阅读说明：本技术 桥吊吊绳绳长和摆角检测装置 (Device for detecting length and swing angle of lifting rope of bridge crane ) 是由 徐靖琳 徐靖哲 于 2021-07-02 设计创作，主要内容包括：本发明提供了一种桥吊吊绳绳长和摆角检测装置,包括设置在吊具上的光源和设置在桥吊小车上的受光装置,受光装置包括方形壳体、直角三棱镜、感光平面和检测计算机系统,直角三棱镜和感光平面均设置在方形壳体内,检测计算机系统与感光平面通讯连接；直角三棱镜的一直角面作为入射面设置在方形壳体的底面上,感光平面设置在方形壳体的顶面上,方形壳体底面开设有一通孔作为入射点,光源发出的光通过通孔经直角三棱镜折射后从斜面的出射点射出,最后在感光平面上显示光斑；检测计算机系统用于通过光斑的位置计算吊绳的长度以及吊绳的摆动角度。该检测装置基于三棱镜折射的光学原理,可快速准确的检测桥吊吊绳的绳长和摆动角度。(The invention provides a device for detecting the rope length and the swing angle of a lifting rope of a bridge crane, which comprises a light source arranged on a lifting appliance and a light receiving device arranged on a trolley of the bridge crane, wherein the light receiving device comprises a square shell, a right-angle prism, a photosensitive plane and a detection computer system; a right-angle face of the right-angle triple prism is arranged on the bottom face of the square shell as an incident face, the photosensitive plane is arranged on the top face of the square shell, the bottom face of the square shell is provided with a through hole as an incident point, light emitted by the light source is refracted by the right-angle triple prism through the through hole and then emitted from an emergent point of the inclined face, and finally, light spots are displayed on the photosensitive plane; and the detection computer system is used for calculating the length of the lifting rope and the swinging angle of the lifting rope according to the position of the light spot. The detection device is based on the optical principle of prism refraction, and can be used for quickly and accurately detecting the rope length and the swing angle of the bridge crane lifting rope.)

1. A detection device for the length and swing angle of a lifting rope of a bridge crane is used for detecting the length of the lifting rope between a lifting appliance and a bridge crane trolley and the swing angle of the lifting rope, and is characterized by comprising a light source arranged on the lifting appliance and a light receiving device arranged on the bridge crane trolley, wherein the light receiving device comprises a square shell, a right-angle triple prism, a photosensitive plane and a detection computer system;

a right-angle face of the right-angle triple prism is arranged on the bottom face of the square shell as an incident face, the photosensitive plane is arranged on the top face of the square shell, a through hole is formed in the bottom face of the square shell and serves as an incident point, light emitted by the light source is refracted by the right-angle triple prism through the through hole and then emitted from an emergent point of the inclined face, and finally light spots are displayed on the photosensitive plane;

the detection computer system is used for calculating the length of the lifting rope and the swinging angle of the lifting rope according to the position of the light spot.

2. The bridge crane lifting rope length and swing angle detection device according to claim 1, wherein the homogeneous direction of the right-angle triangular prism is parallel to the moving direction of the bridge crane trolley.

3. The bridge crane lifting rope length and swing angle detection device according to claim 2, wherein an inner wall of the square housing and the light sensing plane are perpendicular to the lifting rope.

4. The bridge crane lifting rope length and swing angle detection device of claim 3, wherein the right-angle triangular prism is an isosceles right-angle triangular prism.

5. The bridge crane lifting rope length and swing angle detection device according to claim 4, wherein the through hole is located in correspondence with a geometric center of an incident surface of the isosceles right triangular prism.

6. The bridge crane lifting rope length and swing angle detection device according to claim 5, wherein the detection computer system calculates the length l of the lifting rope through the position of the light spot, and the calculation formula is as follows:

wherein a represents an isosceles side length of an isosceles surface of the isosceles right triangular prism, b represents a vertical distance between the exit point and an intersection line of the incident surface and the inclined surface, l' represents a vertical distance between the light spot and the stationary lifting rope, α and β represent refractive indexes related to a material of the isosceles right triangular prism, and i₂Representing the angle of refraction of the incident point.

7. The bridge crane lifting rope length and swing angle detection apparatus according to claim 4, wherein the detection computer system calculates the swing direction and swing angle of the lifting rope from the position difference between the light spot position when the lifting rope is at rest and the light spot position after the lifting rope swings.

8. The bridge crane lifting rope length and swing angle detection device of claim 1, wherein the light source is a constant monochromatic light source.

9. The bridge crane lifting rope length and swing angle detection device according to claim 1, wherein the photosensitive plane is a CMOS photosensitive plane.

10. The bridge crane hoist rope length and swing angle detection device of claim 1, wherein the detection device is used for a double-hoist bridge crane.

Technical Field

The invention relates to the technical field of container loading and unloading, in particular to a device for detecting the length and the swing angle of a bridge crane lifting rope.

Background

A crane is widely used in a building, a factory, a port, and the like as an important handling tool. The lifting rope and the load are repeatedly swung due to the excessively high movement speed and the change of the length of the lifting rope in the loading and unloading processes of the crane, so that the loading and unloading efficiency of the crane is reduced, and the safety accident is caused due to the visual fatigue caused by the long-time work of operators. If the swing of the load of the crane and the length of the lifting rope can be detected, and the swing angle can be reduced by controlling the running speed of the crane, the loading and unloading efficiency and the safety can be improved.

At present, practical swing angle detection devices and rope length detection devices are few, most of swing angle detection devices and detection methods appearing in patents are complex in structure, low in detection precision, high in requirements for working environment, high in manufacturing cost and not easy to maintain.

Therefore, it is necessary to provide a device for detecting the length and swing angle of a suspension rope of a bridge crane, which has high precision and low cost.

Disclosure of Invention

The invention provides a device for detecting the rope length and the swing angle of a lifting rope of a bridge crane, which is based on the optical principle of prism refraction, can be used for quickly and accurately detecting the rope length and the swing angle of the lifting rope of the bridge crane, and has high precision and low cost.

In order to achieve the above and other related objects, the present invention provides a device for detecting the length and swing angle of a lifting rope of a bridge crane, which is used for detecting the length of the lifting rope between a lifting appliance and a bridge crane trolley and the swing angle of the lifting rope, and comprises a light source arranged on the lifting appliance and a light receiving device arranged on the bridge crane trolley, wherein the light receiving device comprises a square housing, a right-angle triple prism, a light sensing plane and a detection computer system, the right-angle triple prism and the light sensing plane are both arranged in the square housing, and the detection computer system is in communication connection with the light sensing plane;

a right-angle face of the right-angle triple prism is arranged on the bottom face of the square shell as an incident face, the photosensitive plane is arranged on the top face of the square shell, a through hole is formed in the bottom face of the square shell and serves as an incident point, light emitted by the light source is refracted by the right-angle triple prism through the through hole and then emitted from an emergent point of the inclined face, and finally light spots are displayed on the photosensitive plane;

the detection computer system is used for calculating the length of the lifting rope and the swinging angle of the lifting rope according to the position of the light spot.

Preferably, the homogenizing direction of the right-angle triple prism is parallel to the moving direction of the bridge crane trolley.

Preferably, an inner wall of the square housing and the light sensing plane are both perpendicular to the lifting rope.

Preferably, the right triangular prism is an isosceles right triangular prism.

Preferably, the position of the through hole corresponds to a geometric center of an incident surface of the isosceles right triangular prism.

Preferably, the detection computer system calculates the length l of the lifting rope by the position of the light spot, and the calculation formula is as follows:

wherein a represents an isosceles side length of an isosceles surface of the isosceles right triangular prism, b represents a vertical distance between the exit point and an intersection line of the incident surface and the inclined surface, l' represents a vertical distance between the light spot and the stationary lifting rope, α and β represent refractive indexes related to a material of the isosceles right triangular prism, and i₂Representing the angle of refraction of the incident point.

Preferably, the detection computer system calculates the swing direction and the swing angle of the lifting rope by using the position difference between the light spot position when the lifting rope is at rest and the light spot position after the lifting rope swings.

Preferably, the light source is a constant monochromatic light source.

Preferably, the photosensitive plane is a CMOS photosensitive plane.

Preferably, the detection device is used for a double-crane bridge crane.

In summary, the invention provides a lifting rope length and swing angle detection device based on a prism refraction principle, aiming at the problem that the swing angle and the rope length of a lifting appliance transporting load are difficult to detect in the loading and unloading process of a crane, the device comprises a constant monochromatic point light source arranged on the lifting appliance, a single-hole prism is adopted as a device for load light refraction treatment, a computer photosensitive device is adopted to detect light spots of the point light source refracted to a photosensitive plane, the swing angle and the swing length of the lifting rope are obtained through calculation, and then the detected swing angle information and the detected rope length information are sent to a crane driver or a control system of an automatic crane; the device has the advantages of simple structure, convenient and reliable use and easy maintenance, can simultaneously detect the swing angles and the lengths of the lifting ropes of a plurality of lifting appliance transportation loads, has higher detection precision and is not limited by using environmental factors, and can be used for synchronous coordination control among a plurality of loads of a crane; in addition, the application field of the method can be expanded, and the linear distance between two objects can be detected or the positioning can be carried out under the condition of a certain strip.

Drawings

Fig. 1 is a schematic view of a device for detecting the length and swing angle of a lifting rope of a bridge crane according to an embodiment of the invention.

Fig. 2 is a schematic view of a light receiving device for detecting the length and swing angle of a lifting rope of a bridge crane according to an embodiment of the present invention.

Fig. 3 is a schematic diagram illustrating a detection principle of a device for detecting the length and the swing angle of a lifting rope of a bridge crane according to an embodiment of the present invention.

Fig. 4 is a schematic view of light transmission and calculation of the length of the lifting rope of the bridge crane by using the device for detecting the length of the lifting rope and the swing angle according to the embodiment of the invention.

Fig. 5 is a schematic diagram of light spot movement of a device for detecting the rope length and the swing angle of a lifting rope of a bridge crane according to an embodiment of the present invention.

Fig. 6 is a schematic view of the detection device for the rope length and the swing angle of the lifting rope of the bridge crane applied to a double-crane according to an embodiment of the present invention.

Fig. 7 is a schematic view of a detection flow of a device for detecting the length and swing angle of a lifting rope of a bridge crane according to an embodiment of the present invention.

Detailed Description

The following describes the length and swing angle detection device of the lifting rope of the bridge crane in detail with reference to fig. 1-7 and the detailed description. The advantages and features of the present invention will become more apparent from the following description. It is to be noted that the drawings are in a very simplified form and are all used in a non-precise scale for the purpose of facilitating and distinctly aiding in the description of the embodiments of the present invention. To make the objects, features and advantages of the present invention comprehensible, reference is made to the accompanying drawings. It should be understood that the structures, ratios, sizes, and the like shown in the drawings and described in the specification are only used for matching with the disclosure of the specification, so as to be understood and read by those skilled in the art, and are not used to limit the implementation conditions of the present invention, so that the present invention has no technical significance, and any structural modification, ratio relationship change or size adjustment should still fall within the scope of the present invention without affecting the efficacy and the achievable purpose of the present invention.

In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

Referring to fig. 1, an embodiment of the invention provides a device for detecting the length and swing angle of a lifting rope 6 of an axle crane between a trolley 3 of the axle crane and a lifting appliance 7 of the axle crane, wherein 4 in fig. 1 is a wheel of the trolley, 5 is a track of the trolley, 6 is a lifting rope with variable length, 7 is a lifting appliance of the crane, which is connected with the lifting rope 6, 8 is a load of the crane, which is connected with the lifting appliance 7, 9 is a wheel of the crane, 10 is a bearing support of the wheel of the crane, 11 is a bearing wall of a building, and 12 is a ceiling structure of the building. The detection device comprises a light source 2 installed on the bridge crane lifting appliance 7 and a light receiving device 1 arranged below the bridge crane trolley 3, and as shown in fig. 2, the light receiving device 1 comprises a right-angle triple prism 13, a light sensing plane 16, a detection computer system 18 and a square shell 17. As shown in fig. 2, a right-angle surface of the right-angle triple prism 13 is disposed on a bottom surface of the square housing 17, the light sensing plane 16 is disposed on a top surface of the square housing 17, an inclined surface of the right-angle triple prism 13 is opposite to the light sensing plane 16, a through hole 14 is disposed on the bottom surface of the square housing 17 as an incident point, light emitted from the light source 2 is refracted by the right-angle triple prism 13 through the through hole 14 and then emitted from an emergent point of the inclined surface, and finally a light spot is displayed on the light sensing plane 16; the detection computer system 18 is connected with the light sensing plane 16 and used for calculating the length of the lifting rope 6 and the swing angle of the lifting rope 6 according to the position of the light spot.

In the present embodiment, for the convenience of calculation, referring to fig. 1 to 3, the bottom surface of the square housing 17 and the light sensing plane 16 are perpendicular to the lifting rope 6; the right-angle triple prism 13 is an isosceles right-angle triple prism; the light emitted by the light source 2 is incident from an incident point P of a right-angle surface of the isosceles right triangular prism 13, and the incident point P is positioned at the geometric center of the right-angle surface of the isosceles right triangular prism 13; the homogeneous direction of the isosceles right triangular prism 13 is parallel to the moving direction of the bridge crane trolley 3.

Based on the simple and convenient setting of above-mentioned calculation, when specifically calculating the length of lifting rope 6, refer to fig. 4, the luminous direction of light source 2 is towards detection device, the light that light source 2 sent enters into through-hole 14 isosceles right triangular prism 13, and the incident point is P, makes the light direction change through the refraction effect of isosceles right triangular prism 13, and final light projection arrives sensitization plane 16 forms a facula, and the facula position is D point, through with sensitization plane 16 is connected detect computer system 18 identification process, confirms the position of facula, the facula position will with the spatial position one-to-one of hoist 7, and then can obtain load 8's spatial position.

Specifically, as shown in fig. 4, two right-angle side lengths BA ═ BC ═ a of the isosceles right triangular prism 13 isosceles right-angle surfaces are known quantities, and the vertical distance m from the through hole 14 to the right-angle side BB 'is known quantity, that is, the vertical distance m from the incident point P to the right-angle side BB' is known quantity, and the incident point P is located at the geometric center, then a ═ 2 m. Let the length of the lifting rope 6 be l, which is an unknown quantity to be solved, and the incident angle of the light be i₁，i₁Will change with the length of the lifting rope 6 being l, the incident light will be refracted by the isosceles right triangular prism 13, the outgoing angle of the light is i₄The exit point is P ', the vertical distance l' between the light spot position D formed by the light on the photosensitive plane 16 and the lifting rope is a known quantity and will vary with the incident angle i₁And changes, the accurate value of l' can be directly detected by the detection computer system 18. Let i₂＝αi₁，i₄＝βi₃Where α and β (α ═ 1/β) are known constants related to the refractive index of the isosceles right triangular prism 13, i.e. the angle of refraction i of the light ray at the isosceles right triangular prism 13₂And i₄Depending on the material of the prism. As shown in fig. 4, according to the refraction angle relationship of the light in the isosceles right triangular prism, the relationship between the measured value l' and the lifting rope length l can be easily calculated by using the plane geometry principle, that is:

i₃＝45°-i₂

a＝2m

then there are:

and is

Obtained after working up by the formula:

a relation between the length l of the hoisting rope 6 and the spot position D and the distance l' of the hoisting rope 6 is thus established. From the distance i' obtained by the detection computer system 18, the value of the hoist rope length i can be determined. In practice, different spot positions D can be marked on the x ' axis of the photosurface 16 as shown in fig. 3, so that corresponding D and y ' axis measurements l ' are obtained, which correspond one-to-one to the sling lengths l.

The above is the detection of the length of the hoist rope 6, and the detection of the swing angle and the swing direction of the hoist rope 6 will be described below. When the bridge trolley 3 is stationary (as shown in fig. 1), the light emitted from the light source 2 on the spreader 7 enters the isosceles right triangular prism 13 through the through hole 14 (as shown in fig. 2 and 3), and through the refraction of the isosceles right triangular prism 13, a light spot D is generated on the x 'axis in fig. 2, the pixel position of the light spot D can be obtained by the detection computer system 18, when the bridge trolley 3 moves along the track 5, the spreader 7 will swing, for example, the spreader 7 swings to the right side, the light emitted from the light source 2 on the spreader 7 will enter the isosceles right triangular prism 13 through the through hole 14, through the refraction, a series of light spots D (as shown in fig. 5) are generated in the z' axis direction in fig. 3, and the pixel positions of the light spots D can be obtained by the detection computer system 18, these pixel positions correspond one-to-one to the swing angle of the spreader 7. Thus, the swing angle of the spreader 7 can be detected. Because the light spot moves along the z '-axis direction in the homogeneous direction of the triangular prism, the moving pixel distance of the light spot D along the z' -axis direction is in a fixed proportional relation with the swing angle of the lifting appliance 7, and the calculation by adopting the light refraction principle is not needed. The specific proportional relationship needs to be calibrated according to the actual size and the specific installation position of the triangular prism.

The specific detection flow of the length of the lifting rope 6 and the swing angle and direction is shown in fig. 7.

In this embodiment, the light source 2 is generally a constant monochromatic light source, which forms a constant monochromatic light spot for easy identification, and the photosensitive plane 16 is generally a CMOS photosensitive plane.

In this embodiment, the detection device may be used for a double-crane or other multi-crane cranes, and is widely used, referring to fig. 6, when the detection device is used for a double-crane, the constant light sources 2 and 2' may be selected to be different colors (such as red and blue), so that light generated by the two light sources will generate two light spots of different colors on the light sensing plane 16 after passing through the through hole 14, and then, for the light spots of the two colors, the swing conditions of the two cranes may be detected respectively by using the above detection method, and at the same time, digital values of two different crane rope lengths may also be detected.

While the present invention has been described in detail with reference to the preferred embodiments, it should be understood that the above description should not be taken as limiting the invention. Various modifications and alterations to this invention will become apparent to those skilled in the art upon reading the foregoing description. Accordingly, the scope of the invention should be determined from the following claims.