CN102944209A - Equipment, system and method for determining rotation angle and engineering machinery - Google Patents
Equipment, system and method for determining rotation angle and engineering machinery Download PDFInfo
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- CN102944209A CN102944209A CN2012104599821A CN201210459982A CN102944209A CN 102944209 A CN102944209 A CN 102944209A CN 2012104599821 A CN2012104599821 A CN 2012104599821A CN 201210459982 A CN201210459982 A CN 201210459982A CN 102944209 A CN102944209 A CN 102944209A
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- 238000001514 detection method Methods 0.000 claims abstract description 31
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- 238000005259 measurement Methods 0.000 abstract description 7
- 239000003638 chemical reducing agent Substances 0.000 abstract 2
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Abstract
The invention discloses equipment, a system, a method and engineering machinery for determining a rotation angle of a rotating device, wherein the rotating device is driven by a rotating motor through a speed reducer, and the equipment comprises: the receiving device is used for receiving the rotation angle of the rotary motor or a rotary angle transmission detection gear connected with the rotary device or the speed reducer; and the control device is used for calculating the relative rotation angle of the rotating device according to the rotation angle and the transmission ratio between the rotating motor and the rotating device or the transmission ratio between the rotation angle transmission detection gear and the rotating device, and determining the current absolute rotation angle of the rotating device according to the relative rotation angle and the stored previous absolute rotation angle. Through the technical scheme, the condition that the installation requirement of the rotary angle sensor is concentric with the rotary device can be avoided, so that the eccentric measurement error does not exist, the accuracy of the measurement result is higher, and the reliability is good.
Description
Technical field
The present invention relates to engineering machinery field, particularly, relate to a kind of equipment, system, method and engineering machinery of the angle of revolution for determining slewing equipment.
Background technology
On full-rotary crane, the angle of revolution be often referred to the upper-part rotation platform and get off between relative angle.Owing to being full circle swinging, usually do not remember cumulative angle, as turn round 710 °, then the angle of revolution is designated as 350 ° (710-360 °), therefore, the scope of angle of revolution is 0-360 °, namely relative angle.Technical at present crane control both domestic and external, obtaining normally of angle of revolution directly obtained at the center of turntable 1 (coaxial with pivoting support) installation individual pen absolute encoder or angular transducer 2.Utilizing the individual pen absolute encoder to carry out the angle of revolution when obtaining, " stationary installation " that makes scrambler by mechanical hook-up be connected wheelwork " be connected with lower frame part with the turntable part of turntable respectively, when when revolution get on the bus turntable and get off between relative angle change, the drive scrambler rotates, thereby obtain the revolution relative angle, as shown in Figure 1.
Though this detection method can be obtained the angle of revolution, but in implementation process, there are some shortcomings.For example, on goliath, because the physical dimension of the parts such as pivoting support is larger, therefore be difficult to guarantee that the center of angular transducer overlaps with the centre of gyration fully, namely fully coaxial with pivoting support, as shown in Figure 2.When the desirable centre of gyration of the actual centre of gyration deviation angle sensor of angular transducer, radius is become with the angle of revolution by original fixed value and changes, thereby cause in turning course, rotary system rotates equal angular, but the angle that the angle of revolution sensor detects is not identical.As in Fig. 2, actual detection angles A1 ≠ A2 ≠ ... ≠ A2.In fact, owing in the processes such as processing, installation, can't guarantee fully that angular transducer and pivoting support are coaxial, so the problem ubiquity of angle of revolution sensor off-centre, thereby so that in the huge revolving system, be difficult to accurately detect the angle of revolution of turntable.
Summary of the invention
The equipment, system, method and the engineering machinery that the purpose of this invention is to provide a kind of angle of revolution for determining slewing equipment, to solve in the prior art in the situation that angular transducer not exclusively overlap with the centre of gyration, the angle of revolution error of measuring greatly, can't realize the defective to the accurate control of angle of revolution.
To achieve these goals, the invention provides a kind of equipment of the angle of revolution for determining slewing equipment, described slewing equipment is driven by reductor by rotary motor, this equipment comprises: receiving trap is used for receiving the rotational angle of the angle of revolution transmission detection of gear that described rotary motor or is connected with described slewing equipment or reductor; And control device, be used for according to the ratio of gear between described rotational angle and described rotary motor and the described slewing equipment or the ratio of gear between described angle of revolution transmission detection of gear and the described slewing equipment, calculate the relative rotating angle of described slewing equipment, and determine the current absolute angle of revolution of described slewing equipment according to the last time absolute angle of revolution of this relative rotating angle and storage
The present invention also provides a kind of system of the angle of revolution for determining slewing equipment, this system comprises: rotation angle detecting device, the rotational angle of the angle of revolution transmission detection of gear that is connected with described slewing equipment or reductor for detection of described rotary motor or; And the said equipment.
The present invention also provides a kind of engineering machinery that comprises said system.
The present invention also provides a kind of method of the angle of revolution for determining slewing equipment, described slewing equipment is driven by reductor by rotary motor, and the method comprises: the rotational angle that receives the angle of revolution transmission detection of gear that described rotary motor or is connected with described slewing equipment or reductor; And according to the ratio of gear between described rotational angle and described rotary motor and the described slewing equipment or the ratio of gear between described angle of revolution transmission detection of gear and the described slewing equipment, calculate the relative rotating angle of described slewing equipment, and determine the current absolute angle of revolution of described slewing equipment according to the last time absolute angle of revolution of this relative rotating angle and storage.
Pass through technique scheme, can need not to satisfy the installation needs condition concentric with slewing equipment of angle of revolution sensor, therefore, do not have the misalignment measurement error, accuracy of measurement results is higher, and has reduced the machining precision of revolution detection system, cost is lower, and good reliability, highly versatile, maintenance, adjustment method are all simple, convenient.
Other features and advantages of the present invention will partly be described in detail in embodiment subsequently.
Description of drawings
Accompanying drawing is to be used to provide a further understanding of the present invention, and consists of the part of instructions, is used from explanation the present invention with following embodiment one, but is not construed as limiting the invention.In the accompanying drawings:
Fig. 1 is that the crane rotation angle detects the schematic diagram of installing in the prior art;
Fig. 2 is that reflection utilizes prior art to carry out the schematic diagram of the shortcoming of angle of revolution detection;
Fig. 3 is the block diagram of the equipment of the angle of revolution that is used for definite slewing equipment according to the embodiment of the present invention;
Fig. 4 is the schematic diagram that the angle of revolution that utilizes described system to carry out the slewing equipment of crane is detected;
Fig. 5 is another schematic diagram that the angle of revolution that utilizes described system to carry out the slewing equipment of crane is detected;
Fig. 6 is the block diagram of the system of the angle of revolution that is used for definite slewing equipment according to the embodiment of the present invention; And
Fig. 7 is the process flow diagram of the method for the angle of revolution that is used for definite slewing equipment according to the embodiment of the present invention.
Description of reference numerals
1 turntable, 2 angular transducers, 3 turntable stationary installations, 4 vehicle frames
5 receiving traps, 6 control device, 7 rotation angle detecting devices
8 position detecting devices, 80 location sensitive pieces, 81 position detecting switchs
9 pivoting supports, 10 rotary motors, 11 reductors
12 angle of revolution transmission detection of gear
Embodiment
Below in conjunction with accompanying drawing the specific embodiment of the present invention is elaborated.Should be understood that, embodiment described herein only is used for description and interpretation the present invention, is not limited to the present invention.
Fig. 3 is the block diagram of the equipment of the angle of revolution that is used for definite slewing equipment according to the embodiment of the present invention, and wherein said slewing equipment can be driven by reductor by rotary motor.As shown in Figure 3, this equipment can comprise: receiving trap 5 is used for receiving the rotational angle of the angle of revolution transmission detection of gear that described rotary motor or is connected with described slewing equipment or reductor; And control device 6, be used for according to the ratio of gear between described rotational angle and described rotary motor and the described slewing equipment or the ratio of gear between described angle of revolution transmission detection of gear and the described slewing equipment, calculate the relative rotating angle of described slewing equipment, and determine the current absolute angle of revolution of described slewing equipment according to the last time absolute angle of revolution of this relative rotating angle and storage.In technique scheme, indirectly determine the angle of revolution of slewing equipment by the rotational angle that detects rotary motor or angle of revolution transmission detection of gear, therefore, do not need to satisfy the angle of revolution sensor needs condition concentric with slewing equipment, do not have the misalignment measurement error.
Particularly, receiving trap 5 can receive the rotational angle of rotary motor 10, as shown in Figure 4.In Fig. 4, rotary motor 10 drives slewing equipment by reductor 11 and rotates, and this slewing equipment comprises pivoting support 9 and turntable 1.The relative rotating angle Δ α that control device 6 can recently calculate pivoting support 9 according to rotational angle and the deceleration between described rotary motor 10 and the pivoting support 9 of rotary motor 10.Replacedly, receiving trap 5 can receive the rotational angle of angle of revolution transmission detection of gear 12, as shown in Figure 5.In Fig. 5, angle of revolution transmission detection of gear 12 can mesh with this pivoting support 9 on the optional position of pivoting support 9, also can be engaged between pivoting support 9 and the reductor 11.The relative rotating angle Δ α that control device 6 can recently calculate pivoting support 9 according to rotational angle and the deceleration between described angle of revolution transmission detection of gear 12 and the pivoting support 9 of angle of revolution transmission detection of gear 12.After the relative rotating angle Δ α that determines pivoting support 9, control device 6 can calculate current absolute angle of revolution α according to following formula:
α=α 1 ± Δ α (equation 1)
Wherein, α 1 is absolute angle of revolution last time.In the situation of pivoting support 9 forwards (for example, rotating counterclockwise), α=α 1+ Δ α; Otherwise, in the situation of pivoting support 9 counter-rotatings (for example, clockwise rotating), α=α 1-Δ α.Because the angle of revolution all between 0-360 °, therefore, needs the current angle of revolution α that calculates is judged determine whether it needs to carry out angle and process, with in 0-360 ° scope.Disposal route to current angle of revolution α will be described in conjunction with Fig. 7 hereinafter.Carry out to preserve by current absolute angle of revolution α after angle processes, make it as the last time absolute angle of revolution α 1 in the computation process next time.
Further, described receiving trap 5 can also receive the signal that the described slewing equipment of expression is turned back to initial position; And described control device 6 is stored the corresponding absolute angle of revolution of this initial position, and take this initial position as starting point, is recomputated relative rotating angle in the situation that described receiving trap receives described signal.Replacedly, described control device 5 is before the corresponding absolute angle of revolution of the described initial position of storage, can determine first the difference between current absolute angle of revolution and the corresponding absolute angle of revolution of described initial position, and in the situation that this difference, is stored the corresponding absolute angle of revolution of described initial position greater than preset value.Upgrade by carrying out zero point, can automatically eliminate the cumulative errors of system.
For example, as shown in Figure 4 and Figure 5, represent that the signal that described slewing equipment is turned back to initial position is sent by position detecting device 8, this position detecting device 8 comprises location sensitive piece 80 and position detecting switch 81.In Fig. 4 and Fig. 5, location sensitive piece 80 is fixed on the pivoting support 9, and this location sensitive piece 80 rotates with pivoting support 9, and position detecting switch 81 is fixed on the rotary motor, and it does not rotate with pivoting support 9.Although not shown in Fig. 4 and Fig. 5, will be appreciated that the position of location sensitive piece 80 and position detecting switch 81 can exchange.Location sensitive piece 80 is relative in vertical direction with position detecting switch 81, and the two all is positioned on the corresponding initial angle of initial position of pivoting support 9.When pivoting support 9 rotates a circle when again passing through this initial position from initial position, location sensitive piece 80 can trigger position inductive switches 81, so that location sensitive switch 81 sends the signal that the described pivoting support 9 of expression is turned back to initial position to described control device 6.Then, control device 6 can be stored the corresponding absolute angle of revolution of this initial position (that is, initial angle), and take this initial position as starting point, recomputates relative rotating angle.
For example, take 0 ° as starting point, when 365 ° of pivoting support 9 forward rotation, must pass through initial position during this time, arrive the moment of initial position at slewing equipment 9, location sensitive switch 81 sends signal, and control device is with 0 ° of storage, with as absolute angle of revolution last time, then from the moment, recomputate relative rotating angle, when pivoting support 9 turns to 365 °, the new relative rotating angle that calculate this moment is 5 °, and current absolute angle of revolution is 5 ° (0+5 °).
Fig. 6 is the block diagram of the system of the angle of revolution that is used for definite slewing equipment according to the embodiment of the present invention.As shown in Figure 6, this system comprises: rotation angle detecting device 7, the rotational angle of the angle of revolution transmission detection of gear that is connected with described slewing equipment or reductor for detection of described rotary motor or; And the said equipment.
For example, in embodiment shown in Figure 4, rotation angle detecting device 7 detects the rotational angle of described rotary motor 10, and in embodiment shown in Figure 5, rotation angle detecting device 7 detects the rotational angle of angle of revolution transmission detection of gear 12.
Fig. 7 is the process flow diagram of the method for the angle of revolution that is used for definite slewing equipment according to the embodiment of the present invention.As shown in Figure 7, in step 701, revolution work begins.In step 702, obtain the rotational angle of rotary motor 10 or angle of revolution transmission detection of gear 12, calculate the relative rotating angle Δ α of slewing equipment.In step 703, judge whether revolution reaches initial position.Reach initial position if judge revolution, then store the corresponding absolute angle of revolution α 0 of this initial position, i.e. α 1=α 0(step 704); Otherwise, forward step 705 to.In step 705, determine current absolute angle of revolution α=α 1 ± Δ α of described slewing equipment according to the last time absolute angle of revolution α 1 of relative rotating angle Δ α and storage.In step 706, judge that whether described α is greater than 0.If α〉0, then carry out step 707; Otherwise, carry out angle signal and process α=α+360(step 711), then carry out step 707.In step 707, judge that whether described α is greater than 360.If α〉360, then carry out angle signal and process α=α-360(step 712), then carry out step 708; Otherwise, carry out step 708.In step 708, upgrade current absolute angle of revolution.In step 709, judge whether revolution work finishes.If then stop (step 710); Otherwise, turn back to step 702 and proceed to detect.
The present invention also with the system applies of above-mentioned angle of revolution for determining slewing equipment in engineering machinery.
Thus, equipment, system, method and engineering machinery according to the angle of revolution for determining slewing equipment provided by the invention, can need not to satisfy the installation needs condition concentric with slewing equipment of angle of revolution sensor, therefore, not have the misalignment measurement error, accuracy of measurement results is higher, and having reduced the machining precision of turning round detection system, cost is lower, and good reliability, highly versatile, maintenance, adjustment method are all simple, convenient.
Below describe by reference to the accompanying drawings preferred implementation of the present invention in detail; but; the present invention is not limited to the detail in the above-mentioned embodiment; in technical conceive scope of the present invention; can carry out multiple simple variant to technical scheme of the present invention, these simple variant all belong to protection scope of the present invention.
Need to prove that in addition each the concrete technical characterictic described in above-mentioned embodiment in reconcilable situation, can make up by any suitable mode.For fear of unnecessary repetition, the present invention is to the no longer separately explanation of various possible array modes.
In addition, also can carry out combination in any between the various embodiment of the present invention, as long as it is without prejudice to thought of the present invention, it should be considered as content disclosed in this invention equally.
Claims (9)
1. equipment of be used for determining the angle of revolution of slewing equipment, described slewing equipment is driven by reductor by rotary motor, and this equipment comprises:
Receiving trap is used for receiving the rotational angle of the angle of revolution transmission detection of gear that described rotary motor or is connected with described slewing equipment or reductor; And
Control device, be used for according to the ratio of gear between described rotational angle and described rotary motor and the described slewing equipment or the ratio of gear between described angle of revolution transmission detection of gear and the described slewing equipment, calculate the relative rotating angle of described slewing equipment, and determine the current absolute angle of revolution of described slewing equipment according to the last time absolute angle of revolution of this relative rotating angle and storage.
2. equipment according to claim 1 is characterized in that,
Described receiving trap also receives the signal that the described slewing equipment of expression is turned back to initial position; And
Described control device is stored the corresponding absolute angle of revolution of this initial position, and take this initial position as starting point, is recomputated relative rotating angle in the situation that described receiving trap receives described signal.
3. equipment according to claim 2 is characterized in that,
Described control device is before the corresponding absolute angle of revolution of the described initial position of storage, determine the difference between the corresponding absolute angle of revolution of current absolute angle of revolution and described initial position, and in the situation that this difference, is stored the corresponding absolute angle of revolution of described initial position greater than preset value.
4. a system that is used for the angle of revolution of definite slewing equipment is characterized in that, this system comprises:
Rotation angle detecting device, the rotational angle of the angle of revolution transmission detection of gear that is connected with described slewing equipment or reductor for detection of described rotary motor or; And
The described equipment of each claim according to claim 1-3.
5. system according to claim 4 is characterized in that, this system also comprises:
Position detecting device, this position detecting device comprises location sensitive piece and position detecting switch, one in this location sensitive piece and the position detecting switch is fixed on the described slewing equipment, another one is fixed in outside the described slewing equipment, when the one in described location sensitive piece and the position detecting switch is turned back to initial position with described slewing equipment, described location sensitive piece triggers described position detecting switch, so that described position detecting switch sends the signal that the described slewing equipment of expression is turned back to initial position.
6. one kind comprises according to claim 4 or the engineering machinery of 5 described systems.
7. method of be used for determining the angle of revolution of slewing equipment, described slewing equipment is driven by reductor by rotary motor, and the method comprises:
Receive the rotational angle of the angle of revolution transmission detection of gear that described rotary motor or is connected with described slewing equipment or reductor; And
According to the ratio of gear between described rotational angle and described rotary motor and the described slewing equipment or the ratio of gear between described angle of revolution transmission detection of gear and the described slewing equipment, calculate the relative rotating angle of described slewing equipment, and determine the current absolute angle of revolution of described slewing equipment according to the last time absolute angle of revolution of this relative rotating angle and storage.
8. method according to claim 7 is characterized in that, the method also comprises:
Receive the signal that the described slewing equipment of expression is turned back to initial position; And
Store the corresponding absolute angle of revolution of this initial position, and take this initial position as starting point, recomputate relative rotating angle.
9. method according to claim 8 is characterized in that,
Before the corresponding absolute angle of revolution of the described initial position of storage, determine the difference between the corresponding absolute angle of revolution of current absolute angle of revolution and described initial position, and in the situation that this difference, is stored the corresponding absolute angle of revolution of described initial position greater than preset value.
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| CN2012104599821A CN102944209A (en) | 2012-11-15 | 2012-11-15 | Equipment, system and method for determining rotation angle and engineering machinery |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103321648A (en) * | 2013-07-18 | 2013-09-25 | 中国铁建重工集团有限公司 | Method and device for rotating and controlling segment erector of tunneling machine |
| CN103575249A (en) * | 2013-11-08 | 2014-02-12 | 中联重科股份有限公司 | Rotation angle detection equipment, system and method of rotating device and engineering machinery |
| CN105302161A (en) * | 2015-12-10 | 2016-02-03 | 四川钟顺太阳能开发有限公司 | Sun follower reference point correction method based on double worm bolt rotating disk |
| CN105302166A (en) * | 2015-12-10 | 2016-02-03 | 四川钟顺太阳能开发有限公司 | Sun follower return error concealment method based on double worm bolt rotating disk |
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| CN109540074A (en) * | 2018-12-07 | 2019-03-29 | 中联重科股份有限公司 | Crane rotation angle calculation method and device, processor and crane |
| CN111115458A (en) * | 2020-04-01 | 2020-05-08 | 湖南三一塔式起重机械有限公司 | Load position calculation device and crane |
| CN111847256A (en) * | 2020-07-03 | 2020-10-30 | 中联重科股份有限公司 | Rotation monitoring method and system of mechanical structure and engineering machinery |
| CN112374371A (en) * | 2020-11-20 | 2021-02-19 | 中船华南船舶机械有限公司 | Control method of crane rotation zero-position switch |
| CN112519884A (en) * | 2020-10-29 | 2021-03-19 | 武汉光庭科技有限公司 | Engineering machine tool turns to angle feedback repacking device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103321648A (en) * | 2013-07-18 | 2013-09-25 | 中国铁建重工集团有限公司 | Method and device for rotating and controlling segment erector of tunneling machine |
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| CN105302166A (en) * | 2015-12-10 | 2016-02-03 | 四川钟顺太阳能开发有限公司 | Sun follower return error concealment method based on double worm bolt rotating disk |
| CN105302161B (en) * | 2015-12-10 | 2018-03-23 | 四川钟顺太阳能开发有限公司 | The bench mark correction method of sun tracker based on double scroll bar rotating disks |
| CN105302161A (en) * | 2015-12-10 | 2016-02-03 | 四川钟顺太阳能开发有限公司 | Sun follower reference point correction method based on double worm bolt rotating disk |
| CN105302166B (en) * | 2015-12-10 | 2018-03-27 | 四川钟顺太阳能开发有限公司 | Sun tracker return error cancelling method based on twin worm rotating disk |
| CN106681238A (en) * | 2017-03-15 | 2017-05-17 | 天空概念（北京）防务科技有限公司 | Rotary mechanism control circuit and control method |
| CN109540074A (en) * | 2018-12-07 | 2019-03-29 | 中联重科股份有限公司 | Crane rotation angle calculation method and device, processor and crane |
| CN111115458A (en) * | 2020-04-01 | 2020-05-08 | 湖南三一塔式起重机械有限公司 | Load position calculation device and crane |
| CN111847256A (en) * | 2020-07-03 | 2020-10-30 | 中联重科股份有限公司 | Rotation monitoring method and system of mechanical structure and engineering machinery |
| CN112519884A (en) * | 2020-10-29 | 2021-03-19 | 武汉光庭科技有限公司 | Engineering machine tool turns to angle feedback repacking device |
| CN112374371A (en) * | 2020-11-20 | 2021-02-19 | 中船华南船舶机械有限公司 | Control method of crane rotation zero-position switch |
| CN112374371B (en) * | 2020-11-20 | 2022-11-01 | 中船华南船舶机械有限公司 | Control method of crane rotation zero position switch |
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