CN106595839B - The oscillation crosswise measurement method of the elongated mobile rope of degree - Google Patents

Abstract

The invention discloses a method for measuring lateral vibration of a variable-length moving rope, which is characterized in that a rope circulation transmission unit is provided, which is composed of a driving wheel, a driven wheel, a tensioning wheel, a tension sensor wheel train and a first step for driving the driving wheel The motor constitutes a circular gear train, and the rope in a closed loop is wound on the circular gear train to form a rope circular transmission unit in a vertical plane; by setting the independent movement or linkage of the first slider and the second slider, the fixed position of the rope is realized. Working conditions such as length, elongation and shortening and the measurement methods for corresponding working conditions; a displacement measurement system is set; the non-contact displacement sensor group is located directly above the rope, which can measure the vertical position of the mass point on the rope directly below it. Displacement, to realize the lateral vibration measurement of the variable length moving rope, can be used to simulate various working conditions of the moving rope application in engineering, provide an experimental basis for testing the calculation algorithm of the vibration response of the moving rope model, and can be further used for the control of the moving rope vibration.

Description

Transverse Vibration Measurement Method of Variable Length Moving Rope

The application date is 20140903, the application number is 2014104462601, and the title of the invention is an axially moving rope lateral vibration measurement device and measurement method. The applicant is a divisional application of Hefei University of Technology.

technical field

The invention relates to a test device for measuring the lateral vibration of a variable-length moving rope under a given moving speed and tension. More specifically, it relates to a test experiment platform and a test system for non-contact measurement of lateral displacement vibration of a moving rope under a given initial displacement.

Background technique

Axial rope moving system is a type of axial moving system, which has many applications in engineering, such as cable car ropeway, tethered satellite, rope, power transmission belt, magnetic tape, paper tape, etc. The simplified mechanical models of the axial rope moving system can be roughly divided into three categories according to the changing law of the rope length. As shown in Figure 1a, it is a long-term fixed rope moving system, which is characterized by the fact that the length of the research area is constant, the rope has a moving speed, and there are new and disappearing ropes at both ends of the research area. Its application examples include conveyor belts, cable cars, power Transmission belts, etc.; the elongated rope-moving system shown in Figure 1b and the shortened rope-moving system shown in Figure 1c can be classified into one category, which is characterized by changes in the length of the study area, and there are new or disappeared ropes at one end. , its application examples include steel cables of elevators, lifting and lowering of heavy objects by cranes, ropes when the main star of the tethered satellite system releases or recovers sub-stars, etc. Obviously, the vibration response and vibration characteristics of this type of system have important application value for the vibration and stability control of engineering systems.

Because of the movement of the rope system, a coefficient term that changes with time appears in the equation, forming a parametric excitation. This type of vibration is a parametric vibration, and its theoretical solution cannot be obtained by the traditional linear system method. At present, researchers have proposed a variety of numerical calculation methods to solve the vibration problem of the moving rope. For these calculation methods, experimental devices are still needed to test the algorithms. For this reason, the experimental device needs to be able to simulate the three system forms shown in Figure 1a, Figure 1b and Figure 1c, including fixed-length rope moving system and variable-length rope moving system; the speed, direction and The tension of the rope can change the material parameters of the rope, such as density, elastic modulus, etc., can give the rope system specific excitations, such as initial displacement excitation, pulse excitation, etc., and can track and measure the lateral movement of multiple particles on the rope Displacement and lateral displacement of multiple specified points along the length of the rope as the rope moves. But so far, there is no public report of this type of experimental device, and there is no mobile rope vibration test device and measurement platform that can provide multiple working conditions to verify the calculation results of the numerical algorithm.

SUMMARY OF THE INVENTION

The present invention provides a method for measuring the lateral vibration of a variable-length moving rope in order to avoid the shortcomings of the above-mentioned prior art. The calculation method is tested; the second is used to control the vibration of the moving rope; the third is used as an experimental platform for professional teaching and scientific research in colleges and universities.

The present invention adopts following technical scheme for solving technical problems:

The structural features of the axially moving rope lateral vibration measuring device of the present invention are:

The rope circulation transmission unit is set, which is composed of a driving wheel, a driven wheel, a tensioning wheel, a tension sensor wheel system and a first stepping motor for driving the driving wheel to form a circulating wheel system, and a closed loop rope is wound on the circulating wheel Tie up to form a rope circulation transmission unit in the vertical plane; the driving wheel, the driven wheel and the tensioning wheel are fixedly arranged on the bottom plate; the bottom plate coordinate axis is set, and the bottom plate coordinate axis refers to the consolidation on the rope moving direction Coordinate axes on the base plate.

The displacement measurement system is set: it includes a linear guide rail that is horizontally and fixedly installed above the rope and parallel to the moving direction of the rope, a first slider and a second slider that are slidingly matched with the linear guide rail; The lower part is fixedly connected with a beam, and the non-contact displacement sensor group is arranged at the bottom of the beam; a linear ball screw guide rail slide table is arranged horizontally parallel to the linear guide rail, and the linear ball screw guide rail slide table is slidably fitted. The third slider can drive the movement of the first slider and/or the second slider through the longitudinal connecting plate and the transverse connecting plate, and drive the translation of the beam and the non-contact displacement sensor group; the longitudinal connecting plate is used for the first The connection between the three sliders and the first slider or the connection between the third slider and the second slider, the transverse connecting plate is used for the connection of the first slider and the second slider; the longitudinal connecting plate and the transverse connecting plate are easy to disassemble and Installation, through the different installation combinations of the longitudinal connecting plate and the transverse connecting plate to realize the different moving conditions of the rope; the non-contact displacement sensor group is located directly above the rope, and each sensor in the non-contact displacement sensor group can measure The displacement of the mass point on the rope directly below it in the vertical direction; the wheel train of the tension sensor is fixedly connected under the second slide block through the connecting plate.

The structural features of the axially moving rope lateral vibration measuring device of the present invention also lie in:

The non-contact displacement sensor group adopts a laser displacement sensor,

A displacement scale is arranged at the center position of the initial rope length of the rope for measuring the displacement of the center position of the initial rope length.

The ropes in the rope circulation transmission unit can be replaced with different materials.

The rope can be a steel belt, a nylon belt, a cloth belt or a belt.

The characteristics of the lateral vibration measuring method of the variable length moving rope of the present invention are:

Start the first stepping motor and the second stepping motor, the third slider is connected with the first slider through the longitudinal connection plate, the first slider and the second slider are connected through the transverse connection plate, and the first step When the motor drives the first slider and the second slider to move synchronously at a given speed through the third slider on the ball screw guide slide table, it provides a set initial excitation to the rope; the displacement sensor group is extended when the rope is stretched or Tracking and measuring the lateral displacement of the specified particle on the rope when shortening is used to verify the accuracy of the numerical solution algorithm for the lateral vibration model of the particle on the variable length moving rope under the given initial excitation conditions.

Compared with the prior art, the beneficial effects of the present invention are reflected in:

1. The present invention can be used to simulate various working conditions of the mobile rope application in engineering, and can be used to measure the lateral displacement vibration of multiple specific points on the mobile rope under various working conditions, and provide a solution for checking the vibration response calculation algorithm of the mobile rope model. The experimental basis can also be further used to control the vibration of the moving rope, and can be used as an experimental platform for professional teaching and scientific research in colleges and universities;

2. The cooperative use of the first stepping motor and the second stepping motor in the present invention can realize five kinds of measurement working conditions, greatly simplify the control system and reduce control errors;

3. The present invention adopts the ball screw guide rail slide table and the linear guide rail, which effectively improves the stability and accuracy of the experimental transmission, and simultaneously satisfies the synchronization of the up and down motion.

4. The present invention can realize the measurement of lateral vibration displacement of ropes made of different materials by replacing ropes made of different materials.

Description of drawings

Figure 1a is a schematic diagram of the fixed-length rope moving system;

Figure 1b is a schematic diagram of the extended rope moving system;

Figure 1c is a schematic diagram of the shortened rope moving system;

Fig. 2 is a schematic diagram of the facade structure of the present invention;

Fig. 3 is a schematic diagram of cooperation between the linear ball screw guide rail slide table and the linear guide rail in the present invention;

Labels in the figure: 1 base plate, 2 driven wheel, 3 rope, 4 is CHB force value measuring table, 5 linear guide rail, 6 tension sensor wheel train, 7 second slider, 8 displacement sensor group, 9 first slider, 10 Beam, 11 vibration signal acquisition and conditioning module, 12 computer, 13 driving wheel, 14 first stepping motor, 15 motor control panel, 16 motor drive module, 17 third slider, 18 second stepping motor, 19 linear ball wire Bar guide rail slide table, 22 longitudinal connecting plates, 23 transverse connecting plates, 25 fixing bolts, 26 leading screws, 27 displacement scales, 28 tensioning wheels.

Detailed ways

Referring to Fig. 2 and Fig. 3, the structure of the axially moving rope lateral vibration measuring device in this embodiment is set as follows:

The rope circulation transmission unit is set, is to be by driving pulley 13, driven pulley 2, tension pulley 28, tension sensor gear train 6 and the first stepper motor 14 that is used to drive driving pulley 13 to form circulation gear train, is the rope of closed loop. 3. A rope circulation transmission unit in a vertical plane is wound on the circulation wheel train; the driving wheel 13, the driven wheel 2 and the tensioning wheel 28 are fixedly arranged on the bottom plate 1; the bottom plate coordinate axis is set, and the bottom plate coordinate axis refers to the rope moving The coordinate axis fixed on the bottom plate 1 in the direction.

Displacement measurement system is set: it includes a linear guide rail 5 fixedly installed above the rope and parallel to the moving direction of the rope, a first slide block 9 and a second slide block 7 slidingly matched with the linear guide rail 5; The bottom of the block 9 is fixedly connected with a crossbeam 10, and the non-contact displacement sensor group 8 is arranged at the bottom of the crossbeam 10; a linear ball screw guide slide 19 is arranged horizontally parallel to the linear guide rail 5, and a second stepper motor 18 A third slide block 17 is slidably fitted on the linear ball screw guide rail slide table 19 that is driven and driven by a lead screw 26, and the third slide block 17 can drive the first slide through the longitudinal connecting plate 22 and the transverse connecting plate 23. block 9 and/or the movement of the second slider 7, and drive the translation of the beam 10 and the non-contact displacement sensor group 8; wherein, the longitudinal connecting plate 22 is used for the connection of the third slider 17 and the first slider 9 or The connection of the third slider 17 and the second slider 7, the transverse connection plate is used for the connection of the first slider 9 and the second slider 7; the longitudinal connection plate 22 and the transverse connection plate 23 are easy to disassemble, through the longitudinal connection plate 22 and transverse connecting plate 23 different installation combinations to realize the different moving conditions of the rope 3; the non-contact displacement sensor group 8 is located directly above the rope 3, and each position-adjustable sensor in the non-contact displacement sensor group 8 It can measure the displacement of the mass point on the rope directly below it in the vertical direction; the tension sensor wheel train 6 is fixedly connected below the second slider 7 through a connecting plate.

In specific implementation, the corresponding structural settings also include:

The non-contact displacement sensor group 8 adopts a laser displacement sensor; a displacement scale 27 is arranged at the center position of the initial rope length of the rope 3, which is used to measure the displacement of the center position of the initial rope length; the rope 3 in the rope circulation transmission unit can be replaced by Different materials; Rope 3 can be a steel band, a nylon band, a cloth band or a leather belt.

In this embodiment, the axially moving rope lateral vibration measuring device has the following five measuring methods.

Measurement method one:

Start the first stepping motor 14 and the second stepping motor 18, the third slide block 17 is connected with the first slide block 9 through the longitudinal connecting plate 22, and the first sliding block 9 and the second sliding block 7 are connected through the transverse connecting plate 23 When the first stepper motor 18 drives the first slider 9 and the second slider 7 to move synchronously at a given speed through the third slider 17 on the ball screw guide slide 19, a setting is provided for the rope. fixed initial excitation; the displacement sensor group 8 tracks and measures the lateral displacement of the designated particle on the rope when the rope is elongated or shortened, and is used to verify the value of the lateral vibration model of the particle on the variable-length moving rope under the given initial excitation condition The accuracy of the solving algorithm.

Measurement method two,

Start the first stepping motor 14 and the second stepping motor 18, the third slide block 17 is connected with the first slide block 9 by the longitudinal connecting plate 22, the first slide block 9 is not connected with the second slide block 7, utilizes fixing Bolt 25 keeps the second slider 7 in position; the first slider 9 is driven by the second stepping motor 18 through the third slider 17 to move synchronously at a given speed, and the rope 3 moves synchronously at the same speed. At this time, The rope length is a fixed value between the driving wheel 13 and the tension sensor wheel train 6, and between the driven wheel 2 and the tension sensor wheel train 6. The mass point on the rope is moving, providing a set initial excitation for the rope, by The displacement sensor group 8 tracks and measures the lateral displacement of the specified particle on the fixed-length rope when it moves; it is used to verify the accuracy of the numerical solution algorithm for the lateral vibration model of the particle on the fixed-length moving rope under the given initial excitation conditions.

Measurement method three,

Start the first stepping motor 14 and the second stepping motor 18, the third slide block 17 is not connected with the first slide block 9, the third slide block 17 is connected with the second slide block 7 by the transverse connecting plate 23, utilizes fixing The bolt keeps the position of the first slide block 9 unchanged; the second slide block 7 is driven by the second stepper motor 18 through the third slide block 17 to move synchronously at a given speed. At this time, the position of the displacement sensor group 8 is fixed. Provide a set initial excitation to the rope, and use the displacement sensor group 8 to measure the lateral displacement of the rope at a specific point corresponding to the coordinate axis of the bottom plate when the rope is elongated or shortened at different speeds, so as to verify that the variable length Accuracy of the numerical solution algorithm for the lateral vibration model of the moving rope at a specific point on the coordinate axis of the base plate.

Measurement method four:

The second stepper motor 18 stops, and the first stepper motor 14 rotates clockwise or counterclockwise with the set speed. Between the tension sensor wheel train 6 and the fixed value between the driven wheel 2 and the tension sensor wheel train 6, the rope moves right or left at a set speed to provide an initial excitation for the rope, using the displacement sensor group 8 Measure the lateral displacement of a specific point on the coordinate axis of the bottom plate when the fixed-length rope 3 moves left or right at different speeds, and is used to verify the lateral vibration model of a fixed-length moving rope at a specific point on the coordinate axis of the bottom plate under a given initial excitation condition The accuracy of the numerical solution algorithm.

Measurement method five:

The first stepping motor 14 and the second stepping motor 18 are all stopped, the rope 3, the displacement sensor group 8 and the tension sensor wheel train 6 are all in fixed positions, and a set initial excitation is provided for the rope 3, and the displacement sensor group 8 is used to measure The lateral displacement of a given mass point on a rope fixed at both ends is used to verify the accuracy of the numerical solution algorithm for the lateral vibration model of a rope fixed at both ends at a specific point on the coordinate axis of the bottom plate under a given initial excitation condition.

The initial excitation means that a certain initial displacement is given to the midpoint of the fixed-length rope, and then released.

When the second stepping motor 18 does not start, and the first stepping motor 14 rotates clockwise, the fixed-length rope moves to the right; when the second stepping motor 18 does not start, the first stepping motor 14 rotates counterclockwise to realize The fixed-length rope moves to the left, which is the system shown in Figure 1a.

When the second stepper motor 18 is started and the first stepper motor 14 rotates clockwise, the third slider 17 drives the second slider 7 to move horizontally to the right through the longitudinal connecting plate 22, so as to realize the rightward movement and elongation of the rope. That is the system shown in Figure 1b;

When the second stepper motor 18 is started and the first stepper motor 14 rotates counterclockwise, the third slider 17 drives the second slider 7 to move horizontally to the left through the longitudinal connecting plate 22, so that the leftward movement of the rope is shortened, i.e. It is the system shown in Figure 1c.

The displacement scale 27 is arranged at the center of the initial rope length. When the initial condition of the lateral vibration of the rope is the displacement of the center point of the given rope, the displacement scale 27 is used to measure the displacement of this point for numerical calculation.

This embodiment utilizes the first stepper motor to control the transmission speed and direction of the rope, and obtains different vibration characteristics by changing the material of the rope; utilizes the non-contact displacement sensor group 8 to measure the lateral vibration displacement of the rope 3, and utilizes the tension sensor wheel train 6. Measure the internal tension of the rope 3 at the initial moment of rope lateral vibration and during the vibration process, and display it by CHB force value measurement table 4. The initial displacement of the rope 3 is measured by a scale, using multiple position adjustable non-contact Displacement sensors measure lateral displacement at different points on the rope. Cooperate with setting vibration signal acquisition and conditioning module 11 in concrete implementation to condition and store detection signal, and carry out real-time monitoring by computer 12; Motor driver module 16 is set to be used for controlling the start-stop, direction and speed of each stepper motor, thereby simulate multiple A kind of moving rope working condition can meet the needs of various experimental schemes, and the experimental process can be controlled by the operator through the motor control panel 15.

Claims (5)

1. the oscillation crosswise measurement method of the elongated mobile rope of degree, it is characterized in that:

The structure type that axial movement rope oscillation crosswise measuring device is arranged is: setting rope circulation gear unit, is by driving wheel (13), driven wheel (2), tensioning wheel (28), tension sensor train (6) and the first stepping electricity for driving driving wheel (13) Machine (14) composition circulation train is wound on the circulation wheel in the rope (3) of close ring and fastens the rope to be formed in perpendicular circulation biography Moving cell；The driving wheel (13), driven wheel (2) and tensioning wheel (28) are fixed at jointly on bottom plate (1)；Bottom plate is arranged to sit Parameter, the bottom plate reference axis refer to the reference axis being consolidated on bottom plate (1) that rope moves on direction；Displacement measurement system is set: Including in the horizontal top for being fixedly mounted on rope and the linear guide (5) parallel with the moving direction of rope and linear guide (5) The first sliding block (9) and the second sliding block (7) being slidably matched；Crossbeam (10) are fixedly connected with below first sliding block (9), Non-contact displacement transducer group (8) is arranged in the bottom of the crossbeam (10)；It is arranged with the linear guide (5) horizontal parallel There is straight-line ball lead screw guide rails slide unit (19), second stepper motor (18) is for driving the straight-line ball lead screw guide rails slide unit (19), the third sliding block (17) being slidably matched with the straight-line ball lead screw guide rails slide unit (19) can be by longitudinally connected plate (22) and cross connecting plate (23) drives the movement of first sliding block (9) and/or the second sliding block (7), and drives crossbeam (10) and the translation of non-contact displacement transducer group (8)；Longitudinally connected plate (22) is used for third sliding block (17) and the first sliding block (9) connection of connection or third sliding block (17) and the second sliding block (7), cross connecting plate are used for the first sliding block (9) and second The connection of sliding block (7)；Longitudinally connected plate (22) and cross connecting plate (23) are easy to removal and installation, pass through longitudinally connected plate (22) The installation combination different with cross connecting plate (23) realizes the different mobile operating condition of rope (3)；The contactless displacement passes Sensor group (8) is located at the surface of rope (3), and every sensor in non-contact displacement transducer group (8), which can measure, to be located at Displacement of the upper particle of rope in vertical direction immediately below it；The tension sensor train (6) is connected firmly sliding second by connecting plate The lower section of block (7)；

The oscillation crosswise measurement method of the mobile rope of elongated degree is to carry out as follows:

Start the first stepper motor (14) and second stepper motor (18), third sliding block (17) and the first sliding block (9) pass through longitudinal direction Connecting plate (22) is connected, and the first sliding block (9) is connected with the second sliding block (7) by cross connecting plate (23), by the second stepping Motor (18) drives the first sliding block (9) and the second sliding block (7) by the third sliding block (17) on ball-screw guide rail slide unit (19) When with given speed synchronizing moving, the initial excitation of a setting is provided to rope；Non-contact displacement transducer group (8) is being restricted The lateral displacement of particle when moving is specified when elongating or shortening on tracking measurement rope, for verifying given initial excitation condition Under, the accuracy of the numerical solution algorithm of the mobile upper particle oscillation crosswise model of restricting of elongated degree.

2. the oscillation crosswise measurement method of the mobile rope of elongated degree according to claim 1, it is characterized in that: the axial movement Non-contact displacement transducer group (8) in oscillation crosswise measuring device of restricting uses laser displacement sensor.

3. the oscillation crosswise measurement method of the mobile rope of elongated degree according to claim 1, it is characterized in that: the axial movement In oscillation crosswise measuring device of restricting, shift scale (27) are disposed in the initial rope length center of rope (3), it is initial for measuring The displacement of rope length center.

4. the oscillation crosswise measurement method of the mobile rope of elongated degree according to claim 1, it is characterized in that: the axial movement In oscillation crosswise measuring device of restricting, the rope (3) in the rope circulation gear unit can be changed to different materials.

5. the oscillation crosswise measurement method of the mobile rope of elongated degree according to claim 4, it is characterized in that: the rope (3) can To be steel band, nylon tape, strap or belt.