Method and apparatus for determining dynamic load coefficient, engineering device and machine readable storage medium

Abstract

The application 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 proportional coefficient of a boom; determining an empty static stress, a medium pumping static stress, a medium pumping dynamic stress and a pump water dynamic stress of the boom respectively; combining the bending moment-stress proportional coefficient with the empty static stress, the medium pumping static stress, the medium pumping dynamic stress and the pump water dynamic stress respectively to obtain an empty static bending moment, a total medium pumping static bending moment, a total medium pumping dynamic bending moment and a pump water dynamic bending moment of the boom; and determining a medium dynamic load coefficient and a structure dynamic load coefficient of the boom based on the empty static bending moment, the total medium pumping static bending moment, the total medium pumping dynamic bending moment and the pump water dynamic bending moment. The application provides accurate data basis for dynamic load calculation, improves the accuracy of dynamic load calculation, and further improves the reliability of the boom structure.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of engineering machinery, in particular to a dynamic load coefficient determination method and device, engineering equipment and a machine readable storage medium. BACKGROUND

[0002] Due to the periodic flow of concrete in the delivery pipe during the actual working process of the concrete pump truck, the boom will bear alternating dynamic loads due to the vibration of the boom. In order to ensure the reliability of the boom structure, it is necessary to design, analyze and test according to the dynamic load.

[0003] The commonly used method to obtain the dynamic load at present is the dynamic load coefficient method, that is, multiplying a dynamic load coefficient on the basis of the static load to determine the dynamic load. However, with the further development of the length and lightweight degree of the boom of the pump truck, the current dynamic load coefficient cannot truly reflect the stress condition of the pump truck in the working state. In order to obtain more accurate boom dynamic load and further guide the boom design, it is urgent to improve the accuracy of the dynamic load coefficient of the medium pump truck. SUMMARY

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

[0005] In order to achieve the above-mentioned purpose, the first aspect of the present application provides a dynamic load coefficient determination method applied to engineering equipment, the engineering equipment comprising a boom, the boom comprising a plurality of section arms, the dynamic load coefficient determination method comprising:

[0006] determining a bending moment-stress proportionality coefficient of the section arm based on the no-load static test and the end-mounted static test;

[0007] determining a no-load static stress, a medium pumping static stress, a medium pumping dynamic stress and a pump water dynamic stress of the section arm based on the no-load static test, the medium pumping static test, the medium pumping dynamic test and the pump water dynamic test, respectively;

[0008] 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 pump water dynamic stress, respectively, to obtain a no-load static bending moment, a medium pumping total static bending moment, a medium pumping total dynamic bending moment and a pump water dynamic bending moment of the section arm;

[0009] determining a dynamic load coefficient of the section arm based on the no-load static bending moment, the medium pumping total static bending moment, the medium pumping total dynamic bending moment and the pump water dynamic bending moment, wherein the dynamic load coefficient comprises a medium dynamic load coefficient and a structure dynamic load coefficient.

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

[0011] In the case that the joint arm is the end joint arm of the boom, the first medium dynamic bending moment is determined based on the total medium pumping dynamic bending moment, the water pumping dynamic bending moment, the medium density and the water density;

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

[0013] The medium dynamic load coefficient is determined based on the ratio of the first medium dynamic bending moment and the first medium static bending moment;

[0014] The first structure dynamic bending moment is determined based on the total medium pumping dynamic bending moment and the first medium dynamic bending moment;

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

[0016] In the embodiments of the present application, the dynamic load coefficient determination method further includes:

[0017] In the case that the joint arm is not the end joint arm of the boom, the target joint arm is determined based on the position of the joint arm, wherein the target joint arm includes the end joint arm and the first joint arm, and the first joint arm is located between the end joint arm and the joint arm;

[0018] The size parameter of the target joint arm, the first parameter of the target joint arm and the second parameter of the transportation medium corresponding to the target joint arm are obtained, wherein the first parameter includes the mass of the target joint arm and the first center-of-gravity distance, the first center-of-gravity distance is the distance from the center of gravity of the target joint arm to the root rotation center of the target joint arm, and the second parameter includes the mass of the transportation medium and the second center-of-gravity distance, the second center-of-gravity distance is the distance from the center of gravity of the transportation medium to the root rotation center of the target joint arm;

[0019] The second medium dynamic bending moment of each target joint arm between the end joint arm and the joint arm is sequentially determined based on the medium dynamic load coefficient of the end joint arm, the size parameter and the second parameter;

[0020] The second medium static bending moment of each target joint arm between the end joint arm and the joint arm is sequentially determined based on the size parameter and the second parameter;

[0021] The sum of all the second medium dynamic bending moments is determined as the medium dynamic bending moment sum, and the sum of all the second medium static bending moments is determined 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 and 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 medium dynamic bending moment sum, 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 medium static bending moment sum.

[0023] Determine the second structural dynamic bending moment of each target section arm between the terminal section arm and the section arm in sequence based on the structural dynamic load coefficient of the terminal section arm, the size parameter and the first parameter.

[0024] Determine the second structural static bending moment of each target section arm between the terminal section arm and the section arm in sequence based on the size parameter and the first parameter.

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

[0026] Determine the structural dynamic load coefficient of the section arm based on the ratio of the structural dynamic bending moment difference and 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 structural dynamic bending moment sum, and the structural static bending moment difference is equal to the difference between the no-load static bending moment and the structural static bending moment sum.

[0027] In the embodiment of the application, the bending moment-stress proportionality coefficient of the section arm is determined based on the no-load static test and the terminal mounting static test, comprising:

[0028] Determine the no-load static stress of the section arm based on the no-load static test.

[0029] Determine the terminal mounting static stress of the section arm based on the terminal mounting static test.

[0030] Determine the first distance of the section arm based on the position of the section arm in the boom, wherein the first distance is the distance between the stress detection device in the section arm and the terminal mounting point in the terminal mounting static test.

[0031] Determine the additional bending moment of the section arm based on the first distance and the terminal load in the terminal mounting static test.

[0032] Determine the bending moment-stress proportionality coefficient of the section arm based on the additional bending moment and the stress difference, wherein the stress difference is equal to the difference between the terminal mounting static stress and the no-load static stress.

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

[0034] Monitor the terminal amplitude of the boom in the medium pumping dynamic test, and acquire the maximum stress of the section arm as the medium pumping dynamic stress in the case that the terminal amplitude meets the preset stability condition.

[0035] In the embodiment of the application, the pump water dynamic stress of the boom is determined based on the pump water dynamic test, and the method comprises the following steps:

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

[0037] In the case that the end amplitude of the boom in the pump water dynamic test meets a preset stability condition, the maximum stress of the boom is obtained as the pump water dynamic stress.

[0038] In the embodiment of the application, the boom comprises a stress detection device, the stress detection device is installed on a control section corresponding to the boom, 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 is less than or equal to a second preset distance.

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

[0040] a memory configured to store instructions;

[0041] a processor configured to call the instructions from the memory and capable of implementing the dynamic load coefficient determination method as described in the above embodiment when executing the instructions.

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

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

[0044] a boom comprising a plurality of booms.

[0045] The fourth aspect of the application provides a machine readable storage medium, and the machine readable storage medium stores instructions for causing a machine to execute the dynamic load coefficient determination method as described in the above embodiment.

[0046] Through the technical solution, the bending moment-stress proportional coefficient of the boom is determined based on the no-load static test and the end mounting static test; the no-load static stress, the medium pumping static stress, the medium pumping dynamic stress and the pump water dynamic stress of the boom are determined based on the no-load static test, the medium pumping static test, the medium pumping dynamic test and the pump water dynamic test respectively; the no-load static bending moment, the medium pumping total static bending moment, the medium pumping total dynamic bending moment and the pump water dynamic bending moment of the boom are obtained by combining the bending moment-stress proportional coefficient with the no-load static stress, the medium pumping static stress, the medium pumping dynamic stress and the pump water dynamic stress respectively; the dynamic load coefficient of the boom is 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 pump water dynamic bending moment, wherein the dynamic load coefficient includes the medium dynamic load coefficient and the structure dynamic load coefficient. By separately obtaining the structure dynamic load coefficient and the medium dynamic load coefficient of the medium in the actual pumping process, accurate data basis is provided for the calculation of the dynamic load, the accuracy of the dynamic load calculation is improved, and 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 following specific implementation part. BRIEF DESCRIPTION OF DRAWINGS

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

[0049] Figure 1 The flowchart of the dynamic load coefficient determination method according to the embodiments of the present application is schematically shown;

[0050] Figure 2 The horizontal posture of the boom according to the embodiments of the present application is schematically shown;

[0051] Figure 3 The no-load static test boom state according to the embodiments of the present application is schematically shown;

[0052] Figure 4 The end mounting static test boom state according to the embodiments of the present application is schematically shown;

[0053] Figure 5 The stress detection device installation position according to the embodiments of the present application is schematically shown;

[0054] Figure 6 The size parameter of the boom according to the embodiments of the present application is schematically shown;

[0055] Figure 7 The center of gravity distance according to the embodiments of the present application is schematically shown.

[0056] Reference Signs List

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

[0058] In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the drawings in the embodiments of the present application. It should be understood that the specific embodiments described herein are merely used to explain and illustrate the embodiments of the present application, and should not be used to limit the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of protection of the present 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, etc.), the directional indications are only used to explain the relative positional relationship, movement condition, etc. between components in a certain posture (as shown in the drawings), and if the certain posture changes, the directional indications also change accordingly.

[0060] In addition, if the embodiments of the present application involve descriptions such as "first", "second", etc., the descriptions of "first", "second", etc. are only for description purposes, and should not be understood as indicating or implying the relative importance of the indicated technical features or implicitly indicating the number of the indicated technical features. Therefore, the features limited by "first", "second" can explicitly or implicitly include at least one of the features. In addition, the technical solutions of each embodiment can be combined with each other, but it must be based on the fact that a person of ordinary skill in the art can realize it, and when the combination of technical solutions appears contradictory or unachievable, it should be considered that the combination of technical solutions does not exist, and is also not within the scope of protection claimed by the present application.

[0061] Figure 1 A flowchart of a dynamic load coefficient determination method according to an embodiment of the present application is schematically shown. As shown in Figure 1 The present application provides a dynamic load coefficient determination method, applied to an engineering equipment, the engineering equipment comprising an arm support, the arm support comprising a plurality of section arms, the dynamic load coefficient determination method comprising:

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

[0063] It should be noted that the engineering equipment includes equipment for transporting medium, the engineering equipment includes an arm support, a conveying pipe is laid along the arm support, the conveying pipe is used for transporting medium and finally outputting the medium through a terminal hose; the medium can include concrete, sandstone and other substances. In this embodiment, the medium is concrete, and the engineering equipment is a concrete pump truck. In the working process of the concrete pump truck, the periodic flow of concrete in the conveying pipe causes the vibration of the arm support, and the arm support will bear the alternating dynamic load. By directly multiplying a dynamic load coefficient on the static load to obtain the dynamic load, with the development of the length and lightweight degree of the arm support, the current dynamic load coefficient cannot truly reflect the stress condition of the pump truck in the working state. In this embodiment, by determining the bending moment-stress proportional coefficient of each section arm, the dynamic bending moment and the static bending moment of each section arm are obtained, and then the medium dynamic load coefficient and the structure dynamic load coefficient of each section arm are obtained.

[0064] Specifically, since the root bending moment of each section arm of the arm support is the largest when the arm support is in the horizontal working condition, in this embodiment, the horizontal working condition of the arm support is adopted to determine the dynamic load coefficient. The posture of the arm support in the horizontal working condition can be referred to Figure 2 The first section arm 100, the second section arm 101 and the terminal section arm 102 are all in the horizontal working condition. It should be noted that the arm support in the horizontal working condition can be referred to Figure 3 The no-load static test refers to a stress test performed when the posture of the arm support is horizontal, no concentrated load is hung on the arm support, and no pumping is performed. The reference Figure 4 The terminal hanging static test refers to a stress test performed when the posture of the arm support is horizontal, an additional concentrated load is hung on the terminal of the arm support, and no pumping is performed.

[0065] When performing the stress test, the stress of each section arm of the arm support under different test conditions needs to be obtained. Specifically, in an embodiment, the section arm includes a stress detection device, the stress detection device is installed on the corresponding control section of the section arm, the control section is a plane perpendicular to the extension direction of the arm support, the distance between the position of the stress detection device and the stress concentration position of the arm support 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.

[0066] It should be noted that the stress detection device can include a strain gauge, a stress meter and a stress monitor, etc., and the stress detection device is used for detecting the stress in the section arm. The reference Figure 5In the embodiment, in order to realize the accuracy of the stress detection of the boom, the stress detection device 200 is installed on the control section 400 corresponding to the boom. The plane perpendicular to the telescopic direction of the cantilever rectangular structure at the box section is referred to as the control section 400. The installation position of the stress detection device 200 should be convenient for arrangement, and it is necessary to ensure that the stress detection device 200 does not change position or be damaged during the extension and retraction of the cantilever. The position of the stress detection device 200 should be kept at a distance from the stress concentration positions of the cantilever, including the butt weld 310, the main weld 340 and the like. In the embodiment, the distance between the position of the stress detection device 200 and the stress concentration positions of the cantilever is controlled by a first preset distance. The first preset distance can include a plurality of distances corresponding to different stress concentration positions of the cantilever. For reference, Figure 5 d1 is used to limit the distance between the stress detection device 200 and the butt weld 310; and 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 boom. In the embodiment, the distance between the position of the stress detection device 200 and the root rotation center of the boom is controlled by a second preset distance. For reference, 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 cantilever structure and application scenarios.

[0067] In the embodiment, by determining the installation position of the stress detection device, the effectiveness and accuracy of the stress of the boom in each stress test are ensured.

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

[0069] The no-load static stress of the boom is determined based on the no-load static test;

[0070] The end-mounted static stress of the boom is determined based on the end-mounted static test;

[0071] The first distance of the boom is determined based on the position of the boom in the cantilever, wherein the first distance is the distance between the stress detection device in the boom and the end mounting point in the end-mounted static test;

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

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

[0074] It should be noted that, for a fixed structure of the arm support system, the stress value at a certain position of the arm support and the bending moment of the cross section at the position are linearly related, 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 section of the arm support and calculating the bending moment of each section, the bending moment-stress proportionality coefficient of each section can be determined.

[0078] Specifically, the end-mounted static stress refers to the stress obtained by the stress detection device in the section arm during the end-mounted static test. The empty static stress refers to the stress obtained by the stress detection device in the section arm during the empty static test. The value of the stress detection device is cleared before the test. During the test, the end-mounted static stress of each section arm during the end-mounted static test is obtained by the stress detection device. And the empty static stress of each section arm during the empty static test is obtained by the stress detection device. The additional bending moment of each section arm when the additional concentrated load is hung at the end of the arm support is obtained by the end-mounted static test. Referring to Figure 6 , L1~L n represents the length of each section arm, l1~l n represents the distance between the stress detection device 200 and the root rotation center of the section arm, the first distance is the distance between the stress detection device 200 in the section arm and the end-mounted point during the end-mounted static test, which can be calculated by the following formula:

[0079]

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

[0081] Based on the first distance and the end-mounted load in the end-mounted static test, the additional bending moment of the section arm can be calculated:

[0082]

[0083] Wherein, δM i represents the additional bending moment of the i-th section arm; δm represents the end-mounted load; g represents the acceleration of gravity.

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

[0085]

[0086] wherein, K i represents the bending moment-stress proportionality coefficient of the i-th section arm; δM i represents the additional bending moment of the i-th section arm; σ' ki represents the terminal mounting static stress; σ ki represents the empty load static stress.

[0087] In the embodiment, the bending moment-stress proportionality coefficient of the section arm is determined based on the empty load static test and the terminal mounting static test, which provides a calculation basis for subsequent determination of the bending moment of the section arm under different working conditions, so as to ensure the effectiveness of the bending moment of the section arm, and further improve the accuracy of the calculation of the dynamic load coefficient.

[0088] In step 200, the empty load static stress, the medium pumping static stress, the medium pumping dynamic stress and the pump water dynamic stress of the section arm are respectively determined based on the empty load static test, the medium pumping static test, the medium pumping dynamic test and the pump water dynamic test.

[0089] In the embodiment, it should be noted that the medium pumping static test refers to a stress test in which equivalent loads with the same weight as the concrete are hung on the conveying pipelines corresponding to each section arm of the boom when the boom attitude is horizontal, and the total of all hung loads is equal to the weight of the concrete when the full pipe rate of pumping reaches 100%. The medium pumping dynamic test refers to a stress test in which the concrete is pumped and the full pipe rate of pumping reaches 100% when the boom attitude is horizontal. The pump water dynamic test refers to a stress test in which water is pumped and the full pipe rate of pumping reaches 100% when the boom attitude is horizontal. It should be noted that the medium pumping static stress refers to the stress obtained by the stress detection device in the section arm in the medium pumping static test. The medium pumping dynamic stress refers to the stress obtained by the stress detection device in the section arm in the medium pumping dynamic test. The pump water dynamic stress refers to the stress obtained by the stress detection device in the section arm in the pump water dynamic test. The stress detection device in each section arm respectively obtains the corresponding empty load static stress, medium pumping static stress, medium pumping dynamic stress and pump water dynamic stress in the empty load static test, medium pumping static test, medium pumping dynamic test and pump water dynamic test.

[0090] In one embodiment, the medium pumping dynamic stress of the section arm is determined based on the medium pumping dynamic test, comprising:

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

[0092] It should be noted that in the medium pumping dynamic test, 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 stable stage in the later stage of pumping. In this embodiment, the stability of the end amplitude is limited by the preset stable condition. By limiting the end amplitude when obtaining the stress, the effectiveness of obtaining the water pumping dynamic stress is improved.

[0093] In one embodiment, the water pumping dynamic stress of the boom is determined based on the water pumping dynamic test, comprising:

[0094] The amplitude difference is controlled 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] In the case that the end amplitude of the boom in the water pumping dynamic test meets the preset stable condition, the maximum stress of the boom is obtained as the water pumping dynamic stress.

[0096] It should be noted that in the water pumping dynamic test, the vibration of the end of the boom is monitored, 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 gear, pumping pressure and other parameters are continuously adjusted to control the amplitude difference within the preset difference range, so that 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 are consistent. In the water pumping dynamic test, the test result of the stable stage in the later stage of pumping is also selected, and the stability of the end amplitude is limited by the preset stable condition. By limiting the end amplitude when obtaining the stress, the effectiveness of obtaining the water pumping dynamic stress is improved.

[0097] Step 300, 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 respectively to obtain the no-load static bending moment of the boom, the total medium pumping static bending moment, the total medium pumping dynamic bending moment and the water pumping dynamic bending moment.

[0098] In this embodiment, after the bending moment-stress proportionality coefficient is determined and the no-load static stress, the medium pumping static stress, the medium pumping dynamic stress and the water pumping dynamic stress are obtained, the bending moment-stress proportionality coefficient is multiplied by 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 boom, the total medium pumping static bending moment, the total medium pumping dynamic bending moment and the water pumping dynamic bending moment.

[0099] Specifically, the calculation can be performed by the following formula:

[0100] M ki = K i σ ki , i = 1, 2, 3,..., n

[0101] wherein, M ki represents the dead static bending moment of the ith joint arm; K i represents the bending moment-stress proportionality coefficient of the ith joint arm; σ ki represents the dead static stress of the ith joint arm.

[0102] M ci = K i σ ci , i = 1, 2, 3,..., n

[0103] wherein, M ci represents the medium-pumping total static bending moment of the ith joint arm; K i represents the bending moment-stress proportionality coefficient of the ith joint arm; σ ci represents the medium-pumping static stress of the ith joint arm.

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

[0105] wherein, M' ci represents the medium-pumping total dynamic bending moment of the ith joint arm; K i represents the bending moment-stress proportionality coefficient of the ith joint arm; σ' ci represents the medium-pumping dynamic stress of the ith joint arm.

[0106] M wi = K i σ wi , i = 1, 2, 3,..., n

[0107] wherein, M wi represents the water-pumping dynamic bending moment of the ith joint arm; K i represents the bending moment-stress proportionality coefficient of the ith joint arm; σ wi represents the water-pumping dynamic stress of the ith joint arm.

[0108] Step 400, determining the dynamic load coefficient of the joint arm based on the dead static bending moment, the medium-pumping total static bending moment, the medium-pumping total dynamic bending moment and the water-pumping dynamic bending moment, wherein the dynamic load coefficient comprises a medium dynamic load coefficient and a structure dynamic load coefficient.

[0109] It should be noted that the above obtained dead load static bending moment, medium pumping total static bending moment, medium pumping total dynamic bending moment and pump water dynamic bending moment are each stress test that simultaneously includes concrete related bending moment and structure related bending moment. The concrete related bending moment refers to the bending moment generated 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 dead load static bending moment, medium pumping total static bending moment, medium pumping total dynamic bending moment and pump water dynamic bending moment, the concrete related dynamic bending moment and static bending moment, and the structure related dynamic bending moment and static bending moment can be respectively obtained, and then the medium dynamic load coefficient and the structure dynamic load coefficient of each section arm can be respectively calculated.

[0110] After obtaining the dynamic load coefficient, after obtaining the structure static load and the medium static load, the dynamic load can be calculated by the following formula:

[0111] P = aP1 + bP2

[0112] Wherein, P represents the dynamic load; a represents the structure dynamic load coefficient; P1 represents the structure static load; b represents the medium dynamic load coefficient; P2 represents the medium static load.

[0113] In the embodiment, the bending moment-stress proportionality coefficient of the section arm is determined based on the dead load static test and the end-mounted static test; the dead load static stress, the medium pumping static stress, the medium pumping dynamic stress and the pump water dynamic stress of the section arm are respectively determined based on the dead load static test, the medium pumping static test, the medium pumping dynamic test and the pump water dynamic test; the bending moment-stress proportionality coefficient is combined with the dead load static stress, the medium pumping static stress, the medium pumping dynamic stress and the pump water dynamic stress respectively to obtain the dead load static bending moment, the medium pumping total static bending moment, the medium pumping total dynamic bending moment and the pump water dynamic bending moment of the section arm; the dynamic load coefficient of the section arm is determined based on the dead load static bending moment, the medium pumping total static bending moment, the medium pumping total dynamic bending moment and the pump water dynamic bending moment, wherein the dynamic load coefficient includes the medium dynamic load coefficient and the structure dynamic load coefficient. By respectively obtaining the structure dynamic load coefficient and the medium dynamic load coefficient in the actual pumping process of the medium, 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 section arm is determined based on the dead load static bending moment, the medium pumping total static bending moment, the medium pumping total dynamic bending moment and the pump water dynamic bending moment, comprising:

[0115] In the case that the section arm is the end section arm of the boom, the first medium dynamic bending moment is determined based on the medium pumping total dynamic bending moment, the pump water dynamic bending moment, the medium density and the water density;

[0116] The first medium static bending moment is determined based on the medium pumping total static bending moment and the dead load static bending moment;

[0117] determining a dynamic load coefficient of the medium based on a ratio of the first dynamic bending moment of the medium and the first static bending moment of the medium;

[0118] determining the first dynamic bending moment of the structure based on the total dynamic bending moment of the medium pumped and the first dynamic bending moment of the medium;

[0119] determining a dynamic load coefficient of the structure based on a ratio of the first dynamic bending moment of the structure and the static bending moment of the empty load.

[0120] In the embodiment, it is to be noted that, in the case that the joint arm is at the end joint arm of the arm support, the first dynamic bending moment of the medium can be calculated by the following formula:

[0121]

[0122] wherein, M a represents the first dynamic bending moment of the medium; M c ' i represents the total dynamic bending moment of the medium pumped; M wi represents the dynamic bending moment of the pumped water; p c represents the density of the medium; p w represents the density of the water.

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

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

[0125] wherein, M' a represents the first static bending moment of the medium; M ci represents the total static bending moment of the medium pumped; M ki represents the static bending moment of the empty load.

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

[0127]

[0128] wherein, b i represents the dynamic load coefficient of the medium; M a represents the first dynamic bending moment of the medium; M' a represents the first static bending moment of the medium.

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

[0130]

[0131] wherein, M b represents the first dynamic bending moment of the structure; M c 'i denotes the total dynamic bending moment of the medium; M a denotes the first dynamic bending moment of the medium.

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

[0133]

[0134] wherein α i denotes the structural dynamic load coefficient; M b denotes the first dynamic bending moment of the structure; M ki denotes the no-load static bending moment.

[0135] Further, in one embodiment, the dynamic load coefficient determination method further comprises:

[0136] In the case that 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 comprises 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;

[0137] obtaining a size parameter of the target joint arm, a first parameter of the target joint arm, and a second parameter of the transportation medium corresponding to the target joint arm, wherein the first parameter comprises a mass of the target joint arm and a first center-of-gravity distance, the first center-of-gravity distance being a distance from a center of gravity of the target joint arm to a root rotation center of the target joint arm, and the second parameter comprises a mass of the transportation medium and a second center-of-gravity distance, the second center-of-gravity distance being a distance from a center of gravity of the transportation medium to the root rotation center of the target joint arm;

[0138] determining, in sequence, a second dynamic bending moment of the medium of each target joint arm between the end joint arm and the joint arm based on the dynamic load coefficient of the medium of the end joint arm, the size parameter, and the second parameter;

[0139] determining, in sequence, a second static bending moment of the medium of each target joint arm between the end joint arm and the joint arm based on the size parameter and the second parameter;

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

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

[0142] determining, in sequence, a second dynamic bending moment of the structure of each target joint arm between the end joint arm and the joint arm based on the dynamic load coefficient of the structure of the end joint arm, the size parameter, and the first parameter;

[0143] Based on the size parameter and the first parameter, the second structure static bending moment of each target segment arm between the end segment arm and the segment arm is determined in sequence;

[0144] The sum of all the second structure dynamic bending moments is determined as a structure dynamic bending moment sum, and the sum of all the second structure static bending moments is determined as a structure static bending moment sum;

[0145] The structure dynamic load coefficient of the segment arm is determined based on the ratio of a structure dynamic bending moment difference and a structure static bending moment difference, wherein the structure dynamic bending moment difference is equal to the difference between the first structure dynamic bending moment of the segment arm and the structure dynamic bending moment sum, and the structure static bending moment difference is equal to the difference between the empty load static bending moment and the structure static bending moment sum.

[0146] In the embodiment, it is to be noted that, in the case that the current segment arm is not the end segment arm, the first medium dynamic bending moment, the first medium static bending moment, the first structure dynamic bending moment and the empty load static bending moment corresponding to the segment arm are not only the bending moment data of the segment arm itself, but also the sum of all the bending moment data from the current segment arm to the end segment arm. Therefore, in order to obtain the medium dynamic load coefficient and the structure dynamic load coefficient of the segment arm, the calculation method of the end segment arm cannot be directly used, and the bending moment data of the target segment arm should be subtracted from the calculation method.

[0147] It is to be noted that the target segment arm includes the end segment arm and the first segment arm, which is the segment arm between the currently calculated segment arm and the end segment arm. The size parameter of the target segment arm includes the arm length of the target segment arm and the distance between the stress detection device and the root rotation center of the target segment arm. As shown in Figure 6 , L1~L n represent the arm length of each segment arm, and l1~l n represent the distance between the stress detection device and the root rotation center of the segment arm. The first parameter includes the mass of the target segment arm and the first center of gravity distance, wherein the mass of the target segment arm is equal to the sum of the mass of the segment arm itself and the weight of the conveying pipe part corresponding to the segment arm; and the first center of gravity distance is the distance from the center of gravity of the target segment arm to the root rotation center of the target segment arm, as shown in Figure 7 , G bi . The mass of the second parameter is the mass of the medium transported by the engineering equipment, and the second center of gravity distance is the distance from the center of gravity of the conveying pipe corresponding to the target segment arm to the root rotation center of the target segment arm when the medium is pumped, as shown in Figure 7 , G ci .

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

[0149]

[0150] wherein, Msa denotes the medium dynamic bending moment sum of the jth target boom; β j denotes the medium dynamic load coefficient of the jth target boom; m cj denotes the mass of the transport medium of the jth target boom; G ci denotes the second center of gravity distance of the ith target boom.

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

[0152]

[0153] wherein M' sa denotes the medium static bending moment sum.

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

[0155]

[0156] wherein β i denotes the medium dynamic load coefficient of the ith boom.

[0157] It can be understood that when the medium dynamic bending moment sum is calculated, the medium dynamic load coefficient β j of the jth boom needs to be calculated in turn from the end boom, i.e. the medium dynamic load coefficient of the nth boom is calculated first, and then the medium dynamic load coefficient of the n-1th boom is obtained, and thus the medium dynamic load coefficient β j of the jth boom is determined.

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

[0159]

[0160] wherein M sb denotes the structure dynamic bending moment sum; α j denotes the medium dynamic load coefficient of the jth target boom; m j denotes the mass of the jth target boom; G bi denotes the first center of gravity distance of the ith target boom.

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

[0162]

[0163] wherein M s ' b denotes the structure static bending moment sum.

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

[0165]

[0166] wherein, a i represents the structural dynamic load coefficient of the ith section arm.

[0167] It can be understood that, in the calculation of the structural dynamic bending moment, the structural dynamic load coefficient a j It is necessary to calculate from the end section arm in turn, first calculating the structural dynamic load coefficient of the end section arm n, that is, the structural dynamic load coefficient of the n-1th section arm can be obtained, and thus, the structural dynamic load coefficient a j .

[0168] In the embodiment, the structural dynamic load coefficient and the medium dynamic load coefficient of the medium in the actual pumping process are respectively calculated, accurate data basis is provided for the calculation of the dynamic load, the accuracy of the dynamic load calculation is improved, and the reliability of the boom structure is improved.

[0169] The embodiment of the present application further provides a dynamic load coefficient determination device, comprising:

[0170] a memory configured to store instructions;

[0171] a processor configured to call the instructions from the memory and capable of realizing the dynamic load coefficient determination method as described in the above embodiment when executing the instructions.

[0172] The embodiment of the present application further provides an engineering device, comprising:

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

[0174] a boom comprising a plurality of section arms.

[0175] The embodiment of the present application further provides a machine readable storage medium, which stores instructions for causing a machine to execute the dynamic load coefficient determination method as described in the above embodiment.

[0176] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system or a computer program product. Therefore, the present application can adopt a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can adopt the form of a computer program product implemented on one or more computer usable storage media containing computer usable program codes (including but not limited to disk storage, CD-ROM, optical storage, etc.).

[0177] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 one or more flow or blocks Figure 1 means for functionally implementing the steps listed in the flowchart block or blocks.

[0178] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instructions which implement the function specified in the flowchart block or blocks. Figure 1 one or more flow or blocks Figure 1 means for functionally implementing the steps listed in the flowchart block or blocks.

[0179] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 one or more flow or blocks Figure 1 means for functionally implementing the steps listed in the flowchart block or blocks.

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

[0181] The memory can include non-persistent memory and / or volatile memory, such as a random access memory (RAM) including a cache area for the temporary storage of data. The memory can also include non-volatile memory, such as read only memory (ROM), electrically programmable read only memory (EPROM), or electrically erasable programmable read only memory (EEPROM), for the storage of software that is read during runtime. The memory is an example of computer readable media.

[0182] Computer-readable media includes permanent and non-permanent, movable and non-movable media that can implement information storage by any method or technology. The 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 technologies, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassette, disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information accessible by a computing device. According to the definition herein, computer-readable media does not include transitory media such as modulated data signals and carriers.

[0183] It should also be noted that the terms "comprising", "containing", or any other variant thereof are intended to cover non-exclusive inclusions, so that a process, method, article or apparatus that includes a list of elements does not only include those elements, but also includes other elements not explicitly listed, or further includes elements inherent in such a process, method, article or apparatus. Without more limitations, the element defined by the statement "comprising a" does not exclude the presence of additional identical elements in the process, method, article or apparatus that includes the element.

[0184] The above only is an embodiment of the present application, and is not used to limit the present application. For those skilled in the art, the present application can have various changes and variations. Any modification, equivalent replacement, improvement, etc. within the spirit and principle of the present application shall be included in the scope of claims of the present application.

Claims

1. A method for determining the dynamic load factor, characterized in that, Applied to engineering equipment, the engineering equipment includes a boom, the boom includes multiple boom segments, and the method for determining the dynamic load factor includes: The moment-stress ratio coefficient of the boom arm was determined based on the unloaded static test and the end-loaded static test. The no-load static stress, medium pumping static stress, medium pumping dynamic stress, and pumping dynamic stress of the boom are determined based on the no-load static test, medium pumping static test, medium pumping dynamic test, and pumping dynamic test, respectively. By combining the bending moment-stress ratio coefficient with the no-load static stress, the medium pumping static stress, the medium pumping dynamic stress, and the pumping dynamic stress, the no-load static bending moment, the total medium pumping static bending moment, the total medium pumping dynamic bending moment, and the pumping dynamic bending moment of the boom are obtained. The dynamic load factor of the boom is determined based on the unloaded static bending moment, the total static bending moment of the medium pumping, the total dynamic bending moment of the medium pumping, and the dynamic bending moment of the pump water, wherein the dynamic load factor includes the medium dynamic load factor and the structural dynamic load factor. The determination of the moment-stress ratio coefficient of the boom based on the unloaded static test and the end-loaded static test includes: The no-load static stress of the boom was determined based on the no-load static test; The end-mounted static stress of the boom is determined based on the end-mounted static test. The first distance of the boom is determined based on the position of the boom in the boom, wherein the first distance is the distance between the stress detection device in the boom and the end-mount point in the end-mount static test; The additional bending moment of the boom is determined based on the first distance and the end load in the end-mounted static test; The moment-stress ratio coefficient of the boom is determined based on the difference between the additional bending moment and the stress, wherein the stress difference is equal to the difference between the static stress of the end-loaded component and the static stress of the unloaded component. The determination of the dynamic load coefficient of the boom based on the no-load static bending moment, the total static bending moment of the medium pumping, the total dynamic bending moment of the medium pumping, and the dynamic bending moment of the pumped water includes: When the boom is the end boom of the boom, the first dynamic bending moment of the medium is determined based on the total dynamic bending moment of the medium pumping, the dynamic bending moment of the pumped water, the medium density, and the water density. The first medium static bending moment is determined based on the total static bending moment of the pumped medium and the static bending moment under no-load conditions. The dynamic load factor of the medium is determined based on the ratio of the dynamic bending moment of the first medium to the static bending moment of the first medium. The first structural dynamic bending moment is determined based on the total dynamic bending moment of the pumped medium and the first dynamic bending moment of the medium. The dynamic load factor of the structure is determined based on the ratio of the first dynamic bending moment of the structure to the unloaded static bending moment.

2. The method for determining the dynamic load coefficient according to claim 1, characterized in that, Also includes: In the case that the boom segment is not the end boom segment of the boom, a target boom segment is determined based on the position of the boom segment, wherein the target boom segment includes the end boom segment and a first boom segment, and the first boom segment is located between the end boom segment and the boom segment; The size parameters of the target segment arm, the first parameter of the target segment arm, and the second parameter of the transport medium corresponding to the target segment arm are obtained. The first parameter includes the mass of the target segment arm and the first center of gravity distance, which is the distance from the center of gravity of the target segment arm to the root rotation center of the target segment arm. The second parameter includes the mass of the transport medium and the second center of gravity distance, which is the distance from the center of gravity of the transport medium to the root rotation center of the target segment arm. Based on the medium dynamic load coefficient of the end arm, the dimensional parameters, and the second parameter, the second medium dynamic bending moment of each target arm between the end arm and the arm is determined sequentially; Based on the dimensional parameters and the second parameter, the second medium static bending moment of each target segment between the end segment and the segment is determined sequentially; The sum of all dynamic bending moments of the second medium is determined as the sum of dynamic bending moments of the medium, and the sum of all static bending moments of the second medium is determined as the sum of static bending moments of the medium; The dynamic load factor of the boom is determined based on the ratio of the difference between the dynamic bending moment and the difference between the static bending moment of the medium, wherein the difference between the dynamic bending moment and the difference between the dynamic bending moment of the medium is equal to the difference between the first dynamic bending moment of the medium and the sum of the dynamic bending moments of the medium, and the difference between the static bending moment and the difference between the static bending moment of the medium is equal to the difference between the first static bending moment of the medium and the sum of the static bending moments of the medium. Based on the structural dynamic load factor of the end arm, the dimensional parameters, and the first parameter, the second structural dynamic bending moment of each target arm between the end arm and the arm is determined sequentially. Based on the dimensional parameters and the first parameter, the second structural static bending moment of each target segment between the end segment and the segment is determined sequentially; The sum of all dynamic bending moments of the second structure is determined as the sum of dynamic bending moments of the structure, and the sum of all static bending moments of the second structure is determined as the sum of static bending moments of the structure. The structural dynamic load factor of the boom 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 boom and the sum of the structural dynamic bending moments, and the structural static bending moment difference is equal to the difference between the unloaded static bending moment and the sum of the structural static bending moments.

3. The method for determining the dynamic load coefficient according to claim 1, characterized in that, The determination of the media pumping dynamic stress of the boom based on the media pumping dynamic test includes: During the dynamic test of media pumping, the end amplitude of the boom is monitored. When the end amplitude meets the preset stability conditions, the maximum stress of the boom is obtained as the dynamic stress of media pumping.

4. The method for determining the dynamic load coefficient according to claim 3, characterized in that, The determination of the pumping dynamic stress of the boom based on pumping dynamic tests includes: The amplitude difference is controlled within a preset 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. In the dynamic pumping test, if the end amplitude of the boom meets the preset stability conditions, the maximum stress of the boom segment is obtained as the dynamic pumping stress.

5. The method for determining the dynamic load coefficient according to claim 1, characterized in that, The boom segment includes a stress detection device, which is installed on a control section corresponding to the boom segment. The control section is a plane perpendicular to the boom extension direction. The distance between the position of the stress detection device and the stress concentration position of the boom segment 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 segment is less than or equal to a second preset distance.

6. A device for determining dynamic load coefficient, characterized in that, include: The memory is configured to store instructions; The processor is configured to retrieve the instructions from the memory and, when executing the instructions, to implement the dynamic load coefficient determination method according to any one of claims 1 to 5.

7. An engineering device, characterized in that, include: The dynamic load coefficient determining device according to claim 6; The boom consists of multiple boom segments.

8. A machine-readable storage medium, characterized in that, The machine-readable storage medium stores instructions for causing the machine to perform the dynamic load factor determination method according to any one of claims 1 to 5.

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