CN113108970B - Supporting leg counter-force measuring device and measuring method - Google Patents

Supporting leg counter-force measuring device and measuring method Download PDF

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CN113108970B
CN113108970B CN202110236642.1A CN202110236642A CN113108970B CN 113108970 B CN113108970 B CN 113108970B CN 202110236642 A CN202110236642 A CN 202110236642A CN 113108970 B CN113108970 B CN 113108970B
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vertical
measuring
point
strain element
measuring point
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CN113108970A (en
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张连英
马超
李雁
李兵
朱思宇
于洋
朱炯
仇培涛
卢建飞
陈成
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Xuzhou University of Technology
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
    • G01L5/16—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force

Abstract

The invention provides a supporting leg counter-force measuring device and a measuring method, wherein the device comprises the following components: the horizontal supporting leg is respectively provided with a first vertical measuring surface and a second vertical measuring surface; the center of the bottom edge of the first vertical measuring surface is provided with a measuring point A, the center of the right edge of the first vertical measuring surface is provided with a measuring point C, and the center of the bottom edge of the second vertical measuring surface is provided with a measuring point CA measuring point B is arranged along the center, and a measuring point D is arranged at the center of the right side edge; the vertical supporting leg oil cylinder is connected below the end part of the horizontal supporting leg; strain original paper A, strain original paper B, strain original paper C and strain original paper D paste respectively and locate at measuring point A, measuring point B, measuring point C and measuring point D. The method comprises the following steps: performing zeroing treatment; the y-direction strain value epsilon of each acquisition measuring point is acquired in real time by a dynamic data acquisition instrumentay、εby、εcyAnd εdy(ii) a The vertical leg reaction force Fz and the horizontal leg reaction forces Fy and Fx are calculated. The device and the method can measure the vertical and horizontal counter forces of the whole vehicle in real time, and can conveniently realize real-time and reliable monitoring of the counter forces.

Description

Supporting leg counter-force measuring device and measuring method
Technical Field
The invention belongs to the technical field of measurement, and particularly relates to a supporting leg counter-force measuring device and a measuring method.
Background
When the leg type engineering machinery works, the whole operation main body is supported by a plurality of legs, and the common leg type engineering machinery is provided with a wheel crane, a pump truck and the like. In order to prevent the engineering machinery from tipping and sliding horizontally, which affect the operation safety, during the operation, a counter force sensor of the support leg is usually used to monitor the counter force of the support leg.
The leg reaction force can be a vertical leg reaction force and a horizontal leg reaction force according to the direction. The counter force of the supporting legs in the vertical direction influences the tilting performance of the whole vehicle along the vertical direction. The counter force of the support leg in the horizontal direction mainly influences the horizontal sliding of the whole vehicle and the reliability of the vertical oil cylinder under the action of the horizontal force. The existing supporting leg type engineering machinery has large design safety margin, and the influence of the supporting leg reaction force in the horizontal direction on the horizontal sliding of the whole vehicle and the reliability of an oil cylinder is small, so that the lateral force is not monitored temporarily, and only the vertical reaction force influencing the tipping is monitored in a key way.
Along with the aggravation of market competition, the lightweight degree of products is higher and higher, and the safety margin of the structure is smaller and smaller. The influence of the horizontal sliding of the whole vehicle generated by the counter force of the supporting legs in the horizontal direction and the reliability of the vertical oil cylinder under the action of the horizontal force on the operation safety of the whole vehicle is more and more obvious, and the neglect treatment can not be carried out any more. In order to ensure the work safety of the leg type construction machine, it is necessary to monitor the vertical and horizontal reaction forces of the entire vehicle in real time.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a supporting leg counter-force measuring device and a measuring method, wherein the device can simultaneously monitor the counter-forces in the vertical and horizontal directions of the whole vehicle, can conveniently research the horizontal sliding of the whole vehicle and the reliability of a vertical oil cylinder under the action of the horizontal force, which are generated by the counter-force of the supporting leg in the horizontal direction, and is beneficial to ensuring the operation safety of the supporting leg type engineering machinery; the method can measure the vertical and horizontal reaction forces of the whole vehicle in real time, and can conveniently realize real-time and reliable monitoring of the reaction forces.
In order to achieve the purpose, the invention provides a supporting leg counter-force measuring device which comprises an engineering machinery operation main body, a plurality of horizontal supporting legs horizontally and fixedly connected to the periphery of the engineering machinery operation main body, a plurality of vertical supporting leg oil cylinders arranged corresponding to the plurality of horizontal supporting legs, and a plurality of groups of measuring units arranged corresponding to the plurality of horizontal supporting legs;
a first vertical measuring surface and a second vertical measuring surface are respectively arranged on the left part and the right part of the middle part of the horizontal supporting leg; a measuring point A is arranged at the center of the bottom edge of the first vertical measuring surface, a measuring point C is arranged at the center of the right edge of the first vertical measuring surface, a measuring point B is arranged at the center of the bottom edge of the second vertical measuring surface, and a measuring point D is arranged at the center of the right edge of the second vertical measuring surface;
the piston rod end of the vertical supporting leg oil cylinder is vertically connected to the lower end of one end of the horizontal supporting leg, which is far away from the engineering machinery operation main body;
the measuring unit comprises a strain element A, a strain element B, a strain element C and a strain element D; the strain element A, the strain element B, the strain element C and the strain element D are respectively pasted at the measuring point A, the measuring point B, the measuring point C and the measuring point D.
Preferably, the strain element a, the strain element B, the strain element C and the strain element D are all unidirectional strain gages, and the arrangement directions are all horizontal directions.
According to the invention, through the arrangement of the strain element A, the strain element B, the strain element C and the strain element D, strain values at a measuring point can be conveniently obtained, and further the leg counter force in the vertical direction and the leg counter force in the horizontal direction can be rapidly calculated. The device has simple structure and low manufacturing cost, can be convenient for realize monitoring the vertical and horizontal counter-forces of the whole vehicle simultaneously, can be convenient for researching the horizontal sliding of the whole vehicle generated by the counter-force of the supporting leg in the horizontal direction and the reliability of the vertical oil cylinder under the action of the horizontal force, and is favorable for ensuring the operation safety of the supporting leg type engineering machinery.
In order to achieve the above object, the present invention further provides a method for measuring a counterforce of a leg, including the steps of:
s1: under the non-operation working condition of an engineering machinery operation main body, the vertical supporting leg oil cylinder is in a retracted state, and zeroing processing is carried out on the strain element A, the strain element B, the strain element C and the strain element D;
s2: under the working condition of the main body of the engineering machinery, the dynamic data acquisition instrument acquires the y-direction strain value epsilon of the measuring point in real time by acquiring the strain element A, the strain element B, the strain element C and the strain element D in real timeay、εby、εcyAnd εdy；
S3: respectively calculating a vertical-direction supporting leg reaction force Fz and horizontal-direction supporting leg reaction forces Fy and Fx in real time by using a data processor according to formulas (6), (8) and (14), and judging the operation safety of the whole vehicle according to the calculated supporting leg reaction forces;
Figure GDA0003263550120000021
in the formula (I), the compound is shown in the specification,
Figure GDA0003263550120000031
wherein σayFor the y-direction stress at point a,
Figure GDA0003263550120000032
hazis the z-direction distance, I, from the measuring point A in the first vertical measuring surface to the section centroidaxIs the moment of inertia, L, about the x-axis in the first vertical measuring plane through the centroidaThe distance, sigma, of the first vertical measuring surface from the supporting point of the oil cylinderFyaIs FyY-direction stress, F, generated at the measurement point AyThe counter force of the landing leg in the horizontal direction along the length direction of the horizontal landing leg is obtained;
Figure GDA0003263550120000033
wherein σbyFor the y-direction stress at point B,
Figure GDA0003263550120000034
hbzis the Z-direction distance, I, from the measuring point B in the second vertical measuring surface to the section centroidbxIs the moment of inertia, L, about the X-axis through the centroid in the second vertical measuring planeabIs the Y-direction distance, sigma, between the first vertical measuring surface and the second vertical measuring surfaceFybIs FyY-direction stress generated on the measuring point B;
Figure GDA0003263550120000035
in the formula (I), the compound is shown in the specification,
Figure GDA0003263550120000036
wherein A isaThe cross section area of the lower bottom surface of the supporting leg at the first vertical measuring surface is shown, and alpha is a correction coefficient;
Figure GDA0003263550120000037
in the formula (I), the compound is shown in the specification,
Figure GDA0003263550120000038
wherein σcyFor the y-direction stress at point C,
Figure GDA0003263550120000039
hcxis the x-direction distance, I, from the measuring point C in the first vertical measuring surface to the section centroidcyIs the moment of inertia, σ, in the first vertical measuring plane through the centroid about the y-axisFycIs FyY-direction stress generated on the measuring point C;
Figure GDA00032635501200000310
wherein σdyFor the y-direction stress at point D,
Figure GDA00032635501200000311
hdxis the x-direction distance, I, from the measuring point D in the second vertical measuring surface to the section centroiddyIs the moment of inertia, σ, in the second vertical measuring plane through the centroid about the y-axisFydIs FyThe stress generated at the measuring point D in the Y direction.
Preferably, the data processor is a PLC controller.
According to the invention, the strain of the corresponding measuring point on the movable supporting leg is measured by the strain element to calculate the supporting leg counter force vertical supporting leg counter force Fz and the supporting leg counter forces Fx and Fy in the horizontal direction, so that the vertical and horizontal counter forces of the whole vehicle can be effectively measured in real time, and the real-time reliable monitoring of the counter force can be conveniently realized.
Drawings
FIG. 1 is a schematic structural diagram of a leg-type engineering machine;
FIG. 2 is a layout diagram of a leg reaction force measuring strain element on a horizontal leg;
FIG. 3 is a diagram of the arrangement position of the strain element and the force diagram;
FIG. 4 is a perspective view of a layout of strain elements.
In the figure: 100. the engineering machinery comprises an engineering machinery operation main body, 110, a horizontal supporting leg, 120, a vertical supporting leg oil cylinder, 130, strain elements A and 140, strain elements B and 150, strain elements C and 160, strain elements D and 170, a first vertical measuring surface, 180 and a second vertical measuring surface.
Detailed Description
The invention will be further explained with reference to the drawings.
As shown in fig. 1 to 4, a leg reaction force measuring device includes a work machine body 100, a plurality of horizontal legs 110 horizontally and fixedly connected to the periphery of the work machine body 100, a plurality of vertical leg cylinders 120 corresponding to the plurality of horizontal legs 110, and a plurality of sets of measuring units corresponding to the plurality of horizontal legs 110;
a first vertical measuring surface 170 and a second vertical measuring surface 180 are respectively arranged on the left and right parts of the middle part of the horizontal supporting leg 110; a measuring point A is arranged at the center of the bottom edge of the first vertical measuring surface 170, a measuring point C is arranged at the center of the right edge of the first vertical measuring surface 170, a measuring point B is arranged at the center of the bottom edge of the second vertical measuring surface 180, and a measuring point D is arranged at the center of the right edge of the second vertical measuring surface 180;
the piston rod end of the vertical supporting leg oil cylinder 120 is vertically connected to the lower end of one end of the horizontal supporting leg 110 far away from the engineering machinery operation main body 100;
the measurement unit comprises a strain element A130, a strain element B140, a strain element C150 and a strain element D160; the strain element a130, the strain element B140, the strain element C150, and the strain element D160 are attached at a measurement point a, a measurement point B, a measurement point C, and a measurement point D, respectively.
Preferably, the strain element a130, the strain element B140, the strain element C150 and the strain element D160 are all unidirectional strain gages, and the arrangement directions are all horizontal directions.
Preferably, the strain gauge further comprises a data processor and a dynamic data collector, wherein the data processor is connected with the strain element A130, the strain element B140, the strain element C150 and the strain element D160 through the dynamic data collector.
Through the setting of strain element A, strain element B, strain element C and strain element D, the strain value of acquisition locating point that can be convenient, and then the landing leg counter-force in the vertical direction of calculation that can be swift and the landing leg counter-force in the horizontal direction. The device has simple structure and low manufacturing cost, can be convenient for realize monitoring the vertical and horizontal counter-forces of the whole vehicle simultaneously, can be convenient for researching the horizontal sliding of the whole vehicle generated by the counter-force of the supporting leg in the horizontal direction and the reliability of the vertical oil cylinder under the action of the horizontal force, and is favorable for ensuring the operation safety of the supporting leg type engineering machinery.
The invention also provides a method for measuring the counterforce of the supporting leg, which comprises the following steps:
s1: under the non-operation working condition of the engineering machinery operation main body 100, the vertical support leg oil cylinder 120 is in a retracted state, and zeroing processing is carried out on the strain element A130, the strain element B140, the strain element C150 and the strain element D160;
s2: under the working condition of the engineering machinery working main body 100, the dynamic data acquisition instrument acquires the y-direction strain value epsilon of the measuring point in real time by acquiring the strain element A, the strain element B, the strain element C and the strain element D in real timeay、εby、εcyAnd εdy；
S3: calculating the counterforce Fz of the landing leg in the vertical direction and the counterforce Fy and Fx of the landing leg in the horizontal direction in real time respectively by using a data processor;
s31, the calculation process of the vertical leg counterforce Fz is as follows:
calculating y-direction stress sigma at the measuring point A according to the formula (1)ay：
Figure GDA0003263550120000051
In the formula: h isazThe z-direction distance from a measuring point A in the first vertical measuring surface 170 to the centroid of the section;
Iaxmoment of inertia about the x-axis in the first vertical measurement plane 170 through the centroid;
Lathe y-direction distance from the first vertical measuring surface 170 to the supporting point of the oil cylinder;
σFyais FyGenerating Y-direction stress on the measuring point A;
calculating y-direction stress sigma of the measuring point B according to the formula (2)by：
Figure GDA0003263550120000052
Obtaining formula (3) and formula (4) from the stress-strain formula:
σay＝Eεay (3)；
σby＝Eεby (4)
in the formula: h isbzThe Z-direction distance from a measuring point B in the second vertical measuring surface 180 to the centroid of the section;
Ibxthe moment of inertia in the second vertical measurement plane 180 about the X-axis through the centroid;
Labthe Y-direction distance between the first vertical measurement plane 170 and the second vertical measurement plane 180;
σFybis FyY-direction stress generated on the measuring point B;
at the part far from the loading point and the constraint part of the root of the landing leg, the counterforce F of the landing leg is obtained according to the Saint-Vietnam principleyThe y-direction tensile stress on the lower surface of the movable leg is basically the same, namely:
σFya＝σFyb (5)
solving the equations (1) - (5) to obtain a vertical-direction supporting leg reaction force Fz calculation equation (6);
Figure GDA0003263550120000061
s32, the calculation process of the horizontal leg counterforce Fy is as follows:
equation (7) is derived from equations (1), (3) and (6):
Figure GDA0003263550120000062
the y-direction tensile stress sigma of the measuring point A is obtained by using the formula (8)FyaCounter-force F to supporting legyThe relationship of (D) gives Fy：
Figure GDA0003263550120000063
In the formula, AaThe cross-sectional area of the lower bottom surface of the support leg at the first vertical measuring surface 170 is shown, and alpha is a correction coefficient, and correction is performed according to a test calibration result or a finite element result.
S33, the calculation process of the horizontal leg counterforce Fx is as follows:
calculating y-direction stress sigma of the measuring point C according to the formula (9)cy：
Figure GDA0003263550120000071
In the formula: h iscxThe x-direction distance from a measuring point C in the first vertical measuring surface 170 to the centroid of the cross section;
Icymoment of inertia about the y-axis passing through the centroid in the first vertical measurement plane 170;
Lathe y-direction distance from the first vertical measuring surface 170 to the supporting point of the oil cylinder;
σFycis FyY-direction stress generated on the measuring point C;
calculating the y-direction stress of the measuring point B according to the formula (10):
Figure GDA0003263550120000072
in the formula: h isdxIs the second verticalThe distance from the measuring point D in the measuring surface 180 to the centroid of the section is measured in the x direction;
Idythe moment of inertia in the second vertical measurement plane 180 about the y-axis through the centroid;
σFydis FyY-direction stress generated by the measuring point D;
equation (11) and equation (12) are derived from the stress-strain equation:
σcy＝Eεcy (11)；
σdy＝Eεdy (12)；
formula (13) is derived from the saint wien principle:
σFyc＝σFyd (13)；
solving from equations (9) to (13) yields equation (14):
Figure GDA0003263550120000073
preferably, the data processor is a PLC controller.
The working principle is as follows:
during the operation of the leg type engineering machinery, the movable leg generates stress under the action of leg counterforce Fz in the vertical direction and leg counterforce Fx and Fy in the horizontal direction. The invention uses the strain element to measure the strain of the corresponding measuring point on the movable supporting leg to calculate the supporting leg counter force vertical supporting leg counter force Fz and the supporting leg counter forces Fx and Fy in the horizontal direction.
According to the invention, the strain of the corresponding measuring point on the movable supporting leg is measured by the strain element to calculate the supporting leg counter force vertical supporting leg counter force Fz and the supporting leg counter forces Fx and Fy in the horizontal direction, so that the vertical and horizontal counter forces of the whole vehicle can be effectively measured in real time, and the real-time reliable monitoring of the counter force can be conveniently realized.

Claims (2)

1. A supporting leg counter-force measuring method adopts a supporting leg counter-force measuring device, wherein the supporting leg counter-force measuring device comprises an engineering machinery operation main body (100), a plurality of horizontal supporting legs (110) horizontally and fixedly connected to the periphery of the engineering machinery operation main body (100), a plurality of vertical supporting leg oil cylinders (120) arranged corresponding to the plurality of horizontal supporting legs (110), and a plurality of groups of measuring units arranged corresponding to the plurality of horizontal supporting legs (110);
a first vertical measuring surface (170) and a second vertical measuring surface (180) are respectively arranged on the left part and the right part of the middle part of the horizontal supporting leg (110); a measuring point A is arranged at the center of the bottom edge of the first vertical measuring surface (170), a measuring point C is arranged at the center of the right edge of the first vertical measuring surface (170), a measuring point B is arranged at the center of the bottom edge of the second vertical measuring surface (180), and a measuring point D is arranged at the center of the right edge of the second vertical measuring surface (180);
the piston rod end of the vertical supporting leg oil cylinder (120) is vertically connected to the lower end of one end, far away from the engineering machinery operation main body (100), of the horizontal supporting leg (110);
the measurement unit comprises a strain element A (130), a strain element B (140), a strain element C (150) and a strain element D (160); the strain element A (130), the strain element B (140), the strain element C (150) and the strain element D (160) are respectively stuck at a measurement point A, a measurement point B, a measurement point C and a measurement point D;
the method is characterized by comprising the following steps:
s1: under the non-operation working condition of the engineering machinery operation main body (100), the vertical support leg oil cylinder (120) is in a retracted state, and the strain element A (130), the strain element B (140), the strain element C (150) and the strain element D (160) are subjected to zero returning treatment;
s2: under the working condition of an engineering machinery working main body (100), a dynamic data acquisition instrument is used for acquiring y-direction strain values epsilon of a measuring point in real time by acquiring a strain element A, a strain element B, a strain element C and a strain element D in real timeay、εby、εcyAnd εdy；
S3: respectively calculating a vertical-direction leg reaction force Fz and horizontal-direction leg reaction forces Fy and Fx in real time by using a data processor according to formulas (6), (8) and (14), and judging the operation safety of the whole vehicle according to the calculated vertical-direction leg reaction force Fz and horizontal-direction leg reaction forces Fy and Fx;
Figure FDA0003263550110000011
in the formula (I), the compound is shown in the specification,
Figure FDA0003263550110000021
wherein σayFor the y-direction stress at point a,
Figure FDA0003263550110000022
hazis the z-direction distance, I, from the measuring point A in the first vertical measuring surface (170) to the section centroidaxIs the moment of inertia about the x-axis, L, in a first vertical measuring plane (170) through the centroidaIs the y-direction distance, sigma, of the first vertical measuring surface (170) from the supporting point of the oil cylinderFyaIs FyY-direction stress, F, generated at the measurement point AyIs a horizontal leg counterforce along the length direction of the horizontal leg (110);
Figure FDA0003263550110000023
wherein σbyFor the y-direction stress at point B,
Figure FDA0003263550110000024
hbzis the Z-direction distance, I, from the measuring point B in the second vertical measuring surface (180) to the section centroidbxIs the moment of inertia, L, about the X-axis in the second vertical measuring plane (180) through the centroidabIs the Y-direction distance between the first vertical measuring surface (170) and the second vertical measuring surface (180) ([ sigma ])FybIs FyY-direction stress generated on the measuring point B;
Figure FDA0003263550110000025
in the formula (I), the compound is shown in the specification,
Figure FDA0003263550110000026
wherein the content of the first and second substances,Aathe cross sectional area of the lower bottom surface of the supporting leg at a first vertical measuring surface (170) is shown as alpha, which is a correction coefficient;
Figure FDA0003263550110000027
in the formula (I), the compound is shown in the specification,
Figure FDA0003263550110000028
wherein σcyFor the y-direction stress at point C,
Figure FDA0003263550110000029
hcxis the x-direction distance, I, from the measuring point C in the first vertical measuring surface (170) to the section centroidcyIs the moment of inertia, sigma, about the y-axis in the first vertical measuring plane (170) through the centroidFycIs FyY-direction stress generated on the measuring point C;
Figure FDA00032635501100000210
wherein σdyFor the y-direction stress at point D,
Figure FDA00032635501100000211
hdxis the x-direction distance, I, from the measuring point D in the second vertical measuring surface (180) to the section centroiddyIs the moment of inertia, sigma, about the y-axis in the second vertical measuring plane (180) through the centroidFydIs FyThe stress generated at the measuring point D in the Y direction.
2. The method as claimed in claim 1, wherein the data processor is a PLC controller.
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CN102080999B (en) * 2009-11-30 2012-07-25 徐州重型机械有限公司 Engineering vehicle and device for detecting stress of supporting leg thereof
CN102915045B (en) * 2012-10-31 2015-01-07 中联重科股份有限公司 Method and device for controlling cantilever crane type engineering vehicle
CN203372210U (en) * 2013-07-26 2014-01-01 中联重科股份有限公司 Device for measuring support force of landing leg and landing leg
CN106599544B (en) * 2016-11-24 2022-11-15 徐工集团工程机械股份有限公司 Method for calculating counterforce of support leg of overhead working truck and method for leveling and controlling rotary table
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CN111310354A (en) * 2020-02-29 2020-06-19 北京中卓时代消防装备科技有限公司 Simulation method for counterforce of supporting leg of elevating fire truck

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Application publication date: 20210713

Assignee: Xuzhou Chuangshe General Technology Industry Research Institute Co.,Ltd.

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Denomination of invention: A device and measurement method for measuring leg reaction force

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