CN106840491B - Loaded detection method, device and the pump truck of pumping vehicle arm rack - Google Patents
Loaded detection method, device and the pump truck of pumping vehicle arm rack Download PDFInfo
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- CN106840491B CN106840491B CN201611210885.3A CN201611210885A CN106840491B CN 106840491 B CN106840491 B CN 106840491B CN 201611210885 A CN201611210885 A CN 201611210885A CN 106840491 B CN106840491 B CN 106840491B
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- 238000001514 detection method Methods 0.000 title claims abstract description 45
- 238000005086 pumping Methods 0.000 title claims abstract description 36
- 230000005484 gravity Effects 0.000 claims abstract description 41
- 238000005452 bending Methods 0.000 claims description 12
- 238000010586 diagram Methods 0.000 description 12
- 238000000034 method Methods 0.000 description 5
- 230000001133 acceleration Effects 0.000 description 4
- 230000008901 benefit Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 210000000245 forearm Anatomy 0.000 description 1
- 230000013011 mating Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000009987 spinning Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
- E04G21/02—Conveying or working-up concrete or similar masses able to be heaped or cast
- E04G21/04—Devices for both conveying and distributing
- E04G21/0418—Devices for both conveying and distributing with distribution hose
- E04G21/0445—Devices for both conveying and distributing with distribution hose with booms
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Jib Cranes (AREA)
- Automobile Manufacture Line, Endless Track Vehicle, Trailer (AREA)
Abstract
This disclosure relates to loaded detection method, device and the pump truck of a kind of pumping vehicle arm rack.Loaded detection method includes: to obtain the current arm support posture of cantilever crane；According to the current arm support posture and the dimension data of the cantilever crane, the coordinate position of hinge and cantilever crane center of gravity in the global coordinate system of space on the cantilever crane is determined；According to the current arm support posture, the coordinate position of the hinge, the coordinate position of the cantilever crane center of gravity and the weight of the cantilever crane, the load that the pin shaft being located at the hinge is born under the current arm support posture is obtained.Coordinate position of the disclosure by the current arm support posture, hinge and cantilever crane center of gravity of cantilever crane in the global coordinate system of space, obtain the load that the pin shaft being located at the hinge is born, operating personnel can be according to the load detected, adjust the mode of operation of cantilever crane, it avoids connector from being chronically at more severe applying working condition, solves the problems, such as to lack the detection scheme to the applying working condition of pin shaft in pumping vehicle arm rack.
Description
Technical field
This disclosure relates to cantilever crane detection technique, and in particular, to a kind of loaded detection method, device and the pump of pumping vehicle arm rack
Vehicle.
Background technique
Statistics market and the pumping vehicle arm rack structure failure that feeds back after sale, it can be deduced that pin shaft and connecting rod failure proportion compared with
Greatly.The pin shaft of position of articulating point connects all parts in cantilever crane to form cantilever crane assembly on cantilever crane, although designing in pump truck arm configuration
In the process, the structural members such as pin shaft are remained with certain design margin, if but pin shaft be chronically at more severe applying working condition,
It will make a big impact to the normal use of these structural members, such as the service life of loss pin shaft.
Summary of the invention
Purpose of this disclosure is to provide loaded detection method, device and the pump trucks of a kind of pumping vehicle arm rack, lack for solving
To in pumping vehicle arm rack the problem of the detection scheme of the applying working condition of pin shaft.
To achieve the goals above, the disclosure provides a kind of loaded detection method of pumping vehicle arm rack, comprising:
Obtain the current arm support posture of the cantilever crane；
According to the current arm support posture and the dimension data of the cantilever crane, the hinge and arm on the cantilever crane are determined
Coordinate position of the frame center of gravity in the global coordinate system of space；
According to the current arm support posture, the coordinate position of the hinge, the coordinate position of the cantilever crane center of gravity and institute
The weight of cantilever crane is stated, the load that the pin shaft being located at the hinge is born under the current arm support posture is obtained.
Optionally, the dimension data includes the overall dimensions of the cantilever crane；
The current arm support posture for obtaining the cantilever crane, comprising:
The angle between the cantilever crane is acquired by angular transducer, the angle between the cantilever crane includes the adjacent arm
The angle between angle and the first cantilever crane and horizontal plane between frame；
According to the overall dimensions of angle and the cantilever crane between the cantilever crane, the current arm support posture is determined.
Optionally, the dimension data further includes position data of the hinge on the cantilever crane；
The coordinate position of hinge and cantilever crane center of gravity in the global coordinate system of space on the determination cantilever crane, packet
It includes:
According to the position data of the current arm support posture and the hinge on the cantilever crane, determine that the hinge exists
Coordinate position in the global coordinate system of space；
According to the current arm support posture and the overall dimensions of the cantilever crane, determine the cantilever crane center of gravity in the space
Coordinate position in global coordinate system.
Optionally, the load for obtaining the pin shaft being located at the hinge and being born under the current arm support posture,
Include:
According to the weight of the coordinate position of the cantilever crane center of gravity and the cantilever crane, the additional bending moment of the hinge is calculated；
According to coordinate position of the hinge in the global coordinate system of space, the endurance arm of force of the hinge is calculated；
According to the coordinate position of the hinge, the additional bending moment, it is described endurance the arm of force and the cantilever crane weight,
By torque equilibrium equation and equilibrium equation, the load that the pin shaft being located at the hinge is born is obtained.
Optionally, further includes:
When the load is greater than preset value, the operation of prompt messages and/or the locking cantilever crane is exported.
The disclosure also provides a kind of loaded detection device of pumping vehicle arm rack, comprising:
First obtains module, for obtaining the current arm support posture of the cantilever crane；
Determining module determines the cantilever crane for the dimension data according to the current arm support posture and the cantilever crane
On coordinate position in the global coordinate system of space of hinge and cantilever crane center of gravity；
Second obtains module, for the coordinate position according to the current arm support posture, the hinge, the cantilever crane center of gravity
Coordinate position and the cantilever crane weight, obtain be located at the hinge at pin shaft held under the current arm support posture
The load received.
Optionally, the dimension data includes the overall dimensions of the cantilever crane；
Described first, which obtains module, includes:
Acquire submodule, the folder for acquiring the angle between the cantilever crane by angular transducer, between the cantilever crane
Angle includes the angle between angle and the first cantilever crane and horizontal plane between the adjacent cantilever crane；
First determines submodule, for the overall dimensions according to angle and the cantilever crane between the cantilever crane, determines
The current arm support posture.
Optionally, the dimension data further includes position data of the hinge on the cantilever crane；
Described second, which obtains module, includes:
Second determines submodule, for the position according to the current arm support posture and the hinge on the cantilever crane
Data determine coordinate position of the hinge in the global coordinate system of space；
Third determines submodule, for the overall dimensions according to the current arm support posture and the cantilever crane, determines institute
State coordinate position of the cantilever crane center of gravity in the space global coordinate system.
Optionally, the load that connector is born under the current arm support posture is obtained, comprising:
First computational submodule, for calculating according to the coordinate position of the cantilever crane center of gravity and the weight of the cantilever crane
The additional bending moment of the hinge；
Second computational submodule, for the coordinate position according to the hinge in the global coordinate system of space, described in calculating
The endurance arm of force of hinge；
Third computational submodule, for according to the coordinate position of the hinge, the additional bending moment, the endurance arm of force
And the weight of the cantilever crane obtains the pin shaft being located at the hinge by torque equilibrium equation and equilibrium equation
The load born.
Optionally, further includes:
Execution module, for when the load is greater than preset value, exporting prompt messages and/or the locking cantilever crane
Operation.
The disclosure also provides a kind of pump truck, including above-mentioned loaded detection device.
The technical scheme provided by this disclosed embodiment can include the following benefits:
By obtaining the current arm support posture of the cantilever crane, and according to the current arm support posture and the cantilever crane
Dimension data determines the coordinate position of hinge and cantilever crane center of gravity in the global coordinate system of space, then according to the correlation of acquisition
Parameter calculates the load that the pin shaft being located at the hinge is born under the current arm support posture, and operating personnel can root
According to the load data detected, the mode of operation of cantilever crane is adjusted, connector is avoided to be chronically at more severe applying working condition, is reduced
Loss to connector, solves the problems, such as to lack the detection scheme to the applying working condition of pin shaft in pumping vehicle arm rack.
Other feature and advantage of the disclosure will the following detailed description will be given in the detailed implementation section.
Detailed description of the invention
Attached drawing is and to constitute part of specification for providing further understanding of the disclosure, with following tool
Body embodiment is used to explain the disclosure together, but does not constitute the limitation to the disclosure.In the accompanying drawings:
Fig. 1 is a kind of flow chart of the loaded detection method of pumping vehicle arm rack shown according to an exemplary embodiment.
Fig. 2 is obtained during a kind of loaded detection method of pumping vehicle arm rack shown according to an exemplary embodiment includes the steps that
Take the flow chart of current arm support posture.
Fig. 3 is true during a kind of loaded detection method of pumping vehicle arm rack shown according to an exemplary embodiment includes the steps that
Determine the flow chart of the coordinate position of hinge and cantilever crane center of gravity.
Fig. 4 is obtained during a kind of loaded detection method of pumping vehicle arm rack shown according to an exemplary embodiment includes the steps that
The flow chart for the load that write off bearing is received.
Fig. 5 is a kind of another flow chart of the loaded detection method of pumping vehicle arm rack shown according to an exemplary embodiment.
Fig. 6 is the schematic diagram of pumping vehicle arm rack shown according to an exemplary embodiment.
Fig. 7 is the enlarged diagram of third cantilever crane and the 4th cantilever crane junction in Fig. 6.
Fig. 8 is the partial enlargement diagram of the 4th cantilever crane in Fig. 6.
Fig. 9 is a kind of block diagram of the loaded detection device of pumping vehicle arm rack shown according to an exemplary embodiment.
Figure 10 is a kind of the first acquisition mould of the loaded detection device of pumping vehicle arm rack shown according to an exemplary embodiment
The block diagram of block.
Figure 11 is a kind of determining module of the loaded detection device of pumping vehicle arm rack shown according to an exemplary embodiment
Block diagram.
Figure 12 is a kind of the first acquisition mould of the loaded detection device of pumping vehicle arm rack shown according to an exemplary embodiment
The block diagram of block.
Figure 13 is a kind of another block diagram of the loaded detection device of pumping vehicle arm rack shown according to an exemplary embodiment.
Specific embodiment
Example embodiments are described in detail here, and the example is illustrated in the accompanying drawings.Following description is related to
When attached drawing, unless otherwise indicated, the same numbers in different drawings indicate the same or similar elements.Following exemplary embodiment
Described in embodiment do not represent all implementations consistent with this disclosure.On the contrary, they be only with it is such as appended
The example of the consistent device and method of some aspects be described in detail in claims, the disclosure.
Fig. 1 is a kind of flow chart of the loaded detection method of pumping vehicle arm rack shown according to an exemplary embodiment.Such as Fig. 1
Shown, detection method includes the following steps for the pumping vehicle arm rack loaded.
In step s 11, the current arm support posture of the cantilever crane is obtained.
In step s 12, it according to the current arm support posture and the dimension data of the cantilever crane, determines on the cantilever crane
Coordinate position in the global coordinate system of space of hinge and cantilever crane center of gravity.
In step s 13, according to the current arm support posture, the coordinate position of the hinge, the cantilever crane center of gravity seat
The weight of cursor position and the cantilever crane obtains what the pin shaft being located at the hinge was born under the current arm support posture
Load.
Cantilever crane in the disclosure can be the cantilever crane of pump truck, be also possible to the jib structure of various other types, such as its
Engineering machinery or operating equipment of its type etc..Fig. 6 is the schematic diagram of pumping vehicle arm rack shown according to an exemplary embodiment, figure
The cantilever crane quantity shown in 6 is 5, but can be any to the cantilever crane quantity of pump truck and without specifically limiting in the disclosure
Other numbers.
In the present embodiment, including being the first cantilever crane B1 close to pump truck, it is connected with pump truck vehicle body, close to the first cantilever crane
B1 is the second cantilever crane B2, additionally includes successively third cantilever crane B3, the 4th cantilever crane B4 and the 5th cantilever crane B5 interconnected,
In the 5th cantilever crane B5 it is farthest apart from pump truck, operation end is located at the 5th end cantilever crane B5.
Hydraulic system is used between two joint arm frame of arbitrary neighborhood, to be driven in cantilever crane connecting portion, is used for control arm
Frame stretches freely in solid space, automatically adjusts posture or relative distance.The pin shaft of position of articulating point will be each in cantilever crane on cantilever crane
Component connects to form cantilever crane assembly, and connecting rod is by the mating connection of pin shaft and hinge in the drive on the cantilever crane, in hydraulic system
Lever is connect by the connecting rod with cantilever crane, for realizing the relative rotation between adjacent cantilever crane.On 5th end cantilever crane B5
Operation part for operation is set, the position control to operation part is realized by the linkage of each joint arm frame.
Firstly, obtaining the current arm support posture of the cantilever crane in step S11.Cantilever crane posture is the appearance of cantilever crane in space
State, when cantilever crane quantity is more piece, the cantilever crane posture is more piece cantilever crane corresponding coordinate position in the global coordinate system of space.
Fig. 2 is obtained during a kind of loaded detection method of pumping vehicle arm rack shown according to an exemplary embodiment includes the steps that
Take the flow chart of current arm support posture.As shown in Fig. 2, the dimension data includes the overall dimensions of the cantilever crane, the acquisition
The current arm support posture of the cantilever crane, may comprise steps of.
In step S111, the angle between the cantilever crane is acquired by angular transducer, the angle between the cantilever crane
Including the angle between the angle and the first cantilever crane and horizontal plane between the adjacent cantilever crane.
In step S112, according to the overall dimensions of angle and the cantilever crane between the cantilever crane, work as described in determination
Preceding cantilever crane posture.
As shown in Figure 2 and Figure 6, the angular transducer can be set at the both ends of every joint arm frame, such as: by the angle
The both ends of the first cantilever crane B1 are arranged in sensor, can obtain and the angle theta between the first cantilever crane B1 and horizontal plane1And first
Angle theta between cantilever crane B1 and the second cantilever crane B22.As shown in fig. 6, the angle theta between the second cantilever crane B2 and third cantilever crane B33,
Angle theta between three cantilever crane B3 and the 4th cantilever crane B44, angle theta between the 4th cantilever crane B4 and the 5th cantilever crane B55It can pass through
The angular transducer obtains.It, can be according to the overall dimensions of the cantilever crane after obtaining the angle between the cantilever crane
The cantilever crane is drawn out in the global coordinate system of space, it can obtain the spatial coordinate location of cantilever crane, and then described in acquisition
The current arm support posture of cantilever crane.
Certainly, in other embodiments, the current arm support appearance of cantilever crane described in other parameters acquisition of information can also be passed through
State.For example, the parameter information can also include following two:
1) extension elongation of each telescopic oil cylinder.Due to being respectively provided between the first cantilever crane and capstan head, between adjacent cantilever crane
There is telescopic oil cylinder, can just drive each joint arm frame to generate spinning movement, therefore, the stretching of telescopic oil cylinder by the movement of telescopic oil cylinder
Angle between the inclination angle of length and the first cantilever crane, adjacent cantilever crane has one-to-one relationship, that is, passes through each telescopic oil cylinder
Extension elongation can reflect current arm support posture.
2) movement speed (or acceleration) of each telescopic oil cylinder.According to physics principle it is found that displacement, speed, acceleration
Between degree and time there is specific mathematical relationship to be stretched under the premise of knowing real-time speed (or acceleration), time
The extension elongation of oil cylinder is clearly that can accomplish, the inclination angle of each joint arm frame is obtained according to the extension elongation of each telescopic oil cylinder
It can be achieved on, therefore, the movement speed (or acceleration) by monitoring each telescopic oil cylinder in real time, which can be known, works as forearm
Frame posture.
After the current arm support posture for obtaining the cantilever crane, step S12 is executed, according to the current arm support posture and institute
The dimension data for stating cantilever crane determines the coordinate bit of hinge and cantilever crane center of gravity in the global coordinate system of space on the cantilever crane
It sets.
By taking 5 section pumping vehicle arm racks as an example, after cantilever crane design is completed, the shape and hinge of every joint arm frame are on every joint arm frame
Position (for example hinge is located at the middle position of cantilever crane or away from 10 centimeters of cantilever crane end) be it is completely specified, pass through pin
Axis gets up different component assemblings in position of articulating point, forms the large assembly body of entire cantilever crane.Before cantilever crane assembly, Mei Yijie
Physical location of the dimension data and hinge of cantilever crane on every joint arm frame is all known.But after being assembled into entire boom system,
By the oil cylinder driving between cantilever crane, so that cannot directly know that some hinge has in space after mutually rotating between cantilever crane
The position of body.
In order to know the coordinate position of hinge and the cantilever crane center of gravity in the global coordinate system of space, referring to FIG. 3, figure
3 be a kind of pumping vehicle arm rack shown according to an exemplary embodiment loaded detection method include the steps that in determine hinge and arm
The flow chart of the coordinate position of frame center of gravity.As shown in figure 3, the dimension data further includes position of the hinge on the cantilever crane
Data are set, the coordinate position of hinge and cantilever crane center of gravity in the global coordinate system of space on the determination cantilever crane can be with
Include the following steps.
In step S121, according to the position data of the current arm support posture and the hinge on the cantilever crane,
Determine coordinate position of the hinge in the global coordinate system of space.
In step S122, according to the current arm support posture and the overall dimensions of the cantilever crane, the cantilever crane is determined
Coordinate position of the center of gravity in the space global coordinate system.
Determine hinge on the cantilever crane and the cantilever crane center of gravity after the coordinate position in the global coordinate system of space,
Execute step S13, according to the coordinate position of the current arm support posture, the coordinate position of the hinge, the cantilever crane center of gravity with
And the weight of the cantilever crane, obtain the load that the pin shaft being located at the hinge is born under the current arm support posture.
In order to obtain the load that pin shaft is born under the current arm support posture, referring to FIG. 4, Fig. 4 is shown according to one
The loaded detection method of a kind of pumping vehicle arm rack that example property is implemented to exemplify obtains the stream of the load that pin bearing is received in including the steps that
Cheng Tu.As shown in figure 4, the load for obtaining the pin shaft being located at the hinge and being born under the current arm support posture,
It may comprise steps of.
In step S131, according to the weight of the coordinate position of the cantilever crane center of gravity and the cantilever crane, the hinge is calculated
The additional bending moment of point.
In step S132, according to coordinate position of the hinge in the global coordinate system of space, the hinge is calculated
Withstand forces the arm of force.
In step S133, according to the coordinate position of the hinge, the additional bending moment, the endurance arm of force and institute
The weight for stating cantilever crane is obtained the pin shaft being located at the hinge and is born by torque equilibrium equation and equilibrium equation
Load.
Fig. 6, Fig. 7 and Fig. 8 are please referred to, Fig. 7 is the enlarged diagram of third cantilever crane and the 4th cantilever crane junction in Fig. 6, Fig. 8
It is the partial enlargement diagram of the 4th cantilever crane in Fig. 6.With the pin shaft load being connected between third cantilever crane B3 and the 4th cantilever crane B4
For calculating, as shown in fig. 7, the corresponding hinge of the pin shaft is B3.2.
As shown in Fig. 6, Fig. 7 and Fig. 8, firstly, obtaining hinge B3.2, the center of gravity of the 4th cantilever crane B4, the 5th cantilever crane B5
Center of gravity after the coordinate value of X-direction is respectively L3, L4, L5, can according to following calculation formula obtain hinge B3.2 it is attached
Add moment M:
M=(L4-L3) × W4+ (L5-L3) × W5；Wherein, W4 and W5 is respectively the 4th cantilever crane B4 and the 5th cantilever crane B5
Weight.
Then, as shown in Figure 7 and Figure 8, the endurance arm of force L2 of hinge B3.2 is calculated.All hinges are in space world coordinates
Specific coordinate in system after the acquisition, can determine straight line by B3.2C point and D4.2C point at this time, additionally by B3.2L
Point and D4.2L point determine that another straight line, the intersection point of two straight lines can calculate, be D4 point, pays attention to D4 point with inherently
D4.2L point is different two points.
Next, just can determine that a new straight line by point D4 and point B4.2L point, it is complete in space also to obtain this straight line
With respect to the angle value θ of X-axis in office's coordinate system, then calculating B3.2 point with respect to the length of perpendicular of this new straight line is hinge B3.2's
Withstand forces arm of force L2.
Then, Fig. 8 is please referred to, the power that hinge B3.2 is born is F, and component of the F in X-axis is F1X, point of the F on Z axis
Power is F1Z, then by torque equilibrium equation and equilibrium equation, obtain following formula:
Pass through the available load F for just having obtained acting at hinge B3.2 of above-mentioned formula1Are as follows:This load is namely applied to the load on the pin shaft at hinge B3.2.
The disclosure is by obtaining the current arm support posture of the cantilever crane, and according to the current arm support posture and described
The dimension data of cantilever crane determines the coordinate position of hinge and cantilever crane center of gravity in the global coordinate system of space, then according to acquisition
Relevant parameter, calculate the load born under the current arm support posture of pin shaft being located at the hinge, operating personnel
The mode of operation of cantilever crane can be adjusted according to the load data detected, connector is avoided to be chronically at more severe use work
Condition reduces the loss to connector, solves the problems, such as to lack the detection scheme to the applying working condition of pin shaft in pumping vehicle arm rack.
Fig. 5 is a kind of another flow chart of the loaded detection method of pumping vehicle arm rack shown according to an exemplary embodiment.
As shown in figure 5, detection method includes the following steps for the pumping vehicle arm rack loaded.
In step s 51, the current arm support posture of the cantilever crane is obtained.
In step S52, according to the current arm support posture and the dimension data of the cantilever crane, determine on the cantilever crane
Coordinate position in the global coordinate system of space of hinge and cantilever crane center of gravity.
In step S53, according to the current arm support posture, the coordinate position of the hinge, the cantilever crane center of gravity seat
The weight of cursor position and the cantilever crane obtains what the pin shaft being located at the hinge was born under the current arm support posture
Load.
In step S54, when the load is greater than preset value, prompt messages and/or the locking cantilever crane are exported
Operation.
For the pin shaft of different location, inside/outside diameter size is different, and the partial structurtes of cantilever crane link position are also different, setting
Timing can be calculated according to most dangerous operating condition, so the maximum bearing capacity of different location pin shaft all has regulation in advance,
If in Fig. 7, the bearable load of the pin shaft at hinge B3.2 is 120 tons, can be set when this pin shaft load reaches 80%
Bearing capacity when, i.e. 96 ton hours, issue alarm, directly locked when reaching 90% load toward more dangerous working condition movement behaviour
Make, in this way to achieve the purpose that safe construction.
Fig. 9 is a kind of block diagram of the loaded detection device of pumping vehicle arm rack shown according to an exemplary embodiment.Such as Fig. 9 institute
Show, the loaded detection device 900 of the pumping vehicle arm rack, comprising:
First obtains module 910, for obtaining the current arm support posture of the cantilever crane；
Determining module 920 determines the arm for the dimension data according to the current arm support posture and the cantilever crane
The coordinate position of hinge and cantilever crane center of gravity in the global coordinate system of space on frame；
Second obtains module 930, for coordinate position, the cantilever crane according to the current arm support posture, the hinge
The weight of the coordinate position of center of gravity and the cantilever crane obtains the pin shaft being located at the hinge under the current arm support posture
The load born.
Optionally, as shown in Figure 10, the dimension data includes the overall dimensions of the cantilever crane；Described first obtains module
910 include:
Submodule 911 is acquired, for acquiring the angle between the cantilever crane by angular transducer, between the cantilever crane
Angle includes the angle between angle and the first cantilever crane and horizontal plane between the adjacent cantilever crane；
First determines submodule 912, for the overall dimensions according to angle and the cantilever crane between the cantilever crane, really
The fixed current arm support posture.
Optionally, as shown in figure 11, the dimension data further includes position data of the hinge on the cantilever crane；Institute
Stating determining module 920 includes:
Second determine submodule 921, for according to the current arm support posture and the hinge on the cantilever crane
Position data determines coordinate position of the hinge in the global coordinate system of space；
Third determines submodule 922, for the overall dimensions according to the current arm support posture and the cantilever crane, determines
Coordinate position of the cantilever crane center of gravity in the space global coordinate system.
Optionally, as shown in figure 12, the second acquisition module 930 includes:
First computational submodule 931, for according to the coordinate position of the cantilever crane center of gravity and the weight of the cantilever crane, meter
Calculate the additional bending moment of the hinge；
Second computational submodule 932 calculates institute for the coordinate position according to the hinge in the global coordinate system of space
State the endurance arm of force of hinge；
Third computational submodule 933, for the coordinate position, the additional bending moment, the endurance according to the hinge
The weight of the arm of force and the cantilever crane is obtained described at the hinge by torque equilibrium equation and equilibrium equation
The load that pin shaft is born.
Optionally, as shown in figure 13, the loaded detection device 900 further include:
Execution module 940, for exporting described in prompt messages and/or locking when the load is greater than preset value
The operation of cantilever crane.
About the device in above-described embodiment, wherein modules execute the concrete mode of operation in related this method
Embodiment in be described in detail, no detailed explanation will be given here.
The disclosure additionally provides a kind of pump truck, including above-mentioned loaded detection device 900.
About the loaded detection device 900 in above-described embodiment, wherein modules have executed the concrete mode of operation
It is described in detail in the embodiment of the method, no detailed explanation will be given here.
The preferred embodiment of the disclosure is described in detail in conjunction with attached drawing above, still, the disclosure is not limited to above-mentioned reality
The detail in mode is applied, in the range of the technology design of the disclosure, a variety of letters can be carried out to the technical solution of the disclosure
Monotropic type, these simple variants belong to the protection scope of the disclosure.
It is further to note that specific technical features described in the above specific embodiments, in not lance
In the case where shield, it can be combined in any appropriate way.In order to avoid unnecessary repetition, the disclosure to it is various can
No further explanation will be given for the combination of energy.
In addition, any combination can also be carried out between a variety of different embodiments of the disclosure, as long as it is without prejudice to originally
Disclosed thought equally should be considered as disclosure disclosure of that.
Claims (9)
1. a kind of loaded detection method of pumping vehicle arm rack characterized by comprising
Obtain the current arm support posture of the cantilever crane；
According to the current arm support posture and the dimension data of the cantilever crane, the hinge and cantilever crane weight on the cantilever crane are determined
Coordinate position of the heart in the global coordinate system of space；
According to the current arm support posture, the coordinate position of the hinge, the cantilever crane center of gravity coordinate position and the arm
The weight of frame obtains the load that the pin shaft being located at the hinge is born under the current arm support posture；
The load for obtaining the pin shaft being located at the hinge and being born under the current arm support posture, comprising:
According to the weight of the coordinate position of the cantilever crane center of gravity and the cantilever crane, the additional bending moment of the hinge is calculated；
According to coordinate position of the hinge in the global coordinate system of space, the endurance arm of force of the hinge is calculated；
According to the weight of the coordinate position of the hinge, the additional bending moment, the endurance arm of force and the cantilever crane, pass through
Torque equilibrium equation and equilibrium equation obtain the load that the pin shaft being located at the hinge is born.
2. loaded detection method according to claim 1, which is characterized in that the dimension data includes the outer of the cantilever crane
Molded dimension；
The current arm support posture for obtaining the cantilever crane, comprising:
Acquire the angle between the cantilever crane by angular transducer, the angle between the cantilever crane include the adjacent cantilever crane it
Between angle and the first cantilever crane and horizontal plane between angle；
According to the overall dimensions of angle and the cantilever crane between the cantilever crane, the current arm support posture is determined.
3. loaded detection method according to claim 2, which is characterized in that the dimension data further includes that the hinge exists
Position data on the cantilever crane；
The coordinate position of hinge and cantilever crane center of gravity in the global coordinate system of space on the determination cantilever crane, comprising:
According to the position data of the current arm support posture and the hinge on the cantilever crane, determine the hinge in space
Coordinate position in global coordinate system；
According to the current arm support posture and the overall dimensions of the cantilever crane, determine that the cantilever crane center of gravity is global in the space
Coordinate position in coordinate system.
4. loaded detection method according to claim 1, which is characterized in that further include:
When the load is greater than preset value, the operation of prompt messages and/or the locking cantilever crane is exported.
5. a kind of loaded detection device of pumping vehicle arm rack characterized by comprising
First obtains module, for obtaining the current arm support posture of the cantilever crane；
Determining module determines on the cantilever crane for the dimension data according to the current arm support posture and the cantilever crane
The coordinate position of hinge and cantilever crane center of gravity in the global coordinate system of space；
Second obtains module, for the seat according to the coordinate position of the current arm support posture, the hinge, the cantilever crane center of gravity
The weight of cursor position and the cantilever crane obtains what the pin shaft being located at the hinge was born under the current arm support posture
Load；
Described second, which obtains module, includes:
First computational submodule, for according to the coordinate position of the cantilever crane center of gravity and the weight of the cantilever crane, described in calculating
The additional bending moment of hinge；
Second computational submodule calculates the hinge for the coordinate position according to the hinge in the global coordinate system of space
The endurance arm of force；
Third computational submodule, for according to the coordinate position of the hinge, the additional bending moment, the endurance arm of force and
The weight of the cantilever crane is obtained the pin shaft being located at the hinge and is held by torque equilibrium equation and equilibrium equation
The load received.
6. loaded detection device according to claim 5, which is characterized in that the dimension data includes the outer of the cantilever crane
Molded dimension；
Described first, which obtains module, includes:
Acquire submodule, the angle packet for acquiring the angle between the cantilever crane by angular transducer, between the cantilever crane
Include the angle between the angle and the first cantilever crane and horizontal plane between the adjacent cantilever crane；
First determines submodule, for the overall dimensions according to angle and the cantilever crane between the cantilever crane, determine described in
Current arm support posture.
7. loaded detection device according to claim 6, which is characterized in that the dimension data further includes that the hinge exists
Position data on the cantilever crane；
The determining module includes:
Second determines submodule, for the positional number according to the current arm support posture and the hinge on the cantilever crane
According to determining coordinate position of the hinge in the global coordinate system of space；
Third determines submodule, for the overall dimensions according to the current arm support posture and the cantilever crane, determines the arm
Coordinate position of the frame center of gravity in the space global coordinate system.
8. loaded detection device according to claim 5, which is characterized in that further include:
Execution module, for exporting the behaviour of prompt messages and/or the locking cantilever crane when the load is greater than preset value
Make.
9. a kind of pump truck, which is characterized in that including loaded detection device described in any one of claim 5 to 8.
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