CN114572835A - Pressure difference calibration method corresponding to crane boom, and self-weight measurement method and device - Google Patents
Pressure difference calibration method corresponding to crane boom, and self-weight measurement method and device Download PDFInfo
- Publication number
- CN114572835A CN114572835A CN202011379110.5A CN202011379110A CN114572835A CN 114572835 A CN114572835 A CN 114572835A CN 202011379110 A CN202011379110 A CN 202011379110A CN 114572835 A CN114572835 A CN 114572835A
- Authority
- CN
- China
- Prior art keywords
- crane
- arm
- pressure difference
- boom
- weight
- 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
- 238000000034 method Methods 0.000 title claims abstract description 58
- 238000000691 measurement method Methods 0.000 title description 4
- 230000014509 gene expression Effects 0.000 claims abstract description 17
- 230000005484 gravity Effects 0.000 abstract description 11
- 230000008569 process Effects 0.000 abstract description 9
- 238000004364 calculation method Methods 0.000 description 17
- 238000010586 diagram Methods 0.000 description 12
- 238000004590 computer program Methods 0.000 description 7
- 238000005259 measurement Methods 0.000 description 7
- 239000000725 suspension Substances 0.000 description 5
- 238000006073 displacement reaction Methods 0.000 description 4
- 230000006870 function Effects 0.000 description 4
- 229910000831 Steel Inorganic materials 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 3
- 239000010959 steel Substances 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 238000013528 artificial neural network Methods 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/16—Applications of indicating, registering, or weighing devices
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Jib Cranes (AREA)
Abstract
The embodiment of the invention provides a pressure difference calibration method corresponding to a crane boom, and belongs to the technical field of engineering machinery. The pressure difference calibration method corresponding to the crane boom comprises the following steps: aiming at each arm length of the crane, acquiring corresponding pressure difference data of the upper cavity and the lower cavity of the luffing cylinder under each arm length and each arm support angle when the arm length is controlled to be zero from the maximum lifting angle; and determining the pressure difference expression of the upper cavity and the lower cavity of the luffing cylinder corresponding to each arm length and each arm support angle according to the obtained pressure difference data of the upper cavity and the lower cavity. According to the embodiment of the invention, the crane boom is calibrated through the pressure difference data of the upper cavity and the lower cavity of the crane luffing cylinder, and the influence of gravity center offset caused by deflection deformation of the crane during hoisting is considered in the process, so that the crane can measure the self weight of the boom more accurately.
Description
Technical Field
The invention relates to the field of engineering machinery, in particular to a pressure difference calibration method, a self-weight measurement method and a self-weight measurement device corresponding to a crane boom.
Background
The single-cylinder bolt type telescopic mechanism crane is a mobile crane which is widely applied in various fields of social and economic construction, the accurate measurement of the load of the crane under various working conditions directly influences the safety of the crane, and the calculation of the load of the crane is directly influenced by the self weight of a crane boom, so that how to accurately obtain the self weight of the crane boom under various working conditions is necessary.
The prior art mainly comprises a direct calculation method and an idle load calibration method based on the direct calculation method. The direct calculation method is characterized in that the weight and the gravity center position of each section of arm of the crane are directly calculated, and the self weight of the crane arm frame is obtained through calculation of a mechanical model; the method comprises the steps of carrying out no-load calibration, wherein the moment of a steel wire rope and the moment of a crane are zero when the crane is in no-load, calculating the value obtained by a direct calculation method under a certain arm length angle to obtain the value of the moment T, recording the moment curve of the T, subtracting the moment curve when the crane is used for hoisting under the arm length angle to obtain the actual moment of the hoisting weight, and finally converting the actual moment into the weight of an arm head through a moment formula.
Considering that the actual crane boom has many attachments, at present, basically all direct calculation methods based on mechanical models mainly adopt simplified calculation, and boom deformation can cause boom gravity center displacement during crane hoisting, so the direct calculation method is simple in calculation but has large errors. The no-load calibration method is based on a direct calculation method, although the influence of complex crane accessories can be eliminated, the problem of boom gravity center displacement caused by boom deformation still cannot be solved, and the problems of more or less complex measurement or larger error and the like exist in other measurement methods such as a neural network method and an equivalent method of converting a main arm into an arm head.
Disclosure of Invention
The embodiment of the invention aims to provide a pressure difference calibration method corresponding to a crane boom, which can solve the problem that parameters are inaccurate in the direct measurement or no-load calibration process when the dead weight of the crane boom is measured.
In order to achieve the above object, an embodiment of the present invention provides a pressure difference calibration method corresponding to a crane boom, where the pressure difference calibration method corresponding to the crane boom includes: aiming at each arm length of the crane, acquiring corresponding pressure difference data of the upper cavity and the lower cavity of the luffing cylinder under each arm length and each arm support angle when the arm length is controlled to be zero from the maximum lifting angle; and determining the pressure difference expression of the upper cavity and the lower cavity of the luffing cylinder corresponding to each arm length and each arm support angle according to the obtained pressure difference data of the upper cavity and the lower cavity.
The embodiment of the invention also provides a method for measuring the self weight of the crane boom, which comprises the following steps: determining the amplitude and the arm length of an arm support and the arm of a luffing oil cylinder when the crane is hoisted; and determining the weight of the arm support equivalent to the arm head of the crane during the hoisting according to the pressure difference determined by the pressure difference calibration method corresponding to the crane arm support, the determined arm support amplitude during the hoisting of the crane and the determined arm of the luffing cylinder.
Optionally, before determining the boom amplitude and the boom length of the crane during hoisting and determining the moment arm of the luffing cylinder, the method for measuring the self weight of the crane boom further includes: determining the amplitude and the arm length of an arm support and the arm of a luffing oil cylinder when the crane is in no-load; and determining the weight of the arm support equivalent to the crane arm head when the crane is in no load according to the pressure difference determined by the pressure difference calibration method corresponding to the crane arm support, the determined amplitude of the arm support when the crane is in no load and the determined moment arm of the luffing cylinder through moment balance.
Optionally, the weight of the boom equivalent to the boom head of the crane when the crane is empty is determined by the following formula:
G1(a,L)＝FΔ(a,L)*ha/R
wherein, FΔ(a, L) is the pressure difference of the amplitude variation oil cylinder, haIs the force arm of the amplitude-variable oil cylinder, and R is the no-load amplitude of the crane arm at the angle corresponding to the length L.
Optionally, the weight of the arm support equivalent to the arm head of the crane during the hoisting of the crane is determined by the following formula:
G2(a,L)＝FΔ(a,L)*ha/(R+ΔR)
wherein, FΔ(a, L) is the pressure difference of the amplitude variation oil cylinder, haIs the force arm of the amplitude variation oil cylinder, and R is the no-load amplitude variation of the corresponding angle of the crane arm length L, deltaRIncreasing the disturbance degree when the crane is hoisted.
The embodiment of the invention also provides a device for measuring the self weight of the crane boom, which comprises the following components: the hoisting weight parameter determining unit is used for determining the amplitude and the arm length of the arm support and the arm of the luffing cylinder when the crane is hoisted; and a suspension arm head weight determining unit, which is used for determining the weight of the arm support equivalent to the crane arm head when the crane is suspended according to the pressure difference determined by the pressure difference calibration method corresponding to the crane arm support, the determined arm support amplitude when the crane is suspended and the arm of force of the luffing cylinder.
Optionally, the device for measuring the self weight of the crane boom further includes: the pressure difference data acquisition unit is used for acquiring the corresponding pressure difference data of the upper cavity and the lower cavity of the luffing cylinder under each arm length and each arm frame angle when the crane is controlled to start from the maximum lifting angle to zero of the rated load; and the pressure difference expression determining unit is used for determining the pressure difference expressions of the upper cavity and the lower cavity of the luffing cylinder corresponding to the arm lengths and the arm support angles according to the acquired pressure difference data of the upper cavity and the lower cavity.
Optionally, the device for measuring the self weight of the crane boom further includes: the no-load parameter determining unit is used for determining the boom amplitude and the boom length of the crane in no-load and the moment arm of the luffing cylinder; and the no-load arm head weight determining unit is used for determining the weight of the arm support equivalent to the crane arm head when the crane is in no load according to the determined pressure difference, the determined amplitude of the arm support when the crane is in no load and the arm of force of the luffing cylinder through moment balance.
The embodiment of the invention also provides a crane, which comprises the device for measuring the dead weight of the crane boom.
The embodiment of the invention also provides a storage medium, wherein the storage medium is stored with instructions, and when the storage medium runs on a computer, the computer is enabled to execute any one of the above methods for measuring the self weight of the crane boom.
Through the technical scheme, the embodiment of the invention calibrates the crane boom through the pressure difference data of the upper cavity and the lower cavity of the luffing cylinder of the crane, and considers the influence of gravity center offset caused by deflection deformation of the crane during hoisting so as to enable the crane to measure the self weight of the boom more accurately.
Additional features and advantages of embodiments of the invention will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments 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 embodiments of the invention and not to limit the embodiments of the invention. In the drawings:
FIG. 1 is a schematic diagram of a structural and mechanical model of a crane boom;
fig. 2 is a schematic flow chart of a pressure difference calibration method corresponding to a crane boom according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a method for measuring the dead weight of a crane boom according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a device for measuring the dead weight of a crane boom according to an embodiment of the present invention.
Description of the reference numerals
10-boom head weight determination unit 20 empty-arm head weight determination unit
11 hoisting weight parameter determination unit 22 no-load parameter determination unit
31 pressure difference data acquisition unit 32 pressure difference expression determination unit
Detailed Description
The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating embodiments of the invention, are given by way of illustration and explanation only, not limitation.
Fig. 1 is a schematic diagram of a structure and a mechanical model of a crane boom, please refer to fig. 1, the conventional measurement of the dead weight of the crane boom is based on a calculation method based on the mechanical model, and both simplified calculations are mainly used, but the boom deformation during the crane hoisting causes the displacement of the center of gravity of the boom, so the direct calculation method has a simple calculation but a large error.
Fig. 2 is a schematic flow chart of a pressure difference calibration method corresponding to a crane boom according to an embodiment of the present invention, please refer to fig. 2, the pressure difference calibration method corresponding to the crane boom may include the following steps:
step S110: and aiming at each arm length of the crane, acquiring corresponding pressure difference data of the upper cavity and the lower cavity of the luffing cylinder under each arm length and each arm support angle when the arm length is controlled to be zero from the maximum lifting angle.
The embodiment of the application is preferably suitable for measuring the dead weight of the crane jib of the horizontal bar type telescopic mechanism, so that the amplitude of the basic jib of the crane can be changed from the maximum lifting angle to zero kilogram of rated load when the basic jib is in no-load, and the pressure difference data of the upper cavity and the lower cavity of the amplitude-changing oil cylinder in the amplitude-changing process can be obtained; and repeating the amplitude variation process for other arm lengths of the crane, and acquiring the pressure difference data of the upper cavity and the lower cavity of the corresponding amplitude variation oil cylinder.
It should be noted that the data of the pressure difference between the upper cavity and the lower cavity of the variable amplitude oil cylinder corresponding to each arm length can be obtained for many times under the working condition that each arm is completely unfolded or under the working condition of any arm length, so that the basic data is more accurate.
Step S120: and determining the pressure difference expression of the upper cavity and the lower cavity of the luffing cylinder corresponding to each arm length and each arm support angle according to the obtained pressure difference data of the upper cavity and the lower cavity.
Preferably, the upper and lower cavity pressure difference expression F may be determined by performing least squares fitting on the acquired upper and lower cavity pressure difference dataΔAnd (alpha, L), wherein alpha represents the angle of the arm support (the angle formed by the arm support and the horizontal plane), and L represents the length of the arm. By the expression, the pressure difference corresponding to the arm length and the arm support angle when the crane is in no-load can be obtained.
Therefore, the embodiment of the invention calibrates the crane boom through the pressure difference data of the upper cavity and the lower cavity of the luffing cylinder of the crane, and considers the influence of gravity center offset caused by deflection deformation of the crane during hoisting so as to enable the crane to measure the self weight of the boom more accurately.
Fig. 3 is a schematic structural diagram of a method for measuring the self weight of a crane boom according to an embodiment of the present invention, please refer to fig. 3, where the method for measuring the self weight of a crane boom may include the following steps:
step S210: and determining the amplitude and the arm length of the arm support and the arm of the luffing cylinder when the crane is hoisted.
Before determining the boom amplitude and the boom length of the crane during hoisting and the moment arm of the luffing cylinder, the method for measuring the self weight of the crane boom can further comprise steps S211-S212:
step S211: and determining the amplitude and the arm length of the arm support and the arm of the variable amplitude oil cylinder when the crane is in idle load.
Wherein, the force arm h of the variable auxiliary oil cylinderαThe arm length L and the arm support amplitude R can be directly measured on site by inquiring a structural parameter table and then utilizing geometric conversion.
Step S212: and determining the weight of the boom equivalent to the crane boom head when the crane is in the idle load according to the pressure difference determined by the pressure difference calibration method corresponding to the crane boom in the steps S110-S120, the determined boom amplitude when the crane is in the idle load and the determined moment arm of the luffing cylinder through moment balance.
Wherein the moment balance of the crane can be represented by the following formula:
mg*(R+ΔR)+G*L(G)(L)＝Fbf*hα+FS*LS (1)
wherein mg is the suspended load, R is the no-load amplitude (boom amplitude) of the corresponding angle of the boom length L when the crane is in no-load, and deltaRThe disturbance degree of the amplitude increase of the arm support during the hoisting of the crane, G is the gravity equivalent to the gravity center of the arm support, and L(G)(L) is the arm of force of the center of gravity of the arm support, Fbf＝FΔ(alpha, L) is the pressure difference of the upper cavity and the lower cavity of the amplitude variation oil cylinder, hαIs the force arm of the amplitude-variable oil cylinder FSIs the tension of the wire rope, LSIs a steel wire rope force arm.
According to the formula (1), the moment balance of the embodiment of the application also considers the influence of the gravity center displacement of the boom caused by the boom deformation when the crane is hoisted, so that the moment balance expression is more accurate.
Further, when the crane is unloaded, the weight moment and the steel wire rope moment are both zero, and the moment balance formula of the formula (1) can be simplified as the following formula:
G*L(G)(L)＝FΔ(α,L)*hα (2)
according to equation (2), the characteristic expression of the crane boom equivalent to its head weight can be expressed as:
since the arm support of the crane has almost no deflection deformation when the crane is unloaded, delta at the momentRWhen no load, the weight G of the crane jib equivalent to the crane jib head is 0, according to equations (2) and (3)1(α, L) can be obtained by the following formula:
similarly to step S211, the boom amplitude (R + Δ) at the time of crane lifting is acquiredR) And the arm length L and the force arm h of the variable amplitude oil cylinderα。
Step S220: and determining the weight of the boom equivalent to the crane boom head when the crane is suspended according to the pressure difference determined by the pressure difference calibration method corresponding to the crane boom in the steps S110-S120, the determined boom amplitude when the crane is suspended and the determined moment arm of the luffing cylinder.
According to the equation (4) and the moment equivalent transformation (for example, the equation (1)), the weight G equivalent to the crane jib head of the crane jib during the suspension can be obtained by the following equation2(α,L)：
The expression of determining the weight equivalent to the crane arm head of the arm support when the crane is suspended can be obtained by further converting the formula (5) as follows:
accordingly, through the formula (6), the deflection deformation of the boom and the weights of various accessories of the boom are taken into consideration, the actual equivalent weight of the boom at the moment can be accurately measured during the hoisting, and the problem of poor hoisting measurement and calculation precision caused by inaccurate calculation of the self weight of the boom can be thoroughly solved.
Further, taking an experimental vehicle model as an example of a crane adopting a single-cylinder bolt type telescopic mechanism, the arm length combination is 6-section arm, and the arm length combination is 33332, it is described how the embodiment of the invention accurately obtains the self weight of the arm support.
1) When the crane with the arm length combination of 33332 is in no-load, the crane performs amplitude variation from the maximum lifting angle to zero kilogram of rated load, obtains pressure difference data of the amplitude variation oil cylinder in the amplitude variation process, and performs least square fitting to obtain a pressure difference expression of the amplitude variation oil cylinder by taking the angle as a variable, wherein the formula (1) is as follows:
FΔ(33332)(α,L)＝-1.6*104x+1.5*106；
wherein x is the angle of the arm support (the angle formed by the arm support and the horizontal plane).
2) The weight of the crane jib equivalent to the crane jib head at no load according to the above equations (1) - (4) is expressed as:
3) according to the above equation (5), taking the example of the 33332 arm length combined crane for hanging 10t load, the equivalent weight of the crane arm head can be obtained:
G2(33332)(α,L)＝5.3x2-756x+3.9*104
therefore, the embodiment of the invention can realize accurate measurement of the self weight of the crane boom under the conditions of considering the hoisting deformation of the boom and the complex structure and accessories of the boom.
Fig. 4 is a schematic structural diagram of a device for measuring the self weight of a crane boom according to an embodiment of the present invention, please refer to fig. 4, the device for measuring the self weight of a crane boom may include: the hoisting weight parameter determining unit 11 is used for determining the arm support amplitude and the arm length of the crane during hoisting and the force arm of the luffing cylinder; and a suspension arm head weight determining unit 10, configured to determine, according to the pressure difference determined by the pressure difference calibration method corresponding to the crane boom in steps S110-120, the boom amplitude during crane suspension and the moment arm of the luffing cylinder, a weight of the boom equivalent to the crane arm head during crane suspension.
Wherein, the force arm h of the variable auxiliary oil cylinderαThe arm length L and the no-load amplitude variation R of the corresponding angle can be directly measured on site by inquiring a structural parameter table and then utilizing geometric conversion; and obtaining the weight of the arm support equivalent to the arm head of the crane when the crane is hoisted according to the formula (6). Please refer to steps S100-S300, which are not described herein.
Preferably, the device for measuring the dead weight of the crane boom further comprises: the pressure difference data acquisition unit 31 is configured to acquire, for each arm length of the crane, pressure difference data of the upper and lower cavities of the luffing cylinder at each arm length and each arm support angle, when the crane is controlled to start from the maximum lifting angle to zero at the rated load; and a pressure difference expression determining unit 32, configured to determine, according to the obtained upper and lower cavity pressure difference data, an upper and lower cavity pressure difference expression of the luffing cylinder corresponding to each arm length and each arm support angle. Please refer to steps S110-S120, which are not described herein.
Preferably, the device for measuring the dead weight of the crane boom further comprises: the no-load parameter determining unit 22 is used for determining the arm support amplitude and the arm length of the crane and the arm of force of the luffing cylinder when the crane is in no-load; and a no-load boom head weight determining unit 20, configured to determine, through moment balance, a weight of the boom equivalent to the boom head of the crane when the crane is no-load, according to the determined pressure difference, the determined boom amplitude of the crane when the crane is no-load, and the determined moment arm of the luffing cylinder. Please refer to steps S211-S212, which are not described herein.
It should be noted that the content and the beneficial effects of the device for measuring the self weight of the crane boom provided by the embodiment of the present invention are similar to those of the method embodiment described above, and specific reference is made to the method embodiment, which is not repeated herein.
The embodiment of the invention also provides a crane, which comprises the device for measuring the dead weight of the crane boom.
The device can be arranged in the current control system of the crane, and can also be externally provided with a measuring device for the dead weight of the crane boom.
Further, an embodiment of the present invention further provides a storage medium, where the storage medium stores instructions, and when the storage medium runs on a computer, the storage medium causes the computer to execute the method for measuring the self weight of the crane boom according to steps S210 to S220.
The detailed contents and beneficial effects of the crane and the storage medium provided by the embodiment of the invention are the same as those of the method embodiment, and are not described again here.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). The memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in the process, method, article, or apparatus that comprises the element.
The above are merely examples of the present application and are not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.
Claims (10)
1. A pressure difference calibration method corresponding to a crane boom is characterized by comprising the following steps:
aiming at each arm length of the crane, acquiring corresponding pressure difference data of the upper cavity and the lower cavity of the luffing cylinder under each arm length and each arm support angle when the arm length is controlled to be zero from the maximum lifting angle; and
and determining the pressure difference expression of the upper cavity and the lower cavity of the luffing cylinder corresponding to each arm length and each arm support angle according to the obtained pressure difference data of the upper cavity and the lower cavity.
2. The method for measuring the self weight of the crane boom is characterized by comprising the following steps:
determining the amplitude and the arm length of an arm support and the arm of a luffing oil cylinder when the crane is hoisted; and
the pressure difference determined by the pressure difference calibration method corresponding to the crane boom according to claim 1, the determined boom amplitude during crane lifting and the arm of the luffing cylinder, and the weight of the boom equivalent to the crane boom head during crane lifting are determined.
3. The method for measuring the self weight of the crane boom as claimed in claim 2, wherein before the determining the boom amplitude and the boom length of the crane during the hoisting and the moment arm of the luffing cylinder, the method for measuring the self weight of the crane boom further comprises:
determining the amplitude and the arm length of an arm support and the arm of a luffing oil cylinder when the crane is in no-load; and
and determining the weight of the arm support equivalent to the arm head of the crane when the crane is in no load according to the pressure difference determined by the pressure difference calibration method corresponding to the arm support of the crane, the determined amplitude of the arm support when the crane is in no load and the determined moment arm of the luffing cylinder through moment balance.
4. The method for measuring the self weight of the crane jib according to claim 3, wherein the weight of the jib equivalent to the crane jib head when the crane is unloaded is determined by the following formula:
G1(a,L)＝FΔ(a,L)*ha/R
wherein, FΔ(a, L) is the pressure difference of the amplitude variation oil cylinder, haIs the force arm of the amplitude-variable oil cylinder, and R is the no-load amplitude of the crane arm at the angle corresponding to the length L.
5. The method for measuring the self weight of the crane jib according to claim 2 or 4, wherein the weight of the jib equivalent to the crane jib head when the crane is suspended is determined by the following formula:
G2(a,L)＝FΔ(a,L)*ha/(R+ΔR)
wherein, FΔ(a, L) is the pressure difference of the amplitude variation oil cylinder, haIs the force arm of the amplitude variation oil cylinder, R is the no-load amplitude variation of the corresponding angle of the crane arm length L, deltaRIncreasing the disturbance degree when the crane is hoisted.
6. The measuring device for the self weight of the crane boom is characterized by comprising the following components:
the hoisting weight parameter determining unit is used for determining the amplitude and the arm length of the arm support and the arm of the luffing cylinder when the crane is hoisted; and
the hoisting arm head weight determining unit is used for determining the weight of the arm support equivalent to the crane arm head when the crane is hoisted according to the pressure difference determined by the pressure difference calibration method corresponding to the crane arm support as claimed in claim 1, the determined amplitude of the arm support when the crane is hoisted and the determined moment arm of the luffing cylinder.
7. The device for measuring the self weight of the crane boom as claimed in claim 6, wherein the device for measuring the self weight of the crane boom further comprises:
the pressure difference data acquisition unit is used for acquiring the corresponding pressure difference data of the upper cavity and the lower cavity of the luffing cylinder under each arm length and each arm frame angle when the crane is controlled to start from the maximum lifting angle to zero of the rated load; and
and the pressure difference expression determining unit is used for determining the pressure difference expressions of the upper cavity and the lower cavity of the luffing cylinder corresponding to the arm lengths and the arm support angles according to the acquired pressure difference data of the upper cavity and the lower cavity.
8. The device for measuring the self weight of the crane boom as claimed in claim 6, wherein the device for measuring the self weight of the crane boom further comprises:
the no-load parameter determining unit is used for determining the amplitude and the arm length of the arm support and the force arm of the variable amplitude oil cylinder when the crane is in no-load; and
and the no-load arm head weight determining unit is used for determining the weight of the arm support equivalent to the crane arm head when the crane is in no load according to the determined pressure difference, the determined amplitude of the arm support when the crane is in no load and the moment arm of the luffing cylinder through moment balance.
9. A crane, characterized in that the crane comprises a measuring device for the dead weight of the crane boom according to any one of claims 6-8.
10. A storage medium, characterized in that the storage medium has stored therein instructions, which when run on a computer, cause the computer to execute the method of measuring the self-weight of a crane boom according to any one of claims 2-5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011379110.5A CN114572835A (en) | 2020-11-30 | 2020-11-30 | Pressure difference calibration method corresponding to crane boom, and self-weight measurement method and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011379110.5A CN114572835A (en) | 2020-11-30 | 2020-11-30 | Pressure difference calibration method corresponding to crane boom, and self-weight measurement method and device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114572835A true CN114572835A (en) | 2022-06-03 |
Family
ID=81766866
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011379110.5A Pending CN114572835A (en) | 2020-11-30 | 2020-11-30 | Pressure difference calibration method corresponding to crane boom, and self-weight measurement method and device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114572835A (en) |
-
2020
- 2020-11-30 CN CN202011379110.5A patent/CN114572835A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110498341B (en) | Safety control method and system for hoisting equipment | |
| RU2537728C2 (en) | Weight registration system for load suspended on lifting crane cable | |
| CN101746683B (en) | Anti-overturn controlling method for front loader, the device and front loader thereof | |
| CN109941891A (en) | A kind of novel hoisting apparatus and weighing method equipped with weighing sensing device | |
| CN101428741B (en) | Method for estimating lift hook position | |
| JP3842779B2 (en) | Method for measuring load on load support means of hydraulic lifting device | |
| CN114572835A (en) | Pressure difference calibration method corresponding to crane boom, and self-weight measurement method and device | |
| CN103640973B (en) | Fixed-height variable-amplitude control method and device and movable arm tower crane | |
| US3971008A (en) | Crane overload detector using a boom bending moment detector | |
| CN111307371B (en) | Ship gravity center measuring method | |
| CN110759281B (en) | Weighing method of telescopic arm structure, equipment and storage medium thereof | |
| CN113401803B (en) | Method, device and controller for measuring arm length of tower crane | |
| CN115010019A (en) | Telescopic arm mechanical equipment control device, control method and telescopic arm mechanical equipment | |
| CN110980556B (en) | Control method and device for jacking and leveling of tower crane and tower crane | |
| CN112723201B (en) | Method and device for acquiring support position, engineering machine and readable storage medium | |
| CN103389220A (en) | Test detection method of load shedding equivalent weight of large bridge crane | |
| CN113816267B (en) | Lateral displacement measuring method and device for crane boom and crane | |
| CN117068972A (en) | Method, device, medium and apparatus for leveling a moment of a tower crane with a moving counterweight | |
| CN117088293A (en) | Power matching control method, controller and arm support type engineering machinery | |
| CN116902838A (en) | Control method and device for turntable leveling, lifting equipment and processor | |
| CN115108471A (en) | Method and device for preventing forward movement of crane boom and crane | |
| RU2803775C1 (en) | Method of experimental determination of rigidity of the rope suspension for bridge type cranes | |
| CN113173524B (en) | Method, device, equipment and medium for hydraulic dynamic weighing of telescopic boom forklift | |
| CN110054088A (en) | Hook high method and crane are controlled during crane amplitude variation | |
| CN116161551A (en) | Method for detecting height of lifting hook, crane, storage medium and controller |
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 |