CN113566774A - Device, system and method for measuring rotation angle - Google Patents
Device, system and method for measuring rotation angle Download PDFInfo
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- CN113566774A CN113566774A CN202110865531.7A CN202110865531A CN113566774A CN 113566774 A CN113566774 A CN 113566774A CN 202110865531 A CN202110865531 A CN 202110865531A CN 113566774 A CN113566774 A CN 113566774A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/22—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring angles or tapers; for testing the alignment of axes
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M13/00—Testing of machine parts
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- Length Measuring Devices With Unspecified Measuring Means (AREA)
Abstract
The invention relates to a device, a system and a method for measuring a rotation angle, wherein the measuring device comprises a straight rod (1), one end of the straight rod (1) is provided with a fixing structure for fixing the straight rod (1) on the peripheral side of a rotating part (5) of a crane rotator along the radial direction of the rotating part (5), the other end of the straight rod (1) is provided with a rotating wheel (2) rolling on the surface of a fixing part (6) of the crane rotator, the rotating wheel (2) is coaxially and rotatably connected with the straight rod (1), and an angle sensor for measuring the rolling angle of the rotating wheel (2) is arranged on the rotating wheel (2). The measuring system comprises two measuring devices, and compared with the prior art, the length of the straight rod (1) in the two measuring devices is different, the invention can conveniently and quickly obtain the rotation angle.
Description
Technical Field
The invention relates to the technical field of crane measurement, in particular to a device, a system and a method for measuring a rotation angle.
Background
The rotation angle is an important operation technical parameter for determining the self attitude and position of mechanical equipment such as a gantry crane and a crawler crane. At present, a group of tooth-shaped transmission devices consisting of a fixed gear ring and a rotating gear are adopted, the fixed gear ring is fixed on a fixed part of a slewing mechanism, and the rotating gear is fixed on a slewing part; or a rotating gear matched with the fixed gear ring of the slewing mechanism is designed, and when the mechanism is slewing, the rotating gear generates a corresponding pulse signal, so that the slewing angle of the mechanism is measured. The device has high cost, is inconvenient to maintain and replace, cannot meet the use requirements of the slewing mechanisms with different specifications, and does not have interchangeability.
Disclosure of Invention
The present invention is directed to overcoming the above-mentioned deficiencies of the prior art and to providing a device, a system and a method for measuring a rotation angle.
The purpose of the invention can be realized by the following technical scheme:
the utility model provides a measuring device of gyration angle, includes the straight-bar, straight-bar one end be equipped with and be used for fixing the straight-bar at the fixed knot of revolving part week side along the radial of the revolving part of hoist gyrator constructs, the straight-bar other end be equipped with the rolling rotation wheel in the fixed knot of hoist gyrator part surface, rotation wheel with the coaxial rotation of straight-bar be connected, rotation wheel on be equipped with the angle sensor who is used for measuring rotation wheel roll angle.
Preferably, the fixing structure comprises a first fixing seat, and the first fixing seat is fixedly connected with the end of the straight rod.
Preferably, the fixing structure further comprises two supporting legs, one ends of the two supporting legs are movably connected with the straight rod respectively, and the other ends of the two supporting legs are movably connected with a second fixing seat and a third fixing seat respectively.
Preferably, the support legs are equal in length, and when the first fixing seat, the second fixing seat and the third fixing seat are fixed on a rotating part of the heavy machine gyrator, the extension line of the straight rod passes through a rotating center point.
Preferably, the first fixing seat, the second fixing seat and the third fixing seat are magnetic seats.
Preferably, the supporting leg is hinged to the straight rod, and the second fixing seat and the third fixing seat are hinged to the corresponding supporting leg respectively.
Preferably, the angle sensor comprises a rotary encoder.
The system comprises two measuring devices, wherein the lengths of straight rods in the two measuring devices are different, the two measuring devices are respectively fixed on the peripheral sides of rotating parts of a crane gyrator, and the system further comprises a processor used for acquiring angle information of an angle sensor and calculating the rotating angle of the crane gyrator.
A method for measuring a turning angle, the method being based on the device for measuring a turning angle, the method comprising:
installing the measuring device to obtain the linear distance L between the rotation center of the crane rotator and the center of the rotating wheel;
starting a crane gyrator, and recording the angle information of the angle sensor as alpha;
calculating the rolling arc length of the rotating wheel based on the alpha and the radius of the rotating wheel, and recording the length as l;
calculating a rotation angle theta: and theta is L/L.
A method for measuring a turning angle, the method being based on the system for measuring a turning angle, the method comprising:
installing the measuring system of the rotation angle, recording the two measuring devices as a first measuring device and a second measuring device, respectively obtaining the linear distance from the center of the fixed structure in the first measuring device and the second measuring device to the center of the rotating wheel, and recording the linear distance as L1、L2；
Starting the crane gyrator, respectively obtaining the angle information of two angle sensors in the first measuring device and the second measuring device, and recording the angle information as alpha1、α2；
Based on alpha1、α2And calculating the rolling arc length of the rotating wheel corresponding to the radius of the rotating wheel, and recording the length as l1、l2；
Calculating a rotation angle theta:
compared with the prior art, the invention has the following advantages:
(1) the measuring device of the turning angle converts the turning angle into the rolling arc length of the rotating wheel, and the rolling arc length of the rotating wheel can be obtained by converting the angle of the angle sensor, so that the turning angle can be conveniently and quickly obtained on the basis of the known linear distance between the turning center of the crane gyrator and the center of the rotating wheel;
(2) the invention adopts two groups of devices for measuring the rotation angles with unequal lengths of the straight rods to form a measuring system, the diameter of the crane gyrator is not required to be known, the rotation angles can be quickly obtained by only obtaining the rolling arc lengths of the two rotating wheels and the linear distance (approximately equal to the length of the straight rod) from the center of the fixed structure to the center of the rotating wheels in the two groups of devices, and the rotation angle of the slewing mechanism with any specification can be measured reliably, economically and efficiently.
Drawings
Fig. 1 is a schematic structural diagram of a rotation angle measuring apparatus according to embodiment 1 of the present invention;
FIG. 2 is a schematic diagram of a measurement apparatus for measuring a rotation angle according to embodiment 1 of the present invention;
FIG. 3 is a side view of a system for measuring a turning angle according to embodiment 2 of the present invention installed on a crane rotator;
FIG. 4 is a top view of a system for measuring a turning angle according to embodiment 2 of the present invention installed on a crane rotator;
FIG. 5 is a schematic diagram of a system for measuring a rotation angle according to embodiment 2 of the present invention;
in the figure, 1 is a straight rod, 2 is a rotating wheel, 3 is a supporting leg, 4 is a magnetic seat, 5 is a rotating part, 6 is a fixed part, A is a first measuring device, and B is a second measuring device.
Detailed Description
The invention is described in detail below with reference to the figures and specific embodiments. Note that the following description of the embodiments is merely a substantial example, and the present invention is not intended to be limited to the application or the use thereof, and is not limited to the following embodiments.
Example 1
The embodiment provides a measuring device of gyration angle, including straight- bar 1, 1 one end of straight-bar is equipped with and is used for fixing the straight-bar 1 at 5 week side's of gyration part 5's radial fixed structure of gyration part along the hoist gyrator, the straight-bar 1 other end is equipped with 6 rolling rotation wheels 2 in the fixed part surface of hoist gyrator, rotation wheels 2 and the coaxial rotation of straight-bar 1 are connected, be equipped with the angle sensor who is used for measuring 2 roll angles of rotation wheels on the rotation wheels 2, angle sensor includes rotary encoder.
The fixing structure comprises a first fixing seat, and the first fixing seat is fixedly connected with the end part of the straight rod 1. The fixing structure further comprises two supporting legs 3, one ends of the two supporting legs 3 are movably connected with the straight rod 1 respectively, and the other ends of the two supporting legs 3 are movably connected with a second fixing seat and a third fixing seat respectively. 3 lengths of landing leg are equal, and when first fixing base, second fixing base and third fixing base were fixed on the rotating part 5 of heavy-duty machine gyrator, straight-bar 1 extension line passed through gyration central point. The first fixing seat, the second fixing seat and the third fixing seat are magnetic seats 4, the supporting legs 3 are hinged to the straight rod 1, and the second fixing seat and the third fixing seat are hinged to the corresponding supporting legs 3 respectively.
Based on the above-mentioned rotation angle measuring device, the present embodiment also provides a rotation angle measuring method, including:
installing a measuring device, and acquiring a linear distance L between the rotation center of the crane rotator and the center of the rotating wheel 2;
starting a crane gyrator, and recording the angle information of the angle sensor as alpha;
calculating the rolling arc length of the rotating wheel 2 based on the alpha and the radius of the rotating wheel 2, and recording the length as l;
calculating a rotation angle theta: and theta is L/L.
The specific measurement principle is shown in fig. 2, wherein a1 represents the initial position of the rotating wheel, a2 represents the position of the rotating wheel after rotating a certain angle theta, and the arc length between the point a1 and the point a2 is l.
It can be seen from above that, the measuring device of gyration angle that this embodiment provided changes the gyration angle into the rolling arc length of rotating wheel 2, and the rolling arc length of rotating wheel 2 can convert through angle sensor's angle and obtain to on the basis of the straight-line distance at the centre of gyration of known hoist gyrator and rotation wheel 2 center, can conveniently, acquire the gyration angle fast.
Example 2
As shown in fig. 3 and 4, the present embodiment provides a system for measuring a rotation angle, the system includes two measuring devices in embodiment 1, namely a first measuring device a and a second measuring device B, the lengths of straight rods 1 in the two measuring devices are different, the two measuring devices are respectively fixed on the periphery of a rotation component 5 of a crane gyrator, and the system further includes a processor for acquiring angle information of an angle sensor and calculating a rotation angle of the crane gyrator. The specific structure of the measuring device is the same as that of embodiment 1, and is not described in detail in this embodiment.
And a measuring system based on the rotation angle. The embodiment provides a method for measuring a rotation angle, which comprises the following steps:
mounted at a swivel angleA measuring system for respectively obtaining the linear distance from the center of the fixed structure in the first measuring device A and the second measuring device B to the center of the rotating wheel 2, and recording the linear distance as L1、L2；
Starting the crane gyrator, respectively obtaining the angle information of two angle sensors in the first measuring device and the second measuring device, and recording the angle information as alpha1、α2；
Based on alpha1、α2And calculating the length of the arc of rolling of the rotating wheel 2 corresponding to the radius of the rotating wheel 2, and recording the length as l1、l2(ii) a Calculating a rotation angle theta:
the measurement principle of the measurement system of the rotation angle in this embodiment is shown in fig. 5, for convenience of drawing, in fig. 5, the initial positions of the first measurement device and the second measurement device are set to be on a same radial straight line, in practical application, the first measurement device and the second measurement device are distributed on the periphery of the rotation member 5, and the straight rod 1 in the two measurement devices is arranged along the radial direction of the rotation member 5, in fig. 5, a1 is the initial position of the rotation wheel in the first measurement device, a2 is the position of the rotation wheel in the first measurement device after rotating by a certain angle θ, B1 is the initial position of the rotation wheel in the second measurement device, B2 is the position of the rotation wheel in the second measurement device after rotating by a certain angle θ, and the arc length between the point a1 and the point a2 is l1The arc length between point B1 and point B2 is l2And R is the diameter of the rotary part 5, as can be seen from FIG. 5:
l1＝(R+L1)·θ
l2＝(R+L2)·θ
calculating to obtain:
and further:
in the embodiment, the measurement system is formed by adopting the measurement devices of the rotation angles with unequal lengths of the two groups of straight rods 1, the diameter of the crane gyrator is not required to be known, the rotation angles can be quickly obtained by only obtaining the rolling arc lengths of the two rotating wheels 2 and the linear distance from the centers of the fixed structures to the centers of the rotating wheels 2 (which is approximately equal to the length of the straight rods 1) in the two groups of devices, and the rotation angles of the rotation mechanisms with any specification can be measured reliably, economically and efficiently.
The above embodiments are merely examples and do not limit the scope of the present invention. These embodiments may be implemented in other various manners, and various omissions, substitutions, and changes may be made without departing from the technical spirit of the present invention.
Claims (10)
1. The utility model provides a measuring device of gyration angle, its characterized in that includes straight-bar (1), straight-bar (1) one end be equipped with and be used for fixing straight-bar (1) at the fixed knot of turning part (5) week side along the radial of turning part (5) of hoist gyrator constructs, straight-bar (1) other end be equipped with at the rolling rotation wheel (2) in fixed knot of hoist gyrator (6) surface, rotation wheel (2) with straight-bar (1) coaxial rotation be connected, rotation wheel (2) on be equipped with the angle sensor who is used for measuring rotation wheel (2) roll angle.
2. A rotation angle measuring device according to claim 1, wherein the fixing structure comprises a first fixing base, and the first fixing base is fixedly connected with the end of the straight rod (1).
3. A device for measuring a rotation angle according to claim 2, wherein the fixed structure further comprises two legs (3), one end of each of the two legs (3) is movably connected to the straight rod (1), and the other end of each of the two legs (3) is movably connected to the second fixing base and the third fixing base.
4. A rotation angle measuring device according to claim 3, characterized in that the legs (3) are of equal length, and when the first, second and third holders are fixed to the rotating part (5) of the gyrator of the heavy machine, the extension line of the straight rod (1) passes through the center point of rotation.
5. A rotation angle measuring device according to claim 3, wherein the first, second and third holders are magnetic holders (4).
6. A device for measuring the angle of rotation according to claim 3, characterized in that said legs (3) are hinged to said straight bar (1), said second and third holders being hinged to the corresponding legs (3) respectively.
7. A rotation angle measuring device according to claim 1, wherein the angle sensor comprises a rotary encoder.
8. A system for measuring a turning angle, characterized in that the system comprises two measuring devices according to any one of claims 1 to 7, wherein the lengths of the straight rods (1) in the two measuring devices are different, the two measuring devices are respectively fixed on the periphery of a turning part (5) of a crane gyrator, and the system further comprises a processor for acquiring angle information of the angle sensor and calculating the turning angle of the crane gyrator.
9. A method for measuring a rotation angle, the method being based on the measuring device of any one of claims 1 to 7, the method comprising:
installing the measuring device to obtain the linear distance L between the rotation center of the crane rotator and the center of the rotating wheel;
starting a crane gyrator, and recording the angle information of the angle sensor as alpha;
calculating the rolling arc length of the rotating wheel based on the alpha and the radius of the rotating wheel, and recording the length as l;
calculating a rotation angle theta: and theta is L/L.
10. A method for measuring a turning angle, which is based on the system for measuring a turning angle according to claim 8, comprising:
installing the measuring system of the rotation angle, recording the two measuring devices as a first measuring device and a second measuring device, respectively obtaining the linear distance from the center of the fixed structure in the first measuring device and the second measuring device to the center of the rotating wheel, and recording the linear distance as L1、L2；
Starting the crane gyrator, respectively obtaining the angle information of two angle sensors in the first measuring device and the second measuring device, and recording the angle information as alpha1、α2；
Based on alpha1、α2And calculating the rolling arc length of the rotating wheel corresponding to the radius of the rotating wheel, and recording the length as l1、l2；
Calculating a rotation angle theta:
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110865531.7A CN113566774A (en) | 2021-07-29 | 2021-07-29 | Device, system and method for measuring rotation angle |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110865531.7A CN113566774A (en) | 2021-07-29 | 2021-07-29 | Device, system and method for measuring rotation angle |
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| CN113566774A true CN113566774A (en) | 2021-10-29 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114703916A (en) * | 2022-03-30 | 2022-07-05 | 清华大学 | Excavator rotary platform rotation angle accurate measurement system |
| CN116026276A (en) * | 2023-03-28 | 2023-04-28 | 江苏集萃清联智控科技有限公司 | Method and device for measuring rotation angle of external turntable of gantry crane for port |
-
2021
- 2021-07-29 CN CN202110865531.7A patent/CN113566774A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114703916A (en) * | 2022-03-30 | 2022-07-05 | 清华大学 | Excavator rotary platform rotation angle accurate measurement system |
| CN116026276A (en) * | 2023-03-28 | 2023-04-28 | 江苏集萃清联智控科技有限公司 | Method and device for measuring rotation angle of external turntable of gantry crane for port |
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