CN1211636C - Lifting rope angle measurer for crane - Google Patents
Lifting rope angle measurer for crane Download PDFInfo
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- CN1211636C CN1211636C CN 02104525 CN02104525A CN1211636C CN 1211636 C CN1211636 C CN 1211636C CN 02104525 CN02104525 CN 02104525 CN 02104525 A CN02104525 A CN 02104525A CN 1211636 C CN1211636 C CN 1211636C
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Abstract
The present invention relates to a device for measuring the angle of crane lifting ropes, which comprises angle sensors EX, EY, supporting shafts UX, UY and two frames, wherein the angle sensor EX is arranged on a rotary shaft AX; one frame rotates around X-axis, and the bottom of the frame is a slender rectangular frame, wherein one cantilever SX1 of the frame is fixed on the rotary shaft AX, and the other cantilever SX2 is sheathed on the supporting shaft UX; the angle sensor EY is arranged on a rotary shaft AY; the other frame rotates around Y-axis, and the bottom of the frame is a slender rectangular frame, wherein one cantilever SY1 of the frame is fixed on the rotary shaft AY, and the other cantilever SY2 is sheathed on the supporting shaft UY; a lifting rope C threads through the rectangular frames at the bottom of the two frames. The present invention has the advantages of simple structure, low cost, favorable performance of real-time processing, high reliability and high precision, and is suitable for both indoor use and outdoor use. The present invention is an indispensable measuring device for realizing the automation of cranes and enhancing the safety and the productivity of cranes.
Description
Technical field
The present invention relates to universal crane equipment, particularly the measurement of angle of crane lifting rope.
Background technology
Along with development and national economy, the overhead crane in all kinds of hoisting devices such as workshop, the gantry crane of harbour, and the tower crane of building ground etc. (below be referred to as crane) role is increasing.The effect of crane will be transported to destination locations with certain weight from its initial position exactly at short notice, requires the amplitude of fluctuation (being pivot angle) of weight to reach when arriving destination locations as far as possible little in whole handling process simultaneously.If crane operation is improper, can cause the weight swing.And if amplitude of fluctuation is too big, weight may collide other equipment, causes damage.If the thing that is hung is a liquid, the amplitude of oscillation too greatly also will cause liquid to overflow.Add operating personnel and must operate crane in the pinnacled operation room, therefore operating crane is a very important and dangerous job.This work had both required operating personnel to have very high proficiency skills, also required operating personnel's high concentration notice, to avoid accident.For operating personnel are freed from this high-intensity dangerous work, further enhance productivity and security, be necessary to realize the robotization of crane operation.
As shown in Figure 1, overhead crane is mainly by track R1, crossbeam B1, controller D1, chassis T1, controller D2, compositions such as lifting rope C1.Under the effect of controller D1, overall beam B1 moves along track R1 (being designated hereinafter simply as X axis).Under the effect of controller D2, the chassis T1 on the crossbeam B1 moves along crossbeam B1 (be designated hereinafter simply as Y-axis to) again.So just weight L1 can be transported to another position from a position.
When the robotization control of carrying out crane, need know the position of chassis and the pivot angle of lifting rope usually.The position of chassis can be by the acquisitions such as revolution of displacement transducer or drive motor, and the pivot angle of lifting rope then needs a cover special arrangement to measure.Controller makes a policy according to the position of chassis and the pivot angle of lifting rope etc., and controls.
In order to detect the pivot angle of lifting rope automatically, (Osamu Itoh such as Osamu Itoh, Hirohisa Migita, Jun Itoh, Yamafumi Irie:Application of Fuzzy Control to Automatic CraneOperation, Proceedings of the International Conference on IndustrialElectronics, Control, and Instrumentation, Vol.1, pp.161-163,1993) proposed with the perpendicular horizontal level of two direction of motion of chassis on a video camera respectively is set, the image of taking lifting rope by video camera detects the method for the pivot angle of lifting rope.(Keum-Shik Hong such as Keum-Shik Hong, Jae-Hoon Kim, Kyo-Il Lee:Control of a Container Crane:Fast Traversing, and Residual Sway Control from the Perspective ofControlling an Underactuated System, Proceedings of the American ControlConference, Vol.2, pp.1294-1298,1998), reach (TadaakiMonzen such as Tadaaki Monzen, Toshiro Tanabe, Noriaki Miyata, Takashi Toyohara:Method forRemoving Rocking Vibration in Anti-Sway Control System of a TransferCrane in a Port, Transactions of the Japan Society of Mechanical Engineering (Part C), Vol.66, No.644, pp.81-87,2000) then proposed at pallet bottom dress video camera, recognizate is installed on weight, is calculated the method for pivot angle of two directions of lifting rope by Flame Image Process.These methods of utilizing video camera are except the cost height, and resolution is low, and the computing trouble is outside the problems such as processing time length, owing to the influence that is subjected to Changes in weather easily is unsuitable for outside work, in the indoor influence that is subjected to surrounding environment and illumination again easily.
Ho-Hoon Lee (Ho-Hoon Lee:Modeling and Control of a 2-DimensionalOverhead Crane, Proceedings of the ASME Dynamic Systems and ControlDivision, pp.535-542,1997) having designed one applies mechanically the scheme that two angular transducers are measured pivot angle.The axle of one of them angular transducer is parallel with crossbeam, and is connected with the top of lifting rope, can survey the pivot angle of lifting rope in the X-Z plane.Another angular transducer links to each other with the framework on a parallel X-Z plane by belt pulley, and one side of this framework links to each other with the axle of aforesaid angular transducer by bearing.Because this framework rotates around the axle that is parallel to orbital direction with lifting rope, this angular transducer can be measured the pivot angle in the Y-Z plane of lifting rope.But because the measurement of angle of the both direction of this scheme is not separate, the rotation of Y-axis not only is subjected to the influence of lifting rope swing, but also is subjected to the influence of framework and belt pulley, so the pivot angle of pivot angle in the X-Z plane of being surveyed and reality has error.In addition, this scheme not only needs a pair of belt pulley, and the length of lifting rope can not change, and is unsuitable for the crane of lifting requirement.
(Michael J.Nalley such as Michael J.Nalley, Mohamed B.Trabia:Control ofOverhead Cranes Using a Fuzzy Logic Controller, Journal of Intelligent andFuzzy Systems, Vol.8, No.1, pp.1-18,2000) then utilize two orthogonal loading spring arms to measure the pivot angle of lifting rope.Because spring can only apply the acting force of a direction, for the angle of energy measurement to positive negative direction, even when plumbness, each spring arm all is configured to be in pressurized state.One side of spring arm and lifting rope are kept in touch, and spring arm is rotated with lifting rope.As a result, spring arm will be exerted pressure to lifting rope always, and the pressure of positive negative direction size is also different.Therefore, this structure not only can have influence on the life-span of spring arm, and can directly have influence on the measuring accuracy of pivot angle.
Summary of the invention
The angle measurement unit that the purpose of this invention is to provide a kind of simple in structure, crane lifting rope that reliability is high.
For achieving the above object, the angle measurement unit of crane lifting rope comprises:
Be installed in the angular transducer EX on the rotating shaft AX that be arranged in parallel with the crane runway directions X;
Back shaft UX with the setting of rotating shaft AX concentric;
The framework of AX rotation around the shaft, the bottom of described framework is elongated rectangular frame, and a cantilever SX1 of described framework is fixed on the rotating shaft AX, and another cantilever SX2 is enclosed within on the back shaft UX;
Be installed in the rotating shaft AY that be arranged in parallel perpendicular to the crane crossbeam Y direction of crane directions X on angular transducer EY;
Back shaft UY with the setting of rotating shaft AY concentric;
The framework of AY rotation around the shaft, the bottom of described framework is elongated rectangular frame, and a cantilever SY1 of described framework is fixed on the rotating shaft AY, and another cantilever SY2 is enclosed within on the back shaft UY;
Lifting rope C passes the bottom rectangular frame of above-mentioned two frameworks.
The present invention is simple in structure, and cost is low, and handling property is good in real time, and reliability height and precision height not only are suitable for indoor use but also are suitable for outdoor application, is security and the productive indispensable measurement mechanism of realizing the crane operation robotization and improving crane.
Description of drawings
Fig. 1 is the synoptic diagram of overhead crane
Fig. 2 is the exploded view of lifting rope angle
Fig. 3 is the synoptic diagram of this measurement mechanism
Fig. 4 is the block scheme of whole angle measurement system
Embodiment
Under normal conditions, crane system comprises the motion of three directions.But in the ideal case, the lifting of lifting rope does not influence the pivot angle of weight, so here our length of supposing to put rope immobilizes and only considers the motion of all the other both directions.With regard to overhead crane or gantry crane, as shown in Figure 1, chassis T1 is that Y-axis is to moving linearly on the crossbeam B1 vertical with track R1 also except being the X-motion with crossbeam B1 along rectilinear orbit R1.Suppose that Z is a vertical direction, the pivot angle of the weight L1 that is hung so then can be decomposed into the pivot angle on X-Z plane and the pivot angle on Y-Z plane.With regard to tower crane, chassis rotates around column with crossbeam, and on crossbeam moving linearly.At this moment the pivot angle of weight can be decomposed into interior pivot angle of the tangential vertical plane of rotation and the pivot angle in the beam vertical plane.Because tangential vertical plane is vertical mutually with the beam vertical plane, in fact the pivot angle relation of tower crane lifted weight is equal to the pivot angle relation of overhead crane lifted weight.So following we only be analytic target with the overhead crane, the measurement mechanism of design bidimensional angle.
As shown in Figure 2, though can decompose arbitrarily, consider that from the convenience measured and the unitarity of reference position we can be decomposed into pivot angle γ the pivot angle α on X-Z plane and the pivot angle β on Y-Z plane at the pivot angle γ of the lifting rope in space.The pivot angle α on X-Z plane can regard the rotation around the axle that is parallel to crossbeam as, and the pivot angle β on Y-Z plane then can regard the rotation around the axle that is parallel to track as.Therefore, measurement mechanism is wanted the pivot angle α on energy while measured X-Z plane and the pivot angle β on Y-Z plane.On the other hand, from practical standpoint, measurement mechanism should satisfy requirements such as economy, reliability, simple in structure, long-life and high precision.For this reason, we propose the new measurement mechanism of a cover.
Fig. 3 is the structural representation of this measurement mechanism of weight when being in plumbness.L is a lifted weight among the figure, and C is a lifting rope, and P is the strong point of lifting rope C on chassis.FX is a U type framework that rotates around X-axis, and EX is angular transducer such as the rotary encoder or the rotary current potential meter of X axis, and AX is the rotating shaft of EX, and UX is the back shaft with the X axis of AX concentric.SX1 and SX2 are two cantilevers of FX, and the top of SX1 is fixed on the AX, and the top of SX2 is enclosed within on the UX.FY is a U type framework that rotates around Y-axis, EY be Y-axis to angular transducer such as rotary encoder or rotary current potential meter, AY is the rotating shaft of EY, UY be with the Y-axis of AY concentric to back shaft.SY1 and SY2 are two cantilevers of FY, and the top of SY1 is fixed on the AY, and the top of SY2 is enclosed within on the UY.
The cantilever height of each U type framework is 0.5 times to 0.8 times that lifting rope is allowed shortest length.The bottom of each U type framework is elongated rectangular frame, and the inner width of bottom rectangular frame is 1.2 times to 2.0 times of lifting rope diameter, and length is 0.5 times to 1.0 times of cantilever height, makes the lifting rope can be at the free reciprocally swinging in rectangular frame the inside.This device is installed in below the chassis, and AX is parallel with crane runway, and AY is parallel with the crane crossbeam.For fear of the phase mutual interference, the cantilever height difference of two U type frameworks differs 10% to 20%.Such two U type frameworks are separate, are independent of each other.The bottom rectangle that lifting rope C passes these two U type frameworks links to each other with weight L.In order to guarantee measuring accuracy, except require every pair of back shaft and rotating shaft coaxial, also require the strong point P of the axis of every pair of back shaft and rotating shaft by lifting rope.
The principle of work of Fig. 3 is as follows: according to the structure of this device as can be known, the bottom rectangle of lifting rope and two U type frameworks keeps in touch basically.During swing in lifting rope only occurs in the X-Z plane, lifting rope will be swung in the bottom rectangle of U type framework FX, cause that another U type framework FY rotates around Y-axis.When lifting rope has only the swing on Y-Z plane, lifting rope will be swung in the bottom rectangle of U type framework FY, drive another U type framework FX and rotate around X-axis.When swing takes place in the space in lifting rope, its swing can be decomposed into swing and the swing in the Y-Z plane in the X-Z plane as shown in Figure 2, lifting rope will be swung in two bottom rectangular frames simultaneously as a result, make two U type frameworks rotate around X-axis and Y-axis respectively.
Because the upper end of a side cantilever of each U type framework is fixed on and can drives rotating shaft in the rotating shaft of angular transducer and rotate, the upper end of opposite side cantilever is free to rotate on back shaft, therefore the rotation of U type framework will cause that the output of angular transducer changes, and rotational angle is corresponding one by one with its output valve.Because lifting rope is one to one at the pivot angle of all directions and the rotational angle of U type framework, and the output valve of the rotational angle of U type framework and angular transducer also is one to one, so utilize U type framework FX and angular transducer EX just can detect the pivot angle of lifting rope in the Y-Z plane, utilize U type framework FY and angular transducer EY just can detect the pivot angle of lifting rope in the X-Z plane.Like this, the present invention has just realized the bidimensional measurement of angle to lifting rope.
Fig. 4 is the block scheme of whole angle measurement system.System is by crane CR, this angle measurement unit ME, and interface card IN, and computer C 0 is formed.In this measurement mechanism ME, if angular transducer uses rotary encoder, then output signal is a pulse signal; If angular transducer uses rotary current potential meter, then output signal is a simulating signal.Though these output signals are corresponding one by one with the pivot angle of lifting rope, also not angle value, need just can draw angle value through computing.For convenience, being connected of this measurement mechanism ME and computer C 0 needs to select suitable interface card IN.
The principle of work of Fig. 4 is as follows: at first detect the pivot angle signal that crane CR goes up lifting rope by measurement mechanism ME of the present invention, the pivot angle signal is sent on the computer C 0 by interface card IN again, and the processing of computer C 0 process numerical value is tried to achieve the pivot angle size of lifting rope at last and it is outputed in the controller.Fig. 4 is an important component part of the control system of crane operation robotization, analytical calculation is carried out in position that the angle that control system records according to this measurement mechanism and other devices record etc., derive control signal, and feed back to crane, realize control crane.
Embodiment
This measurement mechanism constitutes angle measurement system by block scheme shown in Figure 4, and becomes an important component part of the control system of crane.In an embodiment, we are customized model crane, it highly is 1.20 meters, and track length is 2.00 meters, and crossbeam length is 1.00 meters, 20.00 kilograms of crossbeam gross weights.The chassis size is 0.30 meter * 0.30 meter a square, and weight is 10.00 kilograms.The lifting rope diameter is 0.02 meter, and when the longest 0.80 meter, 0.4 meter the most in short-term, weight weight is 10.00 kilograms.This measurement mechanism is installed in the chassis bottom.One of them U type framework and parallel track, its length is 0.20 meter, height is 0.30 meter.Another U type framework is parallel with crossbeam, and its length is 0.20 meter, and height is 0.25 meter.U type inside of frame width is 0.03 meter.Like this, two frameworks do not contact mutually in the space, and very light in weight, to the almost not influence of pivot angle of lifting rope.Two angular transducers all adopt the rotary encoder LHE-055 of SUMTAK, and its resolution is 2500P/r.Interface card is four driving governor Universal PMAC-Lite of DELTATAU.This controller except that diaxon with drive motor is connected, the scrambler input port of remaining diaxon links to each other with the scrambler output of this measurement mechanism respectively.Computing machine is selected the Pentium III 850MHz of blue or green self-important computer for use.
When this measurement mechanism of check, at first fixed cross beam and chassis are swung weight with hand.At this moment lifting rope is swung in the space, drives two frameworks and rotates.Utilize the software package of DELTA TAU can record the pivot angle value of the both direction of lifting rope in real time.Result and reality are very identical.
Then, chassis is maintained static a moving beam.At this moment, lifting rope is only swung in the X-Z plane.The angle value of the U type framework FX that is surveyed (being the pivot angle of lifting rope in the Y-Z plane) is zero substantially, and the angle value of the U type framework FY that is surveyed (being the pivot angle of lifting rope in the X-Z plane) changes with the swing of lifting rope, and size is consistent with the actual pivot angle of lifting rope.
Next, crossbeam is maintained static, only mobile trolley used.At this moment, lifting rope is only swung in the Y-Z plane.And the angle value of the U type framework FY that is surveyed equals zero substantially, and the angle value of the U type framework FX that is surveyed has reflected the pivot angle of lifting rope in real time.
At last, not only moving beam but also mobile trolley used.At this moment lifting rope is swung in the space.Because this measurement mechanism is separate in the measurement of both direction, does not disturb mutually, can detect the angle value of both direction well, and be consistent with actual value.
Therefore, the present invention adopts angular transducer and U type framework, neither influences the swing of lifting rope, can work under various environment again, can accurately measure the pivot angle of the both direction of lifting rope simultaneously in real time, provides strong instrument for realizing the crane operation robotization.
Claims (7)
1. the angle measurement unit of a crane lifting rope is characterized in that comprising:
Be installed in the angular transducer (EX) in the rotating shaft (AX) that be arranged in parallel with the crane runway directions X;
Back shaft (UX) with the setting of rotating shaft (AX) concentric;
(AX) framework of rotating around the shaft, the bottom of described framework is elongated rectangular frame, and a cantilever (SX1) of described framework is fixed in the rotating shaft (AX), and another cantilever (SX2) is enclosed within on the back shaft (UX);
Be installed in the rotating shaft (AY) that be arranged in parallel perpendicular to the crane crossbeam Y direction of crane directions X on angular transducer (EY);
Back shaft (UY) with the setting of rotating shaft (AY) concentric;
(AY) framework of rotating around the shaft, the bottom of described framework is elongated rectangular frame, and a cantilever (SY1) of described framework is fixed in the rotating shaft (AY), and another cantilever (SY2) is enclosed within on the back shaft (UY);
Lifting rope (C) passes the bottom rectangular frame of above-mentioned two frameworks.
2. by the described angle measurement unit of claim 1, it is characterized in that described framework around X-axis and Y-axis rotation is a U type framework.
3. by the described angle measurement unit of claim 1, it is characterized in that described angular transducer is rotary encoder or rotary current potential meter.
4. by the described angle measurement unit of claim 2, the cantilever height that it is characterized in that described U type framework is 0.5 times to 0.8 times of lifting rope shortest length.
5. by the described angle measurement unit of claim 1, the inner width that it is characterized in that described each bottom rectangular frame is 1.2 times to 2.0 times of lifting rope diameter, and length is 0.5 times to 1.0 times of cantilever height.
6. by the described angle measurement unit of claim 2, it is characterized in that the cantilever height of described two U type frameworks differs 10% to 20%.
7. by the described angle measurement unit of claim 1, it is characterized in that the strong point P of the axis of every pair of back shaft and rotating shaft by lifting rope.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 02104525 CN1211636C (en) | 2002-02-08 | 2002-02-08 | Lifting rope angle measurer for crane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 02104525 CN1211636C (en) | 2002-02-08 | 2002-02-08 | Lifting rope angle measurer for crane |
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| Publication Number | Publication Date |
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| CN1436715A CN1436715A (en) | 2003-08-20 |
| CN1211636C true CN1211636C (en) | 2005-07-20 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN 02104525 Expired - Fee Related CN1211636C (en) | 2002-02-08 | 2002-02-08 | Lifting rope angle measurer for crane |
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| CN102642773A (en) * | 2012-04-09 | 2012-08-22 | 上海海事大学 | Swinging angle detection device suitable for twin-hanger bridge crane |
| CN102701078B (en) * | 2012-05-18 | 2014-07-02 | 上海海事大学 | Device and method for measuring swing angle of double-hanger bridge crane on basis of image detection |
| CN103130098B (en) * | 2012-08-11 | 2016-02-24 | 林汉丁 | A kind of suspension hook drift angle Universal level-metre monitoring device and hoisting crane |
| CN103588095A (en) * | 2013-11-28 | 2014-02-19 | 中联重科股份有限公司 | Swing angle measuring device and hoisting machinery |
| CN103818827A (en) * | 2014-01-28 | 2014-05-28 | 珠海三一港口机械有限公司 | Steel wire rope swinging detection device and crane machine |
| CN104477775A (en) * | 2014-10-09 | 2015-04-01 | 核工业西南物理研究院 | A telescopic lifting hook drift angle detection device |
| CN104374359A (en) * | 2014-11-07 | 2015-02-25 | 北京卫星环境工程研究所 | Sling dip angle measuring device and method based on encoder feedback |
| CN105565163B (en) * | 2016-01-15 | 2017-09-29 | 北京起重运输机械设计研究院 | A kind of bridge crane hook steel wire rope beat angle detecting device and detection method |
| CN106908026B (en) * | 2017-01-18 | 2019-05-28 | 浙江大学 | Driving lifting rope device for detecting rock |
| CN107436156B (en) * | 2017-09-13 | 2023-10-20 | 无锡商业职业技术学院 | Potentiometer type steering wheel angle sensor based on two-stage planetary gear transmission |
| CN111039175B (en) * | 2019-12-12 | 2021-05-04 | 苏州大学应用技术学院 | Steel wire rope swing angle detection device and crane |
| CN113218295B (en) * | 2021-05-10 | 2024-09-27 | 上海海事大学 | Swing angle and rope length measuring device and measuring method of double-lifting bridge crane |
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2002
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