A tilt measuring device and measuring system

Abstract

The application discloses a kind of inclination measuring device and measuring system, belong to inclination measuring technical field, including inclination measuring mechanism;Inclination measuring mechanism includes arc swing arm, one end of arc swing arm is connected with encoder, arc swing arm is equipped with arc guide rail, and arc guide rail is slidably connected with the swing sliding key of universal shaft mechanism;Universal shaft mechanism includes shaft sleeve, universal bearing is installed in the recess in the middle of shaft sleeve, universal bearing is connected with swing sliding block, swing sliding block is equipped with swing sliding key, and the end surface of shaft sleeve is connected with the bottom of recess pulley at the top of one end of rocker arm, and the end surface of shaft sleeve is connected with the other end of rocker arm by elastic device.The present application can accurately measure the swing angle of the rope in real time, and provide an important guarantee for the swing angle state monitoring and high-precision control of the hoisting system.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of inclination measurement, in particular to an inclination measurement device and a measurement system. BACKGROUND

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

[0003] As important carrying equipment, hoisting systems play an important role in the fields of aerospace, logistics wharf, steel smelting, ocean exploration, disaster rescue, etc. For example, tower hoisting systems are widely used in the fields of rocket equipment, construction sites, etc.; bridge hoisting systems are widely used in the loading and unloading of port containers, the stable transportation of steel smelting ladles, etc.; mast hoisting systems are widely used in the construction of offshore drilling platforms, the launching of ocean probes, the laying of submarine cables, the construction of wind turbines, etc.; flying hoisting systems can realize rapid delivery of materials in disaster areas with limited transportation. However, as a typical under-actuated system, the hoisting system is connected with the load through a steel wire rope, and the lifting mechanism is used to control the lifting and lowering of the load, but it is difficult to directly control the horizontal movement of the load. Therefore, the research on hoisting control system has always been a hot and difficult point.

[0004] At the same time, in the hoisting system, the load swing angle is an important state quantity of the system, and its effectiveness and accuracy of measurement directly determine the control performance of the system. However, the hoisting rope of the hoisting system is usually long and changes with the lifting of the load, which makes the existing load swing angle measurement have problems such as difficult sensor installation and power supply. In addition, during the operation of the hoisting system, frequent lifting work is carried out, which makes the traditional cable power supply and communication mode have the problem of easy damage of the cable. SUMMARY

[0005] In view of the above problems, the present application provides an inclination measurement device and a measurement system, which is suitable for swing angle measurement of hoisting systems, can realize real-time and accurate rope swing angle measurement, provides an important guarantee for swing angle state monitoring and high-precision control of hoisting systems, and is beneficial to improving the automation level of hoisting systems in China and promoting the development of hoisting systems to high-end.

[0006] In order to achieve the above purpose, the present application adopts the following technical solutions:

[0007] In a first aspect, the present application provides an inclination measurement device, comprising an inclination measurement mechanism, a universal shaft mechanism and an adaptive clamping mechanism.

[0008] The inclination measuring mechanism comprises a pair of orthogonally arranged arc-shaped swing arms, one end of the arc-shaped swing arms is connected with an encoder, an arc-shaped guide rail is arranged on the arc-shaped swing arms, and the arc-shaped guide rail is slidably connected with a swing sliding block of a universal shaft mechanism;

[0009] The universal shaft mechanism comprises a shaft sleeve, a recess is arranged in the middle part of the shaft sleeve, a universal bearing is arranged in the recess, the universal bearing is connected with a swing sliding block, the swing sliding block is provided with a swing sliding key, and two ends of the shaft sleeve are connected with self-adaptive clamping mechanisms;

[0010] The self-adaptive clamping mechanism comprises a plurality of rocker arms, a recess pulley is arranged at the top of one end of the rocker arm, the bottom of the rocker arm is connected with the end surface of the shaft sleeve, and the other end of the rocker arm is connected with the end surface of the shaft sleeve through elastic devices.

[0011] As a further implementation manner, both ends of the arc-shaped swing arm are provided with a bracket, an axle hole is arranged on the bracket, the axle hole is rotatably connected with a connecting shaft, one end of the connecting shaft is connected with the encoder, the encoder is connected with a fixed support through an encoder fixing bracket, and the fixed support is connected with a fixing device.

[0012] As a further implementation manner, the fixing device comprises a fixing plate, the fixing plate is designed in half, and the two half fixing plates are connected through a fixing plate connecting piece.

[0013] As a further implementation manner, the universal bearing is connected with the swing sliding block through a half-copper sleeve, the half-copper sleeve is fixed in the recess of the swing sliding block, and swing sliding keys are fixedly connected to both sides of the swing sliding block.

[0014] As a further implementation manner, the swing sliding key is arc-shaped, and the shape of the swing sliding key is matched with the arc-shaped sliding rail on the arc-shaped swing arm.

[0015] As a further implementation manner, the elastic device comprises a long bolt, one end of the long bolt penetrates one end of the rocker arm and is connected with a nut, the other end of the long bolt penetrates the end surface of the shaft sleeve and is connected with a nut, and a supporting spring is wound on the long bolt.

[0016] As a further implementation manner, the supporting spring has a certain pre-tightening force.

[0017] As a further implementation manner, a set of self-adaptive clamping mechanisms is arranged on the upper and lower end surfaces of the shaft sleeve, the self-adaptive clamping mechanism comprises three rocker arms, the interval between the three rocker arms is 120°, and the recess pulley is in contact with a hoisting rope.

[0018] As a further implementation manner, a cover is arranged outside the encoder.

[0019] A second aspect of the present invention provides an inclination measurement system based on the inclination measurement device described in the first aspect of the present invention, comprising an encoder, a controller, and a communication module. The encoder acquires the swing angle of the lifting rope and transmits it to the controller via the communication module, and the controller measures the swing angle of the lifting rope.

[0020] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0021] This invention discloses an inclination angle measuring device and system, applicable to the measurement of swing angles in hoisting systems. The inclination angle measuring mechanism enables real-time and accurate measurement of spatial angles in hoisting systems. An adaptive clamping mechanism ensures stable clamping of hoisting ropes of different diameters and effectively handles abrupt diameter changes caused by rope bending, while reducing friction between the hoisting rope and the inclination angle measuring device, thus extending its service life and preventing damage. Furthermore, the designed universal joint mechanism utilizes the universal principle to effectively handle the initial non-vertical state of the hoisting rope, ensuring measurement accuracy. The inclination angle measuring system includes an encoder, a communication module, and a power supply module. The encoder measures the rope's swing angle in real time and transmits it to the controller via wired / wireless communication. Simultaneously, the wireless power supply module, based on a lithium battery, provides a stable power supply to the encoder and communication module. This invention provides a feasible method for the effective measurement of angles in hoisting systems with varying rope lengths, enabling real-time and accurate rope swing angle measurement. It provides crucial support for the monitoring and high-precision control of swing angles in hoisting systems, contributing to improving the automation level of hoisting systems in my country and promoting their development towards high-end applications. Attached Figure Description

[0022] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an improper limitation of the invention.

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

[0024] Figure 2 This is a schematic diagram illustrating the principle of tilt angle measurement in this invention.

[0025] Figure 3 This is a schematic diagram of the tilt angle measuring mechanism of the present invention;

[0026] Figure 4 This is a schematic diagram of the universal joint mechanism of the present invention;

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

[0028] Figure 6 Structure diagram of the adaptive clamping mechanism of the present application;

[0029] Figure 7 Structure diagram of the encoder protection structure of the present application;

[0030] Figure 8 Structure diagram of the fixing mechanism of the present application;

[0031] Figure 9 Frame diagram of the inclination measuring system of the present application.

[0032] Wherein, 1, hoisting rope; 2, shaft sleeve; 3, universal bearing; 4, half tile copper sleeve; 5, swing sliding block; 6, swing sliding key; 7, arc swing arm; 8, support; 9, connecting shaft; 10, encoder; 11, long bolt; 12, supporting spring; 13, groove pulley; 14, rocker arm; 15, support; 16, fixed support; 17, encoder fixing support; 18, shade; 19, fixed plate connecting piece; 20, fixed plate; 21 load. DETAILED DESCRIPTION

[0033] The present application will be further described below in conjunction with the drawings and examples.

[0034] It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the present application. Unless otherwise indicated, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the present application belongs.

[0035] In the case of no conflict, the embodiments in the present application and the features in the embodiments can be combined with each other.

[0036] Example one

[0037] As Figure 1 shown, the present embodiment provides an inclination measuring device, comprising:

[0038] The inclination measuring device comprises an inclination measuring mechanism, a universal shaft mechanism and an adaptive clamping mechanism.

[0039] The inclination measuring mechanism comprises a pair of orthogonally arranged arc swing arms 7, one end of the arc swing arm 7 being connected with the encoder 10, the arc swing arm 7 being provided with an arc guide rail, and the arc guide rail being in sliding connection with the swing sliding key 6 of the universal shaft mechanism.

[0040] The universal shaft mechanism comprises a shaft sleeve 2, the middle part of the shaft sleeve 2 being provided with a groove, the universal bearing 3 being installed in the groove, the universal bearing 3 being connected with the swing sliding block 5, the swing sliding block 5 being provided with the swing sliding key 6, and the two ends of the shaft sleeve 2 being connected with the adaptive clamping mechanism.

[0041] The adaptive clamping mechanism includes multiple rocker arms 14. A grooved pulley 13 is installed on the top of one end of each rocker arm 14, and its bottom is connected to the end face of the bushing 2. The other end of the rocker arm 14 is connected to the end face of the bushing 2 through an elastic device.

[0042] To achieve effective measurement of the swing angle of the load 21 in the hoisting system, this invention designs... Figure 2 The tilt angle measurement principle is illustrated. Specifically, the swing arm is designed in an arc shape, allowing it to rotate around the rotation axis 9, meaning the chord of the swing arm coincides with the axis of rotation 9. Furthermore, to measure the spatial swing angle of the load 21, two arc-shaped swing arms 7 are arranged orthogonally in space, with their rotation axes aligned with the x-axis and y-axis directions in the geodetic coordinate system (x, y, z) of the load 21, respectively. Based on this, when the lifting rope 1 connecting the load 21 passes through the two arc-shaped swing arms 7, the swing of the load 21 simultaneously drives the arc-shaped swing arms 7 to rotate, which is converted into the number of revolutions of the encoder 10, thus enabling real-time measurement of the swing angle of the load 21. The formulas for calculating the swing angle of the load 21 in the x-axis and y-axis directions are as follows:

[0043]

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

[0045] based on Figure 2 The tilt angle measurement principle shown in this invention is based on... Figure 3 The tilt measuring mechanism shown includes an arc-shaped swing arm 7, a bracket 8, a connecting shaft 9, and an encoder 10. Specifically, both ends of the arc-shaped swing arm 7 are connected to the bracket 8. The bracket 8 is designed with shaft holes for connecting to the connecting shaft 9. The connecting shaft 9 is rotatably connected to the bracket 8 through the shaft holes. One end of the connecting shaft 9 is connected to the encoder 10, while the other end of the connecting shaft 9 can only rotate and is not connected to the encoder 10. During operation, 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 into the counting value of the encoder 10, thereby enabling real-time and accurate measurement of the spatial swing angle of the load 21.

[0046] also, Figure 2 The measurement principle shown assumes that the lifting rope 1 passes through the intersection of the rotation axes of the two arc-shaped swing arms 7. However, in practical applications, the lifting rope 1 may have a certain angle of inclination in its initial state (i.e., static state) due to pulley mechanisms or oblique suspension. In this case, to avoid the influence of the initial angle of the lifting rope 1 on the swing angle measurement, this invention designs as follows: Figure 4The universal shaft mechanism is connected with the arc swing arm 7 through the swing sliding key 6 of the universal shaft mechanism. Specifically, the arc swing arm 7 is designed with an arc-shaped guide rail for the sliding of the swing sliding key 6, and the sliding range depends on the maximum swing angle of the hoisting system. The swing sliding key 6 is arc-shaped, and the shape is matched with the arc-shaped sliding rail on the arc swing arm 7.

[0047] The universal shaft mechanism includes a shaft sleeve 2, a universal bearing 3, a half-tile copper sleeve 4, a swing sliding block 5, a swing sliding key 6, and the like. In the figure, D mi and D mo respectively represent the inner diameter and the outer diameter of the shaft sleeve 2. Specifically, in order to meet the installation requirements of the hoisting rope 1 with different diameters, and to prevent the damage of the tilt device caused by the increase of the diameter of the hoisting rope 1 due to the bending of the hoisting rope 1, the inner diameter D mi of the shaft sleeve 2 is greater than the diameter D r of the hoisting rope 1, that is, D mi =D r +ΔD, wherein ΔD is determined according to the worst case of the actual demand on site. At the same time, the upper and lower parts of the shaft sleeve 2 are respectively designed with end faces for fixing the self-adaptive clamping mechanism.

[0048] The middle part of the shaft sleeve 2 is designed with a groove for installing the universal bearing 3. In addition, the half-tile copper sleeve 4 fixed in the groove of the swing sliding block 5 is connected with the universal bearing 3, and the swing sliding block 5 is respectively fixed with an arc-shaped swing sliding key 6 on both sides. Based on this, when the swing sliding key 6 is connected with the arc swing arm 7, if there is an initial angle of inclination of the hoisting rope, the universal bearing 3 can make the shaft sleeve 2 tilt along the hoisting rope without affecting the state of the arc swing arm 7, and the simplified principle diagram is shown as Figure 5 . The swing angle of the universal bearing 3 is determined according to the maximum initial angle of inclination of the actual hoisting system.

[0049] In the actual hoisting system, the length of the hoisting rope 1 can change at any time, and in this process, the hoisting rope 1 is prone to friction with the tilt angle measuring device, which will reduce the service life of the tilt angle measuring device, and even cause damage during operation. Therefore, the self-adaptive clamping mechanism as shown in Figure 6 is provided in the present application. The self-adaptive clamping mechanism includes a plurality of rocker arms 14, the top of one end of the rocker arm 14 is provided with a groove pulley 13, the bottom is connected with the end face of the shaft sleeve 2 through a support 15, and the other end of the rocker arm 14 is connected with the end face of the shaft sleeve 2 through an elastic device.

[0050] The elastic device includes a long bolt 11, one end of the long bolt 11 penetrates one end of the rocker arm 14 and is connected with a nut, the other end penetrates the end face of the shaft sleeve 2 and is connected with a nut, and a supporting spring 12 is wound on the long bolt 11. The supporting spring 12 has a certain pre-tightening force.

[0051] In the working process, the spring 12 with certain pre-tightening force will push the rocker arm 14 to rotate, and then the rocker arm 14 is converted into the pressure of the groove pulley 13 on the lifting rope 1. Further, the adaptive clamping mechanism is provided on the upper and lower end faces of the shaft sleeve 2, each set of adaptive clamping mechanism includes three rocker arms 14, the interval between the three rocker arms 14 is 120°, and the groove pulley 13 is in contact with the lifting rope. The adaptive clamping of the steel wire rope can be realized. Based on this, through the adaptive clamping mechanism at the two ends of the shaft sleeve 2 of the lifting rope 1, the adaptive clamping of the lifting rope 1 with different diameters can be satisfied, and the measurement error caused by the broken wire and knot of the lifting rope can be effectively avoided, and the measurement accuracy is improved.

[0052] As shown in Figure 7 It also includes an encoder protection structure, the encoder protection structure is a cover 18, the encoder 10 is connected with the fixed support 16 through the encoder fixed support 17, and the fixed support 16 is connected with the fixing device. At the same time, considering the influence of outdoor operation on the encoder 10, the encoder cover 18 is designed to reduce the influence of rain, snow, dust and the like on the performance of the encoder 10.

[0053] In order to facilitate the fixation of the inclination measuring device to the hoisting system, the present application designs a fixing device as shown in Figure 8 The fixing device includes a fixing plate 20, a fixing plate connecting piece 19 and the like. The fixing plate 20 is designed in half for the convenience of the central arrangement of the lifting rope 1. In addition, the fixing plate connecting piece 19 is designed to realize the stable connection of the fixing plate 20.

[0054] The inclination measuring device and the measuring system provided by the present application are suitable for the variable rope length adaptive inclination measurement of hoisting systems. The inclination measuring mechanism is used to convert the swinging angle of the lifting rope into an encoder measurement value, and the universal principle is used to realize the effective processing of the initial non-vertical state of the lifting rope, so as to realize the effective measurement of the swinging angle of the hoisting load. At the same time, the adaptive clamping mechanism is used to realize the adaptive clamping of the lifting rope with different diameters under the condition of the change of the rope length. Based on this, the adaptive inclination measuring system is used to collect the encoder data and send it to the controller, so as to provide an important guarantee for the real-time state monitoring and accurate control of the hoisting system.

[0055] Embodiment two

[0056] As shown in Figure 9 The present embodiment provides an inclination measuring system based on the inclination measuring device of embodiment one, which includes an encoder, a controller and a communication module. The encoder is used to collect the swinging angle of the lifting rope, and the communication module is used to transmit the swinging angle to the controller. The controller is used to measure the swinging angle of the lifting rope.

[0057] It also includes a wireless power supply module, which can provide stable power supply for the encoder and the communication module.

[0058] The two encoders are arranged at one end of the two arc-shaped swing arms respectively and are used for measuring the swing angles of the two arc-shaped swing arms.

[0059] The controller is selected from an embedded controller such as ARM, STM32, DSP, etc., and is mainly used for receiving the data collected by the encoder and sending the data to the hoisting system through a wireless transmission module. The communication module is selected from wireless communication such as Wi-Fi, Lora, etc. The specific communication mode is determined according to the communication mode of the hoisting system. In addition, in order to avoid long-distance power supply, the battery power supply is adopted for the designed inclination measuring system, and different voltage interfaces are designed for the controller, the encoder, the communication module, etc., so as to meet the power demand of different equipment.

[0060] The above is only the preferred embodiment of the present application and is not used to limit the present application. For those skilled in the art, the present application can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

[0061] Although the specific embodiments of the present application are described above in combination with the drawings, the present application is not limited to the scope of the present application. Those skilled in the art should understand that various modifications or changes made on the basis of the technical solutions of the present application without creative labor are still within the protection scope of the present application.

Claims

1. A tilt measuring device, characterized by The inclination measuring mechanism, the universal shaft mechanism and the adaptive clamping mechanism are included. The inclination measuring mechanism includes a pair of orthogonally arranged arc-shaped swing arms, one end of the arc-shaped swing arms is connected with an encoder, and an arc-shaped guide rail is arranged on the arc-shaped swing arms, and the arc-shaped guide rail is slidably connected with a swing sliding block of the universal shaft mechanism. The universal shaft mechanism includes a shaft sleeve, a recess is arranged in the middle part of the shaft sleeve, a universal bearing is arranged in the recess, the universal bearing is connected with the swing sliding block, a swing sliding key is arranged on the swing sliding block, and both ends of the shaft sleeve are connected with the adaptive clamping mechanism. The adaptive clamping mechanism includes a plurality of rocker arms, a recess pulley is arranged at the top of one end of the rocker arm, the bottom of the rocker arm is connected with the end surface of the shaft sleeve, and the other end of the rocker arm is connected with the end surface of the shaft sleeve through an elastic device. The universal bearing is connected with the swing sliding block through a half-copper sleeve, the half-copper sleeve is fixed in the recess of the swing sliding block, and swing sliding keys are fixedly connected to both sides of the swing sliding block. The swing sliding key is arc-shaped, and the shape is matched with the arc-shaped sliding rail on the arc-shaped swing arm. The elastic device includes a long bolt, one end of the long bolt is connected with a nut by penetrating one end of the rocker arm, the other end of the long bolt is connected with a nut by penetrating the end surface of the shaft sleeve, and a supporting spring is wound on the long bolt. The supporting spring has a certain pre-tightening force. The adaptive clamping mechanism is arranged on both upper and lower end surfaces of the shaft sleeve, and each of the adaptive clamping mechanisms includes three rocker arms, the interval between the three rocker arms is 120°, and the recess pulley is in contact with the hoisting rope.

2. A tilt measuring device as claimed in claim 1, characterized in that Both ends of the arc-shaped swing arm are provided with brackets, shaft holes are arranged on the brackets, and the shaft holes are rotatably connected with connecting shafts, one end of the connecting shafts is connected with the encoder, the encoder is connected with a fixed support through an encoder fixing bracket, and the fixed support is connected with a fixing device.

3. A tilt measuring device as claimed in claim 2, characterized in that The fixing device includes a fixing plate, the fixing plate is designed in half, and the two half fixing plates are connected through a fixing plate connecting piece.

4. A tilt measuring device as claimed in claim 1, characterized in that The encoder is externally provided with a shade.

5. A tilt measuring system characterized by, Based on the inclination measuring device of any one of claims 1-4, an encoder, a controller and a communication module are included, the swing angle of the hoisting rope is collected by the encoder, and the swing angle is transmitted to the controller through the communication module, and the swing angle of the hoisting rope is measured by the controller.

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