CN105565163B - A kind of bridge crane hook steel wire rope beat angle detecting device and detection method - Google Patents

A kind of bridge crane hook steel wire rope beat angle detecting device and detection method Download PDF

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Publication number
CN105565163B
CN105565163B CN201610028501.XA CN201610028501A CN105565163B CN 105565163 B CN105565163 B CN 105565163B CN 201610028501 A CN201610028501 A CN 201610028501A CN 105565163 B CN105565163 B CN 105565163B
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China
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steel wire
wire rope
axis
slider
sliding block
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CN201610028501.XA
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CN105565163A (en
Inventor
吴昊罡
岳文翀
周奇才
张然
张一然
王睿
鄢鹏程
陈明阳
王璐
唐超隽
步超
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Beijing lifting and conveying machinery design and Research Institute Co., Ltd.
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BEIJING MATERIALS HANDLING RESEARCH INSTITUTE
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B66HOISTING; LIFTING; HAULING
    • B66CCRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00Other constructional features or details
    • B66C13/16Applications of indicating, registering, or weighing devices
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C1/00Measuring angles

Abstract

The present invention relates to bridge crane technical field, more particularly to a kind of bridge crane hook steel wire rope beat angle detecting device and detection method, the bridge crane hook steel wire rope beat angle detecting device includes steel wire rope, dolly, and the reel being arranged on dolly;Also include the swing frame structure being arranged between the reel and the dolly, the swing frame structure includes box body and support body, the one ends wound of the steel wire rope is on the reel, the other end is connected with the support body, the steel wire rope drives the support body to be moved along the x-axis and y-axis of the box body, and the box body is provided with sensor on the support body.Steel wire rope in the bridge crane hook steel wire rope beat angle detecting device that the present invention is provided, which is swung, drives support body to be moved along the x-axis and y-axis of the box body, and displacement is detected by sensor, it is again the pivot angle component along dolly, cart traffic direction by displacement pivot angle formula scales, finally imports data handling system.Whole device is simple in construction.

Description

A kind of bridge crane hook steel wire rope beat angle detecting device and detection method
Technical field
The present invention relates to bridge crane technical field, more particularly to a kind of bridge crane hook steel wire rope deflection angle detection dress Put and detection method, particularly a kind of high bridge crane hook steel wire rope beat angle detecting device of measurement accuracy and detection Method.
Background technology
Bridge crane is to realize production process mechanization, the important work of automation during modern industry production is transported with lifting Tool and equipment, are widely used in the portions such as indoor and outdoor industrial and mining enterprises, steel chemical, railway traffic, port and pier and logistics turnover Door and place.However, crane is in handling goods, especially in the unmanned work such as steelshop, nuclear power plant, destructor plant In environment, due to the influence of cart, the velocity variations of dolly and acromere disturbing factor, make suspension hook produce around come Backswing is moved, and influences the efficiency of crane loading operation.In off the hook, in order that suspension hook is mutually fixed with goods, and avoid suspension hook with Goods is collided, it is necessary to reasonable time be waited, so that suspension hook stops swinging;In lift cargo transverse shifting, in order to avoid goods Thing is swung and causes collision, it is also desirable to which suspension hook and goods are moved with less speed;Predetermined position is reached in the goods of handling Afterwards, in order to predetermined position will be properly placed on by lift cargo, in addition it is also necessary to wait goods stop swinging after off the hook again.
Although transporting and positioning unloading safely by what the practical operation experience of craneman can realize goods, It is due to the length and reason such as working strength is big cycle of training of skilled craneman so that the raising of operating efficiency is by very Big limitation.Therefore there is bridge crane and prevents shaking control strategy to reduce suspension hook amplitude of fluctuation in an urgent demand, makes suspension hook as soon as possible Reduction stops swinging.It is anti-to shake amplitude, frequency and direction that control strategy is usually swung according to suspension hook etc., carry out reverse control System, so that suspension hook stops swinging within a short period of time.
SANY Automobile Manufacturing Co., Ltd. have devised entitled " hanging hook attitude detection device and the crane " (patent No.:CN 101723239 A) patent of invention.What the angle and acceleration analysis machine for being obtained angel measuring instrument by processor were obtained Acceleration processing obtains the attitude parameter of suspension hook.
Southeast China University proposes a kind of crane load pivot angle detection method (patent No.:The A of CN 103863946) invention it is special Profit.By installing two or more wireless network stationary nodes on crane, a wireless network swing node is installed on suspension hook. Swing node to be in communication with each other with stationary nodes respectively, based on the sky for receiving signal strength indicator (RSSI) ranging technology and realizing suspension hook Between position position.
Si Mate Power Tech Corp. Inc. of Suzhou City proposes a kind of crane load space pivot angle detection technique and device (specially Profit number:The B of CN 102923572) patent of invention.It is arranged on including measuring box and signal receiving processor in suspension hook/load Sensor measures spatial attitude of the suspension hook/load relative to geodetic coordinates in measuring box, the letter on crane body/arm Number reception processing device measures crane body/arm relative to the spatial attitude of geodetic coordinates based on sensor, passes through coordinate transform Spatial attitude parameter of the crane load relative to crane body/arm is obtained, the parameter calculated passes through bus control unit Overhead crane control case is transferred to be automatically controlled.
Shanghai Maritime University develops a kind of " swing angle detection device suitable for two-electron atom bridge crane " (patent No.:CN 102642773 A) utility model.Including 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 with The adjustable potentiometer of second slide rheostat is fixedly connected, the other end of affiliated first slide rheostat and the second slide rheostat Wiring port is provided with, regulated voltage sense circuit is connected by the port with first, second slide rheostat;The voltage stabilizing inspection The signal output part of slowdown monitoring circuit is also associated with signal processor and computer.
Existing technology carries out hanging hook attitude measurement using wireless communication technology mostly, except detection means is complicated, cost Beyond cost is high, its measurement accuracy is relatively low, and easily by such environmental effects, robustness is poor.Therefore, this kind of sensing detection Method is not used widely.
The content of the invention
(1) technical problem to be solved
The technical problem to be solved in the present invention is that existing technology carries out hanging hook attitude survey using wireless communication technology mostly Amount, in addition to detection means is complicated, cost is high, its measurement accuracy is relatively low, and easily by such environmental effects, robust Property is poor.Therefore, the problem of this kind of sensing detection method is not used widely.
(2) technical scheme
In order to solve the above-mentioned technical problem, filled the invention provides a kind of detection of bridge crane hook steel wire rope deflection angle Put, the bridge crane hook steel wire rope beat angle detecting device includes steel wire rope, dolly, and the reel being arranged on dolly; Also include the swing frame structure being arranged between the reel and the dolly, the swing frame structure includes box body and support body, described The one ends wound of steel wire rope is on the reel, and the other end is connected with the support body, and the steel wire rope drives the support body along institute State and the box body is provided with sensor on x-axis and the y-axis movement of box body, the support body.
Preferably, the support body includes guiding mechanism and guide rod, and the guiding mechanism is in cross, the guide rod One end is connected with the end of the guiding mechanism, and the other end is slidably connected with the box body.
Preferably, the support body also includes the edge slider is provided with chute on edge slider, the box body, The guide rod is connected by the edge slider with the slide, and the sensor is arranged on the edge slider.
Preferably, the edge slider includes the minor edge sliding block set along x-axis, and the main edge slider set along y-axis.
Preferably, the minor edge sliding block includes the second minor edge sliding block and the first secondary set respectively along x-axis forward direction Edge sliding block, the main edge slider includes the first main edge slider and the second main edge slider set respectively along y-axis forward direction.
Preferably, the sensor includes being arranged at the second sensor of the minor edge sliding block and is arranged at the main side The first sensor of edge sliding block.
Preferably, the guiding mechanism includes master slider, secondary sliding block and connecting rod, and the master slider passes through the connecting rod and institute Secondary sliding block connection is stated, the steel wire rope is connected with the master slider.
Preferably, the steel wire rope is connected by spherical hinge with the master slider.
Preferably, be provided with guide groove on the guiding mechanism, the connecting rod through the guide groove respectively with the master Sliding block and secondary sliding block connection.
The present invention also provides a kind of bridge crane hook steel wire rope deflection angle detection method, using bridge-type as described above Crane hook steel wire rope beat angle detecting device, wherein, concretely comprise the following steps:
S1, when steel wire rope does not have pivot angle, first sensor measure a pair along the x-axis direction main edge slider position setting For zero-bit;When steel wire rope does not have pivot angle, the position that second sensor measures a pair of secondary main edge sliders along the y-axis direction is set as Zero-bit.
S2, when steel wire rope produces pivot angle along the x-axis direction, first sensor measures the displacement of main edge slider;Work as steel wire When rope produces pivot angle along the y-axis direction, second sensor measures the displacement of minor edge sliding block.
(3) beneficial effect
The above-mentioned technical proposal of the present invention has the following advantages that:The bridge crane hook steel wire rope beat that the present invention is provided Steel wire rope in angle detecting device, which is swung, drives support body to be moved along the x-axis and y-axis of the box body, and detects displacement by sensor Amount, then by displacement-pivot angle formula scales be the pivot angle component along dolly, cart traffic direction, finally import data processing system System.Whole device is simple in construction, convenient and easy, solves and is difficult to measure asking for bridge crane hook steel wire rope pivot angle in engineering Topic.
Further, in order to avoid the wrong wobble measurement that can be produced, the structure of connecting rod and sliding block is employed.
Brief description of the drawings
Fig. 1 is the structural representation of rocker in bridge crane hook steel wire rope beat angle detecting device of the embodiment of the present invention Figure;
Fig. 2 is the structural representation of bridge crane hook steel wire rope beat angle detecting device of the embodiment of the present invention;
Fig. 3 is the top view of rocker in bridge crane hook steel wire rope beat angle detecting device of the embodiment of the present invention;
Fig. 4 is rocker in bridge crane hook steel wire rope beat angle detecting device of the embodiment of the present invention with steel wire rope edge X-axis direction produces the schematic diagram of displacement;
Fig. 5 is rocker in bridge crane hook steel wire rope beat angle detecting device of the embodiment of the present invention with steel wire rope edge Y-axis direction produces the schematic diagram of displacement;
Fig. 6 is rocker in bridge crane hook steel wire rope beat angle detecting device of the embodiment of the present invention respectively along x-axis, y The component θ that direction of principal axis is producedx、θyActual pivot angle θ composite diagrams;
Fig. 7 is the flow chart of bridge crane hook steel wire rope beat angle detecting device of the embodiment of the present invention.
In figure:1:First secondary sliding block;2:First spherical hinge;3:Second spherical hinge;4:First minor edge sliding block;5:First master Sliding block;6:Second master slider;7:Second secondary sliding block;8:First main edge slider;9:Second minor edge sliding block;10:Second main side Edge sliding block;11:Dolly;12:Swing frame structure;13:Steel wire rope;14:Reel.
Embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention In accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is A part of embodiment of the present invention, rather than whole embodiments.Based on the embodiment in the present invention, ordinary skill people The every other embodiment that member is obtained on the premise of creative work is not made, belongs to the scope of protection of the invention.
As shown in Figures 1 to 7, filled the embodiments of the invention provide a kind of detection of bridge crane hook steel wire rope deflection angle Put, the bridge crane hook steel wire rope beat angle detecting device includes steel wire rope 13, dolly 11, and is arranged on dolly 11 Reel 14;Also include the swing frame structure 12 being arranged between the reel 14 and the dolly 11, the swing frame structure 12 includes Box body and support body, the one ends wound of the steel wire rope 13 is on the reel 14, and the other end is connected with the support body, the steel wire Rope 13 drives the support body to be moved along the x-axis and y-axis of the box body, and the box body is provided with sensing on the support body Device.
Steel wire rope 13 in the bridge crane hook steel wire rope beat angle detecting device that the present invention is provided swings band moving frame Body is moved along the x-axis and y-axis of the box body, and detects displacement by sensor, then by displacement-pivot angle formula scales is edge The pivot angle component of dolly, cart traffic direction, finally imports data handling system.Whole device is simple in construction, convenient and easy, solution The problem of being difficult to measurement bridge crane hook steel wire rope pivot angle in engineering of having determined.
H is the distance between center of swing frame structure 12 to the suspension point of steel wire rope 13.The swing frame structure 12 of whole lightweight is packaged into One flat cuboid box, it is different from the spatial altitude between the walking table top of dolly according to drum diameter, reel 14, can Lightweight rocker is made into a series of corresponding boxes, to be adapted to the bridge crane of different model.
Preferably, the support body includes guiding mechanism and guide rod, and the guiding mechanism is in cross, the guide rod One end is connected with the end of the guiding mechanism, and the other end is slidably connected with the box body.
Preferably, the support body also includes the edge slider is provided with chute on edge slider, the box body, The guide rod is connected by the edge slider with the slide, and the sensor is arranged on the edge slider. The edge slider includes the minor edge sliding block set along x-axis, and the main edge slider set along y-axis.
Preferably, the minor edge sliding block includes the second minor edge sliding block 9 and the first secondary set respectively along x-axis forward direction Edge sliding block 4, the main edge slider includes the first main edge slider of main edge slider 8 and second set respectively along y-axis forward direction 10.The sensor includes being arranged at the second sensor of the minor edge sliding block and is arranged at the first of the main edge slider Sensor.
In order to avoid the wrong wobble measurement that can be produced, heretofore described guiding mechanism include master slider, secondary sliding block and Connecting rod, the master slider is connected by the connecting rod with the secondary sliding block, and the steel wire rope 13 is connected with the master slider.It is described Steel wire rope 13 is connected by spherical hinge with the master slider.Guide groove is provided with the guiding mechanism, the connecting rod passes through institute Guide groove is stated to be connected with the master slider and secondary sliding block respectively.
Two steel wire ropes are each passed through the first spherical hinge 3 of spherical hinge 2 and second, and two spherical hinges are separately mounted to the second master It is set to be rotated with any direction on the master slider 5 of sliding block 6 and first.When lift heavy raising, angle reduces between two steel wire ropes, Second master slider 6 and the first master slider 5 are moved to the central point of swing frame structure 12 simultaneously;When lift heavy declines, two steel wire ropes it Between angle increase, the second master slider 6 and the first master slider 5 are moved round about simultaneously, so guarantee lift heavy raising, under During drop, the first main edge slider 10 of main edge slider 8 and second will not be subjected to displacement, and be always ensured that positioned at zero-bit, such as be schemed 4.When lift heavy is swung along x-axis positive direction, the second master slider 6 and the first master slider 5 are simultaneously as steel wire rope is slided to x-axis positive direction It is dynamic, as shown in figure 5, the first main edge slider 10 of main edge slider 8 and second is as the second master slider 6 and the first master slider 5 are along x Axle positive direction is moved.Using the displacement of first sensor the first main edge slider 10 of main edge slider 8 and second of measurement, and according to Displacement-angle conversion formula just can calculate steel wire rope to the pivot angle of x-axis positive direction.Similarly, when lift heavy is swung along x-axis negative direction When, steel wire rope can be also calculated to the pivot angle of x-axis negative direction.When lift heavy is subjected to displacement along the y-axis direction, secondary sliding block first is secondary sliding The secondary sliding block 7 of block 1 and second can equally drive the first minor edge sliding block 4 and the second minor edge sliding block 9 to produce position along the y-axis direction Move.The displacement of the first minor edge sliding block 4 and the second minor edge sliding block 9 is measured using second sensor, and is become according to displacement-corner Changing formula just can calculate steel wire rope to the pivot angle in y-axis direction.
Two linear displacement transducers are installed in rocker swaying direction, measure respectively the first minor edge of edge slider sliding block 4, The displacement of first main edge slider 8, the second minor edge sliding block 9 and the second main edge slider 10 along x-axis, y-axis.If swing frame structure 12 Moved simultaneously to x-axis positive direction and y-axis positive direction, sensor measures displacement of the lightweight rocker edge slider relative to zero-bit respectively For Δ x, Δ y, as shown in Figure 4,5, as shown in Fig. 2 being respectively along x-axis, y-axis direction steel wire rope pivot angle then:
Above formula is displacement-pivot angle formula, wherein, θx、θyBe the actual pivot angle of steel wire rope respectively x, y both direction point Amount, as shown in Figure 6.
Bridge crane, because positioning is inaccurate, occurs wire rope inclined in actual moving process in raising weight Draw, now the maximum deflection angle of steel wire rope<20 °, if taking maximum 20 ° of deflection angle to obtain lightweight rocker on big dolly traffic direction most Big displacement is:S=h*tan20 °.Wherein, s is lightweight rocker maximum displacement,
Data handling system in the data input computer that displacement transducer is obtained.Worked as by signal processor Preceding pivot angle, while relevant parameter of the pivot angle in the direction of x, y two can be analyzed, including current pivot angle, amplitude, damping, cycle Deng, measure comparison synthesis swing parameter, reduce controller data processing, finally respectively by these information transmissions to driver's cabin Display window is shaken on card with anti-, is realized and is finally prevented shaking control.
The present invention also provides a kind of bridge crane hook steel wire rope deflection angle detection method, using bridge-type as described above Crane hook steel wire rope beat angle detecting device, wherein, concretely comprise the following steps:
S1, when steel wire rope 13 does not have pivot angle, the position that first sensor measures a pair of main edge sliders along the x-axis direction is set It is set to zero-bit;When steel wire rope 13 does not have pivot angle, the position that second sensor measures a pair of secondary main edge sliders along the y-axis direction is set It is set to zero-bit.
S2, when steel wire rope 13 produces pivot angle along the x-axis direction, first sensor measures the displacement of main edge slider;Work as steel When cord 13 produces pivot angle along the y-axis direction, second sensor measures the displacement of minor edge sliding block.
In summary, the steel wire rope in the bridge crane hook steel wire rope beat angle detecting device that the present invention is provided is swung Drive support body to be moved along the x-axis and y-axis of the box body, and displacement is detected by sensor, then changed by displacement-pivot angle formula Calculate, along the pivot angle component of dolly, cart traffic direction, finally to import data handling system.Whole device is simple in construction, convenient It is easy, solve the problem of being difficult to measurement bridge crane hook steel wire rope pivot angle in engineering.
Further, in order to avoid the wrong wobble measurement that can be produced, the structure of connecting rod and sliding block is employed.
Finally it should be noted that:The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations;Although The present invention is described in detail with reference to the foregoing embodiments, it will be understood by those within the art that:It still may be used To be modified to the technical scheme described in foregoing embodiments, or equivalent substitution is carried out to which part technical characteristic; And these modification or replace, do not make appropriate technical solution essence depart from various embodiments of the present invention technical scheme spirit and Scope.

Claims (8)

1. a kind of bridge crane hook steel wire rope beat angle detecting device, it is characterised in that including:Steel wire rope (13), dolly , and the reel (14) that is arranged on dolly (11) (11);Also include being arranged between the reel (14) and the dolly (11) Swing frame structure (12), the swing frame structure (12) include box body and support body, the one ends wound of the steel wire rope (13) is in described On reel (14), the other end is connected with the support body, and the steel wire rope (13) drives x-axis and y of the support body along the box body Axle is moved, and the box body is provided with sensor on the support body;The support body includes guiding mechanism and guide rod, described Guiding mechanism is in cross, and one end of the guide rod is connected with the end of the guiding mechanism, and the other end is slided with the box body Dynamic connection;The guiding mechanism includes master slider, secondary sliding block and connecting rod, and the master slider passes through the connecting rod and the secondary sliding block Connection, the steel wire rope (13) is connected with the master slider.
2. bridge crane hook steel wire rope beat angle detecting device according to claim 1, it is characterised in that:The frame Body also includes the edge slider is provided with chute on edge slider, the box body, and the guide rod passes through the side Edge sliding block is connected with the slide, and the sensor is arranged on the edge slider.
3. bridge crane hook steel wire rope beat angle detecting device according to claim 2, it is characterised in that:The side Edge sliding block includes the minor edge sliding block set along x-axis, and the main edge slider set along y-axis.
4. bridge crane hook steel wire rope beat angle detecting device according to claim 3, it is characterised in that:The pair Edge slider includes the second minor edge sliding block (9) and the first minor edge sliding block (4) set respectively along x-axis forward direction, the main side Edge sliding block includes the first main edge slider (8) and the second main edge slider (10) set respectively along y-axis forward direction.
5. bridge crane hook steel wire rope beat angle detecting device according to claim 3, it is characterised in that:It is described to pass Sensor includes being arranged at the second sensor of the minor edge sliding block and is arranged at the first sensor of the main edge slider.
6. bridge crane hook steel wire rope beat angle detecting device according to claim 1, it is characterised in that:The steel Cord (13) is connected by spherical hinge with the master slider.
7. bridge crane hook steel wire rope beat angle detecting device according to claim 1, it is characterised in that:It is described to lead Guide groove is provided with to mechanism, the connecting rod is connected with the master slider and secondary sliding block respectively through the guide groove.
8. a kind of bridge crane hook steel wire rope deflection angle detection method, using as described in claim 1-7 any one Bridge crane hook steel wire rope beat angle detecting device, it is characterised in that concretely comprise the following steps:
S1, when steel wire rope (13) does not have pivot angle, first sensor measure a pair along the x-axis direction main edge slider position setting For zero-bit;When steel wire rope (13) does not have pivot angle, the position that second sensor measures a pair of secondary main edge sliders along the y-axis direction is set It is set to zero-bit;
S2, when steel wire rope (13) produces pivot angle along the x-axis direction, first sensor measures the displacement of main edge slider;Work as steel wire When rope (13) produces pivot angle along the y-axis direction, second sensor measures the displacement of minor edge sliding block.
CN201610028501.XA 2016-01-15 2016-01-15 A kind of bridge crane hook steel wire rope beat angle detecting device and detection method Active CN105565163B (en)

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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

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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