, and calculating an angle cosine value corresponding to the angle signal of each vertical supporting leg.
And S212, taking the angle cosine value as the verticality of the vertical supporting leg.
Illustratively, referring to fig. 1, the standing leg 130 includes a standing cylinder 131 and a first leg plate 132, a cylinder body of the standing cylinder 131 is fixedly connected to the working equipment, and an end of the movable rod is connected to the first leg plate 132, wherein the angle sensor 113 and the force sensor 112 are respectively disposed between the standing cylinder 131 and the first leg plate 132, the first leg plate 132 is configured to abut against the ground, the standing cylinder 131 is electrically connected to the controller, and the controller controls the expansion and contraction amount of the standing cylinder 131 according to the pressure signal and the angle signal.
Referring to fig. 3, the leg 100 may alternatively include an upright leg 130 and a horizontal leg 120 connected to each other, the upright leg 130 and the horizontal leg 120 are vertically disposed, and the angle sensor 113 and the force sensor 112 are respectively disposed on the upright leg 130. The step of obtaining the perpendicularity of the support legs according to the angle signals of the angle sensors of each support leg comprises the following steps:
and respectively acquiring an angle signal of the angle sensor of each vertical supporting leg, and calculating an angle cosine value corresponding to the angle signal of each vertical supporting leg.
And taking the angle cosine value as the verticality of the vertical supporting leg.
Illustratively, referring to fig. 3, the support leg 100 includes an upright support leg 130 and a horizontal support leg 120, wherein the upright support leg 130 includes an upright cylinder 131 and a second support leg plate 114 connected to an end of a movable rod of the upright cylinder 131, a cylinder body of the upright cylinder 131 is fixed and vertically connected to one end of the horizontal support leg 120, the other end of the horizontal support leg 120 is connected to a working device, an angle sensor 113 and a force sensor 112 are respectively disposed between the upright cylinder 131 and the second support leg plate 114 of the upright support leg 130, the upright cylinder 131 is electrically connected to a controller, and the controller controls the expansion and contraction amount of the upright cylinder 131 according to a pressure signal and an angle signal.
Calculating the vertical force of each leg 100 according to the verticality and the pressure signal corresponding to the leg 100 comprises: the vertical force of each vertical leg 130 is calculated according to the formula Fy = F × cosA, where Fy is the vertical force of one vertical leg 130, F is the pressure signal, and cosA is the verticality.
Referring to fig. 3 and fig. 6, for example, the deflection angle is a, that is, the angle signal obtained by the angle sensor 113 is a, the pressure signal obtained by the force sensor 112 is F, the force analysis is performed on F, the vertical force applied to the corresponding upright leg 130 is Fy, that is, Fy = F × cosA, that is, the angle signal is obtained, and the vertical force applied to the corresponding upright leg 130 is calculated by combining the pressure signal.
Alternatively, referring to fig. 4, the leg 100 includes an upright leg 130 and a horizontal leg 120 connected to each other, and the upright leg 130 and the horizontal leg 120 are vertically disposed, the angle sensor 113 is disposed on the horizontal leg 120, and the force sensor 112 is disposed on the upright leg 130.
First, the angle signal of the angle sensor 113 of each horizontal leg 120 is acquired, and the first angle cosine value corresponding to the angle signal of each vertical leg 130 is calculated by combining the vertical relationship between the horizontal leg 120 and the vertical leg 130.
Then, the perpendicularity of the erected leg 130 is calculated based on the first angle cosine value.
Finally, the vertical force of the corresponding leg 100 is calculated according to the verticality of the upright leg 130.
Optionally, the crane further comprises a warning device, and the method for measuring the stress of the support leg 100 of the crane further comprises:
and controlling the warning device according to the vertical stress.
Specifically, different warning signals are provided according to different warning devices, and the following are three warning devices in the present embodiment.
Optionally, the first warning device comprises an alarm electrically connected to the controller, and the alarm is controlled to warn when the vertical force applied to the leg 100 exceeds a preset force range.
Optionally, the second warning device includes an alarm and an indicator light electrically connected to the controller, wherein the alarm is disposed on the working device, the indicator light is disposed on each of the support legs 100, when the vertical force applied to the support leg 100 exceeds the preset force range, the controller controls the alarm to warn, and at the same time, the indicator light on the support leg 100 corresponding to the vertical force applied to the support leg 100 exceeding the preset force range flashes to prompt.
Optionally, the third warning device includes an alarm, an indicator light and an emergency switch electrically connected to the controller, where the alarm and the emergency switch are respectively disposed on the operation device, the indicator light is disposed on each of the support legs 100, when the vertical stress on the support leg 100 exceeds the preset stress range, the controller controls the alarm to warn, and at the same time, the indicator light on the support leg 100 corresponding to the vertical stress on the support leg 100 exceeding the preset stress range flashes to prompt, and the controller controls the emergency switch to turn off, so that the crane stops operating.
The warning device is not limited to the above three types.
In another aspect of the embodiments of the present invention, there is provided a crane, including: the working device comprises a plurality of support legs 100 for supporting the working device, an angle sensor 113 and a force sensor 112 are respectively arranged on each support leg 100, and a controller electrically connected with each angle sensor 113 and each force sensor 112.
The crane includes a plurality of legs 100, wherein the plurality is generally 4, 5, 6, 8, etc., and is not limited herein.
Optionally, the leg 100 includes a leg cylinder, which is electrically connected to the controller.
The leg cylinders are electrically connected to a controller, and the controller can control the movable rods of the leg cylinders to extend or retract, so as to control the extension or contraction of the corresponding legs 100.
Referring to fig. 1, the leg 100 may optionally include an upright leg 130, and the angle sensor 113 and the force sensor 112 are respectively disposed on the upright leg 130.
Referring to fig. 1, the upright support 130 includes an upright cylinder 131 and a first support plate 132, a cylinder body of the upright cylinder 131 is fixedly connected to the working equipment, and an end of the movable rod is connected to the first support plate 132, wherein the angle sensor 113 and the force sensor 112 are respectively disposed between the upright cylinder 131 and the first support plate 132, the first support plate 132 is used for abutting against the ground, the upright cylinder 131 is electrically connected to the controller, and the controller controls the expansion amount of the upright cylinder 131 according to the pressure signal and the angle signal.
Referring to fig. 3, the leg 100 may alternatively include an upright leg 130 and a horizontal leg 120 connected to each other, the upright leg 130 and the horizontal leg 120 are vertically disposed, and the angle sensor 113 and the force sensor 112 are respectively disposed on the upright leg 130.
Referring to fig. 3, the support leg 100 includes an upright support leg 130 and a horizontal support leg 120, wherein the upright support leg 130 includes an upright cylinder 131 and a second support leg plate 114 connected to an end of a movable rod of the upright cylinder 131, a cylinder body of the upright cylinder 131 is fixed and vertically connected to one end of the horizontal support leg 120, the other end of the horizontal support leg 120 is connected to a working device, an angle sensor 113 and a force sensor 112 are respectively disposed between the upright cylinder 131 and the second support leg plate 114 of the upright support leg 130, the upright cylinder 131 is electrically connected to a controller, and the controller controls the expansion amount of the upright cylinder 131 according to a pressure signal and an angle signal.
Optionally, in this embodiment, the crane further includes a warning device, and the warning device is electrically connected to the controller.
The warning device may be various, for example, the warning device includes an alarm electrically connected to the controller, or the warning device includes an alarm and an indicator light electrically connected to the controller, respectively, wherein the alarm is provided on the working equipment, and the indicator light is provided on each of the legs 100, or the warning device includes an alarm, an indicator light and an emergency switch electrically connected to the controller, respectively, wherein the alarm and the emergency switch are provided on the working equipment, and the indicator light is provided on each of the legs 100.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (7)
1. A method for measuring a stress on a leg of a crane, the crane including a work machine and a plurality of legs for supporting the work machine, each of the legs having an angle sensor and a force sensor provided thereon, the method comprising:
respectively acquiring an angle signal of an angle sensor corresponding to each support leg and a pressure signal of a force sensor;
and correspondingly calculating the vertical stress of each supporting leg according to the angle signal of the angle sensor of each supporting leg and the pressure signal of the force sensor.
2. The method of claim 1, wherein the legs comprise leg cylinders, and after the calculating the vertical force of each leg according to the angle signal of the angle sensor of each leg and the pressure signal of the force sensor, respectively, the method further comprises:
and correspondingly adjusting the telescopic amount of the supporting leg oil cylinder of each supporting leg according to the vertical stress of each supporting leg.
3. The method of claim 2, wherein the supporting legs have a preset stress range, and the correspondingly adjusting the telescopic amount of the supporting leg oil cylinders of the supporting legs according to the vertical stress of each supporting leg comprises:
respectively comparing the vertical stress of each support leg obtained by calculation with the preset stress range;
and when the vertical stress of the supporting leg exceeds the preset stress range, correspondingly adjusting the telescopic amount of the supporting leg oil cylinder of the supporting leg.
4. The method of claim 3, wherein when the vertical force of the leg exceeds the preset force range, correspondingly adjusting the extension amount of the leg cylinder of the leg comprises:
if the vertical stress of the supporting leg is smaller than the preset stress range, adjusting the supporting leg oil cylinder of the supporting leg to extend out;
and if the vertical stress of the supporting leg is larger than the preset stress range, adjusting the supporting leg oil cylinder of the supporting leg to retract.
5. The method of claim 1, wherein the correspondingly calculating the vertical force of each of the legs according to the angle signal of the angle sensor of each of the legs comprises:
obtaining the perpendicularity of the supporting legs according to the angle signal of the angle sensor of each supporting leg;
and calculating the vertical stress of each supporting leg according to the verticality and the pressure signal corresponding to the supporting leg.
6. The method of claim 5, wherein the legs comprise an upright leg and a horizontal leg connected to each other, and the upright leg and the horizontal leg are vertically disposed, the angle sensor and the force sensor are respectively disposed on the upright leg, and the obtaining the perpendicularity of the legs according to the angle signals of the angle sensor of each of the legs comprises:
respectively acquiring an angle signal of an angle sensor of each upright supporting leg, and calculating an angle cosine value corresponding to the angle signal of each upright supporting leg;
and taking the angle cosine value as the verticality of the vertical supporting leg.
7. The method of claim 6, wherein said calculating a vertical force of each of said legs from said verticality in combination with a corresponding pressure signal of said leg comprises:
and calculating the vertical stress of each vertical supporting leg according to the formula Fy = F multiplied by cosA, wherein Fy is the vertical stress of one vertical supporting leg, F is the pressure signal, and cosA is the verticality.
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