CN117516409A - Bridge type and gantry crane girder upper camber measuring system and method - Google Patents
Bridge type and gantry crane girder upper camber measuring system and method Download PDFInfo
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- CN117516409A CN117516409A CN202311424093.6A CN202311424093A CN117516409A CN 117516409 A CN117516409 A CN 117516409A CN 202311424093 A CN202311424093 A CN 202311424093A CN 117516409 A CN117516409 A CN 117516409A
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- 238000005259 measurement Methods 0.000 claims abstract description 24
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- 229910000831 Steel Inorganic materials 0.000 claims description 11
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Classifications
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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
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
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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
- G01B21/02—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 length, width, or thickness
- G01B21/04—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 length, width, or thickness by measuring coordinates of points
- G01B21/045—Correction of measurements
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- Control And Safety Of Cranes (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a bridge type and gantry crane girder upper camber measuring system and method, comprising a trolley capable of walking on a crane girder and a laser range finder fixed on the girder, wherein the trolley is provided with a camera and a laser receiving film, the laser range finder is fixed on the girder through a supporting rod with adjustable height and angle and a magnetic connecting piece, and the data of the camera shooting photo and the laser range finder are sent to a handheld terminal through a 4G/5G module for data processing, and the value and the shape of the girder upper camber are obtained through image recognition and calculation. The system and the method for measuring the camber of the main girder of the bridge and the portal crane can be operated by a single person, and can rapidly measure the camber value and the camber shape of the main girder; the measuring principle is simple, and the measurement can be reliably carried out and popularized and applied; the remote measuring operation can be performed, and the safety of measuring personnel is improved.
Description
Technical Field
The invention belongs to the technical field of hoisting machinery inspection and detection, and relates to a bridge type and gantry crane girder camber measuring system and method.
Background
The hoisting machinery is key equipment for industrial production, has large holding quantity, reaches 280 ten thousand hoisting machinery under supervision of special equipment by the end of 2022, and is newly increased each year. The main girder of the bridge and the portal crane is a main bearing structure, and in order to improve bearing capacity and safety, the standard rule is that the main girder must be provided with an upper camber in the manufacturing process, and the numerical value and the shape of the upper camber are required to meet the requirements. On the one hand, therefore, the newly installed crane needs to detect the camber; on the other hand, the crane in use also needs to detect the upper camber periodically, and if the upper camber does not meet the requirement, the whole crane is scrapped. Therefore, the camber is a key parameter of the crane, and the detection method of the camber is also required to be reliable and strong in operability.
At present, two methods for detecting the camber of the crane are adopted, one is a total station, and the other is a level. The total station method is to set up a total station on the ground of the lower part of the main beam of the crane, measure the value of the specific point of the lower flange plate of the main beam from the ground, and calculate the value and shape of the upper camber of the main beam. The method has the defects that the measuring position needs to be marked in advance, but the lower flange plate part is suspended and can be accessed by a scaffold or a cable, the workload of setting the mark in the whole length direction of the lower flange plate is very large, and meanwhile, measured data needs to be arranged and calculated, so that a conclusion about whether the measured data accords with the measured data cannot be immediately obtained.
The method of adopting the level gauge has two conditions, namely, a small-tonnage crane with a lower lifting height is adopted, a tower ruler is used for supporting a lower flange plate of a main beam on the ground, the data of the tower ruler is read by the level gauge, then the tower ruler is moved, and the data of the tower ruler is read again, so that the numerical value and the shape of the upper camber are obtained. For a crane with high lifting height, a leveling instrument is erected on the upper flange plate of the main beam, a person takes the tower ruler to move on the main beam, and the person observes the leveling instrument to read the degree of the tower ruler, so that the numerical value and the shape of the upper camber can be measured. The method has the defects that equipment such as a tripod is large, and the tripod is difficult to convey to a main beam; two persons are needed for measurement, and measured data are needed to be tidied and calculated, so that time and labor are wasted.
Therefore, the existing method for measuring the camber of the main beam is low in automation degree, high in labor intensity, low in efficiency and has a certain danger.
Disclosure of Invention
The invention aims to provide a bridge type and gantry crane girder upper camber measuring system and method, which realize the safety, convenience and high efficiency of crane girder upper camber measurement.
The technical scheme adopted by the invention is as follows: the system for measuring the camber of the girder of the bridge type and portal crane comprises a laser range finder, a trolley and a test bench which are erected on the girder 11 of the crane, wherein the test bench is arranged at one end of the girder of the crane, the laser range finder is arranged on the test bench,
the laser range finder comprises a crane main beam, a laser receiving film and a camera are arranged on the trolley, the laser receiving film is located between the camera and the laser range finder, and when the trolley moves on the crane main beam, the laser receiving film can receive laser emitted by the laser range finder.
Further, the test bench includes steel base, magnetism guard ring, adjusting screw, magnetism connecting seat, adjusting nut, the steel base is fixed in hoist girder upper surface, and magnetism guard ring adsorbs on the steel base, and adjusting nut's lower extreme is connected with the steel base and is located magnetism guard ring, adjusting screw lower extreme screw in adjusting nut, adjusting screw's upper end is connected with magnetism connecting seat, laser range finder is fixed in on the magnetism connecting seat.
Further, the laser range finder is fixed on the magnetic connecting seat through a locking bolt.
Further, the camera is connected with a spherical hinge arranged on the trolley through a connecting rod.
Further, the laser receiving film is translucent.
Further, the shape of the laser receiving film is rectangular.
According to the measuring method of the bridge type and gantry crane girder upper camber measuring system,
the distance between the laser distance meter and the laser receiving film measured at the initial position is D 1 Simultaneously, the camera shoots a picture of the laser receiving film containing the laser spots for the first time, and the picture is in a reference state at the moment;
the trolley walks forwards for a preset distance to stop, the actions of measuring the distance by the laser range finder and shooting by the camera are repeated, the distance data and the photos are stored in a one-to-one correspondence mode, and the trolley walks continuously for a preset distance to stop measuring and shooting until the trolley walks from one end of the crane girder to the other end of the crane girder;
calculating the distance between the laser light spot and the upper surface of the main beam, fixing the distance between the trolley body and the upper surface of the main beam of the crane to be y0, wherein the distance cannot be changed in measurement, the external dimensions A and B of the laser receiving film are known, the number of corresponding pixels in a photo is also known, and the distance x between the light spot and the origin O is obtained through the pixel position of the light spot i And y i Wherein the origin O is the intersection point of a straight line which is made by a point passing through the bottommost part of the laser receiving film along the horizontal direction and a straight line which is made by a point passing through the laser range finder and is positioned at the leftmost part of the laser receiving film along the vertical direction and is taken as the y axis, and x i The value is used as a parameter for controlling the travelling direction of the trolley during tracking, so that a light spot is ensured to be always beaten on a laser receiving film, i represents the shooting times of a camera, i=1, 2, … …, n and n represent the total shooting times of the camera, each photo is processed, and the distance H from the light spot of the laser to the upper surface of a crane girder during the ith shooting of the camera is obtained i ＝y0+y i The method comprises the steps of carrying out a first treatment on the surface of the After the trolley has travelled the whole main beam, a set of data (D) 1 ，H 1 )，(D 2 ，H 2 )，……，(D n ，H n )；
Correction of measurement errors, typically the beam of the laser rangefinder is at an angle to the horizontal in the vertical plane, which makes the measured value H error F, requiring correction by symmetry of camber on the crane girder,
when the beam is deviated upwards, hb is measured at a symmetrical point a and a symmetrical point b relative to the midpoint of the main beam, the difference Hb-Ha is caused by the non-horizontal laser beam, and the included angle between the laser beam and the horizontal plane is calculated
α＝arctan((Hb-Ha)/2S)
S is half the distance between points a and b,
thus during data processing H i Should be corrected, the corresponding correction value is
F i ＝D i ·tanα
The data of the corrected laser spot position is (D 1 ，H 1 -F 1 )，(D 2 ，H 2 -F 2 )，……，(D n ，H n -F n )；
When the beam is directed downward, the corrected laser spot position data is (D 1 ，H 1 +F 1 )，(D 2 ，H 2 +F 2 )，……，(D n ，H n +F n )；
After correction, the actual laser point forms a reference straight line, and in the whole measurement process, the running track of the laser receiving film is parallel to the upper surface of the main beam due to the existence of the camber of the main beam, and the measurement is carried out by the relative position of the laser beam on the receiving film, so that the camber value of the main beam is expressed as:
when the beam is directed upward:
GD i ＝H0-HX i ＝H0-(H i -F i )
when the beam is directed downward:
GD i ＝H0-HX i ＝H0-(H i +F i )
where i=1, 2,3, … …, n, H0 is the height of the laser emission point from the upper surface of the main beam.
The beneficial effects of the invention are as follows:
(1) The bridge type and gantry crane girder upper camber measuring system has the characteristics of small volume and convenient carrying, and reduces the working strength of measuring staff;
(2) The single person can perform on-site operation or remote operation, full-automatic unmanned detection is easy to realize, the detection safety and labor intensity are improved, the detection cost is saved, and the technical development direction is met;
(3) The method can automatically finish the measurement and calculation of the camber of the main girder of the crane, and the measurement data is not required to be recorded manually on site, so that the measurement efficiency is improved, and the personnel requirement is reduced.
In addition to the objects, features and advantages described above, the present invention has other objects, features and advantages. The present invention will be described in further detail with reference to the drawings.
Drawings
FIG. 1 is a schematic diagram of the bridge and gantry crane girder camber measurement system of the present invention.
FIG. 2 is a block diagram of a laser rangefinder support in a bridge and gantry crane girder upper camber measurement system of the present invention.
Fig. 3 is a schematic structural view of a trolley in the bridge and gantry crane girder upper camber measuring system.
FIG. 4 is a schematic diagram of the position of the identified laser spot in the camber measurement system on the main beam of the bridge and gantry crane of the present invention.
Fig. 5 is a schematic diagram of the principle of eliminating the horizontal error of the laser beam in the bridge and gantry crane girder camber measuring method of the present invention.
Fig. 6 is a schematic diagram of camber calculation in the bridge and gantry crane girder camber measuring method of the present invention.
In the figure, the laser range finder comprises a screw rod 1, a magnetic connecting seat 2, a laser range finder 3, a regulating nut 4, a magnetic retainer 5, a steel base 6, a laser receiving film 7, a spherical hinge 8, a camera 9, a trolley 10, a crane girder 11, a connecting rod 12 and a locking bolt 13.
Detailed Description
The invention will be described in detail below with reference to the drawings and the detailed description.
The invention relates to a bridge type and gantry crane girder upper camber measuring system, as shown in figure 1, comprising a laser range finder 3 and a trolley 10 which are erected on a crane girder 11, wherein a steel base 6 is placed on the crane girder 11 as a test platform; as shown in fig. 2, the magnetic retainer 5 is adsorbed on the steel base 6, the adjusting screw 1 is screwed into the adjusting nut 4, the whole body is inserted into the inner hole of the magnetic retainer 5, the laser range finder 3 is fixed with the magnetic connection seat through the locking bolt 13 and adsorbed on the end part of the adjusting screw 1; as shown in fig. 3, the trolley 11 is provided with a laser receiving film 7 and a camera 9, when the trolley 10 moves on the crane girder 11, the laser receiving film 7 can receive the laser emitted by the laser range finder 3, and the laser receiving film 7 is semitransparent (because the laser is shot on one side and is not blocked on the other side).
The working principle of the invention is as follows: the fixed laser irradiates on the movable receiving screen, and the radian of the main beam is measured through the position change of the light spot in the movement, so that the camber data is obtained. The direction of the light of the laser range finder 3 is adjusted before measurement, so that the light spot can be positioned in the measurement area in the whole measurement process. The trolley 10 is placed on the main beam 11 of the crane, so that the laser receiving film 7 is about 3.5m away from the laser distance meter 3, and the laser distance meter 3 measures the distance D after the adjustment is finished 1 As shown in fig. 1, at the same time, the camera 9 takes a photograph of the laser receiving film 7 containing the laser spot, as shown in fig. 4, in this case, in a reference state. The trolley walks forwards for a certain distance in a remote control or automatic tracking mode to stop, the actions of measuring the distance and shooting are repeated, the distance data and the pictures are stored in a one-to-one correspondence mode, and the trolley is stopped for measurement after walking for a certain distance until the trolley walks to the other end of the main girder 11 of the crane. The laser track of the laser range finder 3 is fixed, the trolley 10 walks on the crane girder 11 once, the shape of the girder radian can be measured and depicted by measuring the change of the upper and lower positions of the laser spots, and finally the upper camber value and the position of the maximum upper camber of the girder are calculated.
The distance of the laser spot from the upper surface of the main beam 11 is calculated. As shown in fig. 1, the distance of the trolley 10 body from the surface of the crane girder 11 is fixed to y0, and no change occurs in measurement. As shown in fig. 4, the photo of the light spot taken by the camera 9 has known external dimensions a and B of the laser receiving film 7, and the corresponding number of pixels in the photo is also known, and the distance x of the light spot from the origin O can be obtained by the pixel position of the light spot i And y i Wherein the origin O is an intersection point of a straight line passing through the bottommost point of the laser receiving film 7 in the horizontal direction as the x-axis and a straight line passing through the laser rangefinder 3 in the vertical direction as the y-axis as the point located at the leftmost point of the laser receiving film 7 seen in the direction of the laser receiving film 7 (for example, the origin is a point in the lower left corner in fig. 4 when the laser receiving film 7 is rectangular, and when the laser receiving film 7 is round)The origin point is the point of the left lower corner of the round circumscribed square during the shape), and x is the point of the left lower corner of the round circumscribed square i The value may be used as a parameter for controlling the travelling direction of the carriage during tracking such that a spot always impinges on the laser receiving film 7, i representing the number of shots by the camera 9, i=1, 2, … …, n, n representing the total number of shots by the camera 9. Each photo is processed to obtain the distance H between a laser spot and the upper surface of the crane girder 11 i ＝y0+y i 。
And the arc shape of the main beam. After the trolley has travelled the whole main beam, a set of data (D) 1 ，H 1 )，(D 2 ，H 2 )，……，(D n ，H n )。
Correction of measurement errors. In order to reduce the field adjustment work, the laser beam is not required to be horizontal in the initial adjustment, so that the beam of the laser range finder 3 is generally at a certain angle with the horizontal line in the vertical plane, which causes an error F in the measured value H, and the correction is required by utilizing the symmetry of the camber on the crane girder 11. Suppose the beam is biased upward as shown in fig. 5. The difference Hb-Ha of the Hb measured at the symmetrical point a and the Hb measured at the point b relative to the midpoint of the main beam is caused by the non-level of the laser beam, and the included angle between the laser beam and the horizontal plane can be calculated according to the geometric relationship
α＝arctan((Hb-Ha)/2S)
Thus during data processing H i (i=1, 2, … …, n) should be corrected, the corresponding correction value is
F i ＝D i ·tanα
The data of the corrected laser spot position is (D 1 ，H 1 -F 1 )，(D 2 ，H 2 -F 2 )，……，(D n ，H n -F n )。
When the beam is directed downward, the corrected laser spot position data is (D 1 ，H 1 +F 1 )，(D 2 ，H 2 +F 2 )，……，(D n ，H n +F n )。
After correction, the actual laser point forms a reference straight line, as shown in fig. 6, on the other hand, in the whole measuring process, the running track of the laser receiving film 7 is parallel to the upper surface of the main beam due to the existence of the camber of the main beam, and the upper camber value of any point of the main beam can be expressed as
When the beam is directed upward:
GD i ＝H0-HX i ＝H0-(H i -F i )
when the beam is directed downward:
GD i ＝H0-HX i ＝H0-(H i +F i )
where i=1, 2,3, … …, n, H0 is the height of the laser emission point from the upper surface of the main beam.
For example, for bridge cranes, the standard specifies that the camber value in the crane main beam span should not be less than 0.7 x L/1000 and lie within the range of L/10 in the main beam span, L being the crane span. Data (D) measured by the present invention i ，GD i ) I=1, 2,3, … …, n, it can be immediately judged whether the upper camber of the main beam meets the requirement.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (7)
1. The system for measuring the camber of the main girder of the bridge type and portal crane is characterized by comprising a laser range finder (3), a trolley (10) and a test bench which are erected on the main girder (11) of the crane, wherein the test bench is arranged at one end of the main girder (11) of the crane, the laser range finder (3) is arranged on the test bench,
set up laser receiving film (7) and camera (9) on dolly (10), laser receiving film (7) are located between camera (9) and laser range finder (3), and when dolly (10) moved on hoist girder (11), laser receiving film (7) can receive the laser of laser range finder (3) transmission.
2. The bridge type and gantry crane girder upper camber measuring system according to claim 1, wherein the test bench comprises a steel base (6), a magnetic retainer ring (5), an adjusting screw (1), a magnetic connecting seat (2) and an adjusting nut (4), wherein the steel base (6) is fixed on the upper surface of the crane girder (11), the magnetic retainer ring (5) is adsorbed on the steel base (6), the lower end of the adjusting nut (4) is connected with the steel base (6) and is positioned in the magnetic retainer ring (5), the adjusting screw (1) is screwed into the adjusting nut (4), the upper end of the adjusting screw (1) is connected with the magnetic connecting seat (2), and the laser range finder (3) is fixed on the magnetic connecting seat (2).
3. The bridge and gantry crane girder camber measuring system according to claim 1, wherein the laser rangefinder (3) is fixed to the magnetic connection base (2) by means of locking bolts.
4. A bridge and gantry crane girder camber measuring system according to any one of claims 1-3, wherein the camera (9) is connected to a spherical hinge 8 provided on the trolley (10) by means of a connecting rod (12).
5. Bridge and gantry crane girder camber measuring system according to claim 4, wherein the laser receiving film (7) is translucent.
6. Bridge and gantry crane girder camber measuring system according to claim 5, wherein the laser receiving film (7) is rectangular in shape.
7. The method for measuring camber of a girder of a bridge and portal crane according to any one of claims 1 to 6, wherein,
the distance between the laser distance meter (3) and the laser receiving film (7) is measured to be D at the initial position 1 Simultaneous image capturingThe head (9) takes a picture of a laser receiving film (7) containing laser spots for the first time, which is in a reference state;
the trolley (10) walks forwards for a preset distance to stop, the actions of measuring the distance by the laser range finder (3) and shooting by the camera (9) are repeated, the distance data and the photos are stored in a one-to-one correspondence mode, and the trolley is stopped for measurement and shooting after continuously walking for the preset distance until the trolley walks from one end of the crane girder (11) to the other end of the crane girder (11);
calculating the distance between the laser light spot and the upper surface of the main beam (11), fixing the distance between the trolley (10) body and the upper surface of the main beam (11) of the crane to be y0, wherein the distance cannot be changed in measurement, the appearance dimensions A and B of the laser receiving film (7) are known, the number of corresponding pixels in a photo is also known, and the distance x between the light spot and the origin O is obtained through the pixel position of the light spot i And y i Wherein the origin O is the intersection point of a straight line which is made along the horizontal direction through the bottommost point of the laser receiving film (7) and a straight line which is made along the vertical direction through the laser range finder (3) and is made along the vertical direction through the leftmost point of the laser receiving film (7) as the y axis, and x i The value is used as a parameter for controlling the travelling direction of the trolley (10) during tracking, so as to ensure that a light spot always strikes a laser receiving film (7), i represents the shooting times of a camera (9), i=1, 2, … …, n and n represent the total shooting times of the camera (9), and each photo is processed to obtain the distance H from the laser light spot to the upper surface of a crane girder (11) during the ith shooting of the camera (9) i ＝y0+y i The method comprises the steps of carrying out a first treatment on the surface of the After the trolley runs through the whole main beam (11), a group of data (D) of laser spot positions are obtained 1 ，H 1 )，(D 2 ，H 2 )，……，(D n ，H n )；
Correction of measurement errors, typically the beam of the laser rangefinder (3) is at an angle to the horizontal in the vertical plane, which makes the measured value H have an error F, requiring correction by using the symmetry of camber on the crane girder (11),
when the beam is deviated upward, hb is measured at a Ha and a point b measured at a symmetrical point a relative to the midpoint of the main beam (11), the difference Hb-Ha is caused by the non-horizontal laser beam, and the included angle between the laser beam and the horizontal plane is calculated
α＝arctan((Hb-Ha)/2S)
S is half the distance between points a and b,
thus during data processing H i Should be corrected, the corresponding correction value is
F i ＝D i ·tanα
The data of the corrected laser spot position is (D 1 ，H 1 -F 1 )，(D 2 ，H 2 -F 2 )，……，(D n ，H n -F n )；
When the beam is directed downward, the corrected laser spot position data is (D 1 ，H 1 +F 1 )，(D 2 ，H 2 +F 2 )，……，(D n ，H n +F n )；
After correction, the actual laser point forms a reference straight line, in the whole measurement process, due to the existence of camber of the main beam (11), the running track of the laser receiving film (7) is parallel to the upper surface of the main beam (11), and the measurement is carried out by the relative position of laser on the receiving film, so that the upper camber value of the main beam (11) is expressed as:
when the beam is directed upward:
GD i ＝H0-HX i ＝H0-(H i -F i )
when the beam is directed downward:
GD i ＝H0-HX i ＝H0-(H i +F i )
where i=1, 2,3, … …, n, H0 is the height of the laser emission point from the upper surface of the main beam.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311424093.6A CN117516409A (en) | 2023-10-30 | 2023-10-30 | Bridge type and gantry crane girder upper camber measuring system and method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311424093.6A CN117516409A (en) | 2023-10-30 | 2023-10-30 | Bridge type and gantry crane girder upper camber measuring system and method |
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| Publication Number | Publication Date |
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| CN117516409A true CN117516409A (en) | 2024-02-06 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202311424093.6A Pending CN117516409A (en) | 2023-10-30 | 2023-10-30 | Bridge type and gantry crane girder upper camber measuring system and method |
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| CN (1) | CN117516409A (en) |
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- 2023-10-30 CN CN202311424093.6A patent/CN117516409A/en active Pending
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