A mobile crane load-bearing performance test and detection equipment

Abstract

The present invention provides a mobile crane load-bearing performance test and detection equipment, which belongs to the field of mobile crane lifting performance detection. The equipment includes a positioner and a mobile detection vehicle, which are applied to the mobile crane hoisting stability test. The present invention adopts technologies such as laser detection, visual detection, cylinder control and Mecanum wheel control. In the mobile crane stability hoisting test, the present invention can accurately apply the hoisting force through the cylinder, and can accurately measure the ultimate load-bearing capacity of the mobile crane, and the test efficiency is high. When the present invention is working, the position information of the boom head of the crane can be obtained in real time by using the technology of visual positioning and laser positioning, which is used for the mobile control of the mobile detection trolley, and the steering of the four Mecanum wheels is controlled to realize the movement of the trolley in any direction, so as to correct the crooked and slanted lifting and ensure the verticality of the hoisting force. The present invention can simulate the process of heavy objects being lifted by the stroke of the cylinder piston rod when the cylinder is in the pressure-maintaining state.

Description

Technical Field

[0001] The invention belongs to the field of mobile crane lifting performance detection, and discloses a mobile crane load-bearing performance test detection device, in particular to a mobile crane load stability test detection device capable of continuous and accurate loading. Background Art

[0002] Safety is of utmost importance during the operation of mobile cranes. Its carrying capacity, namely the stability of the load, refers to the limit load of the mobile crane without instability during the lifting process, which determines whether it can safely complete the lifting task. As an important safety performance indicator, the stability of the load of new products needs to be accurately tested for dangerous working conditions to obtain accurate stability data of the product, and the safety of personnel and equipment must be ensured during the test. At present, the stability test of mobile cranes is carried out in the form of lifting weights. During the test, the customized weights stacked to a certain weight are directly lifted. Due to the shape of the weights, the test results are not accurate enough and the limit stability cannot be accurately grasped. The matching weights have problems such as long test time, low efficiency and high test cost. At the same time, if the overload is directly lifted, the moment the weight leaves the ground, the crane is subjected to sudden force changes, and the moment of force changes, which is easy to become unstable and tip over, and the safety risk is high. In this case, in order to meet market demand and relevant national laws and regulations and standards, it is necessary to design and develop a device for the load stability test that can meet continuous loading, accurate loading, safe test process and high test efficiency to replace the traditional detection method.

[0003] The test equipment uses a combination of laser and vision to detect the position change of the mobile crane boom head, controls the oil cylinder to achieve precise loading, controls the steering of the Mecanum wheel to make the test equipment move universally on the ground, ensures the verticality of the load, and can better simulate the original test method process. It is suitable for mobile cranes to conduct load stability tests safely and efficiently. Summary of the invention

[0004] The technical problem to be solved by the present invention is that the existing mobile crane load stability test has the problems of low efficiency, inaccurate test results, and prone to safety accidents. A test equipment is provided that meets the standard requirements, has continuous and accurate loading, high test efficiency and is safe.

[0005] The technical solution of the present invention is a mobile crane load-bearing performance test detection device, comprising a positioner 2 and a mobile detection vehicle 4, which is applied to a mobile crane load stability test.

[0006] The positioner 2 includes a positioner bracket 201, a positioning camera 205, a positioning laser transmitter 202, a steering gear 204 and a gyroscope 206. The positioning camera 205 is connected to one end of the positioner bracket 201, the gyroscope 206 is fixed at the geometric center of the upper surface of the positioner bracket 201, the second connecting shaft 203 is fixedly connected to the positioner bracket 201, the output shaft of the steering gear 204 is fixedly connected to the second connecting shaft 203 by means of a coupling, and the steering gear 204 is fixedly connected to the clamp body 601 of the clamp 6;

[0007] The positioning laser transmitter 202 includes a laser distance sensor 8, a laser sensor fixing seat 9 and a connecting shaft 10. The laser sensor fixing seat 9 is connected to the other end of the locator bracket 201 through the connecting shaft 10. The laser distance sensor 8 is arranged at the bottom of the edges around the laser sensor fixing seat 9. The locator 2 is connected to the arm head of the mobile crane boom 1 through the clamp 6.

[0008] The mobile inspection vehicle 4 includes a visual positioning beacon 401, a Mecanum wheel 402, a counterweight 403, a mobile inspection vehicle upper cover 404, a laser reflector 405, a cylinder 406, a frame bottom plate 407, a frame 408 and a drive motor 409. The visual positioning beacon 401 and the laser reflector 405 are respectively connected to the two opposite sides of the mobile inspection vehicle upper cover 404. There are two counterweights 403, which are respectively placed on the other two opposite sides of the mobile inspection vehicle upper cover 404 and are symmetrically placed; the frame 408 is composed of a plurality of I-shaped profiles connected vertically and horizontally, four drive motors 409 are fixedly connected to the frame 408 through motor supports, the Mecanum wheel 402 is connected to the output shaft of the drive motor 409 through a coupling, and the mobile inspection vehicle upper cover 404 and the frame bottom plate 407 are respectively connected to the top and bottom of the frame 408;

[0009] The oil cylinder 406 shown includes an oil cylinder fixing seat 11, an oil cylinder body 12, an oil cylinder piston rod 13 and an oil cylinder connecting plate 14. The oil cylinder fixing seat 11 is fixed on the frame bottom plate 407. The oil cylinder body 12 passes through the upper cover plate 404 of the mobile detection vehicle. The oil cylinder connecting plate 14 is connected to the top of the oil cylinder piston rod 13. The lifting ring of the tension sensor 502 is hung on the crane hook 501. The hook of the tension sensor 502 is connected to the oil cylinder connecting plate 14 through the wire rope 3.

[0010] The clamp 6 includes a clamp body 601, a first fixer 602, a fixed screw 603 and a fixed knob 604. The first fixer 602 is fixed to one clamp arm of the clamp body 601. The fixed screw 603 is threadedly connected to the other clamp arm of the clamp body 601 through a screw nut pair. The fixed knob 604 is fixedly connected to the fixed screw 603.

[0011] Beneficial effects of the present invention: The present invention adopts technologies such as laser detection, visual detection, cylinder control and Mecanum wheel control, which can make up for the shortcomings of the original test. In the stability hoisting test of the mobile crane, the present invention can accurately apply the hoisting force through the cylinder, and can accurately measure the ultimate load-bearing capacity of the mobile crane. There is no need to manually match the weights, and the test efficiency is high. When the present invention is working, the visual positioning and laser positioning technologies can be used to obtain the position information of the boom head of the crane in real time, which is used for the movement control of the mobile detection trolley and the control of the steering of the four Mecanum wheels to realize the movement of the trolley in any direction, so as to correct the crooked and slanted lifting and ensure the verticality of the lifting force. The present invention can simulate the process of lifting a heavy object by extending the stroke of the cylinder piston rod when the cylinder is in the pressure-maintaining state. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 It is a schematic diagram demonstrating the hoisting stability test process of the present invention.

[0013] Figure 2 The figure is a schematic diagram of the connection between the clamp of the present invention and the boom head of the crane boom.

[0014] Figure 3 It is a schematic diagram of the connection between the clamp and the positioner of the present invention.

[0015] Figure 4 Schematic diagram of the laser transmitter structure of the present invention, wherein (a) is a schematic diagram of the connection of the laser ranging sensor, and (b) is a schematic diagram of the connection between the laser sensor fixing seat and the connecting shaft.

[0016] Figure 5 It is a schematic diagram of the oil cylinder structure of the present invention.

[0017] Figure 6 A schematic diagram of the structure of the positioner of the present invention.

[0018] Figure 7 It is a schematic diagram of the structural composition of the mobile inspection vehicle of the present invention.

[0019] Figure 8 It is a schematic diagram of the chassis structure of the mobile inspection vehicle of the present invention.

[0020] Fig. 9 This is a schematic diagram of the connection between the tension sensor of the present invention and the crane hook.

[0021] Fig.10 It is a schematic diagram of the clamp structure composition of the present invention.

[0022] Fig.11 It is a schematic diagram of the control principle of the detection device of the present invention.

[0023] In the figure: 1 mobile crane boom; 2 positioner; 3 wire rope; 4 mobile inspection vehicle; 5 hook; 6 clamp; 7 nut; 8 laser distance sensor; 9 laser sensor fixing seat; 10 connecting shaft; 11 oil cylinder fixing seat; 12 oil cylinder body; 13 oil cylinder piston rod; 14 oil cylinder connecting plate;

[0024] 201 locator bracket; 202 positioning laser transmitter; 203 second connecting shaft; 204 servo; 205 positioning camera; 206 gyroscope;

[0025] 401 visual positioning beacon; 402 Mecanum wheel; 403 counterweight; 404 upper cover of mobile inspection vehicle; 405 laser reflector; 406 oil cylinder; 407 vehicle frame bottom plate; 408 vehicle frame; 409 driving motor;

[0026] 501 crane hook; 502 tension sensor;

[0027] 601 clamp body; 602 first fixer; 603 fixing screw; 604 fixing knob. DETAILED DESCRIPTION

[0028] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings.

[0029] Figure 1 This is a schematic diagram of the present invention's hoisting stability test process demonstration. The oil cylinder connection plate 14 on the mobile inspection vehicle 4 is connected to the hook 5 of the mobile crane through the wire rope 3. The mobile crane boom 1 hoists and pulls the oil cylinder 406 to simulate the process of lifting the weight in the original test. During the hoisting process, after the mobile crane boom 1 is deformed by force, the position of the arm head changes. The positioner 2 detects and obtains the relative position change of the arm head relative to the mobile inspection vehicle 4. The direction of the hoisting force changes, which is inconsistent with the direction of gravity. The relative position change information is sent to the mobile inspection vehicle 4. The mobile inspection vehicle 4 automatically moves with the displacement of the arm head, corrects the direction of the hoisting force, and keeps it consistent with the direction of gravity. Figure 2 It is a schematic diagram of the connection between the clamp 6 and the boom head of the mobile crane boom 1. In the clamp 6, the fixing knob 604 is rotated to make the fixing screw 603 move axially in the clamp body 601, and cooperate with the first fixer 602 to squeeze the two sides of the boom head to generate friction, so that the clamp 6 is fixed on the boom head. Figure 3The schematic diagram of the connection between the positioner 2 and the clamp 6 of the present invention is shown in FIG. The servo 204 on the positioner 2 is fixedly connected to the clamp body 601 of the clamp 6 by a nut 7, so that the positioner 2 is fixed to the arm head of the mobile crane boom 1 by the clamp 6. The gyroscope 206 on the positioner 2 is used to measure the position of the positioner bracket 201. The output shaft of the servo 204 drives the second connecting shaft 203 to rotate under the control of the signal measured by the gyroscope 206, and then drives the positioner 201 to rotate, adjusts the position of the positioner bracket 201, and keeps the positioner bracket 201 horizontal. The positioner 2 is used to obtain the relative position of the mobile detection vehicle 4 and the arm head. The laser transmitter 202 of the positioner 2 performs laser positioning by irradiating the laser reflector 405 of the mobile detection vehicle 4, and the positioning camera 205 performs visual positioning on the visual positioning beacon 401 of the mobile detection vehicle 4. Fig.11 The control principle diagram of the detection equipment is shown in the figure. With visual positioning as the guide, the relative position of the boom head of the mobile crane boom 1 and the mobile detection vehicle 4 is detected, and then the error of visual positioning is corrected by laser positioning to achieve precise positioning. During the test, the two detection methods are cyclically performed until the test is completed. Visual positioning is to obtain the position information of the detection feature by identifying the visual recognition beacon 401 of the mobile detection vehicle 4. Four laser ranging sensors 8 are arrayed in the laser fixing seat 9. The four laser ranging sensors 8 simultaneously illuminate the laser reflector 405. The two opposite laser ranging sensors 8 form a group to measure the distance between the laser reflector 405 and compare whether the measured values ​​are equal. The control program is used to determine the moving direction of the mobile detection vehicle 4, measure the two groups of distances for comparison, and correct the directional deviation of the hoisting force in the direction of gravity to make the hoisting force vertical. The driving motor 409 on the mobile inspection vehicle 4 drives the four Mecanum wheels 402, and can move in any direction on the ground. According to the relative position information detected by the positioner 2, the mobile inspection vehicle 4 performs follow-up motion control on the arm head of the mobile crane boom 1 to reduce the relative position distance between the arm head and the mobile inspection vehicle 4 on the horizontal plane. The mobile crane boom 1 carries the oil cylinder 406 on the mobile inspection vehicle 4 to simulate the weight of the hoisting. According to the weight to be hoisted, the working pressure of the oil cylinder is set. When hoisting, the tension sensor 502 sends back the current tension value in real time and displays it on the host computer. When the tension of the boom reaches the set value, the oil cylinder keeps the internal pressure stable, thereby ensuring that the hoisting force on the mobile crane boom 1 remains unchanged. At the same time, the oil cylinder piston rod 13 moves in the oil cylinder body 12 to simulate the process of the weight being lifted off the ground.

Claims

1. A mobile crane load-bearing performance test and detection equipment, characterized in that: The mobile crane load-bearing performance test and detection equipment comprises a positioner (2) and a mobile detection vehicle (4); The positioner (2) comprises a positioner bracket (201), a positioning camera (205), a positioning laser transmitter (202), a steering gear (204) and a gyroscope (206); the positioning camera (205) is connected to one end of the positioner bracket (201); the gyroscope (206) is fixed at the geometric center of the upper surface of the positioner bracket (201); the second connecting shaft (203) is fixedly connected to the positioner bracket (201); the output shaft of the steering gear (204) is fixedly connected to the second connecting shaft (203) by means of a coupling; and the steering gear (204) is fixedly connected to the clamp body (601) of the clamp (6); The positioning laser transmitter (202) comprises a laser distance measuring sensor (8), a laser sensor fixing seat (9) and a connecting shaft (10); the laser sensor fixing seat (9) is connected to the other end of the positioner bracket (201) via the connecting shaft (10); the laser distance measuring sensor (8) is arranged at the bottom of the laser sensor fixing seat (9); the positioner (2) is connected to the arm head of the mobile crane arm (1) via a clamp (6); The mobile inspection vehicle (4) comprises a visual positioning beacon (401), a Mecanum wheel (402), a counterweight (403), an upper cover plate (404) of the mobile inspection vehicle, a laser reflector (405), an oil cylinder (406), a frame bottom plate (407), a frame (408) and a driving motor (409). The visual positioning beacon (401) and the laser reflector (405) are respectively connected to opposite sides of the upper cover plate (404) of the mobile inspection vehicle, and the counterweight (403) There are two of them, which are placed on the other two opposite sides of the upper cover plate (404) of the mobile inspection vehicle and are symmetrically placed; the frame (408) is composed of a plurality of I-shaped profiles connected vertically and horizontally, four drive motors (409) are fixedly connected to the frame (408) through motor supports, the Mecanum wheel (402) is connected to the output shaft of the drive motor (409) through a coupling, and the upper cover plate (404) of the mobile inspection vehicle and the frame bottom plate (407) are respectively connected to the top and bottom of the frame (408); The oil cylinder (406) shown comprises an oil cylinder fixing seat (11), an oil cylinder body (12), an oil cylinder piston rod (13) and an oil cylinder connecting plate (14); the oil cylinder fixing seat (11) is fixed on a frame bottom plate (407); the oil cylinder body (12) passes through a cover plate (404) on a mobile detection vehicle; the oil cylinder connecting plate (14) is connected to the top of the oil cylinder piston rod (13); the lifting ring of the tension sensor (502) is hung on a crane hook (501); and the hook of the tension sensor (502) is connected to the oil cylinder connecting plate (14) via a steel wire rope (3); The clamp (6) comprises a clamp body (601), a first fixer (602), a fixed lead screw (603) and a fixed knob (604); the first fixer (602) is fixed on one clamp arm of the clamp body (601); the fixed lead screw (603) is threadedly connected to the other clamp arm of the clamp body (601) via a lead screw nut pair; and the fixed knob (604) is fixedly connected to the fixed lead screw (603).

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