Mass center measuring method and device based on lifting appliance and storage medium

Abstract

The invention discloses a mass center measuring method and device based on a lifting appliance and a storage medium. The lifting appliance comprises two vertically-intersected suspension arms, and a first lifting hook is arranged at the intersection of the two suspension arms; a tilt angle sensor is arranged on the horizontal plane of each suspension arm; a sliding rail is arranged below each suspension arm, and a sliding block is arranged on each sliding rail; the method comprises the following steps: adjusting a slide block on a slide rail to enable the reading of a tilt angle sensor arranged on the horizontal plane of each suspension arm to be zero; hoisting the measured object away from the ground by using hoisting equipment; the sliding block on the sliding rail is adjusted again, and the reading of each tilt angle sensor is made to be zero again; recording the mass borne by each rotary hanging ring; establishing a two-dimensional coordinate system by taking the first lifting hook as a coordinate center, and calculating a centroid coordinate of the measured object based on the two-dimensional coordinate system and the mass; the mass center of the object can be rapidly and accurately measured through a simple mechanical structure and moment calculation, and the mass center measuring device is suitable for field operation and low in cost.

Description

Technical Field

[0001] The present invention relates to the technical field of hoisting, and particularly relates to a centroid measurement method, device and storage medium based on a lifting appliance. Background Art

[0002] A lifting appliance refers to a device for lifting heavy objects in a hoisting machine. The most commonly used lifting appliances for lifting finished goods are hooks and slings. There are also other lifting appliances such as eyebolts, lifting magnets, tongs and forklift tines, etc. They are widely used in the hoisting industry. A horizontal lifting appliance is a process equipment often used in the hoisting and transportation process of rotating body products.

[0003] In mechanical engineering and logistics transportation, accurately measuring the centroid of an object is crucial for ensuring safety and improving efficiency. Traditional centroid measurement methods usually require complex equipment and cumbersome operation steps, such as using 3D scanners, gravity sensor arrays, etc. These methods are not only costly but also complex to operate and difficult to implement quickly on-site. Summary of the Invention

[0004] The main purpose of the present invention is to provide a centroid measurement method, device and storage medium based on a lifting appliance, aiming to solve the technical problems in the prior art.

[0005] To achieve the above purpose, the present invention provides a centroid measurement method based on a lifting appliance. The lifting appliance includes two perpendicularly intersecting suspension arms. At the intersection of the two suspension arms, a first hook is provided for connecting with a hoisting device; on both sides of the edge of each suspension arm, a second hook is provided for connecting with a rotating eyebolt; on the horizontal plane of each suspension arm, an inclination sensor is provided; below each suspension arm, a slide rail is provided, and on each slide rail, a slider is provided. The centroid measurement method based on the lifting appliance is characterized in that it includes:

[0006] Adjust the sliders on the slide rails to make the readings of the inclination sensors provided on the horizontal plane of each suspension arm zero;

[0007] Connect with the object to be measured through the rotating eyebolt, and use the hoisting device to lift the object to be measured off the ground through the first hook of the lifting appliance;

[0008] Adjust the sliders on the slide rails again to make the readings of the inclination sensors provided on the horizontal plane of each suspension arm zero;

[0009] Record the mass borne by each rotating eyebolt at this time;

[0010] Taking the first hook as the coordinate center, establish a two-dimensional coordinate system, and calculate the centroid coordinates of the object to be measured based on the two-dimensional coordinate system and the mass borne by each rotating eyebolt.

[0011] Preferably, there are 4 second hooks in total, and the distance between each second hook and the first hook is equal.

[0012] Preferably, the rotating eyebolt includes: two rotating eyebolt nuts and one tension sensor. One of the rotating eyebolt nuts is used to connect with the second hook, and the other rotating eyebolt nut is used to connect with the object to be measured; and the tension sensor is located between the two rotating eyebolt nuts and is connected to the two rotating eyebolt nuts through threads.

[0013] Preferably, a two-dimensional coordinate system is established with the first hook as the coordinate center, including: with the first hook as the coordinate center, one of the suspension arms is the x-axis and the other suspension arm is the y-axis.

[0014] Preferably, obtaining the centroid coordinates of the object to be measured based on the two-dimensional coordinate system and the mass borne by each rotating eyebolt includes: according to the moment formula, obtaining the centroid coordinates of the object to be measured. The coordinate of the centroid of the object to be measured on the x-axis: x = (m1*R - m3*R) / (m1 + m2 + m3 + m4); y = (m4*R - m2*R) / (m1 + m2 + m3 + m4), where x is the coordinate of the centroid of the object to be measured on the x-axis, y is the coordinate of the centroid of the object to be measured on the y-axis, m1, m2, m3, m4 are the readings of the tension sensor respectively; R is the distance between the second hook and the first hook.

[0015] Preferably, the masses of the sliders are the same or different. By adjusting the sliders, the suspension arms are kept in a horizontal state, that is, the readings of the inclination sensors arranged on the horizontal planes of each suspension arm are zero, and the adjustment process can be realized whether the masses of the sliders are the same or different.

[0016] In addition, to achieve the above object, the present application also proposes a centroid measurement device based on a lifting tool. The centroid measurement device includes: a memory, a processor, and a centroid measurement program based on the lifting tool stored on the memory and executable on the processor. The centroid measurement program based on the lifting tool is configured to implement the mass measurement method based on the lifting tool as described above.

[0017] In addition, to achieve the above object, the present application also proposes a computer-readable storage medium. A centroid measurement program based on the lifting tool is stored on the computer-readable storage medium. When the centroid measurement program based on the lifting tool is executed by a processor, the method for centroid measurement based on the lifting tool as described above is implemented.

[0018] The present invention provides a centroid measurement method based on a spreader. The spreader includes two vertically intersecting suspension arms. At the intersection of the suspension arms, a first hook is provided for connecting with a lifting device; on both sides of the edge of each suspension arm, second hooks are provided for connecting with a rotating sling; on the horizontal plane of each suspension arm, an inclination sensor is provided; below each suspension arm, a slide rail is provided, and a slider is arranged on each slide rail. The suspension arms are leveled by adjusting the sliders on the slide rails. After lifting an object, the sliders are adjusted again to level the suspension arms, and the mass borne by the rotating sling is recorded. A two-dimensional coordinate system is established with the first hook as the coordinate center, and the centroid coordinates of the object to be measured are calculated based on the moment formula. Through the dynamic adjustment of the inclination sensor and the slider, the inclination error of the spreader is quickly eliminated, and the centroid is directly calculated in combination with the data of the tension sensor, with an accuracy up to the millimeter level; it is applicable to objects with different shapes / mass distributions, and the mass of the slider is adjustable to adapt to various loads; using conventional sensors and mechanical structures, no complex calibration or scanning equipment is required. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The drawings herein are incorporated into the specification and form a part of this specification, showing embodiments consistent with the present application, and are used together with the specification to explain the principles of the present application.

[0020] To more clearly illustrate the technical solutions in the embodiments of the present application or in the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, for those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0021] Figure 1 It is a schematic structural diagram of the spreader related to the embodiment solution of the present invention;

[0022] Figure 2 It is a schematic flow diagram of the centroid measurement method based on the spreader related to the embodiment solution of the present invention;

[0023] Figure 3 It is a schematic diagram for calculating the centroid coordinates of the object to be measured in the method embodiment of the present invention;

[0024] The realization, functional features and advantages of the object of the present invention will be further described in combination with the embodiments with reference to the drawings. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0025] In this embodiment, the centroid measurement method based on the spreader includes a spreader, which includes two perpendicularly intersecting suspension arms. A first hook is provided at the intersection of the two suspension arms for connecting with a lifting device; second hooks are provided on both sides of the edge of each suspension arm for connecting with a rotating sling; inclination sensors are provided on the horizontal planes of each suspension arm; slide rails are provided below each suspension arm, and sliders are provided on each slide rail.

[0026] An embodiment of the present invention provides a centroid measurement method based on a spreader. Refer to Figure 2 , Figure 2 , which is a schematic flowchart of an embodiment of the centroid measurement method based on the spreader of the present invention. The centroid measurement method based on the spreader includes:

[0027] By adjusting the sliders on the slide rails, the readings of the inclination sensors provided on the horizontal planes of each suspension arm are made zero.

[0028] It should be noted that ensure that the inclination sensors are correctly installed on each suspension arm, and the sensors have been calibrated. Connect the sensors to a data acquisition device or a display to view the readings in real time; check whether all suspension arms are approximately in a horizontal position. If it is significantly inclined, first perform a rough adjustment, and then use a screwdriver and a wrench to finely adjust the slider position of the suspension arm until the readings of the inclination sensors on the horizontal planes of the two suspension arms are zero. Once the readings of the inclination sensors of all suspension arms are zero, use a screwdriver and a wrench to fix the sliders on the slide rails to prevent them from moving.

[0029] Through the above steps, it can be ensured that the readings of the inclination sensors provided on the horizontal planes of each suspension arm are zero, thereby achieving precise horizontal calibration of the system.

[0030] Connect with the object to be measured through the rotating sling, and use the lifting device to lift the object to be measured off the ground through the first hook of the spreader.

[0031] It should be noted that before starting any operation, ensure that all equipment (including lifting equipment, slings, rotating eyebolts, etc.) is in good condition without damage or wear. At the same time, check whether the working area is safe and remove any obstacles that may impede the operation. Understand the weight, shape, size, and center of gravity position of the object to be measured, and ensure that appropriate slings and lifting methods are selected. For objects with irregular shapes or offset centers of gravity, additional support or balancing measures may be required. Install rotating eyebolts at appropriate positions on the object to be measured according to its characteristics. Ensure that the eyebolts of the lifting equipment are firmly fixed to the object to be measured and can withstand the forces generated during the lifting process. Connect the first hook of the sling correctly to the eyebolt of the lifting equipment. Ensure that the connection point is safe and reliable to avoid slipping or other accidents during the lifting process. Before the formal lifting, conduct a light load test first, that is, slowly lift the object to be measured by a few centimeters, check the stability of the entire system, and continue the operation after confirmation. Operate the lifting equipment to smoothly lift the object to be measured off the ground. Pay attention to controlling the speed to avoid sudden acceleration or deceleration causing the object to sway. During the entire lifting process, continuously monitor the state of the object to be measured and the changes in the surrounding environment to ensure the safety of the operation.

[0032] Adjust the slider on the slide rail again so that the readings of the inclination sensors arranged on the horizontal planes of each of the suspension arms are zero, and record the mass borne by each of the rotating eyebolts at this time;

[0033] It should be noted that after the object to be measured is lifted off the ground, adjust the slider on the slide rail again so that the readings of the inclination sensors arranged on the horizontal planes of each of the suspension arms are zero, that is, both suspension arms are in a horizontal state, and record the mass borne by each of the rotating eyebolts at this time;

[0034] It should be noted that the mass borne by each of the rotating eyebolts is obtained through the tension sensors in the rotating eyebolts. Specifically, each rotating eyebolt includes: two rotating eyebolt nuts and one tension sensor. One of the rotating eyebolt nuts is used to connect to the second hook, and the other rotating eyebolt nut is used to connect to the object to be measured; and the tension sensor is located between the two rotating eyebolt nuts and is connected to the two rotating eyebolt nuts through threads. When the object to be measured is lifted off the ground and the slider is adjusted to keep the suspension arms horizontal, the tension sensors are subjected to gravity and generate readings m1, m2, m3, m4, and m1 + m2 + m3 + m4 is equal to the mass of the entire object to be measured.

[0035] See Figure 3 , Figure 3 which shows a schematic diagram for calculating the centroid coordinates of the object to be measured in the method embodiment of the present invention. Taking the first hook as the coordinate center, a two-dimensional coordinate system is established, and based on the two-dimensional coordinate system and the mass borne by each of the rotating eyebolts, the centroid coordinates of the object to be measured are calculated.

[0036] It should be noted that with the first hook as the coordinate center, one of the suspension arms is the x-axis and the other suspension arm is the y-axis. According to the moment formula, the centroid coordinates of the object to be measured are obtained. The coordinate of the centroid of the object to be measured on the x-axis: x = (m1*R - m3*R) / (m1 + m2 + m3 + m4); y = (m4*R - m2*R) / (m1 + m2 + m3 + m4), where a is the coordinate of the centroid of the object to be measured on the x-axis, b is the coordinate of the centroid of the object to be measured on the y-axis, the suspension points of the four second hooks are located on the x-axis or y-axis, m1, m2, m3, and m4 are the readings of the tension sensors connected to the four second hooks respectively; R is the distance between the second hook and the first hook.

[0037] The present invention provides a method for measuring the centroid of a spreader. The spreader includes two perpendicularly intersecting suspension arms. A first hook is provided at the intersection of the suspension arms for connecting to a lifting device; second hooks are provided on both sides of the edge of each suspension arm for connecting to a rotating sling; inclination sensors are provided on the horizontal plane of each suspension arm; slide rails are provided below each suspension arm, and sliders are provided on each slide rail. The sliders on the slide rails are adjusted to make the suspension arms horizontal, and after lifting the object, the sliders are adjusted again to make the suspension arms horizontal. The mass borne by the rotating sling is recorded, and a two-dimensional coordinate system is established with the first hook as the coordinate center, and the centroid coordinates of the object to be measured are calculated based on the moment formula. Through a spreader integrated with inclination sensors, slidable sliders and tension sensors, the rapid measurement of the centroid of the object to be measured is realized.

[0038] In addition, an embodiment of the present invention further provides a computer-readable storage medium, on which a transformer test strategy generation program is stored. When the transformer test strategy generation program is executed by a processor, the steps of the transformer test strategy generation method as described above are implemented.

[0039] The computer-readable storage medium provided by this application can be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or components, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: electrical connections with one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM) or flash memory, optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the above. In this embodiment, the computer-readable storage medium can be any tangible medium that contains or stores a program, and this program can be used by or in combination with an instruction execution system, device, or component. The program code contained on the computer-readable storage medium can be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (radio frequency), etc., or any suitable combination of the above.

[0040] The above computer-readable storage medium can be included in the centroid measurement device based on a spreader; it can also exist separately without being assembled into the centroid measurement device based on a spreader.

[0041] The specific implementation manner of the computer program product of the present invention is basically the same as that of each embodiment of the above-mentioned centroid measurement method based on a spreader, and will not be elaborated here.

[0042] The centroid measurement device based on a spreader provided by this application adopts the centroid measurement method in the above embodiment and can solve the technical problems generated by centroid measurement based on a spreader. Compared with the prior art, the beneficial effects of the centroid measurement device based on a spreader provided by this application are the same as those of the centroid measurement method based on a spreader provided by the above embodiment, and other technical features in the centroid measurement device based on a spreader are the same as those disclosed in the method of the above embodiment, and will not be elaborated here.

[0043] It should be understood that the above is only an example for illustration and does not constitute any limitation to the technical solution of the present invention. In specific applications, those skilled in the art can set it as needed, and the present invention does not limit this.

[0044] It should be noted that the workflow described above is only illustrative and does not limit the scope of protection of the present invention. In actual applications, those skilled in the art can select some or all of them according to actual needs to achieve the purpose of the solution of this embodiment, and no limitation is made here.

[0045] In addition, for the technical details not described in detail in this embodiment, reference can be made to the centroid measurement method based on a spreader provided in any embodiment of the present invention, and details will not be repeated here.

[0046] It should be noted that in this article, the term "including", "comprising" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or system including a series of elements not only includes those elements, but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or system. Without further limitation, an element defined by the statement "including one..." does not exclude the presence of another identical element in the process, method, article or system including that element.

[0047] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0048] Through the description of the above embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus a necessary general hardware platform. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as a read-only memory / random access memory, magnetic disk, optical disc), and includes several instructions for causing a terminal device (which can be a mobile phone, a computer, a server, an air conditioner, or a network device, etc.) to execute the methods described in various embodiments of the present invention.

[0049] The above are only the preferred embodiments of the present invention, and do not limit the patent scope of the present invention accordingly. Any equivalent structure or equivalent process transformation made by using the content of the specification and drawings of the present invention, or directly or indirectly applied in other related technical fields, shall be equally included in the patent protection scope of the present invention.

Claims

1. A centroid measurement method based on a spreader, the spreader includes two vertically intersecting suspension arms, a first hook is provided at the intersection of the two suspension arms for connecting with a lifting device; second hooks are provided on both sides of the edge of each suspension arm for connecting with a rotating eyebolt; an inclination sensor is provided on the horizontal plane of each suspension arm; a slide rail is provided under each suspension arm, and a slider is provided on each slide rail; characterized in that, The centroid measurement method based on the spreader includes: By adjusting the slider on the slide rail, the readings of the inclination sensors arranged on the horizontal plane of each suspension arm are made zero; Connect with the object to be measured through the rotating sling, and use the lifting equipment to lift the object to be measured off the ground through the first hook of the spreader; Adjust the slider on the slide rail again so that the readings of the inclination sensors arranged on the horizontal plane of each suspension arm are zero, and record the mass borne by each rotating sling at this time; Taking the first hook as the coordinate center, establish a two-dimensional coordinate system, and calculate the centroid coordinates of the object to be measured based on the two-dimensional coordinate system and the mass borne by each rotating sling.

2. The method according to claim 1, characterized in that, There are 4 second hooks in total, and the distance between each second hook and the first hook is equal.

3. The method according to claim 1, characterized in that, The rotating sling includes: two rotating sling nuts and a tension sensor. One rotating sling nut is used to connect with the second hook, and the other rotating sling nut is used to connect with the object to be measured; and the tension sensor is located between the two rotating sling nuts and is connected to the two rotating sling nuts through threads.

4. The method according to claim 1, characterized in that, The establishment of the two-dimensional coordinate system with the first hook as the coordinate center includes: taking the first hook as the coordinate center, one suspension arm as the x-axis, and the other suspension arm as the y-axis.

5. The method according to claim 1, characterized in that, Obtaining the centroid coordinates of the object to be measured based on the two-dimensional coordinate system and the mass borne by each rotating sling includes: according to the moment formula, obtaining the centroid coordinates of the object to be measured: x = (m1 * R - m3 * R) / (m1 + m2 + m3 + m4), y = (m4 * R - m2 * R) / (m1 + m2 + m3 + m4); where x is the coordinate of the centroid of the object to be measured on the x-axis, y is the coordinate of the centroid of the object to be measured on the y-axis, m1, m2, m3, m4 are the readings of the tension sensors respectively; and R is the distance between the second hook and the first hook.

6. The method according to claim 1, wherein The masses of the sliders are the same or different.

7. A centroid measurement device based on a spreader, characterized in that The centroid measurement device includes: a memory, a processor, and a centroid measurement program based on the spreader stored on the memory and executable on the processor. The centroid measurement program based on the spreader is configured to implement the centroid measurement method according to any one of claims 1 to 6.

8. A computer-readable storage medium, characterized in that, A centroid measurement program based on the spreader is stored on the computer-readable storage medium. When the centroid measurement program based on the spreader is executed by the processor, it implements the centroid measurement method according to any one of claims 1 to 6 based on the spreader.

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