CN103575250A - Rotation angle detection equipment, system and method of rotating device and engineering machinery - Google Patents
Rotation angle detection equipment, system and method of rotating device and engineering machinery Download PDFInfo
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- CN103575250A CN103575250A CN201310560608.5A CN201310560608A CN103575250A CN 103575250 A CN103575250 A CN 103575250A CN 201310560608 A CN201310560608 A CN 201310560608A CN 103575250 A CN103575250 A CN 103575250A
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- 238000000034 method Methods 0.000 title claims abstract description 39
- 238000001514 detection method Methods 0.000 title claims abstract description 17
- 230000000630 rising effect Effects 0.000 claims description 5
- 239000003638 chemical reducing agent Substances 0.000 abstract 1
- 238000005259 measurement Methods 0.000 description 5
- DCRGHMJXEBSRQG-UHFFFAOYSA-N 1-[1-(cyclooctylmethyl)-5-(hydroxymethyl)-3,6-dihydro-2H-pyridin-4-yl]-3-ethyl-2-benzimidazolone Chemical compound O=C1N(CC)C2=CC=CC=C2N1C(CC1)=C(CO)CN1CC1CCCCCCC1 DCRGHMJXEBSRQG-UHFFFAOYSA-N 0.000 description 3
- 238000003556 assay Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000006698 induction Effects 0.000 description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 235000014121 butter Nutrition 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000035939 shock Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
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Abstract
The invention discloses a rotation angle detection device, a system and a method of an engineering machinery rotation device and engineering machinery. The slewing device is driven by a slewing motor through a speed reducer, the apparatus comprising: the receiving device is used for receiving oil inlet pressure and oil outlet pressure signals of the rotary motor and pulse signals representing that the teeth of the gear are sensed in the process of the gear revolution of the rotary device, wherein the teeth on the gear are distributed at equal intervals; the control device is used for determining the rotation direction of the gear according to the difference between the pressure of the oil inlet and the pressure of the oil outlet; determining the sensed tooth number in the gear revolution process according to the pulse signals; and determining the rotation angle of the gear according to the rotation direction, the tooth number and the total tooth number of the gear. Therefore, whether the gear rotates or not and the rotating direction are judged by detecting the pressure of the oil inlet and the oil outlet of the rotary motor, the error calculation of the rotating angle caused by the external interference of the proximity switch can be prevented, and the anti-interference performance is strong.
Description
Technical field
The present invention relates to engineering machinery field, particularly, relate to a kind of angle of revolution checkout equipment, system, method and engineering machinery of engineering machinery slewing equipment.
Background technology
Slewing equipment is extensively present in (tower machine, pump truck etc.) in all kinds of construction machinery industries, and the measurement of angle of revolution is most important for control and the security performance of engineering machinery action.The metering of revolution measurement mechanism direct relation angle of revolution, therefore, the reliability of revolution measurement mechanism and accuracy are the most critical key elements that engineering machinery slewing equipment is accurately controlled.
Now, have on the market a lot of rotary encoders, the precision of these scramblers is higher, but shock-resistant ability is poor, can not be adapted in the severe working environment of engineering machinery.Also can adopt two or three approach switchs to detect angle of revolution, the shock-resistant ability of this detection method is high, can adapt to preferably the operating environment of engineering machinery.
But, adopt approach switch to detect angle of revolution and still have many defects.For example, be subject to the restriction of approach switch distance of reaction and the impact of approach switch induction curve, for distinguishing rotating both direction, the signal of two approach switch inductions must be the signal that is staggered, and this is very high to approach switch and the requirement of swiveling gear spacing, bring compared with burden to the installation of revolution measurement mechanism and adjusting.Once apart from there is deviation, just can cause angle of revolution correctly not measure between the two.In addition, when turning round operation, because making butter, the less spacing between induction gear and approach switch is easily stuck in therebetween,, once there be iron substance to be bonded on butter, can produce external interference signal to approach switch, the metering that leads to errors, reduces the degree of reliability of turning round measurement mechanism.
Summary of the invention
The object of this invention is to provide a kind of angle of revolution checkout equipment, system, method and engineering machinery with the engineering machinery slewing equipment very convenient compared with strong anti-interference, Installation and Debugging.
To achieve these goals, the invention provides a kind of angle of revolution checkout equipment of engineering machinery slewing equipment, described slewing equipment is driven by reductor by rotary motor, described equipment comprises: receiving trap, the pulse signal that senses the tooth of described gear for the rotating process of gear that receives inlet pressure and the oil-out pressure signal of described rotary motor and be illustrated in described slewing equipment, the tooth on wherein said gear is equally spaced; Control device, for poor according between described inlet pressure and described oil-out pressure, determines the gyratory directions of described gear; According to described pulse signal, determine the number of teeth sensing in the rotating process of described gear; And the angle of revolution of determining described gear according to total number of teeth of described gyratory directions, the described number of teeth and described gear.
The present invention also provides a kind of angle of revolution detection system of engineering machinery slewing equipment, and described slewing equipment is driven by reductor by rotary motor, and described system comprises: the first pressure-detecting device, for detection of the inlet pressure of described rotary motor; The second pressure-detecting device, for detection of the oil-out pressure of described rotary motor; Approach switch, for the tooth of gear described in the rotating process sensing of the gear at described slewing equipment; And above-mentioned checkout equipment.
The present invention also provides a kind of engineering machinery that comprises said system.
The present invention also provides a kind of angle of revolution detection method of engineering machinery slewing equipment, described slewing equipment is driven by reductor by rotary motor, described method comprises: receive inlet pressure and the oil-out pressure signal of described rotary motor and be illustrated in the pulse signal that senses the tooth of described gear in the rotating process of gear of described slewing equipment, the tooth on wherein said gear is equally spaced; Poor according between described inlet pressure and described oil-out pressure, determines the gyratory directions of described gear; According to described pulse signal, determine the number of teeth sensing in the rotating process of described gear; And the angle of revolution of determining described gear according to total number of teeth of described gyratory directions, the described number of teeth and described gear.
In technique scheme, by detecting the pressure of the oil inlet and outlet of rotary motor, judge whether gear turns round and gyratory directions, can prevent thus the angle of revolution erroneous calculations that the external interference signal because of approach switch causes, antijamming capability is strong, reliability is high, and whole assay device structures is simple, installs, it is very convenient to debug.
Other features and advantages of the present invention partly in detail are described the embodiment subsequently.
Accompanying drawing explanation
Accompanying drawing is to be used to provide a further understanding of the present invention, and forms a part for instructions, is used from explanation the present invention, but is not construed as limiting the invention with embodiment one below.In the accompanying drawings:
Fig. 1 is the structural drawing of angle of revolution checkout equipment according to the embodiment of the present invention;
Fig. 2 is the schematic diagram of pulse signal according to the embodiment of the present invention, and wherein this pulse signal is used for being illustrated in the situation that senses the tooth of described gear in the rotating process of gear;
Fig. 3 is the structural drawing of angle of revolution detection system according to the embodiment of the present invention; And
Fig. 4 is the process flow diagram of angle of revolution detection method according to the embodiment of the present invention.
Description of reference numerals
10 angle of revolution checkout equipment 101 receiving trap 102 control device
20 first pressure-detecting device 30 second pressure-detecting device 40 approach switchs
Embodiment
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is elaborated.Should be understood that, embodiment described herein only, for description and interpretation the present invention, is not limited to the present invention.
Fig. 1 shows the structural drawing of the angle of revolution checkout equipment of engineering machinery slewing equipment according to the embodiment of the present invention.Described slewing equipment can be driven by reductor by rotary motor.As shown in Figure 1, described equipment 10 can comprise: receiving trap 101, the pulse signal that senses the tooth of described gear for the rotating process of gear that receives inlet pressure and the oil-out pressure signal of described rotary motor and be illustrated in described slewing equipment, the tooth on wherein said gear is equally spaced; Control device 102, poor for according between described inlet pressure and described oil-out pressure, determines the gyratory directions of described gear; According to described pulse signal, determine the number of teeth sensing in the rotating process of described gear; And the angle of revolution of determining described gear according to total number of teeth of described gyratory directions, the described number of teeth and described gear.
Particularly, described receiving trap 101 can receive the inlet pressure P of described rotary motor
inwith oil-out pressure P
out, then determine the poor Δ P=P between the two
in-P
out.At described poor Δ P, be greater than first threshold (for example ,+P
1) situation under, described control device 102 is determined described gear forward; And be less than Second Threshold (for example ,-P at described poor Δ P
2) situation under, described control device 102 is determined described gear reversion, wherein, described P
1with described P
2can equate, also can be unequal.If above-mentioned two conditions all do not meet, described control device 102 determines that described gear turns round.
As mentioned above, described receiving trap 101 also receives the pulse signal that senses the tooth of described gear in the rotating process of gear that is illustrated in described slewing equipment simultaneously, and this pulse signal as shown in Figure 2.
Described control device 102 can be determined the number of teeth sensing in the rotating process of described gear in the following manner: the rising edge of described pulse signal (or negative edge) is counted.Afterwards, control device 102 is by count results N
pulsepreserve, wherein, N
pulsebe illustrated in the number of teeth sensing in the rotating process of described gear.
After the number of teeth of determining the gyratory directions of described gear and sensing in gear turning course, described control device 102 can be determined according to total number of teeth of described gear the angle of revolution of described gear.For example, total number of teeth of supposing described gear is N, and described control device 102 can utilize following equation (1) to determine the angle of revolution of described gear:
Θ=360/N*N
pulse*x （1）
Wherein, Θ represents described angle of revolution; And x represents the gyratory directions of described gear, wherein, the in the situation that of described gear forward, x=1, and the in the situation that of described gear reversion, x=-1.
Thus, by detecting the pressure of the oil inlet and outlet of rotary motor, judge whether gear turns round and gyratory directions, can prevent the angle of revolution erroneous calculations that the external interference signal because of approach switch causes, antijamming capability is strong, reliability is high, and whole assay device structures is simple, installs, it is very convenient to debug.
Fig. 3 shows the structural drawing of angle of revolution detection system according to the embodiment of the present invention.As shown in Figure 3, described system can comprise: the first pressure-detecting device 20, for detection of the inlet pressure of described rotary motor; The second pressure-detecting device 30, for detection of the oil-out pressure of described rotary motor; Approach switch 40, for the tooth of gear described in the rotating process sensing of the gear at described slewing equipment; And above-mentioned checkout equipment 10.
As shown in Figure 3, described the first pressure-detecting device 20 for example can be installed on the oil-in of described rotary motor, described the second pressure-detecting device 30 for example can be installed on the oil-out of described rotary motor, and described approach switch 40 can for example be installed on described gear near.
Fig. 4 shows the process flow diagram of angle of revolution detection method according to the embodiment of the present invention.As shown in Figure 4, the method can comprise: step 401, receives the inlet pressure P of described rotary motor
inwith oil-out pressure P
outsignal and be illustrated in the pulse signal that senses the tooth of described gear in the rotating process of gear of described slewing equipment.Step 402, determines described inlet pressure P
inwith described oil-out pressure P
outbetween poor Δ P.Step 403, judges whether described poor Δ P is greater than first threshold (for example ,+P
1).In the situation that described poor Δ P is greater than first threshold, step 404, determines described gear forward, and the rising edge of described pulse signal or negative edge are counted, to determine the number of teeth sensing in the rotating process of described gear.For example, otherwise step 405, judges whether described poor Δ P is less than Second Threshold (,-P
2).In the situation that described poor Δ P is less than Second Threshold, step 406, determines described gear reversion, and the rising edge of described pulse signal or negative edge is counted, to determine the number of teeth sensing in the rotating process of described gear.After step 404 and 406, step 407, determines the angle of revolution of described gear according to total number of teeth of described gyratory directions, the described number of teeth and described gear.At described pressure differential Δ P, all do not meet under the condition of step 403 and 405, determine that described gear does not turn round, angle of revolution remains unchanged.
Thus, by angle of revolution provided by the invention checkout equipment, system, method and engineering machinery, can judge whether gear turns round and gyratory directions by detecting the pressure of the oil inlet and outlet of rotary motor, can prevent thus the angle of revolution erroneous calculations that the external interference signal because of approach switch causes, antijamming capability is strong, reliability is high, and whole assay device structures is simple, installs, it is very convenient to debug.
Below describe by reference to the accompanying drawings the preferred embodiment of the present invention in detail; but; the present invention is not limited to the detail in above-mentioned embodiment; within the scope of technical conceive 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.
It should be noted that in addition each the concrete technical characterictic described in above-mentioned embodiment, in reconcilable situation, can combine by any suitable mode.For fear of unnecessary repetition, the present invention is to the explanation no longer separately of various possible array modes.
In addition, between various embodiment of the present invention, also can carry out combination in any, 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 (10)
1. an angle of revolution checkout equipment for engineering machinery slewing equipment, described slewing equipment is driven by reductor by rotary motor, it is characterized in that, and described equipment comprises:
Receiving trap, the pulse signal that senses the tooth of described gear for the rotating process of gear that receives inlet pressure and the oil-out pressure signal of described rotary motor and be illustrated in described slewing equipment, the tooth on wherein said gear is equally spaced;
Control device, for:
Poor according between described inlet pressure and described oil-out pressure, determines the gyratory directions of described gear;
According to described pulse signal, determine the number of teeth sensing in the rotating process of described gear; And
According to total number of teeth of described gyratory directions, the described number of teeth and described gear, determine the angle of revolution of described gear.
2. equipment according to claim 1, is characterized in that,
In the situation that described difference is greater than first threshold, described control device is determined described gear forward; And
In the situation that described difference is less than Second Threshold, described control device is determined described gear reversion.
3. equipment according to claim 1, is characterized in that, described control device is determined the number of teeth sensing in the rotating process of described gear in the following manner:
The rising edge of described pulse signal or negative edge are counted.
4. according to the equipment described in arbitrary claim in claim 1-3, it is characterized in that, described control device is determined the angle of revolution of described gear in the following manner:
Θ=360/N*N
pulse*x
Wherein, Θ represents described angle of revolution; N represents total number of teeth of described gear; N
pulserepresent the number of teeth sensing; And x represents the gyratory directions of described gear, wherein, the in the situation that of described gear forward, x=1, and the in the situation that of described gear reversion, x=-1.
5. an angle of revolution detection system for engineering machinery slewing equipment, described slewing equipment is driven by reductor by rotary motor, it is characterized in that, and described system comprises:
The first pressure-detecting device, for detection of the inlet pressure of described rotary motor;
The second pressure-detecting device, for detection of the oil-out pressure of described rotary motor;
Approach switch, for the tooth of gear described in the rotating process sensing of the gear at described slewing equipment; And
According to the checkout equipment described in arbitrary claim in claim 1-4.
6. an engineering machinery that comprises system claimed in claim 5.
7. an angle of revolution detection method for engineering machinery slewing equipment, described slewing equipment is driven by reductor by rotary motor, it is characterized in that, and described method comprises:
Receive inlet pressure and the oil-out pressure signal of described rotary motor and be illustrated in the pulse signal that senses the tooth of described gear in the rotating process of gear of described slewing equipment, the tooth on wherein said gear is equally spaced;
Poor according between described inlet pressure and described oil-out pressure, determines the gyratory directions of described gear;
According to described pulse signal, determine the number of teeth sensing in the rotating process of described gear; And
According to total number of teeth of described gyratory directions, the described number of teeth and described gear, determine the angle of revolution of described gear.
8. method according to claim 7, is characterized in that,
In the situation that described difference is greater than first threshold, determine described gear forward; And
In the situation that described difference is less than Second Threshold, determine described gear reversion.
9. method according to claim 7, is characterized in that, determines in the following manner the number of teeth sensing in the rotating process of described gear:
The rising edge of described pulse signal or negative edge are counted.
10. according to the method described in arbitrary claim in claim 7-9, it is characterized in that, determine in the following manner the angle of revolution of described gear:
Θ=360/N*N
pulse*x
Wherein, Θ represents described angle of revolution; N represents total number of teeth of described gear; N
pulserepresent the number of teeth sensing; And x represents the gyratory directions of described gear, wherein, the in the situation that of described gear forward, x=1, and the in the situation that of described gear reversion, x=-1.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310560608.5A CN103575250B (en) | 2013-11-12 | 2013-11-12 | Rotation angle detection equipment, system and method of rotating device and engineering machinery |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310560608.5A CN103575250B (en) | 2013-11-12 | 2013-11-12 | Rotation angle detection equipment, system and method of rotating device and engineering machinery |
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| CN103575250A true CN103575250A (en) | 2014-02-12 |
| CN103575250B CN103575250B (en) | 2016-01-13 |
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| CN201310560608.5A Active CN103575250B (en) | 2013-11-12 | 2013-11-12 | Rotation angle detection equipment, system and method of rotating device and engineering machinery |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106917726A (en) * | 2017-01-23 | 2017-07-04 | 北京金风科创风电设备有限公司 | Corner detection method and system and wind driven generator |
| CN111121706A (en) * | 2019-12-31 | 2020-05-08 | 潍柴动力股份有限公司 | Excavator rotation angle measuring method, device and system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS54103065A (en) * | 1978-01-31 | 1979-08-14 | Mitsubishi Heavy Ind Ltd | Method and apparatus for measuring angle of rotation |
| CN2034679U (en) * | 1988-04-28 | 1989-03-22 | 丁伯瑜 | Measuring device for angle displacement |
| WO2008056792A1 (en) * | 2006-11-10 | 2008-05-15 | The Furukawa Electric Co., Ltd. | Rotation angle determining apparatus |
| CN101986159A (en) * | 2009-07-28 | 2011-03-16 | 通用汽车环球科技运作公司 | Directional speed sensing systems and methods |
| CN103226008A (en) * | 2013-04-27 | 2013-07-31 | 长春理工大学 | Synchronous acquisition method for gear pattern measuring data |
-
2013
- 2013-11-12 CN CN201310560608.5A patent/CN103575250B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS54103065A (en) * | 1978-01-31 | 1979-08-14 | Mitsubishi Heavy Ind Ltd | Method and apparatus for measuring angle of rotation |
| CN2034679U (en) * | 1988-04-28 | 1989-03-22 | 丁伯瑜 | Measuring device for angle displacement |
| WO2008056792A1 (en) * | 2006-11-10 | 2008-05-15 | The Furukawa Electric Co., Ltd. | Rotation angle determining apparatus |
| CN101986159A (en) * | 2009-07-28 | 2011-03-16 | 通用汽车环球科技运作公司 | Directional speed sensing systems and methods |
| CN103226008A (en) * | 2013-04-27 | 2013-07-31 | 长春理工大学 | Synchronous acquisition method for gear pattern measuring data |
Non-Patent Citations (1)
| Title |
|---|
| 金远强等: "超高速回转轴转矩测试原理与动态特性分析", 《导弹与航天运载技术》, no. 2, 30 April 2007 (2007-04-30) * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106917726A (en) * | 2017-01-23 | 2017-07-04 | 北京金风科创风电设备有限公司 | Corner detection method and system and wind driven generator |
| CN111121706A (en) * | 2019-12-31 | 2020-05-08 | 潍柴动力股份有限公司 | Excavator rotation angle measuring method, device and system |
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|---|---|
| CN103575250B (en) | 2016-01-13 |
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