CN-121997568-A - Method, device and storage medium for determining deflection of crane boom

CN121997568ACN 121997568 ACN121997568 ACN 121997568ACN-121997568-A

Abstract

The embodiment of the application provides a method for determining deflection of a crane boom, and belongs to the technical field of engineering machinery. The method comprises the steps of obtaining arm head lifting transverse force and arm head moment corresponding to an arm head of a boom of a crane, determining arm head deflection of the arm head and arm head corner of the arm head according to the arm head lifting transverse force, the arm head moment, a pre-obtained arm head elastic stiffness matrix of the boom and a pre-obtained arm head geometric stiffness matrix of the boom, determining boom axial position-deflection relation corresponding to the boom according to the total length of the boom, the arm head deflection, the arm head corner, the arm root hinge point and the hinge point distance of a support hinge point of an amplitude-variable oil cylinder, wherein the boom axial position-deflection relation represents the relation between the boom axial position and deflection corresponding to the boom axial position, and determining target deflection corresponding to the target boom axial position of the boom according to the boom axial position-deflection relation. The application can realize the determination of the deflection of the suspension arm and is suitable for low-calculation-force platforms.

Inventors

ZHANG YANG
YANG WEI
Zou Zhanda
ZHONG QINGPING
LI WENYAN

Assignees

中联重科股份有限公司

Dates

Publication Date: 20260508
Application Date: 20251231

Claims (10)

1. A method for determining deflection of a crane boom, the crane comprising a luffing cylinder, the method comprising: acquiring an arm head lifting transverse force born by an arm head of a crane boom and an arm head moment corresponding to the arm head; Determining arm head deflection of the arm head and arm head corner of the arm head according to the arm head lifting transverse force, the arm head moment, the pre-acquired arm head elastic stiffness matrix of the suspension arm and the pre-acquired arm head geometric stiffness matrix of the suspension arm; Determining a boom axial position-deflection relation corresponding to the boom according to the total length of the boom, the deflection of the boom head, the rotation angle of the boom head, the hinge point distance between the hinge point of the boom root and the hinge point of the support of the luffing cylinder, wherein the boom axial position-deflection relation represents the relation between the boom axial position and the deflection corresponding to the boom axial position; and determining the target deflection corresponding to the target boom axial position of the boom according to the boom axial position-deflection relation corresponding to the boom.
2. The method of claim 1, wherein acquiring the arm head lifting lateral force comprises: Acquiring a boom elevation angle of the boom, a lifting weight of a lifting load and a root stiffness of the boom; Determining a lifting transverse force of a lifting hook according to the elevation angle of the lifting arm and the lifting weight; and determining the arm head lifting transverse force according to the arm root rigidity and the lifting hook lifting transverse force.
3. The method of claim 2, wherein said determining the hook load lateral force as a function of the boom elevation angle and the load weight force comprises determining the hook load lateral force as a function of the following equation: Wherein F1 is the lifting gravity, θ is the elevation angle of the suspension arm, and q1 is the transverse lifting force of the lifting hook.
4. The method of claim 1, wherein the crane includes an arm head, an upper head pulley located at an upper portion of the arm head, a lower head pulley located at a lower portion of the arm head, and a hoist rope, and wherein obtaining the arm head moment of the boom includes: acquiring a boom elevation angle of the boom, a lifting weight of the lifting, a wire rope pulling force of the lifting wire rope, a first interval between the upper pulley of the head and the central line of the arm head, a second interval between the lower pulley of the head and the central line of the arm head and the arm root rigidity of the boom; Determining the moment of the center line of the arm head according to the lifting gravity and the elevation angle of the suspension arm, the first interval, the tension of the steel wire rope and the second interval; and determining the arm head moment of the suspension arm according to the arm head central line moment and the arm root rigidity.
5. The method of claim 4, wherein determining the arm head centerline moment from the hoist weight, the boom elevation, the first spacing, the wire rope tension, the second spacing, and the second spacing comprises: wherein F1 is the lifting gravity, θ is the elevation angle of the suspension arm, d1 is the first interval, F2 is the tension of the steel wire rope, d2 is the second interval, and rm1 is the moment of the center line of the arm head.
6. The method of claim 1, wherein determining the arm head deflection of the arm head and the arm head rotation angle of the arm head from the arm head load lateral force, the arm head moment, the pre-acquired arm head elastic stiffness matrix of the boom, and the pre-acquired arm head geometric stiffness matrix of the boom comprises the following formula: Wherein, the For the matrix of the arm head elastic stiffness, And for the geometrical stiffness matrix of the arm head, wn is the deflection of the arm head, zn is the corner of the arm head, q is the lateral load of the arm head, and rm is the moment of the arm head.
7. The method of claim 1, wherein determining the boom axial position-deflection relationship corresponding to the boom according to the boom total length, the boom head deflection, the boom head rotation angle, the boom root hinge point of the boom, and the hinge point distance of the support hinge point of the luffing cylinder comprises determining the following formula: v(x)=ax3+bx2+cx wherein x is the axial position of the suspension arm, For deflection corresponding to the axial position x of the suspension arm, lp is the distance of the hinge point, l is the total length of the suspension arm, wn is the deflection of the arm head, and rm is the moment of the arm head.
8. An apparatus for determining crane deflection, comprising: A memory configured to store instructions, and -A processor configured to invoke said instructions from said memory and when executing said instructions is capable of implementing the method for determining crane boom deflection according to any of claims 1 to 7.
9.A machine-readable storage medium having instructions stored thereon for causing a machine to perform the method for determining crane boom deflection according to any one of claims 1 to 7.
10. Computer program product comprising a computer program, characterized in that the computer program, when being executed by a processor, implements the method for determining crane boom deflection according to any one of claims 1 to 7.

Description

Method, device and storage medium for determining deflection of crane boom Technical Field The application relates to the technical field of engineering machinery, in particular to a method, a device and a storage medium for determining deflection of a crane boom. Background The computing application of deflection of the crane boom is of vital importance. Currently, the deflection calculation method of the crane boom is usually a nonlinear finite element method. The traditional nonlinear finite element method has complex calculation process, so that the calculation force requirement is high, and the method cannot be suitable for a low calculation force platform. Therefore, the prior art has the problem of poor applicability of different computing platforms. Disclosure of Invention Additional features and advantages of embodiments of the application will be set forth in the detailed description which follows. It is an aim of embodiments of the present application to provide a method, apparatus, storage medium and computer program product for determining deflection of a crane boom, for solving the problem of poor applicability of different computing platforms in the prior art. To achieve the above object, a first aspect of an embodiment of the present application provides a method for determining deflection of a crane boom, the method comprising: Acquiring an arm head lifting transverse force born by an arm head of a crane boom and an arm head moment corresponding to the arm head; Determining arm head deflection of the arm head and arm head corner of the arm head according to arm head lifting transverse force, arm head moment, a pre-acquired arm head elastic stiffness matrix of the suspension arm and a pre-acquired arm head geometric stiffness matrix of the suspension arm; Determining a boom axial position-deflection relation corresponding to the boom according to the total length of the boom, the deflection of the boom head, the rotation angle of the boom head and the hinge point distance between the hinge point of the boom root of the boom and the hinge point of the support of the luffing cylinder, wherein the boom axial position-deflection relation represents the relation between the boom axial position and the deflection corresponding to the boom axial position; and determining the target deflection corresponding to the target boom axial position of the boom according to the boom axial position-deflection relation corresponding to the boom. The method for obtaining the arm head lifting transverse force comprises the steps of obtaining the elevation angle of a suspension arm, the lifting weight of the lifting load and the arm root rigidity of the suspension arm, determining the lifting hook lifting transverse force according to the elevation angle of the suspension arm and the lifting weight, and determining the arm head lifting transverse force according to the arm root rigidity and the lifting hook lifting transverse force. In an embodiment of the application, determining the lateral lifting force of the lifting hook based on the boom elevation angle and the lifting weight comprises determining the lateral lifting force of the lifting hook based on the following formula: wherein F1 is the lifting weight, θ is the elevation angle of the suspension arm, and q1 is the transverse lifting force of the lifting hook. In the embodiment of the application, the crane comprises an arm head, an upper head pulley positioned at the upper part of the arm head, a lower head pulley positioned at the lower part of the arm head and a lifting steel wire rope, and the acquisition of the arm head moment of the suspension arm comprises the following steps: acquiring a boom elevation angle of a boom, a lifting weight of the lifting, a wire rope pulling force of a lifting wire rope, a first interval between a pulley on the head and a central line of the arm head, a second interval between a pulley under the head and the central line of the arm head and the arm root rigidity of the boom; Determining the moment of the center line of the arm head according to the lifting gravity and the elevation angle of the lifting arm, the first interval, the tension of the steel wire rope and the second interval; And determining the arm head moment of the suspension arm according to the arm head central line moment and the arm root rigidity. In the embodiment of the application, according to the lifting gravity and the elevation angle of the suspension arm, the first interval, the tension of the steel wire rope and the second interval, and the moment of the central line of the arm head is determined, wherein the moment comprises the following steps: Wherein F1 is the lifting gravity, θ is the elevation angle of the boom, d1 is the first spacing, F2 is the tension of the steel wire rope, d2 is the second spacing, and rm1 is the moment of the center line of the boom head. In the embodiment of the application, according to the arm head lifting tra