CN103575250B - The angle of revolution checkout equipment of slewing equipment, system, method and engineering machinery - Google Patents
The angle of revolution checkout equipment of slewing equipment, system, method and engineering machinery Download PDFInfo
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- CN103575250B CN103575250B CN201310560608.5A CN201310560608A CN103575250B CN 103575250 B CN103575250 B CN 103575250B CN 201310560608 A CN201310560608 A CN 201310560608A CN 103575250 B CN103575250 B CN 103575250B
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Abstract
The invention discloses a kind of angle of revolution checkout equipment of engineering machinery slewing equipment, system, method and engineering machinery.Described slewing equipment is driven by reductor by rotary motor, described equipment comprises: receiving trap, for receiving inlet pressure and the oil-out pressure signal of rotary motor and representing the pulse signal sensing the tooth of gear in the pivotal process of the gear of slewing equipment, the tooth on wherein said gear is equally spaced; Control device, for according to the difference between inlet pressure and oil-out pressure, determines the gyratory directions of gear; The number of teeth sensed in the pivotal process of gear is determined according to pulse signal; And the angle of revolution of total number of teeth determination gear according to described gyratory directions, the described number of teeth and gear.Thus, judging whether gear turns round and gyratory directions by detecting rotary motor oil inlet and outlet pressure, the angle of revolution erroneous calculations caused because of the external interference of proximity switch can be prevented, strong interference immunity.
Description
Technical field
The present invention relates to engineering machinery field, particularly, relate to a kind of angle of revolution checkout equipment of engineering machinery slewing equipment, system, method and engineering machinery.
Background technology
Slewing equipment is extensively present in (tower machine, pump truck etc.) in all kinds of construction machinery industry, the measurement of angle of revolution for the control of engineering machinery action and security performance most important.The metering of revolution measurement mechanism direct relation angle of revolution, therefore, reliability and the accuracy of revolution measurement mechanism are the most critical key elements that engineering machinery slewing equipment accurately controls.
Now, have a lot of rotary encoder on the market, 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 two or three proximity switches can be adopted to detect angle of revolution, and the shock-resistant ability of this detection method is high, can adapt to the operating environment of engineering machinery preferably.
But, adopt proximity switch to detect angle of revolution and still there is many defects.Such as, by the restriction of proximity switch distance of reaction and the impact of proximity switch induction curve, for distinguishing pivotal both direction, the signal of two proximity switch inductions must be the signal that is staggered, and this to proximity switch and swiveling gear pitch requirements very high, give revolution measurement mechanism install and adjustment bring comparatively burden.Once between the two apart from there is deviation, angle of revolution just can be caused correctly not measure.In addition, when not carrying out revolution operation, because the comparatively Small Distance between induction gear and proximity switch makes butter easily be stuck in therebetween, once there be iron substance to be bonded on butter, can produce external interference signal to proximity switch, lead to errors metering, reduces the degree of reliability of revolution 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 the engineering machinery with the engineering machinery slewing equipment very convenient compared with common-path 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, for receiving inlet pressure and the oil-out pressure signal of described rotary motor and representing the pulse signal sensing the tooth of described gear in the pivotal process of the gear of described slewing equipment, the tooth on wherein said gear is equally spaced; Control device, for: according to the difference between described inlet pressure and described oil-out pressure, determine the gyratory directions of described gear; The number of teeth sensed in the pivotal process of described gear is determined according to described pulse signal; And the angle of revolution of described gear is determined 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 detecting the inlet pressure of described rotary motor; Second pressure-detecting device, for detecting the oil-out pressure of described rotary motor; Proximity switch, for sensing the tooth of described gear in the pivotal process of the gear of described slewing equipment; And above-mentioned checkout equipment.
The present invention also provides a kind of engineering machinery comprising 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 represent the pulse signal sensing the tooth of described gear in the pivotal process of the gear of described slewing equipment, the tooth on wherein said gear is equally spaced; According to the difference between described inlet pressure and described oil-out pressure, determine the gyratory directions of described gear; The number of teeth sensed in the pivotal process of described gear is determined according to described pulse signal; And the angle of revolution of described gear is determined according to total number of teeth of described gyratory directions, the described number of teeth and described gear.
In technique scheme, judge whether gear turns round and gyratory directions by the pressure of the oil inlet and outlet detecting rotary motor, the angle of revolution erroneous calculations caused because of the external interference signal of proximity switch can be prevented thus, 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 are described in detail in embodiment part subsequently.
Accompanying drawing explanation
Accompanying drawing is 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 representing the situation sensing the tooth of described gear in the pivotal 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 proximity switches
Embodiment
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is described in detail.Should be understood that, embodiment described herein, only for instruction and explanation of 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, for receiving inlet pressure and the oil-out pressure signal of described rotary motor and representing the pulse signal sensing the tooth of described gear in the pivotal process of the gear of described slewing equipment, the tooth on wherein said gear is equally spaced; Control device 102, for according to the difference between described inlet pressure and described oil-out pressure, determines the gyratory directions of described gear; The number of teeth sensed in the pivotal process of described gear is determined according to described pulse signal; And the angle of revolution of described gear is determined 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 poor Δ P=P therebetween
in-P
out.First threshold (such as ,+P is greater than at described poor Δ P
1) when, described control device 102 determines that described gear rotates forward; And be less than Second Threshold (such as ,-P at described poor Δ P
2) when, described control device 102 determines that described gear reverses, wherein, and described P
1with described P
2can be equal, also can be unequal.If above-mentioned two conditions all do not meet, then described control device 102 determines that described gear turns round.
As mentioned above, described receiving trap 101 also receives the pulse signal representing and sense the tooth of described gear in the pivotal process of the gear of described slewing equipment simultaneously, and this pulse signal as shown in Figure 2.
Described control device 102 can determine the number of teeth sensed in the pivotal process of described gear in the following manner: count the rising edge (or negative edge) of described pulse signal.Afterwards, control device 102 is by count results N
pulsepreserve, wherein, N
pulserepresent the number of teeth sensed in the pivotal process of described gear.
After the gyratory directions determining described gear and the number of teeth sensed in gear turning course, described control device 102 can determine the angle of revolution of described gear according to total number of teeth of described gear.Such as, suppose that total number of teeth of described gear is N, then 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, when described gear rotates forward, x=1, and when described gear reverses, x=-1.
Thus, judge whether gear turns round and gyratory directions by the pressure of the oil inlet and outlet detecting rotary motor, the angle of revolution erroneous calculations caused because of the external interference signal of proximity switch can be prevented, 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 detecting the inlet pressure of described rotary motor; Second pressure-detecting device 30, for detecting the oil-out pressure of described rotary motor; Proximity switch 40, for sensing the tooth of described gear in the pivotal process of the gear of described slewing equipment; And above-mentioned checkout equipment 10.
As shown in Figure 3, described first pressure-detecting device 20 such as can be installed on the oil-in of described rotary motor, described second pressure-detecting device 30 such as can be installed on the oil-out of described rotary motor, and described proximity switch 40 can such as be installed near described gear.
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 expression sense the pulse signal of the tooth of described gear in the pivotal process of the 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 (such as ,+P
1).When described poor Δ P is greater than first threshold, step 404, determines that described gear rotates forward, and counts the rising edge of described pulse signal or negative edge, to determine the number of teeth sensed in the pivotal process of described gear.Otherwise step 405, judges whether described poor Δ P is less than Second Threshold (such as ,-P
2).When described poor Δ P is less than Second Threshold, step 406, determines that described gear reverses, and counts the rising edge of described pulse signal or negative edge, to determine the number of teeth sensed in the pivotal 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.Under the condition that described pressure differential Δ P does not all meet step 403 and 405, determine that described gear does not turn round, namely 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 the pressure of the oil inlet and outlet detecting rotary motor, the angle of revolution erroneous calculations caused because of the external interference signal of proximity switch can be prevented thus, antijamming capability is strong, reliability is high, and whole assay device structures is simple, installs, it is very convenient to debug.
Below the preferred embodiment of the present invention is described in detail by reference to the accompanying drawings; 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 characteristic described in above-mentioned embodiment, in reconcilable situation, can be combined by any suitable mode.In order to avoid unnecessary repetition, the present invention illustrates no longer separately to various possible array mode.
In addition, also can carry out combination in any between various different 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 (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, described equipment comprises:
Receiving trap, for receiving inlet pressure and the oil-out pressure signal of described rotary motor and representing the pulse signal sensing the tooth of described gear in the pivotal process of the gear of described slewing equipment, the tooth on wherein said gear is equally spaced;
Control device, for:
According to the difference between described inlet pressure and described oil-out pressure, determine the gyratory directions of described gear;
The number of teeth sensed in the pivotal process of described gear is determined according to described pulse signal; And
The angle of revolution of described gear is determined according to total number of teeth of described gyratory directions, the described number of teeth and described gear.
2. equipment according to claim 1, is characterized in that,
When described difference is greater than first threshold, described control device determines that described gear rotates forward; And
When described difference is less than Second Threshold, described control device determines that described gear reverses.
3. equipment according to claim 1, is characterized in that, the number of teeth sensed in the pivotal process of described gear determined in the following manner by described control device:
The rising edge of described pulse signal or negative edge are counted.
4. the equipment according to claim arbitrary in claim 1-3, is characterized in that, the angle of revolution of described gear determined in the following manner by described control device:
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 sensed; And x represents the gyratory directions of described gear, wherein, when described gear rotates forward, x=1, and when described gear reverses, 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, described system comprises:
First pressure-detecting device, for detecting the inlet pressure of described rotary motor;
Second pressure-detecting device, for detecting the oil-out pressure of described rotary motor;
Proximity switch, for sensing the tooth of described gear in the pivotal process of the gear of described slewing equipment; And
Checkout equipment according to claim arbitrary in claim 1-4.
6. one kind comprises the engineering machinery of system according to 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, described method comprises:
Receive inlet pressure and the oil-out pressure signal of described rotary motor and represent the pulse signal sensing the tooth of described gear in the pivotal process of the gear of described slewing equipment, the tooth on wherein said gear is equally spaced;
According to the difference between described inlet pressure and described oil-out pressure, determine the gyratory directions of described gear;
The number of teeth sensed in the pivotal process of described gear is determined according to described pulse signal; And
The angle of revolution of described gear is determined according to total number of teeth of described gyratory directions, the described number of teeth and described gear.
8. method according to claim 7, is characterized in that,
When described difference is greater than first threshold, determine that described gear rotates forward; And
When described difference is less than Second Threshold, determine that described gear reverses.
9. method according to claim 7, is characterized in that, determines the number of teeth sensed in the pivotal process of described gear in the following manner:
The rising edge of described pulse signal or negative edge are counted.
10. the method according to claim arbitrary in claim 7-9, is characterized in that, determines 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 sensed; And x represents the gyratory directions of described gear, wherein, when described gear rotates forward, x=1, and when described gear reverses, x=-1.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310560608.5A CN103575250B (en) | 2013-11-12 | 2013-11-12 | The angle of revolution checkout equipment of slewing equipment, system, method and engineering machinery |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310560608.5A CN103575250B (en) | 2013-11-12 | 2013-11-12 | The angle of revolution checkout equipment of slewing equipment, system, method and engineering machinery |
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| CN103575250A CN103575250A (en) | 2014-02-12 |
| CN103575250B true CN103575250B (en) | 2016-01-13 |
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| CN201310560608.5A Active CN103575250B (en) | 2013-11-12 | 2013-11-12 | The angle of revolution checkout equipment of slewing equipment, system, method and engineering machinery |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106917726B (en) * | 2017-01-23 | 2018-11-02 | 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 |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
Family Cites Families (1)
| 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 |
-
2013
- 2013-11-12 CN CN201310560608.5A patent/CN103575250B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
|---|
| 超高速回转轴转矩测试原理与动态特性分析;金远强等;《导弹与航天运载技术》;20070430(第2期);39-42、61页 * |
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