Inclination angle measuring device and measuring system

Abstract

The invention discloses an inclination angle measuring device and an inclination angle measuring system, and belongs to the technical field of inclination angle measurement. The dip angle measuring mechanism comprises an arc-shaped swing arm, one end of the arc-shaped swing arm is connected with the encoder, an arc-shaped guide rail is arranged on the arc-shaped swing arm, and the arc-shaped guide rail is in sliding connection with a swing feather key of the universal shaft mechanism; the universal shaft mechanism comprises a shaft sleeve, a universal bearing is installed in a groove in the middle of the shaft sleeve, the universal bearing is connected with a swing sliding block, a swing sliding key is arranged on the swing sliding block, and the two ends of the shaft sleeve are connected with the self-adaptive clamping mechanism. The self-adaptive clamping mechanism comprises a plurality of rocker arms, the top of one end of each rocker arm is provided with a groove pulley, the bottom is connected with the end face of the shaft sleeve, and the other end of each rocker arm is connected with the end face of the shaft sleeve through an elastic device. According to the invention, the swing angle of the lifting rope can be accurately measured in real time, and important guarantee is provided for swing angle state monitoring and high-precision control of lifting systems.

Description

Technical Field

[0001] The present invention relates to the technical field of inclination angle measurement, and in particular to an inclination angle measurement device and a measurement system. Background Art

[0002] The statements in this section merely provide background information related to the present invention and do not necessarily constitute prior art.

[0003] As an important transportation equipment, the lifting system plays an important role in aerospace, logistics terminals, steel metallurgy, marine exploration, disaster relief and other fields. For example, tower lifting systems are widely used in rocket equipment, construction sites and other fields; bridge lifting systems are widely used in the loading and unloading of port containers, the stable transportation of metallurgical ladles in steel plants, etc.; mast lifting systems are widely used in the construction of offshore drilling platforms, the deployment of ocean detectors, the laying of submarine cables, the construction of wind turbines, etc.; flying lifting systems can achieve rapid material delivery in disaster-stricken areas with limited traffic. However, as a typical under-actuated system, the lifting system is connected to the load through a wire rope, and the lifting and lowering control of the load is achieved through a lifting mechanism, but it is difficult to directly control the horizontal movement of the load. Therefore, the research on lifting control systems has always been a hot topic and difficulty.

[0004] At the same time, in the lifting system, the load swing angle is an important state quantity of the system, and the effectiveness and accuracy of its measurement directly determine the control performance of the system. However, the lifting rope of the lifting system is usually long and changes with the lifting and lowering of the load, which makes the existing load swing angle measurement difficult to install sensors and power supply. In addition, during the operation of the lifting system, the lifting work is frequently carried out, which makes the traditional cable power supply and communication method vulnerable to cable damage. Summary of the invention

[0005] In view of the above problems, the present invention proposes an inclination angle measuring device and a measuring system, which are suitable for the swing angle measurement of lifting systems. It can realize real-time and accurate rope swing angle measurement, and provide important guarantee for the swing angle state monitoring and high-precision control of lifting systems. It is beneficial to improve the automation level of my country's lifting systems and promote their development towards high-end.

[0006] In order to achieve the above object, the present invention adopts the following technical solution:

[0007] A first aspect of the present invention provides an inclination measuring device, comprising an inclination measuring mechanism, a universal shaft mechanism and an adaptive clamping mechanism;

[0008] The inclination angle measuring mechanism comprises a pair of orthogonally arranged arc-shaped swing arms, one end of the arc-shaped swing arm is connected to an encoder, an arc-shaped guide rail is provided on the arc-shaped swing arm, and the arc-shaped guide rail is slidably connected to a swinging slide key of a universal shaft mechanism;

[0009] The universal shaft mechanism comprises a sleeve, a groove is provided in the middle part of the sleeve, a universal bearing is installed in the groove, the universal bearing is connected to a swing slider, a swing slide key is provided on the swing slider, and both ends of the sleeve are connected to an adaptive clamping mechanism;

[0010] The adaptive clamping mechanism includes a plurality of rocker arms, a groove pulley is installed on the top of one end of the rocker arm, the bottom of the rocker arm is connected to the end face of the sleeve, and the other end of the rocker arm is connected to the end face of the sleeve through an elastic device.

[0011] As a further implementation method, brackets are provided at both ends of the arc-shaped swing arm, and an axial hole is provided on the bracket. The axial hole is rotatably connected to the connecting shaft, and the connecting shaft at one end is connected to the encoder, and the encoder is connected to the fixed support through the encoder fixing bracket, and the fixed support is connected to the fixing device.

[0012] As a further implementation, the fixing device includes a fixing plate, and the fixing plate is designed to be split in half, and the two halves of the fixing plate are connected by a fixing plate connecting piece.

[0013] As a further implementation method, the universal bearing is connected to the swing slider via a half-bearing copper sleeve, the half-bearing copper sleeve is fixed in a groove of the swing slider, and swing sliding keys are fixedly connected to both sides of the swing slider.

[0014] As a further implementation, the swing slide key is arc-shaped, and its shape is compatible with the arc-shaped slide rail on the arc-shaped swing arm.

[0015] As a further implementation method, the elastic device includes a long bolt, one end of the long bolt passes through one end of the rocker arm and is connected to a nut, and the other end passes through the end surface of the sleeve and is connected to the nut, and a support spring is wound around the long bolt.

[0016] As a further implementation, the support spring has a certain preload force.

[0017] As a further implementation method, the adaptive clamping mechanism is provided with a group on each of the upper and lower end surfaces of the sleeve, and the adaptive clamping mechanism includes three rocker arms, the three rocker arms are spaced 120° apart from each other, and the groove pulley is in contact with the lifting rope.

[0018] As a further implementation, a mask is provided outside the encoder.

[0019] The second aspect of the present invention provides an inclination measurement system, which is an inclination measurement device based on the first aspect of the present invention, including an encoder, a controller and a communication module. The encoder is used to collect the swing angle of the lifting rope, and the encoder is transmitted to the controller through the communication module. The controller is used to measure the swing angle of the lifting rope.

[0020] Compared with the prior art, the present invention has the following beneficial effects:

[0021] The inclination measuring device and measuring system of the present invention are suitable for the swing angle measurement of the lifting system, and the inclination measuring mechanism can realize the real-time and accurate measurement of the spatial angle of the lifting system. The adaptive clamping mechanism can realize the stable clamping of the lifting ropes with different diameters, and realize the effective treatment of the sudden change of diameter caused by the bending of the lifting rope, etc., and at the same time can reduce the friction between the lifting rope and the inclination measuring device, and improve the service life of the inclination measuring device, thereby effectively avoiding damage. In addition, the designed universal shaft mechanism realizes the effective treatment of the initial non-vertical state of the lifting rope by using the universal principle, and ensures the measurement accuracy. The inclination measuring system includes an encoder, a communication module, a power supply module, etc., wherein the encoder measures the swing angle of the rope in real time and transmits it to the controller through wired / wireless communication. At the same time, the wireless power supply module designed based on lithium battery can provide a stable power supply for the encoder and the communication module. The present invention provides a feasible method for the effective measurement of the angle of the variable rope length of the lifting system, can realize the real-time and accurate rope swing angle measurement, and provides an important guarantee for the swing angle state monitoring and high-precision control of the lifting system, which is conducive to improving the automation level of my country's lifting system and promoting its development towards high-end. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The accompanying drawings in the specification, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0023] Figure 1 It is a schematic diagram of the overall structure of the inclination measuring device of the present invention;

[0024] Figure 2 It is a schematic diagram of the inclination angle measurement of the present invention;

[0025] Figure 3 It is a structural schematic diagram of the inclination angle measuring mechanism of the present invention;

[0026] Figure 4 It is a structural schematic diagram of the cardan shaft mechanism of the present invention;

[0027] Figure 5 This is a schematic diagram of the automatic centering principle of the universal sleeve of the present invention;

[0028] Figure 6 It is a structural schematic diagram of the adaptive clamping mechanism of the present invention;

[0029] Figure 7 is a schematic diagram of an encoder protection structure of the present invention;

[0030] Figure 8 It is a structural schematic diagram of the fixing mechanism of the present invention;

[0031] Fig. 9 It is a framework diagram of the inclination measurement system of the present invention.

[0032] Among them, 1. lifting rope; 2. bushing; 3. universal bearing; 4. half-wafer copper sleeve; 5. swing slider; 6. swing slide key; 7. arc swing arm; 8. bracket; 9. connecting shaft; 10. encoder; 11. long bolt; 12. support spring; 13. groove pulley; 14. rocker arm; 15. support; 16. fixed support; 17. encoder fixing bracket; 18. cover; 19. fixed plate connecting piece; 20. fixed plate; 21 load. DETAILED DESCRIPTION

[0033] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0034] It should be noted that the following detailed descriptions are all illustrative and intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present invention belongs.

[0035] In the absence of conflict, the embodiments of the present invention and the features of the embodiments may be combined with each other.

[0036] Embodiment 1

[0037] like Figure 1 As shown, this embodiment provides a tilt angle measuring device, including:

[0038] It includes an inclination measuring mechanism, a universal shaft mechanism and an adaptive clamping mechanism.

[0039] The inclination angle measuring mechanism comprises a pair of orthogonally arranged arc-shaped swing arms 7, one end of which is connected to the encoder 10, and an arc-shaped guide rail is provided on the arc-shaped swing arm 7, which is slidably connected to the swinging sliding key 6 of the universal shaft mechanism.

[0040] The universal shaft mechanism includes a sleeve 2, a groove is provided in the middle part of the sleeve 2, a universal bearing 3 is installed in the groove, the universal bearing 3 is connected to a swing slider 5, a swing slide key 6 is provided on the swing slider 5, and both ends of the sleeve 2 are connected to the adaptive clamping mechanism.

[0041] The adaptive clamping mechanism includes a plurality of rocker arms 14. A groove pulley 13 is installed on the top of one end of the rocker arm 14, and the bottom thereof is connected to the end surface of the sleeve 2. The other end of the rocker arm 14 is connected to the end surface of the sleeve 2 through an elastic device.

[0042] In order to achieve effective measurement of the swing angle of the load 21 of the lifting system, the present invention is designed Figure 2 The inclination angle measurement principle shown in the figure. Specifically, the swing arm is designed to be arc-shaped and can rotate around the rotation axis 9, that is, the chord of the swing arm coincides with the axis of the rotation axis 9. Furthermore, in order to realize the measurement of the spatial swing angle of the load 21, two arc-shaped swing arms 7 are arranged orthogonally in space, so that the rotation axes of the arc-shaped swing arms 7 are respectively the same as the x-axis and y-axis directions of the load 21 in the geodetic coordinate system (x, y, z). Based on this, when the lifting rope 1 connected to the load 21 passes through the two arc-shaped swing arms 7, the swing of the load 21 will simultaneously drive the arc-shaped swing arms 7 to rotate, and convert it into the number of turns of the encoder 10, so that real-time measurement of the swing angle of the load 21 can be realized. Among them, the calculation formula for the swing angle of the load 21 in the x-axis and y-axis directions is:

[0043]

[0044] Where n x ,n y They respectively represent the encoder counts of the encoder 10 of the load 21 in the x-axis and y-axis directions, and N represents the resolution of the encoder 10. The higher the accuracy, the higher the angle resolution.

[0045] based on Figure 2 The inclination angle measurement principle shown in the present invention is Figure 3 The inclination angle measuring mechanism shown includes an arc-shaped swing arm 7, a bracket 8, a connecting shaft 9, an encoder 10, etc. Specifically, both ends of the arc-shaped swing arm 7 are connected to the bracket 8, and an axial hole is designed on the bracket 8 for connecting with the connecting shaft 9. The connecting shaft 9 is rotatably connected to the bracket 8 through the axial hole. The connecting shaft 9 at one end is connected to the encoder 10, and the connecting shaft 9 at the other end can only rotate but is not connected to the encoder 10. During the working process, the swing of the load 21 is converted into the swing of the arc-shaped swing arm 7 through the lifting rope 1, and then converted into the count value of the encoder 10, so that the real-time and accurate measurement of the spatial swing angle of the load 21 can be achieved.

[0046] also, Figure 2 The premise of the measurement principle shown is that the lifting rope 1 passes through the intersection of the rotation axes of the two arc-shaped swing arms 7. In actual applications, the lifting rope 1 may have a certain inclined angle in the initial state (i.e., static state) of the inclined rope due to the pulley mechanism or the inclined hanging. In this case, in order to avoid the influence of the initial angle of the lifting rope 1 on the swing angle measurement, the present invention is designed as follows Figure 4The cardan shaft mechanism shown is connected to the arc-shaped swing arm 7 through the swinging slide key 6 of the cardan shaft mechanism. Specifically, an arc-shaped guide rail is designed on the arc-shaped swing arm 7 for sliding the swinging slide key 6, and its sliding range depends on the maximum swing angle of the lifting system. Among them, the swinging slide key 6 is arc-shaped, and its shape is adapted to the arc-shaped slide rail on the arc-shaped swing arm 7.

[0047] The universal shaft mechanism includes a shaft sleeve 2, a universal bearing 3, a half-bearing copper sleeve 4, a swing slider 5, a swing slide key 6, etc., wherein D mi and D mo Specifically, in order to meet the installation requirements of lifting ropes 1 with different diameters and prevent the increase in the diameter of the wire rope due to the bending of the lifting rope 1, which may cause damage to the tilting device, the inner diameter D of the lifting rope 1 sleeve 2 is mi Larger than the diameter D of the lifting rope 1 r , that is, satisfying D mi =D r +ΔD, wherein ΔD is determined according to the worst case of actual on-site needs. At the same time, the shaft sleeve 2 is respectively designed with end faces at the top and the bottom for fixing the adaptive clamping mechanism.

[0048] The middle part of the sleeve 2 is designed with a groove for installing the universal bearing 3. In addition, the half-shell copper sleeve 4 fixed in the groove of the swing slider 5 is connected to the universal bearing 3. At the same time, an arc-shaped swing slide key 6 is fixed on both sides of the swing slider 5. Based on this, when the swing slide key 6 is connected to the arc-shaped swing arm 7, if the lifting rope has an inclined angle in the initial state, the universal bearing 3 can be used to make the sleeve 2 tilt along the lifting rope without affecting the state of the arc-shaped swing arm 7. The simplified schematic diagram is as follows Figure 5 As shown. Among them, the swing angle of the universal bearing 3 is determined according to the maximum initial inclined angle of the actual lifting system.

[0049] In an actual lifting system, the length of the lifting rope 1 may change at any time. During this process, the lifting rope 1 is very likely to cause friction with the inclination measuring device, which will reduce the service life of the inclination measuring device and even cause operational damage. Figure 6 The adaptive clamping mechanism shown includes a plurality of rocker arms 14, a groove pulley 13 is installed on the top of one end of the rocker arm 14, and the bottom thereof is connected to the end face of the sleeve 2 through a support 15, and the other end of the rocker arm 14 is connected to the end face of the sleeve 2 through an elastic device.

[0050] The elastic device includes a long bolt 11, one end of which passes through one end of the rocker arm 14 and is connected to a nut, and the other end of which passes through the end surface of the sleeve 2 and is connected to the nut, and a support spring 12 is wound around the long bolt 11. The support spring 12 has a certain preload force.

[0051] During operation, the spring 12 with a certain preload force will push the rocker arm 14 to rotate, which is then converted into pressure on the lifting rope 1 by the groove pulley 13 through the rocker arm 14. Furthermore, the adaptive clamping mechanism is provided with a group on each of the upper and lower end faces of the sleeve 2, and each group of adaptive clamping mechanisms includes three rockers 14, and the intervals between the three rockers 14 are 120°. The groove pulley 13 is in contact with the lifting rope. Adaptive clamping of the wire rope can be achieved. Based on this, the adaptive clamping mechanism at both ends of the sleeve 2 of the lifting rope 1 can meet the adaptive clamping of lifting ropes 1 with different diameters, and at the same time, it can effectively avoid measurement errors caused by broken wires and knots in the lifting rope, thereby improving measurement accuracy.

[0052] like Figure 7 As shown, the encoder protection structure is also included, which is a shield 18. The encoder 10 is connected to the fixed support 16 through the encoder fixing bracket 17, and the fixed support 16 is connected to the fixing device. At the same time, considering the impact of outdoor work on the encoder 10, the encoder shield 18 is designed to reduce the impact of rain, snow, dust, etc. on the performance of the encoder 10.

[0053] In order to facilitate the fixing of the inclination measuring device to the lifting system, the present invention is designed as follows Figure 8 The fixing device shown includes a fixing plate 20, a fixing plate connecting piece 19, etc. The fixing plate 20 is designed in half to facilitate the central arrangement of the lifting rope 1. In addition, the fixing plate connecting piece 19 is designed to achieve a stable connection of the fixing plate 20.

[0054] The inclination measuring device and measuring system proposed in the present invention are suitable for the variable rope length adaptive inclination measurement of the hoisting system. The swing angle of the hoisting rope is converted into the encoder measurement value through the inclination measuring mechanism, and the initial non-vertical state of the hoisting rope is effectively processed by the universal principle, thereby realizing the effective measurement of the swing angle of the hoisting load. At the same time, the adaptive clamping mechanism is used to realize the adaptive clamping of hoisting ropes of different diameters when the rope length of the hoisting rope changes. Based on this, the encoder data is collected by the adaptive inclination measuring system and sent to the controller, thereby providing important guarantee for the real-time status monitoring and precise control of the hoisting system.

[0055] Embodiment 2

[0056] like Fig. 9 As shown, this embodiment provides an inclination measurement system, which is an inclination measurement device based on embodiment one, including an encoder, a controller and a communication module. The encoder is used to collect the swing angle of the lifting rope, and it is transmitted to the controller through the communication module. The controller is used to measure the swing angle of the lifting rope.

[0057] It also includes a wireless power supply module that can provide stable power to the encoder and communication module.

[0058] There are two encoders, which are respectively arranged at one end of the two arc-shaped swing arms and are used to measure the swing angles of the two arc-shaped swing arms.

[0059] Among them, the controller uses an embedded controller, such as ARM, STM32, DSP, etc., which is mainly used to receive the data collected by the encoder and send it to the lifting system through the wireless transmission module. The communication module selects wireless communication, such as Wi-Fi, Lora, etc. The specific communication method is determined according to the communication method of the adapted lifting system. In addition, in order to avoid long-distance power supply, the inclination measurement system designed by the present invention is battery-powered, and different voltage interfaces are designed for the controller, encoder, communication module, etc. to meet the power requirements of different equipment.

[0060] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

[0061] Although the above describes the specific implementation mode of the present invention in conjunction with the accompanying drawings, it is not intended to limit the scope of protection of the present invention. Those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art on the basis of the technical solution of the present invention without creative work are still within the scope of protection of the present invention.

Claims

1. An inclination measuring device, characterized in that: It includes an inclination measuring mechanism, a universal shaft mechanism and an adaptive clamping mechanism; The inclination angle measuring mechanism comprises a pair of orthogonally arranged arc-shaped swing arms, one end of the arc-shaped swing arm is connected to an encoder, an arc-shaped guide rail is provided on the arc-shaped swing arm, and the arc-shaped guide rail is slidably connected to a swinging slide key of a universal shaft mechanism; The universal shaft mechanism comprises a sleeve, a groove is provided in the middle part of the sleeve, a universal bearing is installed in the groove, the universal bearing is connected to a swing slider, a swing slide key is provided on the swing slider, and both ends of the sleeve are connected to an adaptive clamping mechanism; The adaptive clamping mechanism includes a plurality of rocker arms, a groove pulley is installed on the top of one end of the rocker arm, the bottom of the rocker arm is connected to the end face of the sleeve, and the other end of the rocker arm is connected to the end face of the sleeve through an elastic device.

2. An inclination measuring device according to claim 1, characterized in that: Both ends of the arc-shaped swing arm are provided with brackets, and the brackets are provided with axial holes, and the axial holes are rotatably connected to the connecting shaft. The connecting shaft at one end is connected to an encoder, and the encoder is connected to a fixed support through an encoder fixing bracket, and the fixed support is connected to a fixing device.

3. An inclination measuring device as claimed in claim 2, characterized in that: The fixing device comprises a fixing plate, and the fixing plate is designed to be split into two halves, and the two halves of the fixing plate are connected by a fixing plate connecting piece.

4. The inclination measuring device according to claim 1, characterized in that: The universal bearing is connected to the swing slider via a half-bearing copper sleeve, the half-bearing copper sleeve is fixed in a groove of the swing slider, and both sides of the swing slider are fixedly connected with swing sliding keys.

5. An inclination measuring device as claimed in claim 4, characterized in that: The swing sliding key is arc-shaped, and its shape is matched with the arc-shaped slide rail on the arc-shaped swing arm.

6. The inclination measuring device according to claim 1, characterized in that: The elastic device comprises a long bolt, one end of which passes through one end of the rocker arm and is connected to a nut, and the other end of which passes through the end surface of the sleeve and is connected to the nut, and a support spring is wound around the long bolt.

7. An inclination measuring device as claimed in claim 6, characterized in that: The support spring has a certain preload force.

8. The inclination measuring device according to claim 1, characterized in that: The adaptive clamping mechanism is provided with a group on each of the upper and lower end surfaces of the sleeve. The adaptive clamping mechanism includes three rocker arms, and the intervals between the three rocker arms are 120 degrees. The groove pulley is in contact with the lifting rope.

9. The inclination measuring device according to claim 1, characterized in that: A shield is arranged outside the encoder.

10. An inclination measurement system, characterized in that: An inclination measuring device based on any one of claims 1-9 comprises: an encoder, a controller and a communication module, wherein the encoder is used to collect the swing angle of the lifting rope and transmit it to the controller through the communication module, and the controller is used to measure the swing angle of the lifting rope.

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