CN102102996A - Over-360-degree-angle limit sensor device - Google Patents
Over-360-degree-angle limit sensor device Download PDFInfo
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- CN102102996A CN102102996A CN 201010591789 CN201010591789A CN102102996A CN 102102996 A CN102102996 A CN 102102996A CN 201010591789 CN201010591789 CN 201010591789 CN 201010591789 A CN201010591789 A CN 201010591789A CN 102102996 A CN102102996 A CN 102102996A
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Abstract
The invention discloses an over-360-degree-angle limit sensor device, which consists of a support disc, an inner shifting rod, a slip ring, an outer shifting rod, a return spring, a slider, a steel magnet, Hall elements and a shifting block, wherein the inner shifting rod is fixed on the support disc; the outer shifting rod is fixed on the slip ring; the return spring, the slider and the steel magnet are mounted in the slip ring; a pair of Hall elements is ranged on a measured rotor part; and the shifting block is arranged on a tested stator part. When the limit sensor device provided by invention is arranged at the limit position of the null point and the terminal point of a mechanical device with a rotary angle of 360 degrees required to be detected, the rotary angle of the mechanical device successfully reaches or exceeds 360 degrees, and the available rotary angle has no mechanical dead angle generated by the physical sizes of the sensor; and thus, the quick and accurate positioning of the mechanical devices such as the antenna turntable in the horizontal direction is guaranteed.
Description
Technical field
The present invention relates to a kind of limit sensors, especially rotational angle surpasses 360 ° limit sensors device, belongs to mechanical equipment technical field.
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Background technology
The problem that in the plant equipment that much has revolution control to require, all has measurement of angle, particularly use the setting of its limit switch of apparatus for rotating of the half-closed loop control system problem that all takes measurement of an angle, take measurement of an angle promptly whether there is the problem at dead angle, the problem that whether can in 360 ° angular range, rotate.The way of dealing with problems usually uses the general light photoelectric coder that it directly is connected on the solid of revolution, and it can satisfy the problem of measurement of angle, location substantially.But, photoelectric encoder itself has certain volume, be installed in the apparatus for rotating and will take certain locus, big and have under the situation of installing space of photoelectric encoder at apparatus for rotating, can use photoelectric encoder to carry out measurement of angle and location, if but apparatus for rotating self space is very little and all have at volume and weight under the particular surroundings of requirement, just there is not additional space in order to photoelectric encoder to be installed, certainly just can not use photoelectric encoder to carry out measurement of angle and location, use the general light photoelectric coder just can not satisfy its Testing requirement like this.
Main application particularly of the present invention is as the limit switch of antenna horizontal rotation motion in miniaturization lightweight antenna rotating platform inside, if do not solve the dead angle problem of measuring, the dead angle equally also appears in the gyration direction of antenna, and installation and the use to antenna can bring great inconvenience so.
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Summary of the invention
At above-mentioned deficiency of the prior art, the objective of the invention is to solve the dead angle problem that present antenna rotating platform horizontally rotates, provide a kind of rotational angle to surpass the limit sensors device of 360 ° of angles.
Technical scheme of the present invention: a kind of limit sensors device that surpasses 360 ° of angles, it is characterized in that, comprise supporting disk, on described supporting disk, be provided with a circular rotation chute and an interior driving lever, in described rotation chute, install one and rotate slip ring, rotate slip ring and can in rotating chute, rotate; Be provided with chute in slip ring inside, a pair of back-moving spring is installed in this chute, suit one slide block between two back-moving springs is provided with an aperture so that the interior driving lever above the supporting disk inserts equipped on slide block; On the opposite of the chute of slip ring, an outer driving lever is installed is rotated, a magnet steel is set rotates the center of circle of the magnetic pole sensing slip ring of magnet steel in company with slip ring in company with slip ring; In the magnet steel both sides, be installed with first Hall element and second Hall element respectively, first Hall element and second Hall element do not rotate with slip ring; The driving lever outside is equipped with a fixing shifting block outside, and shifting block does not rotate with slip ring, when the outer driving lever of rotation and shifting block are collided, by limiting the rotation that outer driving lever limits slip ring; In the shared angle sum of rotation direction, promptly α 3 〉=α 1+ α 2+ α 4 more than or equal to outer driving lever, block and magnet steel for angle α 3 between first Hall element and second Hall element.
Further feature is center, the installation site symmetry of the installation site of described magnet steel and interior driving lever.
First Hall element and second Hall element are symmetrical arranged with respect to magnet steel.
During work, sensor module is followed to be turned together by mapping and is rotated, when the outer driving lever 6 that is exposed at the sensor module outside is run into block 8 above the fixed body 9, outer driving lever 6 just no longer rotates with tested solid of revolution, the rotation slip ring 3 that is installed in supporting disk inside this moment will begin to keep relative motionless with fixed body 9, the magnet steel 7 that is embedded in slip ring 3 inside simultaneously will break away from the center of Hall element 10 and 11 with slip ring 3, draw close to one of them Hall element.When the magnet steel 7 that is embedded in slip ring 3 inside is close to the Hall element drawn close and triggers Hall element by self the magnetic line of force, to remember that by testing circuit tested solid of revolution causes the angle position that Hall element triggers, and be made as the extreme position of this rotation direction.Control system will continue the tested solid of revolution of rotation in the other direction then, when outer driving lever 6 is run into block 8 above the fixed body 9 in the other direction once more, outer driving lever 6 is also no longer with tested solid of revolution counter-rotating, the rotation slip ring 3 that is installed in supporting disk inside this moment will keep relative motionless with fixed body 9 equally, the magnet steel 7 that is embedded in slip ring 3 inside simultaneously will break away from the center of Hall element 10 and 11, draw close to another one Hall element wherein.When the magnet steel 7 that is embedded in slip ring 3 inside is close to the other Hall element drawn close and triggers Hall element by self the magnetic line of force, to remember to remember once more that by testing circuit reverse tested solid of revolution causes the angle position that Hall element triggers, and be made as the extreme position of counter-rotation.The angle at place was as the zero point of position of rotation when control system triggered one of them Hall element of this both direction then, and the angle at another negative side's Hall element place when triggering is as terminal point.When the arc length between Hall element 10 and 11 greater than the width of magnet steel diameter, outer shifting block 6 and block 8 and the time, the angle between the origin-to-destination of tested solid of revolution promptly greater than 360 °, does not have the dead angle, the location that guarantees the antenna rotating platform horizontal direction fast, prepare.
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Description of drawings
Fig. 1 is a limit sensors installation drawing of the present invention;
Fig. 2 is a limit sensors device cut-open view of the present invention;
Fig. 3 is the partial enlarged drawing of Fig. 2;
Fig. 4 is the magnet steel when using by oneself rotary state of limit sensors of the present invention and the angle key diagram between the Hall element;
Fig. 5 is the magnet steel when clockwise rotating at spacing of limit sensors of the present invention and the angle key diagram between the Hall element;
Fig. 6 is the magnet steel when rotating counterclockwise at spacing of limit sensors of the present invention and the angle key diagram between the Hall element.
Among the figure, 1-supporting disk, 2-interior driving lever, 3-slip ring, 4-back-moving spring, 5-slide block, 6-6-outer driving lever, 7-magnet steel, 8-shifting block, 9-fixed body, 10-the first Hall element, 11-the second Hall element, α 1 are outer driving lever 6 shared angle on the rotor circumference, and α 2 is block 8 shared angle on the rotor circumference, α 3 is the angle between two Hall elements on the rotor circumference
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Embodiment
The invention will be further described below in conjunction with the drawings and specific embodiments.
Case study on implementation: as shown in Figure 1, a kind of mounting structure of limit sensors device on antenna rotating platform that surpasses 360 ° of angles, comprise supporting disk 1, supporting disk 1 is fixed on the housing of Be Controlled antenna reductor with a plurality of screws (being six among the figure) during installation, on described supporting disk 1, is provided with a circular rotation chute and an interior driving lever 2; Be equipped with one in the rotation chute in supporting disk 1 and rotate slip ring 3, rotating slip ring 3 is sleeved in the rotation chute, can in rotating chute, move, slip ring 3 is provided with chute, the arc length of this chute accounts for 1/3 of slip ring 3 camber lines greatly, a pair of back-moving spring 4 is installed in this chute, suit one slide block 5 between two back-moving springs 4 is so that the interior driving lever 2 by supporting disk 1 applies a power along the slip ring circumferencial direction to slide block 5, slide block 5 can slide in slip ring 3 inside, gives back-moving spring 4 pressure of corresponding glide direction; In case the power that the interior driving lever 2 by supporting disk inside adds disappears, slide block 5 can be on the dynamic balance point that resets under the effect of spring 4 between two springs.Concrete structure is that an aperture is set on slide block 5, the interior driving lever above the bracing frame 12 is inserted in this aperture cooperate, and interior driving lever 2 can drive slide block 5 in slip ring 3 slides within; While is on the opposite of the chute (chute place cambered surface) of slip ring 3, it is the stage casing of other 2/3 camber line of slip ring 3, one outer driving lever 6 is installed to rotate in company with slip ring 3, and on the opposite of slip ring 3 upper hopper chutes (embedding) magnet steel 7 being set rotates in company with slip ring 3, magnet steel 7 is arranged on the appropriate position that does not process chute on the slip ring 3, driving lever 6 outsides are equipped with a fixing block 8 outside, block 8 does not rotate with slip ring 3, when outer driving lever 6 and the block 8 that rotates collided, by limiting the rotation that outer driving lever 6 limits slip ring 3.Center, the installation site symmetry of installation site that a kind of preferable structure is a magnet steel 7 and interior driving lever 2, the magnetic pole of magnet steel 7 points to the center of circle of slip ring 3; In the both sides of magnet steel 7, be installed with first Hall element 10 and second Hall element, 11, the first Hall elements 10 and second Hall element 11 respectively and do not rotate with slip ring 3, be fixedly mounted on the reducer output shaft end face of antenna rotating platform horizontal rotating shaft; When magnet steel 7 during in company with slip ring 3 left-right rotation, respectively with first Hall element 10, second Hall element 11 over against the time, magnet steel 7 triggers first Hall element 10, second Hall element 11, produces electric signal, is input in the control device.Block 8 is installed on the speed reduction unit shell of antenna rotating platform horizontal rotating shaft, is fixed, and the outer driving lever 6 that rotates in company with restriction slip ring 3 clockwise or inhour when rotating touches block 8 and stops operating.The particular location of this magnet steel 7: when outer driving lever 6 does not contact with block 8 on the fixed body, want to guarantee that magnet steel 7 is on the centre position of first Hall element 10 on the reducer output shaft end face that is installed in the antenna rotating platform horizontal rotating shaft and second Hall element 11, promptly first Hall element 10 and second Hall element 11 are symmetrical arranged with respect to magnet steel 7.
When assembling, the interior driving lever 2 that the aperture in the middle of slip ring 3 top shoes 5 is aimed in supporting disk 1 chute is inserted in the location, and magnet steel 7 is installed in the preformed hole of slip ring 3, with the position symmetry of interior driving lever 2, promptly finishes magnet steel location and installation in the sensor; Then with supporting disk 1 spiral-lock on the reducer output shaft end face of antenna rotating platform horizontal rotating shaft, and require coaxial fixing; The position of calculating at slip ring 3 magnet steel of installing 7 on the reducer output shaft end face of antenna rotating platform horizontal rotating shaft simultaneously is a mid point, along slip ring 3 circumference symmetria bilateralis a pair of Hall element is installed again, i.e. first Hall element 10 and second Hall element 11.Go up at the speed reduction unit shell (abbreviating fixed body 9 as) of antenna rotating platform horizontal rotating shaft in addition a block 8 is installed, so that the slip ring 3 that is installed in reducer output shaft upper sensor assembly at it clockwise, its driving lever that stretches out 6 can both touch block 8 in the counter rotation.Supporting disk 1 and slip ring 3 and the inner parts of installing are formed the spacing sensor module structure of angle together like this.But how to guarantee that this spacing angle can meet or exceed 360 °, just must try to achieve angle between Hall element 10 and 11 by calculating.
Below determine with regard to α among Fig. 41, α 2 and α 4 each angle so that can calculate α 3 between Hall element 10 and 11.
We know supporting disk 1 in sensor module in case determine that α 1, α 2 and α 4 are respectively changeless so from Fig. 4; The computing formula of the corner of antenna rotating platform is as follows:
The corner of antenna rotating platform=360 °-(α 1+ α 2)+(α 3-α 4)=360 °-(α 1+ α 2+ α 4)+α 3 obtain through conversion: α 3 〉=α 1+ α 2+ α 4;
Conclusion: when angle α 3 between two Hall elements 10 and 11 〉=outer driving lever 6, block 8 and magnet steel 7 in the shared angle sum of rotation direction (α 1+ α 2+ α 4), the level angle of antenna rotating platform just can meet or exceed 360 °.
That is to say: the level angle of antenna rotating platform is by α 4 decisions.
Describe in detail for example below:
When supposing work, sensor module follows that reducer output shaft rotates counterclockwise together in the antenna rotating platform horizontal rotating shaft, when the outer driving lever 6 that is exposed at the sensor module outside is run into block 8 above the fixed body 9, we put this as measuring starting point 1, this moment, outer driving lever 6 just no longer rotated with reducer output shaft, the rotation slip ring 3 that be installed in supporting disk inside this moment will begin and supporting disk 1(reducer output shaft just) counter-rotation, the magnet steel 7 that is embedded in slip ring 3 inside simultaneously will break away from the center of Hall element 10 and 11, draw close to one of them Hall element.When the magnet steel 7 that is embedded in slip ring 3 inside is close to the Hall element 10 drawn close or 11 and when triggering close (over against time) Hall element by self the magnetic line of force, to remember that by testing circuit tested solid of revolution causes the angle position that Hall element triggers, be input in the control device, and be made as the extreme position that rotates counterclockwise direction.And the position of this moment is a measurement point terminal point 2, so the angle between measurement point 1 and 2=(α 3-α 4)/2.That is to say: antenna rotating platform forwards outer driving lever 6 to and touches and continue to have rotated (α 3-α 4)/2 angles in the counterclockwise direction behind the block 8 again and just obtain clockwise limit signal, claims that here (α 3-α 4)/2 are counterclockwise drag angle.
In like manner; control system continues rotational delay device output shaft with clockwise direction; when being installed in driving levers 6 above the slip ring 3 of supporting disk 1 inside above the reducer output shaft this moment and running into block 8 above the fixed body 9 once more in the other direction; we put this once more as measuring starting point 3; this moment, outer driving lever 6 also no longer reversed with reducer output shaft; the rotation slip ring 3 that be installed in supporting disk 1 inside this moment will begin relative motionless with fixed body 9; and with supporting disk 1(reducer output shaft just) do relative to positive dirction and rotate; the magnet steel 7 that is embedded in slip ring 3 inside simultaneously will break away from the center of Hall element 10 and 11, draw close Hall element to another one wherein.When the magnet steel 7 that is embedded in slip ring 3 inside is close to the Hall element of the another one of drawing close and pass through the magnetic line of force triggering Hall element of self, to remember to remember once more that by testing circuit clockwise direction rotation reducer output shaft causes the angle position that Hall element triggers, and be made as the extreme position that clockwise direction is rotated.And the position of this moment is a measurement point terminal point 4, and the angle between measurement point 3 and 4 also is=(α 3-α 4)/2 so.That is to say: antenna rotating platform forwards to and continues to have rotated (α 3-α 4)/2 angles along clockwise direction again behind the another side that outer driving lever 6 touches block 8 once more and just obtain clockwise limit signal, claims that here (α 3-α 4)/2 are clockwise drag angle.
Rotate a circle increase angle [alpha] 3-α 4 in the horizontal direction if will just obtain antenna rotating platform clockwise with the hysteresis angle addition that increases counterclockwise.
We are not difficult to find through the analysis of Fig. 5, Fig. 6, iff according to the angle calculating between outer shifting block 6 and two sides that block 8 contact, antenna rotating platform can only forward to 360 °-(α 1+ α 2); After having increased drag angle (α 3-α 4), the corner of antenna rotating platform just is increased to 360 °-(α 1+ α 2)+(α 3-α 4).
Our this road α 1, α 2, α 4 can be according to determining in advance when carrying out the limit sensors design, suppose: outer shifting block 6 diameters are 2mm, block 8 is wide to be 4mm, magnet steel 7 diameters are 3mm, α 1, α 2, the conversion of α 4 between arc length and angle so, can obtain (α 1+ α 2+ α 4) in 10 °, so when 3 〉=10 ° of angle α between Hall element 10 and 11, the corner of antenna rotating platform both can be greater than 360 °.
If the angle at place horizontally rotated zero point of motion as antenna rotating platform when control system triggered one of them Hall element of this both direction, and another reciprocal Hall element when triggering the angle at place horizontally rotate exercise end as antenna rotating platform.When the arc length between Hall element 10 and 11 greater than magnet steel diameter, outer shifting block 6 during with block 8 width sums, antenna rotating platform horizontally rotates angle between the origin-to-destination of motion promptly greater than 360 °.
According to technology enlightenment of the present invention, can replace magnet steel 7 and a pair of Hall element 10 and 11 among the present invention with other limit switch, reach same function and produce the limit signal hysteresis, and the result that this increase lags behind makes the angle of revolution of tested solid of revolution meet or exceed 360 °.
Claims (4)
1. limit sensors device that surpasses 360 ° of angles, it is characterized in that, comprise supporting disk (1), on described supporting disk (1), be provided with a circle-shaped rotation chute and an interior driving lever (2), in described circle-shaped rotation chute, install one and rotate slip ring (3), rotate slip ring (3) and can in rotating chute, rotate; Be provided with chute in slip ring (3) inside, a pair of back-moving spring (4) is installed in this chute, suit one slide block (5) in the middle of two back-moving springs (4) is provided with an aperture so that the interior driving lever (2) above the supporting disk (1) inserts equipped on slide block (5); On the chute opposite of slip ring (3), an outer driving lever (6) to be installed to be rotated, be provided with a magnet steel (7) in company with slip ring (3) rotation in company with slip ring (3), the magnetic pole of magnet steel (7) points to the center of circle of slip ring (3); In magnet steel (7) both sides, be installed with first Hall element (10) and second Hall element (11) respectively, first Hall element (10) and second Hall element (11) do not rotate with slip ring (3); Driving lever (6) outside is equipped with a fixing block (8) outside, and block (8) does not rotate with slip ring (3), and the outer driving lever (6) of rotation and block (8) limit the rotation of slip ring (3) by limiting outer driving lever (6) when colliding;
In the shared angle sum of rotation direction, promptly α 3 〉=α 1+ α 2+ α 4 more than or equal to outer driving lever (6), block (8) and magnet steel (7) for angle α 3 between first Hall element (10) and second Hall element (11).
2. the limit sensors device that surpasses 360 ° of angles according to claim 1 is characterized in that, center, the installation site symmetry of the installation site of described magnet steel (7) and interior driving lever (2).
3. the limit sensors device that surpasses 360 ° of angles according to claim 1 and 2 is characterized in that, first Hall element (10) and second Hall element (11) are with respect to magnet steel (7) symmetry.
4. the limit sensors device that surpasses 360 ° of angles according to claim 1 and 2 is characterized in that, angle α is 3 〉=10 ° between first Hall element (10) and second Hall element (11).
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| CN2010105917894A CN102102996B (en) | 2010-12-16 | 2010-12-16 | Over-360-degree-angle limit sensor device |
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| CN2010105917894A CN102102996B (en) | 2010-12-16 | 2010-12-16 | Over-360-degree-angle limit sensor device |
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| CN103042397A (en) * | 2012-12-27 | 2013-04-17 | 中国船舶重工集团公司第七二三研究所 | Electrical rotary table limiting mechanism with rotary angle range not exceeding 360 degrees |
| CN103176481A (en) * | 2013-02-26 | 2013-06-26 | 李建斌 | Rotation limiting device |
| WO2013102349A1 (en) * | 2012-01-06 | 2013-07-11 | 沈阳新松机器人自动化股份有限公司 | Multilayer rotary limit mechanism |
| CN103245853A (en) * | 2013-04-19 | 2013-08-14 | 中国科学院长春光学精密机械与物理研究所 | Device for measuring responding range of Hall element |
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| WO2013102349A1 (en) * | 2012-01-06 | 2013-07-11 | 沈阳新松机器人自动化股份有限公司 | Multilayer rotary limit mechanism |
| CN103042397B (en) * | 2012-12-27 | 2015-01-07 | 中国船舶重工集团公司第七二三研究所 | Electrical rotary table limiting mechanism with rotary angle range not exceeding 360 degrees |
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| CN103176481B (en) * | 2013-02-26 | 2016-02-24 | 李建斌 | A kind of rotary limit device |
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