CN202141432U - Measuring device for double-lifting and double-lifting appliance traveling bridge pivot angle based on laser tracker - Google Patents
Measuring device for double-lifting and double-lifting appliance traveling bridge pivot angle based on laser tracker Download PDFInfo
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- CN202141432U CN202141432U CN201120254786U CN201120254786U CN202141432U CN 202141432 U CN202141432 U CN 202141432U CN 201120254786 U CN201120254786 U CN 201120254786U CN 201120254786 U CN201120254786 U CN 201120254786U CN 202141432 U CN202141432 U CN 202141432U
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- laser tracker
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- suspender
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- measuring device
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Abstract
The utility model discloses a measuring device double-lifting and double-lifting appliance traveling bridge pivot angle based on a laser tracker, comprising two lifting appliances which can move independently and a control mechanism which can operate the lifting appliances, wherein the measuring device includes a laser tracker which is arranged on the control mechanism and includes a reflector, a tracer head and a controller. The measuring device double-lifting and double-lifting appliance traveling bridge pivot angle based on a laser tracker uses a laser tracker for measuring and displaying a lifting appliance pivot angle and a lifting rope length so that the measuring device has the advantages of low cost, reliable usage, simple maintenance, low requirements for working environment and the like.
Description
Technical field
The utility model relates to a kind of measurement mechanism, particularly a kind of two two suspender bridge crane deflection angle measurement devices that hoist based on laser tracker.
Background technology
Existing bridge crane swing angle detection device all is to design to single suspender bridge crane, and these pick-up units have all adopted the detecting instrument of more complicated, and cost is high, safeguards inconvenience, and accuracy is low.And this type pick-up unit is not suitable for two suspender bridge cranes are carried out the pivot angle detection.Simultaneously, existing container crane operating automation degree is lower, often relies on visual suspender of operator and load to obtain its swing situation, and this method not only accuracy is low but also very easily cause work fatigue, influences work efficiency and work quality.
Generalized case, anti-the shaking of bridge crane is to realize load accurately contraposition fast through anti-the shaking of suspender.Bridge crane major part in using now all is the bridge crane system that singly hoists, and is main with manual operations, does not use the deflection angle measurement device, also the swing situation of suspender and load is not shown to the container operator intuitively; Be in order to reach better operating effect in some van container bridge crane systems; Improve the efficiency of loading and unloading; Some mechanical anti roll devices and electronic anti-swinging device have been installed; But these are not robotization bridge crane systems, promptly all fundamentally do not realize the automatic control (promptly anti-automatically shaking controlled and positioning control) of bridge crane operation.In some reports recently, some mechanisms have carried out to anti-research and the application of shaking with load orientation control of the bridge crane load that singly hoists, and in these bridge crane control system, have generally adopted the pick-up units such as Laser Goniometer, angular transducer of more complicated to realize the detection of load pivot angle; These pick-up units cost an arm and a leg; Use complicacy, poor anti jamming capability is safeguarded also inconvenient; What have also has specific (special) requirements to environment for use, and these have all limited the application of angle detection device.
Because two two suspender bridge cranes that hoist have two suspenders that hoist, can work simultaneously, thereby improve the efficiency of loading and unloading of container again.But, as a kind of novel sling system, its complex structure, working method is various, and its two suspenders promptly can hoist separately separately, also can hoist synchronously, and this detects for the suspender pivot angle and brings very big difficulty.
Summary of the invention
For solving the problems of the technologies described above, the purpose of the utility model is to provide a kind of laser tracker to obtain the real-time coordinate of suspender, and the position, lifting rope length and the suspender that obtain two suspenders and container thereof through corresponding calculated wave angle.
For achieving the above object, the technical scheme of the utility model is following:
A kind of two two suspender bridge crane deflection angle measurement devices that hoist based on laser tracker; But comprise the suspender of two independently movings and the control gear of the said suspender of operation; Said measurement mechanism comprises a laser tracker; Said laser tracker is placed on the said control gear, and said laser tracker comprises reverberator, follower head and controller.
Preferably, said control gear comprises a control computer, a dolly, a cart, a trolley moving mechanism, a big vehicle moving mechanism, a lifting rope.
Preferably, said control computer is installed on the said dolly.
Preferably, said controller is placed on the said dolly.
Preferably, said suspender is placed on the said dolly through said lifting rope.
Through technique scheme, the beneficial effect of the utility model is:
The utility model adopts laser tracker to form laser tracking system and obtains the real-time coordinate of suspender; The position, lifting rope length and the suspender that obtain two suspenders and container thereof through corresponding calculated wave angle, and these information can be used as the anti-positioning control feedback information that shakes of bridge crane.
Description of drawings
In order to be illustrated more clearly in the utility model embodiment or technical scheme of the prior art; To do to introduce simply to the accompanying drawing of required use in embodiment or the description of the Prior Art below; Obviously, the accompanying drawing in describing below only is some embodiment of the utility model, for those of ordinary skills; Under the prerequisite of not paying creative work, can also obtain other accompanying drawing according to these accompanying drawings.
Fig. 1 is the utility model structural representation.
Fig. 2 is the utility model tracker cut-away view.
Fig. 3 is the utility model tracker principle of work Fig. 1.
Fig. 4 is the utility model tracker principle of work Fig. 2.
Fig. 5 is the utility model tracker principle of work data plot.
Embodiment
For technological means, creation characteristic that the utility model is realized, reach purpose and be easy to understand understanding with effect, below in conjunction with concrete diagram, further set forth the utility model.
Referring to shown in Figure 1; A kind of two two suspender bridge crane deflection angle measurement devices that hoist based on laser tracker; But comprise the suspender 10 of two independently movings and the control gear 20 of the said suspender 10 of operation; Said measurement mechanism comprises a laser tracker 30, and said laser tracker 30 is placed on the said control gear 20, and said laser tracker 30 comprises reverberator 31, follower head 32 and controller 33.
Reverberator 31 is a kind of optics inverse reflectors, and it reflects back all light along optical axis direction incident along former road, get into interference system 40, interferes the high-acruracy survey of realization to displacement with reference light; As the gauge head of measuring system, it directly contacts with suspender 10, describes the shape and size of suspender 10 with the coordinate figure at target mirror 50 centers.
Said follower head 32 is used for reading angular and distance measure, and control gear 20 comprises the big vehicle moving mechanism of a control computer 21, a dolly 22, a cart 23, a trolley moving mechanism 24, one 25, a lifting rope 26.
Its control computer 21 is responsible for receiving feedback informations of bridge crane control commands and laser tracker 30 etc., and completion bridge crane trolley anti-shakes positioning control; Said control computer 21 is installed on the said dolly 22, and said controller 33 also is placed on the said dolly 22, and said suspender 10 is placed on the said dolly 22 through said lifting rope 26.
The following principle of the utility model laser tracker is following:
Referring to shown in Figure 2; The measuring beam of launching by laser interferometer 100; 110 arrival are followed the tracks of after the tilting mirror 60 through spectroscope, reflex to target mirror 50 centers by following the tracks of tilting mirror 60, are returned by original optical path by the light of following the tracks of tilting mirror 60 incidents; Arrive a part of laser beam in spectroscope 110 backs and be reflected to photoelectric psd 70, another part light beam gets into interference system 40 and converges with reference beam and carry out displacement measurement.The light beam that gets into photoelectric psd 70 is used to realize the tracking to target mirror 50.
Referring to shown in Figure 3, during equilibrium state, photoelectric psd 70 output signals are zero, and this moment, control system 103 did not have signal output.
Referring to shown in Figure 4, when target mirror 50 motions, Returning beam generation translation produces shifted signal on photoelectric psd 70.This signal is input to tracking control system (not marking among the figure), and drive motor 80 drives tilting mirror 90 around the rotation of reflection basic point, thereby changes the beam direction of target approach catoptron 50, is that deviation signal reduces, and realizes the tracking to target mirror 50.
Referring to Fig. 1 and shown in Figure 5; Detecting initial time is initial point with follower head 32 centers; Set up spherical coordinate system; If
is the detected space point; Postulated point P is L to the distance of some O; The angle of OP and Z axle is
; Projection and the angle of x axle of OP in the xy plane is
, and then the expression formula of point
is:
Through the space homogeneous coordinate transformation, can the P point coordinate be transformed in the User Defined coordinate;
Wherein, The value of
and
is provided by two scramblers that are installed in the follower head, and the value of L obtains through the laser interferometer that is installed in the laser head.
The principle of work of the utility model is following:
Referring to Fig. 1, Fig. 2, Fig. 3 and shown in Figure 4, before two suspender work, should set up with follower head 32 centers is the spherical coordinate system of initial point.Laser interferometer 100 is the incremental code measuring system, must preset initial value before therefore measuring.A point of fixity is arranged in Bird's Nest 120 on the follower head 32; Before suspender 10 work; At first target mirror 50 is placed on this point of fixity; The distance at this point and follower head 32 centers is fixed, and computing machine is changed to this distance value with initial value automatically, is that movable object catoptron 50 carries out the measurement of spatial point then.When receiving the action command operation, bridge crane trolley 22 brings into operation; At this moment; Two suspenders 10 and container 27 thereof since the operation of dolly swing; Lifting rope 26 also possibly change, this moment light beam no longer from target mirror 50 center incidents, thereby the light beam that target mirror 50 returns is parallel with incident light.Back light is through spectroscope 110; A part drops on the photoelectric psd 70; Spot center produces a deviation signal immediately with the deviation position detector centre at this moment, and the direction and big or small signal of motor movement speed controlled in the output decision after laser tracker 30 is followed the tracks of the probe portions processing of this signal; Finally driving tilting mirror 90 through servo control loop (not marking among the figure) controlling and driving motor 80 rotates; The beam direction that shines target mirror 50 is changed to reduce deviation signal,, make system reach the tracking balance state again until the center of incident light through target mirror 50.The equilibrium state pick-up unit is measured the new real-time three-dimensional coordinate of suspender again; The rope that can get pivot angle and the pendulum rope of suspender 10 on dolly 22 and cart 23 direction of motion through relevant conversion is long; Afterwards; The pivot angle information of this moment suspender 10 and rope long are real-time transmitted to bridge crane control computer 21, and that accomplishes current control cycle anti-ly shakes control, so back and forth; The continuous real-time update suspender of pick-up unit three-dimensional coordinate, and send bridge crane control computer 21 to and anti-shake control up to receiving the out-of-work order that bridge crane control computer 21 is sent to accomplish.
The utility model is simple in structure, and practicability and effectiveness is with low cost, and is easy to use, can be used for two suspender bridge cranes and prevent shaking the pivot angle of positioning control system and the information feedback of lifting rope length, can be used for bridge crane driver's manual operation reference again.
More than show and described ultimate principle of the utility model and the advantage of principal character and the utility model.The technician of the industry should understand; The utility model is not restricted to the described embodiments; The principle of describing in the foregoing description and the instructions that the utility model just is described; Under the prerequisite that does not break away from the utility model spirit and scope, the utility model also has various changes and modifications, and these variations and improvement all fall in the utility model scope that requires protection.The utility model protection defined by the appended claims and their equivalents defined
.
Claims (5)
1. two two suspender bridge crane deflection angle measurement devices that hoist based on laser tracker; But comprise the suspender of two independently movings and the control gear of the said suspender of operation; It is characterized in that; Said measurement mechanism comprises a laser tracker, and said laser tracker is placed on the said control gear, and said laser tracker comprises reverberator, follower head and controller.
2. a kind of two two suspender bridge crane deflection angle measurement devices that hoist based on laser tracker according to claim 1, it is characterized in that: said control gear comprises a control computer, a dolly, a cart, a trolley moving mechanism, a big vehicle moving mechanism, a lifting rope.
3. a kind of two two suspender bridge crane deflection angle measurement devices that hoist based on laser tracker according to claim 2, it is characterized in that: said control computer is installed on the said dolly.
4. a kind of two two suspender bridge crane deflection angle measurement devices that hoist based on laser tracker according to claim 1 and 2, it is characterized in that: said controller is placed on the said dolly.
5. a kind of two two suspender bridge crane deflection angle measurement devices that hoist based on laser tracker according to claim 1 and 2, it is characterized in that: said suspender is placed on the said dolly through said lifting rope.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201120254786U CN202141432U (en) | 2011-07-19 | 2011-07-19 | Measuring device for double-lifting and double-lifting appliance traveling bridge pivot angle based on laser tracker |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201120254786U CN202141432U (en) | 2011-07-19 | 2011-07-19 | Measuring device for double-lifting and double-lifting appliance traveling bridge pivot angle based on laser tracker |
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| Publication Number | Publication Date |
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| CN202141432U true CN202141432U (en) | 2012-02-08 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201120254786U Expired - Fee Related CN202141432U (en) | 2011-07-19 | 2011-07-19 | Measuring device for double-lifting and double-lifting appliance traveling bridge pivot angle based on laser tracker |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106325196A (en) * | 2015-10-23 | 2017-01-11 | 国网上海市电力公司 | Laser automatic aiming device for detection of hand-held terminal |
| CN109211147A (en) * | 2018-10-22 | 2019-01-15 | 上海海事大学 | Two-electron atom bridge crane swing angle testing agency and measurement method based on light-sensitive element |
| CN110271966A (en) * | 2019-07-03 | 2019-09-24 | 上海海事大学 | The swing angle detection device at the plurality of pendulums angle of more appliance bridge cranes based on photoinduction locator |
-
2011
- 2011-07-19 CN CN201120254786U patent/CN202141432U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106325196A (en) * | 2015-10-23 | 2017-01-11 | 国网上海市电力公司 | Laser automatic aiming device for detection of hand-held terminal |
| CN109211147A (en) * | 2018-10-22 | 2019-01-15 | 上海海事大学 | Two-electron atom bridge crane swing angle testing agency and measurement method based on light-sensitive element |
| CN109211147B (en) * | 2018-10-22 | 2020-06-02 | 上海海事大学 | Double-lifting-appliance bridge crane swing angle detection mechanism based on photosensitive element and measurement method |
| CN110271966A (en) * | 2019-07-03 | 2019-09-24 | 上海海事大学 | The swing angle detection device at the plurality of pendulums angle of more appliance bridge cranes based on photoinduction locator |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20120208 Termination date: 20120719 |