CN113970406A - Method for measuring gravity center of large equipment - Google Patents

Method for measuring gravity center of large equipment Download PDF

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CN113970406A
CN113970406A CN202110868838.2A CN202110868838A CN113970406A CN 113970406 A CN113970406 A CN 113970406A CN 202110868838 A CN202110868838 A CN 202110868838A CN 113970406 A CN113970406 A CN 113970406A
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vehicle equipment
gravity center
measuring
vehicle
equipment
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CN113970406B (en
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李宏伟
王录雁
江侃
郭鹏伟
张威
丁莉
刘洁
王建华
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Air Force Logistics University Of Pla
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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
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation

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Abstract

The invention discloses a method for measuring the gravity center of large equipment, which comprises the following steps of 1, establishing a Cartesian rectangular coordinate system Oxyz; step 2, setting the gravity center position of the tested vehicle equipment as a G point and the gravity center coordinate as (x, y, z); step 3, measuring mass data M of four corners of the measuring platform by using the weighing sensor in the horizontal state of the measuring platform1、M2、M3、M4(ii) a Measuring the plane coordinates (x, y) of the center of gravity; step 4, lifting the measuring platform to a certain angle theta, wherein the data measured by the weighing sensors are M'1、M′2、M′3、M′4(ii) a According to the static weighing principle, the vehicle equipment in an inclined state is subjected to stress analysis, and the height coordinate z of the gravity center of the vehicle equipment can be obtained; and 5, obtaining the coordinates of the gravity center position of the vehicle equipment as (x, y, z). The method and the device realize the rapid and accurate determination of the gravity center position of the vehicle equipment.

Description

Method for measuring gravity center of large equipment
Technical Field
The invention belongs to the technical field of vehicle gravity center equipment, and particularly relates to a method for measuring the gravity center of large equipment.
Background
In the gradually developing modern military transportation application, the integrated transportation of equipment such as armored vehicles, tanks, supply transport vehicles and the like in ships and large-scale transport machines is more and more frequent. Therefore, the method has important requirements for ensuring the stability of the integral gravity center of the ship or the airplane in the transportation process and improving the transportation safety. The gravity center position of vehicle equipment is an important parameter for scientifically formulating an air-sea transport assembly scheme and guaranteeing air-sea transport safety, and especially, the mass and the gravity center of large-scale land, sea and air-ground equipment are large, and the key point for evaluating the applicability is to accurately master the mass and the gravity center parameter of the large-scale land, sea and air-ground equipment. Once the gravity center height of the whole loaded equipment is higher than that of the transportation carrier, or the gravity center position of the whole loaded equipment deviates from that of the transportation carrier, the transportation device has safety problems, unbalance of airplanes and steamships is easily caused, and safety accidents are further caused. The existing gravity center measuring method cannot meet the requirements of large-tonnage and multi-axis measurement of large-sized vehicle equipment at the current stage, so a gravity center measuring system which can be suitable for the current stage needs to be developed, and the safety and stability of the whole transport mechanism are guaranteed.
At present, the method for measuring the gravity center position of a vehicle mainly comprises the following steps: a swing method, a suspension method, a mass reaction method (a method for measuring the gravity center position of equipment by using a moment balance principle) and the like. The swing method and the suspension method can only measure the gravity center position of some small vehicles, and are low in measurement accuracy and large in application limitation. The mass reaction method can meet the requirements of large tonnage and multiple shafts of vehicle equipment, and has higher measurement precision. The mass reaction method generally has two modes of forward tilting and side tilting of a platform, and a platform forward tilting method is adopted in the thesis of 'vehicle gravity center position measurement platform research based on the mass reaction method', but the method has higher requirements on the rigidity of the measurement platform and a hydraulic driving system when the vehicle is tilted forwards due to larger body type of vehicle equipment, and higher cost.
Disclosure of Invention
The invention aims to solve the technical problem of providing a method for measuring the gravity center of large equipment aiming at the defects of the background technology.
The invention adopts the following technical scheme for solving the technical problems:
a method for measuring the center of gravity of large equipment comprises
Step 1, selecting a point where the center point of the front axle of the tested vehicle equipment is perpendicular to a platform as a coordinate origin O, and establishing a Cartesian rectangular coordinate system Oxyz, wherein Ox is the driving direction of the vehicle equipment, Oy is the left-right direction of the vehicle equipment, and Oz is the height direction of the vehicle equipment;
step 2, placing the vehicle equipment to be measured on a measuring platform, setting the gravity center position of the vehicle equipment to be measured as a G point, the gravity center coordinate as (x, y, z), the total mass of the vehicle equipment to be measured as M, and setting the inclination angle of the measuring platform with an inclination angle sensor when the measuring platform is inclined as theta; l is the wheelbase between two axles of the wheeler, bfFor the track of the front wheel of a wheel vehicle, brThe wheel track of the rear wheel of the wheel vehicle; weighing sensors are arranged at four corners of the measuring platform;
step 3, measuring mass data M of four corners of the measuring platform by using the weighing sensor in the horizontal state of the measuring platform1、M2、M3、M4；
According to the principle of static weighing,
Figure BDA0003188388120000021
Figure BDA0003188388120000022
Figure BDA0003188388120000023
step 4, lifting the measuring platform to a certain angle theta to enable the vehicle equipment to be in a side-tipping state, and four groups of weighing sensorsThe measured data are respectively M'1、M′2、M′3、M′4(ii) a Similarly, according to the static weighing principle, the vehicle equipment in the inclined state is subjected to stress analysis, and the height of the gravity center of the vehicle equipment can be obtained;
Figure BDA0003188388120000024
Figure BDA0003188388120000025
step 5, obtaining the coordinates (x, y, z) of the gravity center position of the vehicle equipment through the formulas (2), (3) and (5),
Figure BDA0003188388120000026
compared with the prior art, the invention adopting the technical scheme has the following technical effects:
aiming at the characteristics of vehicle equipment, the invention designs a set of method for measuring the gravity center position of the vehicle equipment by adopting a platform side-tipping mode in a mass reaction method, thereby realizing the rapid and accurate determination of the gravity center position of the vehicle equipment; and the measurement cost is low, and the measurement is accurate and efficient.
Drawings
Fig. 1 is a schematic view of the overall structure of the vehicle under test in the horizontal long state in this embodiment;
FIG. 2 is a schematic top view of the vehicle under test in the present embodiment in a horizontally long state;
fig. 3 is a schematic view of the overall structure of the vehicle under test in the horizontally long state in the present embodiment.
Detailed Description
The technical scheme of the invention is further explained in detail by combining the attached drawings:
in the description of the present invention, it is to be understood that the terms "left side", "right side", "upper part", "lower part", etc., indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and that "first", "second", etc., do not indicate an important degree of the component parts and are not to be construed as limiting the present invention. The specific dimensions used in the present embodiment are only for illustrating the technical solution and do not limit the protection scope of the present invention.
A method for measuring the center of gravity of large equipment, as shown in FIGS. 1 and 2, comprises
Step 1, selecting a point where the center point of the front axle of the tested vehicle equipment is perpendicular to a platform as a coordinate origin O, and establishing a Cartesian rectangular coordinate system Oxyz, wherein Ox is the driving direction of the vehicle equipment, Oy is the left-right direction of the vehicle equipment, and Oz is the height direction of the vehicle equipment;
step 2, placing the vehicle equipment to be measured on a measuring platform, setting the gravity center position of the vehicle equipment to be measured as a G point, the gravity center coordinate as (x, y, z), the total mass of the vehicle equipment to be measured as M, and setting the inclination angle of the measuring platform with an inclination angle sensor when the measuring platform is inclined as theta; l is the wheelbase between two axles of the wheeler, bfFor the track of the front wheel of a wheel vehicle, brThe wheel track of the rear wheel of the wheel vehicle; weighing sensors are arranged at four corners of the measuring platform;
step 3, measuring mass data M of four corners of the measuring platform by using the weighing sensor in the horizontal state of the measuring platform1、M2、M3、M4；
According to the principle of static weighing,
Figure BDA0003188388120000031
Figure BDA0003188388120000032
Figure BDA0003188388120000033
step 4, lifting the measuring platform to a certain angle theta to enable the vehicle equipment to be in a side-tipping state, wherein data measured by the four groups of weighing sensors are M'1、M′2、M′3、M′4(ii) a Similarly, according to the static weighing principle, the vehicle equipment in the inclined state is subjected to stress analysis, and the height of the gravity center of the vehicle equipment can be obtained;
Figure BDA0003188388120000034
Figure BDA0003188388120000035
step 5, obtaining the coordinates (x, y, z) of the gravity center position of the vehicle equipment through the formulas (2), (3) and (5),
Figure BDA0003188388120000036
example of center of gravity measurement by the method:
the warrior vehicle is taken as the vehicle to be tested, and the main parameters are shown in the table 1.
TABLE 1 warrior vehicle basic parameters
Length X Width X height (mm) Wheelbase (mm) Front/rear wheel track (mm) Whole vehicle mass (kg)
4490×1825×1950 2600 1540/1540 1960
According to the gravity center measuring principle, firstly, after a warrior car is placed on a platform, the platform is leveled, data measured by four weighing sensors of the vehicle in a horizontal state are measured, then the platform is lifted to 4 degrees, 8 degrees and 12 degrees, and data of the four weighing sensors of the platform in different inclination angles are respectively obtained, and the table 2 shows.
TABLE 2 data of four groups of weighing sensors in different inclination states
Platform lifting angle M1(kg) M2(kg) M3(kg) M4(kg)
0° 518 521 460 461
4° 487 552 432 489
8° 455 584 405 516
12° 424 616 376 545
According to the expressions (2), (4) and (5), the gravity center position of the warrior vehicle is determined by determining the gravity center position of the vehicle as x being 1221.7mm, y being 3.1mm and z being 660.8 mm.
It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
The above embodiments are only for illustrating the technical idea of the present invention, and the protection scope of the present invention is not limited thereby, and any modifications made on the basis of the technical scheme according to the technical idea of the present invention fall within the protection scope of the present invention. While the embodiments of the present invention have been described in detail, the present invention is not limited to the above embodiments, and various changes can be made without departing from the spirit of the present invention within the knowledge of those skilled in the art.

Claims (1)

1. A method for measuring the gravity center of large equipment is characterized by comprising the following steps: comprises that
Step 1, selecting a point where the center point of the front axle of the tested vehicle equipment is perpendicular to a platform as a coordinate origin O, and establishing a Cartesian rectangular coordinate system Oxyz, wherein Ox is the driving direction of the vehicle equipment, Oy is the left-right direction of the vehicle equipment, and Oz is the height direction of the vehicle equipment;
step 2, placing the vehicle equipment to be measured on a measuring platform, setting the gravity center position of the vehicle equipment to be measured as a G point, the gravity center coordinate as (x, y, z), the total mass of the vehicle equipment to be measured as M, and setting the inclination angle of the measuring platform with an inclination angle sensor when the measuring platform is inclined as theta; l is the wheelbase between two axles of the wheeler, bfThe wheel track of the front wheel of the wheel vehicle, br is the wheel track of the rear wheel of the wheel vehicle; weighing sensors are arranged at four corners of the measuring platform;
step 3, measuring mass data M of four corners of the measuring platform by using the weighing sensor in the horizontal state of the measuring platform1、M2、M3、M4；
According to the principle of static weighing,
Figure FDA0003188388110000011
Figure FDA0003188388110000012
Figure FDA0003188388110000013
step 4, lifting the measuring platform to a certain angle theta to enable the vehicle equipment to be in a side-tipping state, wherein data measured by the four groups of weighing sensors are M'1、M′2、M′3、M′4(ii) a Also, according to the restAccording to the dynamic weighing principle, the vehicle equipment in an inclined state is subjected to stress analysis, and the height of the gravity center of the vehicle equipment can be obtained;
Figure FDA0003188388110000014
Figure FDA0003188388110000015
step 5, obtaining the coordinates (x, y, z) of the gravity center position of the vehicle equipment through the formulas (2), (3) and (5),
Figure FDA0003188388110000016
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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2012056779A1 (en) * 2010-10-26 2012-05-03 鎌長製衡株式会社 Measurement device of position of center of gravity of vehicle to be measured on truck scale and truck scale
JP2012202882A (en) * 2011-03-25 2012-10-22 Kyowa Electron Instr Co Ltd Centroid measurement system for traveling type vehicle
CN111766015A (en) * 2020-06-30 2020-10-13 三一汽车制造有限公司 Vehicle gravity center height measuring device and method
CN112393845A (en) * 2020-11-30 2021-02-23 奇瑞汽车股份有限公司 Vehicle gravity center height obtaining method and device
CN212658381U (en) * 2020-07-28 2021-03-05 北京三快在线科技有限公司 Centroid position measuring device for vehicle

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2012056779A1 (en) * 2010-10-26 2012-05-03 鎌長製衡株式会社 Measurement device of position of center of gravity of vehicle to be measured on truck scale and truck scale
JP2012202882A (en) * 2011-03-25 2012-10-22 Kyowa Electron Instr Co Ltd Centroid measurement system for traveling type vehicle
CN111766015A (en) * 2020-06-30 2020-10-13 三一汽车制造有限公司 Vehicle gravity center height measuring device and method
CN212658381U (en) * 2020-07-28 2021-03-05 北京三快在线科技有限公司 Centroid position measuring device for vehicle
CN112393845A (en) * 2020-11-30 2021-02-23 奇瑞汽车股份有限公司 Vehicle gravity center height obtaining method and device

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
赵新通,姜洪洲,韩俊伟: "车辆质心位置测量系统的研制" *

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