A method and system for determining a maximum counterforce of a crane's outrigger

Abstract

The present application relates to the technical field of automobile crane and all-terrain crane, and discloses a crane maximum support leg counterforce determination method, comprising: obtaining a first action component force, a second action component force and a third action component force at the centroid of a target crane based on the total weight of the target crane; and decomposing the total counterforce of the four support legs of the target crane into a first support leg counterforce component, a second support leg counterforce component and a third support leg counterforce component; obtaining an expression of the total counterforce of the four support legs of the target crane, determining the maximum support leg counterforce of the target crane; constructing a linear regression model based on a plurality of work radii, a plurality of hoisted object weights and the expression of the total counterforce of the four support legs of the target crane, and solving the linear regression model to obtain an estimation equation of the maximum support leg counterforce of the target crane; the present application solves the problem of the existing crane support leg counterforce determination method that the calculation method is complex and not convenient for popularization and use.

Description

Technical Field

[0001] This invention relates to the field of truck crane technology, and in particular to a method and system for determining the maximum outrigger reaction force of a crane. Background Technology

[0002] Truck cranes and all-terrain cranes are common construction machinery used in engineering projects, mainly for lifting and hoisting. Hoisting operations are classified as special operations, and lifting projects with a lifting capacity of 300kN or more have been included in the scope of sub-projects with higher risks than a certain scale. During lifting operations, the outriggers of truck cranes and all-terrain cranes are often erected on roads or bridges. Accidents caused by unstable foundations or insufficient bridge load-bearing capacity during the lifting process are not uncommon. Effectively solving for the outrigger reaction force has become a key step in ensuring project safety.

[0003] Currently, the classic structural mechanics methods for calculating crane outrigger reactions rely on the deformation of the crane frame to determine the outrigger reaction force. However, this method is overly complex and inconvenient for field technicians. While numerical finite element simulation (FEM) can also solve for the outrigger reaction force, it is time-consuming and requires a high level of theoretical knowledge, hindering its widespread adoption. Therefore, existing methods for determining crane outrigger reactions suffer from computational complexity and are not easily applicable. Summary of the Invention

[0004] This invention provides a method and system for determining the maximum outrigger reaction force of a crane, in order to solve the problems that existing methods for determining the outrigger reaction force of cranes are complex in calculation and not easy to promote and use.

[0005] To achieve the above objectives, the present invention employs the following technical solution:

[0006] In a first aspect, the present invention provides a method for determining the maximum outrigger reaction force of a crane, comprising:

[0007] Obtain the total weight of the target crane, and based on the total weight, obtain the first, second, and third action components at the centroid of the target crane;

[0008] Based on the relationship between reaction force and vertical deformation, the total reaction force of the four legs of the target crane is obtained, and the total reaction force of the four legs of the target crane is decomposed into the first leg component reaction force, the second leg component reaction force and the third leg component reaction force according to the first action component force, the second action component force and the third action component force;

[0009] Based on the deformation compatibility condition, the moment balance condition, and the partial reaction forces of the first outrigger, the second outrigger, and the third outrigger, the expression for the total reaction force of the four outriggers of the target crane is obtained.

[0010] The total reaction force of the four outriggers of the target crane is calculated based on the expression of the total reaction force of the four outriggers of the target crane, and the maximum outrigger reaction force of the target crane is finally determined.

[0011] Secondly, embodiments of this application provide a system for determining the maximum outrigger reaction force of a crane, including a processor and a memory;

[0012] Memory, used to store computer programs;

[0013] When a processor executes a program stored in memory, it implements any of the steps of the method described in the first aspect.

[0014] Beneficial effects:

[0015] The method for determining the maximum outrigger reaction force of a crane provided by this invention involves obtaining the total weight of the target crane and, based on the total weight, deriving the first, second, and third action components at the centroid of the target crane; obtaining the total reaction force of each of the four outriggers of the target crane based on the relationship between the reaction force and vertical deformation; and decomposing the total reaction force of the four outriggers of the target crane into first outrigger component reaction force, second outrigger component reaction force, and third outrigger component reaction force according to the first, second, and third action components; obtaining an expression for the total reaction force of the four outriggers of the target crane based on deformation compatibility conditions, moment balance conditions, and the first, second, and third outrigger component reaction forces; and further, based on deformation compatibility conditions, force balance conditions, and the first, second, and third outrigger component reaction forces, obtaining an expression for the total reaction force of the four outriggers of the target crane; and finally, based on the deformation compatibility conditions, force balance conditions, and the first, second, and third outrigger component reaction forces, obtaining an expression for the total reaction force of the four outriggers of the target crane. The moment balance condition and the component reactions of the first, second, and third outriggers are used to obtain the expression for the total reaction force of the four outriggers of the target crane. Then, multiple operating radii and multiple load weights of the target crane are obtained, and based on these multiple operating radii, multiple load weights, and the expression for the total reaction force of the four outriggers, multiple maximum outrigger reactions are calculated for different operating radii and different load weights. A linear regression model is constructed based on these multiple maximum outrigger reactions, and the estimation equation for the maximum outrigger reaction force of the target crane is obtained by solving the linear regression model. This method solves the problems of existing methods for determining crane outrigger reactions being complex to calculate and inconvenient to widely use. Attached Figure Description

[0016] Figure 1 This is a flowchart of a preferred embodiment of the method for determining the maximum outrigger reaction force of a crane.

[0017] Figure 2This is a schematic diagram of the load on the crane in a coordinate system according to a preferred embodiment of the present invention;

[0018] Figure 3 This is a schematic diagram of the finite element model of the crane in working condition 1 of the preferred embodiment 2 of the present invention;

[0019] Figure 4 This is a schematic diagram of the finite element model of the crane in working condition 2 of the preferred embodiment of the present invention;

[0020] Figure 5 This is a schematic diagram showing the calculation results of the maximum outrigger reaction force in the preferred embodiment 3 of the present invention;

[0021] Figure 6 This is a schematic diagram of the calculation results of the univariate linear regression parameters in the preferred embodiment 3 of the present invention. Detailed Implementation

[0022] The technical solution of the present invention will be clearly and completely described below. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0023] Unless otherwise defined, the technical or scientific terms used in this invention shall have the ordinary meaning understood by one of ordinary skill in the art to which this invention pertains. The terms "first," "second," and similar terms used in this invention do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Similarly, the terms "an" or "a" and similar terms do not indicate a quantity limitation, but rather indicate the presence of at least one. The terms "connected" or "linked" and similar terms are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. "Up," "down," "left," "right," etc., are used only to indicate relative positional relationships; when the absolute position of the described object changes, the relative positional relationship also changes accordingly.

[0024] Example 1:

[0025] Please see Figure 1-2 This application provides a method for determining the maximum outrigger reaction force of a crane, including:

[0026] Obtain the total weight of the target crane, and based on the total weight, obtain the first, second, and third action components at the centroid of the target crane;

[0027] Based on the relationship between reaction force and vertical deformation, the total reaction force of the four legs of the target crane is obtained, and the total reaction force of the four legs of the target crane is decomposed into the first leg component reaction force, the second leg component reaction force and the third leg component reaction force according to the first action component force, the second action component force and the third action component force;

[0028] Based on the deformation compatibility condition, the moment balance condition, and the partial reaction forces of the first outrigger, the second outrigger, and the third outrigger, the expression for the total reaction force of the four outriggers of the target crane is obtained.

[0029] The total reaction force of the four outriggers of the target crane is calculated based on the expression of the total reaction force of the four outriggers of the target crane, and the maximum outrigger reaction force of the target crane is finally determined.

[0030] In the above embodiments, the total weight of the target crane is obtained, and the first, second, and third action components at the centroid of the target crane are obtained based on the total weight; the total reaction forces of the four legs of the target crane are obtained based on the relationship between reaction force and vertical deformation, and the total reaction forces of the four legs of the target crane are decomposed into first leg component reaction force, second leg component reaction force, and third leg component reaction force according to the first, second, and third action components; the expression for the total reaction force of the four legs of the target crane is obtained according to the deformation compatibility condition, the moment balance condition, and the first, second, and third leg component reaction forces; the expression for the total reaction force of the four legs of the target crane is obtained according to the deformation compatibility condition, the moment balance condition, and the first, second, and third leg component reaction forces; the expression for the total reaction force of the four legs of the target crane is obtained according to the deformation compatibility condition, the moment balance condition, and the first, second, and third leg component reaction forces; the expression for the total reaction force of the four legs of the target crane is obtained according to the deformation compatibility condition, the moment balance condition, and the first, second, and third leg component reaction forces. The reaction forces of the first, second, and third outriggers are used to obtain an expression for the total reaction force of the four outriggers of the target crane. Then, multiple operating radii and multiple load weights of the target crane are obtained, and based on these multiple operating radii, load weights, and the expression for the total reaction force of the four outriggers, multiple maximum outrigger reaction forces are calculated for different operating radii and load weights. A linear regression model is constructed based on these maximum outrigger reaction forces, and the estimation equation for the maximum outrigger reaction force of the target crane is obtained by solving the linear regression model. This method solves the problems of existing methods for determining crane outrigger reaction forces, which are complex to calculate and not easily applicable.

[0031] Optionally, obtaining the first, second, and third action components at the centroid of the target crane based on the total weight includes:

[0032] According to the mechanical formulas, the force generated by the total weight is moved to the centroid of the target crane, resulting in the first, second, and third component forces at the centroid of the target crane. The first component force is G, and the second component force is M. X The third component of the force is M. y .

[0033] Optionally, the total reaction force of the four outriggers of the target crane is obtained based on the relationship between reaction force and vertical deformation, including:

[0034] Based on the linear relationship between reaction force and vertical deformation, a mathematical formula for the relationship between reaction force and vertical deformation is obtained. This mathematical formula is then used to calculate the total reaction force of the four outriggers of the target crane. The mathematical formula is shown below:

[0035] F ij =kδ ij (i = A, B, j = 1, 2);

[0036] Among them, F ij δ represents the total reaction force of the four outriggers of the target crane. ij Let k represent the vertical deformation of the four outriggers of the target crane, and k represent ... The total reaction forces of the four outriggers of the target crane are respectively F A1 F A2 F B1 F B2 .

[0037] Optionally, the step of decomposing the total reaction force of the four outriggers of the target crane into first outrigger reaction force, second outrigger reaction force, and third outrigger reaction force based on the first action component force, the second action component force, and the third action component force includes:

[0038] The vertical deformation of the four outriggers of the target crane is decomposed into a first component deformation, a second component deformation, and a third component deformation caused by the first component force, the second component force, and the third component force.

[0039] Based on the mathematical relationship between reaction force and vertical deformation, the total reaction force of the four outriggers of the target crane can be decomposed into the component reaction forces of the first outrigger, the second outrigger, and the third outrigger. The mathematical relationship is shown below:

[0040] G ij =kδ Gij (i = A, B, j = 1, 2);

[0041] F Mx, =kδ Mx, (i = A, B, j = 1, 2);

[0042] F My, =kδ My, (i = A, B, j = 1, 2);

[0043] Among them, G ij F represents the reaction force of the first leg. Mx, F represents the reaction force of the second leg. My,δ represents the reaction force of the third leg. Gij Indicates the transformation of the first component, δ Mx, Indicates the transformation of the second component, δ My, This indicates the transformation of the third sub-item, and k represents...

[0044] Optionally, the expression for obtaining the total reaction force of the four outriggers of the target crane based on the deformation compatibility condition, the moment balance condition, and the component reactions of the first outrigger, the second outrigger, and the third outrigger includes:

[0045] Substituting the expressions for deformation compatibility and moment balance into the mathematical expression obtained by the linear relationship between reaction force and vertical deformation based on the deformation compatibility condition and moment balance condition, we obtain the expression for the total reaction force of the four outriggers of the target crane. The expression for the deformation compatibility condition is shown below:

[0046]

[0047] The expression for the torque equilibrium condition is as follows:

[0048]

[0049] The expression for the total reaction force of the four outriggers of the target crane is as follows:

[0050]

[0051] Among them, F ij G represents the total reaction force of the four outriggers of the target crane, and M represents the first component of the reaction force. x M represents the second component of force. y This represents the third component of the force.

[0052] In the above embodiments, since truck cranes typically do not bear horizontal loads, the loads acting on the centroid of the truck crane can be simplified to G and M. x M y ,like Figure 1 As shown, let the reaction forces of the four outriggers be F. A1 F A2 F B1 F B2 Then the reaction force of the four outriggers should be equal to the vertical deformation δ at each support point. ij A linear relationship, i.e., F ij =kδ ij (Where i = A, B, j = 1, 2). The deformation δ of each leg ij It can be decomposed into G and M respectively. x M y The generated δ G.ij δ Mx.ij δMy.ij The force on each outrigger can also be decomposed into three parts G. ij =kδ G.ij F Mx.ij =kδ Mx.ij F My.ij =kδ My.ij In addition:

[0053] Deformation compatibility conditions

[0054] Torque equilibrium condition

[0055] Based on the above equations, the expression for the reaction force of any outrigger of the truck crane can be listed as:

[0056]

[0057] Optionally, the calculation of the total reaction force of the four outriggers of the target crane based on the expression for the total reaction force of the four outriggers of the target crane includes:

[0058] Construct a coordinate system with the center of the outriggers of the target crane as the center, and determine the position of the slewing center of the target crane, the center of gravity of the target crane chassis, the center of gravity of the target crane upper vehicle, the center of gravity of the target crane counterweight, the center of gravity of the target crane boom, and the center of gravity of the load lifted by the target crane in the coordinate system.

[0059] Based on the position of the target crane's slewing center, the center of gravity of the target crane's chassis, the center of gravity of the target crane's upper structure, the center of gravity of the target crane's counterweight, the center of gravity of the target crane's boom, and the center of gravity of the load lifted by the target crane, the expressions for the first, second, and third action components are obtained.

[0060] Substitute the expressions for the first action component, the second action component, and the third action component into the expression for the total reaction force of the four outriggers of the target crane to obtain the final calculation formula for the total reaction force of the four outriggers of the target crane.

[0061] The total reaction force of the four outriggers of the target crane is obtained by calculating the final formula of the total reaction force of the four outriggers of the target crane. The expressions of the first action component, the second action component, and the third action component are shown in the following formulas:

[0062] G=∑ 5 G n ;

[0063]

[0064]

[0065] The final formula for calculating the total reaction force of the four outriggers of the target crane is as follows:

[0066]

[0067] In the above embodiments, the boom position is set in any direction, and the boom position is located away from the longitudinal axis (x-axis) of the crane. At the corner, with the point O, the resultant force of the four legs, as the origin, establish a two-dimensional plane coordinate system, such as... Figure 2 As shown.

[0068] Assume the coordinates of the four legs of the crane are (x... ij ,y ij (where i = A, B, j = 1, 2), the distance between the crane's slewing center (O0) and the outrigger center (O) is E, and the operating radius is R; the weight of the non-rotating part of the crane chassis is G1, and the coordinates of its resultant force application point are (x... G1 ,y G1 The distance from the point of application of the resultant force to the crane's rotation center (O0) is D1, where x G1 =E-D1,y G1 =0; the weight of the vehicle is G2, and the coordinates of the point of application of the resultant force are (x G2 ,y G2 The distance from the point of application of the resultant force to the crane's rotation center (O0) is D2, where The counterweight has a self-weight of G3, and the coordinates of its resultant force application point are (x... G3 ,y G3 The distance from the point of application of the resultant force to the crane's rotation center (O0) is D3, where... The self-weight of the boom is G4, and the coordinates of its resultant force application point are (x... G4 ,y G4 ),in The lifting load is G5, and the coordinates of its resultant force application point are (x G5 ,y G5 ),in

[0069] The external load on the truck crane is:

[0070] Substituting into (Formula 1), we get:

[0071]

[0072] Example 2

[0073] Please see Figure 3-4This study compares and analyzes the maximum outrigger reaction force F during the hoisting of prestressed small box girders by a 200t all-terrain crane with field measured data, using both theoretical models and numerical simulations. The working conditions are as follows:

[0074] Operating condition 1: Operating radius R = 14.0m, load weight P = 38t, counterweight 48t, turning angle 65°.

[0075] Operating condition 2: Operating radius R = 13.5m, load weight P = 46t, counterweight 48t, turning angle 80°.

[0076] Theoretical Model

[0077] Calculated according to Formula 2 in Example 1, substituting the original data G1 = 24.7t, G2 = 16.5t, G3 = 48t, G4 = 13.7t, G5 = 38t and 46t, E = 1.6m, D1 = 2.3m, D2 = 1.6m, D3 = 3.1m, R = 14.0m and 13.5m, And 80° and the coordinates of the four outriggers (-4.45, 4.15), (-4.45, -4.15), (4.45, 4.15) and (4.45, -4.15).

[0078] The calculated maximum outrigger reaction force F of the crane is 79.8t (condition 1) and 84.2t (condition 2).

[0079] Numerical simulation

[0080] To verify the rationality of the theoretical model, numerical simulations were performed using the finite element software Midas Civil 2021 (v2.1), such as... Figure 3 and Figure 4 As shown.

[0081] The calculated maximum outrigger reaction force F of the crane is 80.7t (condition 1) and 85.5t (condition 2).

[0082] measured data

[0083] At a construction site, one leg of a 200t all-terrain crane was mounted on a weighbridge. The reaction force of the outrigger was tested by reading the weighbridge values ​​during the lifting operation, and the test data were 73.3t (condition 1) and 83.5t (condition 2). The calculated results for section 0 and section 0 are compared with the measured data in Table 1.

[0084] Table 1 Comparison of Measured Data and Model Results (t)

[0085] Operating Condition 1 73.3 79.8 80.7 Operating Condition 2 83.5 84.2 85.5

[0086] As can be seen from Table 1, the theoretical model and numerical simulation used in this paper can both match the measured data well, and both can be used as a reference for engineering technicians.

[0087] There is a certain deviation between the model calculation results and the measured data. This is because the model assumes that the frame is an absolutely rigid body. Under the action of load, the four support points of the frame always remain on the same plane. The four-legged truck crane can be considered as a statically indeterminate problem. However, the actual stiffness of the frame itself and the contact stiffness between the support points and the road surface are not infinite. The actual number of static indeterminate problems is much greater than one.

[0088] Example 3

[0089] Please see Figure 5-6 For truck cranes and all-terrain cranes commonly used in the domestic engineering field, the differences between cranes with the same rated lifting capacity are small, regardless of their structural dimensions or weight configuration. By selecting 25t, 50t, 80t, 130t, 200t, and 220t truck cranes and all-terrain cranes commonly used in lifting operations in the engineering field as the analysis objects, the relationship between the maximum outrigger reaction force and the working radius and the weight of the lifted load is analyzed using Formula 2 in Example 1.

[0090] Considering that detailed parameters of various crane models may be missing in actual use, the weight of the upper crane, the weight of the boom, and the weight of the lower crane are calculated as 45%, 25%, and 30% of the total weight of the crane, respectively, while the counterweight is considered based on the maximum counterweight.

[0091] The maximum outrigger reaction force F of the crane during lifting operations was calculated when the working radius R ranged from 2.5m to 50m and the weight P of the lifted object ranged from 2.5t to 100t, as shown in Table 2.

[0092] A Cartesian coordinate system is established with the operating radius R as the abscissa and the weight P of the suspended object as the ordinate, such as... Figure 5 As shown.

[0093] Table 2. Calculation Results of Maximum Outrigger Reaction Force (Unit: t)

[0094]

[0095] The data in the table represents the maximum outrigger reaction force of the crane with the minimum rated lifting capacity selected to meet the hoisting requirements.

[0096] Depend on Figure 5 It can be seen that there is a significant linear relationship between the maximum outrigger reaction force F and the operating radius R. Using the operating radius R as the independent variable and the maximum outrigger reaction force F as the dependent variable, a univariate linear regression model is established. Based on the assumption that R is normally distributed, the regression model is as follows:

[0097] F=ar+b+ε,ε~N(0,σ 2 )(Formula 3)

[0098] The estimated values ​​of a and b in the above formula are obtained from the sample. The linear regression equation is given by the following formula:

[0099]

[0100] The estimated values ​​of a and b are obtained using the least squares method. Record residuals The best fit model is one that minimizes the sum of squared residuals (SSE).

[0101]

[0102] Regarding SSE respectively Find the partial derivative:

[0103]

[0104] Set the above expression to zero and solve. get:

[0105]

[0106]

[0107] In the formula n is the number of samples.

[0108] Substituting the calculation results from Table 2 into Formulas 7 and 8, we can obtain... Then, substituting into (Equation 4), we obtain the maximum outrigger reaction force when the weight P of the suspended object increases from 2.5t to 100t:

[0109]

[0110] in As shown in Table 3 and Figure 6 As shown.

[0111] Table 3. Parameters of Univariate Linear Regression Calculation results

[0112]

[0113] Depend on Figure 6 It can be seen that the maximum outrigger reaction force In There is also a significant linear relationship between the load weight P and the load weight P, which can be obtained by using univariate linear regression analysis:

[0114]

[0115]

[0116] Substituting (Equation 10) and (Equation 11) into (Equation 9), we obtain the estimated value of the maximum outrigger reaction force F:

[0117]

[0118] The coefficient of determination R of the regression equation was calculated. 2 =0.981, which can be considered as the estimated value of the maximum outrigger reaction force calculated according to (Formula 12). It can fit well the theoretical value F calculated according to (Formula 2).

[0119] residual (i.e., theoretical value of outrigger reaction force - estimated value of outrigger reaction force) is shown in Table 4.

[0120] Table 4. Residuals of outrigger reaction forces after regression (unit: t)

[0121]

[0122] As can be seen from Table 4:

[0123] (1) Minimum residual e min =-9.6t, which occurs under the working condition of R=50m and P=2.5t. This working condition is a very extreme case of "large radius, small lifting weight", which is basically not seen in actual engineering lifting operations and can be disregarded.

[0124] (2) When R = 8m ~ 14m and P = 2.5t, the residual e = -6.2t ~ -4.2t. Under this type of working condition, the outrigger reaction force is very small, only 15t ~ 20t. The remaining negative residuals are between -3.9t and -0t. Including the residuals is a safe approach. Therefore, (Formula 12) can be directly applied to the calculation of outrigger reaction force in actual engineering hoisting operations.

[0125] (3) Maximum residual e max =4.1t, which appears in the working condition of R=8m and P=25t. The remaining positive residuals are all between +0t and 4t, mainly appearing in some working conditions of R≤20m and P≤50t. These working conditions all use truck cranes of 50t (excluding) or more.

[0126] This paper, based on the assumption that the chassis is an absolutely rigid body, focuses on the relationship between the maximum outrigger reaction force F and the working radius R and the weight P of the lifted load during lifting operations. Using the regression method in statistics, a regression calculation method for the maximum outrigger reaction force F of a 25t-220t truck crane or all-terrain crane is obtained.

[0127] F=0.076RP+0.926R+0.456P+9.415.

[0128] R—Crane lifting operation radius (m);

[0129] P — Weight of the load lifted by the crane (t);

[0130] F – Maximum outrigger reaction force (t) of the crane with the minimum rated lifting capacity selected to meet the lifting requirements. When using a crane with a lifting capacity of 50t or more, and R≤20m and P≤50t, 4t should be added to the above formula.

[0131] This formula has the advantages of wide applicability, simple parameters, fast calculation and high accuracy. It can be used to quickly solve the maximum outrigger reaction force of truck cranes or all-terrain cranes, thereby ensuring the safety of truck cranes or all-terrain cranes in lifting operations on roads or bridges.

[0132] This application also provides a system for determining the maximum outrigger reaction force of a crane, including a processor and a memory;

[0133] Memory, used to store computer programs;

[0134] When a processor executes a program stored in memory, it implements any of the steps described in the method for determining the maximum outrigger reaction force of a crane.

[0135] The above-described system for determining the maximum outrigger reaction force of a crane can implement various embodiments of the above-described method for determining the maximum outrigger reaction force of a crane, and can achieve the same beneficial effects. It will not be elaborated here.

[0136] The preferred embodiments of the present invention have been described in detail above. It should be understood that those skilled in the art can make numerous modifications and variations based on the concept of the present invention without creative effort. Therefore, all technical solutions that can be obtained by those skilled in the art based on the concept of the present invention through logical analysis, reasoning, or limited experimentation on the basis of existing technology should be within the scope of protection defined by the claims.

Claims

1. A method for determining the maximum counterforce of a crane jib, characterized in that, include: Obtain the total weight of the target crane, and based on the total weight, obtain the first, second, and third action components at the centroid of the target crane; Based on the relationship between reaction force and vertical deformation, the total reaction force of the four legs of the target crane is obtained, and the total reaction force of the four legs of the target crane is decomposed into the first leg component reaction force, the second leg component reaction force and the third leg component reaction force according to the first action component force, the second action component force and the third action component force; Based on the deformation compatibility condition, the moment balance condition, and the partial reaction forces of the first outrigger, the second outrigger, and the third outrigger, the expression for the total reaction force of the four outriggers of the target crane is obtained. Obtain multiple operating radii and multiple load weights of the target crane, and calculate multiple maximum outrigger reaction forces of the target crane under different operating radii and different load weights based on the expressions of multiple operating radii, multiple load weights and the total reaction force of the four outriggers of the target crane; A linear regression model is constructed based on multiple maximum outrigger reaction forces, and the estimation equation of the maximum outrigger reaction force of the target crane is obtained by solving the linear regression model. The univariate linear regression model constructed based on multiple maximum outrigger reaction forces includes: A univariate linear regression model is constructed with the target crane operating radius as the independent variable and the maximum outrigger reaction force as the dependent variable. The univariate linear regression model is shown in the following equation: ； wherein, represents the maximum theoretical value of the leg reaction force, represents the slope of the regression equation, represents the action radius, represents the intercept of the regression equation, represents the error of the theoretical value and the estimated value, obeys a normal distribution with a standard deviation of . The equation for estimating the maximum outrigger reaction force of the target crane by solving the linear regression model includes: Based on the plurality of maximum support reaction force, the estimated value of a and b in the linear regression model is obtained, and the linear regression equation is constructed according to the estimated value of a and b , the estimated value of a and b is obtained by using the least square method and ; Record residuals The best fitting model is the one that makes the sum of squares of the residuals equal. To reach the minimum; ； in, This represents the sum of squares of the residuals. Represents the residual. This represents the theoretical value of the maximum outrigger reaction force for the i-th sample. This represents the estimated maximum outrigger reaction force for the i-th sample. This represents the radius of influence of the i-th sample; Regarding SSE respectively Find the partial derivative: ； Set the above expression to zero and solve. ,get: ； ； In the formula , where n is the number of samples; Substituting the maximum outrigger reaction forces into the two equations above, we can obtain the results. and Substituting this into the linear regression equation, we obtain the equation for the maximum outrigger reaction force: ； right and A univariate linear regression analysis can be performed to obtain , ; The above and Substituting into the equation for the maximum outrigger reaction force, we obtain the estimated equation for the maximum outrigger reaction force of the target crane, as shown in the following formula: ； in, This represents the estimated maximum outrigger reaction force of the target crane, where P represents the weight of the load. The maximum outrigger reaction force of the target crane is determined based on the estimation equation of the maximum outrigger reaction force of the target crane.

2. The method for determining the maximum outrigger reaction force of a crane according to claim 1, characterized in that, The process of obtaining the first, second, and third action components at the centroid of the target crane based on the total weight includes: According to the mechanical formula, the force generated by the total weight is moved to the centroid of the target crane to obtain the first component force, the second component force, and the third component force at the centroid of the target crane.

3. The method for determining the maximum outrigger reaction force of a crane according to claim 1, characterized in that, The total reaction forces of the four outriggers of the target crane are obtained based on the relationship between reaction force and vertical deformation, including: Based on the linear relationship between reaction force and vertical deformation, a mathematical formula for the relationship between reaction force and vertical deformation is obtained. This mathematical formula is then used to calculate the total reaction force of the four outriggers of the target crane. The mathematical formula is shown below: ； in, This represents the total reaction force of the four outriggers of the target crane. This indicates the vertical deformation of the four outriggers of the target crane. This represents the contact stiffness between the outriggers and the supporting surface. The total reaction forces of the four outriggers of the target crane are respectively... , , , .

4. The method for determining the maximum outrigger reaction force of a crane according to claim 1, characterized in that, The process of decomposing the total reaction force of the four outriggers of the target crane into first outrigger reaction force, second outrigger reaction force, and third outrigger reaction force based on the first action component, the second action component, and the third action component includes: The vertical deformation of the four outriggers of the target crane is decomposed into a first component deformation, a second component deformation, and a third component deformation caused by the first component force, the second component force, and the third component force. Based on the mathematical relationship between reaction force and vertical deformation, the total reaction force of the four outriggers of the target crane can be decomposed into the component reaction forces of the first outrigger, the second outrigger, and the third outrigger. The mathematical relationship is shown below: ； ； ； in, This indicates the reaction force of the first leg. This indicates the reaction force of the second leg. This indicates the reaction force of the third leg. This indicates the transformation of the first item. This indicates the transformation of the second item. This indicates the transformation of the third item. This indicates the contact stiffness between the outrigger and the supporting surface.

5. The method for determining the maximum outrigger reaction force of a crane according to any one of claims 1-4, characterized in that, The expression for obtaining the total reaction force of the four outriggers of the target crane based on the deformation compatibility condition, the moment balance condition, and the component reactions of the first outrigger, the second outrigger, and the third outrigger includes: Substituting the expressions for deformation compatibility and moment balance into the mathematical expression obtained by the linear relationship between reaction force and vertical deformation based on the deformation compatibility condition and moment balance condition, we obtain the expression for the total reaction force of the four outriggers of the target crane. The expression for the deformation compatibility condition is shown below: ； in, This represents the projection of the angle between the plane containing the four support points of the outriggers and the horizontal plane in the y-direction. This represents the y-coordinate value of the ij support leg. This represents the projection of the angle between the plane containing the four support points of the outriggers and the horizontal plane in the x-direction. Represents the x-coordinate value of leg ij; The expression for the torque equilibrium condition is as follows: ； in, Indicates the second component of force. Indicates the third component of force; The expression for the total reaction force of the four outriggers of the target crane is as follows: ； in, This represents the first component of force.

6. The method for determining the maximum outrigger reaction force of a crane according to claim 5, characterized in that, The method further includes: Construct a coordinate system with the center of the outriggers of the target crane as the center, and determine the position of the slewing center of the target crane, the center of gravity of the target crane chassis, the center of gravity of the target crane upper vehicle, the center of gravity of the target crane counterweight, the center of gravity of the target crane boom, and the center of gravity of the load lifted by the target crane in the coordinate system. Based on the position of the target crane's slewing center, the center of gravity of the target crane's chassis, the center of gravity of the target crane's upper structure, the center of gravity of the target crane's counterweight, the center of gravity of the target crane's boom, and the center of gravity of the load lifted by the target crane, the expressions for the first, second, and third action components are obtained. Substitute the expressions for the first action component, the second action component, and the third action component into the expression for the total reaction force of the four outriggers of the target crane to obtain the final calculation formula for the total reaction force of the four outriggers of the target crane. The total reaction force of the four outriggers of the target crane is obtained by calculating the final formula of the total reaction force of the four outriggers of the target crane. The expressions of the first action component, the second action component, and the third action component are shown in the following formulas: ； ； ； in, This represents the nth sub-component of the first acting force. This represents the y-coordinate of the point of application of the nth sub-component force. This represents the x-coordinate value of the point of application of the nth sub-component force; The final formula for calculating the total reaction force of the four outriggers of the target crane is as follows: 。 7. A system for determining the maximum outrigger reaction force of a crane, characterized in that, Including processor and memory; Memory, used to store computer programs; A processor, when executing a program stored in memory, implements the steps of the method described in any one of claims 1-6.

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