CN114922923A - Slewing mechanism and control method - Google Patents

Slewing mechanism and control method Download PDF

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Publication number
CN114922923A
CN114922923A CN202210525968.0A CN202210525968A CN114922923A CN 114922923 A CN114922923 A CN 114922923A CN 202210525968 A CN202210525968 A CN 202210525968A CN 114922923 A CN114922923 A CN 114922923A
Authority
CN
China
Prior art keywords
main shaft
brake
slewing
speed
speed reducer
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202210525968.0A
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Chinese (zh)
Inventor
宋院归
邓胜达
李朝弟
张建军
李义
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Zhonglian Hengtong Machinery Co Ltd
Original Assignee
Zhonglian Hengtong Machinery Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Zhonglian Hengtong Machinery Co Ltd filed Critical Zhonglian Hengtong Machinery Co Ltd
Priority to CN202210525968.0A priority Critical patent/CN114922923A/en
Publication of CN114922923A publication Critical patent/CN114922923A/en
Pending legal-status Critical Current

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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D65/00—Parts or details
    • F16D65/02—Braking members; Mounting thereof
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D65/00—Parts or details
    • F16D65/14—Actuating mechanisms for brakes; Means for initiating operation at a predetermined position
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/02—Gearboxes; Mounting gearing therein
    • F16H57/023—Mounting or installation of gears or shafts in the gearboxes, e.g. methods or means for assembly
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D2121/00—Type of actuator operation force
    • F16D2121/02—Fluid pressure
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D2121/00—Type of actuator operation force
    • F16D2121/18—Electric or magnetic

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Gear Transmission (AREA)

Abstract

The application discloses rotation mechanism includes: a slewing bearing; the output end of the speed reducer is meshed with the slewing bearing; the driver is connected with the input end of the speed reducer and used for driving the speed reducer to drive the rotating part to rotate around the slewing bearing; the auxiliary positioning mechanism comprises a main shaft, a first output gear arranged at the output end of the main shaft, a rotary encoder arranged at the input end of the main shaft and a first brake arranged on the main shaft; the first output gear is meshed with the slewing bearing, the slewing encoder is electrically connected with the first brake and used for monitoring the slewing speed of the main shaft, and when the speed of the main shaft is reduced to a preset value, the first brake brakes the main shaft so as to limit the first output gear and the slewing bearing to rotate. By adopting the method and the device, the positioning precision of the slewing mechanism is improved, the shaking amount brought in the braking process is reduced, and the safety and the stability of the equipment are enhanced.

Description

Slewing mechanism and control method
Technical Field
The application relates to the technical field of engineering machinery, in particular to a rotary structure and a control method.
Background
The slewing mechanism is a mechanism for driving mechanical equipment to perform slewing motion in the field of engineering machinery. The slewing mechanism generally comprises a motor, a speed reducer and a slewing bearing, wherein the motor drives the speed reducer to rotate, so that a gear at the output end of the speed reducer rotates around the slewing bearing, and the slewing action of the equipment is realized.
According to the requirements of the rotation speed and the rotation resistance moment of equipment, the speed reducer generally adopts multi-stage speed reduction, a certain gap exists between gears at all stages of the speed reducer, a lateral gap exists between the gear at the output end of the speed reducer and a rotary support, the accumulation of the sizes of the gaps causes the positioning precision of the rotation mechanism during rotation positioning to be greatly reduced, and the rotation mechanism is limited by the sizes of the gears and is influenced by the rigidity of the gears in the braking process to cause larger shaking amount.
Disclosure of Invention
In order to enhance the positioning accuracy of the swing mechanism and reduce the shaking amount in the braking process, the application provides the swing mechanism and a control method, and the following technical scheme is adopted:
in a first aspect, the present application provides a swing mechanism comprising:
a slewing bearing;
the output end of the speed reducer is meshed with the slewing bearing;
the driver is connected with the input end of the speed reducer and used for driving the speed reducer to drive the rotating part to rotate around the slewing bearing;
the auxiliary positioning mechanism comprises a main shaft, a first output gear arranged at the output end of the main shaft, a rotary encoder arranged at the input end of the main shaft and a first brake arranged on the main shaft;
the first output gear is meshed with the slewing bearing, the slewing encoder is electrically connected with the first brake and used for monitoring the slewing speed of the main shaft, and when the speed of the main shaft is reduced to a preset value, the first brake brakes the main shaft so as to limit the first output gear and the slewing bearing to rotate.
Optionally, the reducer comprises:
a gear train, an input end of the gear train being connected with an output end of the driver;
a second output gear connected to an output end of the gear train;
and the second brake is electrically connected with the rotary encoder, and when the rotary encoder monitors that the speed of the main shaft is zero, the second brake acts to limit the gear train to rotate.
Optionally, the second brake is provided at an input of the gear train.
Optionally, the first brake is disposed at an input end of the main shaft.
Optionally, the number of the speed reducers is one or more.
Optionally, the number of the auxiliary positioning mechanisms is one or more.
In a second aspect, the present application provides a method for controlling a swing mechanism, including the steps of:
providing a slewing bearing, a driver, a speed reducer and an auxiliary positioning mechanism, wherein the auxiliary positioning mechanism comprises a main shaft, a first output gear arranged at the output end of the main shaft, a slewing encoder arranged at the input end of the main shaft and a first brake arranged on the main shaft;
engaging an output end of the speed reducer with the slewing bearing, and engaging the first output gear with the slewing bearing;
the control system outputs a control signal to control the first brake to be opened, the driver drives the speed reducer to drive the rotating part to move around the slewing bearing, and the main shaft performs follow-up slewing motion;
turning off the driver;
and acquiring a speed signal of the main shaft through the rotary encoder, and when the speed of the main shaft is reduced to a preset value, the first brake acts to limit the rotation of the main shaft and the rotary support.
Optionally, the method further comprises:
providing a second brake, and connecting the second brake with the speed reducer;
and acquiring a speed signal of the main shaft through the rotary encoder, and when the speed of the main shaft is zero, the second brake acts to limit the rotation of the speed reducer.
Optionally, the swing mechanism is the swing mechanism of any one of the first aspect.
As described above, when the swing mechanism performs a swing operation, the driver drives the speed reducer to operate, and the speed reducer drives the rotating portion to rotate around the swing support. In the process, the slewing bearing is meshed with the first output gear, the first output gear and the main shaft are driven to do follow-up slewing motion at the same time, and the slewing encoder monitors the slewing speed of the main shaft in real time.
After the driver stops working, the slewing bearing slowly decelerates, so the speed of the main shaft is also gradually reduced, when the slewing speed of the main shaft monitored by the slewing encoder is reduced to a preset value, a speed signal is converted into an electric signal and fed back to the control system, the control system outputs a braking signal to the first brake, the first brake acts to limit the rotation of the main shaft, and further the rotation of the rotating part is limited.
By adopting the technical scheme, because no multi-stage gear exists between the first output gear of the auxiliary positioning mechanism and the first brake, the first brake is used for braking, and only the lateral clearance y between the first output gear and the slewing bearing 2 The positioning precision can be influenced, and compared with the traditional mode, the positioning precision of the slewing mechanism is greatly improved.
In addition, the first output gear of the auxiliary positioning mechanism is connected with the first brake through the main shaft, and compared with various gears of the speed reducer, the rigidity of the main shaft is higher, and the size of the main shaft can be properly increased according to load requirements in actual operation.
Drawings
In order to more clearly illustrate the technical solutions of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for a person skilled in the art to obtain other drawings based on these drawings without exceeding the protection scope of the present application.
FIG. 1 is a schematic view of a turntable and its mounting position on a machine embodying the present application;
FIG. 2 is a schematic view of an auxiliary positioning mechanism according to an embodiment of the present application;
FIG. 3 is a schematic diagram of a reducer according to an embodiment of the present disclosure;
FIG. 4 is a logic control block diagram of the swing mechanism control system;
fig. 5 is a flowchart of a control method according to an embodiment of the present application.
In the drawings, reference numerals refer to the following:
1. a slewing bearing;
2. a speed reducer; 21. a gear train; 22. a second output gear; 23. a second brake;
3. a driver;
4. an auxiliary positioning mechanism; 41. a main shaft; 42. a first output gear; 43. a rotary encoder; 44. a first brake;
100. a fixed portion;
200. a rotating part.
Detailed Description
The technical solutions of the present application will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present application, and it is obvious that the described embodiments are some, not all, of the embodiments of the present application. All other embodiments obtained by a person skilled in the art based on the embodiments in the present application without making any creative effort belong to the protection scope of the present application.
In order to facilitate understanding of the technical solution of the present application, first, a brief description is made of the problems of the conventional swing mechanism. The operation of the existing slewing mechanism is generally realized by a driving motor and a speed reducer around a slewing bearing, however, because of the existence of multi-stage transmission gears in the speed reducer, gaps exist among all stages of transmission gears, and a lateral gap also exists between a gear at the output end of the speed reducer and the slewing bearing, so that after the driving motor stops working, the input end of the speed reducer is braked, and the rotating part cannot stop rotating immediately under the influence of the gaps among the multi-stage gears and the gaps between the output end of the speed reducer and the slewing bearing, thereby greatly reducing the positioning accuracy of the rotating part.
On the other hand, in order to control the overall size of the swing mechanism and to take into account the problems of the reduction ratio, the size of the gear must be within a certain range, and the swing mechanism is affected by the clearance during braking, so that a large amount of shaking exists in the whole rotating part due to the problem of the transmission rigidity of the gear, and the stability and safety of the rotating part are affected.
Referring to fig. 1, a swing mechanism provided for an embodiment of the present application may be installed between a fixed part 100 and a rotating part 200 by bolts, the fixed part 100 corresponding to an apparatus body for carrying the swing mechanism and the rotating part 200, the swing mechanism being installed on the rotating part 200, the swing mechanism driving the rotating part 200 to swing. The slewing mechanism comprises a slewing bearing 1, a speed reducer 2, a driver 3 and an auxiliary positioning mechanism 4.
The slewing bearing 1 is an existing mechanical component, can be mounted on the fixed part 100 through bolts, and generally comprises an inner ring, an outer ring and rolling bodies arranged between the inner ring and the outer ring, of course, according to actual working conditions, the inner ring can be fixed with the fixed part 100 to play a supporting role, the outer ring rotates, and the rotating part 200 is fixed with the outer ring; alternatively, the outer ring may be fixed to the fixed portion 100, the inner ring may rotate, and the rotating portion 200 may be fixed to the inner ring.
The speed reducer 2 can select two-stage transmission or even multi-stage transmission according to requirements. The output end of the speed reducer 2 is meshed with the inner ring or the outer ring of the slewing bearing 1.
In one implementation form of the present application, the outer ring portion of the slewing bearing 1 is fixed, the rotating portion 200 is mounted on the inner ring portion of the slewing bearing 1, the driver 3 is connected to the input end of the speed reducer 2, the speed reducer 2 is mounted on the rotating portion 200, the output end of the speed reducer 2 is meshed with the outer ring of the slewing bearing 1, and the rotating portion 200 is driven to perform slewing motion when the speed reducer 2 rotates.
When the speed reducer 2 adopts different-stage transmission, the gap between gears of each stage is represented as x according to the reduction ratio of different stages 1 、x 2 … …, the lateral clearance between the output end of the speed reducer 2 and the slewing bearing 1 is recorded as y 1 The clearance between the speed reducer 2 and the slewing bearing 1 is x 1 +x 2 +……y 1 。
Referring to fig. 1 and 2, the auxiliary positioning mechanism 4 includes a main shaft 41, a first output gear 42, a rotary encoder 43, and a first brake 44. The main shaft 41 is rotatably mounted in the housing of the auxiliary positioning mechanism 4. The first output gear 42 is connected to the output end of the main shaft 41, the first output gear 42 is meshed with the outer ring of the slewing bearing, and the slewing bearing 1 drives the first output gear 42 to perform follow-up slewing motion after moving. The rotary encoder 43 is installed at the input end of the main shaft 41, and the rotary encoder 43 is electrically connected to the first brake 44 for monitoring the rotary speed of the main shaft 41, i.e. converting the angular speed of the main shaft 41 into an electrical signal and feeding back the electrical signal to the control system. The first brake 44 is used to brake the rotation of the main shaft 41, thereby restricting the rotation of the first output gear 42.
In the embodiment of the present application, for convenience, the lateral clearance between the first output gear 42 and the slewing bearing 1 is denoted as y 2 。
When the swing mechanism performs the swing operation, the driver 3 drives the speed reducer 2 to operate, and the speed reducer 2 drives the rotating part 200 to rotate aroundThe slewing bearing 1 rotates. In the process, the slewing bearing 1 is meshed with the first output gear 42, and simultaneously drives the first output gear 42 and the main shaft 41 to perform follow-up slewing motion, and the slewing encoder 43 monitors the slewing speed of the main shaft 41 in real time. It should be understood that since the clearance between the first output gear 42 and the slewing bearing 1 is small, y alone 2 Therefore, the rotation speed of the slewing bearing 1 approaches the rotation speed of the main shaft 41.
After the driver 3 stops working, the slewing bearing 1 decelerates slowly, so the speed of the main shaft 41 also decreases gradually, when the slewing encoder 43 monitors that the slewing speed of the main shaft 41 decreases to a preset value, the speed signal is converted into an electric signal and fed back to the control system, the control system outputs a braking signal to the first brake 44, the first brake 44 acts to limit the rotation of the main shaft 41, and further the rotation of the slewing bearing 1 is limited.
With the technical solution of the present application, since there is no multi-stage gear between the first output gear 42 and the first brake 44 of the auxiliary positioning mechanism 4, the slewing bearing 1 is braked by the first brake 44, and only the lateral clearance y between the first output gear 42 and the slewing bearing 1 is provided 2 The positioning precision can be influenced, and compared with the traditional mode, the positioning precision of the slewing mechanism is greatly improved.
In addition, the first output gear 42 and the first brake 44 of the auxiliary positioning mechanism 4 are connected through the main shaft 41, compared with each stage of gear of the speed reducer 2, the rigidity of the main shaft 41 is higher, and the size of the main shaft 41 can be properly increased according to load requirements in actual operation, so that the transmission rigidity in the rotation process is enhanced, the shaking amount brought in the braking process is reduced, and the safety and the stability of the equipment are enhanced.
Referring to fig. 2, according to an alternative embodiment of the present application, a first brake 44 is disposed at an input end of the main shaft 41.
Referring to fig. 3, according to an alternative solution of the present application, the reducer 2 includes a gear train 21, a second output gear 22, and a second brake 23.
The input of the gear train 21 is connected to the output of the driver 3 and the output of the gear train 21 is connected to the second output gear 22. The second brake 23 is electrically connected with the rotary encoder 43, when the rotary encoder 43 monitors that the rotary speed of the main shaft 41 is zero, the speed signal is converted into an electric signal and fed back to the control system, the control system outputs a brake signal to the second brake 23, the second brake 23 acts to limit the gear train 21 to rotate, and the brake of the speed reducer 2 is realized.
Referring to fig. 4, in the embodiment of the present application, the start signal obtained by the control system when the swing mechanism is started is referred to as a handle signal. The first brake 44 and the second brake 23 are controlled by a control valve set, and during the operation of the swing mechanism, the control system judges according to the speed signal and the handle signal obtained by the swing encoder 43 and outputs different control signals. Specifically, after the control system obtains the handle signal, the control system controls the swing mechanism to start the swing motion, and after the driver 3 stops working, when the speed of the main shaft 41 is detected to be reduced to a preset value by the swing encoder 43, the control system controls the first brake 44 to act according to the speed signal to limit the rotation of the main shaft 41. When the rotary encoder 43 monitors that the speed of the main shaft 41 is zero, the control system controls the second brake 23 to act according to the speed signal, and the speed reducer 2 is limited to rotate.
This application is through cooperating second stopper 23 with first stopper 44, realizes the braking control of time difference based on speed in the operation process, improves the positioning accuracy of gyration process, has realized the braking redundancy simultaneously, has promoted the security of operation.
Optionally, a second brake 23 is provided at the input end of the spindle 41.
In some possible implementations of the present application, the number of the speed reducers 2 may be set to one or more to meet the actual operation requirement.
In some possible implementations of the present application, one or more auxiliary positioning mechanisms 4 may be disposed along the circumferential direction of the slewing bearing 1 to further improve the positioning accuracy.
Referring to the drawings, an embodiment of the present application further provides a control method of a swing mechanism, including the following steps:
s101: the method comprises the steps of providing a slewing bearing, a driver, a speed reducer and an auxiliary positioning mechanism, wherein the auxiliary positioning mechanism comprises a main shaft, a first output gear arranged at the output end of the main shaft, a slewing encoder arranged at the input end of the main shaft and a first brake arranged on the main shaft.
S102: the slewing bearing, the driver, the speed reducer and the auxiliary positioning mechanism are arranged on the designated equipment, the output end of the speed reducer is meshed with the slewing bearing, and meanwhile, the first output gear is meshed with the slewing bearing.
S103: the control system outputs a control signal to control the first brake to be opened, and the driver drives the speed reducer to drive the rotating part to rotate around the slewing bearing, so that the main shaft performs follow-up slewing motion.
S104: the drive is turned off.
S105: the speed signal of the main shaft is obtained through the rotary encoder, and when the speed of the main shaft is reduced to a preset value, the first brake acts to limit the rotation of the main shaft and the rotary support.
As an optional technical solution in the embodiment of the present application, step S101 further includes providing a second brake, and connecting the second brake to an input end of the speed reducer. The control method provided by the embodiment of the application further includes step S106: and a speed signal of the main shaft is obtained through the rotary encoder, and when the speed of the main shaft is zero, the second brake acts to limit the rotation of the speed reducer.
Optionally, the control method of the swing mechanism provided in the embodiment of the present application may be applied to the swing mechanism described in any of the above embodiments.
The embodiments of the present application are described in detail above. The principle and the embodiment of the present application are explained by applying specific examples, and the above description of the embodiments is only used to help understand the technical solution and the core idea of the present application. Therefore, the person skilled in the art should, according to the idea of the present application, change or modify the embodiments and applications of the present application based on the scope of protection of the present application. In view of the above, the description should not be taken as limiting the application.

Claims (9)

1. A swing mechanism, comprising:
a slewing bearing;
the output end of the speed reducer is meshed with the slewing bearing;
the driver is connected with the input end of the speed reducer and used for driving the speed reducer to drive the rotating part to rotate around the slewing bearing;
the auxiliary positioning mechanism comprises a main shaft, a first output gear arranged at the output end of the main shaft, a rotary encoder arranged at the input end of the main shaft and a first brake arranged on the main shaft;
the first output gear is meshed with the slewing bearing, the slewing encoder is electrically connected with the first brake and used for monitoring the slewing speed of the main shaft, and when the speed of the main shaft is reduced to a preset value, the first brake brakes the main shaft so as to limit the first output gear and the slewing bearing to rotate.
2. The slewing mechanism of claim 1, wherein the speed reducer comprises:
a gear train having an input connected to the output of the driver;
a second output gear connected to an output end of the gear train;
and the second brake is electrically connected with the rotary encoder, and when the rotary encoder monitors that the speed of the main shaft is zero, the second brake acts to limit the gear train to rotate.
3. The swing mechanism as claimed in claim 2, wherein the second brake is disposed at an input end of the gear train.
4. The swing mechanism as claimed in claim 1, wherein the first brake is disposed at an input end of the spindle.
5. The swing mechanism as claimed in any one of claims 1 to 4, wherein the number of the speed reducers is one or more.
6. The rotating mechanism as claimed in any one of claims 1 to 4, wherein the number of the auxiliary positioning mechanisms is one or more.
7. A control method of a slewing mechanism is characterized by comprising the following steps:
providing a slewing bearing, a driver, a speed reducer and an auxiliary positioning mechanism, wherein the auxiliary positioning mechanism comprises a main shaft, a first output gear arranged at the output end of the main shaft, a slewing encoder arranged at the input end of the main shaft and a first brake arranged on the main shaft;
engaging an output end of the speed reducer with the slewing bearing, and engaging the first output gear with the slewing bearing;
the control system outputs a control signal to control the first brake to be opened, the driver drives the speed reducer to drive the rotating part to move around the slewing bearing, and the main shaft performs follow-up slewing motion;
turning off the driver;
and acquiring a speed signal of the main shaft through the rotary encoder, and when the speed of the main shaft is reduced to a preset value, the first brake acts to limit the rotation of the main shaft and the rotary support.
8. The control method according to claim 7, characterized by further comprising:
providing a second brake, and connecting the second brake with the speed reducer;
and acquiring a speed signal of the main shaft through the rotary encoder, and when the speed of the main shaft is reduced to zero, the second brake acts to limit the rotation of the speed reducer.
9. Control method according to claim 7, characterized in that said slewing mechanism is a slewing mechanism according to any of claims 1-6.
CN202210525968.0A 2022-05-13 2022-05-13 Slewing mechanism and control method Pending CN114922923A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202210525968.0A CN114922923A (en) 2022-05-13 2022-05-13 Slewing mechanism and control method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202210525968.0A CN114922923A (en) 2022-05-13 2022-05-13 Slewing mechanism and control method

Publications (1)

Publication Number Publication Date
CN114922923A true CN114922923A (en) 2022-08-19

Family

ID=82808388

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202210525968.0A Pending CN114922923A (en) 2022-05-13 2022-05-13 Slewing mechanism and control method

Country Status (1)

Country Link
CN (1) CN114922923A (en)

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN202220061U (en) * 2011-09-13 2012-05-16 三一集团有限公司 Slewing drive device and engineering machinery with same
CN208053088U (en) * 2018-03-28 2018-11-06 浙江亿控自动化设备有限公司 Motor driving wheel assembly for automated guided vehicle
CN208789815U (en) * 2018-03-28 2019-04-26 浙江亿控自动化设备有限公司 Motor driven wheel assembly for automated guided vehicle
CN110925335A (en) * 2019-12-31 2020-03-27 郑州郑宇重工有限公司 External rotary brake device of rotary drilling rig
CN215626271U (en) * 2021-06-01 2022-01-25 中联重科股份有限公司 Rotation control device and crane
KR102395546B1 (en) * 2021-01-14 2022-05-06 산제트 인터내셔널 컴퍼니, 리미티드 Control system for drum-type tool magazine and control method thereof

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN202220061U (en) * 2011-09-13 2012-05-16 三一集团有限公司 Slewing drive device and engineering machinery with same
CN208053088U (en) * 2018-03-28 2018-11-06 浙江亿控自动化设备有限公司 Motor driving wheel assembly for automated guided vehicle
CN208789815U (en) * 2018-03-28 2019-04-26 浙江亿控自动化设备有限公司 Motor driven wheel assembly for automated guided vehicle
CN110925335A (en) * 2019-12-31 2020-03-27 郑州郑宇重工有限公司 External rotary brake device of rotary drilling rig
KR102395546B1 (en) * 2021-01-14 2022-05-06 산제트 인터내셔널 컴퍼니, 리미티드 Control system for drum-type tool magazine and control method thereof
CN215626271U (en) * 2021-06-01 2022-01-25 中联重科股份有限公司 Rotation control device and crane

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