CN108557648A - A kind of two-electron atom bridge crane panning angle measuring device and measurement method based on capacitance detecting - Google Patents
A kind of two-electron atom bridge crane panning angle measuring device and measurement method based on capacitance detecting Download PDFInfo
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- CN108557648A CN108557648A CN201810442749.XA CN201810442749A CN108557648A CN 108557648 A CN108557648 A CN 108557648A CN 201810442749 A CN201810442749 A CN 201810442749A CN 108557648 A CN108557648 A CN 108557648A
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Classifications
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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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- 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
- B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/30—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring angles or tapers; for testing the alignment of axes
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
The present invention proposes a kind of two-electron atom bridge crane panning angle measuring device and measurement method based on capacitance detecting, including the lightweight rocker of orthogonal installation, variable capacitance, signal processing apparatus, pivot angle composite calulation machine.Shaft rotation is driven when lifting rope is swung, the relative area of capacitance is caused change, obtained information is transmitted to capacitance measurement circuit is converted into electric signal and send signal processing apparatus to, is then passed to pivot angle composite calulation machine, is obtained the pivot angle information that two suspenders load.The present invention has simple in structure, accuracy height, the advantages that convenience.
Description
Technical field：
The present invention relates to measuring devices, and in particular to a kind of two-electron atom bridge crane panning angle measuring device based on capacitance detecting and
Measurement method.
Background technology：
Two-electron atom overhead crane is a kind of harbour container place lifting equipment, it has, and there are two raising suspenders, once may be used
To sling the container of two 40 feet or four 20 feet, compared with traditional single appliance bridge crane, significantly carry
The high efficiency of loading and unloading of container, but since the double hoisting dual-hanger bridge cranes of this large span are complicated, working method is various
And there are couplings, along with the movement for adding trolley in actual environment there is wind-force can make lifting rope generation wave, this
Prodigious difficulty is brought to the detection of suspender pivot angle.
One of the critical issue of crane anti-swing control is exactly the detection to pivot angle, and existing bridge crane swing angle detection device is big
It is all directed to single appliance bridge crane to design, these detection devices can largely be divided into contact and non-contact measurement.Existing one
Kind contact swing angle detection device is to drive a code-disc rotation with lightweight rocker, and such measurement method accuracy is not high,
The effect measured is influenced, and detecting element is easy to wear, it is inconvenient to safeguard；Contactless swing angle detection device is often used laser angle
Instrument, this quasi-instrument angle is higher to operating environment requirements, expensive.Meanwhile existing overhead crane operator is often through meat
Eye observation suspender and load swing situation to obtain it, and accuracy is low and there are security risks, influences working efficiency and as received basis
Amount.
Invention content：
The characteristic of variation of the capacitance size with capacitance facing area is utilized in deflection angle measurement device of the present invention,
Solve the detection, pivot angle information processing and display problem in double elevator double-sling bridge type crane swing angles direction and size.
In order to achieve the above object, technical scheme is as follows：
A kind of two-electron atom bridge crane panning angle measuring device based on capacitance detecting, which is arranged on vehicle structure, described
Trolley body be arranged on big mechanism of car, the big mechanism of car includes bridge crane driver's cabin, and the trolley body is equipped with
A pair of of hoisting motor, each hoisting motor include shaft, and shaft connects suspender by lifting rope, its main feature is that, arrangement is based on electricity
Hold the two-electron atom bridge crane swing angle detection device of detection；Described swing angle detection device includes：A pair of of signal processing apparatus, symmetrically
It is arranged at the top of the trolley body；One pivot angle composite calulation machine, be arranged in driver's cabin, respectively at a pair of of signal
Manage device connection；
The main body of described swing angle detection device is flight data recorder, and the capacitance of one piece of semicolumn profile form is included in flight data recorder
Positive plate is connected to one end of lightweight rocker, and two a quarter cylinder profile form capacitance negative plates are fixed on flight data recorder bottom,
The capacitance both ends are connected by conducting wire with capacitance measurement circuit.
The signal processing apparatus includes voltage amplifier, rectifier filter, A/D converter, voltage amplifier it is defeated
Enter end with capacitance measurement circuit to be connected, the output end of voltage amplifier is sequentially connected rectifier filter, A/D converter, defeated later
Go out and gives pivot angle composite calulation machine.
A kind of two-electron atom bridge crane panning angle measuring method based on capacitance detecting, includes the following steps：
Step 1：To all parts into the setting of line home position, using this as initial reference position, setting process is such as
Under：Two suspenders of two-electron atom bridge crane are first allowed to naturally droop, lifting rope is without any pivot angle, lightweight rocker, capacitor board positive plate at this time
Without any rotation；The initial reference value that the signal that two groups of swing angle detection devices obtain is calculated as pivot angle, receives at this time
Capacitance shows that pivot angle is 0 on current axial direction；
Step 2：Driver's cabin sends out bridge crane operating instruction, and bridge crane controls corresponding suspender according to different operating instructions and transports
Row, the lifting rope that suspender respectively connects are swung；
Step 3：The swing of lifting rope can drive the rotation of lightweight rocker and then cause the rotation of capacitance cathode plate, cause just
To area change, cause the variation of the capacitance of the first capacitance or the second capacitance, the telecommunications obtained by capacitance measurement circuit
Number send signal processing apparatus to；
Step 4：The electric signal that signal processor receives on x, the directions y is pocessed, and is amplified into crossing, filtering, A/
Pivot angle composite calulation machine is sent to by serial ports of computers after D conversions and carries out pivot angle synthesis processing；By the capacitance variation on the directions xIt can obtain corresponding angle, θx, and judge it is that the value of which capacitance changes, and then judges the direction of swing rope；
Same method obtains the angle, θ on another directiony, and then the angle in both direction is synthesized, obtain the pivot angle of swing rope
Value
Step 5：The work that another set suspender is done is same as described above, obtains another group of pivot angle value；Two groups of pivot angles are believed
Breath is sent to for driver's reference operation, pivot angle information being sent to synchronization/swing-proof control system on the display screen of driver's cabin, to provide
Feedback information.
The present invention compared with prior art, remarkable advantage：
The present invention is based on the two-electron atom bridge crane panning angle measuring device of capacitance detecting, variation and the capacitance of capacitance is utilized
The relevant characteristic of facing area drives shaft rotation when lifting rope is swung, pivot angle value is calculated by detecting the variation of capacitance.
Next with description of the drawings technical essential.
Description of the drawings：
Fig. 1 is the double-lifting double-lifting-applibridge bridge crane tilt angle measuring device overall structure diagram based on capacitance detecting.
Fig. 2 is the double-lifting double-lifting-applibridge bridge crane tilt angle measuring device swing angle detection device structure chart based on capacitance detecting.
Fig. 3 is the double-lifting double-lifting-applibridge bridge crane tilt angle measuring device swing angle detection device capacitance harden structure based on capacitance detecting
Local map.
Fig. 4 is the double-lifting double-lifting-applibridge bridge crane tilt angle measuring device swing angle detection device capacitor board rotation based on capacitance detecting
Left view.
Fig. 5 is the double-lifting double-lifting-applibridge bridge crane tilt angle measuring device x based on capacitance detecting, y-axis deflection angle measurement apparatus structure
Synthesize schematic diagram.
Fig. 6 is the double-lifting double-lifting-applibridge bridge crane tilt angle measuring device bridge crane pivot angle composite diagram based on capacitance detecting.
Fig. 7 is the double-lifting double-lifting-applibridge bridge crane tilt angle measuring device overhaul flow chart based on capacitance detecting.
Reference numeral is as follows：1- trolley bodies；The driving mechanism of 2- trolleies；3- carts, the driving mechanism of 4- carts；5- is hung
Has hoisting motor；First suspender of 7- two-electron atom bridges, the second suspender of 8- two-electron atom bridges；9- pivot angle composite calulation machines；10- bridge cranes
Cockpit；11- swing angle detection devices；The lifting rope of 12- overhead cranes；13- signal processing apparatus；14- conducting wires；15- suspender raisings
Machine shaft；16- lightweight rockers；17- flight data recorders；The right capacitance negative plates of 18-；19- capacitance cathode plates；The left capacitance negative plates of 20-.
Specific implementation mode：
The preferable case study on implementation for providing the present invention below in conjunction with the accompanying drawings, with the technical solution that the present invention will be described in detail.
In Fig. 1, trolley body 1 is deflection angle measurement device and the carrying platform of hoisting motor.Suspender hoisting motor 5 is negative
The elevating movement of suspender and load is blamed, the first suspender 7 of two-electron atom bridge crane, the second suspender 8 of two-electron atom bridge, they can both may be used
To interlock work jointly, can also independently work.Double hoisting dual-hanger bridge cranes can once load and unload two 40 feet simultaneously
Or four 20 feet of container.
In fig. 2, when lifting rope 12 is swung, 16 rotary oscillation of lightweight rocker can be driven；Capacitor board positive plate 19 with
Lightweight rocker 16 is connected, and is rotated with the rotation of lightweight rocker 16；It can be caused and be born by the rotation of positive plate 19 of capacitance
The variation of the facing area of pole plate；Capacitance measurement circuit will be connected by conducting wire 14 with signal processing apparatus 13 and at signal
It manages device 13 and transmits measurement data signals, signal processing apparatus 13 sends pivot angle conjunction to after signal to be put to big, A/D conversions before menstruation
Subsequent analysis processing is carried out at computer 9.
Fig. 3 is the double-lifting double-lifting-applibridge bridge crane tilt angle measuring device swing angle detection device capacitance harden structure based on capacitance detecting
Local map.Capacitance cathode plate 19 forms the first capacitance, capacitance cathode plate 19 and right capacitance negative plate 18 with left capacitance negative plate 20
Form the second capacitance.
In Fig. 4, the swing of lightweight rocker 16 can be rotated with the positive plate of dynamic condenser, can be will produce at this time according to rotation
Area change leads to the variation of capacitance, it is only necessary to handle the changing value of capacitance, reality can be obtained by signal processing apparatus 13
When detection swing angle size and swing direction.
The operation of cart or trolley and external wind, which such as disturb at the factors, can make load generate swing, while but also lifting rope companion
Load is swung together.The swing of lifting rope can drive lightweight rocker 16 to swing, and then capacitive positive plate 19 is driven to rotate, due to
Suspender pivot angle is usually no more thanSo the size of capacitor board only needs to meet the requirements using semicircle.
If the first suspender 7 and the second suspender 8 pivot angle when not working undisturbed are 0, the information measured at this time i.e. initial bit
Confidence ceases.When trolley setting in motion, lifting rope movement is driven, lifting rope drives the movement of lightweight rocker 16, and then drives capacitor board
19 rotation since the size of capacitance and the area of right opposite are related, and from the variation size of the capacitance obtained and rotates
The variation of angle.The relationship of the variation and angle of capacitance is released below：
Assuming that effective covering surface between fixed plate is S, when movable plate electrode has a angular displacement.
C0For initial capacitance, ε0For free space dielectric constant, εrThe relative dielectric constant of medium between pole plate, d two
The distance between pole plate.
According to above-mentioned reasoning, it can be deduced that capacitance variable Δ C and angle displacement θ is in a linear relationship.As long as so measuring
Capacitance change, so that it may to obtain amount angular displacement, that is, rotational angle thetaxValue.
The similarly rotational angle theta in the measurable directions yy。
In Figure 5, each group of suspender swing angle detection device is made of two groups of lightweight rockers, two groups of semi-circular lightweight rockers point
It is not mutually perpendicular to install along x-axis, y-axis direction, two semicircle lightweight rockers are just tangent, and (big lightweight rocker surrounds small light
Matter rocker), each rocker center have it is smooth crack, lifting rope 12 is passed through from the middle priority of cracking of two rockers, when lifting rope 12 occurs
When swing, two lightweight rockers 16 can be driven to rotate together with swing, and then suspender and the conversion of the pivot angle of load are decomposed into x-axis, y
Axis respectively axial rotation.
Next the swing angle device group operation principle of x-axis direction is described in detail.When lifting rope 12 drive lightweight rocker rotation,
The rotation for causing capacitance cathode plate generates the facing area variation of capacitance, when lifting rope is swung toward the positive axis directions of x, can cause electricity
Hold positive plate 19 and the facing area of left capacitance negative plate 20 to change, leads to the capacitance variation of the first capacitance, and for
Right capacitance negative plate 18 and the facing area of capacitance cathode plate 19 do not change, so the capacitance of the second capacitance does not change
Become.The capacitance variations of left capacitance negative plate 20 can cause the variation of the voltage value at the capacitance both ends, and then the change information is passed
It gives signal processing apparatus 13 and is then transmitted to pivot angle composite calulation machine and obtain the angle value of the direction and the direction of swing.When hanging
It restricts when bearing axis direction toward x and swinging, causes the facing area of right capacitance negative plate 18 and capacitance cathode plate 19 to change, lead to the second electricity
The variation size of the capacitance variation of appearance, capacitance by capacitance measurement circuit and then is transmitted to signal processing apparatus 13, and for
The capacitance of the second capacitance at this time does not change.Y-axis direction is identical with this, is repeated no more.
In figure 6, θx、θyThe pivot angle axial movement component obtained for survey calculation.
It can be obtained from the figure that：
By formulaIt can be calculated pivot angle value.
Fig. 7 is two-electron atom bridge crane panning angle measuring flow chart.
When two-electron atom bridge crane works, working instruction signal is sent out by driver's cabin 10 first, trolley 1 moves, and bridge crane first is hung
When tool 7 and the second suspender 8 bring into operation, causes lifting rope to swing, when lifting rope is swung, the swing of lightweight rocker 16 can be driven, into
And can be with dynamic condenser positive plate 19 rotate, since following two pieces of negative plates 18,20 are fixed, so will produce face
Area change, and then the generation of capacitance is caused to change, send the changing value of this capacitance to signal processing apparatus 13,13 pairs of signals
The processing such as preposition amplification, A/D conversions are carried out, and then is transferred into pivot angle composite calulation machine 9 and carries out composite calulation, respectively obtain the
One suspender 7 and the respective pivot angle value θ of the second suspender1、θ2.The pivot angle value of suspender is transferred to the bridge crane display in driver's cabin 10,
Reference, while the feedback information for being supplied to crane anti-swing/isochronous controller to be controlled as bridge crane are provided for bridge crane operator.
The concrete condition of above-mentioned critical piece is as follows：
Signal processing apparatus 13：It is made of components such as CPU, memory, signal processing circuit and I/O interfaces, wherein CPU
It is connect with memory, signal processing circuit, I/O interface circuits are connect with signal processing circuit, and signal processing circuit can be simultaneously
Processing comes from x, y two paths of signals.X that it sends swing angle detection device 11, the corresponding two paths of signals of y-coordinate axis are (as one group
Signal) preposition amplification, shaping filter and A/D conversions are carried out respectively, give transformed digital signal to pivot angle synthesis meter later
Calculation machine 9 is further analyzed processing.Signal processing apparatus 13 can handle two groups of signals simultaneously in invention.
Pivot angle composite calulation machine 9：The digital signal transmitted from the respective signal processing apparatus of two suspenders 13 is received, and is pressed
According to the variation size of the capacitance relationship directly proportional with facing area, corresponding processing is carried out to signal and is calculated, it is final to obtain pendulum
Angle information.The respective pivot angle information of two suspenders is respectively adopted different serial communication interfaces by signal processing apparatus 13 and is linked into
Pivot angle composite calulation machine 9,9 judges which calculated pivot angle information hang from according to the serial ports difference of signal input signal
Tool, is transmitted to the bridge crane display in driver's cabin 10 by gained pivot angle information, provides reference for the operation of bridge crane driver, may be used also
To feed back to crane anti-swing/isochronous controller as control reference information.
The specific works of bridge crane pivot angle detecting system of the present invention are as follows：
Two-electron atom swing angle detection device 11 when mounted, needs to carry out initial position message setting to all parts, with this
For initial reference position, it is as follows to set process：In the case where trolley not yet moves, under two suspender natures of two-electron atom bridge crane
Hang down, lifting rope is without any pivot angle at this time, lightweight rocker 16, capacitance positive/negative plate without any rotation, the positive plate of capacitance at this time
19 are completely superposed with the facing areas of two pieces of negative plates.Record each information of above-mentioned initial position, two groups of pivot angle detection dresses
The initial reference that the signal set is calculated as pivot angle.Driver's cabin 10 sends out operating instruction, the fortune of trolley to two-electron atom bridge crane
It is dynamic that respective lifting rope 12 is driven to swing.The swing of lifting rope can drive x-axis, the lightweight rocker on y-axis direction to generate pendulum simultaneously
Momentum, x-axis, y-axis direction the positive plate that will take respective capacitance to rotation, obtain the opposite capacitance variable, signal
Processing unit 13 receives the signal that the two-way lifting rope sent by the respective swing angle detection device of x-axis, y-axis 11 is swung, and signal is passed through
It crosses after amplification, A/D conversions and 9 processing of pivot angle composite calulation machine is sent by serial ports of computers, by 9 calculate and can examine in real time
Measure position and the size of pivot angle.
The work of another group of suspender is consistent with the above, and after the information for obtaining this group of pivot angle, two groups of suspender pivot angle is believed
Breath sends to and is referred to for bridge crane driver on the display of driver's cabin 10, or is sent into as feedback information and prevents shaking/synchronous control
In device.In the actual condition of double hoisting dual-hanger bridge cranes, the first suspender 7 and the second suspender can work independently from each other also mutual
Lock synchronous working.In independent working mode, two suspenders are independent of each other, and respectively obtain two angle values；In interlocking Working mould
When formula, the pivot angle value of two suspenders of 9 calculation processings theoretically should be identical, if it is different, can pass through similarities and differences signal again
Pivot angle composite calulation machine 9 carries out respective handling, so that two-way pivot angle value is mutually compareed and is modified, to ensure preferably synchronous effect
Fruit.
The pivot angle of two-electron atom detects the information that two lifting ropes are detected on the basis of above-mentioned, and every lifting rope needs two sets of same knots
Structure includes (a rotary positive plate, two pieces of negative plates, capacitance measurement circuit) per nested structure for detecting one of them
The direction of the angle in direction and size.Then need four sets of such structures, invention that can analogize inspection the case where two-electron atom
Measure the pivot angle problem of three suspenders or even more suspenders.
Claims (2)
1. a kind of two-electron atom bridge crane panning angle measuring device based on capacitance detecting is arranged on trolley, the trolley body setting
On big mechanism of car, the big mechanism of car is equipped with bridge crane driver's cabin, and the trolley body is equipped with a pair of of hoisting motor, each
Hoisting motor includes a shaft, and the shaft of each hoisting motor connects a suspender, which is characterized in that the pivot angle is surveyed by lifting rope
Measuring device includes：A pair of of signal processing apparatus, pivot angle composite calulation machine, a pair of of swing angle detection device；Signal processing apparatus is symmetrical
It is arranged at the top of the trolley body, the signal processing apparatus includes voltage amplifier, rectifier filter, A/D conversions
Device, the input terminal of voltage amplifier are connected with the output end of capacitance measurement circuit, and the output end of voltage amplifier is sequentially connected whole
Filter, A/D converter are flowed, exports give pivot angle composite calulation machine later；Pivot angle composite calulation machine is arranged in the trolley body
Top, be located between two signal processing apparatus, connect respectively with a pair of of signal processing apparatus；A pair of of swing angle detection device,
It is symmetricly set on the bottom of trolley, each swing angle detection device is connected with corresponding signal processing apparatus, and each lifting rope is worn
Corresponding deflection angle measurement device is crossed to connect with corresponding suspender；One for showing that pivot angle information display module, setting are driven in bridge crane
Interior is sailed, is connect with pivot angle composite calulation machine；Include two lightweight rockers, flight data recorders in the swing angle detection device；Two
Lightweight rocker is respectively along x-axis and the orthogonal installation of y-axis, and two semicircle lightweight rockers are tangent；Each lightweight rocker edge
Circumferencial direction be equipped with it is smooth crack, lifting rope is successively passed through from the cracking of two lightweight rockers；There is capacitance measurement in flight data recorder
Circuit, semicolumn side capacitive positive plate, the capacitance negative plate of two pieces of a quarter cylinder sides, two pieces of negative plates and capacitance are just
Pole plate is oppositely arranged；Capacitance cathode plate is with left capacitance negative plate at the first capacitance；Capacitance cathode plate is formed with right capacitance negative plate
Second capacitance；Two pieces of negative plates are fixed on flight data recorder bottom, and the positive plate of capacitance is connected to lightweight rocker and swings therewith；Capacitance
The output end of measuring circuit is electrical connected with corresponding signal processing apparatus.
2. a kind of two-electron atom bridge crane panning angle measuring device based on capacitance detecting, using as described in claim 1 based on capacitance
The two-electron atom bridge crane panning angle measuring device of detection, it is characterised in that include the following steps：
Step 1：To all parts into the setting of line home position, using this as initial reference position, setting process is as follows：
Two suspenders of two-electron atom bridge crane are first allowed to naturally droop, lifting rope is without any pivot angle, lightweight rocker, the equal nothing of capacitor board positive plate at this time
Any rotation；The initial reference value that the signal that two groups of swing angle detection devices obtain is calculated as pivot angle, at this time signal processing apparatus
The capacitance received shows that pivot angle is 0 on current axial direction；
Step 2：Driver's cabin sends out bridge crane operating instruction, and bridge crane controls corresponding suspender according to different operating instructions and runs, hangs
Have the lifting rope respectively connected to swing；
Step 3：The swing of lifting rope can drive the rotation of lightweight rocker and then cause the rotation of capacitance cathode plate, cause capacitance negative
Facing area variation between pole plate and positive plate, causes the variation of the first capacitance or the second capacitance, obtained signal passes
Give signal processing apparatus；
Step 4：Signal processing apparatus, which receives, comes from x, and the signal on the directions y is pocessed, and is amplified into crossing, filtering, A/D conversions
Pivot angle composite calulation machine is sent to by serial ports of computers afterwards and carries out pivot angle synthesis processing, same method obtains on another direction
Angle, and then by both direction angle synthesize, obtain the pivot angle value of swing rope
Step 5：The work that another set suspender is done is same as described above, obtains another group of pivot angle value；Two groups of pivot angle information are sent
For driver's reference operation on to the display screen of driver's cabin, pivot angle information is sent to synchronization/swing-proof control system, to provide feedback
Information.
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| CN201810442749.XA CN108557648A (en) | 2018-05-10 | 2018-05-10 | A kind of two-electron atom bridge crane panning angle measuring device and measurement method based on capacitance detecting |
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Cited By (7)
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|---|---|---|---|---|
| CN110304548A (en) * | 2019-07-12 | 2019-10-08 | 上海海事大学 | The detection device and its detection method of double lifting bridge crane lifting rope swing angles and rope length |
| CN112850484A (en) * | 2020-12-30 | 2021-05-28 | 芜湖造船厂有限公司 | Double-lifting-tool bridge crane coupling structure and calculation method of coupling torque thereof |
| CN112875513A (en) * | 2020-12-31 | 2021-06-01 | 上海海事大学 | Measuring device for bridge crane, bridge crane and measuring method |
| CN112960548A (en) * | 2021-03-09 | 2021-06-15 | 上海海事大学 | Swing angle detection device for lifting appliance of bridge crane |
| CN113023573A (en) * | 2021-03-23 | 2021-06-25 | 上海海事大学 | Double-lifting-tool bridge crane swing angle detection device and method based on photoresistor |
| CN113213338A (en) * | 2021-05-24 | 2021-08-06 | 上海海事大学 | Lifting appliance swing angle detection device and lifting appliance bridge crane |
| CN113218295A (en) * | 2021-05-10 | 2021-08-06 | 上海海事大学 | Swing angle and rope length measuring device and method for double-lifting bridge crane |
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| CN110304548A (en) * | 2019-07-12 | 2019-10-08 | 上海海事大学 | The detection device and its detection method of double lifting bridge crane lifting rope swing angles and rope length |
| CN110304548B (en) * | 2019-07-12 | 2020-06-09 | 上海海事大学 | Detection device and detection method for swing angle and rope length of lifting rope of double-lifting bridge crane |
| CN112850484A (en) * | 2020-12-30 | 2021-05-28 | 芜湖造船厂有限公司 | Double-lifting-tool bridge crane coupling structure and calculation method of coupling torque thereof |
| CN112875513A (en) * | 2020-12-31 | 2021-06-01 | 上海海事大学 | Measuring device for bridge crane, bridge crane and measuring method |
| CN112960548A (en) * | 2021-03-09 | 2021-06-15 | 上海海事大学 | Swing angle detection device for lifting appliance of bridge crane |
| CN112960548B (en) * | 2021-03-09 | 2022-09-30 | 上海海事大学 | Swing angle detection device for bridge crane lifting appliance |
| CN113023573A (en) * | 2021-03-23 | 2021-06-25 | 上海海事大学 | Double-lifting-tool bridge crane swing angle detection device and method based on photoresistor |
| CN113218295A (en) * | 2021-05-10 | 2021-08-06 | 上海海事大学 | Swing angle and rope length measuring device and method for double-lifting bridge crane |
| CN113213338A (en) * | 2021-05-24 | 2021-08-06 | 上海海事大学 | Lifting appliance swing angle detection device and lifting appliance bridge crane |
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Application publication date: 20180921 |