CN101226067A - Turning angle detecting device for project vehicle turning table and project vehicle thereof - Google Patents
Turning angle detecting device for project vehicle turning table and project vehicle thereof Download PDFInfo
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- CN101226067A CN101226067A CNA2008100060562A CN200810006056A CN101226067A CN 101226067 A CN101226067 A CN 101226067A CN A2008100060562 A CNA2008100060562 A CN A2008100060562A CN 200810006056 A CN200810006056 A CN 200810006056A CN 101226067 A CN101226067 A CN 101226067A
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Abstract
The invention discloses a revolving angle detection device for revolving tables of construction vehicles, which comprises an angle measuring unit, a control unit and a zero-point inspection unit; wherein the angle measuring unit is used to measure the revolving angle of a revolving table and send the measurement to the control unit; the zero-point inspection unit defines the zero-point induction signal for the zero point of the rotation angle of the counter-rotating table, and send the signal to the control unit; the control unit is provided with a calibrating program in which a zero-point displacement is obtained according to the zero-point induction signal generated by the zero-point inspection unit and the numerical value captured by the angle measuring unit at that time; based on the zero-point displacement, the control unit converts an output magnitude from the angle measuring unit to be a coordinate angle magnitude taking the specific location of the revolving table as the zero point, and handles the control according to the angle magnitude. The revolving angle detection device has the advantage that very intuitive angle signals can be obtained, and is convenient for applications in occasions such as control against overturning.
Description
Technical field
The present invention relates to the location detecting technology of engineering truck turntable, especially relate to a kind of angle of revolution pick-up unit of engineering truck turntable.The present invention provides the engineering truck that uses said apparatus simultaneously.
Background technology
Design has various turntables so that provide revolute function for the topworks of the multi-faceted operation of needs in many engineering trucks.Modal need the rotating topworks of realization be working arm.For example, engineering trucks such as crane, concrete pump truck, fire truck all have flexible or folding working arm, and these working arms need turn round to realize the elemental operation action of these engineering trucks.For example, object or person person is lifted another place from the three unities, and concrete pouring practice, the omnibearing hoisting and hanging operation of crane etc.Realize that the rotating mode of working arm is, working arm is hinged on the working arm pedestal that is fixed in turntable that working arm integral body is rotated under the drive of turntable, the driving force of turntable rotation is from the hydraulic system of engineering truck.By the way, can realize that the vertical pivot that working arm winds perpendicular to surface level carries out limited angle or comprehensive rotation.
Below be the concrete structure of a kind of turntable of example explanation engineering truck with the truck-mounted crane.As shown in Figure 1, truck-mounted crane 1 comprises chassis 2, protractile supporting leg 3, working arm 4 and can be around a fixing vertical pivot 9 onboard turntables 5 of rotation continuously.Working arm 4 is hinged on the turntable 5 by jointed shaft 13.For adapting to the needs of different operating mode lifting capacities, and improve the travelling performance of complete machine, truck-mounted crane 1 afterbody also is equipped with can be from the damper weight 6 of loading and unloading.After this truck-mounted crane entered the operating area, protractile supporting leg 3 stretched out, and these supporting leg 3 support chassis 2 built on stilts just can carry out hoisting operation then.During operation, working arm 4 around jointed shaft 13 limited rotations, leaves working arm bearing 7 under the effect of oil cylinder 12, just can turn round operation then.During the revolution operation, the hydraulic system pressure oil sources is given oil motor 10, oil motor 10 drives rotary reducer 11 runnings, 8 gearing mesh is supported in rotary reducer 11 output gears and revolution, revolution is supported 8 and is fixed on the chassis 2, so the rotary decelerating mechanism that is installed on turntable 5 base plates turns round together with turntable 5, thereby realizes working arm 4 complete 360 ° of rotations.
Above-mentioned turntable can be owing to various operational requirements produce the turntable location requirement.For example, working arm is in when non-job state such as travelling at engineering truck, need pack up, and place on the working arm support, cause damage to avoid the working arm whipping, for this reason, in the time of need guaranteeing that working arm is packed up, turntable rotates to and can make working arm be placed on position on the working arm support.Chinese patent literature CN2500535Y discloses a kind of turntable locating device that is suitable for this application.For another example, the other end that relative working arm stretches out on turntable need be installed balancing weight, and the effect of this balancing weight is when working arm is sling weight, keeps the balance of crane, avoids crane to topple.In the process that hangs this counterweight, need accurately locate revolving table position.Chinese patent literature CN2695423Y discloses a kind of turntable rotary position locating device that is used to realize this purpose.
Except above-mentioned static fixing demand, large engineering vehicle especially goliath for various controls, monitoring demand: requirement can limit the perform region of working arm, require the position of conduct monitoring at all levels working arm, require the anti-tipping moment of the comprehensive calculating car load of energy, rotary position to working arm detects the further demand that proposed, except the location fixed point detects, also need comprehensive angle to detect and monitoring, promptly know the anglec of rotation of turntable at any time, so that control in real time with respect to vehicle body.Under the prior art, the anglec of rotation of the relative vehicle body of turntable is not carried out omnibearing detection, when realizing functions such as engineering truck is anti-tipping, can't obtain the active data support.
Summary of the invention
At above-mentioned defective, the invention provides a kind of angle of revolution pick-up unit of engineering truck turntable.The present invention provides the engineering truck that uses above-mentioned turntable angle of revolution pick-up unit simultaneously.
The angle of revolution pick-up unit of engineering truck turntable provided by the invention comprises measurement of angle unit, control module, zero detector unit; Described measurement of angle unit is used to detect the angle of revolution of described turntable and sends it to described control module; Described zero detector unit is used for determining to the turntable anglec of rotation induced signal at zero point at zero point, and sends it to described control module; Described control module has the Zero calibration program, and the induced signal and the reading value of the described measurement of angle unit that obtains this moment at zero point that this program is sent according to described zero detector unit obtains zero point offset amount; According to this zero point offset amount, it is the angle measurement of the relative coordinate system at zero point that the measured value that described control module is exported described measurement of angle unit is converted to the ad-hoc location on the turntable, and carries out control and treatment with this angle measurement.
Preferably, described measurement of angle unit employing and the coaxial mounted scrambler of described turntable revolving shaft.
Preferably, described scrambler is single absolute value encoder that changes.
Preferably, described zero detector unit comprises detection and localization switch and location inductor; Described detection and localization switch and turntable are fixed, and the location inductor is installed on the chassis; Described detection and localization switch is along with turntable rotates a circle, and can be triggered by described location inductor on certain angle position, sends induced signal at described zero point.
Preferably, described detection and localization switch is fixed by location and installation support and described turntable, and an end of this location and installation support is fixed on the described state, and its other end stretches out turntable, and described detection and localization switch promptly is fixed on this external part; Described location inductor specifically is installed on described detection and localization switch certain position, chassis with the track below of turntable motion.
Preferably, described zero detector unit comprises detection and localization switch and location inductor; Described location inductor and turntable are fixed, and the detection and localization switch is installed on the chassis; Described location inductor can trigger described detection and localization switch along with turntable rotates a circle on certain angle position, make it send induced signal at described zero point.
Preferably, described location inductor is fixed by location and installation support and described turntable, and an end of this location and installation support is fixed on the described state, and its other end stretches out turntable, and described location inductor promptly is fixed on this external part; Described detection and localization switch specifically is installed on described location inductor certain position, chassis with the track below of turntable motion.
Preferably, described Zero calibration program adopts following step to carry out Zero calibration: turntable rotation, and when control module receives described zero point during induced signal, the scrambler reading θ of record this moment
1, according to this value and send described zero point the induced signal position and determined relative coordinate system initial point between differential seat angle δ, calculate zero point offset amount τ=θ
1-δ; Sent when the induced signal position was rotated counterclockwise δ and reached described relative coordinate system initial point described zero point, this angle δ is designated as on the occasion of bringing above-mentioned formula into, send described zero point induced signal position and turn clockwise δ when reaching described relative coordinate system initial point, this angle δ is designated as negative value and brings above-mentioned formula into.
Preferably, have Zero calibration zone bit SV in the described control module, this zone bit SV is by being provided with different numerical value, and whether mark this project machinery passes through described Zero calibration.
Preferably, described Zero calibration zone bit SV represents the number of times of process Zero calibration with the numerical value form; Before not demarcating, this Zero calibration zone bit SV is set to 0, and later every through a Zero calibration, this numerical value adds 1.
Preferably, described zero point, induced signal was the square-wave signal with rising edge and negative edge, and described Zero calibration program specifically adopts the rising edge of this square wave or negative edge or both middle time point positions as reading scrambler reading θ
1The standard time point.
Preferably, also comprise the fault judgement program in the described control module, control module receives described zero point during induced signal, this program contrasts the anglec of rotation difference and the scrambler of induced signal location at zero point mutually in the reading difference of this section in the time, if both differences are smaller or equal to a reservation threshold, then judge this device operate as normal, otherwise, judge that then this device breaks down.
Preferably, this device also comprises the display unit that is connected with described control module, and this display unit shows the angle of turntable in relative coordinate system in real time under the control of described control module.
Preferably, this device also comprises the alarm unit that is connected with described control module, and this alarm unit sends alerting signal when judgement is broken down under the control of described control module.
Preferably, described measurement of angle unit, control module, display unit adopt controller local area network's bus to realize connecting each other.
The present invention provides a kind of crane simultaneously, and this crane has above-mentioned described engineering truck angle of revolution pick-up unit.
The present invention provides a kind of concrete pump truck simultaneously, and this concrete pump truck has above-mentioned described engineering truck angle of revolution pick-up unit.
The present invention provides a kind of fire truck simultaneously, and this fire truck has above-mentioned described engineering truck angle of revolution pick-up unit.
Compared with prior art, angle of revolution provided by the invention pick-up unit adopts special-purpose measurement of angle unit, and the anglec of rotation of turntable in whole rotating range detected in real time.And the angle signal that above-mentioned measurement of angle unit is detected, be after utilizing the induced signal at zero point of described zero detector unit output to carry out Zero calibration, signal under the relative coordinate system that obtains, for the motion control of operator and engineering machinery, this angle signal is more directly perceived, can be convenient to use in such as occasions such as anti-tipping controls.
The preferred embodiments of the present invention also provide utilizes the induced signal at zero point of above-mentioned measurement of angle unit and the output of zero detector unit to contrast mutually, realize the method for fault diagnosis, this method can not increase under the condition of cost, and the running status of this turntable angle detection device is detected.
The present invention also provides the various engineering machinery of using above-mentioned turntable pick-up unit.
Description of drawings
Fig. 1 is a prior art truck-mounted crane structural drawing;
Fig. 2 is the functional unit block diagram of first embodiment of the invention;
Fig. 3 is the synoptic diagram of overlooking direction of the actual installation structure of the turntable angle of revolution measurement mechanism that provides of first embodiment of the invention;
Fig. 4 is the concrete mounting structure of first embodiment of the invention measurement of angle unit 15;
Fig. 5 is the mounting structure figure of the zero detector unit 17 of first embodiment of the invention;
Fig. 6 is the synoptic diagram of changing between the absolute coordinate system of first embodiment of the invention and the relative coordinate system;
Fig. 7 is the functional unit block diagram of second embodiment of the invention.
Embodiment
The engineering truck turntable angle of revolution measurement mechanism that first embodiment of the invention provides uses on truck-mounted crane shown in Figure 1.Below to Fig. 1 in components identical adopt the label identical with Fig. 1.
Fig. 2 illustrates the functional unit block diagram of first embodiment of the invention.This angle of revolution measurement mechanism comprises measurement of angle unit 15, control module 16, zero detector unit 17.In addition, also illustrate among Fig. 2 and include Zero calibration program 18 in the control module 16, this program generally is present in the described control module 16 with the form of software module.
As shown in Figure 2, measurement of angle unit 15, zero detector unit 17 link to each other with control module 16 respectively.Measurement of angle unit 15 can provide the real-time measuring data of working arm angle of revolution, under the normal condition, the raw measurement data that it provides along with working arm 4 with respect to the variation of the angular relationship of vehicle chassis 2 certain horizontal axis and change.
Please referring to Fig. 3, this figure is the synoptic diagram of overlooking direction of the actual installation structure of the turntable angle of revolution measurement mechanism that provides of present embodiment.Wherein, measurement of angle unit 15 and the coaxial installation of the revolving shaft of turntable 5.Oil motor 10 is installed, after the rotating speed output of this oil motor 10 is slowed down by rotary reducer 11, by output gear (figure does not show) output of rotary reducer 11 on turntable 5.This output gear supports 8 gearing mesh with the revolution that is fixed on the chassis 2, and turntable 5 is rotated.The location inductor 36 that is installed on the chassis 2 also is shown among the figure.
Please referring to Fig. 4, this illustrates the concrete mounting structure of described measurement of angle unit 15.As shown in the figure, measurement of angle unit 15 is made up of single commentaries on classics absolute optical encoder 25, installation accessories 26.Single absolute optical encoder 25 that changes is made up of disc type body 27, transmission shaft 28, cable 33, and transmission shaft 28 disc type body 27 relatively rotates freely.Described installation accessories 26 comprises mounting bracket 30 and Connection Block 29.
Single effect of changeing absolute optical encoder 25 is code-disc, photoelectric sensor and the circuit that is connected with described transmission shaft 28 vertical fixing by inner, the mechanical rotation positional information of transmission shaft 28 (absolute angle value) digitizing, cable 33 is responsible for the working power and the digitized measuring-signal of output of place in circuit.Wherein, encoder disk formula body 27 is fixed on the scrambler mounting bracket 30, and scrambler mounting bracket 30 links to each other with turntable joint face 31; Scrambler transmission shaft 28 links to each other with seat ring 32 on the chassis by Connection Block 29, has on the Connection Block 29 between adjustable latch mechanism assurance scrambler transmission shaft 28 and the Connection Block 29 and does not have relative motion.Structure as above can not rotated scrambler transmission shaft 28 on the absolute position, the code-disc that is connected with transmission shaft 28 vertical fixing can not rotate yet, and described former disc type body 27 then rotates along with described turntable 5.Rotation is detected by photoelectric sensor relatively, and is transported to control module 16 by cable 33.Said mechanism can keep the angular velocity of rotation of code-disc consistent with the angular velocity of rotation of turntable 5.Certainly, a kind of in the multiple mounting means that above-mentioned mechanical mounting structure just can be selected no longer illustrates the mechanical mounting structure of other modes herein.
Realize the measurement to turntable 5 anglecs of rotation, also need to determine the zero point of anglec of rotation metering, like this, the measurement result of scrambler 25 outputs is just valuable.The effect of described zero detector unit 17 just is this.Fig. 5 illustrates the mounting structure figure of zero detector unit 17.
As shown in Figure 5, zero detector unit 17 is made of location and installation support 34, detection and localization switch 35 and location inductor 36.One end of location and installation support 34 is connected on the turntable 5, and detection and localization switch 35 is installed in the other end that location and installation support 34 stretches out turntable 5; Below track that detection and localization switch 35 is produced along with turntable motion, on certain position on the chassis 2, be fixed with location inductor 36, these location inductor 36 positions can guarantee that turntable 5 rotates to certain position and can trigger described detection and localization switch 35 and get final product.Location inductor 36 is right cylinder detection bodies or rectangular parallelepiped detection bodies.Detection and localization switch 35 can be selected contactless or the contact detector switch, is preferably designed to non-contact type approach switch.
Should illustrate, in fact, the installation site of detection and localization switch 35 and location inductor 36 can exchange, be that described detection and localization switch 35 is installed on the chassis 2, and described location inductor 36 is arranged on the other end of the fixing locating support 34 of a described end and turntable 5, and such being provided with can be played and above mounting means similar detection effect.Following explanatory note is that example is set forth with the described installation method of the preceding paragraph.
At first need clear and definite, carry out Zero calibration and be not the measured value of angle measuring unit 15 is changed, in every photoelectric encoder 25 all code-disc be provided with a special marking and revolve the measurement starting point that turns around as code-disc, this mark is called the actual zero point of this photoelectric encoder 25.Because in installation process, the relative angle of code-disc can't be determined, therefore, this actual zero point can only provide the starting point of every circle counting for photoelectric encoder 25, and what described photoelectric encoder 25 carried is that the angle coordinate of counting starting point is called absolute coordinate system with the actual zero point.This absolute coordinate system is input to the real data of control module 15 as the reading value under this coordinate with photoelectric encoder 25.If directly provide these reading values to the operator, then because the physical location of the zero point of this reading value and turntable 5 is not determined corresponding relation, for the operator, this absolute coordinate system is very inconvenient owing to intuitively not using.For the data of the anglec of rotation of turntable 5 more intuitively are provided to the operator, need be the basis with absolute coordinates in the present embodiment, a relative coordinate system after the conversion is provided.This relative coordinate system be to establish by following principle: when working arm 4 shrinks when being placed on working arm bearing 7 in returning fully, the central axis of working arm 4 is the axle of planimetric coordinates, and turntable 5 centers of circle are true origin; This moment, the angle of revolution of turntable 5 was initial zero degree, turned clockwise to overlook direction turntable 5, and then the turntable angle of revolution increases in 0～360 ° of scope, and being rotated counterclockwise then, angle reduces.
Where described zero detector unit 17 provides the induced signal of detection and localization switch 35 unimportant, because as long as the position of location inductor 36 is definite, just can be according to the relation of this position and above-mentioned relative coordinate system, when determining that zero detector unit 17 sends induced signal, the rotation angle value of turntable 5 in relative coordinate system.According to above-mentioned relation, the induced signal that just can use described detection and localization switch 35 to send is derived relative coordinate and is tied up to reading value in the absolute coordinate system, and with this as the off-set value of conversion mutually between absolute coordinate system and the relative coordinate system.
Please referring to Fig. 6, this figure is the synoptic diagram of changing between absolute coordinate system and the relative coordinate system.Among this figure, the O point is a turntable central coordinate of circle point, and OC is the actual zero point baseline of photoelectric encoder 25 supposition, the position that the A point sends the induced signal at zero point for described zero detector unit 17, and the B point is predetermined relative coordinate system initial point.When A point position, the reading of described photoelectric encoder 25 is θ
1, this reading is the numerical value under the absolute coordinate system.As can be seen from Figure 6, then arrive the position A point of induced signal at described zero point from the relative coordinate system origin position B δ that turns clockwise, then in relative coordinate system zero point induced signal the position A angle value of ordering be δ; And in the relative coordinate system zero point induced signal the position A calculated value ψ of ordering be the reading θ of photoelectric encoder 25
1Deduct certain side-play amount τ, i.e. ψ=θ
1-τ; The identical θ that draws of two values
1-τ=δ promptly draws τ=θ
1-δ.If described angle δ=0 also is the position A point and the relative coordinate system origin position B point when overlapping of induced signal at zero point, then τ=θ
1τ is called zero point offset amount, obtain this zero point offset amount and can realize that absolute coordinates is tied to the conversion of relative coordinate system, the process of this acquisition zero point offset amount also has calibration function owing to obtained null position accurately from described zero detector unit 17 to angular detection.It more than is the position of sending induced signal from described zero detector unit 17, need be rotated counterclockwise δ and reach the τ value of extrapolating under the situation of relative coordinate system initial point, equally, when the position of sending induced signal from described zero detector unit 17, the δ that need turn clockwise reaches under the situation of relative coordinate system initial point, then can obtain corresponding τ=θ
1+ δ.For unified above-mentioned formula, the situation that the δ angle that needs can be turned clockwise reaches the relative coordinate initial point is designated as-δ, then can adopt τ=θ
1This unified formula of-δ.
Need to prove that described zero point, in fact induced signal can exist in an angular range of turntable 5 rotations, turntable 5 revolves that this signal is a square wave that comprises rising edge and negative edge in the process that turns around.For accurate location, can select the rising edge or the negative edge position of certain sense of rotation, perhaps both intermediate points are as the standard point of Zero calibration.
Above-mentioned absolute coordinates is tied to the transfer process of relative coordinate system, makes angle value under the absolute coordinate system of described photoelectric encoder 25 outputs be converted into the angle value of relative coordinate system, is convenient to operating personnel and handles.The process of above-mentioned coordinate conversion is the instruction according to operating personnel, and the program that described control module 16 starts Zero calibration program 18 obtains.And in case obtained τ, the meeting permanent storage is carried out calibrating procedure up to next time in control module 16.Whether carried out demarcation in order to distinguish engineering machinery, in described control module 16, be provided with corresponding Zero calibration zone bit SV, and for example, during this SV=0, showed as yet and demarcate, and when Zero calibration zone bit SV=1, then showed and demarcate.Calibration process is generally finished in the debug process in the product assembling is rolled off the production line, and in user's use, also can demarcate again as required.
In actual calibration process, demarcation and the measurement of finishing angle are dynamic processes, need to finish by the hardware and software cooperation of this device.Before the demarcation, Zero calibration zone bit SV is arranged in the calibrating procedure 18 of control module 16, initial value is zero (being SV=0), shows and also do not carry out demarcation now that the angle value of measurement also is insignificant certainly.After the engineering truck installation is ready,, when the detection and localization switch 35 of zero detector unit 17 is crossed inductor 36 tops, location, produce signal, simultaneously control module 16 record measured value θ at this moment in case there is gyration in panoramic table mechanism around the relative chassis of intrinsic direction
1, Zero calibration zone bit SV puts 1 (being SV=1), and expression is demarcated and is finished.According to above-mentioned θ
1, and, just can mode according to the above description realize Zero calibration according to inductor installation site of having determined, location and the angle δ between the relative coordinate system initial point.
The measuring accuracy of this in actual applications engineering truck working arm angle of revolution measurement mechanism and resolution are determined by photoelectric encoder 25.This photoelectric encoder adopts single absolute type encoder that changes, and measuring accuracy is by the division fineness and the accuracy decision of the code-disc of photoelectric encoder 25 inside; Measurement Resolution is by the decision of the code channel number of photoelectric encoder 25 inside.Now general single absolute optical encoder that changes can arrive 16 above resolution.The notion of 16 bit resolutions is just being divided into 2 to 360 ° angular range
16Individual numerical value (360/2
16), resolution has reached 0.006 °.The present invention preferably selects the photoelectric encoder of 12 bit resolutions for use, can differentiate the subtle change less than 0.1 °, and above-mentioned resolution is enough used.
Below single reason of changeing absolute type encoder is adopted in explanation.
Why can adopt single scrambler that changes, be because turntable can rotate continuously around described vertical pivot under the described crane work arm normal operation, mechanically rotary limit device can not be arranged, just when some specific operation, its scope of rotatablely moving had and carry out requirement for restriction and (fully do not stretch out the operating mode that puts in place as supporting leg 3, preestablished the operating mode of working arm 4 range of movement, engineering machinery has the operating mode of the early warning of tumbling), and working arm 4 gatherings have return function nearby when putting down, do not need to return along original route, how much enclose rotating relative motion and do not need to gather and record so working arm 4 has with respect to chassis 2 from original yawing moment.Needn't adopt the photoelectric encoders that change so adopt single commentaries on classics photoelectric encoder more.Certainly many commentaries on classics photoelectric encoders also can be realized above-mentioned functions, and just device cost is higher, does not effectively utilize its function and purposes.
Adopt the reason of absolute type encoder to be, incremental encoder is lost (basic point is fixing) because of the back radix that has a power failure and the phenomenon of the measurement data accumulation of error can be taken place, absolute type encoder has overcome above shortcoming, so preferred the employing measured the absolute type encoder that basic point can be fixed in this programme.
Fig. 7 is a kind of preferred implementation that second embodiment of the invention provides.This embodiment is relative, and first embodiment has carried out following improvement: have display unit 19, CAN (controller local area network) bus 20; Control module 16 has connected alarm 21; Increased fault judgement program 22 in the control module 16.
As shown in Figure 7, described display unit 19 links to each other by CAN bus 20 with control module 16, control module 16 is 15 turntable 5 rotation angle value that detect under the absolute coordinate system that obtains from described measurement of angle unit, be tied to the conversion process of relative coordinate system through absolute coordinates as described in the first embodiment, after obtaining the angle value under the relative coordinate system, be sent to display unit 19 by CAN bus 20, on display unit 19, dynamically show.
Equally, measurement of angle unit 15 links to each other by CAN bus 20 with control module 16, the real-time measurement values of measurement of angle unit 15 is sent to control module 16 by CAN bus 20, do the dynamic response and the data precision that help improving data acquisition like this, also help the rat tail that reduces between the electric component.
Fig. 7 also illustrates, and comprises calibrating procedure 18, fault judgement program 22 in the control module 16.The data of fault judgement program 22 acquisition angles measuring units 15 and zero detector 17 are carried out fault judgement according to predetermined method and criterion.Shown in Fig. 3,5: panoramic table mechanism rotates relative to the chassis around intrinsic direction, when the positioning switch 35 of zero detector unit 17 is crossed inductor 36 tops, location, produces signal, continues to move along equidirectional, and signal can disappear.Here fault judgement program 22 makes full use of the mistiming of the generation and the disappearance of this signal, in the software application, the generation of signal and disappearance tentatively are called the rising edge and the negative edge of square wave, the moment that they produce is respectively t1 and t2, at rising edge and negative edge in the time period (t2-t1), turntable has rotated certain angle β (this angle is known certain value on mechanical mechanism), and measurement of angle unit 15 is carved with measured value θ when rising edge t1
T1, when negative edge t2, be carved with measured value θ
T2The subtle change less than 0.1 ° can be differentiated in measurement of angle unit 15 as previously mentioned, so measured value θ t1 should be different with θ t2, supposes λ=θ
T2-θ
T1 Fault judgement program 22 is based on following mechanism realization judgement: the data that compare λ and β.If the data of λ and β are very approaching, illustrate that this engineering machinery rotary position pick-up unit is effectively work, the angle value of measurement is authentic and valid; If the data difference of λ and β has surpassed certain threshold value, illustrate that this engineering machinery rotary position pick-up unit has broken down.If λ=0 illustrates at rising edge with in the negative edge time period (t2-t1), measurement of angle unit 15 does not detect any angle to be changed, and is that fault has appearred in measurement of angle unit 15 most probably.
Otherwise, also can judge the fault of zero detector unit 17 according to the measured value of measurement of angle unit 15.If the measured value of measurement of angle unit 15 has reached the position that produce zero signal, and zero detector unit 17 does not produce signal or measurement of angle unit 15 detected values have reached the position that square-wave signal should disappear, square-wave signal does not disappear, and can judge that fault has taken place in zero detector unit 17.By some coherent detection means and method, also can specifically judge the fault that some other parts take place: as zero detector unit 17 faults, CAN bus 20 faults, photoelectric encoder 25 faults, mechanical installing component fault etc.After fault judgement was finished, control module 16 can be sent to display unit 19 to failure mode with the mode of failure code or figure by CAN bus 20, dynamically showed the alarm 21 that links to each other with the control module 16 simultaneously alarm of can sounding on display unit 19.
In this embodiment, finish after Zero calibration dispatches from the factory, the SV=1 meaning is demarcated and is finished in the control module.Fault judgement program 22 also has following function in the control module 16, judge whether calibration value changes: if the vehicle working-yard taken place mechanical aspects or electric aspect maintenance, cause the positioning switch 35 of zero detector unit 17 to be crossed when locating inductor 36 tops, variation has taken place in the relative initial value of the measured value of measurement of angle unit 15, and this variation surpassed certain degree, and control module 16 internal fault determining programs 22 are judged and will be demarcated again; Control module 16 writes down these stylish measured value θ simultaneously
1, Zero calibration zone bit SV puts 2, and the SV=2 meaning is finished the 2nd demarcation, and the rest may be inferred, and situation may take place repeatedly to demarcate.According to the value of Zero calibration zone bit SV, can judge and take place to demarcate several times.
The turntable rotation angle detection apparatus of above-mentioned first embodiment or second embodiment, can be used for various engineering machinery such as crane, concrete pump truck, fire truck with turntable and working arm, above-mentionedly have particular application as those skilled in the art according to above-mentioned disclosed first embodiment and second embodiment, concrete condition in conjunction with above-mentioned various engineering machinery, need not creative work can finish, and this is no longer enumerated concrete example and describes.
The above only is a preferred implementation of the present invention; should be pointed out that for those skilled in the art, under the prerequisite that does not break away from the principle of the invention; can also make some improvements and modifications, these improvements and modifications also should be considered as protection scope of the present invention.
Claims (18)
1. the angle of revolution pick-up unit of an engineering truck turntable is characterized in that, comprises measurement of angle unit, control module, zero detector unit; Described measurement of angle unit is used to detect the angle of revolution of described turntable and sends it to described control module; Described zero detector unit is used for determining to the turntable anglec of rotation induced signal at zero point at zero point, and sends it to described control module; Described control module has the Zero calibration program, and the induced signal and the reading value of the described measurement of angle unit that obtains this moment at zero point that this program is sent according to described zero detector unit obtains zero point offset amount; According to this zero point offset amount, it is the angle measurement of the relative coordinate system at zero point that the measured value that described control module is exported described measurement of angle unit is converted to the ad-hoc location on the turntable, and carries out control and treatment with this angle measurement.
2. engineering truck turntable according to claim 1 angle of revolution pick-up unit is characterized in that, described measurement of angle unit adopts and the coaxial mounted scrambler of described turntable revolving shaft.
3. engineering truck turntable according to claim 2 angle of revolution pick-up unit is characterized in that, described scrambler is single absolute value encoder that changes.
4. engineering truck turntable according to claim 2 angle of revolution pick-up unit is characterized in that, described zero detector unit comprises detection and localization switch and location inductor; Described detection and localization switch and turntable are fixed, and the location inductor is installed on the chassis; Described detection and localization switch is along with turntable rotates a circle, and can be triggered by described location inductor on certain angle position, sends induced signal at described zero point.
5. engineering truck turntable according to claim 4 angle of revolution pick-up unit, it is characterized in that, described detection and localization switch is fixed by location and installation support and described turntable, one end of this location and installation support is fixed on the described state, its other end stretches out turntable, and described detection and localization switch promptly is fixed on this external part; Described location inductor specifically is installed on described detection and localization switch certain position, chassis with the track below of turntable motion.
6. engineering truck turntable according to claim 2 angle of revolution pick-up unit is characterized in that, described zero detector unit comprises detection and localization switch and location inductor; Described location inductor and turntable are fixed, and the detection and localization switch is installed on the chassis; Described location inductor can trigger described detection and localization switch along with turntable rotates a circle on certain angle position, make it send induced signal at described zero point.
7. engineering truck turntable according to claim 6 angle of revolution pick-up unit, it is characterized in that, described location inductor is fixed by location and installation support and described turntable, one end of this location and installation support is fixed on the described state, its other end stretches out turntable, and described location inductor promptly is fixed on this external part; Described detection and localization switch specifically is installed on described location inductor certain position, chassis with the track below of turntable motion.
8. according to each described engineering truck turntable angle of revolution pick-up unit of claim 4-7, it is characterized in that, described Zero calibration program adopts following step to carry out Zero calibration: turntable rotation, and when control module receives described zero point during induced signal, the scrambler reading θ of record this moment
1, according to this value and send described zero point the induced signal position and determined relative coordinate system initial point between differential seat angle δ, calculate zero point offset amount τ=θ
1-δ; Sent when the induced signal position was rotated counterclockwise δ and reached described relative coordinate system initial point described zero point, this angle δ is designated as on the occasion of bringing above-mentioned formula into, send described zero point induced signal position and turn clockwise δ when reaching described relative coordinate system initial point, this angle δ is designated as negative value and brings above-mentioned formula into.
9. engineering truck turntable according to claim 8 angle of revolution pick-up unit, it is characterized in that, have Zero calibration zone bit SV in the described control module, this zone bit SV is by being provided with different numerical value, and whether mark this project machinery passes through described Zero calibration.
10. engineering truck turntable according to claim 9 angle of revolution pick-up unit is characterized in that, described Zero calibration zone bit SV represents the number of times of process Zero calibration with the numerical value form; Before not demarcating, this Zero calibration zone bit SV is set to 0, and later every through a Zero calibration, this numerical value adds 1.
11. engineering truck turntable according to claim 8 angle of revolution pick-up unit, it is characterized in that, described zero point, induced signal was the square-wave signal with rising edge and negative edge, and described Zero calibration program specifically adopts the rising edge of this square wave or negative edge or both middle time point positions as reading scrambler reading θ
1The standard time point.
12. engineering truck turntable according to claim 11 angle of revolution pick-up unit, it is characterized in that, also comprise the fault judgement program in the described control module, control module receives described zero point during induced signal, this program contrasts the anglec of rotation difference and the scrambler of induced signal location at zero point mutually in the reading difference of this section in the time, if both differences are then judged this device operate as normal smaller or equal to a reservation threshold, otherwise, judge that then this device breaks down.
13. engineering truck turntable according to claim 12 angle of revolution pick-up unit, it is characterized in that, also comprise the display unit that is connected with described control module, this display unit shows the angle of turntable in relative coordinate system in real time under the control of described control module.
14. engineering truck turntable according to claim 13 angle of revolution pick-up unit, it is characterized in that, also comprise the alarm unit that is connected with described control module, this alarm unit sends alerting signal when judgement is broken down under the control of described control module.
15. engineering truck turntable according to claim 14 angle of revolution pick-up unit is characterized in that, described measurement of angle unit, control module, display unit adopt controller local area network's bus to realize connecting each other.
16. a crane is characterized in that, has aforesaid right requirement 1 to each described engineering truck angle of revolution pick-up unit of claim 15.
17. a concrete pump truck is characterized in that, has aforesaid right requirement 1 to each described engineering truck angle of revolution pick-up unit of claim 15.
18. a fire truck is characterized in that, has aforesaid right requirement 1 to each described engineering truck angle of revolution pick-up unit of claim 15.
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| CNB2008100060562A CN100573054C (en) | 2008-02-01 | 2008-02-01 | A kind of angle of revolution pick-up unit and engineering truck thereof of engineering truck turntable |
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| CNB2008100060562A CN100573054C (en) | 2008-02-01 | 2008-02-01 | A kind of angle of revolution pick-up unit and engineering truck thereof of engineering truck turntable |
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Application publication date: 20080723 Assignee: Suote Transmission Equipment Co., Ltd. Assignor: Sanyi Heavy Industry Co., Ltd. Contract record no.: 2010320000359 Denomination of invention: Turning angle detecting device for project vehicle turning table and project vehicle thereof Granted publication date: 20091223 License type: Exclusive License Record date: 20100407 |
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