CN105565163A - Device and method for detecting deflection angle of steel wire rope of hook of bridge crane - Google Patents
Device and method for detecting deflection angle of steel wire rope of hook of bridge crane Download PDFInfo
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- CN105565163A CN105565163A CN201610028501.XA CN201610028501A CN105565163A CN 105565163 A CN105565163 A CN 105565163A CN 201610028501 A CN201610028501 A CN 201610028501A CN 105565163 A CN105565163 A CN 105565163A
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- slide block
- steel rope
- edge slide
- deflection angle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/16—Applications of indicating, registering, or weighing devices
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C1/00—Measuring angles
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- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
The invention relates to the technical field of bridge cranes, in particular to a device for detecting the deflection angle of a steel wire rope of a hook of a bridge crane. The device for detecting the deflection angle of the steel wire rope of the hook of the bridge crane comprises the steel wire rope, a trolley and a reel arranged on the trolley, and further comprises a swing frame structure arranged between the reel and the trolley. The swing frame structure comprises a box body and a frame body. One end of the steel wire rope is wound on the reel, and the other end of the steel wire rope is connected with the frame body. The steel wire rope drives the frame body to move along the x axis and the y axis of the box body. The frame body is provided with a sensor corresponding to the box body. The steel wire rope in the device for detecting the deflection angle of the steel wire rope of the hook of the bridge crane provided by the invention swings to drive the frame body to move along the x axis and the y axis of the box body, the displacement is detected by the sensor and then converted into the deflection angle components in the moving direction of the trolley and a cart according to a displacement-deflection angle formula, and finally the deflection angle components are imported into a data processing system. The whole device is simple in structure.
Description
Technical field
The present invention relates to bridge crane technical field, particularly relate to a kind of bridge crane hook steel rope deflection angle detecting device and method of inspection, the bridge crane hook steel rope deflection angle detecting device that particularly a kind of survey precision is high and method of inspection.
Background technology
Crane in bridge type be modern industry produce and lifting transport in realize production process mechanization, the important tool of automation and equipment, be widely used in department and the places such as indoor and outdoor industrial and mining enterprises, steel chemical, railway traffic, port and pier and logistics turnover.But, hoisting crane is when handling goods, especially in the unmanned working environments such as steelshop, nuclear power plant, destructor plant, due to the velocity variations of cart, dolly and the impact of acromere disturbing factor, make suspension hook produce swinging back and forth of all around, affect the efficiency of crane loading operation.When off the hook, in order to make suspension hook and goods fix, and avoiding suspension hook and goods to collide, needing to wait for reasonable time, stopping swinging to make suspension hook; When lift cargo transverse shifting, cause collision in order to avoid cargo pendulation, also need suspension hook and goods to move with less speed; After the goods of handling arrives preposition, in order to preposition will be placed on exactly by lift cargo, off the hook again after also needing wait goods to stop swinging.
Although rely on the practical operation experience of craneman can realize transporting safely of goods and locate unloading, the long and working strength cycle of training due to the skilled craneman reason such as large, makes the raising of work efficiency be very limited.Therefore an urgent demand occurs that crane in bridge type is prevented shaking control policy to reduce suspension hook amplitude of fluctuation, makes suspension hook reduce as soon as possible to stop swinging.The anti-control policy that shakes is generally the amplitude, frequency and direction etc. that swing according to suspension hook, carries out reverse control, stops swinging within a short period of time to make suspension hook.
SANY Automobile Manufacturing Co., Ltd. have devised the patent of invention of " hanging hook attitude detection device and hoisting crane " by name (patent No.: CN101723239A).The acceleration/accel process that the angle obtained by angel measuring instrument by treater and acceleration analysis machine are obtained obtain suspension hook attitude parameter.
Southeast China University proposes a kind of patent of invention of crane load pivot angle method of inspection (patent No.: CN103863946A).By installing two or more wireless network stationary nodes on crane, suspension hook being installed a wireless network and swings node.Swing node to intercom mutually with stationary nodes respectively, realize the location, locus of suspension hook based on received signal intensity index (RSSI) ranging technology.
Si Mate Power Tech Corp. Inc. of Suzhou City proposes the patent of invention of a kind of crane load space pivot angle detection technique and device (patent No.: CN102923572B).Comprise sensor in the measuring box that measuring box and signal receiving processor be arranged in suspension hook/load and record the spatial attitude of suspension hook/load relative to geodetic coordinate, the signal receiving processor be arranged on crane body/arm records the spatial attitude of crane body/arm relative to geodetic coordinate based on sensor, obtain the spatial attitude parameter of crane load relative to crane body/arm by coordinate transform, the parameter calculated is transferred to overhead crane control case by bus control unit and automatically controls.
The utility model that Shanghai Maritime University develops " a kind of swing angle detection device being applicable to two-electron atom bridge crane " (patent No.: CN102642773A).Comprise horizontal rotating shaft and longitudinal rotating shaft, horizontal rotating shaft and longitudinal rotating shaft stage casing are provided with lightweight rocker, one end of horizontal rotating shaft is fixedly connected with the adjustable potentiometer of the first slide rheostat, one end of longitudinal rotating shaft is fixedly connected with the adjustable potentiometer of the second slide rheostat, the other end of affiliated first slide rheostat and the second slide rheostat is provided with Wiring port, and regulated voltage sense circuit is connected with first, second slide rheostat by described port; The signal output part of described regulated voltage sense circuit is also connected with signal processor and computing machine.
Existing technology adopts wireless communication technology to carry out hanging hook attitude measurement mostly, except detecting device is complicated, cost high except, its survey precision is also lower, and easily by such environmental effects, robustness is poor.Therefore, this kind of sensing detection method is not used widely.
Summary of the invention
(1) technical matters that will solve
The technical problem to be solved in the present invention is that existing technology adopts wireless communication technology to carry out hanging hook attitude measurement mostly, except detecting device is complicated, cost high except, its survey precision is also lower, and easily by such environmental effects, robustness is poor.Therefore, this kind of sensing detection method problem of not being used widely.
(2) technical scheme
In order to solve the problems of the technologies described above, the invention provides a kind of bridge crane hook steel rope deflection angle detecting device, this bridge crane hook steel rope deflection angle detecting device comprises steel rope, dolly, and is arranged at the reel on dolly; Also comprise the swing frame structure be arranged between described reel and described dolly, described swing frame structure comprises box body and support body, the one ends wound of described steel rope is on described reel, the other end is connected with described support body, described steel rope drives described support body to move along the x-axis of described box body and y-axis, described support body corresponds to described box body and is provided with sensor.
Preferably, described support body comprises guiding mechanism and pilot bar, and described guiding mechanism is criss-cross, and one end of described pilot bar is connected with the end of described guiding mechanism, the other end and described box body sliding block joint.
Preferably, described support body also comprises edge slide block, and described box body corresponds to described edge slide block and be provided with chute, described pilot bar is connected with described slide by described edge slide block, and described sensor setting is on described edge slide block.
Preferably, described edge slide block comprises the minor edge slide block arranged along x-axis, and along the main edge slide block that y-axis is arranged.
Preferably, described minor edge slide block comprises the second minor edge slide block and the first minor edge slide block that arrange respectively along x-axis forward, and described main edge slide block comprises the first main edge slide block and the second main edge slide block that arrange respectively along y-axis forward.
Preferably, described sensor comprises the second sensor being arranged at described minor edge slide block and the first sensor being arranged at described main edge slide block.
Preferably, described guiding mechanism comprises master slider, secondary slide block and connecting rod, and described master slider is connected with described secondary slide block by described connecting rod, and described steel rope is connected with described master slider.
Preferably, described steel rope is connected with described master slider by spherical hinge.
Preferably, described guiding mechanism is provided with guide groove, described connecting rod is connected with described master slider and secondary slide block respectively through described guide groove.
The present invention also provides a kind of bridge crane hook steel rope deflection angle method of inspection, and apply bridge crane hook steel rope deflection angle detecting device as above, wherein, concrete steps are:
S1, when steel rope does not have pivot angle, the position that first sensor records a pair main edge slide block is along the x-axis direction set as zero-bit; When steel rope does not have pivot angle, the position that the second sensor records a pair secondary main edge slide block is along the y-axis direction set as zero-bit.
S2, when steel rope produces pivot angle along the x-axis direction, first sensor records the displacement of main edge slide block; When steel rope produces pivot angle along the y-axis direction, the second sensor records the displacement of minor edge slide block.
(3) beneficial effect
Technique scheme tool of the present invention has the following advantages: steel rope in bridge crane hook steel rope deflection angle detecting device provided by the invention swings and drives support body to move along the x-axis of described box body and y-axis, and detect displacement by sensor, again by the pivot angle component that displacement-pivot angle formula scales is along dolly, cart service direction, finally import data processing system.Whole apparatus structure is simple, convenient and easy, solves problem engineering being difficult to measure bridge crane hook steel rope pivot angle.
Further, in order to avoid the wrong swing that can produce is measured, have employed the structure of connecting rod and slide block.
Accompanying drawing explanation
Fig. 1 is the structural representation of rocker in embodiment of the present invention bridge crane hook steel rope deflection angle detecting device;
Fig. 2 is the structural representation of embodiment of the present invention bridge crane hook steel rope deflection angle detecting device;
Fig. 3 is the birds-eye view of rocker in embodiment of the present invention bridge crane hook steel rope deflection angle detecting device;
Fig. 4 is that in embodiment of the present invention bridge crane hook steel rope deflection angle detecting device, rocker produces the schematic diagram of displacement along the x-axis direction along with steel rope;
Fig. 5 is that in embodiment of the present invention bridge crane hook steel rope deflection angle detecting device, rocker produces the schematic diagram of displacement along the y-axis direction along with steel rope;
Fig. 6 be in the embodiment of the present invention bridge crane hook steel rope deflection angle detecting device rocker respectively along x-axis, y-axis direction produce component θ
x, θ
yactual pivot angle θ composite diagram;
Fig. 7 is the diagram of circuit of embodiment of the present invention bridge crane hook steel rope deflection angle detecting device.
In figure: 1: the first secondary slide block; 2: the first spherical hinges; 3: the second spherical hinges; 4: the first minor edge slide blocks; 5: the first master sliders; 6: the second master sliders; 7: the second secondary slide blocks; 8: the first main edge slide blocks; 9: the second minor edge slide blocks; 10: the second main edge slide blocks; 11: dolly; 12: swing frame structure; 13: steel rope; 14: reel.
Detailed description of the invention
For making the object of the embodiment of the present invention, technical scheme and advantage clearly, below in conjunction with the accompanying drawing in the embodiment of the present invention, technical scheme in the embodiment of the present invention is clearly and completely described, obviously, described embodiment is a part of embodiment of the present invention, instead of whole embodiments.Based on the embodiment in the present invention, the every other embodiment that those of ordinary skill in the art obtain under the prerequisite not making creative work, all belongs to the scope of protection of the invention.
As shown in Figures 1 to 7, embodiments provide a kind of bridge crane hook steel rope deflection angle detecting device, this bridge crane hook steel rope deflection angle detecting device comprises steel rope 13, dolly 11, and is arranged at the reel 14 on dolly 11; Also comprise the swing frame structure 12 be arranged between described reel 14 and described dolly 11, described swing frame structure 12 comprises box body and support body, the one ends wound of described steel rope 13 is on described reel 14, the other end is connected with described support body, described steel rope 13 drives described support body to move along the x-axis of described box body and y-axis, described support body corresponds to described box body and is provided with sensor.
Steel rope 13 in bridge crane hook steel rope deflection angle detecting device provided by the invention swings and drives support body to move along the x-axis of described box body and y-axis, and detect displacement by sensor, again by the pivot angle component that displacement-pivot angle formula scales is along dolly, cart service direction, finally import data processing system.Whole apparatus structure is simple, convenient and easy, solves problem engineering being difficult to measure bridge crane hook steel rope pivot angle.
H is the distance between swing frame structure 12 center to steel rope 13 suspension point.The swing frame structure 12 of whole lightweight is packaged into a flat cuboid box, different according to drum diameter, spatial altitude between reel 14 and the walking table top of dolly, lightweight rocker can be made a series of box corresponding with it, to be adapted to the crane in bridge type of different model.
Preferably, described support body comprises guiding mechanism and pilot bar, and described guiding mechanism is criss-cross, and one end of described pilot bar is connected with the end of described guiding mechanism, the other end and described box body sliding block joint.
Preferably, described support body also comprises edge slide block, and described box body corresponds to described edge slide block and be provided with chute, described pilot bar is connected with described slide by described edge slide block, and described sensor setting is on described edge slide block.Described edge slide block comprises the minor edge slide block arranged along x-axis, and along the main edge slide block that y-axis is arranged.
Preferably, described minor edge slide block comprises the second minor edge slide block 9 and the first minor edge slide block 4 arranged respectively along x-axis forward, and described main edge slide block comprises the first main edge slide block 8 and the second main edge slide block 10 arranged respectively along y-axis forward.Described sensor comprises the second sensor being arranged at described minor edge slide block and the first sensor being arranged at described main edge slide block.
In order to avoid the wrong swing that can produce is measured, guiding mechanism described in the present invention comprises master slider, secondary slide block and connecting rod, and described master slider is connected with described secondary slide block by described connecting rod, and described steel rope 13 is connected with described master slider.Described steel rope 13 is connected with described master slider by spherical hinge.Described guiding mechanism is provided with guide groove, and described connecting rod is connected with described master slider and secondary slide block respectively through described guide groove.
Two steel ropes are each passed through the first spherical hinge 2 and the second spherical hinge 3, two spherical hinges and are arranged on respectively on the second master slider 6 and the first master slider 5 and make it rotate by any direction.When lift heavy hoists, between two steel ropes, angle reduces, and the second master slider 6 and the first master slider 5 move to swing frame structure 12 center-point simultaneously; When lift heavy declines, between two steel ropes, angle increases, second master slider 6 and the first master slider 5 move simultaneously round about, such guarantee lift heavy is hoisting, in decline process, first main edge slide block 8 and the second main edge slide block 10 can not be subjected to displacement, all the time ensure to be positioned at zero-bit, as Fig. 4.When lift heavy swings along x-axis positive dirction, second master slider 6 and the first master slider 5 are simultaneously along with steel rope slides to x-axis positive dirction, as shown in Figure 5, the first main edge slide block 8 and the second main edge slide block 10 move along x-axis positive dirction along with the second master slider 6 and the first master slider 5.Use first sensor to measure the displacement of the first main edge slide block 8 and the second main edge slide block 10, and just can calculate the pivot angle of steel rope to x-axis positive dirction according to displacement-angle conversion formula.In like manner, when lift heavy swings along x-axis negative direction, the pivot angle of steel rope to x-axis negative direction can also be calculated.When lift heavy is subjected to displacement along the y-axis direction, the secondary slide block of secondary slide block first 1 and the second secondary slide block 7 can drive the first minor edge slide block 4 and the second minor edge slide block 9 to produce displacement along the y-axis direction equally.Use the displacement of the second sensor measurement first minor edge slide block 4 and the second minor edge slide block 9, and just can calculate the pivot angle of steel rope to y-axis direction according to displacement-angle conversion formula.
At rocker swaying direction, two linear displacement transducers are installed, measure the displacement along x-axis, y-axis of edge slide block first minor edge slide block 4, first main edge slide block 8, second minor edge slide block 9 and the second main edge slide block 10 respectively.If swing frame structure 12 moves to x-axis positive dirction and y-axis positive dirction simultaneously, it is Δ x, Δ y that sensor records lightweight rocker edge slide block respectively relative to the displacement of zero-bit, as shown in Figure 4,5, as shown in Figure 2, is then respectively along x-axis, y-axis direction steel rope pivot angle:
Above formula is displacement-pivot angle formula, wherein, and θ
x, θ
ybe the actual pivot angle of steel rope respectively at the component of x, y both direction, as shown in Figure 6.
Crane in bridge type is in actual moving process, due to location inaccuracy, wire rope inclined-pulling is there will be when hoisting weight, the now maximum deflection angle <20 ° of steel rope, can obtain the maximum displacement on large dolly service direction of lightweight rocker if get maximum deflection angle 20 ° be: s=h*tan20 °.Wherein, s is the maximum displacement of lightweight rocker,
Data processing system in the data input computing machine that displacement pickup obtains.Current pivot angle is obtained through signal processor, pivot angle can be analyzed at x, y two correlation parameter in direction simultaneously, comprise current pivot angle, amplitude, damping, cycle etc., record more comprehensive swing parameter, reduce the data processing of controller, finally respectively these information passed to operator's compartment display window and prevent shaking on card, realizing finally preventing shaking control.
The present invention also provides a kind of bridge crane hook steel rope deflection angle method of inspection, and apply bridge crane hook steel rope deflection angle detecting device as above, wherein, concrete steps are:
S1, when steel rope 13 does not have pivot angle, the position that first sensor records a pair main edge slide block is along the x-axis direction set as zero-bit; When steel rope 13 does not have pivot angle, the position that the second sensor records a pair secondary main edge slide block is along the y-axis direction set as zero-bit.
S2, when steel rope 13 produces pivot angle along the x-axis direction, first sensor records the displacement of main edge slide block; When steel rope 13 produces pivot angle along the y-axis direction, the second sensor records the displacement of minor edge slide block.
In sum, steel rope in bridge crane hook steel rope deflection angle detecting device provided by the invention swings and drives support body to move along the x-axis of described box body and y-axis, and detect displacement by sensor, again by the pivot angle component that displacement-pivot angle formula scales is along dolly, cart service direction, finally import data processing system.Whole apparatus structure is simple, convenient and easy, solves problem engineering being difficult to measure bridge crane hook steel rope pivot angle.
Further, in order to avoid the wrong swing that can produce is measured, have employed the structure of connecting rod and slide block.
Last it is noted that above embodiment is only in order to illustrate technical scheme of the present invention, be not intended to limit; Although with reference to previous embodiment to invention has been detailed description, those of ordinary skill in the art is to be understood that: it still can be modified to the technical scheme described in foregoing embodiments, or carries out equivalent replacement to wherein portion of techniques feature; And these amendments or replacement, do not make the essence of appropriate technical solution depart from the spirit and scope of various embodiments of the present invention technical scheme.
Claims (10)
1. a bridge crane hook steel rope deflection angle detecting device, is characterized in that, comprising: steel rope (13), dolly (11), and is arranged at the reel (14) on dolly (11); Also comprise the swing frame structure (12) be arranged between described reel (14) and described dolly (11), described swing frame structure (12) comprises box body and support body, the one ends wound of described steel rope (13) is on described reel (14), the other end is connected with described support body, described steel rope (13) drives described support body to move along the x-axis of described box body and y-axis, described support body corresponds to described box body and is provided with sensor.
2. bridge crane hook steel rope deflection angle detecting device according to claim 1, it is characterized in that: described support body comprises guiding mechanism and pilot bar, described guiding mechanism is criss-cross, one end of described pilot bar is connected with the end of described guiding mechanism, the other end and described box body sliding block joint.
3. bridge crane hook steel rope deflection angle detecting device according to claim 2, it is characterized in that: described support body also comprises edge slide block, described box body corresponds to described edge slide block and be provided with chute, described pilot bar is connected with described slide by described edge slide block, and described sensor setting is on described edge slide block.
4. bridge crane hook steel rope deflection angle detecting device according to claim 3, is characterized in that: described edge slide block comprises the minor edge slide block arranged along x-axis, and along the main edge slide block that y-axis is arranged.
5. bridge crane hook steel rope deflection angle detecting device according to claim 4, it is characterized in that: described minor edge slide block comprises the second minor edge slide block (9) and the first minor edge slide block (4) that arrange respectively along x-axis forward, described main edge slide block comprises the first main edge slide block (8) and the second main edge slide block (10) that arrange respectively along y-axis forward.
6. bridge crane hook steel rope deflection angle detecting device according to claim 4, is characterized in that: described sensor comprises the second sensor being arranged at described minor edge slide block and the first sensor being arranged at described main edge slide block.
7. bridge crane hook steel rope deflection angle detecting device according to claim 2, it is characterized in that: described guiding mechanism comprises master slider, secondary slide block and connecting rod, described master slider is connected with described secondary slide block by described connecting rod, and described steel rope (13) is connected with described master slider.
8. bridge crane hook steel rope deflection angle detecting device according to claim 7, is characterized in that: described steel rope (13) is connected with described master slider by spherical hinge.
9. bridge crane hook steel rope deflection angle detecting device according to claim 7, is characterized in that: described guiding mechanism is provided with guide groove, and described connecting rod is connected with described master slider and secondary slide block respectively through described guide groove.
10. a bridge crane hook steel rope deflection angle method of inspection, apply the bridge crane hook steel rope deflection angle detecting device as described in claim 1-9 any one, it is characterized in that, concrete steps are:
S1, when steel rope (13) does not have pivot angle, the position that first sensor records a pair main edge slide block is along the x-axis direction set as zero-bit; When steel rope (13) does not have pivot angle, the position that the second sensor records a pair secondary main edge slide block is along the y-axis direction set as zero-bit.
S2, when steel rope (13) produces pivot angle along the x-axis direction, first sensor records the displacement of main edge slide block; When steel rope (13) produces pivot angle along the y-axis direction, the second sensor records the displacement of minor edge slide block.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610028501.XA CN105565163B (en) | 2016-01-15 | 2016-01-15 | A kind of bridge crane hook steel wire rope beat angle detecting device and detection method |
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| CN201610028501.XA CN105565163B (en) | 2016-01-15 | 2016-01-15 | A kind of bridge crane hook steel wire rope beat angle detecting device and detection method |
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| CN107055326A (en) * | 2017-04-14 | 2017-08-18 | 上海海事大学 | Many sling bridge crane panning angle measuring devices and the method measured using the device |
| CN107826921A (en) * | 2017-11-16 | 2018-03-23 | 东莞市联洲知识产权运营管理有限公司 | A kind of elevator car sway detecting system |
| CN113086855A (en) * | 2021-04-13 | 2021-07-09 | 上海海事大学 | Double-hanger swing angle detection device and method based on convex lens imaging principle |
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| CN113086855B (en) * | 2021-04-13 | 2022-12-23 | 上海海事大学 | Double-hanger swing angle detection device and method based on convex lens imaging principle |
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| Publication number | Publication date |
|---|---|
| CN105565163B (en) | 2017-09-29 |
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Address after: 100007 Lama Temple street, Dongcheng District, Dongcheng District, Beijing Patentee after: Beijing lifting and conveying machinery design and Research Institute Co., Ltd. Address before: 100007 Lama Temple street, Dongcheng District, Dongcheng District, Beijing Patentee before: Beijing Materials Handling Research Institute |