WO2018107933A1 - 一种测量吊盘转动角度的装置及方法 - Google Patents

一种测量吊盘转动角度的装置及方法 Download PDF

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WO2018107933A1
WO2018107933A1 PCT/CN2017/110687 CN2017110687W WO2018107933A1 WO 2018107933 A1 WO2018107933 A1 WO 2018107933A1 CN 2017110687 W CN2017110687 W CN 2017110687W WO 2018107933 A1 WO2018107933 A1 WO 2018107933A1
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carriage
hanging plate
signal
ropes
gyroscope
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PCT/CN2017/110687
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French (fr)
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WO2018107933A8 (zh
Inventor
曹国华
王彦栋
朱真才
彭维红
沈刚
刘善增
花纯利
姜振华
董萱
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Xuzhou Coal Mine Safety Equioment Manufacture Co Ltd
China University of Mining and Technology CUMT
China University of Mining and Technology Beijing CUMTB
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Xuzhou Coal Mine Safety Equioment Manufacture Co Ltd
China University of Mining and Technology CUMT
China University of Mining and Technology Beijing CUMTB
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Application filed by Xuzhou Coal Mine Safety Equioment Manufacture Co Ltd, China University of Mining and Technology CUMT, China University of Mining and Technology Beijing CUMTB filed Critical Xuzhou Coal Mine Safety Equioment Manufacture Co Ltd
Priority to US16/075,945 priority Critical patent/US10870559B2/en
Priority to RU2018130008A priority patent/RU2680874C1/ru
Priority to AU2017375856A priority patent/AU2017375856B2/en
Publication of WO2018107933A1 publication Critical patent/WO2018107933A1/zh
Publication of WO2018107933A8 publication Critical patent/WO2018107933A8/zh
Anticipated expiration legal-status Critical
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/16—Applications of indicating, registering, or weighing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/46—Position indicators for suspended loads or for crane elements

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  • the invention relates to a device and a method for measuring the rotation angle of a hanging plate, and is particularly suitable for measuring the axial rotation angle of a construction vertical hanging plate.
  • the wire rope has a longitudinal torsion coupling mechanical property, that is, the longitudinal tension of the wire rope causes the wire rope to generate an axial torque, and the axial torque of the wire rope also causes the wire rope to generate longitudinal tension.
  • the spiral direction of the wire rope is different, the axial torque caused by the longitudinal tension will be different. Therefore, when selecting the suspension rope of the hanging plate, half of the left-handed rope and the right-handed rope are required, so that the tension of each rope is uniform. The generated torque can cancel each other out. Under actual working conditions, the tension of each suspension wire rope may not be exactly the same, and the torque generated by the wire rope is not zero after superposition, so that the suspension plate is twisted.
  • the hanging plate When the hanging plate has a large torsion angle, it will seriously affect the operation of the bucket above the hanging plate, and the hanging plate can be used to determine whether the hanging plate is twisted when there is no reference point. When the length of the ropes released by the four wire ropes is different, the inclination of the hanging plate will be caused, which seriously affects the safety of the workers and equipment on the hanging plate. Therefore, a device for measuring the rotation angle of the hanging plate has been invented, so that the rotation direction, the rotation angle and the inclination angle of the hanging plate are easily measured.
  • the object of the present invention is to solve the problem that the rotation direction and angle of the hanging plate cannot be measured, and to provide a device and a method for measuring the rotation angle of the hanging plate with simple installation and accurate measurement results.
  • the device for measuring the rotation angle of the hanging plate of the present invention comprises a hanging body of the tested body, a plurality of suspension ropes and a stable rope connected to the hanging plate for suspending and lifting the hanging plate, wherein the two stable ropes are set
  • a carriage for guiding the lifting container and a gyroscope and a gyroscope signal wireless transmitter are fixedly mounted on the upper end of the carriage, and the signal measured by the gyroscope is transmitted to the wireless transmitter through a wire
  • the hanging plate is provided with
  • the tilt sensor and the wireless signal receiving processor receives and processes the signal of the tilt sensor by wire, or wirelessly receives and processes the signal of the wireless transmitter.
  • the plurality of suspension ropes and the steady rope are each two.
  • connection positions of the two stable ropes on the carriage and the top balance wheel are respectively A and B, and the connection positions with the bottom suspension plate are respectively a and b;
  • the angle between the line segment ab and the line segment AB is the twist angle of the hanging plate in the y direction
  • the position of the carriage is measured by the gyroscope fixed on the top of the carriage, and the measurement signal is transmitted to the wireless transmitter through a wired manner;
  • the wireless transmitter wirelessly transmits the posture signal during the operation of the carriage to the wireless signal receiving processor, and the posture of the carriage at the top of the stable rope is at the bottom of the stable rope.
  • Pose posture By subtracting, the torsion angle of the hanging plate along the y direction can be accurately obtained; the inclination angle information of the hanging plate along the x direction and the z direction is measured in real time by the inclination sensor, and the measured signal is transmitted to the wireless signal receiving processor through a wired manner, thereby The angle of rotation of the hanging plate is measured.
  • the measuring device of the present invention has a simple structure and is convenient to install. By reducing the posture of the carriage at the top of the stable rope and the posture of the bottom of the stable rope, the torsion angle of the hanging plate in the y direction can be accurately obtained. For the inclination angle of the hanging plate along the x direction and the z direction, the inclination sensor can be measured in real time; the rotation angle of the hanging plate in three directions can be easily and accurately measured, and the hanging effect is good.
  • FIG. 1 is a schematic view showing a measuring system for a rotation angle of a hanging plate of the present invention
  • the apparatus for measuring the rotation angle of the hanging plate of the present invention comprises a main body hanging plate 1 to be connected, and a plurality of suspension ropes 2 for suspending and lifting the hanging plate 1 connected to the hanging plate 1 and stabilized.
  • the plurality of suspension ropes 2 and the stability ropes 3 are each two.
  • connection positions of the two stable ropes 3 and the top sky wheel set on the carriage 4 are respectively A and B, and the connection positions with the bottom hanging plate 1 are respectively a, b;
  • the angle between the line segment ab and the line segment AB is the twist angle of the hanging plate 1 in the y direction;
  • the posture of the carriage 4 is measured by the gyroscope 5 fixed on the top of the carriage 4, and the measurement signal is transmitted to the wireless transmitter 6 by wire;
  • the wireless transmitter 6 wirelessly transmits the pose signal during the operation of the carriage 4 to the wireless signal receiving processor 6, by placing the carriage 4 at the top of the steady rope 3
  • the posture is subtracted from the posture at the bottom of the stable rope 3, and the torsion angle of the hanging plate 1 in the y direction can be accurately obtained; the inclination information of the hanging plate in the x direction and the z direction is measured in real time by the inclination sensor 7, and the measurement is performed.
  • the signal is transmitted to the special line signal receiving processor (6) by wire to measure the angle of rotation of the hanging plate.
  • the four wire ropes of the hanging plate 1 are suspended and run up and down in the wellbore. All the wire ropes are divided into two categories, namely, a suspension rope 2 for suspending the suspension plate, and a suspension rope 2 which can be used as a lifting rope for the lifting container running rail.
  • the guide 4 of the carriage 4 as a lifting container is always fitted over the two stabilizing ropes 3, so that the operation of the carriage 4 always runs along the stabilizing rope 3.
  • Two steady ropes 3 The connection points at the top are denoted as A and B, respectively, and the connection points of the bottom and the hanging plate 1 are denoted as a and b, respectively.
  • the line segment AB is kept parallel to the line segment ab.
  • the angle between the line segment AB and the line segment ab is the twist angle of the hanging plate along the y-axis.
  • the top of the carriage 4 is parallel to the line segment AB.
  • the gyroscope 5 fixed on the top of the carriage 4 records the torsional posture of the carriage 4, and transmits the measured signal to the wireless transmitter 6 by wire, when the carriage 4 After running to the hanging tray 1, the wireless transmitter 6 wirelessly transmits the pose signal during the operation of the carriage 4 to the wireless signal receiving processor 8.
  • the torsion angle of the suspension plate 1 along the y-axis can be accurately obtained.
  • the inclination sensor 7 can perform measurement in real time, and transmits the measured signal to the wireless signal receiving processor 6 by wire.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Gyroscopes (AREA)
  • Arrangements For Transmission Of Measured Signals (AREA)
  • A Measuring Device Byusing Mechanical Method (AREA)

Abstract

一种用于测量吊盘转动角度的装置及方法，装置包括被测主体吊盘（1）、连接在吊盘（1）上的悬吊绳（2）和稳绳（3）、套装在稳绳（3）上的滑架（4）、安装在滑架（4）上端的陀螺仪（5）和陀螺仪（5）信号无线发射器（6），以及安装在吊盘（1）上的倾角传感器（7）和无线信号接收处理器（8）。在滑架（4）运行过程中，陀螺仪（5）时刻测量滑架（4）的位姿，并将测量信号通过有线的方式传输给无线发射器（6），无线发射器（6）将滑架（4）运行过程中的位姿信号以无线方式传输给无线信号接收处理器（8），通过将滑架（4）位于稳绳（3）顶部时的位姿与位于稳绳（3）底部时的位姿相减，准确得到吊盘（1）沿y方向的扭转角度。对于吊盘（1）沿x方向和z方向的倾角，通过倾角传感器（7）即可实时测量，能简便准确地测出吊盘（1）在三个方向的转动角。

Description

一种测量吊盘转动角度的装置及方法 技术领域
本发明涉及一种测量吊盘转动角度的装置及方法，尤其适用于施工立井吊盘的轴向转角测量。
背景技术
钢丝绳具有纵扭耦合力学特性，即钢丝绳的纵向张力会使钢丝绳产生一个轴向扭矩，同时钢丝绳的轴向扭矩也会使钢丝绳产生纵向张力。同时，由于钢丝绳钢丝的螺旋方向不同，纵向张力引起的轴向扭矩也会不同，因此在选择吊盘的悬吊绳时需要左旋绳和右旋绳各一半，从而在各绳张力一致的情况下所产生的扭矩可以相互抵消。实际工况下，各悬吊钢丝绳的张力不可能完全一致，钢丝绳所产生的扭矩叠加后不为零，从而会使吊盘发生扭转。当吊盘有较大的扭转角度时会严重影响吊盘上方吊桶的运行，且吊盘位于井下时没有参考点无法判断吊盘是否扭转。当四根钢丝绳所释放的绳长不一样时，会造成吊盘的倾斜，严重影响到吊盘上工人和设备的安全。因此发明了一种测量吊盘转动角度的装置，从而简便测出吊盘的转动方向及转角和倾角大小。
发明内容
技术问题：本发明的目的是要解决吊盘转动方向及角度无法测量的问题，提供一种安装简便、测量结果准确的测量吊盘转动角度的装置及方法。
技术方案：本发明的测量吊盘转动角度的装置，包括被测主体吊盘、与吊盘连接用于悬吊和升降吊盘的多根悬吊绳和稳绳，其中两根稳绳上套装有用于给提升容器导向的滑架，滑架上端固定安装有陀螺仪和陀螺仪信号无线发射器，陀螺仪所测得的信号通过有线方式传输给无线发射器，所述的吊盘上设有的倾角传感器和无线信号接收处理器，无线信号接收处理器通过有线的方式接收并处理倾角传感器的信号，或通过无线的方式接收并处理无线发射器的信号。
所述多根悬吊绳和稳绳各为2根。
设定套装在滑架上的两根稳绳与顶部天轮连接位置分别为A、B，与底部吊盘的连接位置分别为a、b；
吊盘未发生扭转时，位置A、B间的线段AB平行于位置a、b间的线段ab；
当吊盘沿y方向发生扭转后，线段ab与线段AB之间的夹角为吊盘沿y方向的扭转角；
当滑架在顶部时，滑架顶部与线段AB平行；
当滑架运行至吊盘时，滑架的顶部将与线段ab平行；
在滑架运行过程中，通过固定在滑架顶部的陀螺仪时实测量滑架的位姿，并将测量信号通过有线的方式传输给无线发射器；
当滑架运行到达吊盘后，无线发射器将滑架运行过程中的位姿信号以无线方式传输给无线信号接受处理器，通过将滑架位于稳绳顶部时的位姿与位于稳绳底部使的位姿相 减，即可准确得到吊盘沿y方向的扭转角度；通过倾角传感器实时测量吊盘沿x方向和z方向的倾角信息，并将测量的信号通过有线的方式传输给无线信号接受处理器，从而测出吊盘转动角度。
有益效果：本发明的测量装置结构简单，安装方便，通过将滑架位于稳绳顶部时的位姿与位于稳绳底部使的位姿相减，即可准确得到吊盘沿y方向的扭转角度；对于吊盘沿x方向和z方向的倾角，通过倾角传感器即可实时测量；能简便准确地测出吊盘在三个方向的转动角，测量吊效果好。
附图说明
图1是本发明的吊盘转动角度测量系统示意图。
图中：1-吊盘，2-悬吊绳，3-稳绳，4-滑架，5-陀螺仪，6-无线发射器，7-倾角传感器，8-无线信号接收处理器。
具体实施方式
下面结合附图对本发明的一个实施例作进一步的描述：
如图1所示，本发明的用于测量吊盘转动角度的装置，包括被测主体吊盘1、与吊盘1连接用于悬吊和升降吊盘1的多根悬吊绳2和稳绳3，其中两根稳绳3上套装有用于给提升容器导向的滑架4，滑架4上端固定安装有陀螺仪5和陀螺仪信号无线发射器6，陀螺仪5所测得的信号通过有线方式传输给无线发射器6，所述的吊盘1上设有的倾角传感器7和无线信号接收处理器8，无线信号接收处理器8通过有线的方式接收并处理倾角传感器7的信号，或通过无线的方式接收并处理无线发射器6的信号。
所述多根悬吊绳2和稳绳3各为2根。
本发明的用于测量吊盘转动角度的方法，首先设定套装在滑架4上的两根稳绳3与顶部天轮连接位置分别为A、B，与底部吊盘1的连接位置分别为a、b；
吊盘1未发生扭转时，位置A、B间的线段AB严行于位置a、b间的线段ab；
当吊盘1沿y方向发生扭转后，线段ab与线段AB之间的夹角为吊盘1沿y方向的扭转角；
当滑架4在顶部时，滑架4顶部与线段AB平行；
当滑架4运行至吊盘1时，滑架的顶部4将与线段ab平行；
在滑架4运行过程中，通过固定在滑架4顶部的陀螺仪5时实测量滑架4的位姿，并将测量信号通过有线的方式传输给无线发射器6；
当滑架4运行到达吊盘1后，无线发射器6将滑架4运行过程中的位姿信号以无线方式传输给无线信号接受处理器6，通过将滑架4位于稳绳3顶部时的位姿与位于稳绳3底部使的位姿相减，即可准确得到吊盘1沿y方向的扭转角度；通过倾角传感器7实时测量吊盘沿x方向和z方向的倾角信息，并将测量的信号通过有线的方式传输给尤线信号接受处理器(6)，从而测出吊盘转动角度。
吊盘1的四根钢丝绳悬吊在井筒中上下运行。所有的钢丝绳分为两类，即专门悬吊吊盘的悬吊绳2，以及即可悬吊吊盘2又可作为提升容器运行导轨的稳绳3。滑架4作为提升容器的导向装置始终套装在两根稳绳3上，从而滑架4的运行始终沿稳绳3运行。两根稳绳3 顶部的连接点分别表示为A、B，底部与吊盘1的连接点分别表示为a、b。当吊盘未发生扭转时，线段AB与线段ab保持平行。当吊盘发生扭转后，线段AB与线段ab之间的夹角就是吊盘沿y轴的扭转角。滑架4位于稳绳3顶部时，滑架4顶部与线段AB相平行。滑架4在运行过程中，固定在滑架4顶部的陀螺仪5时刻记录滑架4的扭转位姿，并将测得的信号通过有线的方式传输给无线发射器6，，当滑架4运行至吊盘1后，无线发射器6会将滑架4运行过程中的位姿信号以无线方式传输给无线信号接收处理器8。通过将滑架4位于稳绳3顶部时的位姿与位于稳绳3底部使的位姿相减，能准确得到吊盘1沿y轴的的扭转角度。对于吊盘沿x方向和z方向的倾角，倾角传感器7能实时进行测量，并将测量的信号通过有线的方式传输给无线信号接受处理器6。

Claims (3)

  1. 一种测量吊盘转动角度的装置，其特征在于：它包括被测主体吊盘(1)、与吊盘(1)连接用于悬吊和升降吊盘(1)的多根悬吊绳(2)和稳绳(3)，其中两根稳绳(3)上套装有用于给提升容器导向的滑架(4)，滑架(4)上端固定安装有陀螺仪(5)和陀螺仪信号无线发射器(6)，陀螺仪(5)所测得的信号通过有线方式传输给无线发射器(6)，所述的吊盘(1)上设有的倾角传感器(7)和无线信号接收处理器(8)，无线信号接收处理器(8)通过有线的方式接收并处理倾角传感器(7)的信号，或通过无线的方式接收并处理无线发射器(6)的信号。
  2. 根据权利要求1所述的测量吊盘转动角度的装置，其特征在于：所述多根悬吊绳(2)和稳绳(3)各为2根。
  3. 使用权利要求1所述装置的测量吊盘转动角度的方法，其特征在于：设定套装在滑架(4)上的两根稳绳(3)与顶部天轮连接位置分别为A、B，与底部吊盘(1)的连接位置分别为a、b；
    吊盘(1)未发生扭转时，位置A、B间的线段AB平行于位置a、b间的线段ab；
    当吊盘(1)沿y方向发生扭转后，线段ab与线段AB之间的夹角为吊盘(1)沿y方向的扭转角；
    当滑架(4)在顶部时，滑架(4)顶部与线段AB平行；
    当滑架(4)运行至吊盘(1)时，滑架的顶部(4)将与线段ab平行；
    在滑架(4)运行过程中，通过固定在滑架(4)顶部的陀螺仪(5)时实测量滑架(4)的位姿，并将测量信号通过有线的方式传输给无线发射器(6)；
    当滑架(4)运行到达吊盘(1)后，无线发射器(6)将滑架(4)运行过程中的位姿信号以无线方式传输给无线信号接受处理器(6)，通过将滑架(4)位于稳绳(3)顶部时的位姿与位于稳绳(3)底部使的位姿相减，即可准确得到吊盘(1)沿y方向的扭转角度；通过倾角传感器(7)实时测量吊盘沿x方向和z方向的倾角信息，并将测量的信号通过有线的方式传输给无线信号接受处理器(6)，从而测出吊盘转动角度。
PCT/CN2017/110687 2016-12-15 2017-11-13 一种测量吊盘转动角度的装置及方法 Ceased WO2018107933A1 (zh)

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Application Number Priority Date Filing Date Title
US16/075,945 US10870559B2 (en) 2016-12-15 2017-11-13 Apparatus and method for measuring rotational angle of sinking platform
RU2018130008A RU2680874C1 (ru) 2016-12-15 2017-11-13 Прибор и метод для измерения угла вращения проходческого полока
AU2017375856A AU2017375856B2 (en) 2016-12-15 2017-11-13 Apparatus and method for measuring rotational angle of sinking platform

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CN201611162137.2A CN106744322B (zh) 2016-12-15 2016-12-15 一种测量吊盘转动角度的方法
CN201611162137.2 2016-12-15

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