CN112209242A - Angle measuring method and device for no-load suspension arm and engineering machinery - Google Patents
Angle measuring method and device for no-load suspension arm and engineering machinery Download PDFInfo
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- CN112209242A CN112209242A CN201910631458.XA CN201910631458A CN112209242A CN 112209242 A CN112209242 A CN 112209242A CN 201910631458 A CN201910631458 A CN 201910631458A CN 112209242 A CN112209242 A CN 112209242A
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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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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/22—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring angles or tapers; for testing the alignment of axes
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Abstract
The invention relates to the technical field of cranes, and discloses an angle measuring method and device for a suspension arm in no-load, a calculating method and device for determining a difference value between an actual working amplitude and a theoretical working amplitude of the suspension arm in no-load, an engineering machine and a machine readable storage medium. The angle measuring method for the suspension arm in the no-load state comprises the following steps: fully retracting the suspension arm to a basic arm, and enabling an included angle between a root tangent line of the suspension arm and a horizontal plane to be a preset angle; controlling the suspension arm to elongate by the preset elongation until the suspension arm is extended to the maximum length, wherein the following steps are executed for each preset elongation: making an included angle between a root tangent line of the suspension arm and a horizontal plane be a preset angle; respectively measuring the length of the suspension arm as L0+ jx is the angle between the tangent and the horizontal plane. The invention can measure the included angle between the tangent lines of different length sections on the suspension arms with different lengths and the horizontal plane, and can calculate the idle load of the suspension arms under the condition that the root tangent line of the suspension arm forms any included angle with the horizontal planeIs different from the theoretical operating amplitude.
Description
Technical Field
The invention relates to the technical field of cranes, in particular to an angle measuring method and device for a suspension arm in no-load, a calculating method and device for determining a difference value between an actual working amplitude and a theoretical working amplitude of the suspension arm in no-load, an engineering machine and a machine readable storage medium.
Background
With the development of the technology, the performance of the crane is gradually improved, and the lengthening of the crane boom is an important performance of performance improvement. However, in actual use, the suspension arm has certain flexible deformation, and the longer the suspension arm, the larger the bending deformation caused by the suspension arm. The bending deformation of the suspension arm brings difficulty to the calculation of the amplitude of the crane. The amplitude influences the calculation precision of the moment limiter of the crane safety control device and simultaneously influences the display of a rated hoisting weight meter of the moment limiter. Therefore, accurate calculation of the crane amplitude is crucial to the safety of the crane.
The following two methods for calculating the amplitude are mostly adopted in the prior art. Referring to fig. 1, fig. 1 is a schematic diagram illustrating a first method of amplitude calculation according to the present invention, as shown in fig. 1, the first method is to use an angle sensor to detect an angle a1 between a tangent line at the bottom of a boom and a horizontal plane, and to perform calibration in combination with a load and a test curve. And (3) using a formula R which is L multiplied by cos (A1) multiplied by rate, wherein L is the extending length of the suspension arm, rate is a correction coefficient, comparing the parameters such as the actual arm length and the load with the experimental storage parameters, and inquiring the parameters close to the parameters to obtain the values. Referring to fig. 2, fig. 2 is a schematic diagram illustrating a second amplitude calculation method according to the present invention, and as shown in fig. 2, the second method is implemented by adding a second angle sensor to the first method, the second angle sensor is disposed at the head of the boom and is used for measuring a second included angle a2 between a tangent of the head of the boom and the horizontal plane; and (3) taking the bent suspension arm as an arc to calculate the amplitude of the suspension arm, and using a formula:
wherein, L is the extension length of the suspension arm, A1 is the angle between the tangent line of the bottom of the suspension arm and the horizontal plane, and A2 is the included angle between the tangent line of the head and the horizontal plane.
The first suspension arm amplitude calculation method needs a plurality of experimental working conditions, and acquires a large amount of data to fit to obtain a correction coefficient rate; if a large amount of experimental data are collected, the experimental time is prolonged, and the cost is increased.
The second method for calculating the amplitude of the suspension arm needs to add an angle sensor, the deformation of the suspension arm is not a complete circular arc, and certain errors exist in calculation.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides an angle measuring method and device for the no-load state of a suspension arm, a calculating method and device for determining the difference value between the actual working amplitude and the theoretical working amplitude of the suspension arm in the no-load state, engineering machinery and a machine readable storage medium, and can solve the technical problems of large calculation workload and errors of the suspension arm in the prior art.
The invention provides an angle measuring method for a suspension arm in an idle state in a first aspect, which comprises the following steps:
fully retracting the suspension arm to a basic arm, and enabling an included angle between a root tangent line of the suspension arm and a horizontal plane to be a preset angle;
controlling the suspension arm to elongate by a preset elongation until the suspension arm is extended to a maximum length, wherein the following steps are performed for each elongation of the preset elongation:
enabling the included angle between the root tangent line of the suspension arm and the horizontal plane to be the preset angle;
respectively measuring the length of the suspension arm as L0+ jx is the angle between the tangent and the horizontal, where L0And the length of the basic arm is shown, x is the preset elongation, j is a positive integer from 1 to n, and n is the number of times of extending the preset elongation from the basic arm.
Optionally, the following steps are further performed for each preset elongation:
recording the measured boom length as L0+ jx is the angle between the tangent and the horizontal plane.
The second aspect of the present invention provides a calculation method for determining a difference value between an actual working amplitude and a theoretical working amplitude when a boom is in an idle state, wherein the method comprises:
the included angle between the root tangent line of the suspension arm and the horizontal plane is a first preset angle alpha0And the suspension arm is extended to a preset lengthUnder the condition, the length of the suspension arm is respectively obtained as L according to the method0+ ix is the first included angle between the tangent and the horizontal plane;
calculating a third difference value between the actual working amplitude and the theoretical working amplitude of the suspension arm in no-load according to the first included angle
The included angle between the root tangent line of the suspension arm and the horizontal plane is a second preset angle beta0And respectively acquiring the length L of the suspension arm according to the method under the condition that the suspension arm extends to the preset length0+ ix is the second angle between the tangent and the horizontal plane;
calculating a fourth difference value between the actual working amplitude and the theoretical working amplitude of the suspension arm in no-load according to the second included angle
According to the first preset angle alpha0The third difference value
The second preset angle beta0The fourth difference value
Determining a calculation method of a difference value between the actual working amplitude and the theoretical working amplitude when the suspension arm is in no-load;
wherein L is1＝L0+ mx + k, m, k each represents (L)1-L0) Dividing the sum of quotient and remainder by x, wherein x is the preset elongation of the suspension arm, i is an integer from 1 to m, and L is0Is the basic arm length, L, of the suspension arm1Is the preset length.
Alternatively to this, the first and second parts may,
obtained according to the following formula:
wherein alpha isiIs L under the condition that the length of the suspension arm is extended to the preset length0+ angle between tangent at ix and horizontal plane, βiIs L under the condition that the length of the suspension arm is extended to the preset length0The angle between the tangent at + ix and the horizontal plane.
Optionally, according to the first fixed angle α0The third difference value
The second fixed angle beta0The fourth difference value
The calculation method for determining the difference value between the actual working amplitude and the theoretical working amplitude when the suspension arm is in no-load comprises the following steps:
calculating the difference value between the actual working amplitude and the theoretical working amplitude when the suspension arm is in no load according to the following formula:
deltR is the difference value between the actual working amplitude and the theoretical working amplitude when the suspension arm is in no-load, and alpha is the included angle between the root tangent line of the suspension arm and the horizontal plane when the suspension arm is extended to the preset length.
A third aspect of the invention provides an angle measuring device for use when a boom is empty, the device comprising: the device comprises a suspension arm telescopic module, an angle control module and an angle measuring module;
the suspension arm telescopic module is used for fully retracting the suspension arm to a basic arm, and the angle control module is used for enabling an included angle between a root tangent line of the suspension arm and a horizontal plane to be a preset angle;
the suspension arm stretching module is further used for controlling the suspension arm to stretch by a preset stretching amount until the suspension arm stretches to the maximum length, and when the suspension arm stretches by the preset stretching amount, the angle control module enables an included angle between a root tangent line of the suspension arm and the horizontal plane to be the preset angle;
the angle measurement module is used for respectively measuring the lengths of the suspension arms to be L0+ ix the angle between the tangent and the horizontal plane, where L0And the length of the basic arm is shown, x is the preset elongation, i is a positive integer from 1 to n, and n is the number of times of extending the preset elongation from the basic arm.
Optionally, the device further includes an angle recording module, the length of the boom is L when the boom extends by the preset extension amount, and the angle recording module is configured to record the measured length of the boom as L0+ jx is the angle between the tangent and the horizontal plane.
A fourth aspect of the present invention provides a calculation apparatus for determining a difference between an actual working amplitude and a theoretical working amplitude when a boom is empty, the apparatus comprising:
a first included angle acquisition module for setting the included angle between the root tangent of the suspension arm and the horizontal plane as a first preset angle alpha0And under the condition that the suspension arm extends to the preset length, respectively acquiring the length L of the suspension arm according to the device0+ ix is the first included angle between the tangent and the horizontal plane;
a third difference value calculating module for calculating a third difference value between the actual working amplitude and the theoretical working amplitude of the suspension arm in no-load according to the first included angle
A second included angle acquisition module for acquiring a second included angle between the root tangent of the suspension arm and the horizontal planePreset angle beta0And under the condition that the suspension arm extends to the preset length, the length of the suspension arm is respectively obtained to be L according to the device0+ ix is the second angle between the tangent and the horizontal plane;
a fourth difference value calculating module for calculating a fourth difference value between the actual working amplitude and the theoretical working amplitude of the suspension arm in no-load according to the second included angle
A calculation method determination module for determining the first fixed angle alpha0The third difference value
The second fixed angle beta0The fourth difference value
Determining a calculation method of a difference value between the actual working amplitude and the theoretical working amplitude when the suspension arm is in no-load;
wherein L is1＝L0+ mx + k, m, k each represents (L)1-L0) Dividing the sum of quotient and remainder by x, wherein x is the preset elongation of the suspension arm, i is an integer from 1 to m, and L is0Is the basic arm length, L, of the suspension arm1Is the preset length.
Alternatively to this, the first and second parts may,
obtained according to the following formula:
wherein alpha isiIs L under the condition that the length of the suspension arm is extended to the preset length0+ angle between tangent at ix and horizontal plane, βiIs L under the condition that the length of the suspension arm is extended to the preset length0The angle between the tangent at + ix and the horizontal plane.
Optionally, the calculation method determination module includes:
calculating the difference value between the actual working amplitude and the theoretical working amplitude when the suspension arm is in no load according to the following formula:
deltR is the difference value between the actual working amplitude and the theoretical working amplitude when the suspension arm is in no-load, and alpha is the included angle between the root tangent line of the suspension arm and the horizontal plane when the suspension arm is extended to the preset length.
A fifth aspect of the present invention provides a construction machine, including the above-mentioned angle measuring device for an unloaded suspension arm and the above-mentioned calculating device for determining a difference between an actual working amplitude and a theoretical working amplitude of the unloaded suspension arm.
A sixth aspect of the invention provides a machine-readable storage medium having stored thereon instructions for enabling the machine-readable storage medium to execute the method for measuring an angle when a boom is empty as described above and the method for calculating a difference between an actual working amplitude and a theoretical working amplitude when the boom is empty as described above.
The invention discloses an angle measuring method and device used when a suspension arm is in no-load, a calculating method and device used for determining the difference value between the actual working amplitude and the theoretical working amplitude when the suspension arm is in no-load, and a readable storage medium of engineering machinery and a machine.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a schematic diagram illustrating a first method for calculating amplitude of a boom according to the present invention;
FIG. 2 is a schematic diagram illustrating a second method for calculating amplitude of a boom according to the present invention;
fig. 3 is a schematic flow chart of an angle measurement method for an unloaded suspension arm according to a first embodiment of the present invention;
fig. 4 is a schematic flow chart of a calculation method for determining a difference between an actual working amplitude and a theoretical working amplitude when a boom is unloaded according to a second embodiment of the present invention;
fig. 5 is a schematic structural diagram of an angle measuring device for an idling suspension arm according to a third embodiment of the present invention;
fig. 6 is a schematic structural diagram of a calculating device for determining a difference between an actual working amplitude and a theoretical working amplitude when a boom is unloaded according to a fourth embodiment of the present invention.
Fig. 7 is a schematic flow chart of a boom amplitude calculation method according to a fifth embodiment of the present invention;
fig. 8 is a schematic flow chart of a boom amplitude calculation method according to a sixth embodiment of the present invention;
FIG. 9 is a schematic diagram of a method for calculating amplitude of a boom according to a seventh embodiment of the present invention;
fig. 10 is a schematic structural diagram of a boom amplitude calculation apparatus according to an eighth embodiment of the present invention.
Detailed Description
In order to make the objects, features and advantages of the present invention more obvious and understandable, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making creative efforts based on the embodiments of the present invention, belong to the protection scope of the present invention.
The method and the device provided by the invention are applied to the crane and are used for calculating the actual working amplitude of the suspension arm of the crane. The suspension arm comprises a basic arm and a single-section or multi-section telescopic arm which is telescopic in the basic arm, and when the suspension arm is extended, the suspension arm can be deformed and bent due to dead weight and hanging weight. The application is to process the suspension arm structure into a straight line or a curve in an ideal mode.
Referring to fig. 3, fig. 3 is a schematic flow chart of an angle measuring method for an idling boom according to an embodiment of the present invention.
As shown in fig. 3, a first aspect of the present invention provides an angle measuring method for an unloaded boom, the method comprising:
and S10, fully retracting the suspension arm to the basic arm, and enabling the included angle between the root tangent line of the suspension arm and the horizontal plane to be a preset angle. Preferably, the minimum value of the arm length of the suspension arm is the arm length of the basic arm, and at the moment, the basic arm is not deformed and bent basically, so that the included angle between the root tangent line of the basic arm and the horizontal plane is the same as the included angle between the head tangent line of the basic arm and the horizontal plane, and the root and the head of the basic arm are two ends of the basic arm respectively. And no matter how long the suspension arm extends, the included angle between the tangent line of the head position of the basic arm on the suspension arm and the horizontal plane is the same as the included angle between the root tangent line of the suspension arm and the horizontal plane. Therefore, when the boom is extended, the angle between the tangent line of the length of the basic boom and the horizontal plane does not need to be measured. Preferably, the predetermined angle is selected from 0 to 90 degrees.
S20, controlling the suspension arm to stretch by the preset stretching amount until the suspension arm stretches to the maximum length, wherein the following steps are executed every time the suspension arm stretches to the preset stretching amount:
and S30, making the included angle between the root tangent line of the suspension arm and the horizontal plane be a preset angle. Because the center of gravity of the stretched suspension arm can be changed, the included angle between the root tangent line of the suspension arm and the horizontal plane is reduced, and therefore, in order to measure the included angles between the tangent lines at different positions and the horizontal plane on the suspension arms with different lengths under the condition that the included angles between the root tangent line of the suspension arm and the horizontal plane are the same, the included angles between the root tangent line of the suspension arm with different lengths and the horizontal plane need to be the included angles between the root tangent line of the basic arm and the horizontal plane. Namely, when the suspension arm is elongated each time, the included angle between the root tangent line of the suspension arm and the horizontal plane needs to be adjusted again.
S40, respectively measuring the length of the suspension arm as L0+ jx is the angle between the tangent and the horizontal, where L0Is the length of the basic arm, x is the preset elongation, j is a positive integer from 1 to n, and n is the number of times of extending the preset elongation from the basic arm. L is0+ nx is less than or equal to the maximum length.
Preferably, in order to facilitate manual measurement of the included angle between the tangent line of each length segment on the suspension arm and the horizontal plane, the preset angle may be set as small as possible, for example, 0 to 30 degrees, so that the included angle between the tangent line of each length segment on the suspension arm and the horizontal plane can be measured at a lower height. The crane can be driven to a low-lying position, and the included angle between the tangent line of each length section on the suspension arm and the horizontal plane can be measured on a high bank.
Further, the following steps are also performed per preset elongation at S20:
s50, recording the measured length of the suspension arm as L0+ jx is the angle between the tangent and the horizontal plane.
Preferably, the measured length of the suspension arm is L0The included angles between the tangent line at the position of + jx and the horizontal plane respectively correspond to the length of the suspension arm as L0+ jx and output in tabular form.
According to experience, when the suspension arm is in no-load state, the bending deformation of the suspension arm with the same length is basically unchanged under the condition that the included angle between the root tangent line of the suspension arm and the horizontal plane is different, and then the actual working amplitude and the theoretical working amplitude of the suspension arm in no-load state are both equal to the root tangent line of the suspension armRelative to the angle of the horizontal plane. For convenience of calculation, when the suspension arm is suspended, the gravity center change is ignored, and the bending deformation of the suspension arm with the same length can be regarded as basically unchanged under the condition that the included angle between the root tangent line of the suspension arm and the horizontal plane is different, so that the actual working amplitude and the theoretical working amplitude when the suspension arm is suspended are related to the included angle between the root tangent line of the suspension arm and the horizontal plane. Extending the suspension arm by a preset elongation by adopting the calculus idea, and measuring the length of the suspension arm to be L0And the included angle between the tangent line at the position + jx and the horizontal plane is equivalent to the included angle between the bottom tangent line of the preset elongation and the horizontal plane, and the actual working amplitude of the suspension arm can be obtained by accumulating according to the preset elongation, the included angle between the bottom tangent line of the preset elongation and the horizontal plane and the cosine theorem.
According to the method for measuring the angle of the suspension arm in the no-load state, when the included angle between the root tangent line of the suspension arm and the horizontal plane is not changed, the included angles between the tangent lines of different lengths of the suspension arms with different lengths and the horizontal plane are measured, and the actual working amplitude of the suspension arm in the no-load state can be obtained through cosine theorem calculation.
Referring to fig. 4, fig. 4 is a schematic flow chart of a calculation method for determining a difference between an actual working amplitude and a theoretical working amplitude when a boom is unloaded according to a second embodiment of the present invention.
As shown in fig. 4, a second aspect of the present invention provides a calculation method for determining a difference between an actual working amplitude and a theoretical working amplitude when a boom is unloaded, the method comprising:
s1000, forming a first preset angle alpha between the root tangent of the suspension arm and the horizontal plane0And under the condition that the suspension arm extends to the preset length, respectively obtaining the length L of the suspension arm according to the method0+ ix is the first angle of the tangent to the horizontal. It should be noted that the preset length is less than or equal to the maximum length of the boom.
S2000, calculating a third difference value between the actual working amplitude and the theoretical working amplitude of the suspension arm in no-load according to the first included angle
S3000, forming a second preset angle beta between the root tangent line of the suspension arm and the horizontal plane0And under the condition that the suspension arm extends to the preset length, respectively obtaining the length L of the suspension arm according to the method0+ ix is the second angle of the tangent to the horizontal.
S4000, calculating a fourth difference value between the actual working amplitude and the theoretical working amplitude of the suspension arm in no-load according to the second included angle
S5000, according to a first preset angle alpha0The third difference
Second predetermined angle beta0The fourth difference
And determining the difference value between the actual working amplitude and the theoretical working amplitude when the suspension arm is in no-load.
Wherein L is1＝L0+ mx + k, m, k each represents (L)1-L0) Dividing the sum of quotient by x to obtain the remainder, wherein x is the preset elongation of the suspension arm, i is an integer from 1 to m, and L is0Is the basic arm length, L, of the suspension arm1The method for measuring the angle of the suspension arm in the no-load state and the method for calculating the difference value between the actual working amplitude and the theoretical working amplitude of the suspension arm in the no-load state are both suitable for suspension arms with any length.
Further, the air conditioner is provided with a fan,
obtained according to the following formula:
wherein alpha isiIs L under the condition that the length of the suspension arm is extended to a preset length0+ angle between tangent at ix and horizontal plane, βiIs L under the condition that the length of the suspension arm is extended to a preset length0The angle between the tangent at + ix and the horizontal plane.
Further, according to the first fixed angle α in S50000The third difference
Second fixed angle beta0The fourth difference
The calculation method for determining the difference value between the actual working amplitude and the theoretical working amplitude when the suspension arm is in no-load comprises the following steps:
calculating the difference value between the actual working amplitude and the theoretical working amplitude when the suspension arm is in no load according to the following formula:
deltR is the difference value between the actual working amplitude and the theoretical working amplitude when the suspension arm is in no-load, and alpha is the included angle between the root tangent line of the suspension arm and the horizontal plane when the suspension arm is extended to the preset length.
The method for calculating the difference value between the actual working amplitude and the theoretical working amplitude when the suspension arm is in no-load provided by the invention is characterized in that when the included angle between the root tangent line of the suspension arm and the horizontal plane is not changed, the included angles between the tangent lines of different lengths of sections of different lengths of the suspension arm and the horizontal plane are measured, and the difference value between the actual working amplitude and the theoretical working amplitude when the suspension arm is in no-load can be calculated by a formula under the condition that the root tangent line of the suspension arm and the horizontal plane form any included angle.
Referring to fig. 5, fig. 5 is a schematic structural diagram of an angle measuring device for an idling suspension arm according to a third embodiment of the present invention.
As shown in fig. 5, a third aspect of the present invention provides an angle measuring device for use when the boom is unloaded, the device comprising: a boom extension module 10, an angle control module 20 and an angle measurement module 30.
The boom extension module 10 is used for fully extending the boom to the basic boom, and the angle control module 20 is used for making the included angle between the root tangent line of the boom and the horizontal plane be a preset angle.
The boom extension module 10 is further configured to control the boom to extend by a preset extension amount until the boom extends to a maximum length, wherein when the boom extends by the preset extension amount, the angle control module 20 makes an included angle between a root tangent of the boom and a horizontal plane be a preset angle.
The angle measuring module 30 is used for respectively measuring the lengths of the suspension arms as L0+ ix the angle between the tangent and the horizontal plane, where L0The length of the basic arm is shown as x, the preset elongation is shown as i, the positive integer from 1 to n is shown as i, and n is the number of times of extending the preset elongation from the basic arm.
Further, as shown in fig. 5, the apparatus further includes an angle recording module 40, wherein the angle recording module 40 is used for recording the measured length of the boom as L for each preset elongation of the boom0+ jx is the angle between the tangent and the horizontal plane.
Referring to fig. 6, fig. 6 is a schematic structural diagram of a calculating device for determining a difference between an actual working amplitude and a theoretical working amplitude when a boom is unloaded according to a fourth embodiment of the present invention.
As shown in fig. 6, a fourth aspect of the present invention provides a calculating apparatus for determining a difference between an actual working amplitude and a theoretical working amplitude when a boom is unloaded, the apparatus comprising:
a first included angle obtaining module 50, configured to obtain a first preset angle α between the root tangent of the boom and the horizontal plane0And under the condition that the suspension arm extends to the preset length, the length of the suspension arm is respectively obtained to be L according to the device0+ ix is the first angle of the tangent to the horizontal.
A third difference calculation module 60, configured to calculate a third difference between the actual working amplitude and the theoretical working amplitude when the boom is in the idle state according to the first included angle
A second included angle obtaining module 70, configured to obtain a second preset angle β between the root tangent of the boom and the horizontal plane0And under the condition that the suspension arm extends to the preset length, the length of the suspension arm is respectively obtained to be L according to the device0+ ix is the second angle of the tangent to the horizontal.
A fourth difference calculation module 80, configured to calculate a fourth difference between the actual working amplitude and the theoretical working amplitude of the boom during the no-load operation according to the second included angle
A calculation method determination module 90 for determining the first fixed angle α0The third difference
Second fixed angle beta0The fourth difference
And determining the difference value between the actual working amplitude and the theoretical working amplitude when the suspension arm is in no-load.
Wherein L is1＝L0+ mx + k, m, k each represents (L)1-L0) Dividing the sum of quotient by x to obtain the remainder, wherein x is the preset elongation of the suspension arm, i is an integer from 1 to m, and L is0Is the basic arm length, L, of the suspension arm1Is a preset length.
Further, the air conditioner is provided with a fan,
obtained according to the following formula:
wherein alpha isiIs L under the condition that the length of the suspension arm is extended to a preset length0+ angle between tangent at ix and horizontal plane, βiIs L under the condition that the length of the suspension arm is extended to a preset length0The angle between the tangent at + ix and the horizontal plane.
Further, the calculation method determination module 90 includes:
calculating the difference value between the actual working amplitude and the theoretical working amplitude when the suspension arm is in no load according to the following formula:
deltR is the difference value between the actual working amplitude and the theoretical working amplitude when the suspension arm is in no-load, and alpha is the included angle between the root tangent line of the suspension arm and the horizontal plane when the suspension arm is extended to the preset length.
A fifth aspect of the present invention provides a construction machine, which comprises the above-mentioned angle measuring device for an unloaded state of the boom and the above-mentioned calculating device for determining a difference between an actual working amplitude and a theoretical working amplitude of the unloaded state of the boom.
A sixth aspect of the invention provides a machine-readable storage medium having stored thereon instructions for enabling the machine-readable storage medium to execute the method for measuring an angle when the boom is empty as described above and the method for calculating a difference between an actual working amplitude and a theoretical working amplitude when the boom is empty as described above.
The invention discloses an angle measuring method and device used when a suspension arm is in no-load, a calculating method and device used for determining the difference value between the actual working amplitude and the theoretical working amplitude when the suspension arm is in no-load, and a readable storage medium of engineering machinery and a machine.
Referring to fig. 7, fig. 7 is a schematic flow chart of a boom amplitude calculation method according to a fifth embodiment of the present invention.
As shown in fig. 7, a seventh aspect of the present invention provides a boom amplitude calculation method, including:
s100, obtaining an included angle, an arm length and a hanging weight between a tangent line of the root of the hanging arm and the horizontal plane under the current working condition.
The included angle is usually 0-90 degrees, the minimum value of the arm length is the arm length of the basic arm, and the maximum value of the arm length and the maximum value of the lifting weight are related to the type of the crane, the material structure of the suspension arm, the gravity center position, the arrangement position of a stress point and the like. When the suspension arm is contracted into the basic arm, the gravity center of the basic arm is lower, the moment applied to the head node of the basic arm is smaller, and deformation and bending are basically avoided. And the suspension arm is deformed and bent only when the basic arm is extended by the preset extension amount. Typically, the predetermined amount of extension is the maximum length of the telescopic arm. When the suspension arm extends, the gravity center position of the suspension arm becomes high, the moment applied to the head node of the suspension arm is large, and the bending degree is large. The included angle is measured by an angle sensor arranged at the root of the suspension arm, the arm length is measured by a length sensor, the suspension weight is calculated by a moment limiter, and the actual working amplitude of the suspension arm cannot be used in calculation.
And S200, calculating the actual working amplitude of the hoisting load under the current working condition according to the included angle between the tangent line of the root part of the hoisting arm and the horizontal plane under the current working condition, the arm length and the hoisting weight.
The method provided by the invention can directly calculate the actual working amplitude during the hoisting according to the obtained included angle, the arm length and the hoisting weight, can reduce the data acquisition amount and improve the working efficiency, has higher precision compared with a method for measuring and calculating by using two angle sensors, reduces the installation of the angle sensors and reduces the cost.
Referring to fig. 8, fig. 8 is a schematic flow chart of a boom amplitude calculation method according to a sixth embodiment of the present invention.
Further, as shown in fig. 8, in S200, calculating the actual working amplitude of the lifting load under the current working condition according to the included angle between the tangent of the root of the suspension arm and the horizontal plane, the arm length, and the lifting weight under the current working condition includes:
s201, calculating a first difference value between the actual working amplitude and the theoretical working amplitude of the suspension arm when the suspension arm is in no-load under the condition that the included angle between the root tangent of the suspension arm and the horizontal plane is the included angle according to the included angle between the root tangent of the suspension arm and the horizontal plane under the current working condition.
The first difference is obtained by the angle measuring method for the no-load state of the suspension arm and the calculation method for determining the difference between the actual working amplitude and the theoretical working amplitude of the suspension arm in the no-load state.
S202, calculating a second difference value between the actual working amplitude and the theoretical working amplitude of the hoisting under the current working condition according to the first difference value, the arm length and the hoisting weight.
And S203, calculating the actual working amplitude of the lifting load under the current working condition according to the second difference value, the included angle between the tangent line of the root of the lifting arm and the horizontal plane under the current working condition and the arm length.
Referring to fig. 9, fig. 9 is a schematic diagram of a boom amplitude calculation method according to a seventh embodiment of the present invention.
Further, as shown in fig. 9, calculating a first difference between an actual working amplitude and a theoretical working amplitude of the suspension arm when the suspension arm is in an idle state according to an included angle between a tangent of the root of the suspension arm and a horizontal plane under a current working condition when the included angle is calculated as an included angle between the tangent of the root of the suspension arm and the horizontal plane, includes calculating the first difference according to the following formula:
deltR is the first difference, α0Is a first fixed angle of the first angle of inclination,
is the third difference, β0In the form of a second fixed angle,
and alpha is the included angle under the current working condition.
Wherein, calculating the included angle between the tangent line of the root part of the suspension arm and the horizontal plane as a first fixed angle alpha0Under the condition of (1), a third difference value between the actual working amplitude and the theoretical working amplitude when the suspension arm is in no-load state
Calculating the included angle between the tangent line of the root part of the suspension arm and the horizontal plane as a second fixed angle beta0Under the condition of (1), a fourth difference value between the actual working amplitude and the theoretical working amplitude when the suspension arm is in no-load state
According to a first fixed angle alpha0The third difference
Second fixed angle beta0The fourth difference
The above formula for calculating the first difference is obtained.
Further, the air conditioner is provided with a fan,
obtained according to the following formula:
Wherein L is L ═ L0+ mx + k, m and k each represents (L-L)0) Dividing the sum of quotient by x, k is greater than or equal to 0 and less than x, x is the preset elongation of the suspension arm, i is an integer between 1 and m, and L is0Is the basic arm length of the suspension arm, L is the arm length under the current working condition, alpha0At a first fixed angle, αiAt a first fixed angle alpha0The angle between the tangent line of the head of the suspension arm after the suspension arm extends for the ith time by x and the horizontal plane,
is the third difference, β0In the form of a second fixed angle,
is the fourth difference, βiThe included angle between the tangent line of the head of the suspension arm after the suspension arm extends for the ith time by x and the horizontal plane.
The preset length L in the calculation method for determining the difference value between the actual working amplitude and the theoretical working amplitude when the suspension arm is in no-load state1The arm length L under the current working condition is obtained in the method for calculating the amplitude of the suspension arm.
The formula for calculating the first difference in this application is obtained by the following method:
and when the root tangent line of the suspension arm and the horizontal plane are at a fixed angle and the suspension arm is in no-load, measuring the included angle between the tangent line of the first preset node on the suspension arm and the horizontal plane according to an angle measuring method to obtain angle data.
And when the root tangent of the suspension arm and the horizontal plane are at a fixed angle and the suspension arm is in no-load, calculating the deformation of a second preset node on the suspension arm with the current arm length of L according to the angle data. The second preset node comprises a head node of the basic arm, a first preset node and a head node of the suspension arm under the current working condition.
And obtaining a formula for calculating the first difference value according to the deformation and the first difference value calculating method.
Measuring angle data of the suspension arm in no-load state by the following angle measurement method:
the suspension arm is fully contracted to a basic arm, so that the included angle between the root tangent line of the suspension arm and the horizontal plane is alpha0At the moment, the included angle between the tangent line of the head of the suspension arm and the horizontal plane is also alpha0The arm length of the basic arm is L0。
After the suspension arm is extended by a preset extension amount x each time, measuring and recording the included angle between the tangent of the first preset node and the horizontal plane, wherein the included angle between the root tangent of the suspension arm and the horizontal plane is alpha0。
After the suspension arm is elongated for the nth time by the preset elongation x, measuring and recording the included angle between the tangent of the first preset node and the horizontal plane, wherein the included angles between the root tangent of the suspension arm elongated for the nth time and the horizontal plane are all alpha0The first preset node is the arm length of the suspension arm and is L0A node at + jx (j ═ 1, 2,.. times, n), and an included angle between a tangent line of the first preset node and a horizontal plane is corresponding to alphanj。
When the angle data of the suspension arm in no-load state is measured, the preset elongation x of the suspension arm or the maximum length of the telescopic rod can be controlled by a program each time, and the arm length of the suspension arm and the angle data of a second preset node are obtained through a length sensor and an angle sensor or through manual measurement.
And calculating the deformation of a second preset node when the length of the suspension arm is L according to the angle data:
according to L ═ L0+ mx + k determines the values of m and k, where m, k represent (L-L), respectively0) A quotient and remainder obtained by dividing x, m being an integer greater than or equal to 0 and less than n, k being greater than or equal to 0 and less than x.
Upper L of boom0The head deformation of the segment is 0.
Upper L of boom0The deformation of the + mx section is represented by the angle difference corresponding to the adjacent node of each arm length section on the suspension arm, wherein the arm length of the suspension arm is L0The amount of deformation of the node at + ix (i ═ 1, 2,. and m) is αi-1-αiWherein α isiThe corresponding arm length is L when the suspension arm is in no-load0The included angle between the tangent line of the node at + ix and the horizontal plane.
Upper L of boom0The head deformation of the + mx + k section is L in length by the arm length of the suspension arm0Amount of deformation α of node at + mxm-1-αmAnd (4) showing.
Calculating the angle alpha between the root tangent of the suspension arm and the horizontal plane0And when the suspension arm is in no load, calculating according to a formula to obtain a third difference value between the actual working amplitude and the theoretical working amplitude
Calculating the angle beta between the root tangent line of the suspension arm and the horizontal plane0(β0Is not equal to alpha0) And when the suspension arm is in no load, calculating according to a formula to obtain a fourth difference value between the actual working amplitude and the theoretical working amplitude
When the root tangent of the suspension arm and the horizontal plane are at any angle and the suspension arm is in no-load, a formula for calculating a first difference value is obtained by adopting a linear interpolation method:
further, calculating a second difference between the actual working amplitude of the lifting load and the theoretical working amplitude under the current working condition according to the first difference, the arm length and the lifting weight comprises calculating the second difference according to the following formula:
deltR′＝K·deltR。
wherein, K is p00+ p 10L + p 01M + p 20L2+p11·L·M+p02×M2。
deltR is a first difference value, deltR' is a second difference value, K is a deflection deformation coefficient of the suspension arm, L is the arm length under the current working condition, M is the hoisting weight under the current working condition, and p00, p10, p01, p20, p11 and p02 are all preset parameters.
And fitting small, medium and large-tonnage weights and corresponding small, medium and long arm lengths according to the maximum hoisting weight of the hoisting arm, so as to obtain polynomial coefficients of the deflection deformation coefficient K, the arm length L and the hoisting weight M through fitting.
Further, calculating the actual working amplitude of the lifting load under the current working condition according to the second difference, the included angle between the tangent line of the root of the lifting arm and the horizontal plane under the current working condition and the arm length comprises:
calculating the actual working amplitude of the lifting load under the current working condition according to the following formula:
R'＝L×cosα+deltR′。
wherein R 'is the actual working amplitude of the suspended load under the current working condition, deltR' is a second difference value, L is the arm length under the current working condition, and alpha is the included angle under the current working condition.
As shown in fig. 9, the following is one embodiment that specifically obtains the formulas presented in the present application:
1. firstly, calculating the difference value between the actual working amplitude and the theoretical working amplitude when the suspension arm is in no-load
1.1 the angle measurement is carried out in the following method when the crane is unloaded (all the angle values in the text are the included angles between the tangent direction of the suspension arm and the horizontal line under the arm length):
(1) fully contracting the crane jib, and setting the angle value of the jib root angle sensor as alpha0The suspension arm basically has no deformation when the basic arm is in no load, and the head of the suspension arm (the arm length is L at the moment)0) Angle value of alpha0。
(2) Preferably, the predetermined elongation x is taken to be 3 meters. Extending the suspension arm by 3m from the basic arm to obtain an angle value alpha of a post-arranged suspension arm root angle sensor0And the head of the suspension arm is manually measured (the arm length is L at the moment)0+3) the value of the angle is alpha11。
(3) Then the angle value of a post-arranged boom root angle sensor of the boom extending 6m from the basic boom is alpha0The length of the arm is measured manually as L0+3、L0Angle value at +3 × 2 is α21、α22。
(4) Repeating the process of the step 3 until the boom is fully stretched to obtain the boom length L0+3、L0+3×2、…、L0Angle value α at +3 × nn1、αn2、…、αnn。
(5) The angle table corresponding to each arm length section is obtained as follows:
| L0 | α0 | ||||
| L0+3 | α0 | α11 | |||
| L0+3×2 | α0 | α21 | α22 | ||
| L0+3×3 | α0 | α31 | α32 | α33 | |
| …… | …… | …… | …… | …… | |
| L0+3×n | α0 | αn1 | αn2 | …… | αnn |
1.2 calculating the deformation of the boom at a fixed angle when the boom is in no-load
The amount of boom deformation here is represented by the angular difference at each arm length point. Let L be the current arm length and alpha be the angle value of the angle sensor at the root of the suspension arm0And L ═ L0+3×m+k(L0M and k represent (L-L) as the basic arm length0) Division by a quotient and remainder of 3, and m is less than n in 1.1), then L0、L0+3、L0+3×2、……、L0+3 Xn equal arm length point suspension arm deformation(the angular difference representation) are: 0. alpha is alpha0-α1、α1-α2、……、αm-1-αm. Wherein alpha isiL is assigned when (i is 0,1, …, m) is empty0、L0+3、L0+3×2、……、L0+3 × m, and the like. Then alpha is0The difference between the actual working amplitude and the theoretical working amplitude when the angle is in no load is as follows:
deltRα0＝L0×cosα0+3×cosα1+…+3×cosαn+k×cosαn-L×cosα0。
1.3 calculating the difference value between the actual working amplitude and the theoretical working amplitude when the suspension arm at any angle is in no-load state
And the deformation of the suspension arm caused by the same hoisting weight at different angles is calculated by linear interpolation. Repeating the above process can calculate another angle beta0The difference between the actual working amplitude and the theoretical working amplitude in no load is
The difference between the actual working amplitude and the theoretical working amplitude when the angle α is no-load is:
2. fitting to obtain deflection deformation coefficient
The bending deformation of the suspension arm is easily known to be caused by the suspension arm and the hoisting weight, and the difference value deltR' between the actual working amplitude and the theoretical working amplitude under different arm lengths and different hoisting weights is acquired to obtain the deflection deformation coefficient
Where deltR is calculated as 1.3. And fitting the deflection deformation coefficient K with polynomial coefficients of the arm length L and the hoisting weight M to obtain:
K＝p00+p10·L+p01·M+p20·L2+p11·L·M+p02×M2。
generally, weights with small, medium and large tonnage and deflection degrees of arm lengths of small, medium and long arms are respectively taken according to the maximum hoisting weight of the crane for fitting. For example, a 25T automobile crane, the fully-extended arm length is 42m, and weights of 3T, 7T, 12T and 20T and arm lengths of 15m, 25m, 35m and 42m can be selected.
Illustratively, four lifting weights of 3T, 7T, 12T and 20T are required to be arranged under each arm length, namely a total of 16 parameter combinations, and the preset parameters of p00, p10, p01, p20, p11 and p02 in the formula are obtained by fitting the 16 parameter combinations. In practical application, the boom with a longer arm length may not be able to bear a larger lifting weight, and the boom with a shorter arm length may bear a larger lifting weight, that is, the number and numerical value of the lifting weights corresponding to different arm lengths may be changeable.
3. Calculating the amplitude of the suspension arm during suspension loading
The difference deltR' between the actual working amplitude and the theoretical working amplitude when the suspension arm is suspended can be obtained from 2, wherein deltR and K are respectively obtained from corresponding formulas in 1.3 and 2, wherein the arm length L is obtained from a length sensor, the suspension weight M is obtained from a moment limiter, and the suspension arm amplitude cannot be used in the calculation (for example, a neural network or other methods for calculating the suspension weight without using the suspension arm amplitude can be adopted). And the amplitude R is L multiplied by cos alpha + deltR', and alpha is the included angle between the tangent line of the root part of the suspension arm and the horizontal line, which is measured by the angle sensor of the root part of the suspension arm.
Referring to fig. 10, fig. 10 is a schematic structural diagram of a boom amplitude calculating device according to an eighth embodiment of the present invention.
As shown in fig. 10, an eighth aspect of the present invention provides a boom amplitude calculation apparatus, including: angle measuring device 1, arm length measuring device 2, weight measuring device 3, and processor 4.
And the angle measuring device 1 is used for measuring the included angle between the tangent line of the root part of the suspension arm and the horizontal plane under the current working condition.
And the arm length measuring device 2 is used for measuring the arm length of the suspension arm under the current working condition.
And the weight measuring device 3 is used for measuring the hoisting weight under the current working condition.
And the processor 4 is used for calculating the actual working amplitude of the hoisting load under the current working condition according to the included angle between the tangent line of the root part of the hoisting arm and the horizontal plane under the current working condition, the arm length and the hoisting weight.
Further, the processor 4 includes:
and a first difference value calculating module 41, configured to calculate, according to an included angle between a tangent of a root of the boom and a horizontal plane under the current working condition, a first difference value between an actual working amplitude and a theoretical working amplitude of the boom during no-load when the included angle is between the tangent of the root of the boom and the horizontal plane.
And the second difference value calculating module 42 is configured to calculate a second difference value between the actual working amplitude and the theoretical working amplitude of the hoisting under the current working condition according to the first difference value, the arm length, and the hoisting weight.
And the actual working amplitude calculating module 43 is configured to calculate an actual working amplitude of the lifting load under the current working condition according to the second difference, an included angle between the tangent of the root of the lifting arm and the horizontal plane under the current working condition, and the arm length.
Further, the first difference value calculating module 41 calculates the first difference value according to the following formula:
deltR is the first difference, α0Is a first fixed angle of the first angle of inclination,
is the third difference, β0In the form of a second fixed angle,
and alpha is the included angle under the current working condition.
Wherein, calculating the included angle between the tangent line of the root part of the suspension arm and the horizontal plane as a first fixed angle alpha0Under the condition of (1), a third difference value between the actual working amplitude and the theoretical working amplitude when the suspension arm is in no-load state
Calculating the included angle between the tangent line of the root part of the suspension arm and the horizontal plane as a second fixed angle beta0In the state ofUnder the condition, the fourth difference value between the actual working amplitude and the theoretical working amplitude when the suspension arm is in no-load state
And
according to a first fixed angle alpha0The third difference
Second fixed angle beta0The fourth difference
The above formula for calculating the first difference is obtained.
Further, the air conditioner is provided with a fan,
obtained according to the following formula:
wherein L is L ═ L0+ mx + k, m and k each represents (L-L)0) Dividing the sum of quotient by x, k is greater than or equal to 0 and less than x, x is the preset elongation of the suspension arm, i is an integer between 1 and m, and L is0Is the basic arm length of the suspension arm, L is the arm length under the current working condition, alpha0At a first fixed angle, αiAt a first fixed angle alpha0The angle between the tangent line of the head of the suspension arm after the suspension arm extends for the ith time by x and the horizontal plane,
in order to be the third difference value,β0in the form of a second fixed angle,
is the fourth difference, βiThe included angle between the tangent line of the head of the suspension arm after the suspension arm extends for the ith time by x and the horizontal plane.
Further, the second difference calculation module 42 calculates the second difference according to the following formula:
deltR′＝K·deltR。
wherein, K is p00+ p 10L + p 01M + p 20L2+p11·L·M+p02×M2。
deltR is a first difference value, deltR' is a second difference value, K is a deflection deformation coefficient of the suspension arm, L is the arm length under the current working condition, M is the hoisting weight under the current working condition, and p00, p10, p01, p20, p11 and p02 are all preset parameters.
Further, the actual working amplitude calculating module 43 calculates the actual working amplitude of the lifting load under the current working condition according to the following formula:
R'＝L×cosα+deltR′。
wherein R 'is the actual working amplitude of the suspended load under the current working condition, deltR' is a second difference value, L is the arm length under the current working condition, and alpha is the included angle under the current working condition.
Working principle and benefits of the boom amplitude calculating apparatus according to the eighth aspect of the present invention are the same as those of the boom amplitude calculating method according to the first aspect of the present invention, and are not described herein again.
A ninth aspect of the present invention provides a construction machine including the boom amplitude calculating device according to the second aspect of the present invention.
The tenth aspect of the present invention also provides a machine-readable storage medium, on which instructions are stored, the instructions being used for enabling the machine-readable storage medium to execute the method for calculating the amplitude of the boom according to the first aspect of the present invention.
The invention discloses an angle measuring method and device used when a suspension arm is in no-load, a calculating method and device used for determining the difference value between the actual working amplitude and the theoretical working amplitude when the suspension arm is in no-load, and readable storage media of engineering machinery and machines. The invention further discloses a method and a device for calculating the amplitude of the suspension arm, the engineering machinery and a machine readable storage medium, the actual working amplitude of the suspension arm during suspension can be calculated according to the method and the device, the data acquisition amount can be reduced, the working efficiency is improved, the precision is higher compared with a method for measuring and calculating by using two angle sensors, the installation of the angle sensors is reduced, and the cost is reduced.
In the above embodiments, the description of each embodiment has its own emphasis, and for parts not described in detail in a certain embodiment, reference may be made to the description of other embodiments. The above description is provided for the method and apparatus for measuring an angle of a boom when the boom is unloaded, the method and apparatus for calculating a difference between an actual working amplitude and a theoretical working amplitude when the boom is unloaded, the engineering machine, and the readable storage medium, and for those skilled in the art, according to the idea of the embodiments of the present invention, there are changes in the specific implementation and the application scope, and in summary, the content of the present description should not be understood as a limitation to the present invention.
Claims (12)
1. An angle measurement method for a suspension arm in an idle state is characterized by comprising the following steps:
fully retracting the suspension arm to a basic arm, and enabling an included angle between a root tangent line of the suspension arm and a horizontal plane to be a preset angle;
controlling the suspension arm to elongate by a preset elongation until the suspension arm is extended to a maximum length, wherein the following steps are performed for each elongation of the preset elongation:
enabling the included angle between the root tangent line of the suspension arm and the horizontal plane to be the preset angle;
respectively measuring the length of the suspension arm as L0At + jxAngle between tangent and horizontal plane, wherein L0And the length of the basic arm is shown, x is the preset elongation, j is a positive integer from 1 to n, and n is the number of times of extending the preset elongation from the basic arm.
2. The method according to claim 1, characterized in that the following steps are also performed per elongation of said preset elongation:
recording the measured boom length as L0+ jx is the angle between the tangent and the horizontal plane.
3. A calculation method for determining a difference between an actual working amplitude and a theoretical working amplitude when a boom is empty, the method comprising:
the included angle between the root tangent line of the suspension arm and the horizontal plane is a first preset angle alpha0And the boom is elongated to a preset length, a boom length L is obtained according to the method of claim 1 or 2, respectively0+ ix is the first included angle between the tangent and the horizontal plane;
calculating a third difference value between the actual working amplitude and the theoretical working amplitude of the suspension arm in no-load according to the first included angle
The included angle between the root tangent line of the suspension arm and the horizontal plane is a second preset angle beta0And the boom is elongated to the preset length, respectively obtaining a boom length L according to the method of claim 1 or 20+ ix is the second angle between the tangent and the horizontal plane;
calculating a fourth difference value between the actual working amplitude and the theoretical working amplitude of the suspension arm in no-load according to the second included angle
According to the first preset angle alpha0The third difference value
The second preset angle beta0The fourth difference value
Determining a calculation method of a difference value between the actual working amplitude and the theoretical working amplitude;
wherein L is1＝L0+ mx + k, m, k each represents (L)1-L0) Dividing the sum of quotient and remainder by x, wherein x is the preset elongation of the suspension arm, i is an integer from 1 to m, and L is0Is the basic arm length, L, of the suspension arm1Is the preset length.
4. The method of claim 3,
obtained according to the following formula:
wherein alpha isiIs L under the condition that the length of the suspension arm is extended to the preset length0+ angle between tangent at ix and horizontal plane, βiIs L under the condition that the length of the suspension arm is extended to the preset length0The angle between the tangent at + ix and the horizontal plane.
5. A method according to claim 3 or 4, characterized in thatIn that according to said first fixed angle alpha0The third difference value
The second fixed angle beta0The fourth difference value
The calculation method for determining the difference value between the actual working amplitude and the theoretical working amplitude when the suspension arm is in no-load comprises the following steps:
calculating the difference between the actual working amplitude and the theoretical working amplitude according to the following formula:
deltR is the difference value between the actual working amplitude and the theoretical working amplitude when the suspension arm is in no-load, and alpha is the included angle between the root tangent line of the suspension arm and the horizontal plane when the suspension arm is extended to the preset length.
6. An angle measuring device for an idling suspension arm, characterized in that the device comprises: the device comprises a suspension arm telescopic module, an angle control module and an angle measuring module;
the suspension arm telescopic module is used for fully retracting the suspension arm to a basic arm, and the angle control module is used for enabling an included angle between a root tangent line of the suspension arm and a horizontal plane to be a preset angle;
the suspension arm stretching module is further used for controlling the suspension arm to stretch by a preset stretching amount until the suspension arm stretches to the maximum length, and when the suspension arm stretches by the preset stretching amount, the angle control module enables an included angle between a root tangent line of the suspension arm and the horizontal plane to be the preset angle;
the angle measurement module is used for respectively measuring the lengths of the suspension arms to be L0+ ix the angle between the tangent and the horizontal plane, where L0Is the length of the basic arm, x is the preset elongation, i is a positive integer from 1 to nAnd n is the number of times of extending the preset extending amount from the basic arm.
7. The apparatus of claim 6, further comprising an angle recording module for recording a measured boom length L for each extension of the boom by the predetermined extension amount0+ jx is the angle between the tangent and the horizontal plane.
8. A calculation device for determining a difference between an actual working amplitude and a theoretical working amplitude when a boom is empty, the device comprising:
a first included angle acquisition module for setting the included angle between the root tangent of the suspension arm and the horizontal plane as a first preset angle alpha0And the boom is elongated to a preset length, the device according to claim 6 or 7 obtains a boom length L, respectively0+ ix is the first included angle between the tangent and the horizontal plane;
a third difference value calculating module for calculating a third difference value between the actual working amplitude and the theoretical working amplitude of the suspension arm in no-load according to the first included angle
A second included angle acquisition module for setting the included angle between the root tangent of the suspension arm and the horizontal plane as a second preset angle beta0And the boom is elongated to the preset length, the device of claim 6 or 7 obtains a boom length L0+ ix is the second angle between the tangent and the horizontal plane;
a fourth difference value calculating module for calculating a fourth difference value between the actual working amplitude and the theoretical working amplitude of the suspension arm in no-load according to the second included angle
A calculation method determination module for determining the first fixed angle alpha0The first mentionedThree difference value
The second fixed angle beta0The fourth difference value
Determining a calculation method of a difference value between the actual working amplitude and the theoretical working amplitude;
wherein L is1＝L0+ mx + k, m, k each represents (L)1-L0) Dividing the sum of quotient and remainder by x, wherein x is the preset elongation of the suspension arm, i is an integer from 1 to m, and L is0Is the basic arm length, L, of the suspension arm1Is the preset length.
9. The apparatus of claim 8,
obtained according to the following formula:
wherein alpha isiIs L under the condition that the length of the suspension arm is extended to the preset length0+ angle between tangent at ix and horizontal plane, βiIs L under the condition that the length of the suspension arm is extended to the preset length0The angle between the tangent at + ix and the horizontal plane.
10. The apparatus of claim 8 or 9, wherein the calculation method determination module comprises:
calculating the difference between the actual working amplitude and the theoretical working amplitude according to the following formula:
deltR is the difference value between the actual working amplitude and the theoretical working amplitude when the suspension arm is in no-load, and alpha is the included angle between the root tangent line of the suspension arm and the horizontal plane when the suspension arm is extended to the preset length.
11. A working machine, characterized in that it comprises an angle measuring device for an unloaded boom as claimed in any of claims 6-7 and a calculating device for determining the difference between the actual working amplitude and the theoretical working amplitude of an unloaded boom as claimed in any of claims 8-10.
12. A machine-readable storage medium, characterized in that instructions are stored thereon for enabling the machine-readable storage medium to carry out the method for angle measurement when the boom arm is unloaded according to any of claims 1-2 and the method for calculating the difference between the actual working amplitude and the theoretical working amplitude when the boom arm is unloaded according to any of claims 3-5.
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| CN105439016A (en) * | 2014-10-11 | 2016-03-30 | 徐州重型机械有限公司 | Working range compensation method and device for crane |
| CN104495616A (en) * | 2014-12-19 | 2015-04-08 | 中联重科股份有限公司 | Detection method and system for reliability testing of crane |
| CN106802982A (en) * | 2016-12-30 | 2017-06-06 | 徐州赫思曼电子有限公司 | A kind of telescopic arm crane zero load fast debugging computational methods |
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