CN110906851A - Bridge crane swing angle and rope length detection device and detection method - Google Patents

Bridge crane swing angle and rope length detection device and detection method Download PDF

Info

Publication number
CN110906851A
CN110906851A CN201911007256.4A CN201911007256A CN110906851A CN 110906851 A CN110906851 A CN 110906851A CN 201911007256 A CN201911007256 A CN 201911007256A CN 110906851 A CN110906851 A CN 110906851A
Authority
CN
China
Prior art keywords
swing angle
rope length
rope
superconducting junction
magnetic flux
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN201911007256.4A
Other languages
Chinese (zh)
Other versions
CN110906851B (en
Inventor
赵微微
徐为民
黄金玲
胡益彬
袁贺松
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shanghai Maritime University
Original Assignee
Shanghai Maritime University
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Shanghai Maritime University filed Critical Shanghai Maritime University
Priority to CN201911007256.4A priority Critical patent/CN110906851B/en
Publication of CN110906851A publication Critical patent/CN110906851A/en
Application granted granted Critical
Publication of CN110906851B publication Critical patent/CN110906851B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
    • G01B7/02—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring length, width or thickness
    • 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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
    • G01B7/30—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring angles or tapers; for testing the alignment of axes

Landscapes

  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)

Abstract

A swing angle detection device is used for obtaining the magnetic flux variation generated along with the swing of a lifting rope, a swing angle is obtained through calculation, a rope length detection device is used for obtaining the magnetic flux variation generated along with the lifting of the lifting rope, and the rope length is obtained through calculation. The invention has simple structure and convenient maintenance, and can accurately measure the swing angle and the rope length.

Description

Bridge crane swing angle and rope length detection device and detection method
Technical Field
The invention relates to a device and a method for detecting a swing angle and a rope length of a bridge crane.
Background
The resurgence of the world economy and the development of international trade have promoted the development of shipping, which has also put higher demands on the handling efficiency of container terminals, and intelligence is increasingly applied to container terminals. However, the conventional single-spreader bridge crane cannot meet the loading and unloading efficiency requirements of container ports, and thus multi-spreader container bridge cranes (shore bridges and yard bridges) have been in force. After the intelligent equipment is combined, the loading and unloading efficiency of the multi-spreader container bridge crane is greatly improved.
The existing multi-spreader bridge crane is mainly a double-spreader bridge crane, which is a novel container port loading and unloading machine. Because two containers can be loaded and unloaded by the double lifting appliances at one time, the operation requirement of a busy port can be met. But if the problems of swinging and synchronism between the double lifting appliances are not solved, the loading and unloading efficiency can not achieve the expected effect, and more serious, the loading and unloading efficiency can also cause serious safety accidents. Therefore, in order to improve the personal safety of workers and stably improve the loading and unloading efficiency, the shaking prevention and the synchronization are problems which need to be solved urgently.
Disclosure of Invention
The invention provides a device and a method for detecting a swing angle and a rope length of a bridge crane, which are simple in structure and convenient to maintain and can accurately measure the swing angle and the rope length.
In order to achieve the above object, the present invention provides a device for detecting a swing angle and a rope length of a bridge crane, comprising: a swing angle detection device and a rope length detection device;
the swing angle detection device comprises:
a swing angle magnetic field device for generating a magnetic field;
the swing angle magnetic flux measuring device is arranged in the magnetic field device, is contacted with a lifting rope of the bridge crane through a mechanical linkage device and is used for detecting the magnetic flux variation generated along with the swinging of the lifting rope;
the rope length detection device comprises:
the rope length magnetic field device is arranged on the driving device, sleeved on the lifting rope and used for generating a magnetic field;
and the rope length magnetic flux measuring device is arranged on a lifting appliance of the bridge crane and is used for detecting the magnetic flux variation generated along with the lifting of the lifting rope.
The swing angle magnetic field device comprises: the solenoid is energized.
The swing angle magnetic flux measuring device comprises:
the superconducting junction is vertically arranged in a magnetic field generated by the swing angle magnetic field device;
and the current measuring device is electrically connected with two ends of the superconducting junction and is used for measuring the critical current and the oscillation frequency in the superconducting junction.
The mechanical linkage comprises:
the circular ring is sleeved on a lifting rope of the bridge crane and used for conducting the swinging of the lifting rope;
and one end of the connecting rod is connected with the circular ring, and the other end of the connecting rod is connected with the superconducting junction and is used for transmitting the swing of the lifting rope to the superconducting junction so that the superconducting junction swings together with the swing of the lifting rope.
The rope length magnetic field device comprises: the solenoid is energized.
The rope length magnetic flux measuring device comprises:
a superconducting junction disposed horizontally;
and the current measuring device is electrically connected with two ends of the superconducting junction and is used for measuring the critical current and the oscillation frequency in the superconducting junction.
The bridge crane swing angle and rope length detection device further comprises a signal processing device and a computer device, wherein the signal processing device is connected with the swing angle magnetic flux measurement device and the rope length magnetic flux measurement device and used for receiving critical current signals, and the computer device is connected with the signal processing device and used for calculating the swing angle and the rope length.
The invention also provides a method for detecting the swing angle and the rope length of the bridge crane, which is characterized in that the swing angle detection device is utilized to obtain the magnetic flux variation generated along with the swing of the lifting rope, and the swing angle is obtained through calculation; the rope length detection device is used for acquiring the magnetic flux variation generated along with the lifting of the lifting rope, and the rope length is calculated;
the swing angle calculation formula is as follows:
Figure BDA0002243143230000021
wherein theta is a swing angle phi1Is the magnetic flux through the superconducting junction and,B1is the magnetic field strength, S, at the superconducting junction1Is the area of the superconducting junction in the direction perpendicular to the magnetic field;
rope length calculation formula:
Figure BDA0002243143230000022
wherein L is the distance between the solenoid and the superconducting junction, n is the number of turns of the coil of the solenoid, and mu0For magnetic permeability, R is the coil radius of the solenoid, I2Is the current in the coil of the solenoid, S1Is the area of the superconducting junction perpendicular to the magnetic field, phi2Is the magnetic flux through the superconducting junction.
The invention adopts the superconducting junction principle to measure the magnetic flux, can accurately measure the swing angle and the rope length, and can meet the requirements of busy port loading and unloading. The invention uses the solenoid to generate a magnetic field, creates conditions for detecting the swing angle and the rope length, and has simple structure. The swing angle and rope length measuring device realizes decoupling, and avoids mutual influence between the swing angle and the rope length measuring device. The swing angle and the rope length detection of the invention are non-contact detection, and the maintenance is convenient.
Drawings
Fig. 1 is a schematic structural diagram of a device for detecting a swing angle and a rope length of a bridge crane provided by the invention.
Fig. 2 is a schematic structural view of the swing angle detecting device.
Fig. 3 is a schematic structural view of the magnetic flux measuring apparatus.
Fig. 4 is a schematic view of the structure of the superconducting junction.
Fig. 5 is a schematic structural view of the rope length detecting device.
Fig. 6 is a schematic view of an initial position of a superconducting junction.
Fig. 7 is a schematic view of a superconducting junction swing position.
Fig. 8 is a schematic view of the swing angle calculation.
Detailed Description
The preferred embodiment of the present invention will be described in detail below with reference to fig. 1 to 8.
Fig. 1 is a schematic structural diagram of a double-crane bridge crane provided in the embodiment. The double-lifting-appliance bridge crane comprises a cart 23 and a trolley mechanism 1 positioned on the cart 23. The trolley mechanism 1 is used as a carrier and equipment building platform and is provided with a moving mechanism 4 and driving mechanisms 2 and 3. The cart 23 has a drive mechanism 5. The double-spreader bridge crane comprises two spreaders 6 and 7 which can be independent and interlocked, wherein the spreaders 6 and 7 are respectively connected to the driving mechanisms 2 and 3 of the trolley mechanism 1 by lifting ropes 8 and 9. The double-lifting-appliance bridge crane further comprises a swing angle detection device 10 and a rope length detection device, wherein the swing angle detection device 10 is used for detecting a swing angle of the bridge crane, and the rope length detection device is used for detecting the rope length of the bridge crane. The double-lifting-appliance bridge crane further comprises a signal processing device 12 and a computer device 13, wherein the signal processing device 12 is connected with the swing angle detection device 10 and the rope length detection device and used for processing detection data of the swing angle detection device 10 and the rope length detection device, and the computer device 13 is connected with the signal processing device 12 and used for calculating a swing angle and a rope length.
As shown in fig. 2, the swing angle detecting device 10 further includes:
magnetic field means for generating a magnetic field;
and a magnetic flux measuring device arranged in the magnetic field device, wherein the magnetic flux measuring device is contacted with a lifting rope of the bridge crane through a mechanical linkage device, and is electrically connected with the signal processing device 12 for detecting the magnetic flux variation.
The magnetic field device comprises: the solenoid 17, which is fixed by the solenoid fixing device 19, has a coil wound around the solenoid 17, and both end points 25 and 26 of the coil are connected to a power supply device 27, respectively. When the coil is energized, a magnetic field is generated in the solenoid 17 by the energization of the power supply.
As shown in fig. 3, the magnetic flux measuring apparatus includes:
a superconducting junction 18 vertically disposed in the magnetic field generated by the solenoid 17, said superconducting junction 18 having a radius r, as shown in fig. 4, the superconducting junction 18 comprising two superconductors 28 and an insulator 21;
and a current measuring device 22 which is electrically connected with two ends of the superconducting junction 18 and the signal processing device 12 and is used for measuring the magnetic flux in the superconducting junction.
As shown in fig. 2, the mechanical linkage includes:
the circular ring 14 is sleeved on a lifting rope of the bridge crane and used for conducting the swinging of the lifting rope;
and one end of the connecting rod 16 is connected with the circular ring 14, and the other end of the connecting rod is connected with the superconducting junction 18, and the connecting rod is used for transmitting the swinging of the lifting rope to the superconducting junction 18, so that the superconducting junction 18 swings along with the swinging of the lifting rope.
As shown in fig. 1 and 5, the rope length detecting device includes:
the magnetic field device 20 is arranged on the driving device and sleeved on the lifting rope for generating a magnetic field;
and the magnetic flux measuring device 11 is arranged on the lifting appliance and is electrically connected with the signal processing device 12 and used for detecting the magnetic flux variation.
The magnetic field device 20 comprises: the solenoid 20, the coil is twined on the solenoid 20, and the both ends of coil are connected to power supply unit respectively, and the radius of coil is R. When the coil is energized, a magnetic field is generated within the solenoid 20 when energized by a power source.
The magnetic flux measuring device 11 includes:
a superconducting junction 29 disposed horizontally, the superconducting junction 29 comprising two superconductors and an insulator;
and a current measuring device (not shown) electrically connected to both ends of the superconducting junction 29 and electrically connected to the signal processing device 12 for measuring the magnetic flux in the superconducting junction.
The bridge crane swing angle detection process provided by the invention comprises the following steps:
the movement of the cart or trolley mechanism causes the hanger and the lifting rope to swing, the movement state of the lifting rope is transmitted to the superconducting junction 18 through the connecting rod 16 through the circular ring 14, the superconducting junction 18 is driven to swing, the superconducting junction 18 swings from the initial position shown in figure 6 to the position shown in figure 7, and the magnetic flux of the superconducting junction 18 under the magnetic field generated in the solenoid 17 is caused to change.
As shown in fig. 8, the specific calculation formula of the swing angle of the lifting rope is as follows:
first, the magnetic field strength B generated by the solenoid 17 at the initial position moment is given1Formula (location of superconducting junction 18 in solenoid)17 at a fixed height):
Figure BDA0002243143230000051
wherein, mu0For magnetic permeability, n is the number of turns of the coil of the solenoid 17, I1Current in the coil of the solenoid 17, β1、β2Respectively, the angle of the center point from the ends, as shown in fig. 2 (in the present invention, the angle between the horizontal of the rod 16 and the coil ends 25 and 26, respectively, which is known because the height of the superconducting junction 18 is constant because of the fixed position, but only swings around the center of the solenoid 17).
Then, the magnetic flux φ passing through the superconducting junction 18 can be measured1：
φ1＝n1φ0(2)
Wherein phi is0Is a quantum of magnetic flux, n1Is critical current IcNumber of oscillations of, n1Can be detected by the current detection device 22;
finally, the angle between the swung superconducting junction 18 and its initial position is expressed as:
Figure BDA0002243143230000052
wherein, B1The magnetic field strength at this position can be calculated by formula (1) #1Calculated by the formula (2), S1Is the area thereof in the direction perpendicular to the magnetic field,
Figure BDA0002243143230000053
r is the diameter of the superconducting junction.
After being processed by the signal processing device 12, the critical current signal is sent to the computer device 13 to be completed, and the swing angle calculation result is fed back to the driving platform and can also be transmitted to the anti-swing controller to be controlled in an anti-swing mode.
The invention provides a bridge crane rope length detection process which comprises the following steps:
as shown in fig. 5, the driving mechanism drives the lifting device to perform a lifting motion, the distance between the superconducting junction 29 and the solenoid 20 is changed, the change of the distance causes the magnetic flux in the superconducting junction 29 to be changed continuously, and the change relationship can be processed by the signal processing device 12 and then calculated by the computer device 13 to be finally converted into height information. The height information can be fed back to the control personnel of the driver's cab, and can also be fed back to the synchronous controller to be used as reference information or feedback signals.
As shown in fig. 5, when the bridge crane performs a lifting motion, the height distance L of the bridge crane also changes correspondingly, and the specific calculation formula is as follows:
φ2＝n2φ0(4)
wherein phi is2Is the magnetic flux, phi, in the superconducting junction 290Is a quantum of magnetic flux, n2Is the number of oscillations of the critical current, n2Can be detected by a current detection device;
φ2＝∫sB2dS (5)
wherein, B2Is the magnetic field strength of the solenoid 20,
Figure BDA0002243143230000061
μ0for permeability, R is the coil radius of the solenoid 20, I2Is the current in the coil of the solenoid 20, L is the distance between the superconducting junction 29 and the solenoid 20;
l can be derived as:
Figure BDA0002243143230000062
wherein n is the number of coil turns, n2The number of oscillations of the critical current is obtained, the critical current signal data is transmitted to the computer device 13 through the signal processing device 12 for processing, and finally the rope length L is obtained and fed back to the driving platform.
The invention provides a novel swing angle and rope length measuring device. Aiming at swing angle detection, the invention converts the motion of the lifting rope into the swing of the swing angle device connected with the lifting rope in the solenoid, the swing of the swing angle device in a magnetic field causes the change of the magnetic flux inside the swing angle device, and the magnetic flux change inside the swing angle device is measured to convert the magnetic flux into swing angle information and finally feed back the swing angle information to a bridge crane driver. Aiming at the detection of the rope length, the invention adopts a coil to generate a magnetic field, the rope length of the rope continuously changes along with the lifting motion of the bridge crane, and the distance between a lifting appliance and the coil changes along with the change of the rope length, thereby finally causing the change of the magnetic flux in the lifting appliance. By using the change, the magnetic flux is measured by the superconducting junction device, transmitted to a computer to calculate the height of the rope length and fed back to a driver.
The invention adopts the superconducting junction principle to measure the magnetic flux, can accurately measure the swing angle and the rope length, and can meet the requirements of busy port loading and unloading. The invention uses the solenoid to generate a magnetic field, creates conditions for detecting the swing angle and the rope length, and has simple structure. The swing angle and rope length measuring devices are mutually independent, so that decoupling is realized, and mutual influence between the swing angle and rope length measuring devices is avoided. The swing angle and the rope length detection of the invention are non-contact detection, and the maintenance is convenient.
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 (8)

1. The utility model provides a bridge crane pivot angle and long detection device of rope which characterized in that contains: a swing angle detection device and a rope length detection device;
the swing angle detection device comprises:
a swing angle magnetic field device for generating a magnetic field;
the swing angle magnetic flux measuring device is arranged in the magnetic field device, is contacted with a lifting rope of the bridge crane through a mechanical linkage device and is used for detecting the magnetic flux variation generated along with the swinging of the lifting rope;
the rope length detection device comprises:
the rope length magnetic field device is arranged on the driving device, sleeved on the lifting rope and used for generating a magnetic field;
and the rope length magnetic flux measuring device is arranged on a lifting appliance of the bridge crane and is used for detecting the magnetic flux variation generated along with the lifting of the lifting rope.
2. The bridge crane swing angle and rope length detection device according to claim 1, wherein the swing angle magnetic field device comprises: the solenoid is energized.
3. The bridge crane swing angle and rope length detection device according to claim 1, wherein the swing angle magnetic flux measurement device comprises:
the superconducting junction is vertically arranged in a magnetic field generated by the swing angle magnetic field device;
and the current measuring device is electrically connected with two ends of the superconducting junction and is used for measuring the critical current and the oscillation frequency in the superconducting junction.
4. The bridge crane swing angle and rope length detecting device according to claim 3, wherein said mechanical linkage means comprises:
the circular ring is sleeved on a lifting rope of the bridge crane and used for conducting the swinging of the lifting rope;
and one end of the connecting rod is connected with the circular ring, and the other end of the connecting rod is connected with the superconducting junction and is used for transmitting the swing of the lifting rope to the superconducting junction so that the superconducting junction swings together with the swing of the lifting rope.
5. The bridge crane swing angle and rope length detection device according to claim 1, wherein the rope length magnetic field device comprises: the solenoid is energized.
6. The bridge crane swing angle and rope length detecting device according to claim 1, wherein the rope length magnetic flux measuring device comprises:
a superconducting junction disposed horizontally;
and the current measuring device is electrically connected with two ends of the superconducting junction and is used for measuring the critical current and the oscillation frequency in the superconducting junction.
7. The bridge crane swing angle and rope length detection device according to any one of claims 1-6, further comprising a signal processing device and a computer device, wherein the signal processing device is connected with the swing angle magnetic flux measurement device and the rope length magnetic flux measurement device and used for receiving the measured critical current signal, and the computer device is connected with the signal processing device and used for calculating the swing angle and the rope length.
8. A bridge crane swing angle and rope length detection method is characterized in that a swing angle detection device as claimed in claim 7 is used for obtaining magnetic flux variation generated along with swing of a lifting rope, and a swing angle is obtained through calculation; acquiring the magnetic flux variation generated along with the lifting of the lifting rope by using the rope length detection device as claimed in claim 7, and calculating the rope length;
the swing angle calculation formula is as follows:
Figure FDA0002243143220000021
wherein theta is a swing angle phi1Is the magnetic flux through the superconducting junction, B1Is the magnetic field strength, S, at the superconducting junction1Is the area of the superconducting junction in the direction perpendicular to the magnetic field;
rope length calculation formula:
Figure FDA0002243143220000022
wherein L is the distance between the solenoid and the superconducting junction, n is the number of turns of the coil of the solenoid, and mu0For magnetic permeability, R is the coil radius of the solenoid, I2Is the current in the coil of the solenoid, S1Is the area of the superconducting junction perpendicular to the magnetic field, phi2Is the magnetic flux through the superconducting junction.
CN201911007256.4A 2019-10-22 2019-10-22 Bridge crane swing angle and rope length detection device and detection method Active CN110906851B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201911007256.4A CN110906851B (en) 2019-10-22 2019-10-22 Bridge crane swing angle and rope length detection device and detection method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201911007256.4A CN110906851B (en) 2019-10-22 2019-10-22 Bridge crane swing angle and rope length detection device and detection method

Publications (2)

Publication Number Publication Date
CN110906851A true CN110906851A (en) 2020-03-24
CN110906851B CN110906851B (en) 2021-07-23

Family

ID=69815787

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201911007256.4A Active CN110906851B (en) 2019-10-22 2019-10-22 Bridge crane swing angle and rope length detection device and detection method

Country Status (1)

Country Link
CN (1) CN110906851B (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113218295A (en) * 2021-05-10 2021-08-06 上海海事大学 Swing angle and rope length measuring device and method for double-lifting bridge crane
CN113428782A (en) * 2021-07-02 2021-09-24 徐靖琳 Device for detecting length and swing angle of lifting rope of bridge crane

Citations (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS61274203A (en) * 1985-05-30 1986-12-04 Komatsu Ltd Crane swing angle detector
JPH02216009A (en) * 1989-02-17 1990-08-28 Nippon Autom Kk Angle-of-inclination sensor
JPH03243801A (en) * 1990-02-22 1991-10-30 Nkk Corp Noncontact type range finder
CN1752716A (en) * 2004-09-22 2006-03-29 欧姆龙株式会社 Inclination sensor
CN103608942A (en) * 2011-01-26 2014-02-26 尹丘比特公司 Josephson magnetic switch
CN205373623U (en) * 2015-02-06 2016-07-06 日立金属株式会社 Range finding system
CN106526508A (en) * 2016-11-11 2017-03-22 北京航空航天大学 SQUID (Superconducting Quantum Interference Device) flux converter device used for detecting magnetic field intensity tensor
CN106953000A (en) * 2017-03-15 2017-07-14 中国科学院上海微系统与信息技术研究所 It is integrated in superconducting field coils of Josephson junction and preparation method thereof
CN108572394A (en) * 2017-11-27 2018-09-25 山东大学 Half aviation transient electromagnetic receiving coil posture recording device and posture antidote
CN109560189A (en) * 2017-09-26 2019-04-02 中国科学院上海微系统与信息技术研究所 A kind of magnetic flux superconductor detector and preparation method and detection method
CN110304548A (en) * 2019-07-12 2019-10-08 上海海事大学 The detection device and its detection method of double lifting bridge crane lifting rope swing angles and rope length

Patent Citations (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS61274203A (en) * 1985-05-30 1986-12-04 Komatsu Ltd Crane swing angle detector
JPH02216009A (en) * 1989-02-17 1990-08-28 Nippon Autom Kk Angle-of-inclination sensor
JPH03243801A (en) * 1990-02-22 1991-10-30 Nkk Corp Noncontact type range finder
CN1752716A (en) * 2004-09-22 2006-03-29 欧姆龙株式会社 Inclination sensor
CN103608942A (en) * 2011-01-26 2014-02-26 尹丘比特公司 Josephson magnetic switch
CN205373623U (en) * 2015-02-06 2016-07-06 日立金属株式会社 Range finding system
CN106526508A (en) * 2016-11-11 2017-03-22 北京航空航天大学 SQUID (Superconducting Quantum Interference Device) flux converter device used for detecting magnetic field intensity tensor
CN106953000A (en) * 2017-03-15 2017-07-14 中国科学院上海微系统与信息技术研究所 It is integrated in superconducting field coils of Josephson junction and preparation method thereof
CN109560189A (en) * 2017-09-26 2019-04-02 中国科学院上海微系统与信息技术研究所 A kind of magnetic flux superconductor detector and preparation method and detection method
CN108572394A (en) * 2017-11-27 2018-09-25 山东大学 Half aviation transient electromagnetic receiving coil posture recording device and posture antidote
CN110304548A (en) * 2019-07-12 2019-10-08 上海海事大学 The detection device and its detection method of double lifting bridge crane lifting rope swing angles and rope length

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
郝景毅: ""基于GMI效应的弱磁传感器研究"", 《中国优秀硕士学位论文全文数据库 信息科技辑》 *

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113218295A (en) * 2021-05-10 2021-08-06 上海海事大学 Swing angle and rope length measuring device and method for double-lifting bridge crane
CN113428782A (en) * 2021-07-02 2021-09-24 徐靖琳 Device for detecting length and swing angle of lifting rope of bridge crane

Also Published As

Publication number Publication date
CN110906851B (en) 2021-07-23

Similar Documents

Publication Publication Date Title
CN101723239B (en) Hanging hook attitude detection device and crane
CN201343377Y (en) Anti-collision control system for hoisting trolley of gantry crane
CN102275822A (en) Double-lifting double-sling bridge crane panning angle measuring and displaying apparatus
CN101386397B (en) Anti-collision control method for gantry crane lifting trolley
CN110526142A (en) Intelligent tower crane
CN203295034U (en) Lifting hook, winding plant, crane and crane deviation early-warning device
CN105271004A (en) Lifting device space positioning device adopting monocular vision and method
CN108750949A (en) A kind of traffic control method and device
CN110906851B (en) Bridge crane swing angle and rope length detection device and detection method
WO2006024701A1 (en) Stopping the skew motion of a container
CN202107449U (en) Pivot angle measurement and display device for double-rising double-lifting-appliance bridge crane
CN102692206A (en) Device and method for measuring suspended deflection angle and direction of lifting hook of lifting device
CN210513402U (en) Railway contact net vibration frequency detection device
CN108946480B (en) Two-electron atom bridge crane synchronous error measuring device and its method based on electromagnetic induction
CN210438290U (en) Safety detection monitoring system for railway container loading and unloading operation
CN205709529U (en) A kind of crane based on suspension hook feedback of status disappear ornaments standby
CN204848060U (en) Cargo handling manipulator
CN107063074A (en) A kind of two-electron atom bridge crane panning angle measuring devices and methods therefor based on magnetostrictive effect
CN111465572A (en) Hoisting machine
CN201971576U (en) Moment limiting device and tower crane with same
CN214422133U (en) Lifting hook swing angle detection device and crane
JP2004244151A (en) Method and device for measuring suspending length of crane
CN216272704U (en) Accurate auxiliary device that unloads of container freight train
CN115140650A (en) Rigid anti-swing container unloading equipment system and working method thereof
CN205367195U (en) Unmanned on duty bridge type ship unloaders

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant