CN117073522B - Rotation angle detection device for work machine and work machine - Google Patents
Rotation angle detection device for work machine and work machine Download PDFInfo
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- CN117073522B CN117073522B CN202311341147.2A CN202311341147A CN117073522B CN 117073522 B CN117073522 B CN 117073522B CN 202311341147 A CN202311341147 A CN 202311341147A CN 117073522 B CN117073522 B CN 117073522B
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- 238000001514 detection method Methods 0.000 title claims abstract description 36
- 238000006073 displacement reaction Methods 0.000 claims abstract description 80
- 230000006698 induction Effects 0.000 claims abstract description 75
- 230000007246 mechanism Effects 0.000 claims abstract description 42
- 239000003638 chemical reducing agent Substances 0.000 claims description 27
- 230000005540 biological transmission Effects 0.000 claims description 11
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical group [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 9
- 230000001939 inductive effect Effects 0.000 abstract description 4
- 238000005516 engineering process Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 3
- 238000007789 sealing Methods 0.000 description 3
- 239000012535 impurity Substances 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- JEIPFZHSYJVQDO-UHFFFAOYSA-N iron(III) oxide Inorganic materials O=[Fe]O[Fe]=O JEIPFZHSYJVQDO-UHFFFAOYSA-N 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/30—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring angles or tapers; for testing the alignment of axes
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P13/00—Indicating or recording presence, absence, or direction, of movement
- G01P13/02—Indicating direction only, e.g. by weather vane
- G01P13/04—Indicating positive or negative direction of a linear movement or clockwise or anti-clockwise direction of a rotational movement
Abstract
The present invention relates to the field of rotation angle detection technology, and more particularly, to a rotation angle detection device for a working machine and a working machine. The invention provides a rotation angle detection device of a working machine, which is used for detecting the rotation angle of a fluted disc of a rotation mechanism, and comprises the following components: the mounting seat is arranged on the fluted disc; the linear displacement sensors are arranged in a plurality, and the linear displacement sensors are uniformly distributed at intervals along the circumferential direction by taking the axial lead of the fluted disc as the center; the induction module comprises two differential induction coils, and the differential induction coils are used for inducing the linear displacement sensors and forming induction signals; and the analysis module is used for analyzing and obtaining the rotation angle and the rotation direction of the fluted disc according to the induction signals formed by the two differential induction coils. In this way, the present invention provides a rotation angle detection device for a working machine and a working machine, which can improve rotation angle detection accuracy on the basis of determining the rotation direction of a fluted disc.
Description
Technical Field
The present invention relates to the field of rotation angle detection technology, and more particularly, to a rotation angle detection device for a working machine and a working machine.
Background
In a work machine having a swing mechanism, a detection system for detecting a swing angle of the swing mechanism is generally provided so as to accurately control the work machine based on feedback from the detection system.
For example, the pump truck, crane, excavator and other working machines comprise a slewing mechanism, a loading mechanism and a slewing driving mechanism, wherein the loading mechanism is arranged on the slewing mechanism, the slewing driving mechanism comprises a hydraulic motor or a motor, and the hydraulic motor or the motor is in transmission connection with the slewing mechanism through a speed reducer so as to drive the slewing mechanism to rotate, and then the loading mechanism is driven to perform slewing motion through the slewing mechanism.
In a working machine having a swing mechanism such as an excavator, a crane, and a pump truck, accurate work of a loading mechanism is realized so that the swing angle of the swing mechanism can be accurately controlled. In one technical scheme of the prior art, the rotation angle of the rotation driving mechanism is detected by arranging an angle encoder on the rotation driving mechanism (a motor or a hydraulic motor), and then converted into the rotation angle of the fluted disc, however, a speed reducer is arranged between the rotation driving mechanism and the fluted disc, and the transmission error of the speed reducer can cause a larger error in the rotation angle detection of the fluted disc.
In another technical scheme in the prior art, a rotation angle detection device of a construction machinery rotation device comprises a receiving device and a control device, wherein the receiving device is used for receiving oil inlet pressure and oil outlet pressure signals of a hydraulic motor and pulse signals representing sensing teeth of a fluted disc in the rotation process of the fluted disc of a rotation mechanism, and the teeth on the fluted disc are equidistantly distributed. The control device is used for determining the rotation direction of the fluted disc according to the difference between the pressure of the oil inlet and the pressure of the oil outlet; determining the number of teeth sensed during the rotation of the fluted disc according to the pulse signal; and determining the rotation angle of the fluted disc according to the rotation direction, the tooth number and the total tooth number of the fluted disc.
However, the fluted disc module of the slewing mechanism is larger, which results in a small pulse number of the detection device at a unit angle and low resolution, and results in low detection precision of the slewing angle of the slewing mechanism, and further results in lower closed-loop control precision of the slewing mechanism.
Therefore, how to improve the accuracy of detecting the rotation angle on the basis of being able to determine the rotation direction of the toothed disc is an important technical problem to be solved by those skilled in the art.
Disclosure of Invention
The invention provides a rotation angle detection device of a working machine and the working machine, which can improve rotation angle detection precision on the basis of determining the rotation direction of a fluted disc.
A first aspect of the present invention provides a turning angle detection device for a work machine for detecting a turning angle of a toothed disc of a turning mechanism, including:
the mounting seat is arranged on the fluted disc;
the linear displacement sensors are arranged on the mounting seat, and the linear displacement sensors are uniformly distributed at intervals along the circumferential direction by taking the axial lead of the fluted disc as the center;
the induction module comprises two differential induction coils, and the differential induction coils are used for inducing the linear displacement sensors and forming induction signals;
the analysis module is electrically connected with the induction module and is used for analyzing and obtaining the rotation angle and the rotation direction of the fluted disc according to induction signals formed by the two differential induction coils.
According to the rotation angle detection device of the working machine provided by the invention, the working machine comprises a rotation driving mechanism and a speed reducer, a driving shaft of the rotation driving mechanism is in transmission connection with the speed reducer, the speed reducer is in transmission connection with a fluted disc of the rotation mechanism, and the rotation angle detection device further comprises:
the driving angle sensor is used for sensing the rotation angle of the driving shaft of the rotary driving mechanism;
the speed reducer fault determining module is electrically connected with the driving angle sensor and the analyzing module and is used for:
calculating the theoretical rotation angle of the fluted disc according to the rotation angle of the driving shaft and the preset transmission ratio of the speed reducer;
and when the difference value between the theoretical rotation angle and the rotation angle of the fluted disc exceeds a threshold value, determining that the speed reducer fails.
According to the rotation angle detection device of the working machine, the distance between any two adjacent linear displacement sensors is equal to the length of each linear displacement sensor; the distance between the two differential induction coils is 2 times of the length of the linear displacement sensor.
According to the rotation angle detection device of the working machine, the mounting seat comprises the annular seat body, the circle center of the annular seat body is coincident with the axis of the fluted disc, the outer diameter of the annular seat body is larger than that of the fluted disc, and the linear displacement sensors are arranged at the edge positions of the annular seat body at intervals one by one.
According to the rotation angle detection device of the working machine, the sensing module comprises a first shell, the differential sensing coil is arranged in the first shell, the first shell is provided with a groove, and the groove is used for the linear displacement sensor to pass through.
According to the rotation angle detection device of the working machine, the linear displacement sensor comprises the second shell and the iron core, the iron core is arranged in the second shell, the second shell is of a cuboid structure, and the second shell vertically stretches into the groove.
According to the rotation angle detection device of the working machine, the two ends of the second shell are respectively provided with the connecting lugs, and the connecting lugs are connected with the annular base through the first connecting piece.
According to the rotation angle detection device of the working machine, the annular base body is provided with the first connecting holes and the second connecting holes, the first connecting holes are distributed uniformly in the circumferential direction by taking the center of the annular base body as the center, the second connecting holes are distributed uniformly in the circumferential direction by taking the center of the annular base body as the center, the first connecting holes are positioned on the outer side of the second connecting holes, the second connecting holes are connected with the fluted disc through the second connecting pieces, and the first connecting holes are connected with the connecting lugs through the first connecting pieces.
According to the rotation angle detection device for the working machine provided by the invention, the second shell is provided with the cover body, and the sealing element is arranged between the cover body and the second shell.
A second aspect of the present invention provides a work machine including the swing angle detecting device of any one of the above work machines.
The invention provides a rotation angle detection device of a working machine and the working machine, which comprises a mounting seat, linear displacement sensors, an induction module and an analysis module, wherein the mounting seat is arranged on a fluted disc of a rotation mechanism and rotates synchronously with the fluted disc of the rotation mechanism, the number of the linear displacement sensors is multiple, and the linear displacement sensors are uniformly distributed on the mounting seat at intervals by taking the axle center of the fluted disc as the center. When the fluted disc rotates, the displacement of the single linear displacement sensor in a short distance is approximate to linear displacement. The induction module comprises two differential induction coils, and the differential induction coils are used for inducing each linear displacement sensor and forming induction signals. The analysis module is electrically connected with the induction module and is used for analyzing and obtaining the rotation angle and the rotation direction of the fluted disc according to induction signals formed by the two differential induction coils. When the fluted disc rotates, the linear displacement sensor rotates along with the fluted disc, when the linear displacement sensor enters the effective induction range of the first differential induction coil, a first induction signal can be generated, when the linear displacement sensor enters the effective induction range of the second differential induction coil, a second induction signal can be generated, and the analysis module can analyze the rotation direction of the fluted disc through the generation sequence of the first induction signal and the second induction signal. Meanwhile, through the arrangement of the spacing distance of the plurality of linear displacement sensors and the arrangement of the effective induction area of the differential induction coil, the fluted disc can continuously and alternately generate a first induction signal and a second induction signal when rotating, and the rotation angle of the fluted disc can be accurately analyzed by combining the rotation radius of the fluted disc.
Drawings
In order to more clearly illustrate the invention or the technical solutions of the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the invention, and other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic view of a swing mechanism according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a rotation angle detecting device according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a linear displacement sensor according to an embodiment of the present invention;
fig. 4 is a schematic diagram of a rotation angle detecting device according to an embodiment of the present invention.
Reference numerals:
11. a mounting base; 12. a linear displacement sensor; 121. a second housing; 122. an iron core; 123. a connecting lug; 124. a first connector; 125. a cover body; 126. a seal; 13. an induction module; 131. a differential induction coil; 132. a first housing; 133. a groove; 14. a fluted disc.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the description of the present invention, it should be understood that the directions or positional relationships indicated by the terms "upper", "lower", "horizontal", "inner", "outer", etc., are based on the directions or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present invention, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent.
Referring to fig. 1 to 4, a rotation angle detecting device for a working machine according to an embodiment of the present invention is configured to detect a rotation angle of a fluted disc 14 of a rotation mechanism, and includes a mounting seat 11, a linear displacement sensor 12, an induction module 13, and an analysis module.
The mounting seat 11 is disposed on the fluted disc 14, the linear displacement sensors 12 are mounted on the mounting seat 11, and the plurality of linear displacement sensors 12 are disposed in plurality, and the plurality of linear displacement sensors 12 are uniformly distributed at intervals along the circumferential direction with the axial line of the fluted disc 14 as the center.
In some embodiments, the linear displacement sensor 12 may employ an LVDT (Linear Variable Displacement Transducer, linear variable differential transformer) sensor, wherein the plurality of linear displacement sensors 12 move circumferentially about the axle center of the toothed disc 14 as the toothed disc 14 rotates, and wherein a single linear displacement sensor 12 moves approximately linearly over a short distance.
The induction module 13 comprises two differential induction coils 131, and the differential induction coils 131 are used for inducing each linear displacement sensor 12 and forming induction signals; the two differential induction coils 131 are a first differential induction coil and a second differential induction coil, respectively, and can form a first induction signal when the linear displacement sensor 12 passes through an effective induction area of the first differential induction coil, and can form a second induction signal when the linear displacement sensor 12 passes through an effective induction area of the second differential induction coil. By setting the distance between the sensing areas of the first and second sensing coils, the distance between the first and second sensing coils, the length of each linear displacement sensor 12, and the distance between the linear displacement sensors 12, the design of the parameters of the portion can be designed and arranged according to the diameter of the toothed disc 14, the size of the sensing coil and the sensing area, and the specific size of the linear displacement sensor 12, and only the formation of the first sensing signal and the second sensing signal alternately and continuously can be realized.
The analyzing module is electrically connected with the sensing module 13, and the analyzing module is configured to analyze and obtain a rotation angle and a rotation direction of the fluted disc 14 according to the sensing signals formed by the two differential sensing coils 131. In this embodiment, the analyzing module can analyze and determine the rotation direction of the fluted disc 14 through the sequence of the received first sensing signal and the received second sensing signal, and can calculate and analyze the rotation angle of the fluted disc 14 according to the frequency and time of the received first sensing signal and the received second sensing signal, and the diameter of the fluted disc 14.
By means of the arrangement, the rotation angle detection device of the working machine can detect the rotation angle and the rotation direction of the fluted disc 14, the detection process is not affected by the transmission ratio error of the speed reducer and the modulus of the fluted disc 14, the detection accuracy is high, and further accurate control of the rotation angle of the boarding mechanism can be achieved.
In a further embodiment, referring to fig. 4, the working machine includes a swing driving mechanism and a speed reducer, a driving shaft of the swing driving mechanism is in transmission connection with the speed reducer, the speed reducer is in transmission connection with a fluted disc 14 of the swing mechanism, and the swing angle detecting device further includes a driving angle sensor and a speed reducer fault determining module. Wherein the driving angle sensor is used for sensing the rotation angle of the driving shaft of the slewing driving mechanism, and in some embodiments, the driving angle sensor can be an angle encoder.
The speed reducer fault determining module is electrically connected with the driving angle sensor and the analyzing module, and is used for calculating the theoretical rotation angle of the fluted disc 14 according to the rotation angle of the driving shaft and the preset transmission ratio of the speed reducer; when the difference between the theoretical rotation angle and the rotation angle of the fluted disc 14 exceeds a threshold value, a speed reducer fault is determined.
When the speed reducer fails, the transmission ratio of the speed reducer will change, and there will be a large gap between the actual rotation angle of the fluted disc 14 and the theoretical rotation angle. In this embodiment, the rotation angle of the fluted disc 14 obtained by the linear displacement sensor 12, the sensing module 13 and the analyzing module is an actual rotation angle, and when the difference between the actual rotation angle and the theoretical rotation angle exceeds a threshold value, the failure of the speed reducer is illustrated.
With this arrangement, the rotation angle detection device for the working machine according to the present embodiment can also analyze whether or not the speed reducer has a failure.
In a further embodiment, the distance between any two adjacent linear displacement sensors 12 is equal to the length of the linear displacement sensor 12, and it should be noted that, herein, the length of the linear displacement sensor 12 refers to the length of the linear displacement sensor 12 along the tangential direction of the circular rotation track edge of the fluted disc 14, that is, the length of the linear displacement sensor 12. The effective induction area length of the single differential induction coil 131 is equal to or greater than the length of the linear displacement sensor 12, and the effective induction areas of the two differential induction coils 131 intersect. Also, the effective induction area length of the differential induction coil 131 herein refers to the effective induction length in the tangential direction along the edge of the circular revolution path of the toothed disc 14.
For example, in some embodiments, the length of the linear displacement sensor 12 may be 3cm, the spacing between any two adjacent linear displacement sensors 12 may be 3cm, and the effective sensing area length of a single differential sensing coil 131 may be 3cm, and the effective sensing area length formed by the two differential sensing coils 131 together may be 6cm.
Alternatively, in other embodiments, the length of the linear displacement sensor 12 may be 3cm, the spacing between any two adjacent linear displacement sensors 12 may be 3cm, and the effective sensing area length of a single differential sensing coil 131 may be 5cm, and the effective sensing area length formed by the two differential sensing coils 131 together may be 10cm.
Of course, in other embodiments, the length of the linear displacement sensor 12, the distance between adjacent linear displacement sensors 12, the effective sensing area length of the single differential sensing coil 131, and the effective sensing area length formed by the two differential sensing coils 131 together may also be other values, which may be specifically set according to the actual situation, and are not specifically limited herein.
By the arrangement, the two differential induction coils 131 can be ensured to form the continuously alternating first induction signals and second induction signals, so that the rotation angle detection has higher precision.
In some embodiments, the mounting seat 11 includes an annular seat body, the center of the annular seat body coincides with the axis of the fluted disc 14, the outer diameter of the annular seat body is larger than the outer diameter of the fluted disc 14, and the plurality of linear displacement sensors 12 are arranged at edge positions of the annular seat body at intervals one by one. The plurality of linear displacement sensors 12 are disposed at the portion of the annular seat body extending out of the outer diameter of the toothed disc 14, and in some embodiments, the linear displacement sensors 12 are disposed at one side of the annular seat body close to the toothed disc 14, so that the linear displacement sensors 12 are prevented from colliding with an external device when the annular seat body is driven by the toothed disc 14 to rotate. And the linear displacement sensor 12 is arranged on the annular seat body, so that the linear displacement sensor 12 can be conveniently maintained or replaced.
In a further embodiment, the sensing module 13 includes a first housing 132, the differential induction coil 131 is disposed in the first housing 132, the first housing 132 is provided with a groove 133, and the groove 133 is provided for the linear displacement sensor 12 to pass through.
The sensing module 13 is disposed on a fixed turret of the working machine, that is, the sensing module 13 is fixed, a groove 133 is provided on a housing thereof, and when the toothed disc 14 rotates, the linear displacement sensors 12 pass through the groove 133 on the sensing module 13 one by one, so that the differential sensing coil 131 inside the sensing module 13 senses the linear displacement sensors 12 and forms a sensing signal.
The groove 133 can form an effective protection effect, so that when the linear displacement sensor 12 passes through the effective induction area of the differential induction coil 131, other components or impurities enter between the two components or impurities, and interference is caused to the induction module 13.
In a further embodiment, referring to fig. 3, the linear displacement sensor 12 includes a second housing 121 and an iron core 122, the iron core 122 is disposed in the second housing 121, the second housing 121 is configured as a rectangular parallelepiped, and the second housing 121 vertically extends into the recess 133.
So set up, when second casing 121 is in vertical state, it has less thickness, and correspondingly, only need set up less interval between the two lateral walls of the recess 133 of induction module 13 can, and then the structure of induction module 13 is compacter, and occupation space is less.
In order to facilitate the installation of the linear displacement sensor 12, the two ends of the second housing 121 of the linear displacement sensor 12 are respectively provided with a connecting lug 123, and the connecting lug 123 is connected with the annular seat body through a first connecting piece 124. Specifically, a plurality of first connecting holes and second connecting holes may be provided on the annular seat body, where the first connecting holes are plural, and the first connecting holes are uniformly distributed along the circumferential direction with the center of the annular seat body as the center, the second connecting holes are uniformly distributed along the circumferential direction with the center of the annular seat body as the center, the first connecting holes are located at the outer sides of the second connecting holes, the second connecting holes are connected with the fluted disc 14 through second connecting pieces, and the first connecting holes are connected with the connecting lugs 123 through first connecting pieces 124.
The first connecting piece 124 and the second connecting piece may be bolts, pins, etc., and when the annular seat body is connected with the fluted disc 14, the second connecting hole of the annular seat body is only required to be aligned with the connecting hole on the fluted disc 14, and the annular seat body is connected through the second connecting piece.
The connecting lug 123 of the linear displacement sensor 12 is mounted on the annular seat body through the first connecting hole and the first connecting piece 124 inserted into the first connecting hole. So arranged, the linear displacement sensor 12 is convenient to install and maintain.
In a further embodiment, the linear displacement sensor 12 comprises a second housing 121, the second housing 121 being provided with a cover 125, a seal 126 being provided between the cover 125 and the second housing 121. The iron core 122 is disposed in the second housing 121, and the sealing connection between the cover 125 and the second housing 121 is realized by the sealing member 126, so that rust corrosion of the inner iron core 122 can be effectively avoided.
Embodiments of the present invention also provide a work machine including the swing angle detecting device of any one of the work machines described above.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (8)
1. A turning angle detection device for a work machine, which detects the turning angle of a toothed disc (14) of a turning mechanism, comprises:
the mounting seat (11) is arranged on the fluted disc (14);
the linear displacement sensors (12) are arranged in a plurality, the linear displacement sensors (12) are arranged on the mounting seat (11), and the linear displacement sensors (12) are uniformly distributed at intervals along the circumferential direction by taking the axial lead of the fluted disc (14) as the center;
the sensing module (13) comprises two differential sensing coils (131), and the differential sensing coils (131) are used for sensing each linear displacement sensor (12) and forming sensing signals;
the analysis module is electrically connected with the induction module (13) and is used for analyzing and obtaining the rotation angle and the rotation direction of the fluted disc (14) according to induction signals formed by the two differential induction coils (131);
the distance between any two adjacent linear displacement sensors (12) is equal to the length of the linear displacement sensors (12), the effective induction area length of a single differential induction coil (131) is equal to or greater than the length of the linear displacement sensors (12), and the effective induction areas of the two differential induction coils (131) are intersected; wherein the length of the linear displacement sensor (12) refers to the length of the linear displacement sensor along the tangential direction of the circular revolving track edge of the fluted disc (14), and the effective sensing area length of the differential sensing coil (131) refers to the effective sensing length along the tangential direction of the circular revolving track edge of the fluted disc (14);
the induction module (13) comprises a first shell (132), the differential induction coil (131) is arranged in the first shell (132), the first shell (132) is provided with a groove (133), and the groove (133) is used for the linear displacement sensor (12) to pass through.
2. The swing angle detecting apparatus of a working machine according to claim 1, wherein the working machine includes a swing drive mechanism and a speed reducer, a drive shaft of the swing drive mechanism is drivingly connected to the speed reducer, the speed reducer is drivingly connected to a toothed disc (14) of the swing mechanism, the swing angle detecting apparatus further comprising:
the driving angle sensor is used for sensing the rotation angle of the driving shaft of the rotary driving mechanism;
the speed reducer fault determining module is electrically connected with the driving angle sensor and the analyzing module and is used for:
calculating a theoretical rotation angle of the fluted disc (14) according to the rotation angle of the driving shaft and a preset transmission ratio of the speed reducer;
and when the difference value between the theoretical rotation angle and the rotation angle of the fluted disc (14) exceeds a threshold value, determining that the speed reducer is in fault.
3. The rotation angle detection device of a working machine according to any one of claims 1 to 2, wherein the mounting base (11) comprises an annular base body, a center of the annular base body coincides with an axis of the fluted disc (14), an outer diameter of the annular base body is larger than an outer diameter of the fluted disc (14), and a plurality of linear displacement sensors (12) are arranged at edge positions of the annular base body at intervals one by one.
4. A swing angle detecting device of a working machine according to claim 3, wherein said linear displacement sensor (12) comprises a second housing (121) and an iron core (122), said iron core (122) is provided in said second housing (121), said second housing (121) is provided in a rectangular parallelepiped structure, and said second housing (121) vertically extends into said recess (133).
5. The swing angle detecting device of a working machine according to claim 4, wherein both ends of the second housing (121) are respectively provided with a connecting lug (123), and the connecting lug (123) is connected with the annular seat body through a first connecting member (124).
6. The rotation angle detection device for a working machine according to claim 5, wherein a plurality of first connecting holes and second connecting holes are provided in the annular seat body, the plurality of first connecting holes are uniformly distributed in a circumferential direction with a center of the annular seat body as a center, the plurality of second connecting holes are uniformly distributed in the circumferential direction with the center of the annular seat body as a center, the first connecting holes are located outside the second connecting holes, the second connecting holes are connected with the fluted disc (14) through second connecting pieces, and the first connecting holes are connected with the connecting lugs (123) through the first connecting pieces (124).
7. The swing angle detecting device of a working machine according to claim 6, wherein the second housing (121) is provided with a cover (125), and a seal (126) is provided between the cover (125) and the second housing (121).
8. A work machine comprising the swing angle detecting device of any one of claims 1 to 7.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202311341147.2A CN117073522B (en) | 2023-10-17 | 2023-10-17 | Rotation angle detection device for work machine and work machine |
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| CN202311341147.2A CN117073522B (en) | 2023-10-17 | 2023-10-17 | Rotation angle detection device for work machine and work machine |
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| CN117073522B true CN117073522B (en) | 2024-01-09 |
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