CN202141432U - A double-lift double-slinger bridge crane swing angle measurement device based on laser tracker - Google Patents

Abstract

The utility model discloses a double-lifting double-slinger bridge suspension angle measurement device based on a laser tracker, which comprises two independently movable suspensions and a control mechanism for operating the suspensions. The measurement device includes a A laser tracker, the laser tracker is arranged on the control mechanism, and the laser tracker includes a reflector, a tracking head and a controller. The utility model uses a laser tracker to detect and display the swing angle of the sling and the length of the sling, that is, the utility model has the advantages of low cost, reliable use, simple maintenance, and low requirements on the working environment.

Description

A double-lift double-slinger bridge crane swing angle measurement device based on laser tracker

technical field

The utility model relates to a measuring device, in particular to a double-lifting double-slinger bridge crane swing angle measuring device based on a laser tracker.

Background technique

Existing detection devices for swing angle of bridge cranes are all designed for single-sling bridge cranes. These detection devices all adopt relatively complicated detection instruments, which are expensive, inconvenient to maintain and low in accuracy. And this kind of detection device is not suitable for carrying out swing angle detection to the bridge crane of double spreader. At the same time, the existing container cranes have a low degree of automation in operation, often relying on the operator to visually observe the spreader and load to obtain its swing situation. This method is not only inaccurate but also easily causes work fatigue, which affects work efficiency and work quality.

In general, the anti-sway of the bridge crane is to realize the fast and accurate alignment of the load through the anti-sway of the spreader. Most of the bridge cranes currently in use are single-lift bridge crane systems, which are mainly operated manually, without using a swing angle measuring device, and without visually displaying the swing of the spreader and load to the container operator; In some large-scale container bridge crane systems, in order to achieve better operating results and improve loading and unloading efficiency, some mechanical anti-sway devices and electronic anti-sway devices have been installed, but these are not automatic bridge crane systems, that is, they have not fundamentally realized bridge cranes. Automatic control of operation (i.e. automatic anti-sway control and positioning control). In some recent reports, some institutions have carried out research and application on load anti-sway and load positioning control of single lifting bridge cranes. In these bridge crane control systems, more complex laser angle meters and angle sensors are generally used to detect The device realizes the detection of the load swing angle. These detection devices are expensive, complicated to use, poor in anti-interference ability, inconvenient to maintain, and some have special requirements for the use environment, which limit the application of the angle detection device.

And because the double-lift double-sling bridge crane has two lifting spreaders, it can work at the same time, thus improving the loading and unloading efficiency of containers. However, as a new type of spreader system, its structure is complex and its working methods are diverse. Its two spreaders can be lifted independently or synchronously, which brings great difficulty to the detection of the swing angle of the spreader. .

Contents of the invention

In order to solve the above technical problems, the purpose of this utility model is to provide a laser tracker to obtain the real-time coordinates of the spreader, and obtain the positions of the two spreaders and their containers, the length of the suspension rope and the swing angle of the spreader through corresponding calculations. the

In order to achieve the above object, the technical scheme of the utility model is as follows:

A double-lift double-slinger bridge hanger swing angle measuring device based on a laser tracker, including two independently movable spreaders and a control mechanism for operating the spreaders, the measuring device includes a laser tracker, the The laser tracker is arranged on the control mechanism, and the laser tracker includes a reflector, a tracking head and a controller.

Preferably, the control mechanism includes a control computer, a small cart, a large cart, a moving mechanism for a small cart, a moving mechanism for a large cart, and a sling. the

Preferably, the control computer is installed on the trolley. the

Preferably, the controller is arranged on the trolley. the

Preferably, the sling is placed on the trolley through the sling. the

Through above-mentioned technical scheme, the beneficial effect of the utility model is:

The utility model adopts a laser tracker to form a laser tracking system to obtain the real-time coordinates of the spreader. After corresponding calculation, the positions of the two spreaders and their containers, the length of the suspension rope and the swing angle of the spreader are obtained. These information can be used as bridge crane anti-sway Positioning control feedback information.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description These are only some embodiments of the utility model, and those skilled in the art can also obtain other drawings based on these drawings without creative work.

Fig. 1 is the structural representation of the utility model.

Fig. 2 is the internal structure diagram of the tracker of the present invention.

Fig. 3 is the working principle diagram 1 of the tracker of the present invention.

Fig. 4 is the working principle diagram 2 of the tracker of the present invention.

Fig. 5 is a data diagram of the working principle of the tracker of the present invention.

Detailed ways

In order to make the technical means, creative features, goals and effects achieved by the utility model easy to understand, the utility model will be further elaborated below in conjunction with specific illustrations.

Referring to Fig. 1, a double-lift double-slinger bridge suspension angle measurement device based on a laser tracker includes two independently movable spreaders 10 and a control mechanism 20 for operating the spreader 10, the The measuring device includes a laser tracker 30 , which is arranged on the control mechanism 20 , and the laser tracker 30 includes a reflector 31 , a tracking head 32 and a controller 33 .

The reflector 31 is an optical retroreflector, which reflects all incident light along the optical axis back along the original path, enters the interference system 40, and interferes with the reference light to achieve high-precision measurement of displacement; The head, which is in direct contact with the spreader 10, uses the coordinates of the center of the target reflector 50 to describe the shape and size of the spreader 10.

Described tracking head 32 is used for reading angle and distance measurement value, and control mechanism 20 comprises a control computer 21, dolly 22, large trolley 23, trolley mobile mechanism 24, large trolley mobile mechanism 25, a sling 26 . the

Its control computer 21 is responsible for receiving bridge crane control commands and feedback information from the laser tracker 30, etc., to complete the anti-sway positioning control of the bridge crane trolley; the control computer 21 is installed on the trolley 22, and the controller 33 is also installed On the trolley 22 , the spreader 10 is placed on the trolley 22 via the lifting rope 26 .

The tracking principle of the laser tracker of the utility model is as follows:

2, the measuring beam emitted by the laser interferometer 100 passes through the beam splitter 110 and reaches the tracking rotating mirror 60, and is reflected by the tracking rotating mirror 60 to the center of the target reflector 50, and the light incident by the tracking rotating mirror 60 is The original optical path returns, and after reaching the beam splitter 110, a part of the laser beam is reflected to the photoelectric position detector 70, and another part of the laser beam enters the interference system 40 to merge with the reference beam for displacement measurement. The light beam entering the photoelectric position detector 70 is used to realize the tracking of the target mirror 50 .

Referring to FIG. 3 , in a balanced state, the output signal of the photoelectric position detector 70 is zero, and the control system 103 has no signal output at this time.

Referring to FIG. 4 , when the target mirror 50 moves, the return beam is translated, and an offset signal is generated on the photoelectric position detector 70 . This signal is input to the tracking control system (not shown in the figure), and the driving motor 80 drives the rotating mirror 90 to rotate around the reflection base point, thereby changing the beam direction entering the target mirror 50, reducing the deviation signal, and realizing the target mirror 50. tracking.

，则点

的表达式为： Referring to Fig. 1 and shown in Fig. 5, detect the initial moment with the center of tracking head 32 as the origin, establish a spherical coordinate system, set is the measured space point, assuming that the distance from point P to point O is L, and the angle between OP and Z axis is , the angle between the projection of OP in the xy plane and the x axis is

, then click

The expression is:

Through spatially homogeneous coordinate transformation, the coordinates of point P can be transformed into user-defined coordinates;

和

的值由安装在跟踪头中的两个编码器给出，L的值通过安装在激光头中的激光干涉仪获得。 in,

and

The value of L is given by two encoders installed in the tracking head, and the value of L is obtained by a laser interferometer installed in the laser head.

The working principle of the utility model is as follows:

Referring to Fig. 1, Fig. 2, Fig. 3 and shown in Fig. 4, the spherical coordinate system with the center of the tracking head 32 as the origin should be established before the double spreader works. The laser interferometer 100 is an incremental code measurement system, so an initial value must be preset before measurement. There is a fixed point called bird’s nest 120 on the tracking head 32. Before the spreader 10 works, the target reflector 50 is first placed on the fixed point. The distance between this point and the center of the tracking head 32 is fixed, and the computer automatically sets the initial value. As the distance value, then the target reflector 50 can be moved to measure the spatial point. When the bridge crane trolley 22 receives the operation command and starts to run, at this moment, the two spreaders 10 and their containers 27 swing due to the operation of the trolley, and the suspension rope 26 may also change. The incident light is centered so that the beam returned by the target mirror 50 is parallel to the incident light. The returned light passes through the beam splitter 110, and part of it falls on the photoelectric position detector 70. At this time, the center of the light spot will deviate from the center of the position detector, and then a deviation signal is generated. After the signal is processed by the tracking and detection part of the laser tracker 30, it is output to determine the control motor The signal of the direction and magnitude of the movement speed finally controls the drive motor 80 to drive the rotating mirror 90 to rotate through the servo control circuit (not shown in the figure), so that the direction of the light beam irradiating the target mirror 50 is changed to reduce the deviation signal until the incident The light passes through the center of the target mirror 50, bringing the system back into tracking equilibrium. The balance state detection device re-measures the new real-time three-dimensional coordinates of the spreader, and after relevant conversion, the swing angle of the spreader 10 in the moving direction of the trolley 22 and the cart 23 and the length of the swing rope can be obtained. The swing angle information and rope length information of 10 are transmitted to the bridge crane control computer 21 in real time to complete the anti-sway control of the current control cycle. In this way, the detection device constantly updates the three-dimensional coordinates of the spreader in real time and transmits it to the bridge crane control computer 21 to complete the anti-sway control. The anti-sway control is until receiving the command to stop working that the bridge crane control computer 21 sends.

The utility model is simple in structure, practical and effective, low in cost and easy to use, and can be used for the information feedback of the swing angle and the length of the suspension rope of the double-sling bridge crane anti-sway positioning control system, and can also be used for the manual operation of the bridge crane driver refer to.

。 The basic principles and main features of the present utility model and the advantages of the present utility model have been shown and described above. Those skilled in the art should understand that the utility model is not limited by the above-mentioned embodiments. The above-mentioned embodiments and descriptions only illustrate the principle of the utility model. Without departing from the spirit and scope of the utility model, the utility model The new model also has various changes and improvements, and these changes and improvements all fall within the scope of the claimed utility model. The scope of protection required by the utility model is defined by the appended claims and their equivalents

.

Claims (5)

1. A double-lift double-slinger bridge hanger swing angle measurement device based on laser tracker, comprising two independently movable spreaders and a control mechanism for operating the spreader, it is characterized in that the measuring device includes A laser tracker, the laser tracker is arranged on the control mechanism, and the laser tracker includes a reflector, a tracking head and a controller. 2. The device for measuring the swing angle of a bridge with double lifts and double spreaders based on a laser tracker according to claim 1, wherein the control mechanism includes a control computer, a trolley, a large trolley, a The trolley moving mechanism, the large cart moving mechanism, and a sling. 3. A laser tracker-based double-lift double-slinger bridge suspension angle measurement device according to claim 2, characterized in that: the control computer is installed on the trolley. 4. A laser tracker-based double-lift double-slinger bridge suspension angle measurement device according to claim 1 or 2, characterized in that: the controller is placed on the trolley. 5. A laser tracker-based double-lift double-slinger bridge suspension angle measurement device according to claim 1 or 2, characterized in that: the suspension is placed on the trolley through the suspension rope .

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