CN208847136U - A kind of development machine suspending arm rotary angle detecting device - Google Patents
A kind of development machine suspending arm rotary angle detecting device Download PDFInfo
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- CN208847136U CN208847136U CN201821596740.6U CN201821596740U CN208847136U CN 208847136 U CN208847136 U CN 208847136U CN 201821596740 U CN201821596740 U CN 201821596740U CN 208847136 U CN208847136 U CN 208847136U
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Abstract
The utility model discloses a kind of development machine suspending arm rotary angle detecting devices, screw cylinder and displacement sensor are provided on development machine revolving platform, displacement sensor acquires the distance between displacement sensor and screw cylinder, it is calculated by formula, is converted to the opposite angle of revolution and absolute angle of revolution of development machine cantilever.By the utility model, fuselage when development machine works can be overcome the problems, such as, the sharp pounding of rotating shaft causes rotary encoder to be difficult to carry out the detection of suspending arm rotary angle, improve measurement accuracy and reliability.
Description
Technical field
The utility model relates to development machine detection field more particularly to a kind of development machine suspending arm rotary angle detecting devices.
Background technique
Detection development machine suspending arm rotary angle, pitch angle are to realize the automatic cutting of development machine to calculate cutterhead spatial position
Prerequisite.Currently, the detection of cantilever pitch angle very easily can realize that the detection of angle of revolution is then by obliquity sensor
Never reliable and high-precision solution, the sharp pounding of fuselage, rotating shaft etc. can not adopt when due to development machine work
With the mode angle measurement of shaft end installation rotary encoder, external stay wire displacement sensor detection angle of revolution then exists apparent reliable
Property problem, the mode more approved at present be by angling cylinder install magneto strictive sensor measure piston rod position
It moves, is then calculated by cantilever motion model (relationship for establishing angling cylinder piston rod displacement and suspending arm rotary angle) outstanding
The advantages of angle of revolution of arm, this mode, is that piston rod displacement detection precision is high, saves space, the problem is that belonging to secondary
Measurement, detection accuracy are not only influenced by sensor accuracy and reliability, it is often more important that it is influenced by cantilever motion model,
And the processing such as various simplification are certainly existed when establishing kinematics model, ignores and idealizes, these processing can be to passing through model
The parameter measurement precision of progress causes inevitably to influence (this shadow for influencing often to be much larger than sensor measurement accuracy itself
Ring), secondly, installation magneto strictive sensor needs that angling cylinder is specially designed and is transformed, many times it is related to changing
The problems such as rear oil cylinder installation space is insufficient is made, in addition, reliability is poor in the case where vibrating operating condition also influences it for magneto strictive sensor
It promotes and applies.The sensing technology that therefore, it is necessary to develop a kind of high reliablity, can directly detect angle of revolution.
Application No. is the utility models of CN201310546109 to disclose a kind of angle of revolution measuring mechanism, angle of revolution is surveyed
It measures method, apparatus and system, the measuring mechanism includes: the rotary drive being fixedly connected with the rotary shaft of equipment under test；First
Drive rod and the second drive rod, first drive rod and the rotary drive are hinged, second drive rod and described the
One drive rod is hinged, and the length of first drive rod is greater than the hinge joint of the rotary drive and first drive rod
Rotating diameter；Voltage detecting circuit, the voltage detecting circuit include slide rheostat, the brush of the slide rheostat and institute
The second drive rod is stated to be fixedly connected, the brush with second drive rod movement the slide rheostat resistance wire
Surface sliding.
Application No. is the utility model of CN103527620A disclose a kind of achievable angle of revolution measurement spherical hinge and
Measurement method, it is characterized in that: being made of the internal ball seat with ball-and-socket pedestal and end cap, bulb is embedded in ball-and-socket, and is being held
The opening of lid exposes spherical crown, in the spherical crown top surface connected ball toggle of bulb；Bulb is concentric with ball-and-socket, and bulb can be opposite
It is rotated with one heart in ball-and-socket；It is embedded with permanent magnet in the lower half ball surface of bulb, each permanent magnet is evenly distributed on the lower semisphere of bulb
Surface；It is embedded with magnetic effect sensor on the surface of ball-and-socket, each magnetic effect sensor is evenly distributed on the surface of ball-and-socket；Utilize magnetic
The inductive output signal of effect sensor judges the relative position between bulb and ball-and-socket and the direction of relative motion.
Application No. is the utility models of CN103499327A to disclose a kind of novel angle measurement system, including specific song
Line entity, terminal display and monitoring point, all the points of the specific curves physically have unique value in polar coordinate system,
Distance measuring sensor is installed on monitoring point and is connect with terminal display, monitoring point is equipped with defined relative motion track, the fortune
Row track is a circular orbit concentric with specific curves entity basic circle.
Utility model disclosed above is different from solution disclosed by the utility model, and application is different, and can not
Well solve the application problem being mentioned above.
Utility model content
The purpose of this utility model is that providing a kind of development machine suspending arm rotary angle in place of avoiding the deficiencies in the prior art
Detection device.
The purpose of this utility model can be realized by using following technical measures, design a kind of development machine cantilever time
Rotation angle detecting apparatus is set on the development machine revolving platform of development machine rack, and the development machine revolving platform is set to development machine machine
On frame, the cantilever and cutting head of development machine connect the development machine revolving platform, and the oil cylinder of development machine is separately connected development machine machine
Frame and development machine revolving platform, the development machine revolving platform are fixedly installed on floating bearing inner ring, are set on the outside of floating bearing inner ring
Shaft bearing outer-ring is put back into, the rotating shaft of development machine, floating bearing outer ring are fixedly installed in the rack of development machine, described device
Include: displacement sensor, sensor stand, provide the hollow cylinder and processor of screw cylinder；Wherein, the hollow cylinder is set
In on the floating bearing inner ring, the hollow cylinder and the rotating shaft, the development machine floating bearing inner ring and rotating shaft
Bearing outer-ring is arranged concentrically；The sensor stand is fixedly installed on the rotating shaft, and institute's displacement sensors are fixedly connected with institute
Sensor stand is stated, the screw cylinder of laser beam direct projection to the hollow cylinder that institute's displacement sensors issue is examined
It surveys；The processor connects institute's displacement sensors, and the displacement detecting data for receiving institute's displacement sensors are calculated, with into
The detection of row development machine suspending arm rotary angle.
Wherein, the rectangular shape of sensor stand, wherein one end is fixedly installed on the rotating shaft, and the other end is fixedly connected
Institute's displacement sensors.
Wherein, screw cylinder is the helicoid processed in the end face of hollow cylinder, and screw cylinder is by one perpendicular to cylinder
The straight line of face axis according to certain lift angle around face of cylinder axis be rotated by 360 ° cutting cylindrical at.
It is different from the prior art, the development machine suspending arm rotary angle detecting device of the utility model is set on development machine revolving platform
Screw cylinder and displacement sensor are set, displacement sensor acquires the distance between displacement sensor and screw cylinder, passes through public affairs
Formula calculates, and is converted to the opposite angle of revolution and absolute angle of revolution of development machine cantilever.By the utility model, development machine can be overcome
Fuselage when work, rotating shaft sharp pounding cause rotary encoder to be difficult to the problem of carrying out the detection of suspending arm rotary angle, improve
Measurement accuracy and reliability.
Detailed description of the invention
Fig. 1 is a kind of side structure schematic view of development machine suspending arm rotary angle detecting device provided by the utility model；
Fig. 2 is a kind of overlooking structure diagram of development machine suspending arm rotary angle detecting device provided by the utility model；
Fig. 3 is that a kind of screw cylinder expansion of development machine suspending arm rotary angle detecting device provided by the utility model is counted
The schematic diagram of calculation.
Specific embodiment
Further more detailed description is made to the technical solution of the utility model With reference to embodiment.Obviously,
Described embodiment is only a part of the embodiment of the utility model, instead of all the embodiments.It is practical new based on this
Embodiment in type, those of ordinary skill in the art's every other reality obtained without creative labor
Example is applied, all should belong to the range of the utility model protection.
Refering to fig. 1 and Fig. 2, Fig. 1 and Fig. 2 are a kind of development machine suspending arm rotary angle detecting devices provided by the utility model
Side view and overlooking structure diagram.
The device is set on the development machine revolving platform 1 of development machine rack, and development machine revolving platform 1 is set to development machine rack
On 6, the cantilever and cutting head 9 of development machine connect the development machine revolving platform 1, and the oil cylinder 10 of development machine is separately connected development machine
Rack and development machine revolving platform 1, the development machine revolving platform 1 are fixedly installed on floating bearing inner ring 7, the rotating shaft of development machine
5, floating bearing outer ring 8 is fixedly installed in the rack 6 of development machine, which includes: displacement sensor 2, sensor stand
3, the hollow cylinder 4 and processor 11 of screw cylinder are provided；The hollow cylinder 4 for providing screw cylinder is co-axially mounted with rotating shaft 5,
Sensor stand 3 is mounted on 5 top of rotating shaft, and displacement sensor 2 is mounted on the other end of sensor stand 3, and installation should ensure that
The dot projection that displacement sensor 2 is launched when suspending arm rotary is on the helicoid of screw cylinder 4；Hollow cylinder 4 is placed on institute
State 5 outside of rotating shaft；The screw cylinder of laser beam direct projection to hollow cylinder 4 that displacement sensor 2 issues is detected；Processing
Device 11 connects displacement sensor 2, and the detection data for receiving displacement sensor 2 is calculated, to carry out development machine suspending arm rotary angle
Detection.
Wherein, the rectangular shape of sensor stand 3, wherein one end is fixedly installed on the rotating shaft 5, and the other end is fixed to be connected
Connect institute's displacement sensors.One endpoint of its perpendicular type is fixed on rotating shaft 5, and the axis of locating right-angle side and rotating shaft is flat
Row, is preferably located at the center position of rotating shaft 5, the right-angle side where the other end is vertical with the axis of rotating shaft, and length
Equal to the radius of hollow cylinder 4, displacement sensor 2 is fixedly installed on the endpoint, and the laser beam direct projection for projecting it is arrived
On the screw cylinder of hollow cylinder 4.
Wherein, screw cylinder is the helicoid processed in the end face of hollow cylinder 4, and screw cylinder is by one perpendicular to cylinder
The straight line of face axis according to certain lift angle around face of cylinder axis be rotated by 360 ° cutting hollow cylinder 4 cylindrical at.
Assuming that screw cylinder diameter is D, spiral angle of revolution is 2 π.By screw cylinder expansion as shown in figure 3, A is borded pile
The highest point in face, B are the minimum point of screw cylinder, and O is the projection of A in the vertical direction, the helix angle α of screw cylinder, position
The mounting height H of displacement sensor be it is known that the displacement sensor then measured by displacement sensor is to the height l of helicoid, can
It calculates using the minimum point of screw cylinder as the absolute angle of revolution of the absolute angle of revolution i.e. rotary disk of starting point and the cantilever of development machine
For
Opposite angle of revolution is
It can be seen that the highest point of screw cylinder is higher, angle of revolution detection resolution is higher, and precision is also higher, and displacement passes
Sensor resolution ratio is higher, and precision is higher, and angle of revolution detection accuracy and resolution ratio are also higher.
Displacement detecting resolution ratio relatively conventional in the market is selected to be not less than 0.01mm, sample frequency is not less than the position of 50Hz
Displacement sensor (is mainly made of laser emitter and linear array cmos imaging device), is added by numerical control machining center or linear cutting equipment
Work screw cylinder, it is assumed that screw cylinder diameter is 150mm, helicoid in the axial direction minimum point to difference in height between highest point
For 100mm, then helicoid lift angle is about 11.98 degree, and according to formula (2), the resolution ratio of opposite angle of revolution should be 0.036 degree, can
Meet detection accuracy and require to be 0.1 degree of application, to cutterhead space when can also meet the automatic cutting of boom-type roadheader
Position detection accuracy is the requirement of 1cm.Higher detection accuracy and resolution requirement can be by selecting more high measurement accuracy and dividing
Resolution displacement sensor or the mode for increasing helicoid minimum point to difference in height between highest point in the axial direction are realized.
It is different from the prior art, the development machine suspending arm rotary angle detecting device of the utility model is fixed on driving by setting
Development machine revolving platform in machine rack is provided with Rotating cylindrical surface and displacement sensor, displacement sensor on development machine revolving platform
The distance between displacement sensor and Rotating cylindrical surface are acquired, is calculated by formula, is converted to the opposite angle of revolution of development machine cantilever
With absolute angle of revolution.By the utility model, fuselage when development machine can be overcome to work, rotating shaft sharp pounding cause to rotate
Encoder is difficult to the problem of carrying out angle measurement, improves measurement accuracy.
The above is only the embodiments of the present invention, and therefore it does not limit the scope of the patent of the utility model, all benefits
The equivalent structure or equivalent flow shift made by the utility model specification and accompanying drawing content, is applied directly or indirectly in it
His relevant technical field, is also included in the patent protection scope of the utility model.
Claims (3)
1. a kind of development machine suspending arm rotary angle detecting device, is set on the development machine revolving platform of development machine rack, the driving
Machine revolving platform is set in development machine rack, and the cantilever and cutting head of development machine connect the development machine revolving platform, and development machine
Angling cylinder be separately connected driving rack and development machine revolving platform, the development machine revolving platform be fixedly installed in floating bearing
On circle, floating bearing outer ring is set, the rotating shaft of development machine cantilever, the fixation of floating bearing outer ring are set on the outside of floating bearing inner ring
It is placed in the rack of development machine, which is characterized in that described device includes: displacement sensor, sensor stand, provides screw cylinder
Hollow cylinder and processor；Wherein, the hollow cylinder is placed on the floating bearing inner ring, the hollow cylinder and described
Rotating shaft, the floating bearing inner ring and floating bearing outer ring are arranged concentrically；The sensor stand is fixedly installed on described return
In shaft, institute's displacement sensors are fixedly connected on the sensor stand end, the laser light that institute's displacement sensors issue
The screw cylinder of beam direct projection to the hollow cylinder carries out displacement detecting；The processor connects institute's displacement sensors, receives
The displacement detecting data of institute's displacement sensors are calculated, to carry out the detection of development machine suspending arm rotary angle.
2. development machine suspending arm rotary angle detecting device according to claim 1, which is characterized in that the sensor stand is in
Rectangular-shaped, wherein one end is fixedly installed on the rotating shaft, and the other end is fixedly connected with institute's displacement sensors.
3. development machine suspending arm rotary angle detecting device according to claim 1, which is characterized in that screw cylinder is hollow
The screw cylinder that the end face of cylinder processes, screw cylinder by one perpendicular to face of cylinder axis straight line according to certain lift angle around circle
Cylindrical axis be rotated by 360 ° cutting cylindrical at.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821596740.6U CN208847136U (en) | 2018-09-29 | 2018-09-29 | A kind of development machine suspending arm rotary angle detecting device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821596740.6U CN208847136U (en) | 2018-09-29 | 2018-09-29 | A kind of development machine suspending arm rotary angle detecting device |
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| CN208847136U true CN208847136U (en) | 2019-05-10 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109163676A (en) * | 2018-09-29 | 2019-01-08 | 中国煤炭科工集团太原研究院有限公司 | A kind of development machine suspending arm rotary angle detection method and device |
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2018
- 2018-09-29 CN CN201821596740.6U patent/CN208847136U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109163676A (en) * | 2018-09-29 | 2019-01-08 | 中国煤炭科工集团太原研究院有限公司 | A kind of development machine suspending arm rotary angle detection method and device |
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