Pulley type rope state integrated dynamic measuring device and method

Abstract

The application belongs to the technical field of intelligent sensing detection and parameter identification, and particularly relates to a pulley type rope state integrated dynamic measurement device and method. The pulley type rope state integrated dynamic measurement device comprises a support, a central shaft fixedly installed on the support, two double-layer end covers installed on the central shaft, the double-layer end covers being composed of large discs and small discs integrally arranged on the inner side of the large discs, two sliding sleeves meshing with each other arranged between the two large discs, an internal gear installed on the inner circumferential surface of one of the sliding sleeves, the internal gear being meshingly connected with a pinion, the pinion being fixedly installed on the shaft of a measurement encoder, a single-chip microcomputer installed on the inner side of one of the double-layer end covers, and the single-chip microcomputer being electrically connected with a clamping electric cylinder, the measurement encoder, a signal transceiving module and a strain gauge set. The strain gauge set and the measurement encoder are used to cooperatively collect dynamic parameters of the rope, so that the problem that the traditional fixed pulley cannot master the dynamic parameters of the rope in real time is solved.

Description

Technical Field

[0001] This invention belongs to the field of intelligent sensing and parameter identification technology, specifically relating to an integrated dynamic measurement device and method for the state of a pulley-type rope. Background Technology

[0002] Rope-driven robots, such as those used in port cranes, mine hoists, and electric shovels, are core equipment in industrial production, logistics, and energy development. Their operational accuracy, load-bearing safety, and work efficiency directly depend on the mechanical properties and stability of the core transmission component, the rope. As the medium for force and motion transmission, the rope's equivalent stiffness, Young's modulus, and other characteristic parameters dynamically change with load properties, environmental temperature and humidity, and wear fatigue. Failure to accurately and in real-time monitor these rope parameters can easily lead to large positioning errors, uneven load distribution, and even safety risks such as rope breakage and load falls.

[0003] Existing rope parameter identification technologies typically include offline and online measurement schemes. Offline measurement schemes apply standard loads to rope samples using a tensile testing machine and measure the stress-strain relationship to identify Young's modulus. However, laboratory environments often differ significantly from actual working conditions, leading to parameter identification results that do not accurately reflect real-world conditions. Online measurement schemes typically use tension sensors to measure rope tension and displacement sensors to measure rope deformation. However, these additional tension and displacement sensors are prone to damage from overload and vibration, have short average lifespans, poor integration, and consume considerable space.

[0004] In rope-driven robots, the core function of a fixed pulley is to support the rope and change the direction of force; it lacks parameter sensing and identification capabilities. During robot operation, the fixed pulley acts only as a passive transmission component, unable to provide the control system with dynamic rope parameters. Therefore, we propose an integrated device and method for pulley-type rope parameter identification and multi-state dynamic measurement. This device can replace the original fixed pulley system, dynamically identifying parameters such as tension, deformation, equivalent stiffness, and Young's modulus of the rope in real time. Based on multi-dimensional information, it provides intelligent early warning of rope breakage or fatigue, can withstand large loads, and has a high degree of integration. Summary of the Invention

[0005] This invention addresses the above-mentioned problems by providing an integrated dynamic measurement device and method for the state of a pulley-type rope.

[0006] To achieve the above objectives, the present invention employs the following technical solution:

[0007] An integrated dynamic measurement device for the state of a pulley-type rope includes a support, on which a central shaft is fixedly mounted. The central shaft is a stepped shaft, comprising a first outer shaft section and a second outer shaft section. The first outer shaft section passes through the support, and a shoulder between the first and second outer shaft sections abuts against the outer side of the support. Two double-layer end caps are mounted on the central shaft, located inside the support. The double-layer end caps are fixedly connected to the support by positioning pins. Each double-layer end cap consists of a large disc and a small disc integrally disposed inside the large disc. Two meshing sliding sleeves are disposed between the two large discs. Tapered roller bearings are mounted on the small discs. An annular ring for limiting the movement of the tapered roller bearings is provided on the inner circumference of the sliding sleeves. The tapered roller bearing has an inner ring that contacts the outer circumferential surface of a small disc, an outer ring that contacts the inner circumferential surface of a sliding sleeve, a small end face that contacts the inner side of a large disc, and a large end face that contacts the annular retaining ring. An internal gear is mounted on the inner circumferential surface of one of the sliding sleeves. Multiple first-positioning grooves are evenly distributed on the outer circumferential surface of the internal gear. A first-positioning block corresponding to a first-positioning groove is fixedly disposed on the inner circumferential surface of the sliding sleeve. One side of the internal gear contacts an adjacent annular retaining ring, and the other side contacts a limiting block. The limiting block is fixedly disposed on another sliding sleeve. The internal gear is meshed with a pinion. The pinion is fixedly mounted on the shaft of the measuring encoder, which is fixedly mounted on a connecting plate. The connecting plate is fixedly mounted on a flange shaft, which is fixedly connected to an adjacent small disc. A clamping ring is fitted on the outer circumference of the large disc with the double-layer end cap. A rotational clearance is reserved between the clamping ring and the sliding sleeve. Multiple mounting ears are evenly fixed on the clamping ring. A clamping electric cylinder is installed between two corresponding mounting ears on the left and right sides. A rectangular plate is integrally mounted on one of the clamping rings, which is fixedly connected to a support by bolts. Multiple second-order limit grooves are evenly opened on the inner circumference of the other clamping ring. Second-order limit blocks are slidably arranged in the second-order limit grooves. The second-order limit blocks are slidably mounted by a countersinking mechanism. The head bolts are fixedly installed on the corresponding double-layer end caps. The clamping ring is guided by the cooperation of the second limiting groove and the second limiting block. A thrust ball bearing is provided on the inner side of the clamping ring. Several preload adjustment ring groups are arranged between two thrust ball bearings. A positioning sleeve is provided between adjacent preload adjustment ring groups. The preload adjustment ring groups are used to clamp ropes. A battery compartment is provided on the inner side of one of the double-layer end caps, and a storage battery is placed inside the battery compartment. A door is provided at the opening of the battery compartment. A microcontroller is installed on the inner side of one of the double-layer end caps, and a signal transceiver module is installed on the outer side of one of the double-layer end caps. The measuring encoder, storage battery, microcontroller, and signal transceiver module are located on the same double-layer end cap.A strain gauge assembly is mounted on the outer circumference of the central shaft. The battery powers the measuring encoder, clamping cylinder, microcontroller, signal transceiver module, and strain gauge assembly. The microcontroller is electrically connected to the clamping cylinder, measuring encoder, signal transceiver module, and strain gauge assembly.

[0008] Furthermore, a through hole is formed along the axis of the central shaft. The through hole is divided into three sections. The center of the strain gauge group and the through hole of the middle section are located on the same vertical line. The through hole of the middle section is located between two double-layer end caps.

[0009] Furthermore, the strain gauge assembly is attached to the outer circumference of the central axis using a three-gauge right-angle strain rosette method.

[0010] Furthermore, the pre-tightening adjustment ring assembly includes two symmetrically arranged adjustment rings. An arc-shaped rope groove is provided on the opposite surface of the adjustment ring for securing the rope. Multiple No. 3 limit blocks are evenly arranged on the inner circumference of the adjustment ring. No. 3 limit grooves are provided on both sliding sleeves, which correspond to each other and are spliced ​​together, allowing the No. 3 limit blocks to slide.

[0011] An integrated dynamic measurement method for the state of pulley-type ropes includes the following steps:

[0012] S1, The pulley-type rope state integrated dynamic measurement device is installed on the rope-driven robot. One end of the rope is connected to the winch, and the other end of the rope is connected to the load after passing through the pre-tensioning adjustment ring group.

[0013] S2, the controller of the rope-driven robot sends a pre-tensioning command to the signal transceiver module, which then transmits the signal to the microcontroller. The microcontroller controls multiple clamping electric cylinders to contract synchronously, causing two adjusting rings in the pre-tensioning adjusting ring group to move closer together, increasing the clamping force on the rope. At the same time, the microcontroller continuously generates timestamps. ;

[0014] S3, during the operation of the rope-driven robot, the rope drives the preload adjusting ring and sliding sleeve to rotate through the clamping force, which in turn drives the internal gear to rotate. The rotation of the internal gear drives the small gear to rotate, and the encoder records the rotation angle of the small gear. Measure the angle by which the encoder rotates the pinion. The data is transmitted to the microcontroller.

[0015] S4, the signal transceiver module receives information from the winch encoder on the winch in real time to obtain the driving length of the rope. and drive length The data is transmitted to the microcontroller.

[0016] S5, Obtain the magnitude of the bending strain of the central shaft using a strain gauge set. and direction and will and The value is passed to the microcontroller;

[0017] S6, the real-time length of the rope is the sum of the driving length and the deformation length of the rope, and the real-time length of the rope is expressed as: ;in, It is the vertical distance from the lower end of the arc-shaped rope groove to the central axis. This represents the number of teeth on the internal gear. This represents the number of teeth on the pinion.

[0018] The effective tension end length of the rope from the point of tangency leaving the winch drum to the point of tangency leaving the arc-shaped rope groove can be expressed as: ;in, The effective tension end length of the rope from the point of tangency when it leaves the drum of the winch to the point of tangency when it enters the arc-shaped rope groove; The central angle is the angle corresponding to the tensioned section of the rope from the point of tangency when it enters the arc groove to the vertical apex of the arc groove.

[0019] The deformation of a rope can be expressed as: ;

[0020] The resultant force transmitted from the two double-layered end caps to the central axis can be expressed as: ;in, The elastic modulus of the central axis; The outer diameter of the first outer shaft segment; This refers to the inner diameter of the through hole in the middle section; The distance between the point where the double-layer end cap applies force to the central axis and the point where the support rests on the central axis;

[0021] The tension in a single rope can be expressed as: ; The number of ropes;

[0022] The Young's modulus of a rope can be expressed as: ; Let be the cross-sectional area of ​​the rope;

[0023] The equivalent stiffness of a rope can be expressed as: ; This is the elasticity correction factor for the rope;

[0024] The S7 microcontroller provides real-time warnings of rope breakage and fatigue risks, enabling real-time monitoring and risk alerts for the rope's condition.

[0025] When the tension on a single rope Exceeding the rope's safe tensile strength threshold When the cable is at 70% capacity, the microcontroller outputs a cable breakage risk signal.

[0026] When the rope deformation exceeds the rope's deformation threshold, i.e. At that time, the microcontroller outputs a cable breakage risk signal;

[0027] When the Young's modulus of the rope decreases by more than 10%, that is At that time, the microcontroller outputs a fatigue risk signal;

[0028] When the change in the equivalent stiffness of the rope exceeds 15%, that is... At that time, the microcontroller outputs a fatigue risk signal.

[0029] Compared with the prior art, the present invention has the following advantages:

[0030] This invention fully integrates load-bearing guidance, parameter identification, and intelligent early warning functions, replacing the original fixed pulley system. It can significantly save equipment installation space and improve the accuracy of parameter measurement and identification, solving the problems of disconnect between offline testing schemes and actual conditions, and poor integration of online measurement schemes.

[0031] The support, central shaft, and other structures in this invention are compatible with the existing fixed pulley installation interface, eliminating the need to modify the main structure of the rope-driven robot and allowing for replacement. The strain gauge group, measuring encoder, and microcontroller are all built-in, making them less prone to damage and solving the problems of short lifespan and difficult replacement of external sensors in traditional offline testing solutions.

[0032] This invention transmits motion through a rope, a pre-tensioning adjustment ring group, a sliding sleeve, an internal gear, a pinion, and a measuring encoder, while simultaneously clamping the rope with a clamping electric cylinder. There are no additional intermediate adapters, thus avoiding the gap errors caused by the multi-stage splicing in traditional solutions.

[0033] This invention uses strain gauges and a measuring encoder to collaboratively collect the dynamic parameters of the rope and provides real-time warnings of risks such as rope breakage and fatigue. This solves the problem that traditional fixed pulleys cannot monitor the dynamic parameters of the rope in real time and cannot predict rope risks and fatigue risks, which can easily lead to safety accidents. Attached Figure Description

[0034] Figure 1 This is a schematic diagram of the structure of the present invention;

[0035] Figure 2 This is an isometric view of the present invention;

[0036] Figure 3 This is a schematic diagram of the structure of the two sliding sleeves meshing with each other in this invention;

[0037] Figure 4 This is a schematic diagram of the internal structure of the sliding sleeve of the present invention;

[0038] Figure 5 This is a schematic diagram of the installation of the sliding sleeve and the internal gear of the present invention;

[0039] Figure 6 This is a schematic diagram of the installation of the sliding sleeve and the first limiting block of the present invention;

[0040] Figure 7 This is a schematic diagram of the installation of the sliding sleeve and the limiting block of the present invention;

[0041] Figure 8 For the present invention Figure 2 A magnified view of a portion of circle A in the center;

[0042] Figure 9 This is a cross-sectional view of the present invention;

[0043] Figure 10 This is a schematic diagram of the regulating single ring structure of the present invention;

[0044] Figure 11 This is a side view of the present invention;

[0045] In the diagram, 1 is the support, 2 is the central shaft, 3 is the double-layer end cap, 4 is the positioning pin, 5 is the sliding sleeve, 6 is the tapered roller bearing, 7 is the annular retaining ring, 8 is the internal gear, 9 is the first limiting groove, 10 is the first limiting block, 11 is the limiting block, 12 is the pinion, 13 is the measuring encoder, 14 is the connecting plate, 15 is the flange shaft, 16 is the clamping ring, 17 is the mounting ear, 18 is the clamping electric cylinder, 19 is the rectangular plate, 20 is the second limiting groove, 21 is the second limiting block, 22 is the thrust ball bearing, 23 is the preload adjusting ring group, 24 is the positioning sleeve, 25 is the rope, 26 is the battery compartment, 27 is the storage battery, 28 is the compartment door, 29 is the microcontroller, 30 is the signal transceiver module, 31 is the strain gauge group, 32 is the through hole, 33 is the third limiting groove, 2301 is the adjusting single ring, 2302 is the arc-shaped rope groove, and 2303 is the third limiting block. Detailed Implementation

[0046] To further illustrate the technical solution of the present invention, the present invention will be further described below through embodiments.

[0047] like Figures 1 to 11A pulley-type rope state integrated dynamic measurement device includes a support 1, on which a central shaft 2 is fixedly installed. The central shaft 2 is a stepped shaft, including a first outer shaft section and a second outer shaft section. The first outer shaft section passes through the support 1, and a shoulder between the first and second outer shaft sections abuts against the outside of the support 1. A through hole 32 is opened along the axis of the central shaft 2. The through hole 32 is divided into three sections. The center of the strain gauge group 31 and the center of the through hole 32 in the middle section are located on the same vertical line. The through hole 32 in the middle section is located between two double-layer end caps 3. Two double-layer end caps 3 are installed on the central shaft 2. The double-layer end caps 3 are located inside the support 1 and are fixedly connected to the support 1 by positioning pins 4. The end cap 3 consists of a large disc and a small disc integrally formed inside the large disc. Two meshing sliding sleeves 5 are arranged between the two large discs. A tapered roller bearing 6 is mounted on the small disc. An annular retaining ring 7 for limiting the position of the tapered roller bearing 6 is provided on the inner circumferential surface of the sliding sleeve 5. The inner ring of the tapered roller bearing 6 contacts the outer circumferential surface of the small disc, the outer ring of the tapered roller bearing 6 contacts the inner circumferential surface of the sliding sleeve 5, the small end face of the tapered roller bearing 6 contacts the inner side of the large disc, and the large end face of the tapered roller bearing 6 contacts the annular retaining ring 7. An internal gear 8 is mounted on the inner circumferential surface of one of the sliding sleeves 5. Multiple evenly spaced grooves are formed on the outer circumferential surface of the internal gear 8. A first limiting groove 9 is provided, and a first limiting block 10 corresponding to the first limiting groove 9 is fixedly provided on the inner circumferential surface of the sliding sleeve 5. One side of the internal gear 8 is in contact with the adjacent annular retaining ring 7, and the other side of the internal gear 8 is in contact with the limiting block 11. The limiting block 11 is fixedly provided on another sliding sleeve 5. The internal gear 8 is meshed with a small gear 12, and the small gear 12 is fixedly mounted on the shaft of the measuring encoder 13. The measuring encoder 13 is fixedly mounted on the connecting plate 14, and the connecting plate 14 is fixedly mounted on the flange shaft 15. The flange shaft 15 is fixedly connected to an adjacent small disc. A clamping ring 16 is sleeved on the outer circumferential surface of the large disc of the double-layer end cover 3. The clamping ring 16 is connected to the sliding sleeve 5. A rotational clearance is reserved between the sleeves 5. Multiple mounting ears 17 are evenly fixedly arranged on the clamping ring 16. A clamping electric cylinder 18 is installed between two corresponding mounting ears 17 on the left and right sides. A rectangular plate 19 is integrally formed on one of the clamping rings 16, and the rectangular plate 19 is fixedly connected to the support 1 by bolts. Multiple second-order limiting grooves 20 are evenly opened on the inner circumference of the other clamping ring 16. A second-order limiting block 21 is slidably arranged in the second-order limiting groove 20. The second-order limiting block 21 is fixedly installed on the corresponding double-layer end cap 3 by countersunk bolts. The cooperation between the second-order limiting groove 20 and the second-order limiting block 21 guides the clamping ring 16. A thrust ball bearing 22 is provided on the inner side of the clamping ring 16.A plurality of preload adjusting ring assemblies 23 are provided between the two thrust ball bearings 22, and positioning sleeves 24 are provided between adjacent preload adjusting ring assemblies 23. The preload adjusting ring assemblies 23 are used to clamp ropes 25. A battery compartment 26 is provided on the inner side of one of the double-layer end caps 3, and a battery 27 is placed in the battery compartment 26. A compartment door 28 is provided at the opening of the battery compartment 26. A microcontroller 29 is installed on the inner side of one of the double-layer end caps 3, and a microcontroller 29 is installed on the outer side of one of the double-layer end caps 3. A signal transceiver module 30 is included. The measuring encoder 13, battery 27, microcontroller 29, and signal transceiver module 30 are located on the same double-layer end cover 3. A strain gauge group 31 is attached to the outer circumference of the central shaft 2 using a three-piece right-angle strain rosette method. The battery 27 supplies power to the measuring encoder 13, clamping cylinder 18, microcontroller 29, signal transceiver module 30, and strain gauge group 31. The microcontroller 29 is electrically connected to the clamping cylinder 18, measuring encoder 13, signal transceiver module 30, and strain gauge group 31.

[0048] The pre-tightening adjustment ring group 23 includes two symmetrically arranged adjustment rings 2301. An arc-shaped rope groove 2302 is provided on the opposite surface of the adjustment ring 2301 for clamping the rope 25. A plurality of third limit blocks 2303 are evenly arranged on the inner circumferential surface of the adjustment ring 2301. A third limit groove 33 is provided on each of the two sliding sleeves 5, which corresponds to and splices each other and allows the third limit block 2303 to slide.

[0049] An integrated dynamic measurement method for the state of pulley-type ropes includes the following steps:

[0050] S1, the pulley-type rope state integrated dynamic measurement device is installed on the rope-driven robot, one end of the rope 25 is connected to the winch, and the other end of the rope 25 is connected to the load after passing through the pre-tightening adjustment ring group 23.

[0051] S2, the controller of the rope-driven robot sends a pre-tensioning command to the signal transceiver module 30, which in turn transmits the signal to the microcontroller 29. The microcontroller 29 controls multiple clamping electric cylinders 18 to contract synchronously, causing two adjusting rings 2301 in the pre-tensioning adjusting ring group 23 to move closer together, increasing the clamping force on the rope 25. At the same time, the microcontroller 29 continuously generates timestamps. ;

[0052] S3, during the operation of the rope-driven robot, the rope 25 drives the pre-tension adjustment ring group 23 and the sliding sleeve 5 to rotate through the clamping force, which in turn drives the internal gear 8 to rotate. The rotation of the internal gear 8 drives the small gear 12 to rotate, and the measuring encoder 13 records the rotation angle of the small gear 12. The encoder 13 measures the angle by which the pinion 12 rotates. Transmitted to microcontroller 29;

[0053] S4, the signal transceiver module 30 receives information from the winch encoder on the winch in real time to obtain the drive length of the rope 25. and drive length Transmitted to microcontroller 29;

[0054] S5, the magnitude of the bending strain of the central shaft 2 is obtained through strain gauge group 31. and direction and will and The value is passed to the microcontroller 29;

[0055] S6, the real-time length of rope 25 is the sum of the driving length and the deformation length of rope 25, and the real-time length of rope 25 is expressed as: ;in, The vertical distance from the lower end of the arc-shaped rope groove 2302 to the axis of the central shaft 2. This represents the number of teeth on internal gear 8. This represents the number of teeth on pinion 12.

[0056] The effective tension end length of rope 25 from the point of tangency away from the winch drum to the point of tangency away from the arc-shaped rope groove 2302 can be expressed as: ;in, The effective tension end length of rope 25 from the point of tangency when it leaves the drum of the winch to the point of tangency when it enters the arc-shaped rope groove 2302; The central angle corresponding to the tensioning segment of the rope 25 from the point of tangency when it enters the arc-shaped rope groove 2302 to the vertical apex of the arc-shaped rope groove 2302;

[0057] The deformation of rope 25 can be expressed as: ;

[0058] The resultant force transmitted from the two double-layer end caps 3 to the central shaft 2 can be expressed as: ;in, The elastic modulus of the central axis 2; The outer diameter of the first outer shaft segment; The inner diameter of the through hole 32 in the middle section; The distance between the force application point of the double-layer end cap 3 on the central axis 2 and the support point of the support 1 on the central axis 2;

[0059] The tension in a single rope 25 can be expressed as: ; The number of ropes is 25;

[0060] The Young's modulus of rope 25 can be expressed as: ; Let be the cross-sectional area of ​​rope 25;

[0061] The equivalent stiffness of rope 25 can be expressed as: ; The elasticity correction factor for rope 25;

[0062] S7, the microcontroller 29 provides real-time warnings of rope breakage and fatigue risks, enabling real-time monitoring and risk warning of the rope 25's condition:

[0063] When the tension on a single rope 25 Exceeding the rope's 25 safety tensile strength threshold When the cable breaks at 70% speed, the microcontroller 29 outputs a cable breakage risk signal.

[0064] When the deformation of rope 25 exceeds the deformation threshold of rope 25, that is At that time, the microcontroller 29 outputs a cable breakage risk signal;

[0065] When the Young's modulus of the rope decreases by more than 10%, that is... At that time, the microcontroller 29 outputs a fatigue risk signal;

[0066] When the equivalent stiffness of rope 25 changes by more than 15%, that is At that time, the microcontroller 29 outputs a fatigue risk signal.

[0067] The foregoing has shown and described the main features and advantages of the present invention. It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, it is intended that all variations falling within the meaning and scope of equivalents of the claims be included within the present invention.

[0068] 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 pulley-type rope state integrated dynamic measurement device, characterized in that: The device includes a support (1), on which a central shaft (2) is fixedly installed. The central shaft (2) is a stepped shaft, including a first outer shaft section and a second outer shaft section. The first outer shaft section passes through the support (1), and the shoulder between the first and second outer shaft sections abuts against the outside of the support (1). Two double-layer end caps (3) are installed on the central shaft (2). The double-layer end caps (3) are located inside the support (1) and are fixedly connected to the support (1) by a positioning pin (4). The double-layer end caps (3) consist of a large disc and a small disc integrally disposed inside the large disc. Two mutually meshing sliding sleeves (5) are provided between the two large discs. A tapered roller bearing (6) is installed on the small disc. An annular retaining ring (7) for limiting the tapered roller bearing (6) is provided on the inner circumferential surface of the sliding sleeve (5). The inner ring of the tapered roller bearing (6) is in contact with the outer circumferential surface of the small disc, the outer ring of the tapered roller bearing (6) is in contact with the inner circumferential surface of the sliding sleeve (5), the small end face of the tapered roller bearing (6) is in contact with the inner side of the large disc, and the large end face of the tapered roller bearing (6) is in contact with the annular retaining ring (7). An internal gear (8) is installed on the inner circumferential surface of one of the sliding sleeves (5). Multiple first-positioning grooves (9) are evenly opened on the outer circumferential surface of the internal gear (8). A corresponding first-positioning groove (9) is fixedly provided on the inner circumferential surface of the sliding sleeve (5). The limiting block (10) has one side of the internal gear (8) in contact with the adjacent annular retaining ring (7), and the other side of the internal gear (8) in contact with the limiting block (11). The limiting block (11) is fixedly mounted on another sliding sleeve (5). The internal gear (8) is meshed with a small gear (12). The small gear (12) is fixedly mounted on the shaft of the measuring encoder (13). The measuring encoder (13) is fixedly mounted on the connecting plate (14). The connecting plate (14) is fixedly mounted on the flange shaft (15). The flange shaft (15) is fixedly connected to the adjacent small disc. A clamping ring (16) is sleeved on the outer circumferential surface of the large disc of the double-layer end cover (3). The clamping ring (16) is connected to the sliding sleeve (5). A rotation gap is reserved between the sleeves (5). Multiple mounting ears (17) are evenly fixed on the clamping ring (16). A clamping electric cylinder (18) is installed between two corresponding mounting ears (17) on the left and right sides. A rectangular plate (19) is integrally provided on one of the clamping rings (16). The rectangular plate (19) is fixedly connected to the support (1) by bolts. Multiple second-level limiting grooves (20) are evenly opened on the inner circumference of the other clamping ring (16). A second-level limiting block (21) is slidably provided in the second-level limiting groove (20). The second-level limiting block (21) is fixedly installed on the corresponding double-layer end cap (3) by countersunk bolts. Through the cooperation of the second-level limiting groove (20) and the second-level limiting block (21),To guide the clamping ring (16), a thrust ball bearing (22) is provided on the inner side of the clamping ring (16). Several preload adjustment ring groups (23) are provided between two of the thrust ball bearings (22). A positioning sleeve (24) is provided between adjacent preload adjustment ring groups (23). The preload adjustment ring groups (23) are used to clamp the rope (25). A battery compartment (26) is provided on the inner side of one of the double-layer end caps (3). A storage battery (27) is placed in the battery compartment (26). A compartment door (28) is provided at the opening of the battery compartment (26). A microcontroller (29) is installed on the inner side of one of the double-layer end caps (3). A signal transceiver module (30) is installed on the outside of one of the double-layer end caps (3). The measuring encoder (13), battery (27), microcontroller (29), and signal transceiver module (30) are located on the same double-layer end cap (3). A strain gauge group (31) is installed on the outer circumference of the central shaft (2). The battery (27) is used to power the measuring encoder (13), clamping cylinder (18), microcontroller (29), signal transceiver module (30), and strain gauge group (31). The microcontroller (29) is electrically connected to the clamping cylinder (18), measuring encoder (13), signal transceiver module (30), and strain gauge group (31).

2. The integrated dynamic measurement device for pulley-type rope status according to claim 1, characterized in that: A through hole (32) is opened along the axis of the central shaft (2). The through hole (32) is divided into three sections. The center of the strain gauge group (31) and the through hole (32) of the middle section are located on the same vertical line. The through hole (32) of the middle section is located between two double-layer end caps (3).

3. The integrated dynamic measurement device for pulley-type rope status according to claim 2, characterized in that: The strain gauge group (31) is attached to the outer circumference of the central axis (2) using a three-piece right-angle strain flower method.

4. The integrated dynamic measurement device for pulley-type rope status according to claim 3, characterized in that: The pre-tightening adjustment ring group (23) includes two symmetrically arranged adjustment rings (2301). An arc-shaped rope groove (2302) is provided on the opposite surface of the adjustment ring (2301) for clamping the rope (25). Multiple No. 3 limit blocks (2303) are evenly arranged on the inner circumference of the adjustment ring (2301). No. 3 limit grooves (33) are provided on both sliding sleeves (5) for mutual correspondence and splicing, and for sliding of the No. 3 limit blocks (2303).

5. A method for integrated dynamic measurement of pulley-type rope status, characterized in that: The integrated dynamic measurement device for pulley-type rope status as described in claim 4 includes the following steps: S1, the pulley-type rope state integrated dynamic measurement device is installed on the rope-driven robot, one end of the rope (25) is connected to the winch, and the other end of the rope (25) is connected to the load after passing through the pre-tightening adjustment ring group (23); S2, the controller of the rope-driven robot sends a pre-tightening command to the signal transceiver module (30), which then transmits the signal to the microcontroller (29). The microcontroller (29) controls multiple clamping electric cylinders (18) to contract synchronously, causing the two adjusting rings (2301) in the pre-tightening adjusting ring group (23) to move closer together, increasing the clamping force on the rope (25). At the same time, the microcontroller (29) continuously generates timestamps. ; S3, When the rope-driven robot is working, the rope (25) drives the pre-tension adjustment ring group (23) and the sliding sleeve (5) to rotate through the clamping force, which in turn drives the internal gear (8) to rotate. The rotation of the internal gear (8) drives the small gear (12) to rotate. The encoder (13) records the rotation angle of the small gear (12). The angle by which the encoder (13) rotates the pinion (12) is measured. Transmitted to the microcontroller (29); S4, the signal transceiver module (30) receives information from the winch encoder on the winch in real time to obtain the driving length of the rope (25). and drive length Transmitted to the microcontroller (29); S5, the magnitude of the bending strain of the central axis (2) is obtained through the strain gauge group (31). and direction and will and The value is passed to the microcontroller (29); S6, the real-time length of the rope (25) is the sum of the driving length and the deformation length of the rope (25), and the real-time length of the rope (25) is expressed as: ;in, The vertical distance from the lower end of the arc-shaped rope groove (2302) to the axis of the central shaft (2) is the vertical distance. The number of teeth of the internal gear (8) The number of teeth of the pinion (12); The effective tension end length of the rope (25) from the point of tangency away from the winch drum to the point of tangency away from the arc-shaped rope groove (2302) can be expressed as: ;in, The effective tension end length of the rope (25) from the point of tangency when it leaves the drum of the winch to the point of tangency when it enters the arc-shaped rope groove (2302); The central angle of the tensioning segment of the rope (25) from the point of tangency where it enters the arc-shaped rope groove (2302) to the vertical apex of the arc-shaped rope groove (2302); The deformation of the rope (25) can be expressed as: ; The resultant force transmitted from the two double-layered end caps (3) to the central shaft (2) can be expressed as: ;in, The elastic modulus of the central axis (2); The outer diameter of the first outer shaft segment; The inner diameter of the through hole (32) in the middle section; The distance between the point where the double-layer end cap (3) applies force to the central axis (2) and the point where the support (1) supports the central axis (2); The tension in a single rope (25) can be expressed as: ; The number of ropes (25); The Young's modulus of the rope (25) can be expressed as: ; Let be the cross-sectional area of ​​the rope (25); The equivalent stiffness of the rope (25) can be expressed as: ; is the elasticity correction factor for the rope (25); S7, the microcontroller (29) performs real-time early warning of rope breakage risk and fatigue risk, realizing real-time monitoring and risk warning of the rope (25) status: When the tension on a single rope (25) Exceeding the rope's (25) safety tension threshold When the cable breaks at 70%, the microcontroller (29) outputs a cable breakage risk signal. When the deformation of the rope (25) exceeds the deformation threshold of the rope (25), that is At that time, the microcontroller (29) outputs a cable breakage risk signal; When the Young's modulus of rope (25) decreases by more than 10%, that is At that time, the microcontroller (29) outputs a fatigue risk signal; When the equivalent stiffness of the rope (25) changes by more than 15%, that is At that time, the microcontroller (29) outputs a fatigue risk signal.

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