CN105967064A - Hanging swing angle and rope length measurement device and method used for lifting appliance mechanism - Google Patents
Hanging swing angle and rope length measurement device and method used for lifting appliance mechanism Download PDFInfo
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- CN105967064A CN105967064A CN201610269527.3A CN201610269527A CN105967064A CN 105967064 A CN105967064 A CN 105967064A CN 201610269527 A CN201610269527 A CN 201610269527A CN 105967064 A CN105967064 A CN 105967064A
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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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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
- G01S13/08—Systems for measuring distance only
- G01S13/32—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
- G01S13/36—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated with phase comparison between the received signal and the contemporaneously transmitted signal
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
- G01S3/02—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using radio waves
- G01S3/14—Systems for determining direction or deviation from predetermined direction
- G01S3/46—Systems for determining direction or deviation from predetermined direction using antennas spaced apart and measuring phase or time difference between signals therefrom, i.e. path-difference systems
- G01S3/48—Systems for determining direction or deviation from predetermined direction using antennas spaced apart and measuring phase or time difference between signals therefrom, i.e. path-difference systems the waves arriving at the antennas being continuous or intermittent and the phase difference of signals derived therefrom being measured
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- Computer Networks & Wireless Communication (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
The invention discloses a hanging swing angle and rope length measurement device used for a lifting appliance mechanism. The measurement device comprises an angle reflector, an electromagnetic distance measuring instrument set and a measurement processor, wherein the angle reflector is arranged on the top of a lifting appliance and reflects electromagnetic waves sent to the lifting appliance; the electromagnetic distance measuring instrument set comprises a pair of electromagnetic distance measuring instruments symmetrically arranged at the bottom of a lifting appliance traction part and the two sides of a lifting rope connection point, the electromagnetic distance measuring instruments send the electromagnetic waves to the lifting appliance and receive the electromagnetic waves reflected by the angle reflector, and the phase difference between the sent electromagnetic waves and the received electromagnetic waves is measured; and the measurement processor is in communication connection with the electromagnetic distance measuring instrument set and acquires the hanging swing angle of the lifting appliance and the rope length of the lifting rope in the current state according to the phase difference. A high-frequency electromagnetic wave reflection accurate distance measuring technology is adopted for the hanging swing angle and rope length measurement device used for the lifting appliance mechanism and is a non-contact type measurement method; and the swing angle of the lifting appliance and the rope length are measured at the same time, the distance measuring precision is high, the anti-interference capacity is high, the equipment service life is long, the structure is simple, cost is low, and maintenance is easy.
Description
Technical field
The present invention relates to electromagnetic wave measurement technology, be specifically related to the pivot angle of a kind of suspender mechanism for two-electron atom bridge crane based on frequency electromagnetic waves range finding and long measurement apparatus and the measuring method of restricting.
Background technology
Bridge crane is widely used in the container handling transportation at harbour.In order to improve the efficiency of loading and unloading, increasing container throughput, the application of double elevator double-sling bridge type cranes is more and more extensive.But in overhead crane work process, due to load change and the impact of external disturbance, load and suspender inevitably swing.When load arrives target location, Residual oscillations can cause potential safety hazard, and significantly reduce work efficiency.In order to eliminate swing, need to detect that suspender pivot angle and rope length carry out feedback control.
Double elevator double-sling bridge type cranes can be sling two simultaneously and load, and its structure is complicated, and working method is various, brings the biggest difficulty to corresponding pivot angle and long detection of restricting.
Current most of bridge crane is all single appliance bridge crane and is only mounted with machinery anti-roll device, not swing angle detection device.Before about the invention of bridge crane pivot angle detection, a class belongs to contact measurement, and this type of swing angle detection device exists dead band due to design reasons device, have impact on the sensitivity of sensor, and due to inter-agency friction, there are cumulative errors during reciprocating motion；Another kind of contactless detection device have employed laser type inclinometer, and such device structure is complicated, with high costs, poor anti jamming capability.
Summary of the invention
The present invention provides a kind of and hangs pivot angle and long measurement apparatus and the measuring method of restricting for suspender mechanism, it is possible to measure suspender pivot angle simultaneously and rope is long, use frequency electromagnetic waves wave reflection precision ranging technology, with non-contact measurement, simple in construction, cost is low, accuracy is high, easy to maintenance.
For achieving the above object, the present invention provide a kind of for suspender mechanism hang pivot angle with restrict long measurement apparatus, this suspender mechanism comprises: suspender tractive unit, is connected to the lifting rope bottom suspender tractive unit, is connected to the suspender of lifting rope low side；It is characterized in,
This measurement apparatus comprises:
Corner reflector, it is arranged at suspender top, is reflected towards the electromagnetic wave that suspender sends；
Electromagnetic distance measuring instrument group, it comprises a pair electromagnetic distance measuring instrument being symmetricly set in bottom suspender tractive unit with lifting rope junction point both sides, electromagnetic distance measuring instrument sends electromagnetic wave, and the electromagnetic wave of acceptance angle reflector reflection to suspender, records the phase contrast between the electromagnetic wave of transmission and the electromagnetic wave of reception；
Measurement processor, it communicates to connect electromagnetic distance measuring instrument group, obtains the rope hanging pivot angle and lifting rope of suspender under current state according to phase contrast long.
Above-mentioned electromagnetic distance measuring instrument comprises:
Electromagnetic wave launcher, it communicates to connect measurement processor, receives the instruction issue electromagnetic wave of measurement processor；
Electromagnetic receiving device, the electromagnetic wave of its acceptance angle reflector reflection；
Phase contrast processor, its circuit connects electromagnetic receiving device and measurement processor, the phase contrast between electromagnetic wave and the electromagnetic wave of reception that measuring and calculating sends, phase contrast is converted to voltage signal and exports to measurement processor.
Above-mentioned measurement apparatus is measured with rope length for the pivot angle that hangs of the suspender mechanism of two-electron atom bridge crane；
Two-electron atom bridge crane comprises:
Big mechanism of car, it is arranged on the stockyard track on ground, and big mechanism of car is provided with the trolley track vertical with stockyard track；
Trolley body, it is arranged in the trolley track of big mechanism of car；
Some lifting motors, it is arranged on trolley body, and each lifting motor correspondence connects lifting rope, and under each lifting rope, correspondence is hung and is provided with suspender.
The wave frequency that a pair electromagnetic distance measuring instrument of above-mentioned electromagnetic distance measuring instrument group is launched is different.
A kind of measuring method hanging pivot angle and the long measurement apparatus of rope, being characterized in, this measurement apparatus comprises: is symmetricly set in a pair electromagnetic distance measuring instrument of both sides, lifting rope top, the corner reflector being arranged on the suspender of lifting rope bottom and circuit and connects the measurement processor of electromagnetic distance measuring instrument；
This measuring method comprises:
A pair electromagnetic distance measuring instrument launches electromagnetic wave to suspender simultaneously, and each electromagnetic distance measuring instrument is returned in reflection of electromagnetic wave by the corner reflector being positioned on suspender；
The phase contrast of the electromagnetic wave of transmitting Yu the electromagnetic wave of reception is converted to voltage signal and sends to measurement processor by electromagnetic distance measuring instrument；
Measurement processor calculates to obtain distance between corner reflector on each electromagnetic distance measuring instrument and suspender according to voltage signal；
Measurement processor is according to distance between corner reflector on each electromagnetic distance measuring instrument and suspender, and the rope hanging pivot angle and lifting rope obtaining suspender is long.
Above-mentioned calculate on each electromagnetic distance measuring instrument and suspender distance between corner reflector comprise:
The phase contrast that measurement processor is uploaded according to an electromagnetic distance measuring instrumentSignal propagation time t is drawn according to formula (1):
In formula (1), f is the frequency of electromagnetic wave；
Distance D between corner reflector is drawn on this electromagnetic distance measuring instrument and suspender according to formula (2):
In formula (2), c is the light velocity, and f is the frequency of electromagnetic wave.
Measuring method as described in claim 4 or 5, it is characterised in that the rope length hanging pivot angle and lifting rope of described acquisition suspender comprises:
If the distance between a pair electromagnetic distance measuring instrument and corner reflector corresponding to suspender is respectively a and b, the distance between two electromagnetic distance measuring instruments is c, orderPivot angle θ according to formula (3) acquisition suspender:
The long e of rope according to formula (4) acquisition lifting rope:
When above-mentioned suspender is static, to hang pivot angle and restrict long measurement apparatus initialize.
The wave frequency that a pair electromagnetic distance measuring instrument that same above-mentioned electromagnetic distance measuring instrument group comprises is launched is different.
The present invention hangs pivot angle compared with the suspender measurement technology of restrict long measurement apparatus and measuring method and prior art for suspender mechanism, have an advantage in that, the present invention uses frequency electromagnetic waves wave reflection precision ranging technology, suspender pivot angle can be measured simultaneously and rope is long, range accuracy is high, capacity of resisting disturbance is strong, it is possible to normally work under conditions of rather harsh；
The present invention uses the measuring method of non-contact measurement, and certainty of measurement is high, and sensor life-time is long under normal circumstances, simple in construction, low cost, safeguards simple.
Accompanying drawing explanation
Fig. 1 is the structural representation of two-electron atom bridge crane；
Fig. 2 is electromagnetic distance measuring instrument of the present invention and corner reflector scheme of installation；
Fig. 3 is the outside schematic diagram of electromagnetic distance measuring instrument；
Fig. 4 is the signal processing block diagram of the present invention；
Fig. 5 is rope length and the measuring and calculating schematic diagram of angle of the present invention.
Detailed description of the invention
Below in conjunction with accompanying drawing, further illustrate the specific embodiment of the present invention.
As it is shown in figure 1, disclose the pivot angle of a kind of suspender mechanism for two-electron atom bridge crane and the embodiment of long measurement apparatus of restricting, and the two-electron atom bridge crane that this measurement apparatus is suitable for.
Two-electron atom bridge crane comprises: stockyard track 10, big mechanism of car 9, trolley body 6, lifting rope 5, suspender 4.Stockyard track 10 is laid on the ground in stockyard.Big mechanism of car 9 is erected on stockyard track 10, and can slide along stockyard track 10.Big mechanism of car 9 uses bridge crane structure, is provided with the trolley track being perpendicular to stockyard track 10 at the top of big mechanism of car 9.Trolley body 6 is arranged in trolley track, and vehicle structure 6 comprises the driving means 12 being erected in trolley track and hanging vehicle structure body under driving means 12, and vehicle structure 6 can be slided along trolley track by driving means 12.Being provided with a pair lifting motor 7,8 on the body of trolley body 6, lifting motor is connected to lifting rope 5 for 7,8 times, and the bottom of each lifting rope 5 is hung and set suspender 4, and lifting motor 7,8 can drive suspender 4 vertically moving by lifting rope 5.
Further, two-electron atom bridge crane also includes bridge crane driver's cabin 11, and this bridge crane driver's cabin 11 is arranged on the right side of big mechanism of car 9 bridge crane support, and this bridge crane driver's cabin 11 is the operating room of bridge crane driver, there is the display screen of the display long pivot angle with suspender 4 of lifting rope 5 rope, be responsible for sending bridge crane and run order.
In the present embodiment, for suspender mechanism hang pivot angle and restrict long measurement apparatus comprise: first electromagnetic distance measuring instrument group the 1, second electromagnetic distance measuring instrument group 2, corner reflector 3, measurement processor 13.
First electromagnetic distance measuring instrument group the 1, second electromagnetic distance measuring instrument group 2 is respectively arranged at the bottom of trolley body 6, and corresponding 5, the suspender 4 of a lifting rope of each electromagnetic distance measuring instrument group and a corner reflector 3 are arranged.As a example by the first electromagnetic distance measuring instrument group 1, it includes two electromagnetic distance measuring instruments, these two electromagnetic distance measuring instruments are symmetricly set in the both sides of junction point bottom lifting rope 5 and vehicle structure 6, and two electromagnetic distance measuring instruments distance lifting ropes 5 are equal with the distance of junction point bottom vehicle structure 6.Two electromagnetic distance measuring instruments frequency electromagnetic waves that transmission frequency is different respectively under first electromagnetic distance measuring instrument group 1, and after reflection, the electromagnetic wave of respective frequencies, the phase contrast between electromagnetic wave and the electromagnetic wave of reception that measuring and calculating sends is received at electromagnetic wave.
Here the frequency range for electromagnetic distance measuring instrument transmission electromagnetic wave is described as follows:
For bigness scale chi, its frequency range is 1MHz～2MHz, and for accurate measurement chi, its frequency range is 10MHz～20MHz, and in engineering, range finding surveyed jointly by two groups of survey chis.Wherein, 1.5MHz correspondence accuracy of detection is 0.1m, and 15MHz correspondence accuracy of detection is 0.01m.
Each suspender 4 top is correspondingly arranged on a corner reflector 3, and corner reflector 3 is for being reflected towards the electromagnetic wave that its corresponding suspender 4 sends.
Measurement processor 13 is arranged at the top of big bassinet structure 9, communicates to connect with the first electromagnetic distance measuring instrument group 1 and the second electromagnetic distance measuring instrument group 2 respectively, receives the first electromagnetic distance measuring instrument group 1 and phase contrast that the second electromagnetic distance measuring instrument group 2 is uploaded respectively.
As a example by the first electromagnetic distance measuring instrument group 1, measurement processor 13 receives the first electromagnetic distance measuring instrument group phase contrast that 1 time two electromagnetic distance measuring instruments are uploaded respectively, thus calculate two electromagnetic distance measuring instruments respectively to the distance of corner reflector 3 corresponding to the first electromagnetic distance measuring instrument group 1, and it is long to go out the rope hanging pivot angle and lifting rope 3 of suspender 4 corresponding to this corner reflector 3 under current state according to the distance exam of 1 time two electromagnetic distance measuring instrument of the first electromagnetic distance measuring instrument group to corresponding angles reflector 3.
As in figure 2 it is shown, be electromagnetic distance measuring instrument and corner reflector scheme of installation, illustrate the mounting means of electromagnetic distance measuring instrument and corner reflector.In T figure, what arrow F indicated is the direction of motion of big bassinet structure 9.
Two groups of electromagnetic distance measuring instrument groups are installed in the bottom of vehicle structure 6, each electromagnetic distance measuring instrument group includes two electromagnetic distance measuring instruments, being divided into is the first electromagnetic distance measuring instrument the 201, second electromagnetic distance measuring instrument the 202, the 3rd electromagnetic distance measuring instrument 203 and the 4th electromagnetic distance measuring instrument 204, wherein the first electromagnetic distance measuring instrument 201 and the second electromagnetic distance measuring instrument 202 form one group of electromagnetic distance measuring instrument group, and the 3rd electromagnetic distance measuring instrument 203 and the 4th electromagnetic distance measuring instrument 204 form one group of electromagnetic distance measuring instrument group.
Junction point bottom first electromagnetic distance measuring instrument 201 and vehicle structure 6 is A point, junction point bottom second electromagnetic distance measuring instrument 202 and vehicle structure 6 is B point, intermediate point at A point and the line of B point sets O point, and O point is set to the junction point bottom the first lifting rope 207 and vehicle structure 6.The suspender of the first electromagnetic distance measuring instrument 201 and the second electromagnetic distance measuring instrument 202 correspondence hangs the bottom being located at the first lifting rope 207, and the first corner reflector 205 is arranged on the suspender of the first lifting rope 207 bottom.The point at the first corner reflector 205 place is set to C point.
Junction point bottom 3rd electromagnetic distance measuring instrument 203 and vehicle structure 6 is P point, junction point bottom 4th electromagnetic distance measuring instrument 204 and vehicle structure 6 is Q point, intermediate point at P point and the line of Q point sets E point, and E point is set to the junction point bottom the second lifting rope 208 and vehicle structure 6.The suspender of the 3rd electromagnetic distance measuring instrument 203 and the 4th electromagnetic distance measuring instrument 204 correspondence hangs the bottom being located at the second lifting rope 208, and the second corner reflector 206 is arranged on the suspender of the second lifting rope 208 bottom.The point at the second corner reflector 206 place is set to D point.
Measurement processor 209 is arranged at the top of big bassinet structure 9, and is connected with first electromagnetic distance measuring instrument the 201, second electromagnetic distance measuring instrument the 202, the 3rd electromagnetic distance measuring instrument 203 and the 4th electromagnetic distance measuring instrument 204 communication respectively.
As it is shown on figure 3, be the outside schematic diagram of electromagnetic distance measuring instrument, electromagnetic distance measuring instrument external structure comprises: base 303, is provided with transmitting mirror 301 and receives mirror 302 on base 303, and the side at base 303 is provided with two USB universal serial bus joints 304.
Further, the internal structure of electromagnetic distance measuring instrument includes: electromagnetic wave launcher, electromagnetic receiving device and phase contrast processor.
Electromagnetic wave launcher communication connection measurement processor, receives the instruction of measurement processor, launches frequency electromagnetic waves by transmitting mirror 301.
Electromagnetic receiving device is by receiving the electromagnetic wave of mirror 302 acceptance angle reflector reflection.
Phase contrast processor is arranged in base 303, and its circuit connects electromagnetic receiving device and measurement processor, the phase contrast between electromagnetic wave and the electromagnetic wave of reception that measuring and calculating sends, phase contrast is converted to voltage signal and exports to measurement processor.
As shown in Figure 4, in conjunction with the pivot angle of suspender mechanism and the structure of long measurement apparatus of restricting of above-mentioned two-electron atom bridge crane, as a example by the system of an electromagnetic distance measuring instrument and a corner reflector, signals below handling process is disclosed:
Measurement processor sends range finding order to electromagnetic distance measuring instrument, the electromagnetic wave transmitter of electromagnetic distance measuring instrument launches electromagnetic wave, electromagnetic wave is back to electromagnetic distance measuring instrument after corner reflector reflects, the electromagnetic wave receiver of electromagnetic distance measuring instrument receives electromagnetic wave, and the phase contrast between electromagnetic wave and the electromagnetic wave of reception of transmission is converted to voltage signal by phase contrast processor.Electromagnetic distance measuring instrument is also embedded with pre-amplification circuit and plastic filter circuit, it is possible to after being processed by voltage signal, output is to measurement processor.Measurement processor includes A/D converter and pivot angle and rope length measuring and calculating unit, A/D converter receives treated voltage signal, transmit after changing to pivot angle and rope long measuring and calculating unit, the rope that pivot angle and rope long measuring and calculating unit calculate suspender pivot angle and lifting rope according to phase contrast is long, finally the rope long message surveying counted suspender pivot angle and lifting rope is sent to bridge crane driver's cabin by pivot angle and rope long data processor control unit, by display display output to operator.
The invention also discloses a kind of be applicable to above-mentioned hang pivot angle with restrict long measurement apparatus measuring method, this measuring method comprises the steps of
S1, suspender are static, and lifting rope naturally droops, and without any pivot angle, in this case, measurement processor initializes.
S2, when measurement processor receive bridge crane run order time, measurement processor be simultaneously emitted by range finding order to a pair electromagnetic distance measuring instrument under same electromagnetic distance measuring instrument group.
The electromagnetic wave of different frequency launched by a pair electromagnetic distance measuring instrument under S3, same electromagnetic distance measuring instrument group simultaneously to the suspender corresponding to this electromagnetic distance measuring instrument group.
Electromagnetic wave is reflected back each electromagnetic distance measuring instrument by S4, the corner reflector being positioned on suspender respectively.Each electromagnetic distance measuring instrument, according to the difference of wave frequency, receives the electromagnetic wave oneself sent.
The phase contrast of the electromagnetic wave of transmitting Yu the electromagnetic wave of reception is converted to voltage signal and sends to measurement processor by S5, electromagnetic distance measuring instrument.
S6, measurement processor calculate to obtain distance between corner reflector on each electromagnetic distance measuring instrument and suspender according to voltage signal；
The phase contrast that measurement processor is uploaded according to an electromagnetic distance measuring instrumentSignal propagation time t is drawn according to formula (1):
In formula (1), f is the frequency of electromagnetic wave；
Distance D between corner reflector is drawn on this electromagnetic distance measuring instrument and suspender according to formula (2):
In formula (2), c is the light velocity, and f is the frequency of electromagnetic wave.
S7, measurement processor are according to distance between corner reflector on each electromagnetic distance measuring instrument and suspender, and the rope hanging pivot angle and lifting rope obtaining suspender is long.
Such as Fig. 5 and combine shown in Fig. 2, if the distance between a pair electromagnetic distance measuring instrument and corner reflector corresponding to suspender is respectively a and b, the distance between two electromagnetic distance measuring instruments is c, orderPivot angle θ according to formula (3) acquisition suspender:
The long e of rope according to formula (4) acquisition lifting rope:
Although present disclosure has been made to be discussed in detail by above preferred embodiment, but it should be appreciated that the description above is not considered as limitation of the present invention.After those skilled in the art have read foregoing, multiple amendment and replacement for the present invention all will be apparent from.Therefore, protection scope of the present invention should be limited to the appended claims.
Claims (9)
1. be used for suspender mechanism hangs pivot angle and a long measurement apparatus of restricting, and this suspender mechanism comprises: suspender draws
Portion, is connected to the lifting rope bottom suspender tractive unit, is connected to the suspender of lifting rope low side；It is characterized in that,
This measurement apparatus comprises:
Corner reflector, it is arranged at suspender top, is reflected towards the electromagnetic wave that suspender sends；
Electromagnetic distance measuring instrument group, its comprise be symmetricly set in bottom suspender tractive unit with lifting rope junction point two
A pair electromagnetic distance measuring instrument of side, a pair electromagnetic distance measuring instrument sends electromagnetic wave, and acceptance angle to suspender
The electromagnetic wave of reflector reflection, records the phase contrast between the electromagnetic wave of transmission and the electromagnetic wave of reception；
Measurement processor, it communicates to connect electromagnetic distance measuring instrument group, obtains current state according to phase contrast
The rope hanging pivot angle and lifting rope of lower suspender is long.
2. be used for suspender mechanism as claimed in claim 1 hangs pivot angle and long measurement apparatus of restricting, and its feature exists
In, described electromagnetic distance measuring instrument comprises:
Electromagnetic wave launcher, it communicates to connect measurement processor, and the instruction receiving measurement processor is sent out
Radio magnetic wave；
Electromagnetic receiving device, the electromagnetic wave of its acceptance angle reflector reflection；
Phase contrast processor, its circuit connects electromagnetic receiving device and measurement processor, and measuring and calculating sends
Electromagnetic wave and the electromagnetic wave of reception between phase contrast, phase contrast is converted to voltage signal export extremely
Measurement processor.
3. be used for suspender mechanism as claimed in claim 1 hangs pivot angle and long measurement apparatus of restricting, and its feature exists
In, described measurement apparatus is measured with rope length for the pivot angle that hangs of the suspender mechanism of two-electron atom bridge crane；
Two-electron atom bridge crane comprises:
Big mechanism of car, it is arranged on the stockyard track on ground, and big mechanism of car is provided with and stockyard
The trolley track that track is vertical；
Trolley body, it is arranged in the trolley track of big mechanism of car；
Some lifting motors, it is arranged on trolley body, and each lifting motor correspondence connects lifting rope,
Under each lifting rope, correspondence is hung and is provided with suspender.
4. be used for suspender mechanism as claimed in claim 1 hangs pivot angle and long measurement apparatus of restricting, and its feature exists
In, the wave frequency that a pair electromagnetic distance measuring instrument of described electromagnetic distance measuring instrument group is launched is different.
5. one kind is hung pivot angle and the measuring method of long measurement apparatus of restricting, it is characterised in that this measurement apparatus comprises:
It is symmetricly set in a pair electromagnetic distance measuring instrument of both sides, lifting rope top, is arranged on the suspender of lifting rope bottom
Corner reflector and circuit connect the measurement processor of electromagnetic distance measuring instrument；
This measuring method comprises:
A pair electromagnetic distance measuring instrument launches electromagnetic wave to suspender simultaneously, and the corner reflector being positioned on suspender will
Each electromagnetic distance measuring instrument is returned in reflection of electromagnetic wave；
The phase contrast of the electromagnetic wave of transmitting Yu the electromagnetic wave of reception is converted to voltage by electromagnetic distance measuring instrument
Signal sends to measurement processor；
Measurement processor calculates to obtain each electromagnetic distance measuring instrument and corner reflector on suspender according to voltage signal
Between distance；
Measurement processor, according to distance between corner reflector on each electromagnetic distance measuring instrument and suspender, obtains
The rope hanging pivot angle and lifting rope of suspender is long.
6. measuring method as claimed in claim 5, it is characterised in that described calculate to obtain each electromagnetic distance measurement
On instrument and suspender, the distance between corner reflector comprises:
The phase contrast that measurement processor is uploaded according to an electromagnetic distance measuring instrumentObtain according to formula (1)
Go out signal propagation time t:
In formula (1), f is the frequency of electromagnetic wave；
Distance D between corner reflector is drawn on this electromagnetic distance measuring instrument and suspender according to formula (2):
In formula (2), c is the light velocity, and f is the frequency of electromagnetic wave.
7. the measuring method as described in claim 5 or 6, it is characterised in that described acquisition suspender hang pivot angle
Comprise with the rope length of lifting rope:
If the distance between a pair electromagnetic distance measuring instrument and corner reflector corresponding to suspender is respectively a
And b, the distance between two electromagnetic distance measuring instruments is c, orderAccording to
The pivot angle θ of formula (3) acquisition suspender:
The long e of rope according to formula (4) acquisition lifting rope:
8. measuring method as claimed in claim 5, it is characterised in that when described suspender is static, to hanging pivot angle
Long measurement apparatus initializes with restricting.
9. measuring method as claimed in claim 5, it is characterised in that same described electromagnetic distance measuring instrument group bag
The wave frequency that a pair electromagnetic distance measuring instrument contained is launched is different.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110271966A (en) * | 2019-07-03 | 2019-09-24 | 上海海事大学 | The swing angle detection device at the plurality of pendulums angle of more appliance bridge cranes based on photoinduction locator |
| CN113970735A (en) * | 2021-11-22 | 2022-01-25 | 天津大学 | Coaxial double-rotor-wing tip distance measuring system and method based on electromagnetic wave measurement |
| EP3712098B1 (en) | 2019-03-19 | 2022-12-28 | KONE Corporation | Elevator apparatus with rope sway detector |
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