CN113203521A - Excavator gravity center measuring method - Google Patents
Excavator gravity center measuring method Download PDFInfo
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- CN113203521A CN113203521A CN202110520373.1A CN202110520373A CN113203521A CN 113203521 A CN113203521 A CN 113203521A CN 202110520373 A CN202110520373 A CN 202110520373A CN 113203521 A CN113203521 A CN 113203521A
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- 230000005484 gravity Effects 0.000 title claims abstract description 54
- 238000000034 method Methods 0.000 title claims abstract description 50
- 238000001514 detection method Methods 0.000 claims description 21
- 230000007246 mechanism Effects 0.000 claims description 2
- 230000008569 process Effects 0.000 abstract description 14
- 238000005259 measurement Methods 0.000 abstract description 12
- 238000004364 calculation method Methods 0.000 abstract description 5
- 238000006243 chemical reaction Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 230000009466 transformation Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000012790 confirmation Methods 0.000 description 1
- 238000013523 data management Methods 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M1/00—Testing static or dynamic balance of machines or structures
- G01M1/12—Static balancing; Determining position of centre of gravity
- G01M1/122—Determining position of centre of gravity
Abstract
The invention discloses a method for measuring the gravity center of an excavator, wherein one side of the excavator is placed on a knife edge, the other side of the excavator is lifted by a sling and measures the required tension, the distance from the sling to the knife edge is measured by changing the lifting state of the excavator, the inclination angle when the excavator is in an inclined state is measured, and the coordinates of the gravity center of the excavator are calculated according to the measured numerical value; the method has the advantages that the field is not influenced by the wagon balance position in the measuring process, the limitation is less, and the hoisting height 5 of the excavator is reduced in the vertical direction coordinate obtaining process°All above, the measurement process is safer, and each parameter of calculation coordinate obtains easily, and the coordinate obtains through calculating, and the precision is high, and the accessible sets up different angles and carries out the self-checking to the coordinate data who obtains.
Description
Technical Field
The invention relates to a method for measuring the gravity center of an excavator, and belongs to the field of engineering machinery.
Background
The gravity center position of the excavator determines the static stability and the operation stability of the excavator, and influences the working performance and the operation range of the machine. Currently, the gravity center of the excavator is measured mainly through a suspension method and a ground support method, the coordinate in the horizontal direction is easy to obtain, and the coordinate obtaining method in the vertical direction is complicated and has large errors.
The prior art of excavator center of gravity measurement is divided into two parts:
coordinate acquisition in the horizontal direction: as shown in fig. 3, the weight M of the whole excavator is measured on a weighbridge, the front end and the rear end (left end and right end) of the excavator are placed on a knife edge, one knife edge is placed on the weighbridge, the horizontal distance between the gravity center and the front end (left end and right end) of the knife edge is set as x (y), the support reaction force fx (fy) generated on the knife edge on the weighbridge is measured, the distance xf (yf) of the two knife edges is measured, the value of x (y) is calculated according to moment balance, and the coordinate of the gravity center in the horizontal direction is obtained through coordinate transformation.
Coordinate acquisition in the vertical direction: as shown in fig. 4, the vehicle body is placed on a wagon balance with one end of the vehicle body being lifted to a position between 15 and 25 degrees from horizontal (the largest suitable angle should be used). The bearing reaction force Fz of the grounding point of the platform balance and the horizontal distance d from the grounding point to the sling are measured, the horizontal distance c from the center of gravity to the sling is calculated, a perpendicular line passing through the center of gravity is drawn on a line drawing plate fixed on the machine, the other end of the machine is lifted, and the test is repeated. The height position of the intersection point of the two perpendicular lines on the scribing board is the vertical distance of the gravity center, and the coordinate in the vertical direction of the gravity center is obtained through coordinate transformation.
The prior art has the problems that the measurement site is limited by the wagon balance position, the excavator inclination angle is large, danger is easy to occur, the confirmation error is large in a line drawing mode, the measured data cannot be subjected to self-inspection, and the like.
Disclosure of Invention
The invention aims to provide the excavator gravity center measuring method aiming at the problems, the excavator gravity center is measured by the method without being limited by a field, the accuracy is high, the safety is good, and the self-checking of the measured gravity center value can be carried out.
In order to achieve the aim, the invention discloses a method for measuring the gravity center of an excavator, which comprises the following steps:
step 1: measuring the whole machine weight M of the excavator;
step 2: one side of the excavator is placed on the knife edge, the other side of the excavator is lifted to be in a horizontal state through a sling, a tension detection device is arranged on the sling, the horizontal distance from the sling to the knife edge is measured, the numerical value of the tension detection device is read, the horizontal distance from the knife edge to the gravity center of the excavator is calculated according to the moment balance principle, and the horizontal distance is converted into a coordinate in the horizontal direction.
And step 3: calculating the horizontal distance D from the gravity center to the knife edge when the excavator is in a horizontal state according to the step 2, then hoisting the excavator to an inclined state by using a sling, and measuring the inclination angle alpha of the excavator1Reading the value Fz of the tension detecting device1Measuring the horizontal distance d from the sling to the knife edge1According to the formula:
Z1=[D-（Fz1*d1）/（M*g*cosα1）]/tanα1
calculating the vertical distance from the gravity center to the knife edge when the excavator is in a horizontal state, and converting the vertical distance into a coordinate in the vertical direction; the coordinates are obtained through calculation according to the moment balance principle, the error rate is reduced, a sling is used in the measuring process, the measuring site is not limited by the position of the wagon balance any more, the data needing to be collected are simple in obtaining process, the error is small, and the accuracy of the data is improved.
Furthermore, in the step (2), the rear side of the excavator is placed on the knife edge, the front side of the excavator is lifted to a horizontal state by a sling, a tension detection device is arranged on the sling, the horizontal distance Dx from the sling to the knife edge is measured, the numerical value Fx of the tension detection device is read, and the method comprises the following steps:
X=Fx*Dx/(M*g)
calculating the horizontal distance X from the knife edge to the gravity center of the excavator, and converting the horizontal distance X into a horizontal coordinate; a coordinate axis is arranged along the front-back direction of the excavator, the coordinate axis is equivalent to an X axis on a horizontal plane, and the horizontal distance from the gravity center to the knife edge is the coordinate value on the coordinate axis.
Furthermore, in the step (2), the left side of the excavator is placed on the knife edge, the right side of the excavator is lifted to a horizontal state by a sling, a tension detection device is arranged on the sling, the horizontal distance Dy from the sling to the knife edge is measured, and the numerical value Fy of the tension detection device is read according to a formula:
Y=Fy*Dy/(M*g)
calculating the horizontal distance Y from the knife edge to the gravity center of the excavator, and converting the horizontal distance Y into a horizontal coordinate; a coordinate axis is arranged along the left and right directions of the excavator, the coordinate axis is equivalent to a Y axis on a horizontal plane, and the horizontal distance from the gravity center to the knife edge is the coordinate value on the coordinate axis.
Further, the method step 3 is that the excavator has an inclination angle alpha2Reading the value Fz of the tension detecting device2Measuring the horizontal distance d from the sling to the knife edge2According to the formula:
Z2=[D-（Fz2*d2）/（M*g*cosα2）]/tanα2
calculated Z2And Z1Comparing and carrying out self-checking; the change of the angle does not influence the thorough vertical distance from the center of gravity, and the aim of checking the calculation result can be fulfilled by recalculating by changing the angle.
Furthermore, the inclination angle of the excavator in the method is in the range of 5-25 degrees; theoretically, the inclination angle with non-zero degree can be all, but in order to improve the accuracy of measurement, the inclination angle is preferably larger than 5 degrees, the problem of safety is easy to occur when the angle is too large, the maximum angle is limited to 25 degrees, and the safety of measurement is improved.
Furthermore, in the method, the rear end of the crawler belt of the excavator is arranged on the knife edge, and the sling is fixed at the front end of the movable arm of the excavator; in the measuring process, the direction of the knife edge is perpendicular to the set coordinate axis, and in order to improve the measuring accuracy, the position of the knife edge should be defined in advance.
Furthermore, in the method, the crawler belt on the left side of the excavator is arranged on the knife edge, and the sling is fixed on the right side of the upper mechanism of the excavator; in the measuring process, the direction of the knife edge is perpendicular to the set coordinate axis, and the intersection point of straight lines where the knife edges arranged in front and back and the knife edges arranged in left and right are located is the original point.
Further, in this method, the inclination angle of the excavator is in the range of 5 ° to 15 °, and the maximum inclination angle is set to 15 ° for the purpose of improving safety.
Furthermore, the tension detection device in the method is a dynamometer, and the digital dynamometer is simple to use, high in accuracy, complete in data management function and capable of improving numerical accuracy.
Further, in the method, the total weight of the excavator is measured by a wagon balance.
In conclusion, the beneficial effects of the invention are as follows: the method has the advantages that the field is not influenced by the wagon balance position in the measuring process, the limitation is less, and the hoisting height 5 of the excavator is reduced in the vertical direction coordinate obtaining process°All above, the measurement process is safer, and each parameter of calculation coordinate obtains easily, and the coordinate obtains through calculating, and the precision is high, and the accessible sets up different angles and carries out the self-checking to the coordinate data who obtains.
Drawings
FIG. 1 is a schematic diagram of parameters required for calculating horizontal coordinates by measuring the center of gravity of an excavator;
FIG. 2 is a schematic diagram of parameters required for calculating vertical coordinates by measuring the center of gravity of an excavator;
FIG. 3 is a schematic illustration of a prior art excavator with a center of gravity measuring horizontal coordinates;
FIG. 4 is a schematic illustration of a prior art excavator center of gravity measurement vertical coordinate.
In the figure, 1, an excavator; 2. a knife edge; 3. a sling; 4. a tension detection device; 5. the weighbridge.
Detailed Description
The following detailed description of embodiments of the present invention is provided in connection with the accompanying drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.
In the description of the present application, it is to be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present application and simplifying the description, but do not indicate or imply that the referred device or element must have a particular orientation, be constructed in a particular orientation, and be operated, and thus should not be construed as limiting the present application.
The following is a description of preferred embodiments of the present invention with reference to the accompanying drawings.
Referring to the drawings, the embodiment discloses a method for measuring the gravity center of an excavator 1, which comprises the following steps:
step 1: measuring the whole machine weight M of the excavator 1;
step 2: one side of an excavator 1 is placed on a knife edge 2, the other side of the excavator 1 is lifted to a horizontal state through a sling 3, a tension detection device 4 is arranged on the sling 3, the horizontal distance from the sling 3 to the knife edge 2 is measured, the numerical value of the tension detection device 4 is read, the horizontal distance from the knife edge 2 to the gravity center of the excavator 1 is calculated according to the moment balance principle, and the horizontal distance is converted into a horizontal coordinate.
And step 3: calculating the horizontal distance D from the gravity center to the knife edge 2 when the excavator 1 is in a horizontal state according to the step 2, then hoisting the excavator 1 to an inclined state by a hoisting rope 3, and measuring the inclination angle alpha of the excavator 11Reading the value Fz of the tension detecting device 41Measuring the horizontal distance d from the sling 3 to the knife edge 21According to the formula:
Z1=[D-（Fz1*d1）/（M*g*cosα1）]/tanα1
and calculating the vertical distance from the gravity center to the knife edge 2 when the excavator 1 is in a horizontal state, and converting the vertical distance into a coordinate in the vertical direction.
The overall weight M of the excavator 1 is measured by the weighbridge 5, the weighbridge 5 is not needed in subsequent measurement, the measurement site can be selected according to the requirement, the weighbridge 5 can be separated, and the next measurement can be carried out in a wide and safe site. The data required in the measuring process is simple and easy to measure, the measuring method is simplified, and the safety is improved.
The placing position of the knife edge 2 can affect the original point of the coordinate and the direction of the coordinate axis, in the measuring process, the placing position of the knife edge 2 is planned in advance and recorded, the front and back direction of the excavator 1 is taken as the X axis of the horizontal direction, the left and right direction of the excavator 1 is taken as the Y axis of the horizontal direction, the intersection point of the X axis, the Y axis and the Z axis is taken as the original point, and after a coordinate system is determined, the determination of the gravity center can be more accurate.
According to the step 2, the rear side of the excavator 1 is placed on the knife edge 2, the front side of the excavator 1 is lifted to be in a horizontal state through a lifting rope 3, a tension detection device 4 is arranged on the lifting rope 3, the horizontal distance Dx from the lifting rope 3 to the knife edge 2 is measured, the numerical value Fx of the tension detection device 4 is read, and according to a formula:
X=Fx*Dx/(M*g)
and calculating the horizontal distance X from the knife edge 2 to the gravity center of the excavator 1, and converting the horizontal distance X into a horizontal coordinate.
According to step 2, the left side of the excavator 1 is placed on the knife edge 2, the right side of the excavator 1 is lifted to a horizontal state by a sling 3, a tension detection device 4 is arranged on the sling 3, the horizontal distance Dy from the sling 3 to the knife edge 2 is measured, and the numerical value Fy of the tension detection device 4 is read according to a formula:
Y=Fy*Dy/(M*g)
and calculating the horizontal distance Y from the knife edge 2 to the gravity center of the excavator 1, and converting the horizontal distance Y into a horizontal coordinate.
Calculating Z according to the step 31Then, the inclination angle is adjusted to alpha2Reading the value Fz of the tension detecting device 42Measuring the horizontal distance d from the sling 3 to the knife edge 22According to the formula:
Z2=[D-（Fz2*d2）/（M*g*cosα2）]/tanα2
calculated Z2And Z1And performing data self-check by comparison.
According to the moment-balance principle Z1=Z2Z is calculated according to the method2And Z1And comparing to check whether the data is correct, and if not, carrying out the next calculation by changing the inclination angle to know that the correct value is calculated.
In the prior art, the largest proper angle of 15-25 degrees can be selected as the lifting inclination angle of the excavator 1 in the gravity center measuring process, in the method, the inclination angle can be calculated theoretically in a non-zero mode, but in order to enable other data to be measured more accurately, the inclination angle range can be selected from 5-25 degrees, and in order to avoid instability caused by overlarge inclination angle, the inclination angle range can be further limited to 5-15 degrees.
The tension detection device 4 uses a digital dynamometer in the measurement process, the measurement value of the digital dynamometer is accurate, and the accuracy of the center of gravity is improved.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and substitutions can be made without departing from the technical principle of the present invention, and these modifications and substitutions should also be regarded as the protection scope of the present invention.
Claims (10)
1. A method for measuring the center of gravity of an excavator (1) is characterized by comprising the following steps:
step 1: measuring the total weight M of the excavator (1);
step 2: one side of an excavator (1) is placed on a knife edge (2), the other side of the excavator (1) is lifted to a horizontal state by a sling (3), a tension detection device (4) is arranged on the sling (3), the horizontal distance from the sling (3) to the knife edge (2) is measured, the numerical value of the tension detection device (4) is read, the horizontal distance from the knife edge (2) to the gravity center of the excavator (1) is calculated according to a moment balance principle, and the horizontal distance is converted into a coordinate in the horizontal direction;
and step 3: calculating the horizontal distance D from the gravity center to the knife edge (2) when the excavator (1) is in a horizontal state according to the step 2, then hoisting the excavator (1) to an inclined state by using a hoisting rope (3), and measuring the inclination angle alpha of the excavator (1)1Reading the value Fz of the tension detecting device (4)1Measuring the horizontal distance d from the sling (3) to the knife edge (2)1According to the formula:
Z1=[D-（Fz1*d1）/（M*g*cosα1）]/tanα1
and calculating the vertical distance from the gravity center to the knife edge (2) when the excavator (1) is in a horizontal state, and converting the vertical distance into a coordinate in the vertical direction.
2. The method for measuring the center of gravity of an excavator (1) according to claim 1, wherein in the step (2), the rear side of the excavator (1) is placed on the knife edge (2), the front side of the excavator (1) is lifted to a horizontal state by a sling (3), a tension detection device (4) is arranged on the sling (3), the horizontal distance Dx from the sling (3) to the knife edge (2) is measured, the value Fx of the tension detection device (4) is read, and the method is characterized in that according to the formula:
X=Fx*Dx/(M*g)
and calculating the horizontal distance X from the knife edge (2) to the gravity center of the excavator (1), and converting the horizontal distance X into a horizontal coordinate.
3. The method for measuring the center of gravity of an excavator (1) according to claim 1, wherein in the step (2), the left side of the excavator (1) is placed on the knife edge (2), the right side of the excavator (1) is lifted to a horizontal state by a sling (3), a tension detection device (4) is arranged on the sling (3), the horizontal distance Dy from the sling (3) to the knife edge (2) is measured, the numerical value Fy of the tension detection device (4) is read, and the method is characterized in that according to the formula:
Y=Fy*Dy/(M*g)
and calculating the horizontal distance Y from the knife edge (2) to the gravity center of the excavator (1), and converting the horizontal distance Y into a horizontal coordinate.
4. The method for measuring the center of gravity of an excavator (1) according to claim 1, wherein the inclination angle of the excavator (1) in step 3 is α2Reading the value Fz of the tension detecting device (4)2Measuring the horizontal distance d from the sling (3) to the knife edge (2)2According to the formula:
Z2=[D-（Fz2*d2）/（M*g*cosα2）]/tanα2
calculated Z2And Z1And comparing and carrying out self-checking.
5. The method for measuring the center of gravity of an excavator (1) according to claim 4, wherein the inclination angle of the excavator (1) is in the range of 5 ° to 25 °.
6. The method for measuring the center of gravity of an excavator (1) according to claim 2, wherein the rear end of the crawler of the excavator (1) is placed on the knife edge (2), and the sling (3) is fixed to the front end of the boom of the excavator (1).
7. The method for measuring the center of gravity of an excavator (1) according to claim 3, wherein the crawler on the left side of the excavator (1) is placed on the knife edge (2), and the sling (3) is fixed to the right side of the upper mechanism of the excavator (1).
8. The method for measuring the center of gravity of an excavator (1) according to claim 4, wherein the inclination angle of the excavator (1) is in the range of 5 ° to 15 °.
9. The method for measuring the center of gravity of an excavator (1) according to claim 1, wherein the tension detecting device (4) is a dynamometer.
10. The method for measuring the center of gravity of an excavator (1) according to claim 1, wherein the total machine weight of the excavator (1) is measured by a weighbridge (5).
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Cited By (1)
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Application publication date: 20210803 |