CN115183851A - Vehicle load calculation method and system and aerial work platform - Google Patents
Vehicle load calculation method and system and aerial work platform Download PDFInfo
- Publication number
- CN115183851A CN115183851A CN202210648101.4A CN202210648101A CN115183851A CN 115183851 A CN115183851 A CN 115183851A CN 202210648101 A CN202210648101 A CN 202210648101A CN 115183851 A CN115183851 A CN 115183851A
- Authority
- CN
- China
- Prior art keywords
- wheel
- moment
- included angle
- gravity
- acquiring
- 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.)
- Pending
Links
- 238000004364 calculation method Methods 0.000 title claims abstract description 57
- 230000005484 gravity Effects 0.000 claims abstract description 64
- 238000006243 chemical reaction Methods 0.000 claims abstract description 60
- 230000009471 action Effects 0.000 claims description 16
- 239000003638 chemical reducing agent Substances 0.000 claims description 10
- 238000001514 detection method Methods 0.000 claims description 9
- 230000007246 mechanism Effects 0.000 claims description 6
- 238000010276 construction Methods 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 8
- 238000000034 method Methods 0.000 description 7
- 230000005540 biological transmission Effects 0.000 description 5
- 230000005856 abnormality Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000001105 regulatory effect Effects 0.000 description 2
- 238000005303 weighing Methods 0.000 description 2
- 241000239290 Araneae Species 0.000 description 1
- 238000000354 decomposition reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 239000010720 hydraulic oil Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000000691 measurement method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000003921 oil Substances 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01G—WEIGHING
- G01G19/00—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups
- G01G19/02—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups for weighing wheeled or rolling bodies, e.g. vehicles
- G01G19/03—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups for weighing wheeled or rolling bodies, e.g. vehicles for weighing during motion
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F11/00—Lifting devices specially adapted for particular uses not otherwise provided for
- B66F11/04—Lifting devices specially adapted for particular uses not otherwise provided for for movable platforms or cabins, e.g. on vehicles, permitting workmen to place themselves in any desired position for carrying out required operations
- B66F11/042—Lifting devices specially adapted for particular uses not otherwise provided for for movable platforms or cabins, e.g. on vehicles, permitting workmen to place themselves in any desired position for carrying out required operations actuated by lazy-tongs mechanisms or articulated levers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F17/00—Safety devices, e.g. for limiting or indicating lifting force
- B66F17/006—Safety devices, e.g. for limiting or indicating lifting force for working platforms
Landscapes
- Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Forklifts And Lifting Vehicles (AREA)
Abstract
The invention relates to a vehicle load calculation method, a vehicle load calculation system and an aerial work platform, wherein the vehicle load calculation method comprises the following steps: acquiring the gravity of a tire assembly mounted on a wheel, wherein the tire assembly is connected with a chassis; taking the circle center of a pin shaft on the tire assembly as a first origin; constructing a first constraint condition that the resultant moment of the first origin is zero and the gravity center of the tire assembly and the wheel are on the same side of the pin shaft; acquiring a third moment of gravity to the first origin and a first distance between wheel support reaction and the first origin; acquiring a second moment of the supporting force on the pin shaft, wherein the force sensor is used for measuring the supporting force on the pin shaft; and calculating the wheel support reaction force according to the third moment, the first distance and the second moment based on the first constraint condition. The vehicle load calculation method, the vehicle load calculation system and the aerial work platform can accurately obtain vehicle load data and effectively evaluate the stress condition of wheels or chassis.
Description
Technical Field
The invention belongs to the field of aerial work equipment, and particularly relates to a vehicle load calculation method and system and an aerial work platform.
Background
An Aerial work platform (Aerial work platform) is a movable Aerial work product for serving Aerial work, equipment installation, maintenance and the like in various industries. According to the difference of the structural characteristics, the aerial working platform mainly comprises an arm type aerial working platform, a scissor type aerial working platform, a trailer type aerial working platform, a cross-country aerial working platform, a telescopic cylinder type aerial working platform, a spider type aerial working platform and the like.
The chassis of the aerial work platform on the market comprises a transmission system, a running system, a steering system and a control system, the chassis is used for supporting, mounting an engine and each component assembly of the engine and receiving power of the engine, so that the aerial work platform moves, and when the running system is a wheel, the aerial work platform has better walking efficiency.
At present, for the load detection of the high-altitude operation platform, the pressure of an oil cylinder on the high-altitude operation vehicle is detected to calculate the pressure of a chassis, the accuracy of the measurement method is influenced in many aspects, for example, the influence of the environmental temperature on the pressure of hydraulic oil, so that the calculated vehicle load data is inaccurate, and the next action of the high-altitude operation platform is difficult to accurately judge.
Disclosure of Invention
The invention aims to provide a vehicle load calculation method, a vehicle load calculation system and an aerial work platform, which can accurately obtain vehicle load data and effectively evaluate the stress condition of wheels or a chassis.
The technical scheme of the invention is as follows:
a vehicle load calculation method, the calculation method comprising:
acquiring the gravity of a tire assembly mounted on a wheel, wherein the tire assembly is connected with a chassis;
taking the circle center of a pin shaft on the tire assembly as a first origin;
constructing a first constraint condition that the resultant moment of the first origin is zero and the gravity center of the tire assembly and the wheel are on the same side of the pin shaft;
acquiring a third moment of the gravity to the first origin and a first distance between wheel support reaction force and the first origin;
acquiring a second moment of the pin shaft by the force sensor on one side of the pin shaft, wherein the force sensor is used for measuring a supporting force to the pin shaft;
and calculating the wheel support reaction force according to the third moment, the first distance and the second moment based on the first constraint condition.
Preferably, obtaining a third moment of the gravity to the first origin comprises:
Acquiring a first included angle between a wheel and the ground along the width direction of the wheel;
determining a first component force of the gravity vertical to the ground according to the first included angle;
and calculating the third moment according to the first component force and the first included angle.
Preferably, obtaining a third moment of the gravity to the first origin comprises:
acquiring a second included angle between the wheel and the ground along the driving direction of the wheel;
determining a second component force of the gravity vertical to the ground according to the second included angle;
and calculating the third moment according to the second component force and the second included angle.
Preferably, obtaining a third moment of the gravity to the first origin comprises:
acquiring a third included angle between the wheel and the ground along the width direction of the wheel;
acquiring a fourth included angle between the wheel and the ground along the driving direction of the wheel;
determining a third component force of the gravity perpendicular to the ground according to the third included angle and the fourth included angle;
and calculating the third moment according to the third component force, the third included angle and the fourth included angle.
A vehicle load calculation system comprising:
the device comprises a first acquisition module, a second acquisition module and a control module, wherein the first acquisition module is used for acquiring the gravity of a wheel and a tire assembly arranged on the wheel;
The first construction module is used for constructing a first constraint condition that the resultant moment of the first origin is zero, and the gravity centers of the wheels and the connecting plate and the wheels are on the same side of the pin shaft;
the second acquisition module is used for acquiring a third moment of the gravity to the first origin and a first distance between wheel support reaction force and the first origin;
the third acquisition module is used for acquiring a second moment of the pin shaft by the force sensor on one side of the pin shaft;
and the calculation module is used for calculating the wheel bearing reaction force according to the third moment, the first distance and the second moment on the basis of the first constraint condition.
Preferably, the method comprises the following steps: the fourth acquisition module is used for acquiring a first included angle between the wheel and the ground along the width direction of the wheel;
the first determining module is used for determining a first component force of the gravity perpendicular to the ground according to the first included angle;
and the first calculating unit is used for calculating the third moment according to the first component force and the first included angle.
Preferably, the method comprises the following steps: the fifth acquisition module is used for acquiring a second included angle between the wheel and the ground along the driving direction of the wheel;
the second determining module is used for determining a second component force of the gravity perpendicular to the ground according to the second included angle;
And the second calculating unit is used for calculating the third moment according to the second component force and the second included angle.
Preferably, the method comprises the following steps: the sixth acquisition module is used for acquiring a third included angle between the wheel and the ground along the width direction of the wheel and acquiring a fourth included angle between the wheel and the ground along the driving direction of the wheel;
the third determining module is used for determining a third component force of the gravity perpendicular to the ground according to the third included angle and the fourth included angle;
and the third calculating unit is used for calculating the third moment according to the third component force, the third included angle and the fourth included angle.
An aerial work platform comprising:
a vehicle load calculation system, the vehicle load calculation system;
a controller configured to: determining the working load of the aerial work platform by obtaining the wheel support reaction force calculated by the vehicle load calculation system, and limiting the action of the execution system and/or alarming if the working load is greater than a preset maximum load; and/or limiting the system action and/or alarming when the sum of the wheel bearing reaction forces of two adjacent wheels is smaller than a set threshold value.
Preferably, the method comprises the following steps: the execution system comprises an execution mechanism and an alarm device, and is used for stopping the execution mechanism and/or starting the alarm device when receiving a signal which is sent by the controller and used for limiting the action of the execution system and/or the alarm signal.
Preferably, the vehicle wheel reaction force detection device is provided with:
the connecting plate is connected with the chassis and is provided with an accommodating cavity with a downward opening;
the mounting plate is embedded in the accommodating cavity and used for mounting the speed reducer;
the base is fixed on one side of the connecting plate and is attached to the mounting plate;
and the pin shaft is arranged inside the base.
The invention provides a vehicle load calculation method, a vehicle load calculation system and an aerial work platform, wherein the vehicle load calculation method is used for acquiring the load borne by wheels by calculating the support reaction force of each wheel according to the balance relation between the force action force and the reaction force. The vehicle load calculation method comprises the steps of obtaining the gravity of a tire assembly installed on a wheel, wherein the tire assembly is connected with a chassis, the tire assembly is connected with the chassis, force transmission is achieved, and other components or heavy loads arranged above the chassis can be transmitted to the wheel. Specifically, a first constraint condition is established by taking the circle center of a pin shaft on the tire assembly as a first origin, the first constraint condition is that the resultant moment of the first origin is zero, and the gravity center of the tire assembly and the wheel are on the same side of the pin shaft; because the focus of tire subassembly and wheel are in the same one side of round pin axle, then must gravity to the third moment of first initial point and the moment opposite direction of wheel thrust to first initial point, in addition, one side of round pin axle still sets up force sensor, and force sensor is used for measuring the holding power to the round pin axle, then obtain the second moment of this holding power to the round pin axle, through first constraint condition, the third moment, first distance and second moment at last, calculate and draw wheel thrust, again according to the equilibrium relation of power of action and reaction force, just can obtain vehicle load (vehicle load is opposite with wheel thrust direction) through wheel thrust. The key point of the invention is that the pin shaft is selected as a fixed reference point, the resultant moment from the first origin point on the pin shaft is zero, the balance of the moment generated by all forces on the pin shaft is constructed, and the wheel support reaction force is reversely calculated. By adopting the mode, on one hand, under the condition that no external abnormality occurs, the first constraint condition, the position of the first origin and the distance between the wheels and the first origin are fixed, and the wheel support reaction force obtained by calculation based on the first constraint condition is relatively determined.
Drawings
The accompanying drawings, which are included to provide an understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
FIG. 1 is a flow chart of a vehicle load calculation method provided by an embodiment of the present invention;
FIG. 2 is a block diagram of a vehicle load calculation system provided by an embodiment of the present invention;
FIG. 3 is a block diagram of a vehicle load calculation system provided by an embodiment of the present invention;
FIG. 4 is a block diagram of a vehicle load calculation system provided by an embodiment of the present invention;
FIG. 5 is a block diagram of a vehicle load calculation system provided by an embodiment of the present invention;
fig. 6 is a structural view of a wheel reaction force detecting device according to an embodiment of the present invention;
FIG. 7 is a graph illustrating force and moment analysis of a vehicle wheel according to an embodiment of the present invention;
FIG. 8 is a diagram illustrating force and moment analysis of a wheel on a first angled ramp according to an embodiment of the present invention;
FIG. 9 is a graph illustrating force and moment analysis of a wheel on a second angled ramp according to an embodiment of the present invention;
FIG. 10 is a force analysis diagram of a wheel under a slope inclined at two angles (a third angle and a fourth angle) according to an embodiment of the present invention;
FIG. 11 is a schematic diagram of a system architecture of an aerial platform with a weighing function according to an embodiment of the present invention;
FIG. 12 is a schematic diagram of a system architecture of an aerial platform with an anti-tip over function according to an embodiment of the present invention;
fig. 13 is a schematic view of a scissor aerial work platform walking on a 20 ° slope according to an embodiment of the present invention.
Description of the reference numerals
1. A connecting plate; 2. mounting a plate; 3. a base; 4. a pin shaft; 6. a force sensor; 7. a tire assembly 8, a speed reducer; 100. a wheel support reaction force detection device; 110. a first acquisition module; 120. a first building block; 130. a second acquisition module; 140. a third obtaining module; 150. a calculation module; 160. a fourth obtaining module; 170. a first determination module; 180. a first calculation unit; 190. a fifth obtaining module; 210. a second determination module; 220. a second calculation unit; 230. a sixth obtaining module; 240. a third determining module; 250. a third calculation unit; 200. a controller; 300. an execution system; 301. an actuator; 302. and an alarm device.
Detailed Description
In order to make those skilled in the art better understand the technical solutions in the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
In the description of the present invention, it is to be understood that the terms "upper", "lower", and the like, indicate an orientation or positional relationship only for convenience of description and simplicity of description, but do not indicate or imply that the referenced components or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.
In the embodiment shown in fig. 1 to 13, the present invention provides a vehicle load calculation method,
s10, acquiring the gravity of a tire assembly 7 mounted on a wheel, wherein the tire assembly 7 is connected with a chassis;
s20, taking the circle center of a pin shaft on the tire component 7 as a first origin;
s30, constructing a first constraint condition that the resultant moment of the first origin is zero and the gravity center of the tire assembly 7 and the wheels are on the same side of the pin shaft;
s40, acquiring a third moment of gravity to the first origin and a first distance between a wheel support reaction force and the first origin;
s50, acquiring a second moment of the supporting force of the pin shaft on the pin shaft, wherein the force sensor is used for measuring the supporting force of the pin shaft;
and S60, calculating wheel support reaction force according to the third moment, the first distance and the second moment based on the first constraint condition.
The invention provides a vehicle load calculation method, which comprises the following steps: acquiring the gravity of a tire assembly 7 mounted on a wheel, wherein the tire assembly 7 is connected with a chassis; taking the circle center of a pin shaft on the tire component 7 as a first origin; constructing a first constraint condition that the resultant moment of the first origin is zero and the gravity center of the tire component 7 and the wheel are on the same side of the pin shaft; acquiring a third moment of gravity to the first origin and a first distance between wheel support reaction force and the first origin; based on the first constraint condition, wheel support reaction force is calculated according to the third moment and the first distance.
The load born by the wheel is obtained according to the balance relation of the force action force and the reaction force by calculating the support reaction force of each wheel. The vehicle load calculation method comprises the steps of obtaining the gravity of the tire assembly 7 installed on a wheel, wherein the tire assembly 7 is connected with a chassis, the tire assembly 7 is connected with the chassis, force transmission is achieved, and other components or heavy loads arranged above the chassis can be transmitted to the wheel. Specifically, a first constraint condition is established by taking the circle center of a pin on the tire assembly 7 as a first origin, the first constraint condition is that the resultant moment of the first origin is zero, and the gravity center of the tire assembly 7 and the wheel are on the same side of the pin; because the gravity center of the tire component 7 and the wheel are on the same side of the pin shaft, the third moment of the gravity to the first origin and the moment of the wheel support reaction force to the first origin are opposite in direction, besides, the force sensor 6 is arranged on one side of the pin shaft, the force sensor 6 is used for measuring the supporting force to the pin shaft, then the second moment of the supporting force to the pin shaft is obtained, finally, the wheel support reaction force is calculated through the first constraint condition, the third moment, the first distance and the second moment, and then the vehicle load (the direction of the vehicle load is opposite to the direction of the wheel support reaction force) can be obtained through the wheel support reaction force according to the balance relation between the action force and the reaction force. The key point of the invention is that the pin shaft is selected as a fixed reference point, the resultant moment from the first origin point on the pin shaft is zero, the balance of the moment generated by all forces on the pin shaft is constructed, and the wheel support reaction force is reversely calculated. By adopting the mode, on one hand, under the condition that no external abnormality occurs, the first constraint condition, the position of the first origin and the distance of the wheels relative to the first origin are fixed, and the wheel support reaction force obtained by calculation based on the first constraint condition is also relatively determined.
Wherein, tire subassembly 7 can include speed reducer 8 to and the connecting plate 1 of being connected with speed reducer 8, with round pin axle fixed mounting on connecting plate 1, be connected with the wheel through speed reducer 8, then the drive wheel independently turns to, connects speed reducer 8 and chassis through connecting plate 1. Because the position of the pin shaft is always unchanged, no matter the wheel is in a static state or a driving state, the wheel support reaction force is calculated by taking the resultant moment at the first origin point on the pin shaft as zero and the first constraint condition that the gravity center of the tire assembly 7 and the wheel are on the same side of the pin shaft, so that the vehicle load is determined.
Referring to fig. 6 to 10, according to the vehicle load calculation method in the above embodiment, if the wheel is traveling on a horizontal ground, the wheel reaction force is set to F r The supporting force to the pin shaft is F k The distance from the supporting force to the first origin is a second distance l 2 Then the second moment is F k ×l 2 The gravity of the tire assembly 7 is G, and the distance from the gravity of the tire assembly 7 to the first origin is a third distance l 3 When the resultant moment of the first origin O is 0, F k l 2 +Gl 3 -F r l 1 =0, and then the wheel support reaction force can be obtained
As shown in fig. 6 to 7, in an embodiment of the present invention, obtaining the third moment of the gravity to the first origin includes: acquiring a first included angle between a wheel and the ground along the width direction of the wheel; determining a first component force of gravity perpendicular to the ground according to the first included angle; and calculating a third moment according to the first component force and the first included angle. When the ground where the wheel is located and the horizontal plane form an included angle in the width direction of the wheel, the wheel is indicated to run on the inclined slope surface, the first included angle is obtained, the inclination angle of the wheel when the wheel runs on the inclined slope surface can be obtained, at the moment, the tire assembly 7 can generate a decomposition force, the first component force of the gravity of the tire assembly 7 in the direction perpendicular to the ground is determined according to the first included angle, and then the third moment is calculated according to the first component force and the first included angle. It can be seen that the embodiments provided by the invention can be applied to accurately obtain the vehicle load when the wheel runs on the slope surface inclined along an angle (namely the first included angle). If the first included angle is theta 1 At this time, the angle between the wheel support reaction force and the support force of the wheel perpendicular to the ground is θ 1 When the direction of the wheel perpendicular to the ground is taken as the Z axis, the direction along the width of the wheel is taken as the X axis, the traveling direction of the wheel is taken as the Y axis, and the wheel support reaction force is taken as F r A component force F along the X-axis will be generated rx And a component force F along the Z-axis rz In which F is rx ＝F rz tanθ 1 Similarly, the gravity G also generates a component force G along the X-axis x Component G along the Z-axis z Then G is x ＝Gsinθ 1 ，G z ＝Gcosθ 1 (ii) a By analyzing the force transmission path and balance relation between the wheel and the chassis in the XZ plane, the component force of the ground support reaction force along the Z-axis direction, namely a first component force F can be obtained rz (ii) a Wherein, F rx At a distance l from the first origin 5 ，G x At a distance l from the first origin 4 The third moment is G x l 4 +G z l 3 (ii) a When the resultant moment of the first origin O is 0, F k l 2 +G z l 3 +G x l 4 -F rz l 5 tanθ 1 -F rz l 1 =0, then obtained
Then the first component force F rz And a first angle theta 1 Calculating to obtain wheel thrust force F r I.e. by
It can be seen that the embodiment provided by the invention can realize that the vehicle load can be accurately obtained when the wheel runs on the inclined slope surface along an angle (namely the first included angle).
In another embodiment of the present invention, obtaining the third moment of gravity to the first origin includes: acquiring a second included angle between the wheel and the ground along the driving direction of the wheel; determining a second component force of gravity perpendicular to the ground according to the second included angle; and calculating a third moment according to the second component force and the second included angle. When the vehicle runs on the inclined slope surface with the second included angle formed between the vehicle running direction and the horizontal plane, the vehicle load can be accurately obtained. If the second included angle is θ 2 At this time, the angle between the wheel support reaction force and the support force of the wheel perpendicular to the ground is θ 2 When the direction of the wheel perpendicular to the ground is taken as the Z axis, the direction along the width of the wheel is taken as the X axis, the traveling direction of the wheel is taken as the Y axis, and the wheel support reaction force is taken as F r A component force F along the Y-axis will be generated ry And a component force F along the Z-axis rz ，F ry ＝F rz tanθ 2 Similarly, the gravity G also generates a component force G along the Y axis y Component G along the Z-axis z Then G is y ＝Gsinθ 1 ，G z ＝Gcosθ 1 (ii) a By analyzing the force transmission path and balance relation between the wheels and the chassis in the YZ plane, the component force of the ground support reaction force along the Z axis direction, namely a second component force can be obtained; when the resultant moment of the first origin O is 0, the second component force and the second included angle θ are used as the same as the above embodiment 2 Calculating to obtain wheel thrust force F r . Therefore, the embodiment provided by the invention can realize that the vehicle load can be accurately obtained when the vehicle runs on the inclined slope surface with the wheels inclined at the second included angle.
Referring to fig. 6 to 10, in the preferred embodiment, when the vehicle travels along two inclined slopes in different directions, the vehicle load calculation method provided by the present invention can also obtain an accurate vehicle load. The obtaining of the third moment of the gravity to the first origin in the vehicle load calculation method provided by the embodiment includes: acquiring a third included angle between the ground where the wheels are located and the horizontal plane along the width direction of the wheels; acquiring a fourth included angle between the ground where the wheels are located and the horizontal plane along the driving direction of the wheels; determining a third component force of gravity vertical to the ground according to the third included angle and the fourth included angle; and calculating a third moment according to the third component force, the third included angle and the fourth included angle. If the third angle is theta 3 The fourth angle is theta 4 When the direction of the wheel perpendicular to the ground is taken as the Z axis, the direction along the width of the wheel is taken as the X axis, the traveling direction of the wheel is taken as the Y axis, and the wheel support reaction force is taken as F r A component force F along the X-axis will be generated rx Component force F along the Y axis ry And a component force F along the Z axis rz ，F rx ＝F rz tanθ 3 ，F ry ＝F rz tanθ 4 (ii) a Likewise, the component force of the gravity G, G x 、G y 、G z Wherein G is z Is the third component, F rx At a distance l from the first origin 5 ，G x At a distance l from the first origin 4 ，G z At a distance l from the first origin 3 Then the third torque is determined to be Gl 3 cosθ 4 cosθ 3 +Gl 4 cosθ 4 sinθ 1 Then obtain
Therefore, when the vehicle runs on the inclined slope surfaces in two different directions, the accurate vehicle load can be obtained through the vehicle load calculation method provided by the invention.
Referring to fig. 1 to 5, the present invention provides a vehicle load calculation system, including a first obtaining module 110 for obtaining the gravity of a wheel, a tire assembly 7 mounted on the wheel; the first construction module 120 is configured to construct a first constraint condition that a resultant moment of the first origin is zero, and the gravity centers of the wheel and the connecting plate 1 and the wheel are on the same side of the pin; the second obtaining module 130 is configured to obtain a third moment of gravity to the first origin, and a first distance between a wheel support reaction force and the first origin; the third obtaining module 140 is configured to obtain a second moment of the pin by the force sensor 6 on one side of the pin; and a calculating module 150, configured to calculate a wheel support reaction force according to the third moment, the first distance, and the second moment based on the first constraint condition.
Wherein the vehicle load calculation system further comprises: the fourth obtaining module 160 is configured to obtain a first included angle between the wheel and the ground along the width direction of the wheel; the first determining module 170 is configured to determine a first component force of gravity perpendicular to the ground according to the first included angle; the first calculating unit 180 is configured to calculate a third moment according to the first component force and the first included angle.
Further, the vehicle load calculation system further includes: the fifth obtaining module 190 is configured to obtain a second included angle between the wheel and the ground along the driving direction of the wheel; the second determining module 210 is configured to determine, according to the second included angle, a second component force of gravity perpendicular to the ground; and the second calculating unit 220 is configured to calculate a third moment according to the second component force and the second included angle.
Preferably, it comprises: the vehicle load calculation system includes a sixth obtaining module 230, configured to obtain a third angle between the wheel and the ground along the width direction of the wheel, and obtain a fourth angle between the wheel and the ground along the driving direction of the wheel; the third determining module 240 is configured to determine a third component force of gravity perpendicular to the ground according to the third included angle and the fourth included angle; and a third calculating unit 250, configured to calculate a third moment according to the third component force, the third included angle, and the fourth included angle. For the technical effects of the vehicle load calculation system provided by the present invention, please refer to the vehicle load calculation method provided by the present invention, which is not described herein again.
As shown in fig. 1 to 13, the present invention further provides an aerial work platform, comprising the vehicle load calculating system and the controller 200, wherein the controller 200 is configured to: determining the working load of the aerial work platform by obtaining the wheel support reaction force calculated by the vehicle load calculation system, and limiting the action and/or alarming of the execution system 300 if the working load is greater than a preset maximum load; and/or limiting the action of the execution system 300 and/or alarming if the sum of the wheel bearing reaction forces of two adjacent wheels is less than a set threshold value.
Taking a scissor-fork type aerial work platform as an example, the stressed load of each wheel can be obtained in real time according to the support reaction force of the wheels. Carrying out initialization calibration once when the working platform is in no-load state, and recording the total weight m of the working platform in no-load state 0 And directly transmitting the load data to a controller through a signal line, and directly receiving the real-time load data of the 4 wheels by the controller (F) r1 、F r2 、F r3 、F r4 ) Adding 4 load data and subtracting the total weight m at no load 0 Obtaining the weight m of the working load z I.e. m z ＝(F r1 +F r2 +F r3 +F r4 )-m 0 . Weight m of the work load z When the specified maximum load is exceeded, the controller limits the actions and/or alarms of an execution system on the aerial work platform, wherein the actions of the execution system can be lifting, walking actions and the like. When the controller sends an instruction to the execution system according to the work load of the aerial work platform determined by the wheel support reaction force detection system, for example, the execution mechanism in the execution system limits lifting and walking functions by regulating the opening and closing of the hydraulic control valve, and/or the alarm device gives an alarm to prompt a user of risks, besides, the operation handle can also directly display a load result. And if the overload condition occurs, displaying an overload fault code.
The aerial work platform provided by the invention also realizes the function of preventing tipping, or has the functions of weighing and preventing tipping at the same time, taking a scissor-fork aerial work platform as an example, the stressed load of each wheel can be obtained in real time according to the determined support reaction force of the wheels, the load data of each wheel is directly transmitted to the controller through a signal line, and the controller directly receives the real-time load data (F) r1 、F r2 、F r3 、F r4 )，Then, the sum F of the wheel support reaction forces of two adjacent wheels (i.e., each peripheral side forming the chassis) is calculated S1 、F S2 、F S3 、F S4 (F S1 ＝F r1 +F r2 、F S2 ＝F r2 +F r3 、F S3 ＝F r3 +F r4 、F S4 ＝F r4 +F r1 ) If the sum of the wheel support reaction forces of two adjacent wheels is smaller than a set threshold value, the controller sends an instruction to the execution system, the execution mechanism in the execution system limits the lifting and walking functions by regulating the opening and closing of the hydraulic control valve, and/or the alarm device gives an alarm to prompt a user to carry out risks, besides, the load result can be directly displayed on the operation handle. And if an overload condition occurs, displaying an overload fault code.
The sum of the support reaction forces of two adjacent wheels is obtained by the method, the anti-tipping control is carried out, the application range of the ground angle of the high-altitude operation vehicle can be greatly expanded, and the maximum allowable chassis dip angle under different working conditions is not unified to be a small value. For example, when the scissor aerial work platform walks on a slope of 20 degrees, the traditional detection method can judge that the work platform has a rollover risk according to the slope angle of more than 3 degrees, trigger an alarm device to alarm, and limit the current movement. And according to the condition that the working load is greater than the preset maximum load and the sum (any one side or more sides) of the support reaction forces of the two wheels on the front side, the rear side, the left side or the right side is greater than the set threshold value, the working platform can still work normally at the moment, and the working range of the working platform is greatly expanded.
The aerial work platform provided by the invention comprises a wheel bearing reaction force detection device, wherein the wheel bearing reaction force detection device comprises: the connecting plate 1 is connected with the chassis, and an accommodating cavity with a downward opening is formed in the connecting plate 1; the mounting plate is embedded in the accommodating cavity and used for mounting the speed reducer; the base is fixed on one side of the connecting plate 1 and is attached to the mounting plate; and the pin shaft is arranged in the base.
In the running process of the vehicle, the wheels are driven to rotate by the speed reducer arranged on the mounting plate, and the speed reducer, the connecting plate 1, the mounting plate and other components arranged on the mounting plate and/or the connecting plate 1 do not rotate. In the running process of the vehicle, the aerial work platform bears a certain load, downward pressure is applied, the pressure causes deformation to a pin shaft arranged in a base through a connecting plate 1 connected with a chassis, the resultant moment of a first origin point on the pin shaft is zero, the balance of the moment generated by all forces on the pin shaft is constructed, and the wheel support reaction force is reversely calculated.
The embodiments in the present specification are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same or similar parts in the embodiments are referred to each other.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (11)
1. A vehicle load calculation method, characterized by comprising:
acquiring the gravity of a tire assembly (7) mounted on a wheel, wherein the tire assembly (7) is connected with a chassis;
the circle center of a pin shaft on the tire component (7) is taken as a first origin;
establishing a first constraint condition that the resultant moment of the first origin is zero, and the gravity center of the tire assembly (7) and the wheel are on the same side of the pin shaft;
acquiring a third moment of gravity to the first origin and a first distance between wheel support reaction force and the first origin;
acquiring a second moment of the supporting force on the pin shaft, wherein the force sensor (6) is used for measuring the supporting force on the pin shaft;
And calculating the wheel support reaction force according to the third moment, the first distance and the second moment based on the first constraint condition.
2. The vehicle load calculation method according to claim 1,
acquiring a third moment of the gravity to the first origin comprises:
acquiring a first included angle between a wheel and the ground along the width direction of the wheel;
determining a first component force of the gravity perpendicular to the ground according to the first included angle;
and calculating the third moment according to the first component force and the first included angle.
3. The vehicle load calculation method according to claim 1,
acquiring a third moment of the gravity to the first origin comprises:
acquiring a second included angle between the wheel and the ground along the driving direction of the wheel;
determining a second component force of the gravity perpendicular to the ground according to the second included angle;
and calculating the third moment according to the second component force and the second included angle.
4. The vehicle load calculation method according to claim 1,
acquiring a third moment of the gravity to the first origin comprises:
acquiring a third included angle between the wheel and the ground along the width direction of the wheel;
Acquiring a fourth included angle between the wheel and the ground along the driving direction of the wheel;
determining a third component force of the gravity perpendicular to the ground according to the third included angle and the fourth included angle;
and calculating the third moment according to the third component force, the third included angle and the fourth included angle.
5. A vehicle load calculation system, comprising:
a first acquisition module (110) for acquiring the weight of a wheel, a tyre assembly (7) mounted on the wheel;
the first construction module (120) is used for constructing a first constraint condition that the resultant moment of the first origin is zero, the gravity centers of the wheel and the connecting plate (1) and the wheel are on the same side of the pin shaft;
a second obtaining module (130) for obtaining a third moment of the gravity to the first origin, and a first distance between a wheel support reaction force and the first origin;
the third acquisition module (140) is used for acquiring a second moment of the force sensor (6) on one side of the pin shaft to the pin shaft;
a calculation module (150) configured to calculate the wheel support force based on the first constraint condition and according to the third moment, the first distance, and the second moment.
6. The vehicle load calculation system of claim 5, comprising:
The fourth acquisition module (160) is used for acquiring a first included angle between the wheel and the ground along the width direction of the wheel;
the first determining module (170) is used for determining a first component force of the gravity perpendicular to the ground according to the first included angle;
and the first calculating unit (180) is used for calculating the third moment according to the first component force and the first included angle.
7. The vehicle load calculation system of claim 5, comprising:
the fifth acquisition module (190) is used for acquiring a second included angle between the wheel and the ground along the driving direction of the wheel;
the second determining module (210) is used for determining a second component force of the gravity perpendicular to the ground according to the second included angle;
and the second calculating unit (220) is used for calculating the third moment according to the second component force and the second included angle.
8. The vehicle load calculation system of claim 5, comprising:
a sixth obtaining module (230) for obtaining a third included angle between the wheel and the ground along the width direction of the wheel, and obtaining a fourth included angle between the wheel and the ground along the driving direction of the wheel;
a third determining module (240) for determining a third component force of the gravity perpendicular to the ground according to the third included angle and the fourth included angle;
And the third calculating unit (250) is used for calculating the third moment according to the third component force, the third included angle and the fourth included angle.
9. An aerial work platform, comprising:
a vehicle load calculation system as claimed in any one of claims 5 to 8;
a controller (200) configured to: determining the working load of the aerial work platform by obtaining the wheel support reaction force calculated by the vehicle load calculation system, and limiting the action and/or alarm of the execution system (300) if the working load is greater than a preset maximum load; and/or limiting the action of the execution system (300) and/or alarming if the sum of the wheel bearing reaction forces of two adjacent wheels is less than a set threshold value.
10. An aerial work platform as claimed in claim 9 comprising:
the execution system (300) comprises an execution mechanism (301) and an alarm device (302), and the execution system (300) is used for stopping the execution mechanism (301) and/or starting the alarm device (302) when receiving a signal which is sent by the controller (200) and used for limiting the action and/or the alarm of the execution system (300).
11. The aerial work platform of claim 10 comprising a wheel reaction force detection device (100), the wheel reaction force detection device (100) comprising:
the connecting plate (1) is connected with the chassis, and an accommodating cavity with a downward opening is formed in the connecting plate (1);
the mounting plate (2) is embedded in the accommodating cavity and is used for mounting a speed reducer (8);
the base (3) is fixed on one side of the connecting plate (1) and is attached to the mounting plate (2);
the pin shaft (4), the pin shaft (4) is arranged in the base (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210648101.4A CN115183851A (en) | 2022-06-08 | 2022-06-08 | Vehicle load calculation method and system and aerial work platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210648101.4A CN115183851A (en) | 2022-06-08 | 2022-06-08 | Vehicle load calculation method and system and aerial work platform |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115183851A true CN115183851A (en) | 2022-10-14 |
Family
ID=83512798
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210648101.4A Pending CN115183851A (en) | 2022-06-08 | 2022-06-08 | Vehicle load calculation method and system and aerial work platform |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115183851A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2235612Y (en) * | 1995-07-21 | 1996-09-18 | 潘子锜 | Weighing rail for rail weighing apparatus |
| CN101619999A (en) * | 2009-08-04 | 2010-01-06 | 哈尔滨工业大学 | Composite material axle weight scale load recognition method based on strain measurement |
| JP2013047641A (en) * | 2011-08-29 | 2013-03-07 | Yamato Scale Co Ltd | Vehicle weighing apparatus |
| CN108414143A (en) * | 2018-04-28 | 2018-08-17 | 江铃控股有限公司 | Vehicle's center of gravity measurement method |
| KR20220072952A (en) * | 2020-11-25 | 2022-06-03 | 한국타이어앤테크놀로지 주식회사 | Method for estimating a vehicle's center of gravity and wheel load, and system for vehicle's center of gravity and wheel load estimation by performing the same |
-
2022
- 2022-06-08 CN CN202210648101.4A patent/CN115183851A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2235612Y (en) * | 1995-07-21 | 1996-09-18 | 潘子锜 | Weighing rail for rail weighing apparatus |
| CN101619999A (en) * | 2009-08-04 | 2010-01-06 | 哈尔滨工业大学 | Composite material axle weight scale load recognition method based on strain measurement |
| JP2013047641A (en) * | 2011-08-29 | 2013-03-07 | Yamato Scale Co Ltd | Vehicle weighing apparatus |
| CN108414143A (en) * | 2018-04-28 | 2018-08-17 | 江铃控股有限公司 | Vehicle's center of gravity measurement method |
| KR20220072952A (en) * | 2020-11-25 | 2022-06-03 | 한국타이어앤테크놀로지 주식회사 | Method for estimating a vehicle's center of gravity and wheel load, and system for vehicle's center of gravity and wheel load estimation by performing the same |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11906342B2 (en) | Wall-climbing robot for measuring capacity of vertical metal tanks | |
| CN102735319A (en) | Monitoring system for a material transfer vehicle | |
| CN109553040A (en) | Aerial working platform vehicle and aerial working platform vehicle load capacity detection method | |
| CN108137300B (en) | Forklift truck | |
| CN109624845A (en) | A kind of Tipper Lifting safety monitoring device and method | |
| KR20030096269A (en) | Mobile working machine provided with stability monitoring | |
| CN104865863A (en) | Improved monitoring system | |
| US7100289B1 (en) | Microelectronic vehicle service system sensor | |
| US7684028B2 (en) | Remote sensing digital angle gauge | |
| CN209306904U (en) | Aerial working platform vehicle | |
| CN112880785A (en) | Semi-trailer vehicle-mounted weighing system based on laser displacement sensor | |
| CN108001525B (en) | Vehicle steering limiting method and system | |
| CN115183851A (en) | Vehicle load calculation method and system and aerial work platform | |
| KR101769295B1 (en) | Monitoring system of weight in motion | |
| EP3283429B1 (en) | A lifting vehicle incorporating a load monitor | |
| CN112270828A (en) | Vehicle early warning method and device, electronic equipment and vehicle | |
| CN111964765A (en) | High measurement accuracy semitrailer vehicle-mounted weight detection system | |
| CN115108512B (en) | Chassis detection device, system and overhead working truck | |
| CN115108511B (en) | Wheel support counter force detection device, system and aerial work platform | |
| CN115196562B (en) | Wheel support counter force detection device, system and aerial work platform | |
| WO2019113430A1 (en) | Vehicle wheel speed sensor using accelerometer | |
| CN115183928B (en) | Wheel support counter force detection device, system and aerial work platform | |
| US20220340404A1 (en) | Forklift truck sensor scale | |
| JP2000111454A (en) | Concern evaluating device of vehicle behavior | |
| CA3217626A1 (en) | Forklift truck sensor scale |
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 |