CN113865501B - A device and method for measuring deformation of metal structure of lifting machinery - Google Patents

A device and method for measuring deformation of metal structure of lifting machinery Download PDF

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CN113865501B
CN113865501B CN202111253689.5A CN202111253689A CN113865501B CN 113865501 B CN113865501 B CN 113865501B CN 202111253689 A CN202111253689 A CN 202111253689A CN 113865501 B CN113865501 B CN 113865501B
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distance
measuring
sensor
distance measuring
module
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CN113865501A (en
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龚文
杭杰
蒋健
诸征
高飞
余杰
李传磊
蒋瑜
许海翔
金彦
汪敬东
薛小龙
沈卓敏
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Shanghai Special Equipment Supervision And Inspection Technology Research Institute Co ltd
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Shanghai Special Equipment Supervision and Inspection Technology Institute
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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
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/16—Measuring arrangements characterised by the use of optical techniques for measuring the deformation in a solid, e.g. optical strain gauge
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

The invention relates to a deformation measuring device and method for a metal structure of a hoisting machine, the device comprises a support frame, a distance measuring module (1) and a rotary driving module, wherein two distance measuring sensors, namely a first distance measuring sensor (11) and a second distance measuring sensor (12), are arranged on the distance measuring module (1), the included angle between the distance measuring directions of the two distance measuring sensors is 90 degrees, an inclination angle sensor for measuring the inclination angle between the distance measuring sensor and a plumb line is arranged on the first distance measuring sensor (11), the distance measuring module (1) is arranged on the support frame through the rotary driving module, the support frame is used for horizontally erecting the distance measuring module (1) at the position above the surface of the metal structure (4) to be measured, and the distance measuring sensor, the inclination angle sensor and the rotary driving module are all connected to a controller. Compared with the prior art, the invention has the advantages of high measurement precision, high measurement speed and the like.

Description

Device and method for measuring deformation of metal structure of hoisting machine
Technical Field
The invention relates to a lifting machinery measuring device and method, in particular to a device and method for measuring deformation of a metal structure of a lifting machinery.
Background
The main beams of hoisting machinery and the like mostly adopt box-shaped metal structures, and in order to acquire the health condition of the hoisting machinery structure, the deformation of the main beams needs to be measured. The existing method mainly adopts manual segmentation marking and then segment-by-segment measurement. When the measured object is large and the measured point person is not easy to reach, the measuring efficiency is low and the precision is poor.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a device and a method for measuring the deformation of a metal structure of a lifting machine.
The aim of the invention can be achieved by the following technical scheme:
The utility model provides a metal structure deformation measuring device of hoisting machinery, the device includes support frame, distance measurement module, rotary drive module, distance measurement module on install two range finding sensors, be first range finding sensor and second range finding sensor respectively, the range finding direction of two range finding sensors between the contained angle be 90, first range finding sensor on be equipped with and be used for measuring the inclination sensor between this range finding sensor and the plumb line, distance measurement module install on the support frame through rotary drive module, the support frame be used for with distance measurement module level erect in the metal structure surface top position that awaits measuring, range finding sensor, inclination sensor and rotary drive module all be connected to the controller.
Preferably, the distance measuring sensor comprises a laser distance measuring sensor.
Preferably, the rotary driving module comprises a rotating rod and a motor, the rotating rod is horizontally arranged on the supporting frame through a bearing, a rotating shaft of the motor is connected with the rotating rod, the distance measuring module is fixed on the rotating rod, and the motor is connected with the controller.
Preferably, the motor comprises a servo motor.
Preferably, the support frame include top support board, lateral part support and adjustable landing leg, the lateral part support set up two, fix respectively in top support board below both sides formation framework structure, adjustable landing leg install in lateral part support bottom be used for adjusting the whole levelness of support frame, the transfer line rotate and install between two lateral part supports, the transfer line with top support board parallel.
Preferably, the adjustable support leg comprises a magnetic support leg and an adjustable bolt, and the magnetic support leg is arranged at the bottom of the side support frame through the adjustable bolt.
Preferably, the top support plate is provided with a level for measuring levelness.
Preferably, the adjustable support legs are three, two of the adjustable support legs are arranged below one side support, the other adjustable support leg is arranged below the other side support, and the three adjustable support legs form an isosceles triangle distribution form.
A method for measuring deformation of a metal structure of a lifting machine, the method being based on the deformation measuring device, the method comprising:
Fixing the position of the support frame, and adjusting the initial position of the distance measurement module to enable the distance measurement direction of the first distance measurement sensor to be vertically downward along the plumb line direction, wherein the distance measurement direction of the second distance measurement sensor is a horizontal direction;
the controller sends a control signal to control the rotation driving module to move, the rotation driving module drives the distance measuring module to rotate until the distance measuring module is rotationally driven to rotate by 90 degrees, and the distance measuring module receives the distance measuring data of the first distance measuring sensor and the second distance measuring sensor and the inclination angle data of the inclination angle sensor in real time in the rotation process;
The controller acquires position information of a measuring point on the surface of the metal structure to be measured according to the acquired ranging data and the inclination angle data, wherein the position information comprises a horizontal distance and a vertical distance between the measuring point and a center point of the distance measuring module, and further, the deformation condition of the surface of the metal structure is determined;
Preferably, the ranging data of the first ranging sensor is denoted as L11, L12, L13, … …, L1n, the ranging data of the second ranging sensor is denoted as L21, L22, L23, L2n, and the tilt data of the tilt sensor are recorded as θ1, θ2, θ3, … …, and θn;
Calculating to obtain the position information of the measuring point Ai corresponding to the first ranging sensor and the measuring point Bi corresponding to the second ranging sensor: d1i=l1i·sin θi, h1i=l1i·cos θi, d2i=l2i·cos θi, h2i=l2i·sin θi, D1i is the horizontal distance of the measurement point Ai from the center point of the distance measurement module, H1i is the vertical distance of the measurement point Ai from the center point of the distance measurement module, D2i is the horizontal distance of the measurement point Bi from the center point of the distance measurement module, H2i is the vertical distance of the measurement point Bi from the center point of the distance measurement module, i=1, 2, … …, n;
The measuring points and the corresponding positions of the deformation are determined based on H1i, H2i, D1i and D2 i.
Compared with the prior art, the invention has the following advantages:
(1) According to the invention, the distance measuring sensor is adopted to measure the distance between two sides of the metal structure, meanwhile, the inclination angle of the distance measuring sensor is measured, and the deformation condition of the surface of the metal structure is rapidly determined by converting the position information of the measuring point (comprising the horizontal distance and the vertical distance between the measuring point and the center point of the distance sensor) on the surface of the metal structure, so that the measuring precision is high and the measuring speed is high;
(2) The invention adopts a double-laser ranging mode to measure the distance, thereby ensuring the measurement accuracy.
Drawings
FIG. 1 is a front view of a metal structure deformation measuring device of a lifting machine according to the present invention;
FIG. 2 is a side view of a metal structure deformation measuring device of the present invention for a lifting machine;
Fig. 3 is a schematic diagram of a device for measuring deformation of a metal structure of a hoisting machine according to the present invention.
In the figure, 1 is a distance measuring module, 11 is a first distance measuring sensor, 12 is a second distance measuring sensor, 21 is a rotating rod, 22 is a motor, 31 is a top supporting plate, 32 is a side supporting plate, 33 is an adjustable supporting leg, and 4 is a metal structure to be measured.
Detailed Description
The invention will now be described in detail with reference to the drawings and specific examples. Note that the following description of the embodiments is merely an example, and the present invention is not intended to be limited to the applications and uses thereof, and is not intended to be limited to the following embodiments.
Examples
As shown in fig. 1 and 2, this embodiment provides a deformation measurement device for a metal structure of a lifting machine, the device includes a support frame, a distance measurement module 1, and a rotation driving module, two distance measurement sensors are installed on the distance measurement module 1, the two distance measurement sensors are a first distance measurement sensor 11 and a second distance measurement sensor 12, an included angle between the distance measurement directions of the two distance measurement sensors is 90 °, an inclination sensor (the inclination sensor is integrated on the first distance measurement sensor 11, the specific position of the inclination sensor is not shown in the figure) for measuring the inclination angle between the distance measurement sensor and a plumb line is provided on the first distance measurement sensor 11, the distance measurement module 1 is installed on the support frame through the rotation driving module, the support frame is used for horizontally erecting the distance measurement module 1 at a position above the surface of the metal structure 4 to be measured, the distance measurement sensor, the inclination sensor and the rotation driving module are all connected to a controller, and the controller includes a microprocessor with digital processing capability. .
Wherein the ranging sensor comprises a laser ranging sensor.
The rotary driving module comprises a rotating rod 21 and a motor 22, wherein the rotating rod 21 is horizontally arranged on the supporting frame through a bearing, a rotating shaft of the motor 22 is connected with the rotating rod 21, the distance measuring module 1 is fixed on the rotating rod 21, the motor 22 is connected with the controller, and the motor 22 adopts a servo motor.
The support frame includes top support plate 31, lateral part support 32 and adjustable landing leg 33, and lateral part support 32 sets up two, fixes respectively in top support plate 31 below both sides and forms the framework structure, and adjustable landing leg 33 is installed and is used for adjusting the whole levelness of support frame in lateral part support 32 bottom, and the transfer line is rotated and is installed between two lateral part supports 32, and the transfer line is parallel with top support plate 31.
The adjustable legs 33 include magnetic legs and adjustable bolts, and the magnetic legs are mounted to the bottom of the side brackets 32 by the adjustable bolts. The top support plate 31 is provided with a level for measuring levelness. The adjustable support legs 33 are three, two adjustable support legs 33 are arranged below one side support 32, the other adjustable support leg 33 is arranged below the other side support 32, the three adjustable support legs 33 form an isosceles triangle distribution form, the magnetic support legs can be magnetically adsorbed on the surface of the metal structure 4 to be measured, then the height of the adjustable support legs 33 is adjusted by adjusting the height of the adjustable bolts so that the whole device is in a horizontal position (and the level of the rotating rod 21 is ensured), and the leveling process can be quickly performed through a level meter on the top support plate 31. The three adjustable legs 33 can form a triangular support form, so that the stability of the device is ensured.
The controller is used for generating a servo drive control signal, sending the servo drive control signal to the servo motor to control the rotation of the distance measuring module 1, receiving distance data sent by the distance measuring module 1 and angle data sent by the inclination sensor in the measuring process, storing the data, and analyzing and processing to obtain deformation information.
Based on the deformation measuring device, the embodiment also provides a deformation measuring method of a metal structure of a lifting machine, which comprises the following steps:
Fixing the position of the support frame, and adjusting the initial position of the distance measuring module 1 so that the distance measuring direction of the first distance measuring sensor 11 is vertically downward along the plumb line direction, and the distance measuring direction of the second distance measuring sensor 12 is a horizontal direction;
The controller sends a control signal to control the rotation driving module to move, the rotation driving module drives the distance measuring module 1 to rotate until the distance measuring module is rotationally driven to rotate by 90 degrees, and the distance measuring module 1 receives the distance measuring data of the first distance measuring sensor 11 and the second distance measuring sensor 12 and the inclination angle data of the inclination angle sensor in real time in the rotation process;
The controller acquires the position information of the measuring point on the surface of the metal structure 4 to be measured according to the acquired ranging data and the inclination angle data, wherein the position information comprises the horizontal distance and the vertical distance between the measuring point and the center point of the distance measuring module 1, and further the deformation condition of the surface of the metal structure is determined.
As shown in fig. 3, the distance measuring module center point is denoted as O point, the ranging data of the first ranging sensor 11 is denoted as L11, L12, L13, … …, L1n, the ranging data of the second ranging sensor 12 is denoted as L21, L22, L23, L2n, the tilt data of the tilt sensor is denoted as θ1, θ2, θ3, … …, θn;
Calculating to obtain the position information of the measuring point Ai corresponding to the first ranging sensor 11 and the measuring point Bi corresponding to the second ranging sensor 12: d1i=l1i·sin θi, h1i=l1i·cos θi, d2i=l2i·cos θi, h2i=l2i·sin θi, D1i is the horizontal distance of the measurement point Ai from the center point of the distance measurement module, H1i is the vertical distance of the measurement point Ai from the center point of the distance measurement module, D2i is the horizontal distance of the measurement point Bi from the center point of the distance measurement module, H2i is the vertical distance of the measurement point Bi from the center point of the distance measurement module, i=1, 2, … …, n;
and determining the measuring points and corresponding positions of deformation based on H1i, H2i, D1i and D2i, if the surface of the metal structure 4 to be measured is free from any deformation, the H1i and H2i should be kept unchanged, if the sizes of the H1i and H2i are changed, the sizes of the H1i and H2i can be compared with the set threshold values, but the surface of the metal structure 4 to be measured is convex or concave, so that horizontal distance information of the corresponding points is obtained, and the positions of the deformed points are positioned.
The distance measuring sensor is adopted to measure the distance between two sides of the metal structure, meanwhile, the inclination angle of the distance measuring sensor is measured, and the deformation condition of the surface of the metal structure is rapidly determined by converting the position information of the measuring point (comprising the horizontal distance and the vertical distance between the measuring point and the center point of the distance sensor) on the surface of the metal structure, so that the measuring precision is high and the measuring speed is high.
The above embodiments are merely examples, and do not limit the scope of the present invention. These embodiments may be implemented in various other ways, and various omissions, substitutions, and changes may be made without departing from the scope of the technical idea of the present invention.

Claims (8)

1.一种起重机械金属结构形变测量装置，其特征在于，该装置包括支撑架、距离测量模块（1）、旋转驱动模块，所述的距离测量模块（1）上安装有两个测距传感器，分别为第一测距传感器（11）和第二测距传感器（12），所述的两个测距传感器的测距方向之间的夹角为90°，所述的第一测距传感器（11）上设有用于测量该测距传感器与铅垂线之间倾斜角度的倾角传感器，所述的距离测量模块（1）通过旋转驱动模块安装在支撑架上，所述的支撑架用于将所述的距离测量模块（1）水平架设在待测金属结构（4）表面上方位置，所述的测距传感器、倾角传感器和旋转驱动模块均连接至控制器；1. A deformation measuring device for a lifting machinery metal structure, characterized in that the device comprises a support frame, a distance measuring module (1), and a rotation drive module, wherein the distance measuring module (1) is equipped with two distance measuring sensors, namely a first distance measuring sensor (11) and a second distance measuring sensor (12), wherein the angle between the distance measuring directions of the two distance measuring sensors is 90°, and the first distance measuring sensor (11) is provided with an inclination sensor for measuring the inclination angle between the distance measuring sensor and a plumb line, wherein the distance measuring module (1) is installed on the support frame through the rotation drive module, wherein the support frame is used to horizontally mount the distance measuring module (1) above the surface of a metal structure (4) to be measured, and wherein the distance measuring sensor, the inclination sensor and the rotation drive module are all connected to a controller; 所述的测距传感器包括激光测距传感器；The distance measuring sensor comprises a laser distance measuring sensor; 所述的旋转驱动模块包括转动杆（21）和电机（22），所述的转动杆（21）通过轴承水平安装在支撑架上，所述的电机（22）的转轴连接所述的转动杆（21），所述的距离测量模块（1）固定在所述的转动杆（21）上，所述的电机（22）连接所述的控制器。The rotation drive module comprises a rotating rod (21) and a motor (22); the rotating rod (21) is horizontally mounted on a support frame via a bearing; a rotating shaft of the motor (22) is connected to the rotating rod (21); the distance measurement module (1) is fixed on the rotating rod (21); and the motor (22) is connected to the controller. 2.根据权利要求1所述的一种起重机械金属结构形变测量装置，其特征在于，所述的电机（22）包括伺服电机。2. A lifting machinery metal structure deformation measuring device according to claim 1, characterized in that the motor (22) comprises a servo motor. 3.根据权利要求1所述的一种起重机械金属结构形变测量装置，其特征在于，所述的支撑架包括顶部支撑板（31）、侧部支架（32）和可调支腿（33），所述的侧部支架（32）设置两个，分别固定在顶部支撑板（31）下方两侧形成框体结构，所述的可调支腿（33）安装在侧部支架（32）底部用于调整所述的支撑架的整体水平度，所述的转动杆（21）转动安装在两个侧部支架（32）之间，所述的转动杆（21）与所述的顶部支撑板（31）平行。3. A lifting machinery metal structure deformation measuring device according to claim 1, characterized in that the support frame includes a top support plate (31), a side bracket (32) and an adjustable leg (33), two side brackets (32) are provided, which are respectively fixed on both sides below the top support plate (31) to form a frame structure, the adjustable leg (33) is installed at the bottom of the side bracket (32) to adjust the overall horizontality of the support frame, the rotating rod (21) is rotatably installed between the two side brackets (32), and the rotating rod (21) is parallel to the top support plate (31). 4.根据权利要求3所述的一种起重机械金属结构形变测量装置，其特征在于，所述的可调支腿（33）包括磁性支腿和可调螺栓，所述的磁性支腿通过可调螺栓安装在侧部支架（32）底部。4. A lifting machinery metal structure deformation measuring device according to claim 3, characterized in that the adjustable legs (33) include magnetic legs and adjustable bolts, and the magnetic legs are installed on the bottom of the side bracket (32) through the adjustable bolts. 5.根据权利要求3所述的一种起重机械金属结构形变测量装置，其特征在于，所述的顶部支撑板（31）设有用于测量水平度的水平仪。5. A lifting machinery metal structure deformation measuring device according to claim 3, characterized in that the top support plate (31) is provided with a level for measuring horizontality. 6.根据权利要求3所述的一种起重机械金属结构形变测量装置，其特征在于，所述的可调支腿（33）设置三个，其中两个可调支腿（33）安装在一个侧部支架（32）下方，另一个可调支腿（33）安装在另一个侧部支架（32）下方，三个可调支腿（33）形成等腰三角分布形式。6. A lifting machinery metal structure deformation measuring device according to claim 3, characterized in that three adjustable legs (33) are provided, wherein two adjustable legs (33) are installed under one side bracket (32), and another adjustable leg (33) is installed under another side bracket (32), and the three adjustable legs (33) form an isosceles triangle distribution form. 7.一种起重机械金属结构形变测量方法，其特征在于，该方法基于权利要求1~6任意一项所述形变测量装置，该方法包括：7. A method for measuring deformation of a metal structure of a lifting machinery, characterized in that the method is based on the deformation measuring device according to any one of claims 1 to 6, and the method comprises: 固定支撑架位置，调整距离测量模块（1）的初始位置，使得第一测距传感器（11）的测距方向沿铅垂线方向垂直向下，第二测距传感器（12）的测距方向为水平方向；Fixing the position of the support frame, and adjusting the initial position of the distance measurement module (1) so that the distance measurement direction of the first distance measurement sensor (11) is vertically downward along the plumb line direction, and the distance measurement direction of the second distance measurement sensor (12) is horizontal; 控制器发送控制信号控制旋转驱动模块运动，旋转驱动模块带动距离测量模块（1）旋转直至旋转驱动该模块旋转90°角度，距离测量模块（1）旋转过程中实时接收第一测距传感器（11）和第二测距传感器（12）的测距数据以及倾角传感器的倾角数据；The controller sends a control signal to control the movement of the rotation drive module, and the rotation drive module drives the distance measurement module (1) to rotate until the rotation drive module rotates 90°. During the rotation process, the distance measurement module (1) receives the distance measurement data of the first distance measurement sensor (11) and the second distance measurement sensor (12) and the inclination data of the inclination sensor in real time; 控制器根据获取的测距数据以及倾角数据获取待测金属结构（4）表面测量点的位置信息，包括测量点与距离测量模块（1）中心点的水平距离和垂直距离，进而确定金属结构表面形变情况。The controller obtains the position information of the surface measurement point of the metal structure (4) to be measured based on the acquired distance measurement data and inclination data, including the horizontal distance and vertical distance between the measurement point and the center point of the distance measurement module (1), and further determines the deformation of the surface of the metal structure. 8.根据权利要求7所述的一种起重机械金属结构形变测量方法，其特征在于，将第一测距传感器（11）的测距数据记作L11，L12，L13，……，L1n，第二测距传感器（12）的测距数据记作L21，L22，L23，···，L2n，倾角传感器的倾角数据记作θ1，θ2，θ3，……，θn；8. A method for measuring deformation of a metal structure of a lifting machinery according to claim 7, characterized in that the distance data of the first distance measuring sensor (11) is recorded as L11, L12, L13, ..., L1n, the distance data of the second distance measuring sensor (12) is recorded as L21, L22, L23, ..., L2n, and the inclination data of the inclination sensor is recorded as θ1, θ2, θ3, ..., θn; 计算得到第一测距传感器（11）对应的测量点Ai以及第二测距传感器（12）对应的测量点Bi位置信息：D1i=L1i·sinθi，H1i= L1i·cosθi，D2i=L2i·cosθi，H2i= L2i·sinθi，D1i为测量点Ai与距离测量模块中心点的水平距离，H1i为测量点Ai与距离测量模块中心点的垂直距离，D2i为测量点Bi与距离测量模块中心点的水平距离，H2i为测量点Bi与距离测量模块中心点的垂直距离，i=1，2，……，n；Calculate and obtain the position information of the measuring point Ai corresponding to the first distance measuring sensor (11) and the measuring point Bi corresponding to the second distance measuring sensor (12): D1i=L1i·sinθi, H1i=L1i·cosθi, D2i=L2i·cosθi, H2i=L2i·sinθi, D1i is the horizontal distance between the measuring point Ai and the center point of the distance measuring module, H1i is the vertical distance between the measuring point Ai and the center point of the distance measuring module, D2i is the horizontal distance between the measuring point Bi and the center point of the distance measuring module, H2i is the vertical distance between the measuring point Bi and the center point of the distance measuring module, i=1, 2, ..., n; 基于H1i、H2i、D1i、D2i确定发生形变的测量点以及对应的位置。The measurement points where deformation occurs and their corresponding positions are determined based on H1i, H2i, D1i, and D2i.
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