Relative displacement and course angle measuring device for multi-machine following coordination operation

Abstract

The utility model discloses a relative displacement and course angle measuring device for multi-machine following coordination operation, which is mainly used in the field of multi-machine coordination operation in engineering application. Two ends of the measuring rope are respectively connected with the measuring rope take-up reel and the slave vehicle, the bottom of the clockwork spring and the bearing box body is connected with the complete machine installation base through the pivotal bearing, the bearing seats are fixed on two sides of the clockwork spring and the bearing box body, and a central shaft of the measuring rope take-up reel is in rolling connection with the bearings installed in the bearing seats. The rope length measuring encoder is arranged on a central shaft of the measuring rope winding drum, and the yaw angle measuring encoder is arranged on the pivotal bearing. According to the utility model, the distance synchronous control of more than two locomotives in the driving process can be realized, the yaw angle between the slave locomotive and the master locomotive can be measured and synchronously controlled, the environmental adaptability is strong, the system can be suitable for the team application of vehicles / equipment of the same type as well as vehicles / equipment of different types, the cost is low, and the application range is wide. Reliability is high, installation operation is simple, and safety and reliability are achieved.

Description

Technical Field

[0001] The utility model relates to the technical field of multi-machine collaborative operation in engineering applications, and specifically relates to a device for measuring the relative displacement and heading angle between a slave machine and a master machine for multi-machine following and coordinated operation. Background Technique

[0002] At present, most engineering application scenarios involving master-slave machine following, such as multi-machine lifting and handling by tyre cranes, following of the master machine and the slave machine, etc., mostly rely on manual command, and a small number of applications use technologies such as satellite positioning and UWB technology for navigation. The former completely relies on manual labor, with high labor intensity, very low efficiency and reliability, while the latter requires expensive technical investment. Therefore, it is particularly important to research a device for measuring the relative displacement and heading angle between a slave machine and a master machine for multi-machine following and coordinated operation. Summary of the Invention

[0003] To overcome the deficiencies of the prior art, the invention purpose of the utility model is to provide a device for measuring relative displacement and heading angle for multi-machine following and coordinated operation, so as to conveniently and quickly measure the distance between the slave vehicle and the master vehicle and the deviation of their relative heading angles.

[0004] To achieve the above invention purpose, the device for measuring relative displacement and heading angle for multi-machine following and coordinated operation of the utility model includes a measuring rope, a measuring rope cable-receiving reel, a spring and a bearing housing, a slewing bearing, a rope length measuring encoder, and a yaw angle measuring encoder; both ends of the measuring rope are respectively connected to the measuring rope cable-receiving reel and the slave vehicle, the bottom of the spring and bearing housing is connected to the whole machine mounting base through the slewing bearing, a bearing seat 1 is fixed on both sides of the spring and bearing housing, the central shaft of the measuring rope cable-receiving reel is rotatably connected to the bearing installed in the bearing seat 1, the rope length measuring encoder for measuring the length of the pulled-out measuring rope and real-time measuring the relative distance between the master vehicle and the slave vehicle is arranged on the central shaft of the measuring rope cable-receiving reel, and the yaw angle measuring encoder for measuring the deflection angle generated by the deflection and pulling of the measuring rope and real-time measuring the yaw angle between the slave vehicle and the master vehicle is arranged at the center of the slewing bearing.

[0005] Further, one end of the measuring rope is connected to the measuring rope cable-receiving reel through a fixing clip, and the other end of the measuring rope is connected to the slave vehicle through a cable hanging and locking device on the slave vehicle.

[0006] Further, the measuring rope cable-receiving reel can automatically wind up the pulled-out measuring rope with a constant force, and the baffles on both sides of the measuring rope cable-receiving reel protrude from the outer circle of the measuring rope cable-receiving reel.

[0007] Further, a bell mouth rope outlet guiding device is installed on the measuring rope cable-receiving reel.

[0008] Further, a spring winding device is built inside the spring and bearing box. One end of the spring winding device is connected to the central axis of the measuring rope cable reel, and the other end is connected to the inner circular surface of the spring and bearing box. When the traveling direction of the trailing vehicle deflects relative to the leading vehicle, the measuring rope can drive the spring and bearing box to rotate clockwise or counterclockwise along the lower slewing bearing.

[0009] Further, the signal types of the rope length measuring encoder and the yaw angle measuring encoder are incremental signals or bus signals or analog signals.

[0010] Further, the number of coordinated leading and trailing vehicles can be two or more; a multi-machine following and coordinated operation relative displacement and heading angle measuring device is installed on one side of the top of the first leading vehicle, and a cable hanging and locking device is installed on one side of the top of the last trailing vehicle. The multiple locomotives between the first leading vehicle and the last trailing vehicle are both leading vehicles and trailing vehicles, and cable hanging and locking devices and multi-machine following and coordinated operation relative displacement and heading angle measuring devices are installed on both sides of their tops respectively.

[0011] Compared with the prior art, the utility model can not only realize the distance synchronous control of two or more locomotives during driving, but also measure and synchronously control the yaw angle between the trailing vehicle and the leading vehicle. It has strong environmental adaptability and can be applied to the formation of the same type of vehicles / equipment or different types of vehicles / equipment. It has low cost, high reliability, simple installation and operation, and is safe and reliable. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 is a structural schematic diagram of the utility model.

[0013] Figure 2 is Figure 1 a side view of

[0014] Figure 3 is an application schematic diagram of the utility model.

[0015] In the figure: 1, measuring rope; 2, yaw angle measuring encoder; 3, slewing bearing; 4, integral installation base; 5, rope length measuring encoder; 6, measuring rope cable reel; 7, bearing seat; 8, multi-machine following and coordinated operation relative displacement and heading angle measuring device; 9, cable hanging and locking device; 10, leading vehicle; 11, trailing vehicle; 12, spring and bearing box; 13, bell mouth rope outlet guiding device; 14, spring winding device. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0016] As Figure 1 , Figure 2 , Figure 3As shown in the figure, the relative displacement and heading angle measuring device 8 for multi-machine following coordinated operation of the present utility model mainly includes a measuring rope 1, a measuring rope cable reel 6, a spring and bearing box 12, a slewing bearing 3, a rope length measuring encoder 5, and a yaw angle measuring encoder 2. The relative displacement and heading angle measuring device 8 for multi-machine following coordinated operation can not only achieve distance synchronization control of two or more locomotives during driving, but also measure and synchronize control the yaw angle between the following vehicle and the leading vehicle; it has strong environmental adaptability and can be applied to the formation of the same type of vehicles / equipment as well as the formation of different types of vehicles / equipment.

[0017] Both ends of the measuring rope 1 are respectively connected to the measuring rope cable reel 6 and the following vehicle 11. The bottom of the spring and bearing box 12 is connected to the whole machine mounting base 4 through the slewing bearing 3. Bearing seats 7 are fixed on both sides of the spring and bearing box 12. The central shaft of the measuring rope cable reel 6 is in rolling connection with the bearing installed in the bearing seat 7. The rope length measuring encoder 5 is installed on the central shaft of the measuring rope cable reel 6 through a mounting seat for measuring the rope length of the pulled-out measuring rope 1, and the relative distance between the leading vehicle 10 and the following vehicle 11 is measured in real time. The yaw angle measuring encoder 2 is installed at the center of the slewing bearing 3 through a mounting seat for measuring the deflection angle generated by the deflection and pulling of the measuring rope 1, and the yaw angle between the following vehicle 11 and the leading vehicle 10 is measured in real time.

[0018] Preferably, one end of the measuring rope 1 is connected to the measuring rope cable reel 6 through a fixed clamp, and the other end of the measuring rope 1 is connected to the following vehicle 11 through a cable hanging and locking device 9 on the following vehicle 11.

[0019] Preferably, the measuring rope cable reel 6 can automatically wind up the pulled-out measuring rope 1 with a constant force, and the baffles on both sides of the measuring rope cable reel 6 protrude from the outer circle of the measuring rope cable reel 6.

[0020] Preferably, a flared rope outlet guiding device 13 is installed on the measuring rope cable reel 6. When there is a deflection angle between the driving direction of the following vehicle 11 and the leading vehicle 10, the spring and bearing box 12 rotates clockwise or counterclockwise along the lower slewing bearing 3.

[0021] Preferably, a spring winding device 14 is built in the spring and bearing box 12. One end of the spring winding device 14 is connected to the central shaft of the measuring rope cable reel 6, and the other end is connected to the inner circular surface of the spring and bearing box 12. When there is a relative direction deflection between the driving direction of the following vehicle 11 and the leading vehicle 10, the measuring rope 1 can drive the spring and bearing box 12 to rotate clockwise or counterclockwise along the lower slewing bearing 3. The spring winding device 14 is an off-the-shelf component.

[0022] Preferably, the signal types of the rope length measurement encoder 5 and the yaw angle measurement encoder 2 are incremental signals, bus signals or analog signals, which can be freely selected according to different control systems. The rope length measurement encoder 5 calculates the number of winding turns of the measurement rope take-up reel 6 (assuming the measured number of turns on the current layer is N n ), according to the circumference calculation formula circumference S = πD, where D is the diameter of the measurement rope take-up reel 6, then the distance L between the slave vehicle 11 and the master vehicle 10 = S * N n +L 0 , where L 0 is the initial distance between the slave vehicle 11 and the master vehicle 10, that is, the relative displacement change between the slave vehicle 11 and the master vehicle 10 due to speed difference can be measured in real time, and this data can be provided to the control system to adjust the speed of the slave vehicle 11 in real time. When the driving direction of the slave vehicle 11 is inconsistent with the direction of the main machine 10 and there is left and right deflection, the angle of the yaw angle measurement encoder 2 will change due to the dragging of the measurement rope 1. The encoder angle change signal is converted and calculated by the control system signal, and the deflection angle value can be obtained, and the signal is transmitted to the control system, so as to control and adjust the slave vehicle 11 through the control system.

[0023] Preferably, the collaborative quantity of the master vehicle 10 and the slave vehicle 11 can be two or more; on one side of the top of the first master vehicle 10, there is a relative displacement and heading angle measurement device 8 for multi-machine following and coordinated operation, and on one side of the top of the last slave vehicle 11, there is a cable hanging and locking device 9. The multiple locomotives between the first master vehicle 10 and the last slave vehicle 11 are both master vehicles and slave vehicles, and on both sides of their tops, there are respectively a cable hanging and locking device 9 and a relative displacement and heading angle measurement device 8 for multi-machine following and coordinated operation. As Figure 3 shown, if the equipment is numbered C 1 , C 2 , ~C n , if C 1 is the master vehicle, C 2 is the slave vehicle of C 1 , C 3 is the slave vehicle of C 2 , and so on, team applications can be realized.

Claims

1. A relative displacement and heading angle measuring device for multi-machine following coordinated operation, characterized in that: A relative displacement and heading angle measuring device (8) for coordinated operation of multiple machines following each other comprises a measuring rope (1), a measuring rope cable reel (6), a spring and bearing housing (12), a slewing bearing (3), a rope length measuring encoder (5), and a yaw angle measuring encoder (2); the two ends of the measuring rope (1) are respectively connected to the measuring rope cable reel (6) and a follower vehicle (11); the bottom of the spring and bearing housing (12) is connected to a whole machine mounting base (4) via a slewing bearing (3); a bearing seat (7) is fixed on both ends of the spring and bearing housing (12). On the side, the central axis of the measuring rope reel (6) is rollingly connected to the bearing installed in the bearing seat (7), and a rope length measuring encoder (5) is arranged on the central axis of the measuring rope reel (6) for measuring the rope length of the pulled measuring rope (1) and measuring the relative distance between the main vehicle (10) and the slave vehicle (11) in real time. A yaw angle measuring encoder (2) is arranged at the center of the slewing bearing (3) for measuring the deflection angle caused by the deflection and pulling of the measuring rope (1) and measuring the yaw angle between the slave vehicle (11) and the main vehicle (10) in real time.

2. The relative displacement and heading angle measuring device for multi-machine following coordinated operation according to claim 1 is characterized in that: One end of the measuring rope (1) is connected to the measuring rope reel (6) via a fixing clip, and the other end of the measuring rope (1) is connected to the slave vehicle (11) via a hanging cable and a locking device (9) on the slave vehicle (11).

3. The relative displacement and heading angle measuring device for multi-machine following coordinated operation according to claim 1 is characterized in that: The measuring rope reel (6) can automatically reel in the pulled measuring rope (1) with a constant force, and baffles on both sides of the measuring rope reel (6) protrude from the outer circle of the measuring rope reel (6).

4. The relative displacement and heading angle measuring device for multi-machine following coordinated operation according to claim 1 is characterized in that: The measuring rope reel (6) is provided with a bell-shaped rope outlet guide device (13).

5. The relative displacement and heading angle measuring device for multi-machine following coordinated operation according to claim 1, characterized in that: The spring and bearing housing (12) has a spring spring device (14) built in it. One end of the spring spring device (14) is connected to the central axis of the measuring rope reel (6), and the other end is connected to the inner circumferential surface of the spring and bearing housing (12). When the driving direction of the slave vehicle (11) and the master vehicle (10) are deflected in a relative direction, the measuring rope (1) can drive the spring and bearing housing (12) to rotate clockwise or counterclockwise along the slewing bearing (3) below.

6. The relative displacement and heading angle measuring device for multi-machine following coordinated operation according to claim 1, characterized in that: The signal types of the rope length measuring encoder (5) and the yaw angle measuring encoder (2) are incremental signals, bus signals or analog signals.

7. The relative displacement and heading angle measuring device for multi-machine following coordinated operation according to claim 1, characterized in that: The number of the master vehicle (10) and the slave vehicle (11) that can be coordinated can be two or more; a device (8) for measuring the relative displacement and heading angle of a multi-machine following coordinated operation is installed on one side of the top of the first master vehicle (10); a hanging cable and a locking device (9) is installed on one side of the top of the last slave vehicle (11); the multiple locomotives between the first master vehicle (10) and the last slave vehicle (11) are both master vehicles and slave vehicles, and the two sides of the top of the multiple locomotives are respectively installed with a hanging cable and a locking device (9) and a device (8) for measuring the relative displacement and heading angle of a multi-machine following coordinated operation.

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