CN204705896U - A kind of engineering machinery and jib revolution centering control system - Google Patents
A kind of engineering machinery and jib revolution centering control system Download PDFInfo
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- CN204705896U CN204705896U CN201520320098.9U CN201520320098U CN204705896U CN 204705896 U CN204705896 U CN 204705896U CN 201520320098 U CN201520320098 U CN 201520320098U CN 204705896 U CN204705896 U CN 204705896U
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Abstract
The utility model discloses a kind of jib revolution centering control system, comprise controller, turntable control device, centering control device and rotary encoder, described controller respectively with rotary encoder, turntable control device and centering control device connect, described rotary encoder is used for direction and the angle information of the rotation of Real-time Obtaining jib, described centering control device is used for positioning jib meta, described controller is used for controlling jib according to the information of rotary encoder collection and rotates to meta, and be rotated in deceleration for controlling jib when jib rotates to predetermined angular, the signal of described controller also for transmitting according to centering control device controls jib to be stopped.Have steering logic simple, use cost is cheap, and the boom system realizing non-360-degree continuous rotary or 360 ° of continuous rotaries returns the advantage of meta (zero-bit) automatically.The invention also discloses a kind of engineering machinery that above-mentioned jib revolution centering control system is set.
Description
Technical field
The utility model relates to the jib control field of engineering machinery, particularly relates to a kind of jib revolution centering control system and comprises the engineering machinery that above-mentioned jib turns round centering control system.
Background technology
The jib of engineering machinery is generally all connected on fixing capstan head by turntable, turntable is connected with fixing turret rotated, in off working state, need jib is drawn in and is placed on precalculated position, jib revolution centering (jib revolution zero-bit zero) refers to that the jib after by gathering rotates the top (cantilever support is usually located on fixing capstan head) to cantilever support, then overlays in cantilever support.At present, the control method of engineering machinery and jib revolution zero-bit zero thereof mainly contains following several: one is, the relative angle of range estimation jib and cantilever support, manual micro-control operation jib centering; Two are, utilize jib to Position Sensor, and jib is controlled to about 0 ° automatically, then manual micro-control jib centering; Three is utilize rotary encoder, jib is controlled to about 0 ° automatically, then manual micro-control jib centering, because rotary encoder precision does not reach the requirement precisely controlled, and there is certain drift, cause jib afterbody 0 ° time not necessarily can fall cantilever support position.In addition, when jib is longer, fine motion controls jib and rotates, jib afterbody be also one larger traversing, jib to be dropped in the spacing scope of cantilever support accurately, need a twist of the wrist and repeatedly roundtrip operation.
Application number is the Chinese patent of 201110430601.2, disclose control method, the Apparatus and system of a kind of engineering machinery and jib revolution centering thereof, this control system comprises: turntable control device, at least one pick-up unit, centering control device and at least one buffering level sensor.Although by a series of control methods of electric hydraulic such as centering control device, pick-up unit, control device, can realize jib revolution automatic retarding and centering, but also there is following defect:
The first, jib real-time angular cannot be judged, and when starting jib centering action, system cannot automatic decision sense of rotation.
The second, this technology is not suitable for the boom system of non-360-degree continuous rotary, and when actual angle of revolution is greater than 180 °, jib gyratory directions is uncontrollable, and the situation that when easily causing use next time, jib can only rotate towards a direction occurs.
In sum, the direction how providing a kind of energy Real time identification jib to rotate and angle, the sense of rotation of automatic decision jib zero position, realize jib revolution centering control system and the engineering machinery of non-360-degree continuous rotary or 360 ° of continuous rotaries, become those skilled in the art's problem demanding prompt solution.
Utility model content
In view of this, one of problem to be solved in the utility model is the direction and angle that how to provide a kind of energy Real time identification jib to rotate, the sense of rotation of automatic decision jib zero position, realizes the jib revolution centering control system of non-360-degree continuous rotary or 360 ° of continuous rotaries.
Two of problem to be solved in the utility model is to provide a kind of engineering machinery that can solve the problem.
For one of solving the problem, the utility model proposes a kind of jib revolution centering control system, comprise controller, turntable control device and centering control device, described jib revolution centering control system also comprises rotary encoder, described controller respectively with rotary encoder, turntable control device and centering control device connect, described rotary encoder is used for direction and the angle information of the rotation of Real-time Obtaining jib, described centering control device is used for positioning jib meta, described controller is used for controlling jib according to the information of rotary encoder collection and rotates to meta, and be rotated in deceleration for controlling jib when jib rotates to predetermined angular, the centering signal of described controller also for transmitting according to centering control device controls jib to be stopped.
Further, described centering control device comprises level sensor and meta detent mechanism at least one, described meta sensor setting is in turntable and fixing capstan head on one of them, described meta detent mechanism is arranged on another of turntable and fixing capstan head, described middle level sensor coordinates with described meta detent mechanism, produces centering signal and predetermined angular signal for coordinating with meta detent mechanism.
Further, the middle part of described meta detent mechanism is provided with first anchor point, the both sides of described meta detent mechanism are at least provided with second anchor point respectively, described centering signal is the signal that middle level sensor produces when sensing the first anchor point, the angle of described predetermined angular for judging when middle level sensor senses the second anchor point.
Further, described controller is connected with described middle level sensor, and described controller is also for revising the angle of described rotary encoder according to centering signal and/or predetermined angular signal.
Further, the quantity of the second anchor point of described meta detent mechanism both sides is multiple, equal interval is arranged between first anchor point and the second adjacent anchor point and between multiple second anchor point, a rotary decelerating district of corresponding jib between two adjacent the second anchor points, another rotary decelerating district of corresponding jib between the first anchor point and the second adjacent anchor point.
Further, described predetermined angular is the angle signal that described rotary encoder obtains.
Further, described middle level sensor is proximity switch or touch sensor or optoelectronic switch.
Further, in the revolution centering process of jib, described predetermined angular comprises one-level preset deceleration angle and secondary preset deceleration angle, and described controller is used for carrying out respectively being rotated in deceleration for twice according to described one-level preset deceleration angle and secondary preset deceleration Angle ambiguity jib.
Further, described jib revolution centering control system also comprises the centering operating key be connected with controller, described centering operating key is used for sending to described controller starting centering signal, described turntable control device comprises rotary reducer operation valve, the speed that described rotary reducer operation valve rotates to meta for controlling jib.
In the jib revolution centering control system that the utility model provides, controller is connected with rotary encoder, turntable control device and centering control device respectively, described rotary encoder is used for direction and the angle information of the rotation of Real-time Obtaining jib, described centering control device is used for positioning jib meta, described controller is used for controlling jib according to the information of rotary encoder collection and rotates to meta, and be rotated in deceleration for controlling jib when jib rotates to predetermined angular, the signal of described controller also for transmitting according to centering control device controls jib to be stopped.Compared to existing technologies, by setting up rotary encoder, the direction that Real time identification jib rotates and angle, the sense of rotation of automatic decision jib zero position, realize the boom system auto zero position of non-360-degree continuous rotary or 360 ° of continuous rotaries, steering logic is simple, and use cost is cheap.
In further technical scheme, described centering control device comprises middle level sensor and meta detent mechanism, described middle level sensor coordinates with described meta detent mechanism, centering signal and predetermined angular signal is produced for coordinating with meta detent mechanism, the angle of described rotary encoder then revised by controller according to centering signal and/or predetermined angular signal, namely by middle level sensor and meta detent mechanism, in conjunction with rotary encoder and controller etc., can realize progressively slowing down when jib returns back near meta and the control of stopping of fixing a point, improve the efficiency of revolution centering, fast and reliable, simultaneously, add the correction to rotary encoder angle, improve the accuracy of control and centering.
For solve the problem two, the utility model also proposed a kind of engineering machinery, comprise jib, turntable and fixing capstan head, described jib is arranged on turntable, described turntable is arranged on fixing capstan head rotationally, and described engineering machinery also comprises the jib revolution centering control system on it described in any one.
Above-mentioned engineering machinery obviously has whole beneficial effects of aforementioned jib revolution centering control system, does not repeat them here.
Accompanying drawing explanation
The accompanying drawing forming a part of the present utility model is used to provide further understanding of the present utility model, and schematic description and description of the present utility model, for explaining the utility model, is not formed improper restriction of the present utility model.In the accompanying drawings:
Fig. 1 is the theory diagram of the jib revolution centering control system in the utility model one specific embodiment;
Fig. 2 is that the jib in the utility model one specific embodiment turns round the middle level sensor of centering control system and the installation site schematic diagram of meta detent mechanism;
Fig. 3 is the enlarged diagram of level sensor and meta detent mechanism installation site in Fig. 2;
Fig. 4 is the middle level sensor of another specific embodiment of the utility model and the enlarged diagram of meta detent mechanism installation site;
Fig. 5 is the process flow diagram of the utility model jib revolution centering control system when non-360-degree continuous rotary boom system;
Fig. 6 is the process flow diagram of the utility model jib revolution centering control system when 360 ° of continuous rotary boom systems.
Description of reference numerals
1 turntable
Level sensor in 2
3 meta detent mechanisms
4 fixing capstan heads
Embodiment
It should be noted that, when not conflicting, the embodiment in the utility model and the feature in embodiment can combine mutually.Below with reference to the accompanying drawings and describe the utility model in detail in conjunction with the embodiments.
For understanding the technical program better, jib meta in the utility model, i.e. jib zero-bit, and when setting jib rotates, clockwise angle is just, anticlockwise angle is negative.
As shown in Figure 1, a kind of jib revolution centering control system, comprise controller, turntable control device, rotary encoder, centering control device and centering operating key, controller is programmable logic controller (PLC), its respectively with rotary encoder, turntable control device, centering control device and centering operating key connect, centering operating key is used for providing to controller starting centering signal, rotary encoder is used for direction and the angle information of the rotation of Real-time Obtaining jib, centering control device is used for positioning jib meta, controller is used for controlling jib according to the information of rotary encoder collection and rotates to meta, and be rotated in deceleration for controlling jib when jib rotates to predetermined angular, and the signal of controller also for transmitting according to centering control device controls jib stopping.It should be noted that, aforementioned predetermined angular can be that the angle that can also be obtained by alternate manner, in addition, the quantity of above-mentioned centering control device can be one or more, does not make too many restrictions at this directly according to the angle that rotary encoder obtains.
Consider that rotary encoder precision is difficult to reach the requirement precisely controlled, and there is certain drift, in the utility model, centering control device comprises middle level sensor 2 and meta detent mechanism 3, middle level sensor 2 is connected with controller, middle level sensor 2 and meta detent mechanism 3 with the use of, centering signal and predetermined angular signal is produced for coordinating with meta detent mechanism 3, predetermined angular signal is the signal of the predetermined angular that above-mentioned control jib is rotated in deceleration, controller can also revise the angle of aforementioned rotary encoder according to centering signal and/or predetermined angular signal, thus the accuracy of rotary encoder feedback angle is ensured by physical construction, with make according to other system of the Angle ambiguity of rotary encoder or mechanism more accurate.
Particularly, as shown in Figure 2, middle level sensor 2 in such scheme is preferably proximity switch, and this proximity switch is arranged on turntable 1 surely, and meta detent mechanism 3 is arranged on fixing capstan head 4, adopt proximity switch and meta detent mechanism 3, realize progressively slowing down when jib returns back near meta, reduce revolution inertia, avoid rotating overshoot phenomenon when need stop to meta, improve the efficiency of revolution centering, fast and reliable.It should be noted that, middle level sensor 2 also can be touch sensor or optoelectronic switch, and in addition, proximity switch also can be arranged on fixing capstan head 4, and now, meta detent mechanism 3 is arranged on turntable 1.
Simultaneously, it is worth mentioning, the middle part of meta detent mechanism 3 is provided with first anchor point, and its both sides are at least provided with second anchor point respectively, aforementioned centering signal is specially the signal produced when middle level sensor 2 senses the first anchor point, and aforementioned predetermined angular is specially the angle judged when middle level sensor 2 senses the second anchor point.Second anchor point quantity of the every side of meta detent mechanism 3 all can be set to multiple, and between multiple second anchor point, interval is arranged, and between the first anchor point and the second adjacent anchor point also interval arrange.
Particularly, as Fig. 3 and Fig. 4, this meta detent mechanism 3 is symmetrical structure.In Fig. 3, the quantity of second anchor point on the left of meta detent mechanism 3 and right side is two, a rotary decelerating district of corresponding jib between two adjacent the second anchor points, a rotary decelerating district of also corresponding jib between first anchor point and the second adjacent anchor point, namely in the present embodiment there is twice deceleration in jib; The quantity of Fig. 4 second anchor point is one, and a rotary decelerating district of the corresponding jib of spacing of the first anchor point and the second adjacent anchor point, namely jib existence is once slowed down.It should be noted that, the quantity of the second anchor point also can be three, four or more, and now, the deceleration number of times of jib is three times, four times or more.
In such scheme, the first anchor point and the second anchor point can adopt various ways to arrange, and as groove or boss, particularly, the first anchor point can be groove, and the second anchor point can be boss; Or the first anchor point is boss, the second anchor point is groove; Or the first anchor point and the second anchor point are groove or boss, as long as middle level sensor can coordinate to the first anchor point and the second anchor point produce corresponding signal.
Jib can counterclockwise or rotate clockwise when rotating, and in once counterclockwise or clockwise jib revolution centering process, when the absolute value of the jib angular range that rotary encoder detects is predetermined angle, the rotational speed of jib starts to reduce until stopping.Particularly, predetermined angular comprises one-level preset deceleration angle and secondary preset deceleration angle, controller then according to one-level preset deceleration angle and the secondary preset deceleration angle of the detection of rotary encoder angle, controls jib and carries out secondary speed-reducing rotation respectively, until jib stops the rotation.
Jib revolution centering control system of the present utility model had both been applicable to the boom system of 360 ° of continuous rotaries, was applicable to again the boom system of non-360-degree continuous rotary.Fig. 5 and Fig. 6 is respectively the process flow diagram of jib revolution centering control system when non-360-degree continuous rotary boom system and 360 ° of continuous rotary boom systems.
As shown in Figure 5, in non-360-degree continuous rotary boom system, the corner that setting jib is rotated counterclockwise a week is 0 ~-360 °, and the corner that dextrorotation is circled is 0 ~+360 °, and 0 ° corresponds to zero-bit (i.e. cantilever support position).Controller obtains centering control signal, and the direction rotated by rotary encoder Real-time Obtaining jib and angle, in conjunction with in the signal of level sensor 2, judge that jib is turned back to direction needed for zero-bit and speed.In one embodiment, if middle level sensor 2 signal is " 0 ", when the jib angle that rotary encoder obtains is 15 °, obtain centering control signal, then jib is rotated counterclockwise at full speed; When being one-level preset deceleration angle (as 6 °) to jib angle, first time jib rotation is slowed down; When being secondary preset deceleration angle (as 3 °) to jib angle, second time jib rotates and slows down; It is 0 ° (owing to manufacturing or alignment error to jib angle, or the needs in order to control in advance, also may near 0 °, as: it is 0.1 ° that jib is rotated counterclockwise, be-0.1 ° when jib turns clockwise), middle level sensor 2 signal acquisition signal, jib stops the rotation, and details are in table 1.
Table 1 control signal and rotational speed combination table
As shown in Figure 6, in 360 ° of continuous rotary boom systems, the corner that the dextrorotation of setting jib is circled is 0 ~ 360 °, and the corner being rotated counterclockwise a week is 360 ° ~ 0, and 0 ° and 360 ° corresponds to zero-bit (i.e. cantilever support position).Jib revolution centering control system obtains centering control signal, and the direction rotated by rotary encoder Real-time Obtaining jib and angle, in conjunction with in the signal of level sensor 2, judge that jib is turned back to direction needed for zero-bit and speed.If middle level sensor 2 signal is " 0 ", the jib angle of rotary encoder is 0 ~ 180 °, then jib is rotated counterclockwise at full speed; The jib angle of rotary encoder is 180 ~ 360 °, then jib turns clockwise at full speed.As when jib real-time angular is 15 °, obtain centering control signal, then jib is rotated counterclockwise at full speed; Be one-level preset deceleration angle (being set to 6 ° temporarily) to jib angle, first time jib rotate and slow down; When being secondary preset deceleration angle to jib angle (being set to 3 ° temporarily), second time jib rotates and slows down; Be 0 ° to jib angle, middle level sensor 2 obtains signal, and jib stops the rotation.
In such scheme, it should be noted that, if jib initial position is at deceleration area, during jib revolution centering, the speed of first pressing deceleration area rotates, as in above-described embodiment, if jib initial angle is 5 °, then jib rotates the rotation of the speed counterclockwise after slowing down by first time jib.In addition, if aforementioned predetermined angular (rotating deceleration for controlling jib) is directly according to the angle that rotary encoder obtains, then in table 1, without meta sensor signal, during concrete control, the jib angle (as 6 °, 3 °) directly obtained by rotary encoder, is controlled jib by controller and rotates deceleration.
From the above, in once counterclockwise or clockwise jib revolution centering process, jib revolution centering control system controls there be twice deceleration before jib arrives zero-bit.It should be noted that, jib arrives the deceleration number of times of zero-bit and is not limited in secondary, and it also can be once, three times or more.
In addition, as shown in Figure 1, turntable control device comprises rotary reducer operation valve, the speed that rotary reducer operation valve rotates to meta for controlling jib, namely can be controlled the speed of gyration of turntable 1 by rotary reducer operation valve, and then reach the effect controlling jib speed of gyration.
In sum, in jib revolution centering control system of the present utility model, controller is connected with turntable control device and centering control device respectively, compared to existing technology, this jib revolution centering control system also comprises the rotary encoder of direction and the angle information rotated for Real-time Obtaining jib, controller is connected with rotary encoder, centering control device is used for positioning jib meta, controller is used for controlling jib according to the information of rotary encoder collection and rotates to meta, and be rotated in deceleration for controlling jib when jib rotates to predetermined angular, and the signal of controller also for transmitting according to centering control device controls jib stopping.The utility model is by arranging rotary encoder and centring controller, the direction that Real time identification jib rotates and angle, the sense of rotation of automatic decision jib zero position, realize the boom system auto zero position of non-360-degree continuous rotary or 360 ° of continuous rotaries, steering logic is simple, and use cost is cheap.
In addition, again because centering control device comprises middle level sensor 2 and meta detent mechanism 3, by middle level sensor 2 and meta detent mechanism 3, in conjunction with existing rotary encoder and controller etc., can realize progressively slowing down when jib returns back near meta and the control of stopping of fixing a point, improve the efficiency of revolution centering, fast and reliable.
On the other hand, the invention also discloses a kind of engineering machinery, comprise jib, turntable 1, fixing capstan head 4 and jib revolution centering control system, jib is arranged on turntable 1, turntable 1 is arranged on fixing capstan head 4 rotationally, meanwhile, is also provided with jib revolution centering control system, this centering control device is arranged between turntable 1 and fixing capstan head 4, and jib revolution centering control system is jib revolution centering control system described on it.
Above-mentioned engineering machinery obviously has whole beneficial effects of aforementioned jib revolution centering control system, does not repeat them here.
The foregoing is only preferred embodiment of the present utility model; not in order to limit the utility model; all within spirit of the present utility model and principle, any amendment done, equivalent replacement, improvement etc., all should be included within protection domain of the present utility model.
Claims (10)
1. a jib revolution centering control system, comprise controller, turntable control device and centering control device, it is characterized in that, also comprise rotary encoder, described controller respectively with rotary encoder, turntable control device and centering control device connect, described rotary encoder is used for direction and the angle information of the rotation of Real-time Obtaining jib, described centering control device is used for positioning jib meta, described controller is used for controlling jib according to the information of rotary encoder collection and rotates to meta, and be rotated in deceleration for controlling jib when jib rotates to predetermined angular, the centering signal of described controller also for transmitting according to centering control device controls jib to be stopped.
2. jib revolution centering control system according to claim 1, it is characterized in that, described centering control device comprises level sensor and meta detent mechanism at least one, described meta sensor setting is in turntable and fixing capstan head on one of them, described meta detent mechanism is arranged on another of turntable and fixing capstan head, described middle level sensor coordinates with described meta detent mechanism, produces centering signal and predetermined angular signal for coordinating with meta detent mechanism.
3. jib revolution centering control system according to claim 2, it is characterized in that, the middle part of described meta detent mechanism is provided with first anchor point, the both sides of described meta detent mechanism are at least provided with second anchor point respectively, described centering signal is the signal that middle level sensor produces when sensing the first anchor point, the angle of described predetermined angular for judging when middle level sensor senses the second anchor point.
4. jib revolution centering control system according to claim 2, it is characterized in that, described controller is connected with described middle level sensor, and described controller is also for revising the angle of described rotary encoder according to centering signal and/or predetermined angular signal.
5. jib revolution centering control system according to claim 3, it is characterized in that, the quantity of the second anchor point of described meta detent mechanism both sides is multiple, equal interval is arranged between first anchor point and the second adjacent anchor point and between multiple second anchor point, a rotary decelerating district of corresponding jib between two adjacent the second anchor points, another rotary decelerating district of corresponding jib between the first anchor point and the second adjacent anchor point.
6. jib revolution centering control system according to claim 1, it is characterized in that, described predetermined angular is the angle signal that described rotary encoder obtains.
7. the jib revolution centering control system according to any one of claim 2 to 5, is characterized in that, described middle level sensor is proximity switch or touch sensor or optoelectronic switch.
8. the jib revolution centering control system according to any one of claim 1 to 6, it is characterized in that, in the revolution centering process of jib, described predetermined angular comprises one-level preset deceleration angle and secondary preset deceleration angle, and described controller is used for carrying out respectively being rotated in deceleration for twice according to described one-level preset deceleration angle and secondary preset deceleration Angle ambiguity jib.
9. the jib revolution centering control system according to any one of claim 1 to 6, it is characterized in that, also comprise the centering operating key be connected with controller, described centering operating key is used for sending to described controller starting centering signal, described turntable control device comprises rotary reducer operation valve, the speed that described rotary reducer operation valve rotates to meta for controlling jib.
10. an engineering machinery, comprise jib, turntable and fixing capstan head, described jib is arranged on turntable, and described turntable is arranged on fixing capstan head rotationally, it is characterized in that, also comprises the jib revolution centering control system described in any one of claim 1 to 9.
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109445472A (en) * | 2018-12-10 | 2019-03-08 | 三汽车制造有限公司 | Cantilever crane turns round centralising device and cantilever crane turns round centering control method |
| CN109917849A (en) * | 2019-03-12 | 2019-06-21 | 湖南星邦重工有限公司 | A kind of rotation of rotary table electric limiting device, control method and engineering machine vehicle |
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| CN114198369A (en) * | 2021-12-21 | 2022-03-18 | 中联恒通机械有限公司 | Control method and control system for swing mechanism |
| CN117023477A (en) * | 2023-10-10 | 2023-11-10 | 临工重机股份有限公司 | Rotary table rotation centering limiting system and control method thereof |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109445472A (en) * | 2018-12-10 | 2019-03-08 | 三汽车制造有限公司 | Cantilever crane turns round centralising device and cantilever crane turns round centering control method |
| CN109917849A (en) * | 2019-03-12 | 2019-06-21 | 湖南星邦重工有限公司 | A kind of rotation of rotary table electric limiting device, control method and engineering machine vehicle |
| CN112211238A (en) * | 2019-07-11 | 2021-01-12 | 迪尔公司 | Automatic track alignment and chassis slewing |
| CN112211238B (en) * | 2019-07-11 | 2023-09-12 | 迪尔公司 | Automatic track alignment and chassis swivel |
| CN114198369A (en) * | 2021-12-21 | 2022-03-18 | 中联恒通机械有限公司 | Control method and control system for swing mechanism |
| CN114198369B (en) * | 2021-12-21 | 2024-02-27 | 中联恒通机械有限公司 | Control method and control system for slewing mechanism |
| CN117023477A (en) * | 2023-10-10 | 2023-11-10 | 临工重机股份有限公司 | Rotary table rotation centering limiting system and control method thereof |
| CN117023477B (en) * | 2023-10-10 | 2024-03-01 | 临工重机股份有限公司 | Rotary table rotation centering limiting system and control method thereof |
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