CN209651742U - Angle of revolution detection device, apparatus for rotating and derrick crane - Google Patents
Angle of revolution detection device, apparatus for rotating and derrick crane Download PDFInfo
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- CN209651742U CN209651742U CN201920098827.9U CN201920098827U CN209651742U CN 209651742 U CN209651742 U CN 209651742U CN 201920098827 U CN201920098827 U CN 201920098827U CN 209651742 U CN209651742 U CN 209651742U
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Abstract
The embodiment of the present application discloses a kind of angle of revolution detection device, apparatus for rotating and derrick crane, the device includes: multiple encoding blocks, the encoding block is along the circumferential direction fixedly installed on fixed station or turntable, the encoding block is continuous by direction pivots clockwise or counter-clockwise or arranged for interval, the encoding block carry the installation site information of the encoding block；Encoding identification device is oppositely arranged with circular path locating for the encoding block, the encoding block and the angle of revolution of the turntable is determined according to the encoded information of the encoding block for identification；When the encoding block is set on the fixed station, the encoding identification device is fixedly installed on the turntable, and when the encoding block is set on the turntable, the encoding identification device is fixedly installed on the fixed station.The present embodiment angle detection accuracy is high, and without carrying out initialization calibration to equipment, saves the cost of artificial installation and debugging.
Description
Technical field
This application involves angle detection fields, and in particular to a kind of angle of revolution detection device, apparatus for rotating and tower
Heavy-duty machine.
Background technique
When engineering mechanical device is provided with rotary table, generally requires and the angle of revolution of rotary table is examined
It surveys, to provide angle-data for subsequent monitoring of working condition, obstacle avoidance design etc..For example, (such as crane mixes engineering truck
Solidifying soil pump truck etc.) setting angle detection device is required to realize the real-time detection of the rotation angle of turntable.It is for another example tower
Crane (can abbreviation tower crane) in the process of running, in order to avoid associated mechanisms (such as boom, counter-jib, suspension hook) and periphery are solid
Determine barrier or adjacent tower crane collides, needs to be measured in real time the angle of revolution of tower crane.
In the related technology, angle of revolution detection has following two detection scheme:
Scheme one, the pinion gear that the ring gear engagement one of the revolving support of turntable is servo-actuated with the turntable, pinion gear connection
One Multifunction position limiting device, the Multifunction position limiting device include the deceleration mechanism connecting with pinion gear and the output for being connected to deceleration mechanism
Axis detects the rotation angle of the output shaft by angular transducer to measure indirectly.Wherein, pinion gear under the drive of turntable around
The ring gear of the revolving support rotates, and revolving speed is converted into the rotation of output shaft through deceleration mechanism, and angular transducer passes through inspection
The detection of angle of revolution is realized in the rotation for surveying output shaft.
Scheme two, by installing three-axis gyroscope, 3-axis acceleration sensor or three axis geomagnetic sensors on turntable
To detect angle of revolution.
Inventor has found during realizing the technical solution of the embodiment of the present application:
Scheme one has the following deficiencies: when applying first, detection accuracy is unable to satisfy requirement, second, needing when system is installed
It wants professional to carry out initialization calibration, and is installed again after dismantling and also need to demarcate again.Since Multifunction position limiting device is most
Using worm and gear plus nylon gear, make low precision and reduction ratio be all very big, exist transmission interval (reduction ratio up to 40 with
On, reduction ratio is bigger, and gear set is more, and tooth is had a rest bigger)；In addition, between pinion gear and revolving support ring gear are there is also engaging
It has a rest.It is, when rotation of rotary table changes direction, since there are both the above interval, the sensor for being mounted on afterbody is produced
When raw servo-actuated, boom has been running for certain angle, but perhaps the angular transducer on Multifunction position limiting device output shaft does not turn also
It is dynamic.By taking tower crane as an example, worst error value can be up to 10 degree or so, and tower crane length of boom majority reaches 70 meters, and simple computation can
To know, the level run distance in error converting to the boom distal end of this angle is as many as 12 meters reachable, so, what this method obtained
Angle detection accuracy to fully meet need at present tower crane anticollision control be difficult to it is competent.And the technology is only used originally
It is freely turned round in limitation tower machine upper to avoid leader cable from twisting off accident, thus it is not high for required precision, it should if directly used
It is excessive that scheme measurement angle of revolution just necessarily will appear measurement error.In addition, also there is a problem of that calibration is cumbersome when the technical application,
For example, tower crane is the more frequent equipment in transformation building site, once if calibration setting is not done in tower crane replacement building site, due to small tooth
The installation cooperation of wheel is different (pinion gear installation is often more troublesome, and rigging position can not be unified), and it will cause angles of revolution
Detection is inaccurate, this has just seriously affected the safe operation of tower crane.
Scheme two also has the following deficiencies: that initialization of calibration difficulty is big, mounting ring sensitive to external electromagnetic interference when applying
Border requirement is high, and compared with scheme one, cost is got higher, technical difficulty increases and stability is also declined.
Utility model content
In view of this, the embodiment of the present application provides a kind of angle of revolution detection device, apparatus for rotating and derrick crane,
It is intended to improve the detection accuracy of angle of revolution.
The technical solution of the embodiment of the present application is achieved in that
In a first aspect, the embodiment of the present application provides a kind of angle of revolution detection device, it is applied on apparatus for rotating, described time
Turning equipment includes turntable and fixed station, and the turntable is rotated relative to the fixed station, and described device includes: multiple encoding blocks,
The encoding block is along the circumferential direction fixedly installed on the fixed station or the turntable, on the encoding block by clockwise or
Counterclockwise continuous or arranged for interval encoding block, the encoded information of the encoding block carry the installation position of the encoding block to person
Confidence breath；Encoding identification device is oppositely arranged with circular path locating for the encoding block, for identification on the encoding block
Encoding block and the angle of revolution that the turntable is determined according to the encoded information of the encoding block；Described in being set to when the encoding block
When on fixed station, the encoding identification device is fixedly installed on the turntable, when the encoding block is set on the turntable
When, the encoding identification device is fixedly installed on the fixed station.
Further, the continuous or spaced apart encoding block is located on a coding-belt and fixes through the coding-belt
In on the fixed station or the turntable.
Further, the encoding identification device is located at setting position in a circumferential direction.
Further, described device further include: first adapter, the encoding block are set to institute through the first adapter
It states on fixed station or the turntable, the first adapter is annular element；And/or second adapter, the code identification dress
It sets and is set on the turntable or the fixed station through second adapter.
Further, the identification range of the encoding identification device at least covers two encoding blocks.
Further, the identification range of the encoding identification device covers three encoding blocks.
Further, the encoding block is bar code or two dimensional code.
Further, the encoding block is to intersect 25 bar codes.
Second aspect, the embodiment of the present application provide a kind of apparatus for rotating, and the apparatus for rotating includes turntable, fixed station, institute
It states turntable to rotate relative to the fixed station, the apparatus for rotating further includes the detection of angle of revolution described in any of the above-described embodiment dress
It sets.
The third aspect, the embodiment of the present application provide a kind of derrick crane, including the upper bracket as turntable and as solid
The undersetting for determining platform further includes the angle of revolution detection device as described in above-mentioned any embodiment.
In the offer technical solution of the embodiment of the present application, by the way that encoding block is realized turntable in conjunction with encoding identification device
Angle of revolution detection, when the encoding block is set on the fixed station, the encoding identification device is set to described
On turntable, when the encoding block is set on the turntable, the encoding identification device is set on the fixed station, turntable
When relative to fixed station rotation, encoding identification device is by identifying the encoding block moved corresponding thereto and according to the encoding block
Encoded information determines the angle of revolution of the turntable, compared to the prior art, since encoding block, encoding identification device are both secured to
It is opposite between the relative displacement and turntable and fixed station between encoding block and encoding identification device on corresponding turntable or fixed station
Displacement is consistent, and encoding identification device generates angle of revolution according to the corresponding encoded information of encoding block on encoding block, avoids
Detection error caused by drive gap, improves detection accuracy；In addition, saving people without carrying out initialization calibration to equipment
For the cost of installation and debugging.
Detailed description of the invention
The attached drawing constituted part of this application is used to provide a further understanding of the present invention, the utility model
Illustrative embodiments and their description are not constituteed improper limits to the present invention for explaining the utility model.In attached drawing
In:
Fig. 1 is that angle of revolution detection device is applied to the structural schematic diagram on apparatus for rotating in one embodiment of the application；
Fig. 2 is the structural schematic diagram of multiple encoding block unfolded states in one embodiment of the application；
Fig. 3 is the structural schematic diagram that block coding is encoded in one embodiment of the application；
Fig. 4 is the schematic illustration of angle of revolution detection in one embodiment of the application；
Fig. 5 is the structural schematic diagram of derrick crane in one embodiment of the application；
Fig. 6 is the overlooking structure diagram of Fig. 5.
Specific embodiment
Technical scheme is further described in detail with reference to the accompanying drawings and specific embodiments of the specification.It should
Understand, embodiment mentioned herein is only used to explain the application, is not used to limit the application.In addition, provided below
Embodiment be section Example for implementing the application, rather than provide the whole embodiments for implementing the application, do not conflicting
In the case where, the embodiment of the present application record technical solution can mode in any combination implement.
Unless otherwise defined, all technical and scientific terms used herein and the technical field for belonging to the application
The normally understood meaning of technical staff is identical.The term used in the description of the present application is intended merely to description tool herein
The purpose of the embodiment of body, it is not intended that in limitation the application.Term as used herein "and/or" includes one or more phases
Any and all combinations of the listed item of pass.
The embodiment of the present application provides a kind of angle of revolution detection device, is applied on apparatus for rotating, which includes
Turntable 1, fixed station 2, rotating drive mechanism 3, revolving support 4, revolving support 4 are fixed on fixed station 2, rotating drive mechanism 3
It is set on turntable 1.Rotating drive mechanism 3 includes power source 31 and the transmission mechanism 32 driven by power source 31,
The ring gear engagement of the gear and revolving support 4 of the transmission mechanism 32, so that turntable 1 is rotated relative to fixed station 2.Wherein, should
Power source 31 can be hydraulic, air pressure actuator or electric motor etc..The present embodiment angle of revolution checking device includes: more
A encoding block 5 and encoding identification device 6, multiple encoding blocks 5 are along the circumferential direction fixedly installed on fixed station 2 or turntable 1, more
A encoding block 5 is by direction pivots clockwise or counter-clockwise is continuous or arranged for interval encoding block.In some embodiments, encoding block can
Continuously to arrange and cover whole circumference.In some embodiments, encoding block can be arranged continuously but not cover whole circumference.In
In some embodiments, there is interval at least partly between encoding block.The arrangement of encoding block can be according to the angle of corresponding region
Detection accuracy is spent to be selected, so that angle detection accuracy in the circumferential can according to need and be configured.Encoding block
Encoded information carries the installation site information of the encoding block, i.e., the encoded information of encoding block and encoding block be in a circumferential direction
Installation site corresponds.Wherein, the quantity of encoding block and the accuracy selection continuously whether arrangement can be detected according to angle, example
Such as, the occasion high for required precision, encoding block can be arranged continuously so that single encoded piece it is shared in a circumferential direction away from
From detection accuracy as small as possible, and then improving angle.Require relatively low occasion in some detection accuracy, encoding block can be with
Set distance is spaced under the requirement for meeting angle detection accuracy to be arranged.Fig. 2 has illustrated mostly showing for the expansion of encoding block 5
It is intended to, in some embodiments, continuous or spaced apart encoding block 5 is located on a coding-belt 51, as shown in Fig. 2, passing through
Multiple encoding blocks 5 are arranged on coding-belt 51, simplify the installation difficulty of multiple encoding blocks 5, and are conducive to improve installation effectiveness.It compiles
Code recognition device 6 is oppositely arranged with coding-belt 51, for identification the encoding block 5 on coding-belt 51 and according to the coding of encoding block 5
Information determines the angle of revolution of turntable 1.
In some embodiments, when encoding block 5 is set on fixed station 2, encoding identification device 6 is fixedly installed on turntable
On 1.In another embodiment, when encoding block 5 is set on turntable 1, encoding identification device 6 is fixedly installed on fixed station 2.
By the way that encoding block 5 to be combined to the detection to realize the angle of revolution of turntable 1 with encoding identification device 6, when encoding block 5
When being set on fixed station 2, encoding identification device 6 is set on turntable 1, and when encoding block 5 is set on turntable 1, coding is known
Other device 6 is set on fixed station 2, and when turntable 1 is rotated relative to fixed station 2, encoding identification device 6 is by identifying corresponding thereto
The encoding block 5 of movement and the angle of revolution that turntable is determined according to the encoded information of encoding block 5, compared to the prior art, due to compiling
Code block 5, encoding identification device 6 are both secured on corresponding turntable 1 or fixed station 2, between encoding block 5 and encoding identification device 6
Relative displacement and turntable 1 and fixed station 2 between relative displacement it is consistent, and encoding identification device 6 is according to the coding on encoding block 5
The corresponding encoded information of block 5 determines angle of revolution, avoids detection error caused by drive gap, improves detection accuracy；This
Outside, without carrying out initialization calibration to equipment, encoding identification device, which powers on, can recognize encoded information and determines angle of revolution, section
The cost of artificial installation and debugging is saved.
In one example, it as shown in Figure 1, the encoding strip 51 with encoding block 5 is adhered on the inner wall of fixed station 2, compiles
Code recognition device 6 is fixed on turntable 1 through L bracket 7, and the face of encoding block 5 is printed on encoding identification device 6 and coding-belt 51
Relatively, which emits light to encoding block 5 and receives the light of the reflection of encoding block 5, handles by photoelectric conversion
Corresponding electric signal is obtained, and by the processing identification corresponding encoded information of encoding block 5, according to the mapping of encoded information and angle
Relationship determines angle information, so that the angle for realizing turntable 1 relative to fixed station 2 detects.Wherein, encoding block 5 includes figure
Encoded information represented by encoding block 5 is converted to the identifiable number of processor by encoding identification device 6 by the coded identification of change
Word signal.The encoding block 5 can be bar code or two dimensional code.For bar code, the encoded information of each encoding block carrying
Corresponded with each encoding block installation site in a circumferential direction, for example, encoded information can for each encoding block center away from
Distance value from installation starting point.For two dimensional code, the encoded information carried is in addition to the corresponding installation site information of encoding block
Outside, other auxiliary informations be may be incorporated into, which can be control information relevant to angle.Due to each encoding block 5
For the angle value of corresponding encoded information and turntable there are one-to-one mapping relations, encoding identification device 6 can be according to identification
Encoded information determine the angle value of turntable.
In some embodiments, multiple installations of encoding block 5 can be adhered to turntable 1 or solid according to corresponding positional relationship
Determine on platform 2.
In some embodiments, encoding identification device 6 includes: scanner, amplification and rectification circuit, decoding interface circuit and place
Device is managed, scanner includes light supply apparatus, light path system and photoelectric detective circuit, and the light which issues goes out through light path system
It penetrates, when being irradiated on chequered with black and white bar code, reflected light is irradiated on photoelectric detective circuit after light path system focuses, in
It is that photoelectric detective circuit receives reflected light signal of different strengths and weaknesses corresponding with informal voucher and secret note, and is converted into corresponding telecommunications
It number is output to amplification and rectification circuit, analog signal is converted to digital electric signal by amplification and rectification circuit, then through decoding interface circuit
It is translated into number and/or character information, processor generates angle number according to the mapping relations of setting further according to received digital information
According to.Wherein, the digital electric signal (pulse digital signal) of shaping circuit is decoded interface circuit and is translated into number and/or character letter
Breath determines code system and the scanning direction of bar code symbol by identification starting, final character, passes through measurement pulse digit electricity
The number of signal 0,1 come differentiate shaping and sky number, by measurement 0,1 signal duration come differentiate item and sky width
Degree has just obtained the item for the bar code symbol for being debated reading and the number of sky and corresponding width and code system used, according to code in this way
Bar symbol can be changed into corresponding number and/or character information, by decoding interface circuit by the corresponding coding rule of system
It gives processor and carries out data processing and management, just complete the overall process that bar code distinguishes reading.Optionally, encoding identification device 6
The angle value of the turntable of identification is sent to control system, to realize angle real-time display or the auxiliary control based on angle value
Function.
It should be noted that in other embodiments, which can save processor, connect by decoding
Number and/or character information that computer system can identify are passed to external processor by mouth circuit, and for example, transmitting gives back to
Turn in the control system of equipment, the angle of revolution of turntable is generated by control system, the real-time display of angle can be further realized
Or the ancillary control function based on angle value.
In some embodiments, encoding block 5 or the encoding strip 51 with encoding block 5 can directly be bonded and fixed to fixation
Platform 2 is perhaps for example fixed on circumference opposite between inner wall periphery or outer wall periphery or fixed station and turntable on turntable 1
On face.In other embodiments, encoding block 5 or the encoding strip 51 with encoding block 5 can also be fixed on through first adapter
On fixed station 2 or turntable 1, which is annular element.It can realize that encoding block and coding are known by first adapter
The single encoded piece of corresponding angular range value of adjustment or adjustment of distance between other device.For example, when installation volume on annular element
When the radius value in the positional distance center of circle of code block increases, then single encoded piece of corresponding angle value becomes smaller, and detection accuracy will be able to
It improves.When and by the annular element adjust encoding block position, the relative position of encoding block and encoding identification device may be implemented
And/or the adjustment of relative distance, in favor of improving the recognition success rate of encoding identification device.The annular element and fixed station 2 and turn
The center of circle of platform 1 is coaxial.The annular element can be fixed on fixed station 2 or turntable 1 by radial supporter.Encoding block 5 can be with
It is arranged on outer circumference surface, inner peripheral surface, top periphery or the bottom end periphery of annular element, encoding identification device 6 is corresponding
Setting is for detecting encoding block 5, and 5 place face of encoding block and encoding identification device 6 are opposite.Preferably, encoding block, which is located at, fixes
Platform 2 is perhaps on the inner wall periphery of turntable 1 it is possible to prevente effectively from encoding block is worn in transport process or artificially smears
The defect that caused encoding block cannot be effectively recognized, to play better protective effect to encoding block.
In some embodiments, encoding identification device 6 can be fixed on fixed station 2 or turntable 1 through the second adapter,
For example, second adapter can be L bracket, straight line bracket or polymorphic structure bracket, with meet encoding identification device 6 with
The opposite setting demand of encoding block 5.By the second adapter, the relative distance between encoding identification device and encoding block may be implemented
And/or the adjustment of relative position, in favor of improving the recognition success rate of encoding identification device.
Below by taking bar code as an example, the coding rule of encoding block 5 is illustrated.It should be noted that this field skill
Art personnel can also be according to the evolution of technology, using two dimensional code as encoding block.Bar code, two dimensional code herein only needs energy
It is enough to meet its corresponding installation site information of carrying, it is not specifically limited herein.The present embodiment is preferably using intersection 25
Code is used as encoding block, which is a kind of, the empty continuous type for indicating information, the two-way item with self checking function
Code.Its each bar code data character is made of 5 units, and two of them are wide unit (indicating binary " 1 "), three narrow
Unit (indicates binary " 0 ").Referring to Fig. 3, Fig. 3 is an example for intersecting 25 yards, coding rule is as follows: 0:
00110,1:10001,2:01001,3:11000,4:00101,5:10100,6:01100,7:00011,8:10010,9:
01010。
When using intersecting 25 bar code, inventor has the following characteristics that in view of 25 bar code of intersection
1, secret note informal voucher all indicates number, so that each encoding block the space occupied is as small as possible；
2, each 10 system number is made of 5 units；Each number length be it is isometric, i.e., 2 wide items add
Upper 3 fillets, if selecting wide width for 3 fillets, it is to be understood that, each 10 carry digit length is 9 fillets, Ke Yishi
The continuous arrangement of existing equal length；
3, due to coding characteristic, a coding number to be indicated is typically all that even numbers is, such as 2,4,6 etc..
Fig. 3 signal encoded information be 3185,4 digits coding maximum can to 9999, plus encoding block starting character with
Full stop totally 8 fillets, along with 6 fillets of space bit (being located at the leftmost side and the rightmost side), that is, complete 4 digit
Encoding block needs 50 fillets.Currently, general fillet width can accomplish 5mil i.e. 0.127mm, then indicating one 4
10 system number encoding block 6.35mm.Optionally, in order to reduce the accuracy of identification of encoding identification device.If according to 10mil fillet
Width is calculated, and an Encoding Block Length is also more with regard to 12 millimeters.By taking tower crane as an example, the general revolving support diameter of bore of tower crane is more
At 2 meters or so, then also about 6 meters of one week length, so being unit by millimeter, 4 digits can indicate 9.999 meters, can meet and want
It asks, installation place reality and zero is written if encoding block is continuously fixedly mounted on turntable or fixed station, in each encoding block
The distance of point, for example, for installing 6 meters of perimeter of circumferential wall of encoding block, the corresponding encoding value of zero-bit encoding block is 0,
The corresponding encoding value of remaining each encoding block i.e. distance value on circumferential track of its central point and zero-bit encoding block central point,
As soon as 12 millimeters of length of the resolution ratio of scanning encoding block namely encoding block, the corresponding angle of an Encoding Block Length at this time
It is 0.72 degree (360*12/6000), it is known that namely 0.72 degree of corresponding angular resolution, it has greatly improved in this way
The detection accuracy of angle of revolution.
Referring to Fig. 4, Fig. 4 illustrates the embodiment of the present application encoding identification device 6 and the cooperation detection of encoding block 5 angle of revolution
Structural schematic diagram.Multiple encoding blocks 5 are arranged on coding-belt 51, by taking continuous programming code clockwise as an example, wherein 5B is corresponding minimum
Corresponding second encoded information of encoded information, 5C, 5A then correspond to maximum encoded information, it is assumed that the corresponding installation circumference of encoding block 5
Radius is R, and single encoded piece of corresponding length is B, then the angular resolution of encoding block are as follows: θ=180*B/ π * R, wherein θ is
The corresponding angle value of single encoded block length.
Preferably, in order to guarantee one surely to scan to a complete encoding block every time, adjustable code identification dress
Set the relative distance between encoding block, it is ensured that the corresponding identification range of scanning angle A at least covers two encoding blocks.Preferably,
In view of depositing fluctuation in the up-down direction in application scenes, between turntable and fixed station, lead to encoding identification device
Scanning angle change, in some embodiments, identification range cover three coding modules length, so no matter what
When, encoding identification device, which can identify, gets a complete encoded information, and can there are upper between turntable and fixed station
When lower fluctuation, the recognition success rate of encoding block is effectively improved.
In some embodiments, in order to further increase angle detection precision, encoding identification device identification angle number
According to corresponding with the physical centre of encoding identification device.Specifically, encoding identification device is according to whole width items in identification range
Code data (three or more code widths), in conjunction with the width number of barcodes distribution situation before and after complete encoding block, by corresponding
Digital processing, that is, can determine the corresponding position of the physical centre of encoding identification device, to obtain the physical centre position pair
The angle-data answered can also further increase accuracy of identification in this way.
It should be noted that the apparatus for rotating in the embodiment of the present application can be to set with fixed station and the various of turntable
It is standby, for example, there is the industrial robot of rotation driving mechanism (such as rotation arm), crane, concrete pump truck, disappear
Anti- vehicle etc. can also be derrick crane etc..In application scenes, turntable is discontented with one relative to the rotational angle of fixed station
When whole circle (i.e. relative rotation range is less than 360 degree), multiple encoding blocks can not have to that whole circumference, encoding block and volume is completely covered
The range for relatively rotating track covering turntable rotation between code recognition device, can be realized to returning under the various rotational angles of turntable
The detection of gyration.For turntable relative to the situation more than full circle of a rotational angle even circle for fixed station, it is only necessary to encode
Block is end to end in a circumferential direction to be fixed on corresponding mechanism (turntable or fixed station), and comprehensive return can be realized
Gyration detection.
Preferably, in order to enable the angle of revolution angle value of each apparatus for rotating detection has unified reference standard, in some realities
It applies in example, the zero-bit encoding block in encoding block is unified to be located at the first setting position in a circumferential direction, and zero-bit encoding block is initial
The corresponding encoding block of installation site；And/or encoding identification device is located at the second setting position in a circumferential direction.Wherein, first
It setting position in a circumferential direction can be same or different with the second setting position.Illustratively, zero-bit encoding block and coding
Identification device is set to the initial position of the turntable of apparatus for rotating, in this way, the angle of revolution of encoding identification device detection is
Azimuth deviation angle of the turntable relative to its initial position.
The embodiment of the present application also provides a kind of derrick crane, and Fig. 5 illustrates that the structure of the present embodiment derrick crane is shown
It is intended to, Fig. 6 illustrates the schematic top plan view of the present embodiment derrick crane.Fig. 5 and Fig. 6 is please referred to, the derrick crane 8 packet
Include: tower body 81, upper bracket 82, undersetting 83, boom 84, counter-jib 85, rotary motion mechanism 86, revolving support 87 further include
The angle of revolution detection device of aforementioned any embodiment.Wherein, tower body 81 is made of more standard section, and undersetting 83 is fixed on tower
81 top of body, as the fixed station of derrick crane, upper bracket 82 is used as turntable, upper bracket 82 be rotatably dispose in undersetting 83 it
It above and through revolving support 87 connects, which is fixed on undersetting 83, and boom 84 and counter-jib 85 are fixed on branch
On seat 82, and upper bracket 82 is equipped with rotary motion mechanism 86, which includes electronic or hydraulic driving
Unit 861 and the gear 862 being driven by the driving unit 861, driving unit 861 drive gear 862 in revolving support 87
Circle rotation, and then upper bracket 82 is driven to rotate relative to undersetting 83.
In the present embodiment, encoding block 5 is arranged on the inner peripheral surface of undersetting 83 and covers entire inner peripheral surface, and encoding block can be with
According to certain direction of rotation (clockwise or counterclockwise) continuous arrangement.Encoding identification device 6 is fixed on upper bracket 82 through bracket
On, and the face for printing encoding block is opposite, when tower machine upper revolution, encoding identification device can be moved synchronously with upper bracket and can be swept
The encoding block on support is described, the angle of revolution of upper bracket 82 is determined according to the corresponding encoded information of encoding block.
In some embodiments, the corresponding orientation of the center line for encoding identification device 6 being mounted on circumferencial direction upper boom portion,
And the zero-bit encoding block (i.e. the corresponding encoding block of initial makeup location) on encoding block 5 is installed on 82 initial orientation of upper bracket, then
Angle-data of the current boom orientation relative to revolution zero-bit can be directly obtained by encoding identification device 6.The detection data
Process that is not only accurate, and eliminating traditional initialization calibration, even and if derrick crane replacement building site install again, due to compiling
Code block position is fixed and information is also fixed, then whether initially installation or tower crane replacement building site install all do not need to carry out again
Calibration setting, powering on can work and data are accurate, to realize the non-calibrating function of angle of revolution detection.
In some embodiments, encoding identification device can be installed with the centerline deviation set angle of boom, and coding is known
Other device eliminates the set angle after reading coded data, that is, can determine angle number of the current boom orientation relative to revolution zero-bit
According to.
In addition, it should be noted that, encoding identification device is every time according to the volume of identification in the present embodiment angle detection scheme
The corresponding encoded information of code block generates angle of revolution, determines angle of revolution without carrying out incremental computations according to historical point view data
Degree, avoids defect of traditional angular transducer through accumulated error caused by data accumulation, and angle recognition precision is high.
In some embodiments, angle-data is passed to the control of tower crane through wired or wireless mode by encoding identification device
System processed, long-range anti-collision control system are perhaps on display terminal in order to carrying out real-time display to angle of revolution or carry out tower
Machine anticollision controls operation, to realize safety running control strategy.
In the offer technical solution of the embodiment of the present application, by the way that encoding block is realized turntable in conjunction with encoding identification device
Angle of revolution detection, when encoding block is set on fixed station, encoding identification device is set on turntable, when encoding block is set
When being placed on turntable, encoding identification device is set on fixed station, and when turntable is rotated relative to fixed station, encoding identification device is logical
The encoding block crossed on the encoding block that moves corresponding thereto of identification and the angle of revolution that turntable is determined according to the encoded information of encoding block,
Compared to the prior art, since encoding block, encoding identification device are both secured on corresponding turntable or fixed station, encoding block with
The relative displacement between relative displacement and turntable and fixed station between encoding identification device is consistent, and encoding identification device is according to coding
The corresponding encoded information of encoding block on block determines angle of revolution, avoids detection error caused by drive gap, improves inspection
Survey precision；In addition, saving the cost of artificial installation and debugging without carrying out initialization calibration to equipment.
The above, the only specific embodiment of the application, but the protection scope of the application is not limited thereto, it is any
Those familiar with the art within the technical scope of the present application, can easily think of the change or the replacement, and should all contain
Lid is within the scope of protection of this application.Therefore, the protection scope of the application should be based on the protection scope of the described claims.
Claims (10)
1. a kind of angle of revolution detection device, which is characterized in that be applied to apparatus for rotating on, the apparatus for rotating include turntable and
Fixed station, the turntable are rotated relative to the fixed station, and described device includes:
Multiple encoding blocks, the encoding block are along the circumferential direction fixedly installed on the fixed station or the turntable, the volume
Code block is continuous by direction pivots clockwise or counter-clockwise or arranged for interval, the encoded information of the encoding block carry the encoding block
Installation site information；
Encoding identification device is oppositely arranged with circular path locating for the encoding block, for identification the encoding block and basis
The encoded information of the encoding block determines the angle of revolution of the turntable；When the encoding block is set on the fixed station,
The encoding identification device is fixedly installed on the turntable, when the encoding block is set on the turntable, the coding
Identification device is fixedly installed on the fixed station.
2. angle of revolution detection device as described in claim 1, which is characterized in that
The continuous or spaced apart encoding block is located on a coding-belt and is fixed on the fixed station through the coding-belt
Or on the turntable.
3. angle of revolution detection device as described in claim 1, which is characterized in that
The encoding identification device is located at setting position in a circumferential direction.
4. angle of revolution detection device as described in claim 1, which is characterized in that described device further include:
First adapter, the encoding block is set on the fixed station or the turntable through the first adapter, described
First adapter is annular element；And/or
Second adapter, the encoding identification device are set to the turntable or the fixed station through second adapter
On.
5. angle of revolution detection device as described in claim 1, which is characterized in that
The identification range of the encoding identification device at least covers two encoding blocks.
6. angle of revolution detection device as claimed in claim 5, which is characterized in that
The identification range of the encoding identification device covers three encoding blocks.
7. angle of revolution detection device as described in claim 1, which is characterized in that
The encoding block is bar code or two dimensional code.
8. angle of revolution detection device as claimed in claim 7, which is characterized in that
The encoding block is to intersect 25 bar codes.
9. a kind of apparatus for rotating, which is characterized in that the apparatus for rotating includes turntable, fixed station, and the turntable is relatively described solid
Determine platform rotation, the apparatus for rotating further includes angle of revolution detection device as described in any of the claims 1 to 8.
10. a kind of derrick crane, which is characterized in that including the upper bracket as turntable and as the undersetting of fixed station, also
Including angle of revolution detection device as described in any of the claims 1 to 8.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109607386A (en) * | 2019-01-22 | 2019-04-12 | 长沙海川自动化设备有限公司 | Angle of revolution detection device, apparatus for rotating and derrick crane |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109607386A (en) * | 2019-01-22 | 2019-04-12 | 长沙海川自动化设备有限公司 | Angle of revolution detection device, apparatus for rotating and derrick crane |
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