Dynamic load coefficient determination method and device, engineering equipment and machine readable storage medium

Abstract

The invention discloses a dynamic load coefficient determination method and device, engineering equipment and a machine readable storage medium, and relates to the technical field of engineering machinery. The method comprises the following steps: determining a bending moment-stress proportionality coefficient of the knuckle arm; the no-load static stress, the medium pumping static stress, the medium pumping dynamic stress and the water pumping dynamic stress of the knuckle arm are determined respectively; the bending moment-stress proportionality coefficient is combined with the no-load static stress, the medium pumping static stress, the medium pumping dynamic stress and the water pumping dynamic stress, and the no-load static bending moment, the medium pumping total static bending moment, the medium pumping total dynamic bending moment and the water pumping dynamic bending moment of the knuckle arm are obtained; and the medium dynamic load coefficient and the structure dynamic load coefficient of the knuckle arm are determined based on the no-load static bending moment, the medium pumping total static bending moment, the medium pumping total dynamic bending moment and the water pumping dynamic bending moment. Accurate data basis is provided for calculation of the dynamic load, the accuracy of calculation of the dynamic load is improved, and then the reliability of the cantilever crane structural member is improved.

Description

Technical Field

[0001] The present application relates to the technical field of engineering machinery, and specifically to a method, device, engineering equipment and machine-readable storage medium for determining a dynamic load coefficient. Background Art

[0002] During the actual operation of a concrete pump truck, the periodic flow of concrete in the delivery pipe will cause the boom to vibrate, and the boom will therefore be subjected to alternating dynamic loads. In order to ensure the reliability of the boom structure, it is necessary to design, analyze and test it according to the dynamic load.

[0003] The commonly used method to obtain dynamic load is the dynamic load coefficient method, which is to multiply the static load by a dynamic load coefficient to determine the dynamic load. However, with the further development of the length and lightweight of the pump truck boom, the current dynamic load coefficient can no longer truly reflect the stress of the pump truck in working condition. In order to obtain more accurate boom dynamic load and guide boom design, it is urgent to improve the accuracy of the dynamic load coefficient of the medium pump truck. Summary of the invention

[0004] In view of the above-mentioned deficiencies in the prior art, the purpose of the embodiments of the present application is to provide a method, device, engineering equipment and machine-readable storage medium for determining a dynamic load coefficient.

[0005] In order to achieve the above-mentioned object, the first aspect of the present application provides a method for determining a dynamic load coefficient, which is applied to engineering equipment. The engineering equipment includes a boom, and the boom includes a plurality of boom sections. The method for determining a dynamic load coefficient includes:

[0006] Determine the moment-stress proportionality coefficient of the boom based on no-load static tests and end-load static tests;

[0007] Determine the no-load static stress, medium pumping static stress, medium pumping dynamic stress and water pumping dynamic stress of the joint arm based on the no-load static test, medium pumping static test, medium pumping dynamic test and water pumping dynamic test respectively;

[0008] The moment-stress proportionality coefficient is combined with the no-load static stress, the medium pumping static stress, the medium pumping dynamic stress and the pumping water dynamic stress respectively to obtain the no-load static bending moment of the section arm, the medium pumping total static bending moment, the medium pumping total dynamic bending moment and the pumping water dynamic bending moment;

[0009] The dynamic load coefficient of the section arm is determined based on the no-load static bending moment, the total static bending moment of medium pumping, the total dynamic bending moment of medium pumping and the dynamic bending moment of pumping water, wherein the dynamic load coefficient includes the medium dynamic load coefficient and the structure dynamic load coefficient.

[0010] In the embodiment of the present application, the dynamic load coefficient of the joint arm is determined based on the no-load static bending moment, the total static bending moment of medium pumping, the total dynamic bending moment of medium pumping, and the dynamic bending moment of pumping water, including:

[0011] In the case where the section arm is an end section arm of a boom, determining a first medium dynamic bending moment based on a total medium pumping dynamic bending moment, a water pumping dynamic bending moment, a medium density, and a water density;

[0012] Determine the first medium static bending moment based on the total medium pumping static bending moment and the no-load static bending moment;

[0013] Determining a medium dynamic load coefficient based on a ratio of a first medium dynamic bending moment to a first medium static bending moment;

[0014] Determining a first structure dynamic bending moment based on the total dynamic bending moment of medium pumping and the first medium dynamic bending moment;

[0015] The structural dynamic load coefficient is determined based on the ratio of the first structural dynamic bending moment to the no-load static bending moment.

[0016] In the embodiment of the present application, the method for determining the dynamic load coefficient further includes:

[0017] In the case where the joint boom is not an end joint boom of the boom, determining a target joint boom based on the position of the joint boom, wherein the target joint boom includes the end joint boom and a first joint boom, and the first joint boom is located between the end joint boom and the joint boom;

[0018] Acquire the size parameter of the target boom, the first parameter of the target boom, and the second parameter of the transport medium corresponding to the target boom, wherein the first parameter includes the mass of the target boom and the first center of gravity distance, the first center of gravity distance is the distance from the center of gravity of the target boom to the root rotation center of the target boom, and the second parameter includes the mass of the transport medium and the second center of gravity distance, the second center of gravity distance is the distance from the center of gravity of the transport medium to the root rotation center of the target boom;

[0019] Based on the medium dynamic load coefficient, size parameter and second parameter of the end section arm, the second medium dynamic bending moment of each target section arm between the end section arm and the section arm is determined in sequence;

[0020] Based on the size parameter and the second parameter, the second medium static bending moment of each target section arm between the end section arm and the section arm is determined in sequence;

[0021] Determine the sum of all second medium dynamic bending moments as the medium dynamic bending moment sum, and determine the sum of all second medium static bending moments as the medium static bending moment sum;

[0022] Determine the medium dynamic load coefficient of the section arm based on the ratio of the medium dynamic bending moment difference to the medium static bending moment difference, wherein the medium dynamic bending moment difference is equal to the difference between the first medium dynamic bending moment of the section arm and the sum of the medium dynamic bending moments, and the medium static bending moment difference is equal to the difference between the first medium static bending moment of the section arm and the sum of the medium static bending moments;

[0023] Based on the structural dynamic load coefficient, the dimension parameter and the first parameter of the terminal segment arm, the second structural dynamic bending moment of each target segment arm between the terminal segment arm and the segment arm is determined in sequence;

[0024] Based on the size parameter and the first parameter, sequentially determine the second structural static bending moment of each target section arm between the end section arm and the section arm;

[0025] Determine the sum of all second structure dynamic bending moments as the structural dynamic bending moment sum, and determine the sum of all second structure static bending moments as the structural static bending moment sum;

[0026] The structural dynamic load coefficient of the joint arm is determined based on the ratio of the structural dynamic bending moment difference to the structural static bending moment difference, wherein the structural dynamic bending moment difference is equal to the difference between the first structural dynamic bending moment of the joint arm and the sum of the structural dynamic bending moments, and the structural static bending moment difference is equal to the difference between the no-load static bending moment and the sum of the structural static bending moments.

[0027] In the embodiment of the present application, the moment-stress proportionality coefficient of the joint arm is determined based on the no-load static test and the end-mounted static test, including:

[0028] Determine the no-load static stress of the boom based on the no-load static test;

[0029] Determine the end-mount static stress of the boom based on the end-mount static test;

[0030] Determine a first distance of the joint arm based on the position of the joint arm in the boom, wherein the first distance is the distance between the stress detection device in the joint arm and the end mounting point in the end mounting static test;

[0031] Determining an additional bending moment of the boom based on the first distance and the end load in the end-mounted static test;

[0032] The moment-stress proportionality coefficient of the joint arm is determined based on the additional bending moment and the stress difference, wherein the stress difference is equal to the difference between the static stress of the end mounting and the static stress of the no-load state.

[0033] In the embodiment of the present application, the medium pumping dynamic stress of the joint arm is determined based on the medium pumping dynamic test, including:

[0034] The end amplitude of the boom in the medium pumping dynamic test is monitored. When the end amplitude meets the preset stability condition, the maximum stress of the boom section is obtained as the medium pumping dynamic stress.

[0035] In the embodiment of the present application, the pumping water dynamic stress of the joint arm is determined based on the pumping water dynamic test, including:

[0036] Controlling the amplitude difference to be within a preset difference range, wherein the amplitude difference is the difference between the end amplitude of the boom in the water pumping dynamic test and the end amplitude of the boom in the medium pumping dynamic test;

[0037] When the end amplitude of the boom meets the preset stability condition in the pumping water dynamic test, the maximum stress of the boom section is obtained as the pumping water dynamic stress.

[0038] In an embodiment of the present application, the boom section includes a stress detection device, which is installed on a control section corresponding to the boom section, the control section is a plane perpendicular to the telescopic direction of the boom, the distance between the position of the stress detection device and the stress concentration position of the boom is greater than or equal to a first preset distance, and the distance between the position of the stress detection device and the root rotation center of the boom section is less than or equal to a second preset distance.

[0039] A second aspect of the present application provides a dynamic load coefficient determination device, comprising:

[0040] a memory configured to store instructions;

[0041] The processor is configured to call instructions from the memory and implement the dynamic load coefficient determination method as described in the above embodiment when executing the instructions.

[0042] A third aspect of the present application provides an engineering device, comprising:

[0043] The dynamic load coefficient determination device as described in the above embodiment;

[0044] The boom comprises a plurality of boom sections.

[0045] A fourth aspect of the present application provides a machine-readable storage medium having instructions stored thereon, the instructions being used to enable a machine to execute the method for determining the dynamic load coefficient as described in the above-mentioned embodiment.

[0046] Through the above technical scheme, the bending moment-stress proportional coefficient of the boom is determined based on the no-load static test and the end-mounted static test; the no-load static stress, medium pumping static stress, medium pumping dynamic stress and water pumping dynamic stress of the boom are determined based on the no-load static test, medium pumping static test, medium pumping dynamic test and water pumping dynamic test respectively; the bending moment-stress proportional coefficient is combined with the no-load static stress, medium pumping static stress, medium pumping dynamic stress and water pumping dynamic stress respectively to obtain the no-load static bending moment of the boom, the total static bending moment of medium pumping, the total dynamic bending moment of medium pumping and the water pumping dynamic bending moment; the dynamic load coefficient of the boom is determined based on the no-load static bending moment, the total static bending moment of medium pumping, the total dynamic bending moment of medium pumping and the water pumping dynamic bending moment, wherein the dynamic load coefficient includes the medium dynamic load coefficient and the structural dynamic load coefficient. By respectively calculating the structural dynamic load coefficient and the medium dynamic load coefficient of the medium in the actual pumping process, an accurate data basis is provided for the calculation of the dynamic load, the accuracy of the dynamic load calculation is improved, and then the reliability of the boom structure is improved.

[0047] Other features and advantages of the embodiments of the present application will be described in detail in the subsequent specific implementation section. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] The accompanying drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the following specific implementations, they are used to explain the embodiments of the present application, but do not constitute a limitation on the embodiments of the present application. In the accompanying drawings:

[0049] Figure 1 A schematic diagram of a flow chart of a method for determining a dynamic load coefficient according to an embodiment of the present application is shown;

[0050] Figure 2 A schematic diagram of a horizontal posture of a boom according to an embodiment of the present application is schematically shown;

[0051] Figure 3 The schematic diagram of the state of the unloaded static test boom according to the embodiment of the present application is shown schematically;

[0052] Figure 4 A schematic diagram of the state of the end-mounted static test boom according to an embodiment of the present application is shown schematically;

[0053] Figure 5 A schematic diagram of the installation position of a stress detection device according to an embodiment of the present application is shown schematically;

[0054] Figure 6 The schematic diagram of the dimension parameters of the joint arm according to the embodiment of the present application is schematically shown;

[0055] Figure 7 A schematic diagram of the center of gravity distance according to an embodiment of the present application is schematically shown.

[0056] Description of Reference Numerals

[0057] 100, first boom; 101, second boom; 102, end boom; 200, stress detection device; 300, unrecommended area; 310, butt weld; 320, hard pipe; 330, concrete pipe; 340, main weld; 400, control section. DETAILED DESCRIPTION

[0058] In order to make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. It should be understood that the specific implementation methods described herein are only used to illustrate and explain the embodiments of the present application, and are not used to limit the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0059] It should be noted that if the embodiments of the present application involve directional indications (such as up, down, left, right, front, back...), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0060] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present application, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0061] Figure 1 The following is a schematic diagram showing a flow chart of a method for determining a dynamic load coefficient according to an embodiment of the present application. Figure 1 As shown, an embodiment of the present application provides a method for determining a dynamic load coefficient, which is applied to engineering equipment. The engineering equipment includes a boom, and the boom includes a plurality of boom sections. The method for determining a dynamic load coefficient includes:

[0062] Step 100, determining the moment-stress proportionality coefficient of the joint arm based on the no-load static test and the end-load static test;

[0063] It should be noted that the engineering equipment includes equipment for transporting media, and the engineering equipment includes a boom, along which a delivery pipeline is laid, and the delivery pipeline is used to transport the medium and finally output the medium through a terminal hose; the medium may include concrete, sand and gravel and other materials. In this embodiment, the medium is concrete, and the engineering equipment is a concrete pump truck as an example for explanation. During the operation of the concrete pump truck, the periodic flow of concrete in the delivery pipe causes the boom to vibrate, and the boom will be subjected to alternating dynamic loads. By directly multiplying a dynamic load coefficient on the static load to obtain the dynamic load, as the length and lightweight of the boom develop, the current dynamic load coefficient cannot truly reflect the stress condition of the pump truck in the working state. In this embodiment, the moment-stress proportionality coefficient of each boom section is determined to obtain the dynamic moment and static moment of each boom section, and then the medium dynamic load coefficient and structural dynamic load coefficient of each boom section are obtained.

[0064] Specifically, since the root bending moment of each boom section of the boom is the largest when the boom is in the horizontal working condition, in this embodiment, the main research condition for determining the dynamic load coefficient is the horizontal working condition of the boom. Figure 2 , from the first boom 100, the second boom 101 to the end boom 102 are all in a horizontal working state. Figure 3 The no-load static test refers to a stress test performed when the boom is in a horizontal position, without any concentrated load hanging on the boom, and without pumping. Figure 4 The end-load static test refers to a stress test performed in a non-pumping state with an additional concentrated load hanging at the end of the boom when the boom is in a horizontal posture.

[0065] When conducting a stress test, it is necessary to obtain the stress of each boom section under different test conditions. Specifically, in one embodiment, the boom section includes a stress detection device, which is installed on a control section corresponding to the boom section. The control section is a plane perpendicular to the telescopic direction of the boom. The distance between the position of the stress detection device and the stress concentration position of the boom is greater than or equal to a first preset distance, and the distance between the position of the stress detection device and the root rotation center of the boom section is less than or equal to a second preset distance.

[0066] It should be noted that the stress detection device may include a strain gauge, a stress meter, a stress monitor, etc. The stress detection device is used to detect the stress in the joint arm. Figure 5In this embodiment, in order to achieve the accuracy of the stress detection of the boom section, the stress detection device 200 is installed on the control section 400 corresponding to the boom section, wherein the plane perpendicular to the telescopic direction of the boom at the box section of the rectangular structure of the boom is called the control section 400. The installation position of the stress detection device 200 should be convenient for layout, and it must be ensured that the position of the stress detection device 200 will not change or be damaged during the extension and retraction of the boom. The position of the stress detection device 200 should maintain a certain distance from the stress concentration position of the boom, wherein the stress concentration position of the boom includes the butt weld 310, the main weld 340 and other positions. In this embodiment, the distance between the position of the stress detection device 200 and the stress concentration position of the boom is controlled by a first preset distance. The first preset distance may include multiple distances, corresponding to different stress concentration positions of the boom, respectively, refer to Figure 5 In the figure, d1 and d2, d1 is used to limit the distance between the stress detection device 200 and the butt weld 310; d2 is used to limit the distance between the stress detection device 200 and the main weld 340. The position of the stress detection device 200 should be as close as possible to the root rotation center of the joint arm. In this embodiment, the distance between the position of the stress detection device 200 and the root rotation center of the joint arm is controlled by the second preset distance. Figure 5 It should be noted that the position of the stress detection device 200 should also avoid the concrete pipe 330 support and the hard pipe 320. It can be understood that the first preset distance and the second preset distance can be adaptively adjusted based on the actual boom structure and application scenarios.

[0067] In this embodiment, by determining the installation position of the stress detection device, the effectiveness and accuracy of obtaining the joint arm stress in each stress test is ensured.

[0068] Specifically, in one embodiment, the moment-stress proportionality coefficient of the joint arm is determined based on the no-load static test and the end-load static test, including:

[0069] Determine the no-load static stress of the boom based on the no-load static test;

[0070] Determine the end-mount static stress of the boom based on the end-mount static test;

[0071] Determine a first distance of the joint arm based on the position of the joint arm in the boom, wherein the first distance is the distance between the stress detection device in the joint arm and the end mounting point in the end mounting static test;

[0072] Determining an additional bending moment of the boom based on the first distance and the end load in the end-mounted static test;

[0073] The moment-stress proportionality coefficient of the joint arm is determined based on the additional bending moment and the stress difference, wherein the stress difference is equal to the difference between the static stress of the end mounting and the static stress of the no-load state.

[0074] In this embodiment, it should be noted that, for a boom system with a fixed structure, theoretically, the stress value at a certain point on the boom and the bending moment of the cross section at that point are in a linear relationship, and the relationship can be expressed by the following formula:

[0075] M=Kσ

[0076] Wherein, M represents the bending moment; K represents the bending moment-stress proportionality coefficient; σ represents the stress.

[0077] By detecting the stress of each boom section and calculating the bending moment of each boom section, the bending moment-stress proportionality coefficient of each boom section can be determined.

[0078] Specifically, the end-mounted static stress refers to the stress obtained by the stress detection device in the boom section during the end-mounted static test. The no-load static stress refers to the stress obtained by the stress detection device in the boom section during the no-load static test. The value of the stress detection device is reset to zero before the test begins. In the test, the end-mounted static stress of each boom section during the end-mounted static test is obtained through the stress detection device. And the no-load static stress of each boom section during the no-load static test is obtained through the stress detection device. The additional bending moment of each boom section when an additional concentrated load is suspended at the end of the boom is obtained through the end-mounted static test. Reference Figure 6 , L1~L n Indicates the arm length of each arm, l1~l n It represents the distance between the stress detection device 200 and the root rotation center of the joint arm. The first distance is the distance between the stress detection device 200 in the joint arm and the end mounting point in the end mounting static test, which can be specifically calculated by the following formula:

[0079]

[0080] Among them, L diyi Indicates the first distance; L i represents the arm length of the i-th arm; l i It represents the distance between the stress detection device 200 of the i-th boom and the root rotation center of the boom.

[0081] The additional bending moment of the boom can be calculated based on the first distance and the end load in the end-mounted static test:

[0082]

[0083] Among them, δM i represents the additional bending moment of the i-th arm; δm represents the end load; g represents the gravitational acceleration.

[0084] Therefore, the moment-stress proportionality coefficient of the joint arm is determined based on the additional moment and stress difference:

[0085]

[0086] Among them, K i represents the moment-stress proportionality coefficient of the i-th node; δM i represents the additional bending moment of the i-th section arm; σ' ki Static stress of end mount; σ ki Represents no-load static stress.

[0087] In this embodiment, the bending moment-stress proportionality coefficient of the joint arm is determined based on the no-load static test and the end-load static test, which provides a calculation basis for the subsequent determination of the joint arm bending moment under different working conditions, so as to ensure the effectiveness of the joint arm bending moment and thereby improve the accuracy of the calculation of the dynamic load coefficient.

[0088] Step 200, determining the no-load static stress, medium pumping static stress, medium pumping dynamic stress and water pumping dynamic stress of the joint arm based on the no-load static test, the medium pumping static test, the medium pumping dynamic test and the water pumping dynamic test respectively;

[0089] In this embodiment, it should be noted that the static test of medium pumping refers to a stress test performed by hanging an equivalent load equal to the weight of concrete on the delivery pipeline corresponding to each section of the boom when the boom posture is horizontal, wherein the sum of all the suspended loads is equal to the weight of concrete when the pumping full pipe rate reaches 100%. The dynamic test of medium pumping refers to a stress test performed by pumping concrete when the boom posture is horizontal and the pumping full pipe rate reaches 100%. The dynamic test of water pumping refers to a stress test performed by pumping water when the boom posture is horizontal and the pumping full pipe rate reaches 100%. It should be noted that the static stress of medium pumping refers to the stress obtained by the stress detection device in the section arm during the static test of medium pumping. The dynamic stress of medium pumping refers to the stress obtained by the stress detection device in the section arm during the dynamic test of medium pumping. The dynamic stress of water pumping refers to the stress obtained by the stress detection device in the section arm during the dynamic test of water pumping. Through the stress detection device of each boom section, the no-load static stress, medium pumping static stress, medium pumping dynamic stress and water pumping dynamic stress corresponding to the boom section in the no-load static test, medium pumping static test, medium pumping dynamic test and water pumping dynamic test are obtained respectively.

[0090] In one embodiment, determining the medium pumping dynamic stress of the joint arm based on the medium pumping dynamic test includes:

[0091] The end amplitude of the boom in the medium pumping dynamic test is monitored. When the end amplitude meets the preset stability condition, the maximum stress of the boom section is obtained as the medium pumping dynamic stress.

[0092] In this embodiment, it should be noted that when conducting a dynamic test of medium pumping, the end amplitude of the boom can be obtained by installing an inertial sensor or an optical measuring instrument, so as to select the test result of the relatively stable amplitude stage in the later stage of pumping. In this embodiment, the stability of the end amplitude is limited by a preset stability condition. By limiting the end amplitude during stress acquisition, the effectiveness of dynamic stress acquisition of medium pumping is improved.

[0093] In one embodiment, determining the pumping dynamic stress of the joint arm based on the pumping dynamic test includes:

[0094] Controlling the amplitude difference to be within a preset difference range, wherein the amplitude difference is the difference between the end amplitude of the boom in the water pumping dynamic test and the end amplitude of the boom in the medium pumping dynamic test;

[0095] When the end amplitude of the boom meets the preset stability condition in the pumping water dynamic test, the maximum stress of the boom section is obtained as the pumping water dynamic stress.

[0096] In this embodiment, it should be noted that when conducting the water pumping dynamic test, the vibration condition of the end of the boom is monitored at the same time, and the end amplitude can be obtained by installing an inertial sensor or an optical measuring instrument. The amplitude difference between the end amplitude of the boom in the water pumping dynamic test and the end amplitude of the boom in the medium pumping dynamic test is calculated, and the amplitude difference is controlled within the preset difference range by continuously adjusting the gear position, pumping pressure and other parameters, so that the end amplitude of the boom in the water pumping dynamic test is consistent with the end amplitude of the boom in the medium pumping dynamic test. In the water pumping dynamic test, the test results of the relatively stable stage of the amplitude in the later stage of pumping are also selected, and the stability of the end amplitude is limited by the preset stability condition. By limiting the end amplitude during stress acquisition, the effectiveness of obtaining dynamic stress of water pumping is improved.

[0097] Step 300, combining the bending moment-stress proportionality coefficient with the no-load static stress, the medium pumping static stress, the medium pumping dynamic stress and the water pumping dynamic stress, respectively, to obtain the no-load static bending moment of the section arm, the medium pumping total static bending moment, the medium pumping total dynamic bending moment and the water pumping dynamic bending moment;

[0098] In this embodiment, after determining the bending moment-stress proportionality coefficient and obtaining the no-load static stress, medium pumping static stress, medium pumping dynamic stress and water pumping dynamic stress, the bending moment-stress proportionality coefficient can be multiplied by the no-load static stress, medium pumping static stress, medium pumping dynamic stress and water pumping dynamic stress respectively to obtain the no-load static bending moment of the section arm, the total static bending moment of medium pumping, the total dynamic bending moment of medium pumping and the water pumping dynamic bending moment.

[0099] Specifically, it can be calculated by the following formula:

[0100] M ki =K i σ ki , i=1,2,3....,n

[0101] Among them, M ki represents the no-load static bending moment of the i-th boom; K i represents the moment-stress proportionality coefficient of the i-th node; σ ki represents the no-load static stress of the i-th boom.

[0102] M ci =K i σ ci , i=1,2,3....,n

[0103] Among them, M ci K represents the total static bending moment of the medium pumping of the i-th section arm; i represents the moment-stress proportionality coefficient of the i-th node; σ ci Represents the static stress of medium pumping in the i-th boom.

[0104] M' ci =K i σ' ci , i=1,2,3....,n

[0105] Among them, M' ci K represents the total dynamic bending moment of the medium pumping of the i-th section arm; i represents the moment-stress proportionality coefficient of the i-th node; σ' ci Represents the dynamic stress of medium pumping in the i-th boom.

[0106] M wi =K i σ wi , i=1,2,3....,n

[0107] Among them, M wi K represents the dynamic bending moment of the pump water of the i-th boom; i represents the moment-stress proportionality coefficient of the i-th node; σ wi represents the pump water dynamic stress of the i-th boom.

[0108] Step 400, determining the dynamic load coefficient of the joint arm based on the no-load static bending moment, the total static bending moment of medium pumping, the total dynamic bending moment of medium pumping and the dynamic bending moment of water pumping, wherein the dynamic load coefficient includes the medium dynamic load coefficient and the structure dynamic load coefficient.

[0109] It should be noted that the above-mentioned no-load static bending moment, total static bending moment of medium pumping, total dynamic bending moment of medium pumping and dynamic bending moment of water pumping include both concrete-related bending moment and structure-related bending moment in each stress test. Among them, the concrete-related bending moment refers to the bending moment caused by pumping concrete; the structure-related bending moment includes the bending moment corresponding to the boom itself and the conveying pipe itself. Based on the above-mentioned no-load static bending moment, total static bending moment of medium pumping, total dynamic bending moment of medium pumping and dynamic bending moment of water pumping, the concrete-related dynamic bending moment and static bending moment, as well as the structure-related dynamic bending moment and static bending moment can be calculated respectively, and then the medium dynamic load coefficient and structure dynamic load coefficient of each section arm can be calculated respectively.

[0110] After the dynamic load coefficient is obtained, and after the structural static load and medium static load are obtained, the dynamic load can be calculated by the following formula:

[0111] P=αP1+βP2

[0112] Among them, P represents dynamic load; α represents structural dynamic load coefficient; P1 represents structural static load; β represents medium dynamic load coefficient; P2 represents medium static load.

[0113] In this embodiment, the bending moment-stress proportionality coefficient of the joint arm is determined based on the no-load static test and the end-mounted static test; the no-load static stress, medium pumping static stress, medium pumping dynamic stress and water pumping dynamic stress of the joint arm are determined based on the no-load static test, medium pumping static test, medium pumping dynamic test and water pumping dynamic test respectively; the bending moment-stress proportionality coefficient is combined with the no-load static stress, medium pumping static stress, medium pumping dynamic stress and water pumping dynamic stress respectively to obtain the no-load static bending moment of the joint arm, the total static bending moment of medium pumping, the total dynamic bending moment of medium pumping and the water pumping dynamic bending moment; the dynamic load coefficient of the joint arm is determined based on the no-load static bending moment, the total static bending moment of medium pumping, the total dynamic bending moment of medium pumping and the water pumping dynamic bending moment, wherein the dynamic load coefficient includes the medium dynamic load coefficient and the structural dynamic load coefficient. By respectively calculating the structural dynamic load coefficient and the medium dynamic load coefficient of the medium in the actual pumping process, an accurate data basis is provided for the calculation of the dynamic load, the accuracy of the dynamic load calculation is improved, and then the reliability of the boom structure is improved.

[0114] Specifically, in one embodiment, the dynamic load coefficient of the joint arm is determined based on the no-load static bending moment, the total static bending moment of medium pumping, the total dynamic bending moment of medium pumping, and the dynamic bending moment of pumping water, including:

[0115] In the case where the section arm is an end section arm of a boom, determining a first medium dynamic bending moment based on a total medium pumping dynamic bending moment, a water pumping dynamic bending moment, a medium density, and a water density;

[0116] Determine the first medium static bending moment based on the total medium pumping static bending moment and the no-load static bending moment;

[0117] Determining a medium dynamic load coefficient based on a ratio of a first medium dynamic bending moment to a first medium static bending moment;

[0118] Determining a first structure dynamic bending moment based on the total dynamic bending moment of medium pumping and the first medium dynamic bending moment;

[0119] The structural dynamic load coefficient is determined based on the ratio of the first structural dynamic bending moment to the no-load static bending moment.

[0120] In this embodiment, it should be noted that when the section arm is at the end section arm of the boom, the dynamic bending moment of the first medium can be calculated by the following formula:

[0121]

[0122] Among them, M a Represents the dynamic bending moment of the first medium; M c ' i Indicates the total dynamic bending moment of the medium pumping; M wi represents the dynamic bending moment of the pump water; ρ c represents the medium density; ρ w Represents the density of water.

[0123] The static bending moment of the first medium can be calculated by the following formula:

[0124] M' a =M ci -M ki , i=n

[0125] Among them, M' a Represents the static bending moment of the first medium; M ci Indicates the total static bending moment of the medium pumping; M ki Represents the no-load static bending moment.

[0126] The medium dynamic load coefficient can be calculated by the following formula:

[0127]

[0128] Among them, β i Indicates the dynamic load coefficient of the medium; M a Represents the dynamic bending moment of the first medium; M' a Represents the static bending moment of the first medium.

[0129] The first structural dynamic bending moment can be calculated by the following formula:

[0130]

[0131] Among them, M b Represents the dynamic bending moment of the first structure; M c 'i Indicates the total dynamic bending moment of the medium pumping; M a Represents the dynamic bending moment of the first medium.

[0132] The structural dynamic load coefficient can be calculated by the following formula:

[0133]

[0134] Among them, α i Indicates the structural dynamic load coefficient; M b Represents the dynamic bending moment of the first structure; M ki Represents the no-load static bending moment.

[0135] Furthermore, in one embodiment, the method for determining the dynamic load coefficient further includes:

[0136] In the case where the joint boom is not an end joint boom of the boom, determining a target joint boom based on the position of the joint boom, wherein the target joint boom includes the end joint boom and a first joint boom, and the first joint boom is located between the end joint boom and the joint boom;

[0137] Acquire the size parameter of the target boom, the first parameter of the target boom, and the second parameter of the transport medium corresponding to the target boom, wherein the first parameter includes the mass of the target boom and the first center of gravity distance, the first center of gravity distance is the distance from the center of gravity of the target boom to the root rotation center of the target boom, and the second parameter includes the mass of the transport medium and the second center of gravity distance, the second center of gravity distance is the distance from the center of gravity of the transport medium to the root rotation center of the target boom;

[0138] Based on the medium dynamic load coefficient, size parameter and second parameter of the end section arm, the second medium dynamic bending moment of each target section arm between the end section arm and the section arm is determined in sequence;

[0139] Based on the size parameter and the second parameter, the second medium static bending moment of each target section arm between the end section arm and the section arm is determined in sequence;

[0140] Determine the sum of all second medium dynamic bending moments as the medium dynamic bending moment sum, and determine the sum of all second medium static bending moments as the medium static bending moment sum;

[0141] Determine the medium dynamic load coefficient of the section arm based on the ratio of the medium dynamic bending moment difference to the medium static bending moment difference, wherein the medium dynamic bending moment difference is equal to the difference between the first medium dynamic bending moment of the section arm and the sum of the medium dynamic bending moments, and the medium static bending moment difference is equal to the difference between the first medium static bending moment of the section arm and the sum of the medium static bending moments;

[0142] Based on the structural dynamic load coefficient, the dimension parameter and the first parameter of the terminal segment arm, the second structural dynamic bending moment of each target segment arm between the terminal segment arm and the segment arm is determined in sequence;

[0143] Based on the size parameter and the first parameter, sequentially determine the second structural static bending moment of each target section arm between the end section arm and the section arm;

[0144] Determine the sum of all second structure dynamic bending moments as the structural dynamic bending moment sum, and determine the sum of all second structure static bending moments as the structural static bending moment sum;

[0145] The structural dynamic load coefficient of the joint arm is determined based on the ratio of the structural dynamic bending moment difference to the structural static bending moment difference, wherein the structural dynamic bending moment difference is equal to the difference between the first structural dynamic bending moment of the joint arm and the sum of the structural dynamic bending moments, and the structural static bending moment difference is equal to the difference between the no-load static bending moment and the sum of the structural static bending moments.

[0146] In this embodiment, it should be noted that, when the current boom is not the end boom, the first medium dynamic bending moment, the first medium static bending moment, the first structural dynamic bending moment and the no-load static bending moment corresponding to the boom are not only the bending moment data of the boom itself, but also the sum of all the bending moment data from the current boom to the end boom. Therefore, in order to obtain the medium dynamic load coefficient and the structural dynamic load coefficient of the boom, the calculation method of the end boom cannot be directly used, and the bending moment data of the target boom should be subtracted from the calculation method.

[0147] It should be noted that the target boom includes the end boom and the first boom, and the first boom refers to the boom located between the boom currently being calculated and the end boom. The size parameters of the target boom include the arm length of the target boom and the distance between the stress detection device in the target boom and the root rotation center of the target boom. Figure 6 Middle, L1~L n Indicates the arm length of each arm, l1~l n The first parameter includes the mass of the target boom and the first gravity center distance. The mass of the target boom is equal to the sum of the mass of the boom itself and the weight of the conveying pipe part corresponding to the boom. The first gravity center distance refers to the distance from the gravity center of the target boom to the rotation center of the root of the target boom. Figure 7 Medium G bi The mass of the second parameter refers to the mass of the medium transported by the engineering equipment, and the second gravity center distance refers to the distance from the gravity center of the transport medium in the delivery pipe corresponding to the target section arm to the root rotation center of the target section arm when the transport medium is pumped, as shown in Figure 7 Medium G ci shown.

[0148] In this embodiment, the dynamic bending moment of the medium can be calculated based on the following formula:

[0149]

[0150] Among them, Msa Represents the dynamic bending moment of the medium; β j represents the medium dynamic load coefficient of the jth target boom; m cj G represents the mass of the transport medium of the jth target arm; ci Represents the second center of gravity distance of the i-th target arm.

[0151] In this embodiment, the static bending moment of the medium can be calculated based on the following formula:

[0152]

[0153] Among them, M' sa Represents the static bending moment and of the medium.

[0154] In this embodiment, the medium dynamic load coefficient of the joint arm can be calculated based on the following formula:

[0155]

[0156] Among them, β i Represents the medium dynamic load coefficient of the i-th boom.

[0157] It can be understood that when calculating the dynamic bending moment of the medium, the dynamic load coefficient β of the medium of the jth section arm is j It is necessary to calculate backwards from the end arm. First calculate the medium dynamic load coefficient of the end arm n, and then the medium dynamic load coefficient of the n-1th arm can be obtained. From this, the medium dynamic load coefficient β of the jth arm can be determined. j .

[0158] In this embodiment, the dynamic bending moment of the structure can be calculated based on the following formula:

[0159]

[0160] Among them, M sb Represents the dynamic bending moment of the structure; α j represents the medium dynamic load coefficient of the jth target boom; m j represents the mass of the jth target arm; G bi Indicates the first center of gravity distance of the i-th target arm.

[0161] In this embodiment, the static bending moment of the structure can be calculated based on the following formula:

[0162]

[0163] Among them, M s ' b represents the static bending moment and of the structure.

[0164] In this embodiment, the structural dynamic load coefficient can be calculated based on the following formula:

[0165]

[0166] Among them, α i represents the structural dynamic load coefficient of the i-th boom.

[0167] It can be understood that when calculating the dynamic bending moment of the structure, the structural dynamic load coefficient α of the jth joint arm is j It is necessary to calculate backwards from the end boom. First calculate the structural dynamic load coefficient of the end boom n, and then the structural dynamic load coefficient of the n-1th boom can be obtained. From this, the structural dynamic load coefficient α of the jth boom can be determined. j .

[0168] In this embodiment, by respectively calculating the structural dynamic load coefficient and the medium dynamic load coefficient of the medium during the actual pumping process, an accurate data basis is provided for the calculation of the dynamic load, thereby improving the accuracy of the dynamic load calculation and further improving the reliability of the boom structure.

[0169] The embodiment of the present application also provides a device for determining a dynamic load coefficient, comprising:

[0170] a memory configured to store instructions;

[0171] The processor is configured to call instructions from the memory and implement the dynamic load coefficient determination method as described in the above embodiment when executing the instructions.

[0172] The present application also provides an engineering device, including:

[0173] The dynamic load coefficient determination device as described in the above embodiment;

[0174] The boom comprises a plurality of boom sections.

[0175] An embodiment of the present application also provides a machine-readable storage medium, on which instructions are stored, and the instructions are used to enable a machine to execute the dynamic load coefficient determination method as described in the above embodiment.

[0176] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0177] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0178] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0179] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0180] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0181] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0182] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0183] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0184] The above are only embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included within the scope of the claims of the present application.

Claims

1. A method for determining a dynamic load coefficient, characterized in that: Applied to engineering equipment, the engineering equipment includes a boom, the boom includes a plurality of boom sections, and the method for determining the dynamic load coefficient includes: Determine the moment-stress proportionality coefficient of the section arm based on the no-load static test and the end-load static test; Determine the no-load static stress, medium pumping static stress, medium pumping dynamic stress and water pumping dynamic stress of the section arm based on the no-load static test, medium pumping static test, medium pumping dynamic test and water pumping dynamic test respectively; The moment-stress proportionality coefficient is combined with the no-load static stress, the medium pumping static stress, the medium pumping dynamic stress and the water pumping dynamic stress respectively to obtain the no-load static bending moment of the section arm, the medium pumping total static bending moment, the medium pumping total dynamic bending moment and the water pumping dynamic bending moment; The dynamic load coefficient of the section arm is determined based on the no-load static bending moment, the total static bending moment of medium pumping, the total dynamic bending moment of medium pumping and the dynamic bending moment of water pumping, wherein the dynamic load coefficient includes a medium dynamic load coefficient and a structure dynamic load coefficient.

2. The method for determining the dynamic load coefficient according to claim 1, characterized in that: The determining of the dynamic load coefficient of the joint arm based on the no-load static bending moment, the total static bending moment of medium pumping, the total dynamic bending moment of medium pumping and the dynamic bending moment of pumping water comprises: In the case where the section arm is the end section arm of the boom, determining a first medium dynamic bending moment based on the medium pumping total dynamic bending moment, the pumping water dynamic bending moment, medium density and water density; Determine a first medium static bending moment based on the medium pumping total static bending moment and the no-load static bending moment; Determining a medium dynamic load coefficient based on a ratio of the first medium dynamic bending moment to the first medium static bending moment; Determining a first structure dynamic bending moment based on the medium pumping total dynamic bending moment and the first medium dynamic bending moment; The structural dynamic load coefficient is determined based on the ratio of the first structural dynamic bending moment to the no-load static bending moment.

3. The method for determining the dynamic load coefficient according to claim 2, characterized in that: Also includes: In the case where the joint arm is not the end joint arm of the boom, determining a target joint arm based on the position of the joint arm, wherein the target joint arm includes the end joint arm and a first joint arm, and the first joint arm is located between the end joint arm and the joint arm; Acquire the size parameter of the target boom, the first parameter of the target boom, and the second parameter of the transport medium corresponding to the target boom, wherein the first parameter includes the mass and the first center of gravity distance of the target boom, the first center of gravity distance is the distance from the center of gravity of the target boom to the root rotation center of the target boom, and the second parameter includes the mass and the second center of gravity distance of the transport medium, the second center of gravity distance is the distance from the center of gravity of the transport medium to the root rotation center of the target boom; Based on the medium dynamic load coefficient of the end segment arm, the size parameter and the second parameter, sequentially determine the second medium dynamic bending moment of each of the target segment arms between the end segment arm and the segment arm; Based on the size parameter and the second parameter, sequentially determine the second medium static bending moment of each of the target section arms between the end section arm and the section arm; Determine the sum of all the second medium dynamic bending moments as the medium dynamic bending moment sum, and determine the sum of all the second medium static bending moments as the medium static bending moment sum; Determine the medium dynamic load coefficient of the section arm based on the ratio of the medium dynamic bending moment difference to the medium static bending moment difference, wherein the medium dynamic bending moment difference is equal to the difference between the first medium dynamic bending moment of the section arm and the sum of the medium dynamic bending moments, and the medium static bending moment difference is equal to the difference between the first medium static bending moment of the section arm and the sum of the medium static bending moments; Based on the structural dynamic load coefficient of the terminal segment arm, the size parameter and the first parameter, sequentially determining the second structural dynamic bending moment of each of the target segment arms between the terminal segment arm and the segment arm; Based on the size parameter and the first parameter, sequentially determine the second structural static bending moment of each of the target section arms between the end section arm and the section arm; Determine the sum of all the second structural dynamic bending moments as the structural dynamic bending moment sum, and determine the sum of all the second structural static bending moments as the structural static bending moment sum; The structural dynamic load coefficient of the section arm is determined based on the ratio of the structural dynamic bending moment difference to the structural static bending moment difference, wherein the structural dynamic bending moment difference is equal to the difference between the first structural dynamic bending moment of the section arm and the sum of the structural dynamic bending moments, and the structural static bending moment difference is equal to the difference between the no-load static bending moment and the sum of the structural static bending moments.

4. The method for determining the dynamic load coefficient according to claim 1, characterized in that: The determining of the bending moment-stress proportionality coefficient of the joint arm based on the no-load static test and the end-mounted static test includes: Determining the no-load static stress of the boom based on a no-load static test; Determining the end-mounting static stress of the boom based on the end-mounting static test; Determining a first distance of the joint arm based on the position of the joint arm in the boom, wherein the first distance is the distance between the stress detection device in the joint arm and the end mounting point in the end mounting static test; Determining an additional bending moment of the joint arm based on the first distance and the end load in the end-mounted static test; The moment-stress proportionality coefficient of the segment arm is determined based on the additional bending moment and the stress difference, wherein the stress difference is equal to the difference between the end-mounted static stress and the no-load static stress.

5. The method for determining the dynamic load coefficient according to claim 1, characterized in that: The determining of the medium pumping dynamic stress of the joint arm based on the medium pumping dynamic test comprises: The end amplitude of the boom in the medium pumping dynamic test is monitored, and when the end amplitude meets a preset stability condition, the maximum stress of the boom section is obtained as the medium pumping dynamic stress.

6. The method for determining the dynamic load coefficient according to claim 5, characterized in that: The determining of the pumping water dynamic stress of the joint arm based on the pumping water dynamic test comprises: Controlling the amplitude difference to be within a preset difference range, wherein the amplitude difference is the difference between the end amplitude of the boom in the water pumping dynamic test and the end amplitude of the boom in the medium pumping dynamic test; When the end amplitude of the boom meets the preset stability condition in the water pumping dynamic test, the maximum stress of the boom section is obtained as the water pumping dynamic stress.

7. The method for determining the dynamic load coefficient according to claim 1, characterized in that: The section arm includes a stress detection device, which is installed on a control section corresponding to the section arm, and the control section is a plane perpendicular to the telescopic direction of the boom. The distance between the position of the stress detection device and the stress concentration position of the boom is greater than or equal to a first preset distance, and the distance between the position of the stress detection device and the root rotation center of the section arm is less than or equal to a second preset distance.

8. A device for determining a dynamic load coefficient, characterized in that: include: a memory configured to store instructions; A processor is configured to call the instructions from the memory and implement the dynamic load coefficient determination method according to any one of claims 1 to 7 when executing the instructions.

9. An engineering equipment, characterized in that: include: The dynamic load coefficient determination device according to claim 8; The boom comprises a plurality of boom sections.

10. A machine-readable storage medium, characterized in that: The machine-readable storage medium stores instructions, which are used to enable a machine to execute the dynamic load coefficient determination method according to any one of claims 1 to 7.

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