CN108981651B - Double-lifting-tool bridge crane omnidirectional swing angle detection mechanism and measurement method - Google Patents
Double-lifting-tool bridge crane omnidirectional swing angle detection mechanism and measurement method Download PDFInfo
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- CN108981651B CN108981651B CN201810941795.4A CN201810941795A CN108981651B CN 108981651 B CN108981651 B CN 108981651B CN 201810941795 A CN201810941795 A CN 201810941795A CN 108981651 B CN108981651 B CN 108981651B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C1/00—Measuring angles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
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Abstract
The invention provides a rolling contact based variable resistance measuring method and a photoelectric effect based measuring method for circumferential angle measurement, which can realize angle measurement, particularly coordinate with a device to easily finish space angle measurement. Compared with the prior art, this structure is fairly simple, low cost, and green is pollution-free, easily realizes being convenient for maintain, and the real-time is good, and conversion efficiency is high, measures accurately, need not go to carry out a large amount of calculations, need not build many measuring device, and anti-interference ability is extremely strong, accords with the bridge crane pivot angle measurement needs of reality.
Description
Technical Field
The invention relates to the field of optical and electrical equipment and electrical engineering, and aims to measure the swing angle of a lifting rope of a double-lifting-appliance bridge.
Background
With the continuous deepening of globalization and the continuous development of world trade, the rapid development of the container water transportation industry is driven. The port scale is also not interrupted and expanded, and the bridge crane is used as a key device for port container operation, and the working capacity of the bridge crane determines the cargo handling capacity of a wharf. The double lifting bridge crane has two cranes capable of loading and unloading two different containers simultaneously, and this raises the transportation efficiency of the container terminal greatly. But during operation, the load swings due to some practical reasons (equipment loss, friction between equipment) and external environment. Such movement of the crane causes swinging of the load, which may collide with other surrounding building objects or operators, resulting in financial loss and personal injury. In particular, the loads still have residual oscillations after the transport has been stopped, which can lead to safety hazards and reduce the transport. Therefore, the swing angle detection of the bridge crane is very necessary.
Most of bridge cranes used in the prior production process are not provided with a measuring and anti-shaking device for a swing angle. The method basically depends on the experience of a bridge crane driver to carry out visual inspection, has high requirements on the operating skill and the mental state of the bridge crane driver, and is unreliable and easily influenced by subjective factors, thereby working efficiency and quality are in the country.
In recent reports, some mechanisms develop researches and applications aiming at load anti-swing and load positioning control of a single-lifting bridge crane, detection devices such as a relatively complex laser angle meter and an angle sensor are generally adopted in bridge crane control systems to realize load swing angle detection, the detection devices are expensive, complex to use, poor in anti-interference capability and inconvenient to maintain, some detection devices have special requirements on a use environment, for example, the laser meter is adopted to carry out angle identification, so that the work environment condition is good, and the laser meter is free of dust, rain, shielding and other natural conditions, so that the application of the angle detection devices is limited. Meanwhile, some swing angle measuring devices need to detect the components of the swing angle and then perform synthesis calculation on the angle, which leads to easy introduction of errors in the conversion process and inaccurate measurement.
Disclosure of Invention
Aiming at the defects in the prior art, the device and the method for measuring the swing angle of the double-lifting-tool bridge crane based on the photoelectric effect principle solve the problem of detecting the swing angle of the double-lifting-tool bridge crane, have the advantages of simple structure, low cost, convenience in maintenance, strong anti-interference capability, no influence by weather, high precision and convenience in measurement, and do not need to carry out complicated component measurement to directly measure the swing angle as the resultant force.
In order to achieve the purpose, the invention is realized by the following technical scheme:
the utility model provides a two hoist bridge crane qxcomm technology pivot angle detection mechanism which characterized in that contains:
the device comprises a swing frame plane adjusting device, a circumference angle measuring rod, a swing frame and an adjusting connecting rod;
the swing frame plane adjusting device comprises a cylindrical rotating device and a fixing device; the rotating device is arranged on the inner side of the fixing device; the sling bridge lifting rope with the load is arranged in the space inside the rotating device;
the swing frame is of an arch structure, and an upper cross rod is arranged at a position corresponding to the string; the lifting rope penetrates through the arc center of the swing frame;
the upper cross rod comprises a movable ring and a fixed ring, and the movable ring is arranged in the fixed ring; the first end of the adjusting connecting rod is fixedly connected with the lifting rope and the movable ring, and the second end of the adjusting connecting rod is fixedly arranged on the rotating device; the acting force of the lifting rope in the first direction is transmitted to the movable ring when the lifting rope swings, so that the adjusting connecting rod rotates, and the rotating device is driven to rotate; the first direction corresponds to the chord line direction of the swing frame;
a conductive measuring slideway is further arranged on the circumference of the fixing device, a metal rolling head is arranged at one end of the circumference angle measuring rod, and the metal rolling head slides on the measuring slideway along with the rotation of the rotating device;
the measuring slideway is provided with a lead, the metal rolling head is provided with another lead, the two leads are connected with a power supply, an electrical parameter measuring instrument is arranged in the loop, and the rotation angle of the swing frame plane adjusting device is detected by detecting the resistance of the loop.
Preferably, further comprising 2 photoelectric measuring devices;
the 2 photoelectric measuring devices are symmetrically arranged at two ends of a string of the swing frame;
each of the 2 photoelectric measuring devices comprises a light plate rotating shaft, a light source, a light shielding plate and a silicon photocell plate;
the light plate rotating shaft is connected with the swing frame; the light screen is fan-shaped, is connected with the light panel rotating shaft and is arranged between the light source and the silicon photovoltaic cell panel;
the light shielding plate of the first photoelectric measuring device is light-transmitting when rotating clockwise and light-shielding when rotating anticlockwise, and the light shielding plate of the second photoelectric measuring device is light-shielding when rotating clockwise and light-transmitting when rotating anticlockwise;
the lifting rope penetrates through the center of an arc of the swing frame, acting force in a second direction is generated when the lifting rope swings to drive the swing frame to swing, and further drive the light panel rotating shaft and the light shielding plate to rotate, the rotation of the light shielding plate influences the light receiving area of the silicon photovoltaic cell panel, and the photoelectric voltage of the silicon photovoltaic cell panel is detected to detect the swing angle of the swing frame; the second direction is perpendicular to the first direction.
Preferably, a roller is arranged between the rotating device and the fixing device of the swing frame plane adjusting device.
Preferably, the swing frame further comprises 2 swing frame rotating shafts and 2 rotating shaft buffering devices, and the 2 rotating shaft buffering devices are arranged at two ends of a chord of the swing frame;
each swing frame rotating shaft also comprises a rotating ring, a rotating ring rotating shaft and a transmission rod;
one end of the transmission rod is connected with the swing frame, the other end of the transmission rod is connected with the rotating shaft buffer device, and the rotating ring is connected with one end of the rotating shaft of the rotating ring;
the rotating shaft buffer device comprises a movable terminal, a buffer spring and a fixed terminal;
the first surface of the movable terminal and the first surface of the fixed terminal are arranged at two ends of the buffer spring;
the second surface of the movable terminal is connected with the other end of the rotating shaft of the rotating ring, and the second surface of the fixed terminal is connected with the transmission rod.
Preferably, the central angle of the fan-shaped light shielding plate is 270 °.
Preferably, the measuring slide further comprises an insulating slide.
Preferably, the method for measuring the omnidirectional swing angle detection mechanism of the double-crane bridge crane is calculated by a swing angle measuring and calculating system, wherein the swing angle measuring and calculating system comprises a swing angle measuring and calculating system comprising: the system comprises an electronic signal processing device, a PC, a display device and an anti-shaking control device;
the electronic signal processing device obtains an optical level signal and an electrical parameter signal of the electrical parameter measuring instrument, then obtains a swing angle theta and a cycle angle alpha through operation processing, and then transmits an operation result to the PC;
the PC displays the swing angle theta and the circumferential angle alpha on the display device and transmits instructions to the anti-shaking control device;
the anti-swing control device controls the movement of the spreader bridge;
the swing angle θ is calculated as follows:
wherein v is the value of the voltage of the silicon photovoltaic cell panel (37) detected in real time after signal conditioning, U1Is the maximum voltage measured by rotating the light shielding plate (36) by 90 degrees under the irradiation of the light source (35);
the circumferential angle α is calculated as follows:
wherein, U2Is terminal voltage; r is the resistance value of the whole measuring slideway; i is a value obtained by measuring real-time current in a loop between the measuring slide way and the circumference angle measuring rod and conditioning signals;
after α and θ are obtained, a spatial swing angle β (α, θ) is obtained.
Preferably, the electronic signal processing apparatus further comprises:
the bridge circuit is used for rectifying the optical level signal obtained by the electronic signal processing device and the electrical parameter signal of the electrical parameter measuring instrument;
the amplifier is used for amplifying the signal output after the rectification processing of the bridge circuit;
the rectifier filter is used for further rectifying and filtering the signal output by the amplifier;
an AD converter for converting the analog signal output from the rectifying filter into a digital signal;
and a CPU for converting the AD-converted voltage and current digital signals into digital signals of a swing angle theta and a peripheral angle alpha.
Compared with the prior art, the bridge crane swing angle measurement device has the advantages of simple structure, low cost, environmental protection, no pollution, easy realization, convenient maintenance, good real-time property, high conversion efficiency, accurate measurement, no need of carrying out a large amount of calculation, no need of building multiple measurement devices, strong anti-interference capability and accordance with the actual bridge crane swing angle measurement requirement.
Drawings
FIG. 1 is a schematic diagram of the overall structure of a double-hanger bridge crane swing angle detection device based on a silicon photocell;
FIG. 2 is a schematic structural diagram of a swing angle measuring apparatus;
FIG. 3 is a schematic structural view of the 360-degree adjustment device in the plane of the swing frame;
FIG. 4 is a schematic view of the connection of the swing frame;
FIG. 5a is a schematic view of the internal structure of the upper cross bar;
FIG. 5b is a schematic view of the internal connection of the adjustment linkage to the upper cross bar;
FIG. 6a is a schematic view of a circumference angle measuring rod;
FIG. 6b is a schematic view of a circumference angle measuring device;
FIG. 7 is a schematic view of a photoelectric swing angle measuring device;
FIG. 8 is an enlarged schematic view of a shutter plate;
FIG. 9 is a flow chart of the swing angle measurement;
FIG. 10 is a schematic view of the motion of the swing frame;
FIG. 11 is a schematic diagram of an electronic signal processing apparatus;
fig. 12 is a schematic structural view of the rotating shaft buffering device.
Detailed Description
In order to make the technical means, the original characteristics, the achieved purposes and the effects of the invention easy to understand, the invention is further explained in detail with the accompanying drawings and the specific embodiments, but the scope of the invention is not limited in any way.
As shown in fig. 1, the structure of the spreader bridge includes: the device comprises a bridge crane cart running track 1, a bridge crane cart driving mechanism 2, a bridge crane cart 3, a bridge crane cab 4, a bridge crane trolley running driving mechanism 5, a bridge crane trolley 6, a swing angle measuring device 7, a lifting rope 8, a lifting appliance 9 and a container 10. The bridge crane can move in a mode of independent movement of the bridge crane cart 3, independent movement of the bridge crane trolley 6 and combined movement of the bridge crane cart 3 and the bridge crane trolley 6. The three movements move the lifting rope 8 to produce the swinging of the load. The combined motion of the bridge crane cart 3 and the bridge crane cart 6 includes the independent motion of the bridge crane cart and the independent motion of the bridge crane cart, and the combined motion is taken as an example for description. When the bridge crane needs to carry goods, the operation mode is as follows: the change of the lifting rope 8 drives the lifting appliance 9 to change and then to lift the container 10, the bridge crane trolley 6 is driven by the bridge crane trolley running driving mechanism 5 and the bridge crane trolley running driving mechanism 2 drives the bridge crane trolley 3 to move the goods, the swing angle of the lifting rope 8 generated by the reasons of inertia, external environment and the like in the process is measured by the swing angle measuring device 7, and the measured data is fed back to an operator in the cab 4.
As shown in fig. 2, the pivot angle measuring device 7 includes: the device comprises a swing frame plane adjusting device 11, a circumference angle measuring rod 16, a swing frame rotating shaft 12, a swing frame 14, an adjusting connecting rod 15 and a photoelectric measuring device 13; the swing frame plane adjusting device 11 comprises a cylindrical rotating device 18 and a fixing device 20; the rotating device 18 is arranged inside the fixing device 20; the spreader bridge ropes 8 with the load are arranged in the space inside the swivel device 18 and rollers 19 are arranged between the swivel device 18 and the fixing device 20 of the pendulum platform level adjustment device 11, ensuring that the device minimizes friction as much as possible, as shown in fig. 3.
As shown in fig. 4, a swing frame 14 is provided, the swing frame 14 is of an arch structure (plate-shaped or strip-shaped), and an upper cross bar 40 is arranged at the position corresponding to the chord; the upper cross bar 40 comprises a movable ring 28 and a fixed ring 29, wherein the movable ring 28 is arranged inside the fixed ring 29, and the structure of the upper cross bar is shown in fig. 5. The first end of the adjusting link 15 is fixedly connected with the lifting rope 8 and the movable ring 28, and when the lifting rope 8 swings and generates an acting component force along the first direction, the adjusting link 15 is driven to rotate by the movable ring 28. The first direction corresponds to a chord direction of the swing frame 14, i.e., a length direction of the upper cross bar 40 (shown as a left-right direction in fig. 2).
The lifting rope 8 also passes through the arc center of the swing frame 14, and drives the fixed ring 29 of the upper cross rod 40 and the swing frame 14 to swing around a chord line when swinging and generating an acting component force in a second direction. The design of the second direction perpendicular to the first direction (shown as the front-back direction in fig. 2) where the upper cross bar 40 is placed to make the fixed ring 29 and the movable ring 28 not rotate at the same time can ensure that the adjusting link 15 is not influenced by the rotation of the swing frame rotating shaft 12 connected with the fixed ring 29.
As shown in fig. 6, the second end of the adjusting link 15 is fixedly disposed on the rotating device 18, and the rotating of the adjusting link 15 can drive the rotating device 18 to rotate; the circumference of the fixing device 20 is also provided with a conductive measuring slideway 17; one end of the circumference angle measuring rod 16 is provided with a metal rolling head 30 which can slide on the measuring slideway 17 along with the rotation of the rotating device 18; a conducting wire is arranged on the measuring slide way 17, and an insulating slide way 33 is arranged on one side of a contact point of the conducting wire and the measuring slide way 17; the metal rolling head 30 is also provided with a lead, a power supply and an electrical parameter measuring instrument are arranged between the lead and the measuring slideway 17, and the rotation angle of the swing frame plane adjusting device 11 is detected by detecting the resistance of the loop. The advantage of the metal rolling head 30 proposed here is that it tends to cause the device to become less accurate over multiple rubs, which the rolling head avoids; the input voltage of the device is changed through the rolling of the metal rolling head, so that the resistance value of the lower slideway is changed, the output current is changed, and then the output signal is processed to obtain the angle of the circumferential angle; the insulating slide 33 can guarantee that the numerical value of a week is recorded, and is convenient for distinguish the angle value.
The swing frame rotating shaft 12 comprises 2 swing frame rotating shafts, and the swing frame rotating shafts are respectively arranged at two ends of a swing frame 14; the swing frame rotating shaft 12 also comprises a rotating ring 21, a rotating ring rotating shaft 22, a buffer device 23 and a transmission rod 39; one end of the transmission rod 39 is connected with the swing frame 14, the other end is connected with the rotating ring rotating shaft 22 through the buffer device 23, and the rotating ring 21 is connected with the rotating ring rotating shaft 22. As shown in fig. 12, the buffer device includes a movable terminal 24, a buffer spring 25, and a fixed terminal 26; the first surface of the movable terminal 24 and the first surface of the fixed terminal 26 are disposed at both ends of the buffer spring 25; the second side of the movable terminal 24 is connected to the rotating ring shaft 22 and the second side of the fixed terminal 26 is connected to the actuator rod 39. The connecting device is rotated at a fixed point, the rotating ring 21 is divided into a fixed ring and a rotating ring, and balls are arranged between the fixed ring and the rotating ring to ensure that the connecting device can rotate with small friction; a buffer 23 is provided between the rotating ring shaft 22 and the rotating ring 21 to prevent damage due to a large swing of the lifting rope 8 in the first direction.
The 2 photoelectric measuring devices 13 are respectively arranged at two ends of the swing frame rotating shaft 12 and used for detecting the rotating angle of the swing frame 14. As shown in fig. 7, each of the 2 photoelectric measuring devices 13 includes a light plate rotating shaft 34, a light source 35, a light shielding plate 36 and a silicon photovoltaic panel 37; as shown in fig. 8, the light panel shaft 34 is connected to the swing frame 14; the light shielding plate 36 is a fan-shaped structure with a central angle of 270 degrees, is arranged between the light source 35 and the silicon photocell panel 37, and is connected with the light panel rotating shaft 34; when swinging, the lifting rope 8 drives the swing frame 14 to swing, and further drives the light panel rotating shaft 34 to rotate together with the light shielding plate 36; the light shielding plate 36 of the first photoelectric measuring device transmits light when rotated clockwise, and blocks light when rotated counterclockwise, and the light shielding plate 36 of the second photoelectric measuring device blocks light when rotated clockwise, and transmits light when rotated counterclockwise. The lifting rope 8 drives the swing frame 14 to swing, the swing frame 14 drives the light panel rotating shaft 34 to rotate, the light panel rotating shaft 34 drives the light shielding plate 36 to rotate, and therefore the light receiving area of the silicon photovoltaic cell panel 37 is changed, the voltage of the silicon photovoltaic cell panel 37 is further changed, the voltage is measured, and the angle change is also known.
As shown in fig. 9, the system for measuring and calculating the pivot angle includes: the system comprises an electronic signal processing device, a PC, a display device and an anti-shaking control device; the electronic signal processing device obtains the optical level signal and the electrical parameter signal of the electrical parameter measuring instrument, then the optical level signal and the electrical parameter signal are processed through calculation to obtain a swing angle theta and a peripheral angle alpha, then the calculation result is transmitted to the PC, the PC displays the swing angle theta and the peripheral angle alpha on the display device and transmits an instruction to the anti-swing control device, and the anti-swing control device controls the movement of the lifting appliance bridge.
As shown in fig. 11, the electronic signal processing apparatus further includes: bridge circuits, amplifiers, rectifier filters, AD converters, CPUs, and the like; the bridge circuit rectifies the optical level signal obtained by the electronic signal processing device and the electrical parameter signal of the electrical parameter measuring instrument; the amplifier amplifies the signal output by the bridge circuit after rectification; the rectification filter further rectifies and filters the signal output by the amplifier; the AD converter converts the analog signal output by the rectifying filter into a digital signal; the CPU converts the AD-converted voltage and current digital signals into digital signals of a swing angle theta and a peripheral angle alpha.
Assume that the hoist line 8 moves as shown in fig. 10, with the hoist line in the z-axis and the upper cross bar 40 in the y-axis. When the lifting rope 8 swings, the swing frame 14 and the movable ring 28 are stressed, so that the swing angle of the lifting rope 8 is measured through the photoelectric measuring device 13 and the swing frame plane adjusting device 11. When the lifting rope 8 swings, it will first cause the swing frame 14 to move, and the movement of the swing frame 14 will simultaneously cause the swing frame rotating shaft 12 and the adjusting link 15 to move. In the swing frame shaft 12, the swing of the hoist rope 8 rotates the rotating ring shaft 22 connected to the rotating ring 21, and since the movement is not unidirectional, the rotating ring shaft 22 moves in the y direction. At this time, the rotating shaft buffer mechanism 23 can well restrict the mechanical damage caused by the transverse movement, and can greatly prevent the energy from being dissipated. Because the movable ring 28 of the upper cross bar 40 is stressed in the y-axis direction inside the upper cross bar 40, the adjusting connecting rod 15 is connected with the movable ring 28 of the upper cross bar 40 at the moment, the stressed force can be transmitted to the adjusting connecting rod 15, and the adjusting connecting rod 15 drives the swing frame plane adjusting device 11 to rotate at the moment. The swinging of the hoist rope 8 thus causes the rotation of the pendulum plane adjustment device 11 and the swinging in the x-axis direction of the pendulum 14. The swing of the lifting rope 8 can be completely tracked through the device, the movement does not need to be decomposed in the device due to the design, the calculation and the measurement become simple, meanwhile, the energy is not easy to dissipate due to the design of the buffer device, the violent movement is well protected, and the measurement precision is improved.
When the photoelectric measuring device 13 measures the swing of the swing frame 14, the light panel rotating shaft 34 drives the light shielding plate 36 to rotate. When the light from the light source 35 passes through the light shielding plate 36, the voltage of the silicon photovoltaic panel 37 is increased, and the swing angle theta is measured only by the following formula.
Wherein v is the value obtained after the voltage of the silicon cell, namely the silicon photocell plate 37, detected in real time is conditioned by signals, U1The maximum voltage measured by rotating the light shielding plate (36) by 90 degrees under the irradiation of the light source (35)The full scale voltage of this device can also be understood. The other direction of the swing is measured by another device, and the principle is the same.
The measurement of the peripheral angle α can be calculated by the following formula.
Wherein U is2Terminal voltage, R is the resistance value of the whole measuring slide way, and i is the current obtained by conditioning the real-time current through a signal. After α and θ are obtained, a spatial swing angle β (α, θ) is obtained. In the measuring device, the swing of the lifting rope can be calculated by the measured electrical parameters through only one formula, so that the calculation amount is obviously reduced, and the measuring device is undoubtedly optimized for massive processing data.
Compared with the prior art, the bridge crane swing angle measuring device is simple in structure, low in cost, environment-friendly, pollution-free, easy to implement, convenient to maintain, good in real-time performance, high in conversion efficiency, accurate in measurement, free of the need of carrying out a large amount of calculation, free of the need of multiple measuring devices, strong in anti-interference capacity and capable of meeting the actual bridge crane swing angle measuring requirements.
While the present invention has been described in detail with reference to the preferred embodiments, it should be understood that the above description should not be taken as limiting the invention. Various modifications and alterations to this invention will become apparent to those skilled in the art upon reading the foregoing description. Accordingly, the scope of the invention should be determined from the following claims.
Claims (7)
1. The utility model provides a two hoist bridging crane qxcomm technology pivot angle detection mechanism which characterized in that contains:
a swing frame plane adjusting device (11), a circumference angle measuring rod (16), a swing frame (14) and an adjusting connecting rod (15);
the swing frame plane adjusting device (11) comprises a cylindrical rotating device (18) and a fixing device (20); the rotating device (18) is arranged inside the fixing device (20); the sling bridge lifting rope (8) with the load is arranged in the space inside the rotating device (18);
the swing frame (14) is of an arch structure, and an upper cross bar (40) is arranged at the position corresponding to the chord; the lifting rope (8) passes through the arc center of the swing frame (14);
the upper cross rod (40) comprises a movable ring (28) and a fixed ring (29), and the movable ring (28) is arranged inside the fixed ring (29); the first end of the adjusting connecting rod (15) is fixedly connected with the lifting rope (8) and the movable ring (28), and the second end of the adjusting connecting rod (15) is fixedly arranged on the rotating device (18); the acting force of the lifting rope (8) in the first direction is transmitted to the movable ring (28) when swinging, so that the adjusting connecting rod (15) rotates, and the rotating device (18) is driven to rotate; the first direction corresponds to a chord line direction of the swing frame (14);
a conductive measuring slide way (17) is further arranged on the circumference of the fixing device (20), a metal rolling head (30) is arranged at one end of the circumference angle measuring rod (16), and the metal rolling head (30) slides on the measuring slide way (17) along with the rotation of the rotating device (18);
a lead is arranged on the measuring slide way (17), another lead is arranged on the metal rolling head (30), the two leads are connected with a power supply, an electrical parameter measuring instrument is arranged in the loop, and the rotation angle of the swing frame plane adjusting device (11) is detected by detecting the resistance of the loop;
further comprising 2 photoelectric measuring devices (13);
the 2 photoelectric measuring devices (13) are symmetrically arranged at two ends of a chord of the swing frame (14);
the 2 photoelectric measuring devices (13) respectively comprise a light plate rotating shaft (34), a light source (35), a light shielding plate (36) and a silicon photovoltaic cell panel (37);
the light panel rotating shaft (34) is connected with the swing frame (14); the light shielding plate (36) is fan-shaped, is connected with the light plate rotating shaft (34), and is arranged between the light source (35) and the silicon photovoltaic cell panel (37);
the light shielding plate (36) of the first photoelectric measuring device is light-transmitting when rotating clockwise and light-shielding when rotating anticlockwise, and the light shielding plate (36) of the second photoelectric measuring device is light-shielding when rotating clockwise and light-transmitting when rotating anticlockwise;
the lifting rope (8) penetrates through the center of an arc of the swing frame (14), acting force in the second direction is generated when the lifting rope (8) swings to drive the swing frame (14) to swing, and further drive the light panel rotating shaft (34) and the light shielding plate (36) to rotate, the rotation of the light shielding plate (36) influences the light receiving area of the silicon photovoltaic cell panel (37), and the photoelectric voltage of the silicon photovoltaic cell panel (37) is detected to detect the swing angle of the swing frame (14); the second direction is perpendicular to the first direction.
2. The omni-directional swing angle detection mechanism for the double-crane bridge crane according to claim 1, characterized in that a roller (19) is arranged between the rotating device (18) and the fixing device (20) of the swing frame plane adjusting device (11).
3. The omnidirectional swing angle detection mechanism of the double-crane bridge crane according to claim 1, further comprising 2 swing frame rotating shafts (12) and 2 rotating shaft buffering devices (23) arranged at two ends of a chord of the swing frame (14);
each swing frame rotating shaft (12) also comprises a rotating ring (21), a rotating ring rotating shaft (22) and a transmission rod (39);
one end of the transmission rod (39) is connected with the swing frame (14), the other end of the transmission rod is connected with the rotating shaft buffer device (23), and the rotating ring (21) is connected with one end of the rotating shaft (22) of the rotating ring;
the rotating shaft buffer device (23) comprises a movable terminal (24), a buffer spring (25) and a fixed terminal (26);
the first surface of the movable terminal (24) and the first surface of the fixed terminal (26) are arranged at two ends of the buffer spring (25);
the second surface of the movable terminal (24) is connected with the other end of the rotating ring rotating shaft (22), and the second surface of the fixed terminal (26) is connected with the transmission rod (39).
4. The omni-directional pivot angle detecting mechanism of a double-crane bridge crane according to claim 1, wherein the central angle of the fan-shaped shading plate (36) is 270 °.
5. The omni-directional pivot angle detection mechanism for the double-crane bridge crane according to claim 1, wherein the measuring slide (17) further comprises an insulating slide (33).
6. The method for measuring the omnidirectional swing angle detection mechanism of the double-crane bridge crane according to any one of claims 1-5, wherein the method is calculated by a swing angle measurement and calculation system, and the swing angle measurement and calculation system comprises: the system comprises an electronic signal processing device, a PC, a display device and an anti-shaking control device;
the electronic signal processing device obtains an optical level signal and an electrical parameter signal of the electrical parameter measuring instrument, then obtains a swing angle theta and a cycle angle alpha through operation processing, and then transmits an operation result to the PC;
the PC displays the swing angle theta and the circumferential angle alpha on the display device and transmits instructions to the anti-shaking control device;
the anti-swing control device controls the movement of the spreader bridge;
the swing angle θ is calculated as follows:
wherein v is the value of the voltage of the silicon photovoltaic cell panel (37) detected in real time after signal conditioning, U1Is the maximum voltage measured by rotating the light shielding plate (36) by 90 degrees under the irradiation of the light source (35);
the circumferential angle α is calculated as follows:
wherein, U2Is terminal voltage; r is the resistance value of the whole measuring slideway; i is a value obtained by measuring real-time current in a loop between the measuring slide way (17) and the circumference angle measuring rod (16) and conditioning signals;
after α and θ are obtained, a spatial swing angle β (α, θ) is obtained.
7. The method for measuring the omnidirectional swing angle detection mechanism of the double-crane bridge crane according to claim 6, wherein the electronic signal processing device further comprises:
the bridge circuit is used for rectifying the optical level signal obtained by the electronic signal processing device and the electrical parameter signal of the electrical parameter measuring instrument;
the amplifier is used for amplifying the signal output after the rectification processing of the bridge circuit;
the rectifier filter is used for further rectifying and filtering the signal output by the amplifier;
an AD converter for converting the analog signal output from the rectifying filter into a digital signal;
and a CPU for converting the AD-converted voltage and current digital signals into digital signals of a swing angle theta and a peripheral angle alpha.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810941795.4A CN108981651B (en) | 2018-08-17 | 2018-08-17 | Double-lifting-tool bridge crane omnidirectional swing angle detection mechanism and measurement method |
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| CN201810941795.4A CN108981651B (en) | 2018-08-17 | 2018-08-17 | Double-lifting-tool bridge crane omnidirectional swing angle detection mechanism and measurement method |
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| CN108981651A CN108981651A (en) | 2018-12-11 |
| CN108981651B true CN108981651B (en) | 2021-01-26 |
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| CN105016208A (en) * | 2015-07-24 | 2015-11-04 | 上海海事大学 | Double-sling bridge crane swinging angle measuring device and method thereof |
| CN107655456A (en) * | 2017-10-16 | 2018-02-02 | 广州市建设工程质量安全检测中心 | A kind of high-precision pendulum resistance-type inclination measurement device for being used to monitor and method |
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| WO2014055428A3 (en) * | 2012-10-05 | 2015-07-16 | Trimble Navigation Limited | Enhanced position measurement systems and methods |
| CN105016208A (en) * | 2015-07-24 | 2015-11-04 | 上海海事大学 | Double-sling bridge crane swinging angle measuring device and method thereof |
| CN107655456A (en) * | 2017-10-16 | 2018-02-02 | 广州市建设工程质量安全检测中心 | A kind of high-precision pendulum resistance-type inclination measurement device for being used to monitor and method |
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