CN219098668U - Rotary jacking device of scissor type AGV - Google Patents

Abstract

The utility model provides a scissor type AGV rotary jacking device, which solves the problem that the existing device cannot meet the requirement of AGV miniaturization under the condition of large load. The jacking mechanism is arranged on the AGV chassis frame, and the rotating mechanism is arranged on the jacking mechanism; the jacking mechanism comprises a jacking plate, a scissor fork type lifting support and a jacking hydraulic cylinder, wherein the bottom of the jacking plate is vertically arranged on the AGV chassis frame in a lifting manner through the scissor fork type lifting support, the jacking hydraulic cylinder is arranged on the AGV chassis frame and is positioned in an inner space formed by enclosing the scissor fork type lifting support, and a push rod of the jacking hydraulic cylinder faces to the bottom surface of the jacking plate and is fixedly connected with the jacking plate; the rotating mechanism comprises a rotating driving assembly, a driving pinion and a slewing bearing, wherein the slewing bearing and the driving pinion are both arranged on the jacking plate, the tooth shape of the outer ring of the slewing bearing is meshed with the driving pinion, the rotating driving assembly is arranged on the jacking plate, the rotating driving assembly comprises a driving motor and a harmonic reducer which are in transmission connection, and a harmonic output shaft of the harmonic reducer is connected with the driving pinion.

Description

Rotary jacking device of scissor type AGV

Technical Field

The utility model relates to the field of AGV devices, in particular to a scissor type AGV rotary jacking device.

Background

AGV (Automated Guided Vehicle), namely an unmanned guided vehicle, is a vehicle equipped with an automatic guiding device such as electromagnetic or optical, capable of traveling along a predetermined guiding path and having safety protection and various transfer functions, and is capable of realizing unmanned, automatic and safe transfer functions, thereby effectively saving labor and greatly improving work efficiency, and is now used in a plurality of fields such as logistics, warehouse, manufacturing industry and the like.

The rotary jacking device is an important component part in the AGV and comprises a rotary mechanism and a jacking mechanism, wherein the rotary mechanism can directly or indirectly bear goods in application and can drive the whole goods to rotate in a plane, meanwhile, the rotary mechanism is connected with the jacking mechanism, and the jacking mechanism can drive the rotary mechanism and the goods borne by the rotary mechanism to do integral lifting movement in the vertical direction; the existing jacking mechanism adopts a motor-driven screw rod transmission mode, and the screw rod transmission mechanism cannot adapt to the requirement of large carrying capacity due to low carrying capacity, and meanwhile, has the problems of complex structure and large occupied space, so that the existing AGV does not adapt to the requirement of miniaturization development; the existing rotating mechanism mostly adopts a gear transmission mode, a motor and a speed reducer drive a driving pinion to rotate, and the driving pinion drives a slewing bearing with meshed tooth shapes on the periphery to rotate, and the transmission mode can realize the slewing function of the slewing bearing, but if the transmission mode is suitable for supporting and slewing goods with large carrying capacity, the motor and the speed reducer with large output power are required to be matched, the problems of heavy weight and large volume of the high-power motor and the speed reducer are required, and the current AGV is not suitable for the requirement of miniaturization development; therefore, the conventional rotary jacking device cannot meet the requirement of the AGV for miniaturization under the condition of large carrying capacity.

Disclosure of Invention

The utility model provides a scissor type AGV rotary jacking device, which can solve the problem that the existing rotary jacking device cannot meet the requirement of AGV miniaturization under the condition of large carrying capacity.

Its technical scheme does, a cut rotatory jacking device of fork AGV, it includes climbing mechanism and rotary mechanism, climbing mechanism installs on AGV chassis frame, rotary mechanism install in climbing mechanism is last, its characterized in that: the lifting mechanism comprises a lifting plate, a scissor fork type lifting support and a lifting hydraulic cylinder, wherein the bottom of the lifting plate is vertically arranged on the AGV chassis frame in a lifting manner through the scissor fork type lifting support, the lifting hydraulic cylinder is arranged on the AGV chassis frame and is positioned in an inner space formed by enclosing the scissor fork type lifting support, and a push rod of the lifting hydraulic cylinder faces to the bottom surface of the lifting plate and is fixedly connected with the lifting plate; the rotary mechanism comprises a rotary driving assembly, a driving pinion and a slewing bearing, wherein the slewing bearing and the driving pinion are both arranged on the jacking plate, the tooth shape of an outer ring of the slewing bearing is meshed with the driving pinion, the rotary driving assembly is arranged on the jacking plate, the rotary driving assembly comprises a driving motor and a harmonic reducer which are in transmission connection, and a harmonic output shaft of the harmonic reducer is connected with the driving pinion.

Further, the scissor fork type lifting support comprises two pairs of scissor fork arm assemblies arranged on two longitudinal sides of the jacking plate, and the jacking hydraulic cylinder is arranged between the two groups of scissor fork arm assemblies; each group of the scissor fork arm assemblies comprises a first fork arm and a second fork arm which are connected in a crossed and rotating way through a central shaft; the end parts of the first fork arm and the second fork arm, which are positioned on one lateral side of the central shaft, are both rotation connecting ends, and the end parts of the other lateral side are both sliding connecting ends; the rotating connection ends of the first fork arm and the second fork arm are respectively rotatably supported on the bottom surface of the jacking plate and the bottom surface of the AGV chassis frame, and the sliding connection ends of the first fork arm and the second fork arm are respectively supported on the bottom surface of the jacking plate and the bottom surface of the AGV chassis frame in a sliding manner along the transverse direction.

Further, the rotating connecting ends of the first fork arms and the rotating connecting ends of the second fork arms of the two groups of scissor fork arm assemblies are respectively connected through rotating connecting shafts; the axial two ends of the rotating connecting shaft are respectively and rotatably connected with the corresponding rotating connecting ends of the first fork arm and the corresponding rotating connecting ends of the second fork arm through bearings and are supported on the bottom surface of the jacking plate and the AGV chassis frame through rotating supporting seats.

Furthermore, the two axial ends of the rotary connecting shaft and the corresponding bearings are sealed through a dustproof sealing structure, the dustproof sealing structure comprises a sealing ring cover and an X-shaped sealing ring embedded in the sealing ring cover, and the sealing ring cover is sleeved on the rotary connecting shaft and is connected with the rotary connecting end of the corresponding first fork arm and the rotary connecting end of the second fork arm so that the X-shaped sealing ring seals the bearings.

Further, two top sliding support seats are installed on the bottom surface of the jacking plate, two bottom sliding support seats are installed on the AGV chassis frame, sliding grooves extending horizontally are formed in the top sliding support seats and the bottom sliding support seats, rolling bearings are installed at the sliding connection ends of the first fork arms and the sliding connection ends of the second fork arms of the scissor fork arm assembly respectively, the rolling bearings at the sliding connection ends of the first fork arms are installed in the sliding grooves of the bottom sliding support seats, and the rolling bearings at the sliding connection ends of the second fork arms are installed in the sliding grooves of the top sliding support seats.

Further, the first fork arms and the second fork arms of the two groups of scissor fork arm assemblies are connected through connecting rods.

Further, the rotary driving assembly comprises a harmonic mounting seat, the harmonic mounting seat is fixedly arranged at one side end part of the bottom surface of the jacking plate, the harmonic speed reducer is arranged in the harmonic mounting seat, the driving motor is fixedly arranged at the bottom of the harmonic mounting seat, a power output shaft of the driving motor penetrates through the harmonic mounting seat from bottom to top and then is connected with the harmonic speed reducer, and a harmonic output shaft of the harmonic speed reducer penetrates through the jacking plate from bottom to top and then is connected with the driving pinion.

Further, a joint bearing is arranged at the end part of the push rod of the jacking hydraulic cylinder, two shaft seats which are arranged along a longitudinal straight line are arranged on the bottom surface of the jacking plate, concentric axial through holes are formed in the two shaft seats, the joint bearing at the end part of the push rod of the jacking hydraulic cylinder is positioned between the two shaft seats, and the axial through holes of the two shaft seats are connected with the inner ring of the joint bearing through a coupling.

Furthermore, a lifting position sensing piece is arranged at the bottom of the lifting plate, and an upper lifting position limit sensor and a lower lifting position limit sensor are arranged on the AGV chassis frame through a bottom sensor mounting seat and used for controlling the lifting stroke of the lifting plate; the bottom surface of slewing bearing is provided with rotation position sensing piece, rotation position limit sensor is still installed to the bottom of jacking plate for control slewing bearing's detection that resets.

The utility model has the beneficial effects that: the lifting mechanism adopts a scissor type lifting support with high bearing capacity and a lifting hydraulic cylinder, so that the lifting mechanism can adapt to lifting and transferring of goods with large bearing capacity, and the lifting hydraulic cylinder is arranged in the inner space of the scissor type lifting support, so that the inner space of the scissor type lifting support is fully utilized, and the whole lifting mechanism is compact in structure; meanwhile, a harmonic speed reducer with large transmission speed ratio, high bearing capacity, small volume and light weight is adopted in a rotary driving assembly of the rotary mechanism, so that the bearing capacity of the rotary mechanism is greatly improved, the volume and weight of the whole rotary mechanism can be effectively reduced, and the installation space in an AGV trolley is saved; therefore, the rotary jacking device can greatly improve the bearing capacity of the AGV and effectively reduce the volume of the AGV, so that the overall structure can meet the miniaturization requirement.

Drawings

FIG. 1 is a perspective view of a scissor AGV rotary lift apparatus according to the present utility model in a first view in a lifted position;

FIG. 2 is a schematic perspective view of a scissor AGV rotary lift apparatus according to the present utility model in a second view in a lifted position;

FIG. 3 is a schematic perspective view of a scissor AGV rotary jacking apparatus in a lowered position according to the present utility model;

FIG. 4 is a schematic front view of a scissor AGV rotary lift apparatus of the present utility model in a lifted condition without the rotary drive assembly assembled;

FIG. 5 is a schematic view in partial cross-section taken along the direction A-A in FIG. 4;

fig. 6 is a schematic diagram of a connection structure between a guide rod of a lifting hydraulic cylinder and a lifting plate in the device of the utility model.

Reference numerals: the AGV comprises a 10-jacking mechanism, a 11-jacking plate, a 12A-shearing fork arm assembly, a 12B-shearing fork arm assembly, a 121-central shaft, a 122-first fork arm, a 122A-rotating connection end of the first fork arm, a 122B-sliding connection end of the first fork arm, a 123-second fork arm, a 123 a-rotating connection end of the second fork arm, a 123B-sliding connection end of the second fork arm, a 13-jacking hydraulic cylinder, a 131-jacking hydraulic cylinder guide rod, a 14-rotating connection shaft, a 15-bearing, a 16-rotating support seat, a 17-sealing ring cover, a 18-top sliding support seat, a 19-bottom sliding support seat, a 110-sliding groove, a 111-rolling support, a 112-connecting rod, a 113-X-shaped sealing ring, a 114-joint bearing, a 115-shaft seat, a 116-coupling, a 20-rotating mechanism, a 21-rotating drive assembly, a 211-driving motor, a 212-harmonic speed reducer, a 213-harmonic mounting seat, a 22-driving pinion, a 23-slewing bearing, a 31-lifting position sensor, a 32-bottom sensor, a 33-lifting position sensor, a 33-34-lifting position sensor, a rotary position sensor and a chassis, and a position sensor, wherein the AGV is positioned at the position sensor.

Detailed Description

Referring to fig. 1 to 4, the scissor type AGV rotary jacking device of the present utility model includes a jacking mechanism 10 and a rotating mechanism 20, wherein the jacking mechanism 10 is mounted on an AGV chassis frame 100, and the rotating mechanism 20 is mounted on the jacking mechanism 10; the jacking mechanism 10 comprises a jacking plate 11, a scissor fork type lifting support and a jacking hydraulic cylinder 13, wherein the bottom of the jacking plate 11 is vertically arranged on an AGV chassis frame 100 in a lifting manner through the scissor fork type lifting support, the jacking hydraulic cylinder 13 is arranged on the AGV chassis frame 100 and is positioned in an inner space formed by enclosing the scissor fork type lifting support, and a push rod of the jacking hydraulic cylinder 13 faces the bottom surface of the jacking plate 11 and is fixedly connected with the jacking plate 11; the rotating mechanism 20 comprises a rotating driving assembly 21, a driving pinion 22 and a slewing bearing 23, the slewing bearing 23 and the driving pinion 22 are both arranged on the jacking plate 11, the tooth shape of the outer ring of the slewing bearing 23 is meshed with the driving pinion 22, the rotating driving assembly 21 is arranged on the jacking plate 11, the rotating driving assembly 21 comprises a driving motor 211 and a harmonic reducer 212 which are in transmission connection, and a harmonic output shaft of the harmonic reducer 212 is connected with the driving pinion 22. In the working process, the harmonic speed reducer 212 acts to drive the driving pinion 22 to rotate, and then the driving pinion 22 drives the slewing bearing 23 to rotate, so that the slewing bearing 23 can drive the articles placed above the slewing bearing to synchronously rotate; the lifting hydraulic cylinder 13 can push and pull the lifting plate 11, so that the lifting plate 11 and the rotating mechanism 20 mounted on the lifting plate 11 are integrally vertically lifted under the support of the scissor type lifting support.

According to a further specific technical scheme, the scissor fork type lifting support comprises two pairs of scissor fork arm assemblies which are arranged on two longitudinal sides of the jacking plate 11, namely a scissor fork arm assembly 12A and a scissor fork arm assembly 12B, and the jacking hydraulic cylinder 13 is arranged on the scissor fork arm assembly 12A and the scissor fork arm assembly 12B; each set of scissor fork assemblies includes a first fork 122 and a second fork 123 that are cross-rotationally coupled by a central shaft 121; the end parts of the first fork arm 122 and the second fork arm 123, which are positioned at one side of the central shaft 121 in the transverse direction, are both rotation connection ends, and the end parts of the other side in the transverse direction are both sliding connection ends, in the embodiment, 122a is the rotation connection end of the first fork arm, 122b is the sliding connection end of the first fork arm, 123a is the rotation connection end of the second fork arm, and 123b is the sliding connection end of the second fork arm; the first fork arm pivot connection end 122a is rotatably supported on the bottom surface of the lift plate 11, the second fork arm pivot connection end 123a is rotatably supported on the AGV chassis frame 100, the first fork arm slide connection end 122b is slidably supported on the AGV chassis frame 100 in a lateral direction, and the second fork arm slide connection end 123b is slidably supported on the bottom surface of the lift plate 11 in a lateral direction.

In a further preferred embodiment, the rotation connecting ends 122a of the first fork arms and the rotation connecting ends 123a of the second fork arms of the two sets of scissor fork arm assemblies are respectively connected through the rotation connecting shaft 14; referring to fig. 3, the two axial ends of the rotation connecting shaft 14 are rotatably connected to the rotation connecting ends 122a of the corresponding first fork arm and the rotation connecting ends 123a of the second fork arm through bearings 15, respectively, and are supported by the rotation supporting base 16 on the bottom surface of the jacking plate 11 and the AGV chassis frame 100.

In a further preferred technical solution, as shown in fig. 5, the two axial ends of the rotating connecting shaft 14 and the corresponding bearings 15 are sealed by a dust-proof sealing structure, the dust-proof sealing structure comprises a sealing ring cover 17 and an X-shaped sealing ring 113 embedded in the sealing ring cover, the sealing ring cover 18 is sleeved on the rotating connecting shaft 14 and connected with the rotating connecting end 122a of the corresponding first fork arm and the rotating connecting end 123a of the second fork arm so that the X-shaped sealing ring 113 seals the bearings 15.

Further preferred technical solution is that two top sliding supporting seats 18 are installed on the bottom surface of the jacking plate 11, two bottom sliding supporting seats 19 are installed on the agv chassis frame 100, sliding grooves 110 extending horizontally along the transverse direction are formed in the top sliding supporting seats 18 and the bottom sliding supporting seats 19, as shown in fig. 4, rolling bearings 111 are installed on the sliding connecting ends 122b of the first fork arms and the sliding connecting ends 123b of the second fork arms of the scissor fork arm assembly respectively, the rolling bearings of the sliding connecting ends 122b of the first fork arms are installed in the sliding grooves 110 of the bottom sliding supporting seats 19, and the rolling bearings of the sliding connecting ends 123b of the second fork arms are installed in the sliding grooves 110 of the top sliding supporting seats 18.

When the jacking hydraulic cylinder 13 pushes the jacking plate 11 to vertically lift, the rotating connection ends 122a and 123a of the first and second fork arms of the two sets of scissor fork arm assemblies rotate around the corresponding rotating connection shafts 14 respectively, and meanwhile the rolling bearings of the sliding connection ends 122b of the first and second fork arms of the two sets of scissor fork arm assemblies roll in the sliding grooves 110 of the bottom sliding support seats 19 respectively, and the rolling bearings of the sliding connection ends 123b of the second fork arms roll in the sliding grooves 110 of the top sliding support seats 18 respectively, so that the lifting opening or descending closing function of the scissor fork arm assemblies is realized.

In a further preferred embodiment, the first yoke of the scissor fork assembly 12A is connected to the first yoke of the scissor fork assembly 12B, and the second yoke of the scissor fork assembly 12A is connected to the second yoke of the scissor fork assembly 12B by a connecting rod 112; the arrangement of the connecting rod 112 can increase the connection rigidity and stability of the two groups of scissor fork arm assemblies 12A and 12B before the whole scissor fork type lifting support is lifted, and the stability and reliability of the whole scissor fork type lifting support in the lifting process are ensured.

In this embodiment, the rotary driving assembly 21 further includes a harmonic mounting seat 213, the harmonic mounting seat 213 is fixedly mounted at one side end portion of the bottom surface of the jacking plate 11, the harmonic reducer 212 is disposed in the harmonic mounting seat 213, the driving motor 211 is fixedly mounted at the bottom of the harmonic mounting seat 213, the power output shaft of the driving motor 211 penetrates through the harmonic mounting seat 213 from bottom to top and then is connected to the harmonic reducer 212, and the harmonic output shaft of the harmonic reducer 212 penetrates through the jacking plate 11 from bottom to top and then is connected to the driving pinion 22.

According to another preferred technical scheme of the utility model, a joint bearing 114 is arranged at the end part of a push rod 131 of the jacking hydraulic cylinder 13, as shown in fig. 6, two shaft seats 115 which are arranged along a longitudinal straight line are arranged on the bottom surface of the jacking plate 11, the two shaft seats 115 are provided with concentric axial through holes, the joint bearing 114 at the end part of the push rod of the jacking hydraulic cylinder 13 is positioned between the two shaft seats 114, and the axial through holes of the two shaft seats 115 are connected with the inner ring of the joint bearing 114 through a shaft joint 116; in this way, in particular, the arrangement of the knuckle bearing 114 ensures the stability of the lifting hydraulic cylinder 13 during the lifting or lowering of the lifting plate 11.

The bottom of the jacking plate 11 is provided with a lifting position sensing piece 31, and the AGV chassis frame 100 is provided with an upper lifting position limiting sensor 33 and a lower lifting position limiting sensor 34 through a bottom sensor mounting seat 32 for controlling the lifting stroke of the jacking plate 11.

The bottom surface of the slewing bearing 23 is provided with a rotary position sensing piece 35, and the bottom of the jacking plate 11 is also provided with a rotary position limiting sensor 36 for controlling the reset detection of the slewing bearing.

The foregoing describes the embodiments of the present utility model in detail, but the description is only a preferred embodiment of the utility model and should not be construed as limiting the scope of the utility model. All equivalent changes and modifications of the utility model are intended to fall within the scope of the utility model.

Claims (9)

1. The utility model provides a cut rotatory jacking device of fork AGV, its includes climbing mechanism and rotary mechanism, climbing mechanism installs on the AGV chassis frame, rotary mechanism install in climbing mechanism is last, its characterized in that: the lifting mechanism comprises a lifting plate, a scissor fork type lifting support and a lifting hydraulic cylinder, wherein the bottom of the lifting plate is vertically arranged on the AGV chassis frame in a lifting manner through the scissor fork type lifting support, the lifting hydraulic cylinder is arranged on the AGV chassis frame and is positioned in an inner space formed by enclosing the scissor fork type lifting support, and a push rod of the lifting hydraulic cylinder faces to the bottom surface of the lifting plate and is fixedly connected with the lifting plate; the rotary mechanism comprises a rotary driving assembly, a driving pinion and a slewing bearing, wherein the slewing bearing and the driving pinion are both arranged on the jacking plate, the tooth shape of an outer ring of the slewing bearing is meshed with the driving pinion, the rotary driving assembly is arranged on the jacking plate, the rotary driving assembly comprises a driving motor and a harmonic reducer which are in transmission connection, and a harmonic output shaft of the harmonic reducer is connected with the driving pinion.

2. The scissor fork AGV rotary lift apparatus of claim 1 wherein: the scissor type lifting support comprises two pairs of scissor type fork arm assemblies arranged on two longitudinal sides of the jacking plate, and the jacking hydraulic cylinder is arranged between the two groups of scissor type fork arm assemblies; each group of the scissor fork arm assemblies comprises a first fork arm and a second fork arm which are connected in a crossed and rotating way through a central shaft; the end parts of the first fork arm and the second fork arm, which are positioned on one lateral side of the central shaft, are both rotation connecting ends, and the end parts of the other lateral side are both sliding connecting ends; the rotating connection ends of the first fork arm and the second fork arm are respectively rotatably supported on the bottom surface of the jacking plate and the bottom surface of the AGV chassis frame, and the sliding connection ends of the first fork arm and the second fork arm are respectively supported on the bottom surface of the jacking plate and the bottom surface of the AGV chassis frame in a sliding manner along the transverse direction.

3. The scissor fork AGV rotary lift apparatus of claim 2 wherein: the rotating connecting ends of the first fork arms and the second fork arms of the two groups of scissor fork arm assemblies are respectively connected through rotating connecting shafts; the axial two ends of the rotating connecting shaft are respectively and rotatably connected with the corresponding rotating connecting ends of the first fork arm and the corresponding rotating connecting ends of the second fork arm through bearings and are supported on the bottom surface of the jacking plate and the AGV chassis frame through rotating supporting seats.

4. A scissor fork AGV rotary lift apparatus as set forth in claim 3 wherein: the axial two ends of the rotary connecting shaft are sealed with the corresponding bearings through dustproof sealing structures, each dustproof sealing structure comprises a sealing ring cover and an X-shaped sealing ring embedded in the sealing ring cover, and the sealing ring cover is sleeved on the rotary connecting shaft and connected with the rotary connecting end of the corresponding first fork arm and the rotary connecting end of the corresponding second fork arm to seal the corresponding bearings.

5. The scissor fork AGV rotary lift apparatus of claim 2 wherein: two top sliding support seats are installed on the bottom surface of the jacking plate, two bottom sliding support seats are installed on the AGV chassis frame, sliding grooves extending horizontally along the transverse direction are formed in the top sliding support seats and the bottom sliding support seats, rolling bearings are installed at the sliding connection ends of the first fork arms and the second fork arms of the scissor fork arm assembly respectively, rolling bearings at the sliding connection ends of the first fork arms are installed in the sliding grooves of the bottom sliding support seats, and rolling bearings at the sliding connection ends of the second fork arms are installed in the sliding grooves of the top sliding support seats.

6. The scissor fork AGV rotary lift apparatus of claim 2 wherein: the first fork arms and the second fork arms of the two groups of scissor fork arm assemblies are connected through connecting rods.

7. The scissor fork AGV rotary lift apparatus of claim 1 wherein: the rotary driving assembly comprises a harmonic mounting seat, the harmonic mounting seat is fixedly arranged at one side end part of the bottom surface of the jacking plate, the harmonic speed reducer is arranged in the harmonic mounting seat, the driving motor is fixedly arranged at the bottom of the harmonic mounting seat, a power output shaft of the driving motor penetrates through the harmonic mounting seat from bottom to top and then is connected with the harmonic speed reducer, and a harmonic output shaft of the harmonic speed reducer penetrates through the jacking plate from bottom to top and then is connected with the driving pinion.

8. The scissor fork AGV rotary lift apparatus of claim 1 wherein: the end part of the push rod of the jacking hydraulic cylinder is provided with a joint bearing, the bottom surface of the jacking plate is provided with two shaft seats which are arranged along a longitudinal straight line, the two shaft seats are provided with concentric axial through holes, the joint bearing at the end part of the push rod of the jacking hydraulic cylinder is positioned between the two shaft seats, and the axial through holes of the two shaft seats are connected with the inner ring of the joint bearing through a coupling.

9. The scissor fork AGV rotary lift apparatus of claim 1 wherein: the bottom of the jacking plate is provided with a lifting position sensing piece, and the AGV chassis frame is provided with an upper lifting position limit sensor and a lower lifting position limit sensor through a bottom sensor mounting seat for controlling the lifting stroke of the jacking plate; the bottom surface of slewing bearing is provided with rotation position sensing piece, rotation position limit sensor is still installed to the bottom of jacking plate for control slewing bearing's detection that resets.

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