JP3194637B2 - Sensor mounting structure in rotating part - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a rotation angle sensor for detecting a rotation angle of a working machine such as a construction machine.

[0002]

2. Description of the Related Art Conventionally, it has been practiced to control a working machine such as a construction machine such as a backhoe by detecting a rotation angle of an arm of a backhoe or a rotation angle of an upper revolving structure so as to perform an accurate work. In the case of a rotation angle sensor that detects the rotation angle of
A sensor bracket 2 is fixedly mounted on the side surface of the swing arm 1, a sensor box 3 is attached to the sensor bracket 2, and an angle sensor 4 is provided inside the sensor box 3,
An arm 5 is fixed to a detection shaft 4a protruding from the angle sensor 4, a link 7 is pivotally connected between the arm 5 and the boom 6, and the link 7 and the sensor box 3 are covered by a protective cover 9 for protection. It was. In the configuration for detecting the rotation angle of the upper swing body, an angle sensor is provided in the reduction gear of the swing motor, or the number of teeth of the swing bearing gear is counted to detect the rotation angle of the upper swing body. .

[0003]

However, if a sensor unit is arranged on the side of the swing arm in order to detect the rotation angle of the swing arm as in the prior art, the cover for protecting the sensor unit becomes large, During the excavation work, the angle sensor may be easily hit by the earth and the impact may break the angle sensor, and the structure of the cover becomes complicated and expensive in order to protect from the impact. Further, if a sensor for detecting the angle of the upper revolving unit is provided in the speed reducer, an installation space is required in the speed reducer, the size of the speed reducer increases, and errors due to backlash and the like increase. Also, in the case of a configuration for counting the number of teeth, a mounting space is required, which leads to an increase in cost.

[0004]

The problems to be solved by the present invention are as described above. Next, means for solving the problems will be described. In the first aspect, the swing arm 16 is pivotally supported at the tip of the boom 15, the swing arm 16 is rotated by the hydraulic cylinder 23, and the rotation angle of the swing arm 16 is detected by the angle sensor 34.
Tip of piston rod 23a of hydraulic cylinder 23
Boss 23b provided between the arm plates 31
Pivotally supported by a pivot pin 32 provided at the rear of the
3b is provided with a link seat 33 integrally with the arm press.
An angle sensor 34 is provided inside the ports 31, and a sensor arm 35 of the angle sensor 34 and a link seat 33 are connected by a connection link 36 to detect a relative angle between the swing arm 16 and the hydraulic cylinder 23. It is configured to make it possible. In claim 2, the upper revolving unit and the lower traveling unit
A swivel joint 41 is provided on the center of rotation.
Of the upper revolving superstructure on the revolving center on the joint 41
An angle sensor 56 for detecting an angle and a plurality of signal lines
And the coupling A to be connected to the
A through hole 41d is opened at the axis of the swivel joint 41.
Then, the sensor pipe 45 is inserted into the through hole 41d,
Hydraulic oil is sent between the through hole 41d and the outer circumference of the sensor pipe 45.
It was made possible by oil . In claim 3, claim
2. In the sensor mounting structure of the rotating part described in
The upper part of the support pipe 45 is connected via the coupling plate 53
To the sensor shaft 56a of the angle sensor 56,
It is configured to detect the turning angle of the body . Claim 4
In the above, the sensor mounting in the rotating part according to claim 2
In the structure, on the swivel center on the swivel joint 41
And the lower traveling body
Wiring 48 as communication means provided between the provided electrical components
Into the sensor pipe 45 arranged in the through hole 41d.
To enable communication between the upper revolving unit and the lower traveling unit.
Those were.

[0006]

Next, the operation will be described. When detecting the rotation angle of the swing arm 16 provided at the end of the boom 15, when the piston rod 23a of the hydraulic cylinder 23 expands and contracts, the arm plate 31 is rotated, and the arm plate 31 and the boss portion 23b are rotated. Of the boss portion 23
b rotates the sensor arm 35 via the connecting link 36, and the angle sensor 34 at the base of the sensor arm 35 detects the amount of rotation, and the boom 15
Since the angle sensor 34 is disposed between the arm plates 31, the angle sensor 34 does not come into contact with an obstacle or the like.

An angle sensor 56 is provided on the swivel center O on a swivel joint 41 provided at the center of rotation between the upper revolving unit and the lower traveling unit, and is connected to the center of the swivel shaft 41c of the swivel joint 41. The sensor pipe 45 inserted into the through hole 41d provided is the angle sensor 5
6 is connected to the sensor shaft of No. 6 to detect the turning angle of the upper turning body, and the wiring passing through the sensor pipe 45 is connected to a coupling A provided integrally with the angle sensor 56 and twisted at the time of turning. The coupling A is connected to a control circuit and the like. Hydraulic oil can be supplied between the through hole 41d and the outer periphery of the sensor pipe 45, and the hydraulic oil of the hydraulic motor driving the crawler traveling device 11 can be returned to the tank provided on the upper rotating body.

[0008]

Next, an embodiment of a backhoe using the present invention as a construction machine will be described. FIG. 1 is a side view of the entire backhoe,
FIG. 2 is a side view showing a connecting portion between the boom and the swing arm,
3 is a plan view of the angle sensor mounting portion, FIG. 4 is a side sectional view thereof, FIG. 5 is a side sectional view of the swivel joint, FIG. 6 is a plan view thereof, and FIG. 7 is a bottom view thereof.

Referring to FIG. 1, the entire structure of the backhoe will be described. The upper frame 13 of the upper revolving unit is placed on the crawler type traveling device 11 as the lower traveling unit via the revolving table 12, and the rotation angle of the upper frame 13 is detected by an angle sensor 56 described later. Behind the track frame of the crawler-type traveling device 11, a blade (discharge plate) 14 is provided so as to protrude therefrom. The blade 14 is rotatable up and down by a hydraulic cylinder 20 so that earth pressing and leveling work can be performed. Is detected by an angle sensor 19 provided at the base of the blade 14.

A boom bracket 21 is provided at the front end of the upper frame 13 so as to be rotatable left and right, and a boom 15 is pivotally supported above the boom bracket 21.
A boom cylinder 22 is interposed between the middle part 5 and the boom bracket 21 so that the boom 15 can be rotated back and forth. A swing arm 16 is pivotally supported at the tip of the boom 15, and an arm cylinder 23 is interposed between the base of the swing arm 16 and the middle of the boom 15 to swing the arm 16.
Can be turned up and down, a bucket 17 is attached as a working machine to the tip of the swing arm 16, and a bucket cylinder 24 is provided between the base of the bucket 17 and the swing arm 16.
, The bucket 17 is rotatable, and the cylinders 22, 23, and 24 are rotated to enable excavation work and the like. And the upper frame 13
A cabin 25 on which an operation lever, a display panel, a seat, and the like are arranged is mounted on an upper front portion, and an engine room 26 is arranged on a rear portion of the upper frame 13.

The turning angles of the boom 15, the swing arm 16, and the bucket 17 are detected by angle sensors provided at the turning base, respectively.
It can detect the depth and height of the ground, and the distance from the aircraft, etc., and feed it back to the control circuit so that it can be controlled so that it can be excavated at the desired position and at the desired depth. An embodiment of the angle sensor 34 provided between the boom 15 and the swing arm 16 will be described.

That is, as shown in FIGS. 2, 3 and 4, a swing arm 16 is rotatably supported at the tip of the boom 15 by a pivot pin 30, and an arm plate 31 is provided on both sides at the rear of the swing arm 16. A boss portion 23 fixedly provided at the tip of a piston rod 23a of the arm cylinder 23;
b is a pivot pin 3 at the rear between the arm plates 31;
2, a link seat 33 protrudes from the boss 23b, and an angle sensor 34 is fixed to the inner surface of the arm plate 31, and is fixed to a sensor shaft of the angle sensor 34. A connecting link 36 is pivotally connected between the tip of the arm 35 and the tip of the link seat 33.

In such a configuration, for example, when the arm cylinder 23 is extended, the arm plate 31 is pushed to rotate around the pivot pin 30 together with the swing arm 16 as shown at 31 'and 16' in FIG. At the same time, the boss 23b also rotates about the pivot pin 32, the connecting link 36 pivotally connected to the link seat 33 is pulled, and the sensor arm 35 is rotated, and the amount of rotation is changed to an angle. Sensor 3
4 detects and outputs a value (relative angle) proportional to the rotation of the swing arm 16 to the control circuit. And
Since the angle sensor 34 and the connecting link 36 are arranged inside the arm plate 31 between the arm plates 31, even if the angle sensor 34 hits the earth and sand during excavation work, the angle sensor 34
Is protected by the arm plate 31 and does not directly contact and does not break.

The upper frame 13 of the upper swing body
According to the present invention, an angle sensor 40 is provided on a swivel joint 41 provided between the upper revolving unit and the lower traveling unit in order to detect how much the vehicle is turning with respect to the crawler type traveling device 11. That is, the swivel joint 41 is housed in the swivel base 12, and as shown in FIG. 5, a swivel plate 41a is fixed on the track frame 42 of the crawler type traveling device 11 with bolts 43, and A cylindrical swivel boss 41b is fixedly mounted with a bolt 44, and a swivel shaft 41c is rotatably inserted into the swivel boss 41b with its center aligned with the center of rotation O. It is fixed. Note that 39
Is a knock pin for adjusting the positions of the swivel plate 41a and the swivel boss 41b.

A through hole 41d is formed in the axis of the swivel shaft 41c, and a through hole 41e is also opened in the swivel plate 41a on the extension thereof.
As shown in FIG. 8, a vertical oil passage hole 41f is provided around 1d.
41f are formed, and the oil passage holes 41f, 41f,.
The take-out holes 41g, 41g open at the lower end of the swivel boss 41b and communicate with the side holes having different heights.
, Respectively, and the hydraulic motor of the crawler type traveling device 11 and the hydraulic cylinder 2 for raising and lowering the blade 14
, Etc., and is connected to a pipe at the upper end of the oil passage holes 41f, 41f,... And is connected to a switching valve for controlling the hydraulic motor and the hydraulic cylinder.

A sensor pipe 45 as shown in FIG. 12 is inserted into the axial center of the through hole 41d.
8 and the bosses 4 at the upper and lower ends of the sensor pipe 45.
6 and 47 are fixedly provided, and a through hole formed in the center of the bosses 46 and 47 communicates with a hole of the sensor pipe 45.
6. 47 itself is plugged up and down when inserted into the through holes 41d and 41e of the swivel shaft 41c and the swivel plate 41a, and communicates with the through hole 41d by opening a communication hole 41h in the upper side surface of the swivel shaft 41c. ,
In the side surface of the swivel plate 41a, communication holes 41i and 41i to the through hole 41e are opened, and the communication hole 41h communicates with the communication hole 41i via a space between the inner circumference of the through holes 41d and 41e and the outer circumference of the sensor pipe 45. In this way, an oil passage is provided, and hydraulic oil can be supplied to this oil passage. In this embodiment, the communication hole 4
1i and 41i are connected to drains of left and right hydraulic motors via pipes 49 and 49, respectively.

The lower portion of the boss 47 is inserted into a detent plate 50 and fixed by a ring 51. The detent plate 50 is fixed to a swivel plate 41a so that the sensor pipe 45 becomes integral with the lower traveling body. An arm 52 is fixedly mounted on the upper end of the boss 46.
A pin 53a projecting from the coupling plate 53 is inserted into a long hole 52a opened at the end of the second. The coupling plate 53 is fixed to a rotatable slip ring 55 of a coupling A housed in a sensor box 54, and the slip ring 55 is
5, and is integrated with the lower traveling body. The coupling A is integrally formed with an angle sensor 56 described later, and is housed in the sensor box 54 as the sensor unit S.

As shown in FIGS. 9 and 10, the inside of the sensor box 54 has a bottom plate 5 of the sensor box 54. As shown in FIG.
4a is fixed to the upper frame 13, a sensor mount 57 is fixed on the bottom plate 54a in the sensor box 54, and the angle sensor 56 is mounted on the sensor mount 5 on the sensor shaft 5.
6a is attached to the center of rotation O, an arm 59 is fixed to the sensor shaft 56a, and a contact piece 55a provided on the upper surface of the slip ring 55 is fixed to the tip of the arm 59. Rotates and the contact piece 5
Since 5a is fixed integrally with the lower traveling body,
The rotation of the sensor shaft 56a is detected by the rotation of the sensor shaft 56a.

The coupling A is a sensor box 54
, A rotary brush 60 attached to a bottom plate 54a and a slip ring 55, and the slip ring 55 is formed of circular insulators 55b, 55b.
The conductors 55c, 55c
.. Are connected to the conductors 55c, 55c in the slip ring 55, respectively. The wires 48 pass through the center hole of the coupling plate 53 through the through hole of the boss 46, the center hole of the sensor pipe 45, and the through hole of the boss 47 to detect the angle of the blade 14. It is connected to the angle sensor 19 and other electric components.

Are formed at the side surfaces of the ends of the conductors 55c.
The rotary brushes 60, 60,.
Are in contact with each other. The rotary brush 60
As shown in FIG. 9, the conductor 55c
And the base of the rotary brush 60 is fixed to a bracket 62 so that the wiring 61
The wiring 61 is connected to the wiring 6 of the electrical equipment of the lower traveling body.
3, and is connected to the controller C as shown in FIG. The controller C further includes an angle sensor 34 for detecting the angle of the swing arm 16, an angle sensor for detecting the angle of the boom 15, the bucket 17, and the like, a tilt sensor 64 for detecting tilt, and a load of the working machine. The detection sensor 65 and the like are connected, and these signals are calculated by the controller C, the solenoid of the control valve V is operated and switched to control a hydraulic cylinder, a hydraulic motor, and the like. However, not only electric wires but also optical fibers may be passed through the sensor pipe 45. In this case, an optical fiber coupler is used. In addition, the sensor pipe 45
It is also possible to provide a transmission unit and a reception unit at the upper part and the lower part to exchange signals by light or radio waves.

With this structure, when the upper frame 13 is turned, the swivel plate 41a and the swivel boss 41b of the swivel joint 41 are formed integrally with the track frame 42. The sensor pipe 45 inserted into the swivel plate 41 at the lower part via the boss 47
It does not rotate because it is fixed to a. The slip ring 55 is also fixed to the sensor pipe 45 via the boss 46, the arm 52, and the coupling plate 53, and does not rotate. On the other hand, the upper part of the swivel shaft 41c is fixed to the upper frame 13 which turns, and the rotary brush 60 and the angle sensor 56 are fixed to the sensor box 54 on the upper frame 13 to turn together with the upper frame 13. In this embodiment, only three contacts are provided for the slip ring 55 and the rotary brush 60. However, the number of contacts may be larger or smaller.

Accordingly, in the hydraulic oil supply configuration, the hydraulic oil supplied from the hydraulic pump via the switching valve is connected to the upper portion of the swivel shaft 41c, and the oil passage holes 41f, 41f,. ... are respectively supplied to the extraction holes 41g, 41g ... drilled on the side surface of the swivel boss 41b, and are supplied to the hydraulic cylinder or the hydraulic motor, and the return oil is also supplied to the other extraction holes 41g, 41g ..., Are drained from the oil passage holes 41f to the hydraulic oil tank. The drain oil of the hydraulic motor passes between the through hole 41d formed in the axis of the swivel shaft 41c from the side surface of the swivel plate 41a and the sensor pipe 45, and flows into the hydraulic oil tank through the communication hole 41h provided in the upper side surface of the swivel shaft 41c. Returned to

Further, the electrical connection configuration is such that the angle sensor 19 for detecting the rotation angle of the blade 14 and the wiring 48 of the electrical equipment of the lower traveling body are provided through the through hole of the boss 47, the center of the sensor pipe 45, 46, through the opening in the center of the coupling plate 53, and the ends thereof are connected to the conductors 55c, 55c,. The wiring 48 does not twist. On the other hand, the rotary brush 60
Is fixed to the sensor box 54, so that it rotates with the upper frame 13, but the rotary brush 60
.. Are always in contact with the conductors 55c, 55c,..., So that signals from sensors and the like can be transmitted. In addition, the turning angle is fixed by the angle sensor 56 being fixed to the upper frame 13 via the sensor box 54 and turning.
Since the slip ring 55 is fixed to the track frame 42 via the sensor pipe 45 and the like as described above and does not turn, the sensor shaft 56a is rotated via the arm 59 by the contact piece 55a provided on the upper part of the slip ring 55. The turning angle can be detected.

FIG. 14 shows another configuration in which the wiring 48 from the lower traveling body is passed through the axis of the swivel joint 41.
It is also possible to configure as shown in FIG. That is, the sensor pipe 45 ′ inserted into the through hole 41 d ′ of the swivel shaft 41 c ′ is extended vertically and its lower end is directly fixed to the detent plate 50, and the upper end thereof is coupled with the arm 52 via the arm 52. Connected to the plate 53, the wiring 48 is passed only inside the sensor pipe 45 ', and the configuration of the support portion and the like is simplified. Then, the turning angle can be detected from the coupling plate 53 connected to the upper end of the sensor pipe 45 'in the same manner as described above.

At the center of the lower end of the swivel shaft 41c ', a spigot portion 41j' protrudes and is inserted into the center of the swivel plate 41a 'so that both can be easily aligned. '
Between the through hole 41d 'and the sensor pipe 45', without drain oil passing through the oil passage hole 41 of the swivel shaft 41c '.
f to form a drain oil passage 41k ', and an annular recess 41 on the upper surface of the swivel plate 41a' thereunder.
m ′ to provide a through hole 41 laterally from the concave portion 41m ′.
It is configured to communicate with i ′. Other configurations are the same as those described above.

FIG. 15 shows another configuration in which the wiring 48 from the lower traveling body is passed through the axis of the swivel joint 41.
It is also possible to configure as shown in FIG. That is, the swivel plate 41a ″ and the swivel shaft 41c ″ are configured to be arranged upside down as described above,
The swivel plate 41a "and the swivel boss 41b" are integrally fixed to the upper frame 13, and the lower part of the swivel shaft 41c "is fixed to the track frame 42 via the mounting plate 67. So that oil can be sent to a hydraulic cylinder or a hydraulic motor, and a swivel shaft 41c "protrudes upward at the center of the upper part of the swivel shaft 41c", and a through hole 41d "is formed at the shaft core.
And the wiring 48 is passed directly without providing the sensor pipe 45. The lower part of the convex portion 41n "penetrates the swivel plate 41a" to facilitate alignment, and the convex portion 41n "
An arm 52 is fixedly mounted on the upper part of the n "and connected to the coupling plate 53. Other configurations are the same as those described above.

[0027]

As described above, the present invention has the following advantages. According to claim 1, the hydraulic system
A cylinder provided at the tip of the piston rod 23a of the cylinder 23
Boss 23b is provided at the rear between the arm plates 31 and 31.
Pivot on the pivot pin 32 and further integrated with the boss 23b
Since the link seat 33 is attached to the swing arm 16
Sensor 34 for detecting the rotation angle of the
34, a sensor arm 35, a connection link 36,
All link seats 33 are also located inside the arm plate 31
I was able to do it. Therefore, to protect these
Eliminates the need for a protective cover and protects the sensor
Eliminate the cover and reduce the number of parts for compactness
And prevent damage to the sensor with a simple configuration
As a result, cost reduction was achieved.

Since the angle sensor and the coupling are provided integrally with each other, the storage space can be reduced, and the hydraulic piping of the swivel joint connecting the upper revolving unit and the lower traveling unit is the same as the conventional one. Make up, and
The space formed between the through hole provided in the shaft center and the sensor pipe can be effectively used as a communication passage for hydraulic oil.

According to the structure of the third aspect, the sensor axis of the angle sensor is arranged at the center of rotation, so that accurate angle detection can be performed. In addition, since the wiring is configured as in claim 4, the wiring can be passed through the axis of the swivel joint with a simple configuration, and a plurality of electrical communications can be performed without twisting the wiring through the coupling. It became possible and reliability was improved.

[Brief description of the drawings]

FIG. 1 is an overall side view of a backhoe.

FIG. 2 is a side view showing a connecting portion between a boom and a swing arm.

FIG. 3 is a plan view of an angle sensor mounting portion.

FIG. 4 is a side sectional view of the same.

FIG. 5 is a side sectional view of a swivel joint.

FIG. 6 is a plan view of the same.

FIG. 7 is a bottom view of the same.

FIG. 8 is a plan view of a swivel shaft of the swivel joint.

FIG. 9 is a plan view of the sensor box with a cover partially removed.

FIG. 10 is a side sectional view of the sensor box.

11 is a plan view of the arm 52. FIG.

FIG. 12 is a side sectional view of a sensor pipe and a boss.

FIG. 13 is a control block diagram.

FIG. 14 is a side cross-sectional view showing another configuration for passing wiring through a swivel joint.

FIG. 15 is a side cross-sectional view showing another configuration for passing wiring through a swivel joint.

FIG. 16 is a plan view showing a conventional sensor mounting portion.

FIG. 17 is a side view of the same.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 11 Crawler type travel apparatus 12 Swing 13th upper frame 16 Swing arm 17 Bucket 19 Angle sensor 23 Hydraulic cylinder 23a Piston rod 23b Boss part 31 Arm plate 33 Link seat 34 Angle sensor 35 Sensor arm 36 Connection link 41 Swivel joint 41c Swivel shaft 41d Through hole 42 Track frame 45 Sensor pipe 48 Wiring 53 Coupling plate 55 Slip ring 56 Angle sensor 60 Rotary brush

──────────────────────────────────────────────────続 き Continuation of the front page (72) Inventor Hideo Shimazoe 428 Enami, Okayama City Inside of Seirei Kogyo Co., Ltd. (56) References JP-A-61-35961 (JP, A) JP-A-59-4594 (JP, A) JP-A-2-23061 (JP, A) JP-A 62-7458 (JP, U) JP-A 4-33755 (JP, U) (58) Fields investigated (Int. Cl. ⁷ , DB name) ) E02F 9/26 E02F 3/38 E02F 3/43 G01B 21/22

Claims (4)

(57) [Claims] A swing arm (16) is provided at the tip of a boom (15).
And swing arm 16 is connected to hydraulic cylinder 23
In the configuration in which the rotation angle of the swing arm 16 is detected by the angle sensor 34 , the boss portion provided at the tip of the piston rod 23a of the hydraulic cylinder 23
23b is provided at the rear between the arm plates 31
Pivotally supported by the pivot pin 32, and further integrally with the boss 23b.
A link seat 33 is attached, and the arm plates 31
An angle sensor 34 is provided inside the sensor, and a sensor arm 35 of the angle sensor 34 and a link seat 33 are connected by a connection link 36 to detect a relative angle between the swing arm 16 and the hydraulic cylinder 23. A sensor mounting structure in a rotating part characterized by the above-mentioned. 2. The method according to claim 1, wherein the upper revolving unit and the lower traveling unit are on the turning centers.
A swivel joint 41 is provided.
Detect the turning angle of the upper turning body above the turning center on 41
The angle sensor 56 and a plurality of signal lines are rotatably connected.
The coupling A is provided integrally and the swivel
A through hole 41d is opened at the axis of the joint 41,
Insert the sensor pipe 45 into the through hole 41d.
A sensor mounting structure in a rotating portion , wherein hydraulic oil can be supplied to an outer periphery of the sensor pipe 45 . 3. A sensor mounting in a rotating portion according to claim 2.
In the attached structure, the upper part of the sensor pipe 45 is
Sensor shaft 56 of the angle sensor 56 via the plate 53
and a sensor mounting structure in the rotating portion, wherein the sensor mounting structure is configured to detect a turning angle of the upper turning body . 4. A sensor mounting in a rotating portion according to claim 2.
In the attached structure, the swivel center on the swivel joint 41
A rotatable coupling A arranged above and a lower traveling body
48 as communication means provided between electrical components provided in
Into the sensor pipe 45 arranged in the through hole 41d.
To enable communication between the upper revolving unit and the lower traveling unit.
A sensor mounting structure in a rotating part characterized by the above-mentioned.