CN113970406B - Gravity center measuring method for large equipment - Google Patents

Gravity center measuring method for large equipment Download PDF

Info

Publication number
CN113970406B
CN113970406B CN202110868838.2A CN202110868838A CN113970406B CN 113970406 B CN113970406 B CN 113970406B CN 202110868838 A CN202110868838 A CN 202110868838A CN 113970406 B CN113970406 B CN 113970406B
Authority
CN
China
Prior art keywords
measuring
gravity center
vehicle equipment
vehicle
platform
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN202110868838.2A
Other languages
Chinese (zh)
Other versions
CN113970406A (en
Inventor
李宏伟
王录雁
江侃
郭鹏伟
张威
丁莉
刘洁
王建华
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Air Force Logistics University Of Pla
Original Assignee
Air Force Logistics University Of Pla
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Air Force Logistics University Of Pla filed Critical Air Force Logistics University Of Pla
Priority to CN202110868838.2A priority Critical patent/CN113970406B/en
Publication of CN113970406A publication Critical patent/CN113970406A/en
Application granted granted Critical
Publication of CN113970406B publication Critical patent/CN113970406B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Testing Of Balance (AREA)

Abstract

The invention relates to 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 of four corners of the measuring platform as M by using a weighing sensor in the horizontal state of the measuring platform 1 、M 2 、M 3 、M 4 The method comprises the steps of carrying out a first treatment on the surface of the 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 'respectively' 1 、M′ 2 、M′ 3 、M′ 4 The method comprises the steps of carrying out a first treatment on the surface of the According to a static weighing principle, carrying out stress analysis on vehicle equipment in an inclined state, and obtaining a height coordinate z of the gravity center of the vehicle equipment; and 5, obtaining the gravity center position coordinates of the vehicle equipment as (x, y, z). The invention realizes the rapid and accurate determination of the gravity center position of the vehicle equipment.

Description

Gravity center measuring method for large equipment
Technical Field
The invention belongs to the technical field of vehicle gravity center equipment, and particularly relates to a gravity center measuring method of large equipment.
Background
In the gradually developed modern military transportation applications, the integrated transportation of equipment such as armored vehicles, tanks, and replenishment transport vehicles in vessels and large-scale transport vehicles is more and more frequent. Therefore, the method has important requirements for ensuring the stability of the whole gravity center of the ship or the airplane in the transportation process and improving the transportation safety. The gravity center position of the vehicle equipment is an important parameter for scientifically making an empty sea transportation assembly scheme and guaranteeing the safety of the empty sea transportation, and particularly, the mass and the gravity center of large land, sea and empty ground equipment are high, and the accurate grasp of the mass and the gravity center parameters is a key point for evaluating the applicability of the large land, sea and empty ground equipment. Once the gravity center height of the whole loaded vehicle equipment is higher than that of the transportation carrier, or the gravity center position of the whole loaded vehicle equipment deviates from that of the transportation carrier, the transportation device has a safety problem, and unbalance of an airplane and a ship is easily caused, so that safety accidents are caused. The existing gravity center measuring method cannot meet the requirements of large tonnage and multi-axis measurement of large-scale vehicle equipment at present, so that a gravity center measuring system capable of adapting to the existing gravity center measuring system at present needs to be developed, and the safety and stability of the whole transportation mechanism are guaranteed.
At present, the method for measuring the gravity center position of the vehicle mainly comprises the following steps: swing, suspension, and mass reaction (a method of measuring the position of the center of gravity of the device using the principle of moment balance), and the like. Among them, the swing method and the suspension method can only measure the center of gravity position of some small vehicles, and the measurement accuracy is low and the application limitation is large. The mass reaction method can meet the characteristics of large tonnage and multiple shafts of vehicle equipment, and has higher measurement accuracy. The mass reaction method generally comprises two modes of forward tilting and side tilting of a platform, and the method for forward tilting of the platform is adopted in the paper 'vehicle gravity center position measuring platform research based on the mass reaction method', but the method has higher requirements on the rigidity of the measuring platform and a hydraulic driving system during forward tilting due to larger size of vehicle equipment, and has higher cost.
Disclosure of Invention
The invention aims to solve the technical problem of providing a large equipment gravity center measuring method aiming at the defects of the background technology, and the invention adopts a platform side-tipping mode in a mass reaction method to realize quick and accurate determination of the gravity center position of vehicle equipment.
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 falling point of a front axle center point of a tested vehicle device, which is perpendicular to a platform, as a coordinate origin O, and establishing a Cartesian rectangular coordinate system Oxyz, wherein Ox is a running direction of the vehicle device, oy is a left-right direction of the vehicle device, and Oz is a height direction of the vehicle device;
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, setting the gravity center coordinate as (x, y, z), setting the total mass of the vehicle equipment to be measured as M, and setting the inclination angle of the measuring platform as theta when the measuring platform is provided with an inclination angle sensor; l is the wheelbase between two axles of the wheel vehicle, b f B is the wheel distance of the front wheel of the wheel vehicle r The wheel distance of the rear wheel of the wheel vehicle; weighing sensors are arranged at four corners of the measuring platform;
step 3, measuring mass data of four corners of the measuring platform as M by using a weighing sensor in the horizontal state of the measuring platform 1 、M 2 、M 3 、M 4 ；
According to the principle of static weighing,
Figure GDA0003428534570000021
Figure GDA0003428534570000022
Figure GDA0003428534570000023
step 4, lifting the measuring platform to a certain angle theta to enable the vehicle equipment to be in a side tilting state, wherein data measured by the four groups of weighing sensors are M 'respectively' 1 、M′ 2 、M′ 3 、M′ 4 The method comprises the steps of carrying out a first treatment on the surface of the Similarly, according to a static weighing principle, the vehicle equipment in an inclined state is subjected to stress analysis, so that the height of the gravity center of the vehicle equipment can be obtained;
Figure GDA0003428534570000024
Figure GDA0003428534570000025
step 5, obtaining the center of gravity position coordinates of the vehicle equipment as (x, y, z) through the formulas (2), (3) and (5), wherein,
Figure GDA0003428534570000026
compared with the prior art, the technical scheme provided by the invention has the following technical effects:
aiming at the characteristics of vehicle equipment, a platform tilting mode in a mass reaction method is adopted, a set of method for measuring the gravity center position of the vehicle equipment is designed, and the rapid and accurate determination of the gravity center position of the vehicle equipment is realized; and the measuring cost is low, and the measurement is accurate and efficient.
Drawings
Fig. 1 is a schematic view of the overall structure of the vehicle equipment to be tested in the horizontal long state in the present embodiment;
FIG. 2 is a schematic plan view of the vehicle equipment in the present embodiment in a horizontally long state;
fig. 3 is a schematic view of the overall structure of the vehicle equipment in the horizontal long state according to the present embodiment.
Detailed Description
The technical scheme of the invention is further described in detail below with reference to the accompanying drawings:
in the description of the present invention, it should be understood that the terms "left", "right", "upper", "lower", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the apparatus or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and "first", "second", etc. do not indicate the importance of the components, and thus are not to be construed as limiting the present invention. The specific dimensions adopted 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 figures 1 and 2, comprises
Step 1, selecting a falling point of a front axle center point of a tested vehicle device, which is perpendicular to a platform, as a coordinate origin O, and establishing a Cartesian rectangular coordinate system Oxyz, wherein Ox is a running direction of the vehicle device, oy is a left-right direction of the vehicle device, and Oz is a height direction of the vehicle device;
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, setting the gravity center coordinate as (x, y, z), setting the total mass of the vehicle equipment to be measured as M, and setting the inclination angle of the measuring platform as theta when the measuring platform is provided with an inclination angle sensor; l is the wheelbase between two axles of the wheel vehicle, b f B is the wheel distance of the front wheel of the wheel vehicle r The wheel distance of the rear wheel of the wheel vehicle; weighing sensors are arranged at four corners of the measuring platform;
step 3, measuring mass data of four corners of the measuring platform as M by using a weighing sensor in the horizontal state of the measuring platform 1 、M 2 、M 3 、M 4 ；
According to the principle of static weighing,
Figure GDA0003428534570000031
Figure GDA0003428534570000032
Figure GDA0003428534570000033
step 4, lifting the measuring platform to a certain angle theta to enable the vehicle equipment to be in a side tilting state, wherein data measured by the four groups of weighing sensors are M 'respectively' 1 、M′ 2 、M′ 3 、M′ 4 The method comprises the steps of carrying out a first treatment on the surface of the Similarly, according to a static weighing principle, the vehicle equipment in an inclined state is subjected to stress analysis, so that the height of the gravity center of the vehicle equipment can be obtained;
Figure GDA0003428534570000034
Figure GDA0003428534570000035
step 5, obtaining the center of gravity position coordinates of the vehicle equipment as (x, y, z) through the formulas (2), (3) and (5), wherein,
Figure GDA0003428534570000036
examples of barycenter measurements made by the present method:
the warrior vehicle was used as the vehicle under test, and its main parameters are shown in table 1.
Table 1 warrior basic parameters
Length x width x height (mm) Wheelbase (mm) Front/rear wheel track (mm) Whole vehicle quality (kg)
4490×1825×1950 2600 1540/1540 1960
According to the gravity center measurement principle, a warrior vehicle is placed on a platform, the platform is leveled, data measured by four groups of weighing sensors when the vehicle is in a horizontal state are measured, and then the platform is lifted to 4 degrees, 8 degrees and 12 degrees to obtain data of the four groups of weighing sensors when the platform is in different inclination angles, wherein the data are shown in table 2.
Table 2 four sets of load cell data at different tilt conditions
Lifting angle of platform M 1 (kg) M 2 (kg) M 3 (kg) M 4 (kg)
0° 518 521 460 461
4° 487 552 432 489
8° 455 584 405 516
12° 424 616 376 545
From the equations (2), (4) and (5), it can be found that the center of gravity position data of the warrior vehicle is x=1221.7mm, y=3.1 mm, and z=660.8 mm, thereby determining the center of gravity position of the vehicle.
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 thereto, and any modification made on the basis of the technical scheme according to the technical idea of the present invention falls within the protection scope of the present invention. The embodiments of the present invention have been described in detail, but 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 gravity center measuring method of large equipment is characterized in that: comprising
Step 1, selecting a falling point of a front axle center point of a tested vehicle device, which is perpendicular to a platform, as a coordinate origin O, and establishing a Cartesian rectangular coordinate system Oxyz, wherein Ox is a running direction of the vehicle device, oy is a left-right direction of the vehicle device, and Oz is a height direction of the vehicle device;
step 2, placing the vehicle equipment to be tested on a measurement platform, setting the gravity center position of the vehicle equipment to be tested as a G point, the gravity center coordinates as (x, y, z), the total mass of the vehicle equipment to be tested as M, and measuring the levelThe table is provided with an inclination sensor and the inclination angle when the table is inclined is theta; l is the wheelbase between two axles of the wheel vehicle, b f The wheel distance of the front wheel of the wheel is br, and the wheel distance of the rear wheel of the wheel is br; weighing sensors are arranged at four corners of the measuring platform;
step 3, measuring mass data of four corners of the measuring platform as M by using a weighing sensor in the horizontal state of the measuring platform 1 、M 2 、M 3 、M 4 ；
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 tilting state, wherein data measured by the four groups of weighing sensors are M 'respectively' 1 、M′ 2 、M′ 3 、M′ 4 The method comprises the steps of carrying out a first treatment on the surface of the Similarly, according to a static weighing principle, the vehicle equipment in an inclined state is subjected to stress analysis, so that the height of the gravity center of the vehicle equipment can be obtained;
Figure FDA0003188388110000014
Figure FDA0003188388110000015
step 5, obtaining the center of gravity position coordinates of the vehicle equipment as (x, y, z) through the formulas (2), (3) and (5), wherein,
Figure FDA0003188388110000016
/>
CN202110868838.2A 2021-07-30 2021-07-30 Gravity center measuring method for large equipment Active CN113970406B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202110868838.2A CN113970406B (en) 2021-07-30 2021-07-30 Gravity center measuring method for large equipment

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202110868838.2A CN113970406B (en) 2021-07-30 2021-07-30 Gravity center measuring method for large equipment

Publications (2)

Publication Number Publication Date
CN113970406A CN113970406A (en) 2022-01-25
CN113970406B true CN113970406B (en) 2023-06-13

Family

ID=79586361

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202110868838.2A Active CN113970406B (en) 2021-07-30 2021-07-30 Gravity center measuring method for large equipment

Country Status (1)

Country Link
CN (1) CN113970406B (en)

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.哈尔滨商业大学学报(自然科学版).2004,(第03期),全文. *

Also Published As

Publication number Publication date
CN113970406A (en) 2022-01-25

Similar Documents

Publication Publication Date Title
EP3255404B1 (en) System and method for ground vibration testing and weight and balance measurement
US5646376A (en) Aircraft weighing scale with improved base, platform and load cell mounting assembly
CN102297746A (en) Device and method for measuring centroid of multi-axle vehicle
JP5729863B2 (en) Traveling vehicle center of gravity measurement system
CN104019941A (en) Measuring and controlling device and determining method for determining mass center of passenger car
JPH0413932A (en) Measuring equipment of load weight of vehicle
Ayers et al. Stability analysis of agricultural off-road vehicles
CN116858573B (en) Semitrailer performance test platform
CN113970406B (en) Gravity center measuring method for large equipment
JP5230288B2 (en) Method for measuring fluid force generated in vehicle and wind tunnel balance device
CN108204849A (en) A kind of wheeled landing small drone determines center of gravity method with weighing
CN106979843A (en) A kind of aero-engine center of gravity detection method
CN108773796A (en) The scaling method of arbitrary two point coordinates system on a kind of fork truck
CN209623990U (en) A kind of three-dimensional force plate/platform calibration system
CN106516547A (en) Air cushion transfer platform applicable to large-mass aircraft products
JP2010271146A (en) Laden weight detection device for vehicle
CN106768636A (en) One kind can tumble driver's cabin center of gravity measuring method
CN111707414B (en) Weighbridge type large heavy aircraft mass and mass center measuring device and method
EP3978889A1 (en) Dynamic load center-of-gravity detection
CN111638004B (en) Vehicle mass center position measuring tool and measuring method thereof
CN213515966U (en) Portable mass and mass center measuring equipment
CN114942102A (en) Automatic measuring device and method for three-dimensional mass center of snow vehicle
CN113203521A (en) Excavator gravity center measuring method
CN206056862U (en) Mobile device center mass measuring device
Simion et al. Contributions to theortical and experimental study of the dynamic stability of the forklift trucks

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant