A device for detecting the swing angle of a vertical arm of a ship unloader

Abstract

This invention provides a device for detecting the swing angle of a vertical boom of a ship unloader, relating to the field of angle measurement technology. It includes a detection box, a transmission mechanism, an auxiliary positioning component, and a support frame. The support frame comprises a top support frame and a bottom support frame. A positioning sleeve is welded to the bottom of the detection box. The auxiliary positioning component is screwed to the end of the bottom support frame. A docking sleeve is inserted into the bottom of the positioning sleeve, and the auxiliary positioning component rests against the end of the docking sleeve as the vertical boom swings. This invention improves the accuracy of subsequent swing angle measurements. Furthermore, the data collected by the laser ranging module continuously increases in distance as the vertical boom swings from the outside to the inside, allowing for a more intuitive conversion of the swing angle data into measured distance data for judgment. This simplifies data acquisition. The auxiliary positioning component at the bottom, in conjunction with the docking sleeve, enables monitoring of whether the bottom of the vertical boom is tilted.

Description

Technical Field

[0001] This invention relates to the field of angle measurement technology, specifically to a device for detecting the swing angle of the vertical arm of a ship unloader. Background Technology

[0002] Vertical boom tilt angle detection for ship unloaders is a key technology for automated control and safety monitoring of port machinery. Its core principle is to combine sensors and algorithms to monitor the real-time offset angle of the vertical boom relative to a reference position, ensuring operational accuracy and equipment stability. Specific detection solutions include laser ranging and positioning, visual recognition systems, and BeiDou / GNSS positioning. Laser ranging and positioning, in particular, uses multi-point ranging to construct triangles to calculate the angle, thereby obtaining specific tilt angle data. This solution is applicable to various complex lighting environments.

[0003] In the existing technology, the vertical boom swing angle of a ship unloader is measured using laser ranging and positioning technology. However, since the bottom of the vertical boom needs to be fed, the material at the bottom is constantly changing and cannot be used as a benchmark for judging angle changes. Therefore, it is necessary to install a laser sensor near the horizontal boom and use the horizontal boom as a benchmark to measure the angle. This results in the fact that when there is a certain degree of deformation at the bottom and top of the vertical boom, only the swing angle data of the top of the vertical boom can be obtained, and the overall swing angle status cannot be further judged. Summary of the Invention

[0004] To address the shortcomings of existing technologies, the present invention aims to provide a device for detecting the swing angle of a vertical boom of a ship unloader, thereby solving the problems mentioned in the background. This invention improves the accuracy of subsequent swing angle measurements. Furthermore, the data collected by the laser ranging module continuously increases in distance as the vertical boom swings from the outside to the inside, allowing for a more intuitive conversion of the swing angle data into measured distance data for judgment. This simplifies data acquisition and reduces learning costs. The auxiliary positioning component at the bottom, in conjunction with the docking sleeve, monitors whether the bottom of the vertical boom is tilted, further expanding the detection range of the vertical boom.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a device for detecting the swing angle of a vertical boom of a ship unloader, comprising a detection device body, the detection device body including a detection box, a transmission mechanism, an auxiliary positioning component, and a support frame, the support frame including a top support frame and a bottom support frame, a positioning sleeve welded to the bottom of the detection box, the auxiliary positioning component screwed to the end of the bottom support frame, a docking sleeve inserted into the bottom of the positioning sleeve, and the auxiliary positioning component resting against the end of the docking sleeve after the vertical boom swings, a laser ranging module installed inside the detection box, a transmission mechanism installed on the side of the detection box, the laser ranging module screwed to the surface of the transmission mechanism, a base plate provided at the bottom of the detection box, a ranging plate provided on the surface of the base plate, the ranging plate having an overall arc-shaped structure, the laser ranging module being used to irradiate the surface of the ranging plate or the inside of the positioning sleeve, and a linkage ball installed at one end of the transmission mechanism, the linkage ball being used to embed into the inside of the top support frame.

[0006] Furthermore, the transmission mechanism includes a limiting sleeve, a rotating sleeve, a gear, and a rack. The rotating sleeve is integrally formed on the surface of the detection box, and the top end of the rotating sleeve is integrally formed with a limiting sleeve. A guide channel is provided inside the limiting sleeve, and a transmission rod is inserted inside the guide channel.

[0007] Furthermore, a rack is installed at the bottom of the transmission rod, a support shaft is inserted inside the rotating sleeve, a gear is keyed to the surface of the support shaft, a support sleeve is welded to the surface of the support shaft, and the laser ranging module is screwed onto the surface of the support sleeve.

[0008] Furthermore, the end of the support shaft is embedded into the inner wall of the testing box via a bearing, the gear and rack mesh, a linkage rod is welded to the end of the transmission rod, a linkage ball is installed at the end of the linkage rod, and an integral mounting plate is formed on the side of the testing box.

[0009] Furthermore, both the top support frame and the bottom support frame are fixed to the surface of the vertical arm to be tested by screws. The test box is fixed to the horizontal arm of the unloader by screws passing through the mounting plate. The side of the top support frame is provided with a strip hole, and the entire linkage ball and the end of the linkage rod are embedded in the inside of the strip hole.

[0010] Furthermore, an inner convex ring is provided on the inner wall of the positioning sleeve near the bottom opening, and a metal hemisphere is integrally formed at the bottom of the docking sleeve. A positioning hole is provided at the bottom of the metal hemisphere, and a spring is sleeved on the surface of the guide rod. The two ends of the spring are respectively connected to the bottom surface of the inner convex ring and the surface of the docking sleeve.

[0011] Furthermore, the positioning sleeve remains vertical, and the interior of the detection box is connected to the external space through the positioning sleeve, the docking sleeve, and the positioning hole in sequence.

[0012] Furthermore, the auxiliary positioning component includes a blower, an air supply pipe, and a positioning column. An extension rod is integrally formed on the side of the bottom support frame, and a blower is screwed to the end of the extension rod. An air supply pipe is installed on the surface of the blower.

[0013] Furthermore, the surface of the air supply pipe is integrally formed with a positioning post, the surface of the positioning post is provided with an offset detection opening, and a reflective sheet is attached to the top of the positioning post. The rear end of the positioning post is connected to a slag discharge channel. A groove is provided at the bottom of the offset detection opening, and a connecting pipe is provided on the bottom inner wall of the groove. The blower blows external air into the air supply pipe, the connecting pipe, the groove, and the slag discharge channel in sequence.

[0014] Furthermore, the positioning post rests against the surface of the metal hemisphere after swinging, and the laser ranging module irradiates the reflector or the inside of the groove through the positioning sleeve. The groove is symmetrically arranged on both sides of the reflector, and the two grooves have different depths.

[0015] The beneficial effects of this invention are:

[0016] 1. This device for detecting the swing angle of a ship unloader's vertical arm is mounted on the vertical arm via a support frame, while the detection box and transmission mechanism are mounted on the horizontal arm. The transmission mechanism transmits the swing angle generated by the vertical arm to the inside of the detection box, triggering the laser ranging module to achieve the subsequent detection process. This process ensures stable transmission of the swing angle, and the detection structure remains in a relatively fixed environment, improving the accuracy of subsequent swing angle measurements. Furthermore, the data collected by the laser ranging module continuously increases as the vertical arm swings from the outside to the inside, allowing for a more intuitive conversion of the swing angle data into measured distance data for judgment. This simplifies the reading process and reduces the learning cost.

[0017] 2. The device for detecting the tilt angle of the vertical boom of a ship unloader has an auxiliary positioning mechanism installed at the bottom of the vertical boom via a bottom support frame. At the bottom of the detection box, a docking sleeve is connected via a positioning sleeve. Therefore, after the top of the vertical boom is rotated to a vertical state, the auxiliary positioning component at the bottom, in conjunction with the docking sleeve, can monitor whether the bottom of the vertical boom is tilted, thus further expanding the detection range of the vertical boom.

[0018] 3. This device for detecting the swing angle of the vertical arm of a ship unloader provides inner and outer swing angle detection at both the top and bottom of the vertical arm. It can also simultaneously monitor and process whether the vertical arm has lateral deformation. In addition, it can detect stress deformation of the vertical arm. Furthermore, the auxiliary positioning mechanism is equipped with a ventilation structure to prevent the accumulation of impurities and dust in the groove, which could cause deviations in the detection results. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the external shape of a vertical arm swing angle detection device for a ship unloader according to the present invention;

[0020] Figure 2 This is a schematic diagram of the detection box part of the present invention;

[0021] Figure 3 This is a cross-sectional view of the interior of the detection chamber of the present invention;

[0022] Figure 4 This is a schematic diagram of the transmission mechanism of the present invention;

[0023] Figure 5 This is a schematic diagram of the top support frame of the present invention;

[0024] Figure 6 This is a schematic diagram of the auxiliary positioning component of the present invention;

[0025] Figure 7 for Figure 3 Enlarged view of region A in the middle;

[0026] In the diagram: 1. Detection box; 2. Top-level support frame; 3. Bottom-level support frame; 4. Positioning sleeve; 5. Transmission mechanism; 6. Auxiliary positioning component; 7. Base plate; 8. Limiting sleeve; 9. Rotating sleeve; 10. Laser ranging module; 11. Range measuring plate; 12. Transmission rod; 13. Rack; 14. Gear; 15. Support shaft; 16. Support sleeve; 17. Linkage rod; 18. Linkage ball; 19. Strip hole; 20. Extension rod; 21. Blower; 22. Air supply pipe; 23. Positioning column; 24. Offset detection opening; 25. Reflector; 26. Slag discharge channel; 27. Groove; 28. Connecting pipe; 29. ​​Inner convex ring; 30. Guide rod; 31. Docking sleeve; 32. Spring; 33. Metal hemisphere; 34. Positioning hole; 35. Mounting plate; 36. Guide channel. Detailed Implementation

[0027] To make the technical means, creative features, objectives and effects of this invention easier to understand, the invention will be further described below in conjunction with specific embodiments.

[0028] Please see Figures 1 to 7This invention provides the following technical solution: a device for detecting the swing angle of a vertical boom of a ship unloader, comprising a detection device body, the detection device body including a detection box 1, a transmission mechanism 5, an auxiliary positioning component 6, and a support frame, the support frame including a top support frame 2 and a bottom support frame 3, a positioning sleeve 4 welded to the bottom of the detection box 1, the auxiliary positioning component 6 screwed to the end of the bottom support frame 3, a docking sleeve 31 inserted into the bottom of the positioning sleeve 4, and the auxiliary positioning component 6 resting against the end of the docking sleeve 31 after the vertical boom swings. The detection box 1 houses a laser ranging module 10. A transmission mechanism 5 is mounted on the side of the detection box 1, and the laser ranging module 10 is screwed onto the surface of the transmission mechanism 5. A base plate 7 is located at the bottom of the detection box 1, and a ranging plate 11 is mounted on the surface of the base plate 7. The ranging plate 11 has an overall arc-shaped structure. The laser ranging module 10 is used to irradiate the surface of the ranging plate 11 or the interior of the positioning sleeve 4. A linkage ball 18 is mounted at one end of the transmission mechanism 5, and the linkage ball 18 is used to embed into the interior of the top support frame 2. This swing angle detection device is used to detect the inward and outward tilting angles of the vertical arm of the unloader during operation, and to detect whether any deformation or bending has occurred.

[0029] During installation, the detection box 1 is mounted on the horizontal arm of the unloader's vertical arm using screws. The top support frame 2 and the bottom support frame 3 are directly fixed to the surface of the unloader's vertical arm. When the unloader's control system drives the vertical arm to swing inwards and outwards, the top transmission mechanism 5 and the bottom auxiliary positioning component 6 are triggered by the support frames at both ends. During this process, the laser ranging module 10 inside the detection box 1 is triggered to rotate by the top transmission mechanism 5. Different distance data are obtained when the laser ranging module 10 rotates to different angles and inwards or outwards. Therefore, the current swing direction and specific swing angle of the vertical arm can be obtained directly from the changes in the collected distance data. Simultaneously, the bottom auxiliary positioning component 6 can also detect whether bending deformation has occurred in the bottom end area of ​​the vertical arm when it reaches a vertical position, and whether the vertical arm as a whole has undergone bending deformation in other directions besides inwards and outwards.

[0030] In this embodiment, the transmission mechanism 5 includes a limiting sleeve 8, a rotating sleeve 9, a gear 14, and a rack 13. The rotating sleeve 9 is integrally formed on the surface of the detection box 1. The top of the rotating sleeve 9 is integrally formed with the limiting sleeve 8. A guide channel 36 is provided inside the limiting sleeve 8, and a transmission rod 12 is inserted inside the guide channel 36. A rack 13 is installed at the bottom of the transmission rod 12. A support shaft 15 is inserted inside the rotating sleeve 9. The gear 14 is keyed to the surface of the support shaft 15. A support sleeve 16 is also welded to the surface of the support shaft 15. The laser ranging module 10 is screwed onto the surface of the support sleeve 16. The end of the support shaft 15 is embedded in the inner wall of the detection box 1 through a bearing. The gear 14 and the rack 13 mesh. A linkage rod 17 is welded to the end of the transmission rod 12. A linkage ball 18 is installed at the end of the linkage rod 17. An installation plate 35 is integrally formed on the side of the detection box 1. Both the top support frame 2 and the bottom support frame 3 are fixed to the surface of the vertical arm to be tested with screws. The detection box 1 is fixed to the horizontal arm of the unloader by screws passing through the mounting plate 35. The side of the top support frame 2 has a strip hole 19, and the entire linkage ball 18 and the end of the linkage rod 17 are embedded in the strip hole 19. The support frame is installed on the vertical arm, and the detection box 1 and the transmission mechanism 5 are installed on the horizontal arm. The transmission mechanism 5 is used to transmit the swing angle generated by the vertical arm to the inside of the detection box 1 to trigger the laser ranging module 10 to realize the subsequent detection process. This process can realize the stable transmission of the swing angle. The detection structure is always in a relatively fixed environment, which improves the accuracy of the subsequent swing angle measurement. Moreover, the data collected by the laser ranging module 10 will continuously increase as the vertical arm swings from the outside to the inside. Therefore, the swing angle data can be more intuitively converted into measured distance data for judgment, simplifying the reading difficulty and reducing the learning cost.

[0031] Specifically, when the vertical arm is controlled to swing inward and outward, it will simultaneously drive the top support frame 2 and the bottom support frame 3. At this time, through the strip hole 19 on the top support frame 2, it will drive the inner linkage ball 18, which in turn will push the linkage rod 17, so that the transmission rod 12 at the end of the linkage rod 17 can move in translation within the guide channel 36. The rack 13 at the bottom of the transmission rod 12 drives the gear 14 to rotate, and the gear 14 drives the support shaft 15, the surface support sleeve 16, and the laser ranging module 10 to rotate. The rotation direction of the laser ranging module 10 changes as the vertical arm swings inward or outward, and the swing angle also controls the rotation angle of the laser ranging module 10. The laser ranging module 10 directly illuminates the ranging plate 11 at the bottom of the belt. By illuminating the ranging plate 11 at different positions, the swing angle data of the current vertical arm can be collected.

[0032] In this embodiment, an inner convex ring 29 is provided on the inner wall of the positioning sleeve 4 near the bottom opening. A metal hemisphere 33 is integrally formed at the bottom of the docking sleeve 31, and a positioning hole 34 is opened at the bottom of the metal hemisphere 33. A spring 32 is sleeved on the surface of the guide rod 30, and the two ends of the spring 32 are respectively connected to the bottom surface of the inner convex ring 29 and the surface of the docking sleeve 31. The positioning sleeve 4 is kept vertical. The interior of the detection box 1 is connected to the external space through the positioning sleeve 4, the docking sleeve 31 and the positioning hole 34 in sequence. An auxiliary positioning mechanism is installed at the bottom of the vertical arm through the bottom support frame 3, and the docking sleeve 31 is connected to the bottom of the detection box 1 through the positioning sleeve 4. Therefore, after the top of the vertical arm is rotated to a vertical state, the bottom auxiliary positioning component 6 can be used in conjunction with the docking sleeve 31 to monitor whether the bottom of the vertical arm is tilted, thus further expanding the detection range of the vertical arm.

[0033] Specifically, when the vertical arm is in a completely vertical state, the laser ranging module 10 will also be pushed to a vertically downward angle. Therefore, the laser ranging module 10 will irradiate the bottom area through the bottom positioning sleeve 4, and the ranging laser beam will pass through the positioning hole 34 at the bottom of the docking sleeve 31 to realize the ranging process of the structure outside the positioning hole 34.

[0034] In this embodiment, the auxiliary positioning component 6 includes a blower 21, an air supply pipe 22, and a positioning post 23. An extension rod 20 is integrally formed on the side of the bottom support frame 3, and the blower 21 is screwed to the end of the extension rod 20. The air supply pipe 22 is mounted on the surface of the blower 21. The positioning post 23 is integrally formed on the surface of the air supply pipe 22. An offset detection opening 24 is provided on the surface of the positioning post 23, and a reflective sheet 25 is attached to the top of the positioning post 23. A slag discharge channel 26 is connected to the rear end of the positioning post 23. A groove 27 is provided at the bottom of the offset detection opening 24, and a connecting pipe 28 is provided on the inner wall of the bottom of the groove 27. The blower 21 sequentially blows external air into the air supply pipe 22, the connecting pipe 28, the groove 27, and the slag discharge channel 26. The positioning post 23, after swinging, rests against the surface of the metal hemisphere 33. The laser ranging module 10, through the positioning sleeve 4, irradiates the reflector 25 or the interior of the groove 27. The grooves 27 are symmetrically arranged on both sides of the reflector 25, and the depths of the two grooves 27 are different. This provides inward and outward swing angle detection at both the top and bottom of the vertical arm, and also allows for simultaneous monitoring of lateral deformation of the vertical arm. It further enables the detection of stress deformation in the vertical arm. The auxiliary positioning mechanism has an internal ventilation structure to prevent the accumulation of impurities and dust in the grooves 27, which could cause deviations in the detection results.

[0035] Specifically, when the vertical arm swings to a vertical position, if the end of the vertical arm is also vertical, the positioning post 23 will be pushed against the surface of the metal hemisphere 33 by the bottom support frame 3, and completely aligned with the positioning hole 34 directly below. With the help of the spring 32 on the docking sleeve 31, the positioning hole 34 will be pressed onto the reflector 25. At this point, the laser ranging module 10 can detect the specific position of the bottom reflector 25. This structure allows it to determine that the top and bottom of the vertical arm are on the same vertical line. If the vertical arm swings or deforms in the left or right direction, it will pull the positioning post 23 to move longitudinally, causing the reflector 25 to lose alignment with the positioning hole 34. By illuminating the offset detection openings 24 on both sides with a laser beam, it can be determined that the vertical arm has undergone a left-right bending deformation. In this structure, by periodically starting the blower 21, dust and impurities that have fallen into each groove 27 can be blown out and cleaned through the airflow path.

[0036] The foregoing has shown and described the basic principles and main features of the present invention and its advantages. It will be apparent to those skilled in the art that the present invention is not limited to the details of the above exemplary embodiments, and that the present invention can be implemented in other specific forms without departing from the spirit or basic features of the present invention.

[0037] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A device for detecting the swing angle of a vertical boom of a ship unloader, comprising a detection device body, characterized in that: The detection device body includes a detection box (1), a transmission mechanism (5), an auxiliary positioning component (6), and a support frame. The support frame includes a top support frame (2) and a bottom support frame (3). A positioning sleeve (4) is welded to the bottom of the detection box (1). The auxiliary positioning component (6) is screwed to the end of the bottom support frame (3). A docking sleeve (31) is inserted into the bottom of the positioning sleeve (4), and the auxiliary positioning component (6) rests against the end of the docking sleeve (31) after the vertical arm swings. A laser ranging module (10) is installed inside the detection box (1). A transmission mechanism (5) is installed on the side of the detection box (1). The laser ranging module... (10) is screwed onto the surface of the transmission mechanism (5). The bottom of the detection box (1) is provided with a base plate (7). The surface of the base plate (7) is provided with a ranging plate (11). The ranging plate (11) is generally arc-shaped. The laser ranging module (10) is used to irradiate the surface of the ranging plate (11) or the inside of the positioning sleeve (4). One end of the transmission mechanism (5) is equipped with a linkage ball (18). The linkage ball (18) is used to be embedded into the inside of the top support frame (2). The transmission mechanism (5) includes a limiting sleeve (8), a rotating sleeve (9), a gear (14), and a rack (13). The rotating sleeve (9) is integrally formed on the detection box (5). 1) On the surface of the rotating sleeve (9), the top end of the rotating sleeve (9) is integrally formed with a limiting sleeve (8). The limiting sleeve (8) has a guide channel (36) inside. A transmission rod (12) is inserted inside the guide channel (36). A rack (13) is installed at the bottom of the transmission rod (12). A support shaft (15) is inserted inside the rotating sleeve (9). A gear (14) is keyed to the surface of the support shaft (15). A support sleeve (16) is also welded to the surface of the support shaft (15). The laser ranging module (10) is screwed onto the surface of the support sleeve (16). The end of the support shaft (15) is embedded into the detection box (1) through a bearing. On the inner wall, the gear (14) and rack (13) mesh with each other. The end of the transmission rod (12) is welded with a linkage rod (17). The end of the linkage rod (17) is equipped with a linkage ball (18). The side of the test box (1) is integrally formed with a mounting plate (35). The top support frame (2) and the bottom support frame (3) are both fixed to the surface of the vertical arm to be tested by screws. The test box (1) is fixed to the horizontal arm of the unloader by screws passing through the mounting plate (35). The side of the top support frame (2) is provided with a strip hole (19). The entire linkage ball (18) and the end of the linkage rod (17) are embedded in the inside of the strip hole (19).

2. The device for detecting the swing angle of the vertical arm of a ship unloader according to claim 1, characterized in that: An inner convex ring (29) is provided on the inner wall of the positioning sleeve (4) near the bottom opening. A metal hemisphere (33) is integrally formed at the bottom of the docking sleeve (31). A positioning hole (34) is provided at the bottom of the metal hemisphere (33). A guide rod (30) is provided on the inner convex ring (29). A spring (32) is sleeved on the surface of the guide rod (30). The two ends of the spring (32) are respectively connected to the bottom surface of the inner convex ring (29) and the surface of the docking sleeve (31).

3. The device for detecting the swing angle of the vertical boom of a ship unloader according to claim 2, characterized in that: The positioning sleeve (4) is kept vertical. The interior of the detection box (1) is connected to the external space through the positioning sleeve (4), the docking sleeve (31) and the positioning hole (34) in sequence.

4. The device for detecting the swing angle of the vertical arm of a ship unloader according to claim 2, characterized in that: The auxiliary positioning component (6) includes a blower (21), an air supply pipe (22) and a positioning column (23). An extension rod (20) is integrally formed on the side of the bottom support frame (3). The blower (21) is screwed to the end of the extension rod (20). An air supply pipe (22) is installed on the surface of the blower (21).

5. The device for detecting the swing angle of the vertical arm of a ship unloader according to claim 4, characterized in that: The surface of the air supply pipe (22) is integrally formed with a positioning post (23). The surface of the positioning post (23) is provided with an offset detection opening (24), and a reflective sheet (25) is attached to the top of the positioning post (23). The rear end of the positioning post (23) is connected to a slag discharge channel (26). The bottom of the offset detection opening (24) is provided with a groove (27). A connecting pipe (28) is provided on the bottom inner wall of the groove (27). The blower (21) blows external air into the air supply pipe (22), the connecting pipe (28), the groove (27), and the slag discharge channel (26) in sequence.

6. The device for detecting the swing angle of the vertical arm of a ship unloader according to claim 5, characterized in that: The positioning post (23) is swung and then rests against the surface of the metal hemisphere (33). The laser ranging module (10) irradiates the laser beam onto the reflector (25) or the inside of the groove (27) through the positioning sleeve (4). The groove (27) is symmetrically arranged on both sides of the reflector (25), and the depths inside the two grooves (27) are different.

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