Crane hoisting swing angle measuring system based on cross slide rail

Abstract

The invention provides a crane hoisting swing angle measuring system based on a cross slide rail. The crane hoisting swing angle measuring system comprises an outer frame, a transverse mounting plate, a longitudinal mounting plate, a swing angle measuring device and a signal processing system, the swing angle measuring device comprises a transverse sliding rail, a longitudinal sliding rail, a first pull rope displacement sensor, a second pull rope displacement sensor, a cross roller frame and a cross roller. The transverse sliding rails comprise two combined sliding rails which are arranged in the length direction of the outer frame and are parallel to each other; each combined sliding rail is provided with a set of eccentric roller sliding blocks, a sliding block connecting plate and a rope guiding plate. The two longitudinal sliding rails which are parallel to each other are arranged below the transverse sliding rail, and the transverse sliding rail and the longitudinal sliding rails are arranged in a cross shape; the first pull rope displacement sensor is fixedly mounted on the outer frame; the second pull rope displacement sensor is installed at one end of the longitudinal sliding rail. Real-time measurement of the swing angle of the hoisting steel wire rope of the crane can be realized, and the measurement range is wide.

Description

Technical Field

[0001] The present invention relates to the technical field of crane hoisting swing angle measurement. Specifically, it particularly relates to a crane hoisting swing angle measurement system based on a cross slide rail. Background Art

[0002] In crane hoisting operations, ensuring the stability and safety of the load is of utmost importance. Therefore, it is necessary to accurately measure and control the hoisting swing angle. Traditional hoisting swing angle measurement techniques mainly rely on manual observation and empirical judgment. This method has disadvantages such as low measurement accuracy, slow response speed, and being greatly affected by human factors. With the progress of technology, especially the development of sensor technology and automatic control technology, crane hoisting swing angle measurement devices have been significantly improved. Modern hoisting swing angle measurement devices usually adopt advanced sensors such as angle sensors and acceleration sensors, which can measure the changes in the hoisting swing angle in real time and accurately. At the same time, by using digital signal processing technology, the measurement data can be processed and analyzed at high speed, so as to achieve precise control of the hoisting swing angle. However, most current swing angle measurement devices have the problem of measurement dead angles, which will cause the steel wire rope not to be measured at a certain extreme position. This will not only affect the collection of swing angle signals and the prediction of the swing path, but more seriously, it may cause accidents due to the inability to observe. Summary of the Invention

[0003] In view of the above-mentioned technical problem that the existing crane hoisting swing angle measurement device has a measurement dead angle, a crane hoisting swing angle measurement system based on a cross slide rail with a simple structure, high measurement accuracy, and wide measurement range is provided.

[0004] The technical means adopted by the present invention are as follows:

[0005] A crane hoisting swing angle measurement system based on a cross slide rail includes an outer frame, a transverse mounting plate, a longitudinal mounting plate, a swing angle measurement device, and a signal processing system;

[0006] The outer frame is of a frame structure; two opposite transverse mounting plates are fixedly installed along the length direction on the upper part of the outer frame, and two opposite guide rods are fixedly installed along the length direction on the lower part of the outer frame; the longitudinal mounting plate is fixedly installed at one end of the outer frame;

[0007] The swing angle measurement device includes a transverse slide rail, a longitudinal slide rail, a first wire rope displacement sensor, a second wire rope displacement sensor, a cross roller frame, and a cross roller;

[0008] The transverse slide rail includes two combined slide rails arranged along the length direction of the outer frame and parallel to each other. Each combined slide rail is composed of a linear slide rail and an arc slide rail connected. The linear slide rail is fixedly installed at the bottom of the outer frame, with one end close to the longitudinal mounting plate and the other end connected to the arc slide rail. The other end of the arc slide rail is fixedly installed at the upper part of the outer frame. A set of eccentric roller sliders, slider connecting plates and wire guiding plates are arranged on each combined slide rail. The wire guiding plate is fixedly installed on the eccentric roller slider through the slider connecting plate. Two relatively arranged eccentric roller sliders are respectively slidably installed on the corresponding combined slide rails. A T-shaped mounting plate is fixedly installed below each slider connecting plate. Two parallel longitudinal slide rails are arranged below the transverse slide rail, and the transverse slide rail and the longitudinal slide rail are arranged in a cross shape. The two ends of the longitudinal slide rail are fixedly installed on the two T-shaped mounting plates. A linear slider is slidably installed on each longitudinal slide rail, and the two linear sliders are connected by the cross roller frame installed at the bottom. A wire rope hole is arranged at the center of the cross roller frame, and two cross rollers are oppositely installed on both sides of the wire rope hole. The two cross rollers are respectively rotatably installed on two sides of the wire rope hole parallel to the linear slide rail by pin shafts.

[0009] A small ball is arranged on the side of any one of the wire guiding plates. The small ball is slidably installed in a guiding groove opened along the length direction inside the adjacent guiding rod. The first wire rope displacement sensor is fixedly installed on the outer frame at one end where the longitudinal mounting plate is arranged through the first sensor mounting plate, and is on the same side as the wire guiding plate provided with the small ball. The wire rope of the first wire rope displacement sensor is fixedly installed on the small ball. The second wire rope displacement sensor is fixedly installed below the T-shaped mounting plate at one end of the longitudinal slide rail, and the wire rope of the second wire rope displacement sensor is fixedly connected to one of the cross rollers.

[0010] The crane boom head can extend into the outer frame and be fixedly connected to the transverse mounting plate. The wire rope for hoisting goods extends from the main hoisting rope outlet point at the bottom of the crane boom head and passes through the wire rope hole. The initial state of the wire rope is vertically downward. When the wire rope swings horizontally, it will drive the eccentric roller slider to slide along the transverse slide rail. The first wire rope displacement sensor is used to represent the horizontal displacement of the wire rope by measuring the horizontal displacement of the wire rope. When the wire rope swings longitudinally, it will drive the linear slider to slide along the longitudinal slide rail. The second wire rope displacement sensor is used to represent the longitudinal displacement of the wire rope by measuring the longitudinal displacement of the wire rope.

[0011] The signal processing system is installed on the longitudinal mounting plate and is electrically connected to the first wire rope displacement sensor and the second wire rope displacement sensor respectively, and is configured to calculate the lateral and longitudinal swing angles of the wire rope according to the measured lateral displacement and longitudinal displacement generated by the wire rope.

[0012] Further, the signal processing system includes a signal acquisition module and a filter; the signal acquisition module is electrically connected to the first wire rope displacement sensor, the second wire rope displacement sensor and the filter respectively; the lateral displacement and longitudinal displacement signals of the wire rope measured by the first wire rope displacement sensor and the second wire rope displacement sensor are transmitted to the signal acquisition module, and the signal acquisition module is configured to calculate the lateral and longitudinal swing angles of the wire rope according to the lateral displacement and longitudinal displacement generated by the wire rope and transmit them to the filter; the filter is configured to perform filtering processing on the lateral and longitudinal swing angle data of the wire rope.

[0013] Further, the signal processing system further includes a power supply for supplying power to the signal acquisition module and the filter.

[0014] Further, at time t, the signal acquisition module calculates the lateral or longitudinal swing angle θ of the wire rope through the following formula t :

[0015]

[0016] wherein, H represents the distance in the vertical direction between the wire rope outlet point of the main sling and the cross roller when the wire rope is in the initial state;

[0017] When calculating the lateral swing angle θ of the wire rope t : l0 represents the distance between the first wire rope displacement sensor and the small ball measured when the wire rope is in the initial state; l t represents the distance between the first wire rope displacement sensor and the small ball measured at time t; l0 - l t represents the lateral displacement generated by the wire rope;

[0018] When calculating the longitudinal swing angle θ of the wire rope t : l0 represents the distance between the second wire rope displacement sensor and the connected cross roller measured when the wire rope is in the initial state; l t represents the distance between the second wire rope displacement sensor and the connected cross roller measured at time t; l0 - l t represents the longitudinal displacement generated by the wire rope.

[0019] Further, the filter uses the Hampel filtering method to filter the swing angle data of the wire rope in the transverse and longitudinal directions.

[0020] Further, the output signal θ of the filter after Hampel filtering is a obtained according to the following formula:

[0021] θ a = θ t + λ(θ t-1 + θ t+1 )

[0022] where θ t , θ t-1 , θ t+1 respectively represent the swing angle of the wire rope in the transverse direction or the longitudinal direction at time t, time t-1, and time t+1, and λ is the filtering coefficient.

[0023] Further, the signal acquisition module can also calculate the swing force F received by the cross roller in the transverse or longitudinal direction according to the swing angle θ t of the wire rope in the transverse or longitudinal direction through the following formula:

[0024] F = ma xy

[0025]

[0026] where m represents the weight of the goods lifted by the wire rope; a xy represents the acceleration of the cross roller in the direction of the transverse slide rail or the longitudinal slide rail during the sliding process; β represents the angle between the tangential velocity and the transverse slide rail or the longitudinal slide rail during the sliding process of the cross roller; L represents the length of the wire rope from the rope outlet point of the main sling to the hanging point.

[0027] Further, when the wire rope swings to cause the cross roller to have a transverse or longitudinal displacement, at time t, the forces on the cross roller are orthogonally decomposed to obtain:

[0028] In the direction of the center of the circle: T - mgcosθ t = mω 2 L;

[0029] In the tangential direction:

[0030] Since v = wL, it can be obtained:

[0031] Furthermore, it can be obtained:

[0032] By solving this nonlinear differential equation, it can be obtained:

[0033] Furthermore, the following is obtained: the tangential acceleration of the cross roller

[0034] Therefore, the acceleration of the cross roller during the sliding process in the direction of the transverse slide rail or the longitudinal slide rail

[0035] Wherein, T represents the tension of the steel wire rope, ω represents the angular velocity of the steel wire rope at the cross roller, δ represents the swing angle when the steel wire rope is in the initial state, and δ = 0 is defined, and A represents a coefficient.

[0036] Compared with the prior art, the present invention has the following advantages:

[0037] The crane hoisting swing angle measurement system based on a cross slide rail provided by the present invention has a simple structure, high measurement accuracy, and a wide measurement range; it can realize the real-time measurement of the swing angle of the crane hoisting steel wire rope, and can also realize the swing angle measurement when the steel wire rope is at the limit position. The swing angle data measured by the present invention can be used to predict the swing path of the steel wire rope, so as to adjust the mechanism in advance to reduce the swing amplitude of the steel wire rope, achieving the effects of improving work efficiency and reducing work risks.

[0038] For the above reasons, the present invention can be widely promoted in the field of crane hoisting swing angle measurement. Brief Description of the Drawings

[0039] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0040] Figure 1 It is a schematic structural diagram of the crane hoisting swing angle measurement system based on a cross slide rail according to the present invention.

[0041] Figure 2 It is a schematic partial structural diagram of the crane hoisting swing angle measurement system based on a cross slide rail according to the present invention.

[0042] Figure 3 It is a schematic structural diagram of the steel wire rope hole of the crane hoisting swing angle measurement system based on a cross slide rail according to the present invention.

[0043] Figure 4 It is a schematic side structural diagram of the crane hoisting swing angle measurement system based on a cross slide rail according to the present invention.

[0044] Figure 5This is a schematic diagram of the working state of the crane hoisting swing angle measurement system based on a cross slide rail according to the present invention.

[0045] Figure 6 This is a schematic diagram of the calculation principle of the wire rope swing angle and swing force.

[0046] Figure 7 This is a schematic diagram of the filtering process.

[0047] In the figure: 1. Outer frame; 2. Transverse mounting plate; 3. Longitudinal mounting plate; 4. Swing angle measuring device; 401. Transverse slide rail; 4011. Eccentric roller slider; 4012. Slider connecting plate; 4013. Guide rope plate; 402. Longitudinal slide rail; 4021. Linear slider; 4022. T-shaped mounting plate; 403. First wire rope displacement sensor; 404. Second wire rope displacement sensor; 405. First sensor mounting plate; 406. Cross roller frame; 407. Cross roller; 408. Pin shaft; 5. Signal processing system; 501. Filter; 502. Power supply; 503. Signal acquisition module; 6. Guide rod; 7. Crane boom head; 8. Main hoisting rope exit point. Specific implementation manners

[0048] It should be noted that, without conflict, the embodiments in the present invention and the features in the embodiments can be combined with each other. The present invention will be described in detail below with reference to the drawings and in combination with the embodiments.

[0049] To make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention. Apparently, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. The description of at least one exemplary embodiment herein is actually only illustrative and in no way restrictive of the present invention and its application or use. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0050] It should be noted that the terms used herein are only for describing specific implementation manners and are not intended to limit the exemplary embodiments according to the present invention. As used herein, unless otherwise clearly specified in the context, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of features, steps, operations, devices, components and / or combinations thereof.

[0051] Unless otherwise specifically stated, the relative arrangements of components and steps, numerical expressions, and numerical values set forth in these embodiments do not limit the scope of the present invention. At the same time, it should be clear that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn according to actual proportional relationships. Technologies, methods, and devices known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, such technologies, methods, and devices should be regarded as part of the authorization specification. In all the examples shown and discussed here, any specific values should be construed as merely exemplary and not as a limitation. Therefore, other examples of the exemplary embodiments may have different values. It should be noted that like reference numerals and letters denote like items in the following drawings, and thus, once an item is defined in one drawing, it does not need to be further discussed in subsequent drawings.

[0052] In the description of the present invention, it should be understood that the orientation or positional relationships indicated by orientation words such as "front, rear, upper, lower, left, right", "lateral, vertical, perpendicular, horizontal", and "top, bottom", etc. are usually based on the orientation or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description. Without contrary statements, these orientation words do not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and thus cannot be construed as limiting the protection scope of the present invention: the orientation words "inner, outer" refer to the inside and outside relative to the contour of each component itself.

[0053] For ease of description, spatial relative terms such as "above", "over", "on the upper surface", "above-mentioned", etc. can be used here to describe the spatial positional relationship between a device or feature shown in the drawings and other devices or features. It should be understood that the spatial relative terms are intended to include different orientations in use or operation in addition to the orientation described in the drawings for the device. For example, if the device in the drawing is inverted, the device described as "above other devices or structures" or "over other devices or structures" will then be positioned as "below other devices or structures" or "under other devices or structures". Thus, the exemplary term "above" can include both the orientations of "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and corresponding interpretations should be made for the spatial relative descriptions used here.

[0054] In addition, it should be noted that the use of words such as "first", "second", etc. to define components is only for the convenience of differentiating the corresponding components. Without additional statements, the above words have no special meanings, and thus cannot be construed as limiting the protection scope of the present invention.

[0055] Embodiment 1

[0056] As shown Figure 1-7 in the figure, the present invention provides a crane hoisting swing angle measurement system based on a cross slide rail, which includes an outer frame 1, a transverse mounting plate 2, a longitudinal mounting plate 3, a swing angle measurement device 4 and a signal processing system 5;

[0057] The outer frame 1 is of a frame structure; two opposite transverse mounting plates 2 are fixedly installed along the length direction on the upper part of the outer frame 1, and two opposite guide rods 6 are fixedly installed along the length direction on the lower part of the outer frame 1; the longitudinal mounting plate 3 is fixedly installed at one end of the outer frame 1;

[0058] The swing angle measurement device 4 includes a transverse slide rail 401, a longitudinal slide rail 402, a first wire rope displacement sensor 403, a second wire rope displacement sensor 404, a cross roller frame 406 and a cross roller 407;

[0059] The transverse slide rail 401 includes two parallel combined slide rails arranged along the length direction of the outer frame 1. Each combined slide rail is composed of a linear slide rail and an arc slide rail connected. The linear slide rail is fixedly installed at the bottom of the outer frame 1 and one end is close to the longitudinal mounting plate 3, and the other end is connected to the arc slide rail. The other end of the arc slide rail is fixedly installed on the upper part of the outer frame 1; a set of eccentric roller sliders 4011, slider connecting plates 4012 and wire guiding plates 4013 are arranged on each combined slide rail. The wire guiding plate 4013 is fixedly installed on the eccentric roller slider 4011 through the slider connecting plate 4012; two relatively arranged eccentric roller sliders 4011 are respectively slidably installed on the corresponding combined slide rail; the eccentric roller slider 4011 can slide along the combined slide rail; a T-shaped mounting plate 4022 is fixedly installed below each slider connecting plate 4012; two parallel longitudinal slide rails 402 are arranged below the transverse slide rail 401, and the transverse slide rail 401 and the longitudinal slide rail 402 are arranged in a cross shape; both ends of the longitudinal slide rail 402 are fixedly installed on the two T-shaped mounting plates 4022, so that the longitudinal slide rail 402 can move along the combined slide rail as the eccentric roller slider 4011 slides; a linear slider 4021 is slidably installed on each longitudinal slide rail 402, and the linear slider 4021 can slide along the longitudinal slide rail 402. The two linear sliders 4021 are connected by the cross roller frame 406 installed at the bottom; a wire rope hole is arranged at the center of the cross roller frame 406, and two cross rollers 407 are oppositely installed on both sides of the wire rope hole. The two cross rollers 407 are respectively rotatably installed on two sides of the wire rope hole parallel to the linear slide rail through pins 408;

[0060] A small ball is arranged on the side surface of any one of the wire guiding plates 4013, and the small ball is slidably installed in a guiding groove formed along the length direction on the inner side of the adjacent guiding rod 6; the first wire rope displacement sensor 403 is fixedly installed on one end of the outer frame 1 where the longitudinal mounting plate 3 is arranged through the first sensor mounting plate 405, and is on the same side as the wire guiding plate 4013 provided with the small ball. The wire rope of the first wire rope displacement sensor 403 is fixedly installed on the small ball, so that when the wire guiding plate 4013 moves along the transverse slide rail 401 with the corresponding eccentric roller slider 4011, the wire rope of the first wire rope displacement sensor 403 is synchronously driven to move by the small ball; a second wire rope displacement sensor 404 is fixedly installed below the T-shaped mounting plate 4022 at one end of the longitudinal slide rail 402, and the wire rope of the second wire rope displacement sensor 404 is fixedly connected to one of the cross rollers 407, so that when the cross roller 407 moves along the longitudinal slide rail 402 with the linear slider 4021, the wire rope of the second wire rope displacement sensor 404 is synchronously driven to move.

[0061] The crane boom head 7 can extend into the outer frame 1 and be fixedly connected to the transverse mounting plate 2. The steel wire rope for hoisting goods extends from the main hoisting rope outlet point 8 at the bottom of the crane boom head 7 and passes through the steel wire rope hole, and the initial state of the steel wire rope is vertically downward; when the steel wire rope undergoes lateral swing, it will drive the eccentric roller slider 4011 to slide along the transverse slide rail 401, and the first wire rope displacement sensor 403 is used to represent the lateral displacement generated by the steel wire rope by measuring the lateral displacement of the wire rope; when the steel wire rope undergoes longitudinal swing, it will drive the linear slider 4021 to slide along the longitudinal slide rail 402, and the second wire rope displacement sensor 404 is used to represent the longitudinal displacement generated by the steel wire rope by measuring the longitudinal displacement of the wire rope.

[0062] The signal processing system 5 is installed on the longitudinal mounting plate 3 and is electrically connected to the first wire rope displacement sensor 403 and the second wire rope displacement sensor 404 respectively, and is used to calculate the swing angles of the steel wire rope in the lateral and longitudinal directions according to the measured lateral and longitudinal displacements generated by the steel wire rope.

[0063] Furthermore, the swing angles of the steel wire rope in the lateral and longitudinal directions measured and calculated by using the swing angle measurement system of the present invention can be used to predict the swing path of the wire rope, and then the working state of the crane can be adjusted in advance to reduce the swing amplitude of the steel wire rope, so as to achieve the effects of improving work efficiency and reducing work hazards.

[0064] Further, the signal processing system 5 includes a signal acquisition module 503 and a filter 501; the signal acquisition module 503 is electrically connected to the first rope displacement sensor 403, the second rope displacement sensor 404, and the filter 501 respectively; the lateral displacement and longitudinal displacement signals generated by the steel wire rope measured by the first rope displacement sensor 403 and the second rope displacement sensor 404 are transmitted to the signal acquisition module 503, and the signal acquisition module 503 is used to calculate the swing angles of the steel wire rope in the lateral and longitudinal directions based on the lateral displacement and longitudinal displacement generated by the steel wire rope and transmit them to the filter 501; the filter 501 is used to perform filtering processing on the swing angle data of the steel wire rope in the lateral and longitudinal directions.

[0065] Further, the signal processing system 5 further includes a power supply 502 for supplying power to the signal acquisition module 503 and the filter 501.

[0066] Further, the calculation principles of the swing angle of the steel wire rope in the lateral direction and the longitudinal direction are the same;

[0067] At time t, as Figure 6 shown, the signal acquisition module 503 calculates the swing angle θ of the steel wire rope in the lateral direction or the longitudinal direction through the following formula t :

[0068]

[0069] where, H represents the distance in the vertical direction between the rope outlet point of the main hoisting rope and the cross roller 407 when the steel wire rope is in the initial state;

[0070] When calculating the swing angle θ of the steel wire rope in the lateral direction t : l0 represents the distance between the first rope displacement sensor 403 and the small ball measured when the steel wire rope is in the initial state; l t represents the distance between the first rope displacement sensor 403 and the small ball measured at time t; l0 - l t represents the lateral displacement generated by the steel wire rope;

[0071] When calculating the swing angle θ of the steel wire rope in the longitudinal direction t : l0 represents the distance between the second rope displacement sensor 404 and the connected cross roller 407 measured when the steel wire rope is in the initial state; l t represents the distance between the second rope displacement sensor 404 and the connected cross roller 407 measured at time t; l0 - l t represents the longitudinal displacement generated by the steel wire rope.

[0072] Further, the filter 501 uses the Hampel filtering method to filter the swing angle data of the wire rope in the horizontal and vertical directions.

[0073] Under normal circumstances, the draw-wire displacement sensor will be exposed to electromagnetic interference or other environments, and these interferences will cause the output signal to be distorted or contaminated. Therefore, under the influence of surrounding electrical equipment, radio signals, lightning, etc., the output signal of the draw-wire displacement sensor will exhibit a chattering phenomenon and cannot be directly output. Therefore, it is necessary to smooth the swing angle data signal calculated by the signal acquisition module 503 to reduce noise interference and improve signal quality.

[0074] Further, the output signal θ of the filter 501 after Hampel filtering a is obtained according to the following formula:

[0075] θ a = θ t + λ(θ t-1 + θ t+1 )

[0076] where θ t , θ t-1 , θ t+1 respectively represent the swing angle of the wire rope in the horizontal direction or the vertical direction at time t, time t - 1, and time t + 1, and λ is the filtering coefficient.

[0077] Further, Hampel filtering is a statistical method based on a sliding window and the median absolute deviation (MAD). Its core lies in detecting and replacing outliers by calculating the median and MAD within the window; in specific implementation, the Hampel filter will traverse each point of the swing angle signal. For each point, it will consider a sliding window of a fixed size (usually an odd length to have a clear center point); then, calculate the median and MAD within the window; if the deviation of the current point from the median exceeds a certain number of MADs (this threshold is usually preset), then this point is considered an outlier and is replaced with the median within the window;

[0078] As Figure 7 shown, the specific steps of Hampel filtering are as follows:

[0079] Step 1: Select a sliding window size, for example, 2k + 1;

[0080] Step 2: For each point in the data, calculate the median within the window;

[0081] Step 3: Calculate the deviation of each point within the window from the median, and calculate the median absolute deviation MAD of these deviations;

[0082] Step 4: Set a threshold value, such as 3 or 4 times the MAD;

[0083] Step 5: If the deviation of the value of the current point from the median exceeds this threshold, then consider this point as an outlier and replace it with the median within the window.

[0084] Further, as Figure 6 shown, the signal acquisition module 503 can also calculate the swinging force F received by the cross roller 407 in the horizontal or vertical direction according to the swing angle θ of the wire rope t , through the following formula. The calculation principle of the swinging force F received by the cross roller 407 in the horizontal or vertical direction is the same:

[0085] F = ma xy

[0086]

[0087] where m represents the weight of the goods lifted by the wire rope; a xy represents the acceleration of the cross roller 407 in the direction of the horizontal slide rail 401 or the vertical slide rail 402 during the sliding process; β represents the angle between the tangential velocity and the horizontal slide rail 401 or the vertical slide rail 402 during the sliding process of the cross roller 407, which can be measured by an angle sensor; L represents the length of the wire rope between the wire rope out - rope point 8 of the main hoisting cable and the hoisting point (the connection point of the wire rope and the goods).

[0088] According to the calculated swinging force, when the wire rope swings, the staff can control the operation of the crane to apply a corresponding force to offset the swinging force, so as to reduce the swinging amplitude of the wire rope and reduce the working risk.

[0089] Further, as Figure 6 shown, when the wire rope swings and causes the cross roller 407 to have a horizontal or vertical displacement, at time t, the force received by the cross roller 407 is orthogonally decomposed as follows:

[0090] In the direction of the center of the circle: T - mgcosθ t = mω 2 L;

[0091] In the tangential direction:

[0092] Since v = wL, it can be obtained that:

[0093] Furthermore, it can be obtained that:

[0094] By solving this non - linear differential equation, it can be obtained that:

[0095] Furthermore, the following is obtained: the tangential acceleration of the cross roller 407

[0096] Therefore, the acceleration of the cross roller 407 during the sliding process in the direction of the transverse slide rail 401 or the longitudinal slide rail 402

[0097] Among them, T represents the tension of the steel wire rope, ω represents the angular velocity of the steel wire rope at the cross roller 407, δ represents the swing angle of the steel wire rope in the initial state, and δ = 0 is defined, A represents a coefficient; T is determined according to the weight of the goods lifted by the steel wire rope; ω is calculated from the swing angle of the steel wire rope: ω = δt; A is a constant value assigned by the measurement personnel according to the actual working conditions.

[0098] The working process of the swing angle measurement system for crane hoisting according to the present invention:

[0099] Control the crane boom head 7 to extend into the outer frame 1 and be fixedly connected to the transverse mounting plate 2. The steel wire rope for hoisting the goods extends from the main hoisting rope outlet point 8 at the bottom of the crane boom head 7 and passes through the steel wire rope hole. The initial state of the steel wire rope is vertically downward. During operation, the steel wire rope is connected to the goods. Due to external factor disturbances, the steel wire rope will swing horizontally (left and right) or longitudinally (front and back):

[0100] In the swing angle measuring device 4 of the present invention, the two slide rails are arranged in a cross shape, which can simultaneously detect the swing angle data of the steel wire rope horizontally and longitudinally in the plane; the horizontal (left and right) swing of the steel wire rope will drive the eccentric roller slider 4011 to slide along the transverse slide rail 401, thereby changing the value detected by the first wire rope displacement sensor 403. The horizontal displacement of the wire rope can represent the horizontal displacement generated by the steel wire rope; the longitudinal (front and back) swing of the steel wire rope will drive the linear slider 4021 to slide along the longitudinal slide rail 402, thereby changing the value detected by the second wire rope displacement sensor 404. The longitudinal displacement of the wire rope can represent the longitudinal displacement generated by the steel wire rope; the signal acquisition module 503 can calculate the swing angle of the steel wire rope horizontally or longitudinally according to the detected horizontal or longitudinal displacement;

[0101] At the same time, in the swing angle measuring device 4 of the present invention, one end of the transverse slide rail 401 is set as an arc-shaped slide rail to solve the problem that when the crane hoisting is at the limit position (the limit position means that the crane boom extends to the longest), due to the too small angle between the steel wire rope and the transverse slide rail 401, it is difficult for the eccentric roller slider 4011 to move (the main hoisting rope outlet point remains unchanged. If the slider drives the steel wire rope to keep moving Figure 1As the left end shown moves, the angle between the steel wire rope and the transverse slide rail becomes smaller and smaller, and the component force Tcosβ of the tensile force of the steel wire rope along the transverse slide rail becomes larger and larger. This component force is in the opposite direction to the movement of the slider, resulting in the problem of measurement dead angles where the slider is not easy to move. By setting an arc-shaped slide rail, the accuracy of the steel wire rope driving the eccentric roller slider 4011 can be improved, and the swing angle measurement range can be made wider;

[0102] As the steel wire rope drives the eccentric roller slider 4011 to slide, the small ball on the wire guide plate 4013 can drive the pull rope of the first pull rope displacement sensor 403 to move together in the guide groove of the guide rod 6. The guide groove plays a guiding role for the small ball. When the eccentric roller slider 4011 slides to the arc-shaped slide rail, the small ball drives the pull rope to disengage from the guide rod 6 together.

[0103] After using the crane hoisting swing angle measurement system described in the present invention to measure the swing angle of the steel wire rope, it is also possible to train a model by combining machine learning and intelligent algorithms to predict the swing path of the steel wire rope, thereby improving the working efficiency and safety of the crane.

[0104] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements for some or all of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A crane hoisting swing angle measurement system based on a cross slide rail, characterized in that, It includes an outer frame, a transverse mounting plate, a longitudinal mounting plate, a swing angle measuring device and a signal processing system; The outer frame is of a frame structure; two opposite transverse mounting plates are fixedly installed along the length direction on the upper part of the outer frame, and two opposite guide rods are fixedly installed along the length direction on the lower part; the longitudinal mounting plate is fixedly installed at one end of the outer frame; The swing angle measuring device includes a transverse slide rail, a longitudinal slide rail, a first wire rope displacement sensor, a second wire rope displacement sensor, a cross roller frame and a cross roller; The transverse slide rail includes two combined slide rails arranged parallel to each other along the length direction of the outer frame. Each combined slide rail is composed of a linear slide rail and an arc slide rail connected. The linear slide rail is fixedly installed at the bottom of the outer frame, with one end close to the longitudinal mounting plate and the other end connected to the arc slide rail. The other end of the arc slide rail is fixedly installed on the upper part of the outer frame; a set of eccentric roller sliders, slider connecting plates and wire guide plates are arranged on each combined slide rail. The wire guide plate is fixedly installed on the eccentric roller slider through the slider connecting plate; two relatively arranged eccentric roller sliders are respectively slidably installed on the corresponding combined slide rail; a T-shaped mounting plate is fixedly installed below each slider connecting plate; two parallel longitudinal slide rails are arranged below the transverse slide rail, and the transverse slide rail and the longitudinal slide rail are arranged in a cross shape; both ends of the longitudinal slide rail are fixedly installed on the two T-shaped mounting plates; a linear slider is slidably installed on each longitudinal slide rail, and the two linear sliders are connected by the cross roller frame installed at the bottom; a wire rope hole is arranged at the center of the cross roller frame, and two cross rollers are oppositely installed on both sides of the wire rope hole. The two cross rollers are respectively rotatably installed on two sides of the wire rope hole parallel to the linear slide rail; A small ball is arranged on the side of any one of the wire guide plates, and the small ball is slidably installed in a guide groove opened along the length direction on the inner side of the adjacent guide rod; the first wire rope displacement sensor is fixedly installed on the outer frame at the end where the longitudinal mounting plate is arranged through a first sensor mounting plate, and is on the same side as the wire guide plate provided with the small ball. The wire rope of the first wire rope displacement sensor is fixedly installed on the small ball; the second wire rope displacement sensor is fixedly installed below the T-shaped mounting plate at one end of the longitudinal slide rail, and the wire rope of the second wire rope displacement sensor is fixedly connected to one of the cross rollers; The crane arm head can extend into the outer frame and be fixedly connected to the transverse mounting plate. The steel wire rope for hoisting goods extends from the main hoisting rope outlet point at the bottom of the crane arm head and passes through the steel wire rope hole. The initial state of the steel wire rope is vertically downward. When the steel wire rope undergoes lateral swing, it will drive the eccentric roller slider to slide along the transverse slide rail. The first rope displacement sensor is used to represent the lateral displacement of the steel wire rope by measuring the lateral displacement of the rope. When the steel wire rope undergoes longitudinal swing, it will drive the linear slider to slide along the longitudinal slide rail. The second rope displacement sensor is used to represent the longitudinal displacement of the steel wire rope by measuring the longitudinal displacement of the rope. The signal processing system is installed on the longitudinal mounting plate and is electrically connected to the first rope displacement sensor and the second rope displacement sensor respectively, and is used to calculate the swing angles of the steel wire rope in the lateral and longitudinal directions according to the measured lateral and longitudinal displacements of the steel wire rope.

2. The crane hoisting swing angle measurement system based on a cross slide rail according to claim 1, wherein The signal processing system includes a signal acquisition module and a filter. The signal acquisition module is electrically connected to the first rope displacement sensor, the second rope displacement sensor and the filter respectively. The lateral and longitudinal displacement signals of the steel wire rope measured by the first rope displacement sensor and the second rope displacement sensor are transmitted to the signal acquisition module. The signal acquisition module is used to calculate the swing angles of the steel wire rope in the lateral and longitudinal directions according to the lateral and longitudinal displacements of the steel wire rope and transmit them to the filter. The filter is used to perform filtering processing on the swing angle data of the steel wire rope in the lateral and longitudinal directions.

3. The crane hoisting swing angle measurement system based on a cross slide rail according to claim 1, wherein The signal processing system further includes a power supply for supplying power to the signal acquisition module and the filter.

4. The crane hoisting swing angle measurement system based on a cross slide rail according to claim 1, characterized in that, At time t, the signal acquisition module calculates the swing angle θ of the wire rope in the lateral direction or the longitudinal direction through the following formula t : Wherein, H represents the distance in the vertical direction between the main hoisting rope outlet point and the cross roller when the steel wire rope is in the initial state. When calculating the swing angle θ of the wire rope in the lateral direction t : l0 represents the distance between the first wire rope displacement sensor and the small ball measured when the wire rope is in the initial state; l t represents the distance between the first wire rope displacement sensor and the small ball measured at time t; l0 - l t represents the lateral displacement generated by the wire rope; When calculating the swing angle θ of the wire rope in the longitudinal direction t : l0 represents the distance between the second wire rope displacement sensor and the connected cross roller when the wire rope is in the initial state; l t represents the distance between the second wire rope displacement sensor and the connected cross roller at time t; l0 - l t represents the longitudinal displacement generated by the wire rope.

5. The crane hoisting swing angle measurement system based on a cross slide rail according to claim 4, characterized in that The filter uses the Hampel filtering method to perform filtering processing on the swing angle data of the steel wire rope in the lateral and longitudinal directions.

6. The crane hoisting swing angle measurement system based on a cross slide rail according to claim 5, characterized in that, The output signal θ of the filter after Hampel filtering is processed a Obtained according to the following formula: θ a = θ t + λ(θ t-1 + θ t+1 ) Among them, θ t , θ t-1 , θ t+1 respectively represent the lateral swing angle or the longitudinal swing angle of the wire rope at time t, t - 1, and t + 1, and λ is the filtering coefficient.

7. The crane hoisting swing angle measurement system based on a cross slide rail according to claim 4, wherein The signal acquisition module can also calculate the swing force F on the cross drum in the lateral or longitudinal direction according to the swing angle θ of the wire rope in the lateral or longitudinal direction t , by using the following formula: F = ma xy Wherein, m represents the weight of the goods lifted by the wire rope; a xy represents the acceleration in the direction of the transverse slide rail or the longitudinal slide rail during the sliding process of the cross roller; β represents the angle between the tangential velocity and the transverse slide rail or the longitudinal slide rail during the sliding process of the cross roller; L represents the length of the wire rope between the wire rope outlet point of the main sling and the lifting point.

8. The crane hoisting swing angle measurement system based on a cross slide rail according to claim 7, characterized in that, When the swing of the steel wire rope causes the cross roller to generate lateral or longitudinal displacement, at time t, the force on the cross roller is orthogonally decomposed to obtain: Direction of the center of the circle: T - mgcosθ t = mω 2 L; Tangential direction: Since v = wL, it can be obtained that: Furthermore, we obtain: It can be obtained by solving this non-linear differential equation: Furthermore, it is obtained that: the tangential acceleration of the cross roller Therefore, the acceleration of the cross roller during the sliding process in the direction of the transverse slide rail or the longitudinal slide rail Wherein, T represents the tension of the steel wire rope, ω represents the angular velocity of the steel wire rope at the cross roller, δ represents the swing angle when the steel wire rope is in the initial state, and δ = 0 is defined, and A represents a coefficient.

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