CN113086856A - Bridge crane sling swing angle detection device based on grating - Google Patents
Bridge crane sling swing angle detection device based on grating Download PDFInfo
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- CN113086856A CN113086856A CN202110395985.2A CN202110395985A CN113086856A CN 113086856 A CN113086856 A CN 113086856A CN 202110395985 A CN202110395985 A CN 202110395985A CN 113086856 A CN113086856 A CN 113086856A
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- grating
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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
- B66C17/00—Overhead travelling cranes comprising one or more substantially horizontal girders the ends of which are directly supported by wheels or rollers running on tracks carried by spaced supports
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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
- B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
- B66C13/06—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads
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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
Abstract
The invention provides a device for detecting the swing angle of a bridge crane sling based on a grating, which comprises a black box, and a light swing frame, a point light source, a first convex lens, a plane reflector, a grating component, a second convex lens and a photodiode PN junction array which are accommodated in the black box; a light swing frame is fixed on the lifting rope and fixedly connected with the plane reflector, and the swinging of the lifting rope drives the plane reflector to swing at equal angles; the light emitted by the point light source is converted into parallel light after passing through the first convex lens, is reflected by the plane reflector, then passes through the grating component to be diffracted, and is converged on the photosensitive diode PN junction array through the second convex lens; the signal processing device is connected with the photosensitive diode PN junction array and used for detecting the relative position change and the bright stripe level of the diffraction pattern according to the electric signals, and the swinging direction and the swinging angle of the lifting rope are obtained through the relative position change and the bright stripe level. The detection device is arranged on a bridge crane and fixed with a lifting rope, so that the swing angle and the swing direction of a bridge crane sling can be accurately measured.
Description
Technical Field
The invention relates to the field of container loading and unloading, in particular to a device for detecting the swing angle of a bridge crane sling based on a grating.
Background
The existing large-scale container handling port only has two types of bridge cranes, namely a single lifting appliance and a double lifting appliance, so that the bridge crane can only handle one or two containers at a time in the process of carrying goods, the efficiency of carrying and handling is very low, the consumed time is large, and the working quality is influenced. In order to improve the loading and unloading efficiency of the bridge crane, in the future development of the bridge crane, the bridge crane is developed towards a multi-sling bridge crane. Meanwhile, the operator of the existing container crane often observes the spreader and the load by eyes to obtain the swinging condition of the spreader and the load, and the method has low accuracy and is easy to cause working fatigue. Due to the inertia of the trolley load and disturbances in some external environments, such as wind, the ropes swing, which not only has a great influence on the efficiency of the container, but also has a great safety hazard. Therefore, in the context of a multi-spreader bridge crane, various detection devices for a bridge crane spreader, particularly a detection device for a swing angle, are extremely important.
The existing bridge crane detection device adopts a relatively complex detection instrument for detecting the lifting appliance, and has high manufacturing cost, inconvenient maintenance and low accuracy. For the detection instrument of the swing angle, the prior instruments are generally divided into a contact type and a non-contact type. The existing contact type detection device mainly drives the swing frame to rotate through the swinging of the lifting rope and then detects on a corresponding swing angle encoder, and the detection device has low accuracy, and is difficult to detect small swing angle information especially when the swing angle is small; the non-contact device has high requirements on working environment, high price, low resolution and easy interference.
Therefore, there is a need to provide a device for detecting the swing angle of a bridge crane spreader, which is simple to install and accurate to detect.
Disclosure of Invention
The invention provides a grating-based swing angle detection device for a bridge crane sling, which is arranged on a bridge crane and fixed with a lifting rope, so that the swing angle and swing direction of the bridge crane sling can be accurately measured.
In order to achieve the above objects and other related objects, the present invention provides a device for detecting a swing angle of a bridge crane spreader based on a grating, which is arranged on a bridge crane trolley and comprises a black box, and a light swing frame, a point light source, a first convex lens, a plane mirror, a grating component, a second convex lens and a photodiode PN junction array which are accommodated in the black box;
the light swing frame is fixed on a lifting rope of the bridge crane lifting appliance and fixedly connected with the plane reflector, and the lifting rope swings to drive the light swing frame and the plane reflector to swing at equal angles;
the light rays emitted by the point light source are converted into parallel light after penetrating through the first convex lens, the parallel light is reflected by the plane reflector and then is diffracted after penetrating through the grating assembly, and the parallel light is converged on the photosensitive diode PN junction array through the second convex lens;
the light sensitive diode PN junction array is connected with a signal processing device arranged on a bridge crane, the signal processing device is connected with a detector and used for detecting the relative position change and the bright fringe order of a diffraction pattern according to an electric signal generated by the light sensitive diode PN junction array, and the swing direction and the swing angle of the lifting rope are obtained through the relative position change and the bright fringe order.
Preferably, the photodiode PN junction array comprises a plurality of photodiode PN junction columns and a plurality of photodiode PN junction rows, and each photodiode PN junction column and each photodiode PN junction row comprise a plurality of photodiode PN junctions; the array PN junction voltage analog-to-digital converter is respectively connected with each photosensitive diode PN junction row and each photosensitive diode PN junction row circuit and used for detecting the voltage of each row and each column in the photosensitive diode PN junction array.
Preferably, the plurality of array PN junction voltage analog-to-digital converters are connected with the signal processing device through a circuit, and the signal processing device is used for calculating the relative position change and the bright fringe order of the diffraction pattern according to the voltage of each row and each column in the photodiode PN junction array, and further calculating the swinging direction and the swinging angle of the lifting rope.
Preferably, the photodiode PN junction array further comprises: an amplifier between the photodiode PN junction array and the plurality of array PN junction voltage analog-to-digital converters.
Preferably, the swing direction of the lifting rope is obtained by the relative position change of the central bright stripe of the diffraction pattern: when the central bright stripe moves upwards, the lifting rope swings towards the PN junction array close to the photosensitive diode; when the central bright stripe moves downwards, the lifting rope swings towards the position far away from the PN junction array of the photosensitive diode.
Preferably, when the lifting rope is at rest, the parallel light is vertically incident to the grating assembly, and the grating assembly, the second convex lens and the photodiode PN junction array are arranged in parallel.
Preferably, the swing angle of the lifting rope is calculated according to the bright stripe number, and the calculation formula is as follows:
wherein the content of the first and second substances,
represents the swing angle of the lifting rope, theta represents the diffraction angle of light rays when the lifting rope is static,
representing the number of detected bright fringe levels, d representing the grating constant, and λ representing the wavelength of the parallel light.
Preferably, the signal processing device is in communication connection with an anti-swing or synchronous system of the bridge crane main control system.
The invention provides a device for detecting the swing angle of a bridge crane sling based on a grating, which is based on the grating diffraction principle, wherein light emitted by a point light source is converted into parallel light through a first convex lens, the parallel light is reflected by a plane reflector arranged on a light swing frame and then enters a grating assembly, the grating assembly is converged on a photosensitive diode PN junction array through a second convex lens after being diffracted, when a lifting rope of the bridge crane sling swings, a plane reflector fixed on the light swing frame can be driven to swing together, so that the light emitted by a light source when the sling swings is changed through the optical path difference of the grating assembly compared with the static state, a diffraction pattern is caused to change, the swing direction of the lifting rope is determined through the moving direction of a central bright stripe, the swing angle of the lifting rope is determined through the level of the bright stripe, and the swing angle detection of the bridge crane sling is realized.
Secondly, the invention converts the optical signal into the electric signal through the photosensitive diode PN junction array, can detect the level and position information of the bright stripe, calculates the swing angle and swing direction of the lifting rope through the level and position information of the bright stripe, the photosensitive diode PN junction array can be connected with a signal processing device, and transmits the result to the automatic anti-swing system of the bridge crane through the analysis and calculation of the processor to complete the automatic anti-swing of the bridge crane, and can also transmit the result to the cab of the bridge crane as the operation reference.
Drawings
Fig. 1 is an installation schematic diagram of a swing angle detection device of a bridge crane spreader installed on a multi-spreader bridge crane according to an embodiment of the present invention.
Fig. 2 is a schematic view of a swing angle detection device of a bridge crane spreader according to an embodiment of the present invention for detecting when a lifting rope is stationary.
Fig. 3 is a schematic view of a swing angle detection device for a bridge crane spreader according to an embodiment of the present invention when detecting swing of a lifting rope.
Fig. 4 is a schematic diagram of a swing angle detection portion of a swing angle detection device for a bridge crane spreader according to an embodiment of the present invention.
Fig. 5 is a schematic structural diagram of a photodiode PN junction array of a swing angle detection device for a bridge crane spreader according to an embodiment of the present invention.
Fig. 6 is a schematic diagram of a swing angle signal processing of a swing angle detection device for a lifting appliance of an axle crane according to an embodiment of the present invention.
Detailed Description
The following describes the swing angle detection device of the bridge crane spreader in detail with reference to fig. 1 to 6 and the detailed description. The advantages and features of the present invention will become more apparent from the following description. It is to be noted that the drawings are in a very simplified form and are all used in a non-precise scale for the purpose of facilitating and distinctly aiding in the description of the embodiments of the present invention. To make the objects, features and advantages of the present invention comprehensible, reference is made to the accompanying drawings. It should be understood that the structures, ratios, sizes, and the like shown in the drawings and described in the specification are only used for matching with the disclosure of the specification, so as to be understood and read by those skilled in the art, and are not used to limit the implementation conditions of the present invention, so that the present invention has no technical significance, and any structural modification, ratio relationship change or size adjustment should still fall within the scope of the present invention without affecting the efficacy and the achievable purpose of the present invention.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
In the description of the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral part; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
As shown in fig. 2, the invention provides a device for detecting the swing angle of a lifting appliance of an axle crane based on a grating, which can be arranged on a bridge trolley of a multi-lifting-appliance axle crane shown in fig. 1. The swing angle detection device comprises a dark box 13, a light swing frame 16, a point light source 17, a first convex lens 18, a second convex lens 21, a plane reflector 19, a grating component 20 and a photodiode PN junction array 22, wherein the light swing frame 16, the point light source 17, the first convex lens 18, the second convex lens 21, the plane reflector 19, the grating component 20 and the photodiode PN junction array 22 are all accommodated in the dark box 13; the plane mirror 19 is fixed on the light swing frame 16, and the light swing frame 16 is used for being fixed on a lifting rope 15 of a bridge crane lifting appliance and swinging at an equal angle along with the lifting rope 15; the light emitted by the point light source 17 is converted into parallel light after passing through the first convex lens 18, the parallel light is reflected by the plane mirror 19, then is diffracted after passing through the grating assembly 20, and is converged on the photodiode PN junction array 22 through the second convex lens 21, and the photodiode PN junction array 22 is located on the focal plane of the second convex lens 21; the photodiode PN junction array 22 is used for detecting the relative position change and the bright stripe level of the diffraction pattern, and obtaining the swinging direction and the swinging angle of the lifting rope 15 according to the relative position change and the bright stripe level.
In specific implementation, the swing angle detection device may be installed on the bridge crane trolleys 7, 8, and 9 of the multi-spreader bridge crane shown in fig. 1, and is used to detect the swing angle of the spreader, the vertical support 1 of the bridge crane and the horizontal support 2 of the bridge crane constitute a bridge crane trolley, the bridge crane trolley serves as a carrying platform of the bridge crane trolley, the trolley track connecting rod 6 of the trolley and the trolley track serves as a connecting mechanism of the bridge crane trolley and the bridge crane trolley, the three bridge crane trolleys 7, 8, and 9 serve as carrying platforms of the swing angle detection device and the lifting motor, the track mechanism of the bridge crane trolleys 7, 8, and 9 serves as a driving device of each trolley, each bridge crane trolley may be provided with a plurality of spreader components, in this embodiment, each bridge crane trolley is provided with three spreader components 10, 11, and 12, and the spreader components serve as detection objects of the swing angle detection device.
During detection, the swing angle detection device can be arranged according to fig. 2, the main body of the swing angle detection device is a dark box 13, and the dark box 13 comprises a point light source 17 for generating laser with known wavelength; a first convex lens 18 is fixed under the point light source 17, and light emitted by the point light source 17 is converted into parallel light after passing through the first convex lens 18; the converted parallel light irradiates a plane reflector 19 which is arranged at 45 degrees, the parallel light is converted into horizontal parallel light through the plane reflector 19 and vertically irradiates a grating assembly 20, and each slit on the grating assembly 20 generates a group of Fraunhofer single slit diffraction patterns on a lens focal plane. Because the diffraction light rays with the same direction are converged to the same point on the focal plane through the lens, the diffraction light rays emitted by different slits are coherent light rays, so that diffraction patterns generated by different slits can generate interference when being overlapped, and further a grating diffraction pattern is generated; when the lifting rope 15 is at rest, the light irradiation is schematically shown in fig. 2, and when the lifting rope 15 is vertically downward, the light is vertically incident on the grating assembly 20, and the equation of the vertically incident grating can be obtained:
d sinθ＝kλ(k＝0,±1,±2...)
let sin θ be 1, the highest number of visible bright stripes can be obtained:
when the lifting rope 15 swings, as shown in fig. 4, the light is parallel to
When the angle is obliquely incident, the optical path difference of the light emitted by two adjacent slits at the point P is as follows:
therefore, the oblique incidence grating equation is changed into:
the swing angle can be further obtained by detecting the number of bright stripes after the lifting rope 15 swings
Wherein the content of the first and second substances,
for the number of detected bright fringe levels, d is the grating constant and λ is the wavelength of the parallel light.
The photodiode PN junction array 22 is used for detecting the relative position change and the bright fringe order of diffraction patternsNumber of bright streaks detected
Then, the swing angle of the lifting rope 15 can be calculated by the above formula.
The swing direction of the lifting rope 15 is obtained by the relative position change of the central bright stripe of the diffraction pattern: when the central bright stripe moves upwards, the lifting rope 15 swings towards the position close to the photodiode PN junction array 22; when the central bright stripe moves downward, the lifting rope 15 swings away from the photodiode PN junction array 22.
The key idea of the invention is that when the lifting rope of the bridge crane sling swings, the reflecting plane mirror connected with the light swing frame can be driven to swing together, so that the optical path difference of light passing through the grating is changed compared with the static state of the sling, thereby causing the change of diffraction pattern, which is mainly embodied in the change of bright stripe orders and the movement of diffraction pattern, and for the convenience of confirmation, the movement of diffraction pattern is expressed by the movement of central bright stripe. And calculating a swinging angle through the bright stripe order of the diffraction pattern after swinging, and determining the swinging direction of the lifting rope through the moving direction of the central bright stripe after swinging.
As shown in fig. 5, each photodiode PN junction 23 in the same column of the photodiode PN junction array 22 is connected by a column-wise PN junction cathode connection line and finally connected to a certain pin of the array PN junction voltage analog-to-digital converter 26 by a detection lead 24 of the column-wise connection line, and each photodiode PN junction 23 in the same row of the photodiode PN junction array 22 is connected by a transverse PN junction cathode connection line and finally connected to a certain pin of the array PN junction voltage analog-to-digital converter 26 by a detection lead 25 of the transverse connection line.
The photodiode PN junction array 22 may amplify the voltage through an amplifier and then transmit the voltage to the plurality of array PN junction voltage analog-to-digital converters 26. As shown in fig. 1, the plurality of array PN junction voltage analog-to-digital converters 26 may be connected to the information processing device 14 disposed on the bridge crane through a circuit, and the information processing device 14 is configured to calculate the relative position change and the number of bright fringe orders of the diffraction images according to the voltage magnitude of each column and each row in the photodiode PN junction array 22, and further calculate the swing direction and the swing angle of the lifting rope.
Each lifting appliance is provided with a swing angle detection device, and a photosensitive diode PN junction array 22 in each swing angle detection device is connected with the information processing device 14 on the bridge crane. In the concrete control, referring to fig. 6, when the bridge crane works, firstly, a cab sends out a working instruction signal, the trolley of the bridge crane moves, when a plurality of lifting appliances of the bridge crane start to run, a lifting rope swings, the swinging of the lifting rope of the bridge crane can drive the plane 19 fixed on the light swing frame 16 to swing together, so that the optical path difference of light passing through the grating component 20 is changed compared with the static state of the lifting appliances, diffraction pattern information is converted into a voltage signal through the photodiode PN junction array 22, the amplifier and the voltage analog-to-digital converter 26(ADC), and then the voltage signal is transmitted to the information processing device 14 arranged on the bridge crane, so that the swing angle value of each lifting appliance is obtained through calculation, and the swing direction information is obtained. The swing angle value and the swing direction of the lifting appliance are transmitted to a bridge crane display in a cab, so that a bridge crane operator can provide reference, and meanwhile, the bridge crane anti-swing/synchronous controller is provided as feedback information for bridge crane control.
The invention has the advantages that based on the grating diffraction principle, light emitted by a point light source is converted into parallel light through a first convex lens, the parallel light is reflected by a plane reflector arranged on a light swing frame and then enters a grating component, the parallel light is converged on a photosensitive diode PN junction array through a second convex lens after being diffracted, when a lifting rope of the bridge lifting appliance swings, a plane light-emitting mirror fixed on the light swing frame can be driven to swing together, so that the optical path difference of the light emitted by the light source when the lifting appliance is static is changed compared with that when the lifting rope swings through the grating component, a diffraction pattern is caused to change, the swinging direction of the lifting rope is determined through the moving direction of a central bright stripe, the swinging angle of the lifting rope is determined through the level number of the bright stripe, and the swinging angle detection of the bridge lifting appliance is.
Secondly, the invention converts the optical signal into the electric signal through the photosensitive diode PN junction array, can detect the level and position information of the bright stripe, calculates the swing angle and swing direction of the lifting rope through the level and position information of the bright stripe, the photosensitive diode PN junction array can be connected with a signal processing device, and transmits the result to the automatic anti-swing system of the bridge crane through the analysis and calculation of the processor to complete the automatic anti-swing of the bridge crane, and also can transmit the result to the cab of the bridge crane as the operation reference.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
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. A device for detecting the swing angle of a bridge crane sling based on a grating is arranged on a bridge crane trolley and is characterized by comprising a black box, a light swing frame, a point light source, a first convex lens, a plane reflector, a grating component, a second convex lens and a photodiode PN junction array, wherein the light swing frame, the point light source, the first convex lens, the plane reflector, the grating component, the second convex lens and the photodiode PN junction array are accommodated in the black box;
the light swing frame is fixed on a lifting rope of the bridge crane lifting appliance and fixedly connected with the plane reflector, and the lifting rope swings to drive the light swing frame and the plane reflector to swing at equal angles;
the light rays emitted by the point light source are converted into parallel light after penetrating through the first convex lens, the parallel light is reflected by the plane reflector and then is diffracted after penetrating through the grating assembly, and the parallel light is converged on the photosensitive diode PN junction array through the second convex lens;
the light sensitive diode PN junction array is connected with a signal processing device arranged on a bridge crane, the signal processing device is connected with a detector and used for detecting the relative position change and the bright fringe order of a diffraction pattern according to an electric signal generated by the light sensitive diode PN junction array, and the swing direction and the swing angle of the lifting rope are obtained through the relative position change and the bright fringe order.
2. The grating-based bridge crane sling swing angle detection device according to claim 1, wherein the photodiode PN junction array comprises a plurality of photodiode PN junction columns and a plurality of photodiode PN junction rows, each column of photodiode PN junction columns and each row of photodiode PN junction rows comprising a plurality of photodiode PN junctions; the array PN junction voltage analog-to-digital converter is respectively connected with each photosensitive diode PN junction row and each photosensitive diode PN junction row circuit and used for detecting the voltage of each row and each column in the photosensitive diode PN junction array.
3. The device for detecting the swing angle of a grating-based bridge crane sling according to claim 2, wherein the plurality of array PN junction voltage analog-to-digital converters are connected with the signal processing device through a circuit, and the signal processing device is used for calculating the relative position change and the bright fringe order of diffraction patterns according to the voltage of each row and each column in the photodiode PN junction array and further calculating the swing direction and the swing angle of the sling.
4. The grating-based bridge crane sling tilt angle detection device of claim 2, wherein the photodiode PN junction array further comprises: an amplifier between the photodiode PN junction array and the plurality of array PN junction voltage analog-to-digital converters.
5. The grating-based swing angle detection device for a bridge crane spreader according to claim 1, wherein the swing direction of the lifting rope is obtained by the relative position change of the central bright stripe of the diffraction pattern: when the central bright stripe moves upwards, the lifting rope swings towards the PN junction array close to the photosensitive diode; when the central bright stripe moves downwards, the lifting rope swings towards the position far away from the PN junction array of the photosensitive diode.
6. The grating-based bridge crane sling swing angle detection device according to claim 1, wherein the parallel light is perpendicularly incident to the grating assembly when the lifting rope is at rest, and the grating assembly, the second convex lens and the photodiode PN junction array are arranged in parallel.
7. The device for detecting the swing angle of the grating-based bridge crane sling according to claim 6, wherein the swing angle of the lifting rope is calculated according to the bright stripe series, and the calculation formula is as follows:
wherein the content of the first and second substances,
represents the swing angle of the lifting rope, theta represents the diffraction angle of light rays when the lifting rope is static,
representing the number of detected bright fringe levels, d representing the grating constant, and λ representing the wavelength of the parallel light.
8. The grating-based swing angle detection device for a bridge crane spreader according to claim 1, wherein the signal processing device is in communication connection with an anti-swing or synchronization system of a bridge crane master control system.
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| JPH11116183A (en) * | 1997-10-20 | 1999-04-27 | Yaskawa Electric Corp | Crane rope swing angle measuring method and crane |
| 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 |
| CN110282550A (en) * | 2019-07-01 | 2019-09-27 | 上海海事大学 | A kind of bridge crane pivot angle and rope length detection device based on optical diffraction |
| CN110294422A (en) * | 2019-07-03 | 2019-10-01 | 上海海事大学 | A kind of swing angle detection device of more appliance bridge cranes |
-
2021
- 2021-04-13 CN CN202110395985.2A patent/CN113086856A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH01176680U (en) * | 1988-06-03 | 1989-12-15 | ||
| JPH1130667A (en) * | 1997-07-14 | 1999-02-02 | Canon Inc | Displacement information detector |
| JPH11116183A (en) * | 1997-10-20 | 1999-04-27 | Yaskawa Electric Corp | Crane rope swing angle measuring method and crane |
| CN110282550A (en) * | 2019-07-01 | 2019-09-27 | 上海海事大学 | A kind of bridge crane pivot angle and rope length detection device based on optical diffraction |
| 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 |
| CN110294422A (en) * | 2019-07-03 | 2019-10-01 | 上海海事大学 | A kind of swing angle detection device of more appliance bridge cranes |
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