WO2017092119A1 - 一种缠绕式滚筒卷放钢丝绳运动状态识别***与方法 - Google Patents

一种缠绕式滚筒卷放钢丝绳运动状态识别***与方法 Download PDF

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Publication number
WO2017092119A1
WO2017092119A1 PCT/CN2015/099321 CN2015099321W WO2017092119A1 WO 2017092119 A1 WO2017092119 A1 WO 2017092119A1 CN 2015099321 W CN2015099321 W CN 2015099321W WO 2017092119 A1 WO2017092119 A1 WO 2017092119A1
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Prior art keywords
wire rope
drum
rope
industrial camera
steel wire
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PCT/CN2015/099321
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English (en)
French (fr)
Inventor
曹国华
朱真才
黄宇宏
牛岩军
彭维红
沈刚
周公博
刘善增
吴仁愿
张磊
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中国矿业大学
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Application filed by 中国矿业大学 filed Critical 中国矿业大学
Priority to RU2017132200A priority Critical patent/RU2670741C9/ru
Priority to AU2015416444A priority patent/AU2015416444B2/en
Publication of WO2017092119A1 publication Critical patent/WO2017092119A1/zh
Priority to ZA2017/06203A priority patent/ZA201706203B/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B5/00—Applications of checking, fault-correcting, or safety devices in elevators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B7/00—Other common features of elevators
    • B66B7/12—Checking, lubricating, or cleaning means for ropes, cables or guides

Definitions

  • the invention relates to a winding type drum wire rope moving state recognition system and method, and is particularly suitable for the wire rope motion state detection of a mine lifting system and an elevator traction system, and is also applicable to various wire rope motion state detection.
  • the winding hoist is widely used in the mine hoisting system.
  • the running state of the wire rope on the winding drum is of great significance for the safe and efficient operation of the mine hoisting system.
  • there is no effective way to identify the movement state of the winding drum wire rope in real time so that the roundness detection of the drum, the rope rope monitoring and the real-time speed of the lifting vessel cannot be known, which poses a hidden danger to the safe and efficient production of the coal mine.
  • the object of the present invention is to provide a winding drum wire rope moving state recognition system and method for solving the problems existing in the prior art, so as to solve the problem that the wire rope motion state cannot be recognized during the winding drum running process. Real-time and visualized monitoring of the movement state of the winding drum wire rope.
  • the wound drum reeling wire rope movement state recognition system of the present invention comprises an industrial camera mounted on the rear of the drum perpendicular to the drum axis, and an industrial camera mounted on the right side of the drum parallel to the drum axis.
  • the industrial camera 2 is connected to the industrial computer through a communication cable, and a wire rope axial speed measuring device is arranged on the vertical downward wire rope wound around the drum and bypassing the sky wheel, and the wire rope axial speed measuring device is connected with the data through the wire. box;
  • the wire rope axial velocity measuring device comprises a U-shaped base set on the wire rope, and the U-shaped base is symmetrically provided with a speed measuring component and a pressing component on the left and right sides of the wire rope, and the speed measuring component and the pressing component respectively comprise
  • the base is arranged on the U-shaped base, and the support arms are symmetrically arranged on the front and rear sides of the base, and the adjustment pins are arranged on the lower pin shaft between the symmetrically arranged support arms, and the upper part of the support shaft is provided with a friction wheel that holds the wire rope.
  • a bearing and a sleeve disposed on the support arm are symmetrically arranged on both sides of the support shaft; the speed measuring assembly further includes a shaft encoder connected to the support shaft via the coupling.
  • the shaft encoder is provided with an encoder bracket fixed to one side of the support arm.
  • the base provided on the U-shaped base is fixed by the T-bolt assembly.
  • a bearing end cover is arranged on both sides of the upper part of the support arm.
  • the friction wheel is provided with a wear-resistant rubber sleeve.
  • the winding drum reeling motion state recognizing method using the above system includes the following steps:
  • the industrial camera and the industrial camera 2 respectively process the images collected by the industrial computer to obtain the transverse movement speed of the wire rope and the transverse and longitudinal movement speed of the wire rope when the wire rope is perpendicular to the wire rope direction;
  • the wireless communication module transmits the signal to the industrial computer, and the industrial computer receives the signal and calculates the real-time axial speed of the wire rope through the upper computer software.
  • the wire rope image is first grayed out and thresholded, and the collected wire rope image and background image are marked with different colors to separate the two;
  • a horizontal line perpendicular to the wire rope 4 is selected as a reference line, and on the reference line, the average value of the horizontal and vertical coordinates of all the pixels representing the wire rope is selected as the wire rope transverse direction.
  • the present invention can recognize the movement state of the winding drum winding wire in real time, and monitor the roundness of the drum, the rope rope monitoring and the speed of the lifting container in real time, and solve the winding type.
  • the problem of the movement state of the wire rope can not be recognized, and the real-time, visual and intelligent monitoring of the movement state of the winding drum wire rope is realized, which provides an important guarantee for the safe and efficient production of coal mines. It is especially suitable for the detection of the movement state of the wire rope of the mine lifting system and the elevator traction system, and is also applicable to the detection of the movement state of various wire ropes.
  • the utility model has the advantages of simple structure, convenient operation and good use effect. The main advantages are:
  • the system monitors the movement state of the wire rope in real time, and realizes the visualization, automation and intelligence of the monitoring of the movement state of the winding drum wire rope;
  • the wire rope axial velocity measuring device monitors the moving speed of the lifting wire rope in real time, reflects the real-time moving speed of the lifting container, and realizes the monitoring of the state of the lifting container;
  • the signal of the industrial camera and the shaft encoder is transmitted to the same industrial computer through the communication cable and wireless WiFi, and the movement state of the wire rope is comprehensively monitored, and the roundness detection of the drum, the rope rope monitoring of the drum wire rope and the real-time speed of the lifting container are realized. monitor.
  • Figure 1 is a layout view of the overall system of the present invention
  • Figure 2 is an industrial camera layout diagram for detecting the motion state of the drum winding wire rope of the present invention
  • Figure 3 is a front elevational view of the wire rope axial velocity measuring device of the present invention.
  • Figure 4 is a plan view of the wire rope axial velocity measuring device of the present invention.
  • Figure 5 is a front elevational view of the wire rope axial velocity measuring device of the present invention with the outer support arm removed;
  • Figure 6 is a left side elevational view of the wire rope axial velocity measuring device in partial cross section of the speed measuring assembly of the present invention.
  • Figure 7 is a right side elevational view of the wire rope axial velocity measuring device, partially in section, of the compression assembly of the present invention.
  • the winding drum reeling rope movement state recognition system of the present invention comprises an industrial camera 2 mounted on the rear of the drum 1 perpendicular to the drum axis and mounted on the right side of the drum 1 parallel to the drum axis.
  • Industrial camera II 3 Due to the structure of the drum, the industrial camera 2 cannot capture the global longitudinal movement state of the ideal wire rope measuring point A located at the tangent of the wire rope 4 and the drum 1, because the ideal wire rope measuring point A and the measuring roller A are exposed outside the measuring point A.
  • the distance between the actual wire rope measuring point B at the edge is very small compared with the spacing between the drum 1 and the sky wheel.
  • the moving state of the actual wire rope measuring point B is basically the same as the moving state of the ideal wire rope measuring point A, so it is selected close to the rope exit point A.
  • the measuring point B is used as a monitoring point for the drum out rope state.
  • the industrial camera 2 and the industrial camera 2 are respectively connected to the industrial computer 8 through the communication cable 9, and the wire rope axial speed measuring device 6 is arranged on the vertically downward steel wire 4 wound around the drum and around the sky wheel, data acquisition
  • the cartridge 7 is connected to a shaft encoder 6-13 of the wire rope axial velocity measuring device 6.
  • the wire rope axial velocity measuring device 6 includes a U-shaped base 6-3 set on the wire rope 4, and the U-shaped base 6-3 is symmetrically provided with a speed measuring on the left and right sides of the wire rope 4.
  • the assembly 6-1 and the pressing assembly 6-2, the speed measuring assembly 6-1 and the pressing assembly 6-2 respectively include a base 6-4 disposed on the U-shaped base 6-3, the base
  • the support arms 6-8 are symmetrically arranged on the front and rear sides of 6-4, and the lower distribution pin 6-6 between the symmetrically disposed support arms 6-8 is connected with the adjustment assembly 6-5, and the upper portion is supported by the support shaft 6-10.
  • the friction wheel 6-7 of the wire rope 4, the bearing 6-11 and the sleeve 6-9 disposed on the support arm are symmetrically arranged on both sides of the support shaft 6-10; the speed measuring component 6-1 further includes a joint
  • the shafts 6-14 are coupled to shaft encoders 6-13 on the support shafts 6-10.
  • the adjusting assembly 6-5 includes an adjusting block 6-22 disposed between the two supporting arms 6-8, and the adjusting block 6-22 is provided with an adjusting stud stud 6-21, a stud stud 6- 21 is provided with a compression spring 6-20 and an adjustment nut 6-19.
  • the pre-tightening force of the compression spring 6-20 is changed, so that the stud 6-21 moves up and down, and the stud 6-21 drives the adjusting block 6-22 to move, and the adjusting block 6 -22 drives the support arm 6-8 to rotate around the pin 6-6, thereby realizing the adjustment of the pressing force of the wire rope 4 by the speed measuring component 6-1 and the pressing component 6-2, and avoiding the wire rope 4 and the speed measuring component 6-1 Sliding or pinching occurs between the friction wheels 6-7, ensuring that the friction wheels 6-7 and the wire rope 4 move synchronously, so that the detection result is more accurate;
  • the shaft encoder 6-13 is fixed on the support arm 6- 8 side encoder bracket 6-15;
  • the base 6-4 provided on the U-shaped base 6-3 is adjusted to a proper position, and is fixed by the T-bolt assembly 6-16;
  • the support arm 6 -8 upper sides are provided with bearing end covers 6-12 to prevent dust and debris from entering the bearings 6-11;
  • the friction wheels 6-7 are
  • the wire rope 4 is first grayed out and thresholded to separate the wire rope 4 from the background.
  • the wire rope 4 is set to one color one, such as black, and the background is set to another color two, such as white.
  • a line perpendicular to the wire rope 4 is selected as a reference line at a position B above the drum 1 of the rope image of the wire rope 4 after the thresholding process, and the abscissa and the longitudinal line representing all the pixels of the wire rope 4 are selected on the reference line.
  • the average value of the coordinates is the coordinate position (x, y) of the lateral and longitudinal movement of the wire rope 4.
  • the moving wire rope 6 drives the friction wheel 6-7 to rotate
  • the friction wheel 6-7 drives the rotating shaft 6-10 through the flat key
  • the supporting rotating shaft 6-10 drives the shaft encoder 6 through the coupling 6-14.
  • the shaft encoder 6-13 transmits the motion signal to the data collection box 7,
  • the data collection box 7 transmits the signal to the industrial computer 8 through the wireless communication module, and the industrial computer 8 receives the signal and calculates the real time of the wire rope 4 through the upper computer software. Axial speed.

Landscapes

  • Length Measuring Devices By Optical Means (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)

Abstract

一种缠绕式滚筒(1)卷放钢丝绳(4)运动状态识别***与方法，适用于矿井提升***、电梯曳引***的钢丝绳(4)运动状态检测。***包括工业相机(2，3)、钢丝绳轴向速度测量装置(6)和工控机(8)，工控机(8)接收工业相机(2，3)对滚筒(1)出绳点拍摄的图像信号和轴编码器(6-13)采集的钢丝绳(4)轴向运动速度信号，全面监测钢丝绳(4)的运动状态。实现滚筒(1)圆度、滚筒(1)钢丝绳(4)乱绳状态和提升容器实时速度的综合监测。实现了缠绕式滚筒(1)卷放钢丝绳(4)运动状态监测的可视化、自动化、智能化，其结构简单，操作方便，使用效果好。

Description

一种缠绕式滚筒卷放钢丝绳运动状态识别***与方法 技术领域
本发明涉及一种缠绕式滚筒卷放钢丝绳运动状态识别***与方法，尤其适用于矿井提升***、电梯曳引***的钢丝绳运动状态检测，也适用于各类钢丝绳运动状态检测。
背景技术
缠绕式提升机在矿井提升***中运用非常广泛，缠绕式滚筒上钢丝绳的运行状态对矿井提升***的安全高效运行具有十分重要的意义。但目前尚无有效办法实时识别缠绕式滚筒卷放钢丝绳的运动状态，使滚筒圆度检测、滚筒钢丝绳乱绳监测和提升容器实时速度无法获知，给煤矿的安全高效生产埋下了隐患。
发明内容
技术问题：本发明的目的是针对现有技术中存在的问题，提供一种缠绕式滚筒卷放钢丝绳运动状态识别***与方法，以解决在缠绕式滚筒运行过程中无法对钢丝绳运动状态识别的问题，实现缠绕式滚筒卷放钢丝绳运动状态监测的实时化、可视化。
技术方案：本发明的缠绕式滚筒卷放钢丝绳运动状态识别***，包括安装在滚筒后部垂直于滚筒轴线的工业相机一和安装在滚筒右侧平行于滚筒轴线的工业相机二，工业相机一和工业相机二分别通过通讯线缆与工控机相连，在缠绕滚筒并绕过天轮的竖直向下的钢丝绳上设有钢丝绳轴向速度测量装置，钢丝绳轴向速度测量装置经导线连接有数据采集盒；
所述的钢丝绳轴向速度测量装置包括套装在钢丝绳上的U型底座，U型底座上对称设有位于钢丝绳左右两侧的测速组件和压紧组件，所述的测速组件和压紧组件分别包括设在U型底座上的底座，所述底座的前后两侧对称设有支撑臂，对称设置的支撑臂之间下部经销轴设有调节组件，上部经支撑转轴设有抱住钢丝绳的摩擦轮，支撑转轴两侧对称布置有设在支撑臂上的轴承和轴套；所述的测速组件上还包括经联轴器连接在支撑转轴上的轴编码器。
所述的轴编码器上设有固定在支撑臂一侧的编码器支架。
所述设在U型底座上的底座由T型螺栓组件固接。
所述的支撑臂上部两侧均设有轴承端盖。
所述的摩擦轮上设有耐磨橡胶套。
使用上述***的缠绕式滚筒卷放钢丝绳运动状态识别方法，包括如下步骤：
(1)滚筒卷放钢丝绳的横向与纵向运动状态检测：
①分别测量滚筒的实际宽度D1和设在滚筒后方的工业相机一获取的图像上的图像宽度d1，计算出工业相机一的转化系数Z1＝D1/d1；测量钢丝绳的实际宽度D2和设在滚筒右 侧的钢丝绳在工业相机二获取的图像上的图像宽度d2，计算出工业相机二的转化系数Z2＝D2/d2；
②通过设在垂直于滚筒轴线和平行于滚筒轴线两个方向的工业相机一和工业相机二，连续获取钢丝绳与滚筒相切出绳点A上方露出滚筒外边缘测点B的两个方向的运动图像；
③通过工控机分别对工业相机一和工业相机二采集的图像进行处理，获取钢丝绳出绳时横向运动速度和钢丝绳在垂直于钢丝绳方向出绳时的横、纵向运动速度；
(2)钢丝绳的轴向速度检测：
①停止提升***运行，安装钢丝绳轴向速度测量装置，将U型底座套装在天轮落绳下方的钢丝绳上，使钢丝绳穿设于U型底座中间；将测速组件和压紧组件对称安装在钢丝绳的两侧，使两个摩擦轮紧靠钢丝绳，将测速组件和压紧组件固定于U型底座上，调整调节组件使两个摩擦轮与钢丝绳达到预定的压紧力；
②开启提升***运行，运动的钢丝绳带动摩擦轮旋转，摩擦轮通过平键带动支撑转轴，支撑转轴通过联轴器带动轴编码器，轴编码器将运动信号传输至数据采集盒，数据采集盒通过无线通信模块将信号传送至工控机，工控机接收信号通过上位机软件计算出钢丝绳的实时轴向速度。
在获取钢丝绳出绳时的横、纵向运动速度时，先对钢丝绳出绳图像进行灰度化和阈值化处理，用不同颜色标识采集到的钢丝绳图像和背景图像，使两者分离；在阈值化处理后的钢丝绳出绳图像的滚筒上方的位置B处选取一条垂直于钢丝绳4的水平线作为参考线，在该参考线上，选取表示钢丝绳的所有像素的横、纵坐标的平均值为钢丝绳横、纵向运动的坐标位置(x，y)；通过对连续得到的钢丝绳位置信息进行对时间t微分得到钢丝绳横、纵向运动相对速度vx＝dx/dt，vy＝dy/dt；并将该参数和转化系数计算得到钢丝绳横、纵向的真实运动速度VX＝vx·Z1，VY＝vy·Z2。
有益效果：由于采用了上述技术方案，本发明可实时识别缠绕式滚筒卷放钢丝绳的运动状态，对滚筒圆度检测、滚筒钢丝绳乱绳监测和提升容器的速度进行实时监控，解决了在缠绕式滚筒运行过程中无法对钢丝绳运动状态识别的问题，实现了缠绕式滚筒卷放钢丝绳运动状态监测的实时化，可视化，智能化，为煤矿安全高效生产提供了重要保障。尤其适用于矿井提升***、电梯曳引***的钢丝绳运动状态检测，也适用于各类钢丝绳运动状态检测。其结构简单，操作方便，使用效果好。主要优点有：
(1)***实时监测钢丝绳的运动状态，实现了缠绕式滚筒卷放钢丝绳运动状态监测的可视化、自动化、智能化；
(2)采用机器视觉技术监测滚筒卷放钢丝绳的横向与纵向运动状态检测，实现无接触、高精度、低成本的信号采集；
(3)钢丝绳轴向速度测量装置实时监测提升钢丝绳的运动速度，反映提升容器的实时运动速度，实现对提升容器状态的监测；
(4)***对工业相机和轴编码器的信号通过通讯线缆和无线WiFi传输至同一工控机，全面监测钢丝绳的运动状态，实现滚筒圆度检测、滚筒钢丝绳乱绳监测和提升容器实时速度的监测。
附图说明
图1是本发明整体***的布置图；
图2是本发明的滚筒卷放钢丝绳运动状态检测的工业相机布置图；
图3是本发明的钢丝绳轴向速度测量装置的正视图；
图4是本发明的钢丝绳轴向速度测量装置的俯视图；
图5是本发明去除靠外的支撑臂的钢丝绳轴向速度测量装置的正视图；
图6是本发明测速组件局部剖视的钢丝绳轴向速度测量装置的左视图；
图7是本发明压紧组件局部剖视的钢丝绳轴向速度测量装置的右视图。
图中：1-滚筒；2-工业相机一；3-工业相机二；4-钢丝绳；5-天轮；6-钢丝绳轴向速度测量装置；7-数据采集盒；8-工控机；9-通讯线缆；6-1-测速组件；6-2-压紧组件；6-3-U型底座；6-4-底座；6-5-调节组件；6-6-销轴；6-7-摩擦轮；6-8-支撑臂；6-9-轴套；6-10-支撑转轴；6-11-轴承；6-12-轴承端盖；6-13-轴编码器；6-14-联轴器；6-15-编码器支架；6-16-T型螺栓组件；6-17-耐磨橡胶套；6-18-轮辐；6-19-调节螺母；6-20-压缩弹簧；6-21-双头螺柱；6-22-调节块。
具体实施方式：
下面结合附图对本发明的一个实施例作进一步的描述：
如图1-2所示，本发明的缠绕式滚筒卷放钢丝绳运动状态识别***，包括安装在滚筒1后上方垂直于滚筒轴线的工业相机一2和安装在滚筒1右侧平行于滚筒轴线的工业相机二3。由于滚筒的结构导致工业相机二3无法拍摄到位于钢丝绳4与滚筒1相切处的理想钢丝绳测点A位置的全局纵向运动状态，由于理想钢丝绳测点A与位于测点A上方露出滚筒1外边缘的实际钢丝绳测点B的间距与滚筒1和天轮的间距相比极小，实际钢丝绳测点B点的运动状态与理想钢丝绳测点A的运动状态基本一致，故选取靠近出绳点A的测点B处作为滚筒出绳状态的监测点。工业相机一2和工业相机二3分别通过通讯线缆9与工控机8相连，在缠绕滚筒并绕过天轮的竖直向下的钢丝绳4上设有钢丝绳轴向速度测量装置6，数据采集盒7与钢丝绳轴向速度测量装置6的轴编码器6-13相连。
如图3-7所示，所述的钢丝绳轴向速度测量装置6包括套装在钢丝绳4上的U型底座6-3，U型底座6-3上对称设有位于钢丝绳4左右两侧的测速组件6-1和压紧组件6-2，所述的测速组件6-1和压紧组件6-2分别包括设在U型底座6-3上的底座6-4，所述底座 6-4的前后两侧对称设有支撑臂6-8，对称设置的支撑臂6-8之间下部经销轴6-6与调节组件6-5连接，上部经支撑转轴6-10设有抱住钢丝绳4的摩擦轮6-7，支撑转轴6-10两侧对称布置有设在支撑臂上的轴承6-11和轴套6-9；所述的测速组件6-1上还包括经联轴器6-14连接在支撑转轴6-10上的轴编码器6-13。
所述的调节组件6-5包括设在两个支撑臂6-8之间的调节块6-22，调节块6-22中间设有调节双头螺柱6-21，双头螺柱6-21上穿设有压缩弹簧6-20和调节螺母6-19。通过调整调节螺母6-19的松紧，改变压缩弹簧6-20的预紧力，使双头螺柱6-21上下移动，双头螺柱6-21带动调节块6-22移动，调节块6-22带动支撑臂6-8绕销轴6-6转动，从而实现测速组件6-1和压紧组件6-2对钢丝绳4的压紧力的调节，避免钢丝绳4与测速组件6-1的摩擦轮6-7之间发生打滑或夹死，保证摩擦轮6-7与钢丝绳4同步运动，使检测结果更为精确；所述的轴编码器6-13上设有固定在支撑臂6-8一侧的编码器支架6-15；所述设在U型底座6-3上的底座6-4调整至适当位置后，由T型螺栓组件6-16固接；所述的支撑臂6-8上部两侧均设有轴承端盖6-12，避免灰尘及杂物进入轴承6-11；所述的摩擦轮6-7上设有耐磨橡胶套6-17，增加摩擦轮6-7与钢丝绳4之间的摩擦力，避免二者之间发生打滑，使检测结果更为精确。
本发明的缠绕式滚筒卷放钢丝绳运动状态识别***的方法，具体步骤如下：
(1)滚筒卷放钢丝绳的横向与纵向运动状态检测：
①分别测量滚筒1的实际宽度D1和滚筒1在工业相机一2获取的图像上的图像宽度d1，计算出工业相机一2的转化系数Z1＝D1/d1。分别测量钢丝绳4的实际宽度D2和钢丝绳4在工业相机二3获取的图像上的图像宽度d2，计算出工业相机二3的转化系数Z2＝D2/d2；
②通过工业相机一2和工业相机二3连续获取钢丝绳4在滚筒1上钢丝绳4与滚筒1相切的出绳点A的上方露出滚筒1外边缘的测点B的水平和垂直于钢丝绳4两个方向的图像；
③在工控机8上分别对工业相机一2和工业相机二3采集的图像进行处理，得到钢丝绳4出绳时横向运动速度和钢丝绳4在垂直于钢丝绳方向的运动速度；获取钢丝绳出绳时的横、纵向运动速度的具体方法：
先对钢丝绳4出绳图像进行灰度化和阈值化处理，从而将钢丝绳4和背景分离。将钢丝绳4设置为一种颜色一，例如黑色，将背景设置为另一种颜色二，例如白色。在阈值化处理后的钢丝绳4出绳图像的滚筒1上方的位置B处选取一条水平线垂直于钢丝绳4的直线作为参考线，在该参考线上，选取表示钢丝绳4的所有像素的横坐标、纵坐标的平均值为钢丝绳4横、纵向运动的坐标位置(x，y)。通过对连续得到的钢丝绳4位置信息进行对时间t微分得到钢丝绳4横、纵向运动相对速度vx＝dx/dt，vy＝dy/dt。并将该 参数和转化系数计算得到钢丝绳4横、纵向的真实运动速度VX＝vx·Z1，VY＝vy·Z2。
(2)钢丝绳的轴向速度检测：
①停止提升***运行，安装钢丝绳轴向速度测量装置6，将U型底座6-3固定于天轮5的右下方，使钢丝绳4穿设于U型底座6-3中间。将测速组件6-1和压紧组件6-2放置与钢丝绳4两侧，使两个摩擦轮6-7的耐磨橡胶套6-17紧靠钢丝绳4，拧紧T型螺栓组件6-16使测速组件6-1和压紧组件6-2固定于U型底座6-3上，调整调节组件6-5上的调节螺母6-19使两个摩擦轮6-7与钢丝绳4达到预定的压紧力。
②开启提升***运行，运动的钢丝绳6带动摩擦轮6-7旋转，摩擦轮6-7通过平键带动支撑转轴6-10，支撑转轴6-10通过联轴器6-14带动轴编码器6-13，轴编码器6-13将运动信号传输至数据采集盒7，数据采集盒7通过无线通信模块将信号传送至工控机8，工控机8接收信号通过上位机软件计算出钢丝绳4的实时轴向速度。
以上所述仅为本发明的实施例，并非因此限制本发明的专利范围，凡是利用本发明的内容所作的等效结构或等效流程变换，或直接或间接运用在其它相关的技术领域，均同理包括在本发明的保护范围内。

Claims (7)

  1. 一种缠绕式滚筒卷放钢丝绳运动状态识别***，其特征在于：它包括安装在滚筒(1)后部垂直于滚筒轴线的工业相机一(2)和安装在滚筒(1)右侧平行于滚筒轴线的工业相机二(3)，工业相机一(2)和工业相机二(3)分别通过通讯线缆(9)与工控机(8)相连，在缠绕滚筒(1)并绕过天轮(5)的竖直向下的钢丝绳上设有钢丝绳轴向速度测量装置(6)，钢丝绳轴向速度测量装置(6)经导线连接有数据采集盒(7)；
    所述的钢丝绳轴向速度测量装置(6)包括套装在钢丝绳(4)上的U型底座(6-3)，U型底座(6-3)上对称设有位于钢丝绳(4)左右两侧的测速组件(6-1)和压紧组件(6-2)，所述的测速组件(6-1)和压紧组件(6-2)分别包括设在U型底座(6-3)上的底座(6-4)，所述底座(6-4)的前后两侧对称设有支撑臂(6-8)，对称设置的支撑臂(6-8)之间下部经销轴(6-6)设有调节组件(6-5)，上部经支撑转轴(6-10)设有抱住钢丝绳(4)的摩擦轮(6-7)，支撑转轴(6-10)两侧对称布置有设在支撑臂(6-8)上的轴承(6-11)和轴套(6-9)；所述的测速组件(6-1)上还包括经联轴器(6-14)连接在支撑转轴(6-10)上的轴编码器(6-13)。
  2. 根据权利要求1所述的一种缠绕式滚筒卷放钢丝绳运动状态识别***，其特征在于：所述的轴编码器(6-13)上设有固定在支撑臂(6-8)一侧的编码器支架(6-15)。
  3. 根据权利要求1所述的一种缠绕式滚筒卷放钢丝绳运动状态识别***，其特征在于：所述设在U型底座(6-3)上的底座(6-4)由T型螺栓组件(6-16)固接。
  4. 根据权利要求1所述的一种缠绕式滚筒卷放钢丝绳运动状态识别***，其特征在于：所述的支撑臂(6-8)上部两侧均设有轴承端盖(6-12)。
  5. 根据权利要求1所述的一种缠绕式滚筒卷放钢丝绳运动状态识别***，其特征在于：所述的摩擦轮(6-7)上设有耐磨橡胶套(6-17)。
  6. 一种使用权利要求1所述***的缠绕式滚筒卷放钢丝绳运动状态识别方法，其特征在于包括如下步骤：
    (1)滚筒卷放钢丝绳的横向与纵向运动状态检测：
    ①分别测量滚筒(1)的实际宽度D1和设在滚筒(1)后方的工业相机一(2)获取的图像上的图像宽度d1，计算出工业相机一(2)的转化系数Z1＝D1/d1；测量钢丝绳(4)的实际宽度D2和设在滚筒(1)右侧的钢丝绳(4)在工业相机二(3)获取的图像上的图像宽度d2，计算出工业相机二(3)的转化系数Z2＝D2/d2；
    ②通过设在垂直于滚筒轴线和平行于滚筒轴线两个方向的工业相机一(2)和工业相机二(3)，连续获取钢丝绳(4)与滚筒(1)相切出绳点A上方露出滚筒外边缘测点B的两个方向的运动图像；
    ③通过工控机(8)分别对工业相机一(2)和工业相机二(3)采集的图像进行处 理，获取钢丝绳(4)出绳时横向运动速度和钢丝绳(4)在垂直于钢丝绳方向出绳时的横、纵向运动速度；
    (2)钢丝绳的轴向速度检测：
    ①停止提升***运行，安装钢丝绳轴向速度测量装置(6)，将U型底座(6-3)套装在天轮(5)落绳下方的钢丝绳(4)上，使钢丝绳(4)穿设于U型底座(6-3)中间；将测速组件(6-1)和压紧组件(6-2)对称安装在钢丝绳(4)的两侧，使两个摩擦轮(6-7)紧靠钢丝绳(4)，将测速组件(6-1)和压紧组件(6-2)固定于U型底座(6-3)上，调整调节组件(6-5)使两个摩擦轮(6-7)与钢丝绳(4)达到预定的压紧力；
    ②开启提升***运行，运动的钢丝绳(6)带动摩擦轮(6-7)旋转，摩擦轮(6-7)通过平键带动支撑转轴(6-10)，支撑转轴(6-10)通过联轴器(6-14)带动轴编码器(6-13)，轴编码器(6-13)将运动信号传输至数据采集盒(7)，数据采集盒(7)通过无线通信模块将信号传送至工控机(8)，工控机(8)接收信号通过上位机软件计算出钢丝绳(4)的实时轴向速度。
  7. 根据权利要求6所述的缠绕式滚筒卷放钢丝绳运动状态识别方法，其特征在于：在获取钢丝绳出绳时的横、纵向运动速度时，先对钢丝绳(4)出绳图像进行灰度化和阈值化处理，用不同颜色标识采集到的钢丝绳(4)图像和背景图像，使两者分离；在阈值化处理后的钢丝绳(4)出绳图像的滚筒(1)上方的位置B处选取一条垂直于钢丝绳4的水平线作为参考线，在该参考线上，选取表示钢丝绳(4)的所有像素的横、纵坐标的平均值为钢丝绳(4)横、纵向运动的坐标位置(x，y)；通过对连续得到的钢丝绳(4)位置信息进行对时间t微分得到钢丝绳(4)横、纵向运动相对速度vx＝dx/dt，vy＝dy/dt；并将该参数和转化系数计算得到钢丝绳(4)横、纵向的真实运动速度VX＝vx·Z1，VY＝vy·Z2。
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CN114655820B (zh) * 2022-03-21 2023-12-19 童中胜 一种煤矿开采用钢丝绳实时监控装置及其方法

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