CN110486462B - Rotary speed reducer device and engineering machinery - Google Patents
Rotary speed reducer device and engineering machinery Download PDFInfo
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- CN110486462B CN110486462B CN201910862452.3A CN201910862452A CN110486462B CN 110486462 B CN110486462 B CN 110486462B CN 201910862452 A CN201910862452 A CN 201910862452A CN 110486462 B CN110486462 B CN 110486462B
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- 239000003638 chemical reducing agent Substances 0.000 title claims abstract description 54
- 238000001514 detection method Methods 0.000 claims abstract description 39
- 230000009467 reduction Effects 0.000 claims abstract description 13
- 230000005540 biological transmission Effects 0.000 claims abstract description 7
- 238000009434 installation Methods 0.000 claims description 9
- 230000001960 triggered effect Effects 0.000 claims 1
- 239000003921 oil Substances 0.000 description 17
- 238000007514 turning Methods 0.000 description 16
- 238000010276 construction Methods 0.000 description 13
- 238000009826 distribution Methods 0.000 description 9
- 239000000463 material Substances 0.000 description 6
- 239000010687 lubricating oil Substances 0.000 description 5
- 238000010586 diagram Methods 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000006978 adaptation Effects 0.000 description 2
- 239000010720 hydraulic oil Substances 0.000 description 2
- 238000003754 machining Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 239000000470 constituent Substances 0.000 description 1
- 230000003111 delayed effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B19/00—Testing; Calibrating; Fault detection or monitoring; Simulation or modelling of fluid-pressure systems or apparatus not otherwise provided for
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/80—Other types of control related to particular problems or conditions
- F15B2211/855—Testing of fluid pressure systems
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
- F16H2061/0068—Method or means for testing of transmission controls or parts thereof
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Hydraulic Motors (AREA)
Abstract
The present invention relates to a rotary speed reducer device and an engineering machine, wherein the rotary speed reducer device comprises: the slewing bearing (5) comprises an inner ring (51) and an outer ring (52), wherein the inner ring (51) is fixed, the outer ring (52) is rotatably arranged relative to the inner ring (51), and the periphery of the outer ring (52) is provided with a toothed ring (53); a speed reduction member, wherein a final gear of the speed reduction member is meshed with the toothed ring (53) at the outer side of the toothed ring (53); a hydraulic motor (1) for powering the reduction means, the hydraulic motor (1) having an output shaft; and a rotation speed detection means for detecting the rotation speed of the output shaft of the hydraulic motor (1) to obtain a rotation parameter of the slewing bearing (5) based on the rotation speed of the output shaft of the hydraulic motor (1) and the transmission ratio of the speed reduction means to the slewing bearing (5). The device integrates the rotation parameter detection function on the hydraulic motor, has a simple and compact structure, and can optimize the space layout.
Description
Technical Field
The invention relates to the technical field of engineering machinery, in particular to a rotary speed reducer device and engineering machinery.
Background
The unilateral operation is a construction technology which is frequently applied in the engineering machinery field, particularly in the concrete pump truck field, and is mainly used for solving the problem of half-spoke operation of engineering machinery, and through the control of a unilateral operation system, the operation parts of the engineering machinery can be controlled to operate within a certain range, so that the purposes of operating in a narrow space and improving operation safety are achieved.
The construction working condition of the engineering machinery is complex, and in the normal working condition, the maximum rotation angle limit can effectively prevent the hydraulic pipeline from being wound to cause equipment failure and cause construction potential safety hazard due to misoperation of operators. Therefore, in the field of construction machines having a swing function, it is necessary to monitor the position of a swing work member, particularly the rotation angle of a work machine, and it is necessary to install a detection device for monitoring the angle to detect swing parameters such as the swing angle, the swing speed, and the swing direction of the work machine.
As shown in fig. 1, in the slewing device of the construction machine, a slewing motor 1a drives a speed reducer 2a to work, and then an output shaft of the speed reducer 2a drives a first gear 4a to rotate, so that a slewing bearing 5a is driven to rotate through gear engagement, and the speed reducer 2a is fixed on a mounting plate 3a at the bottom of the slewing bearing 5 a.
For detection of rotation parameters, one scheme adopted in the prior art is as follows: the detection device comprises: an angle sensor 7a and a second gear 6a are arranged on the mounting plate 3a, a mounting hole is formed in the mounting plate 3a according to the center distance of gear matching, an output shaft of the angle sensor 7a upwards passes through the mounting hole to be fixed on the mounting plate 3a, a main body part of the angle sensor 7a is positioned below the mounting plate 3a, and the second gear 6a is arranged above the mounting plate 3a and is connected with an output shaft of the angle sensor 7 a. During operation, the slewing bearing 5a sequentially drives the second gear 6a and the output shaft of the angle sensor 7a to rotate, so that the rotation angle of the slewing bearing 5a is detected.
However, such a detection device has at least one of the following disadvantages: 1. the detection mechanism such as the angle sensor 7a and the protection device are required to be added separately so as to protect the angle sensor from being damaged in the severe working environment of the engineering machinery, and the design and manufacturing cost is increased. 2. The parts are more, the structure is complex, and the economy is not enough. 3. Due to the gear engagement, the mounting plate 3a requires a mounting hole to be machined, which increases the machining cost.
Disclosure of Invention
The embodiment of the invention provides a rotary speed reducer device and engineering machinery, which can simplify the structure of a rotary parameter detection component.
To achieve the above object, an embodiment of the present invention provides a swing speed reducer device including:
the slewing bearing comprises an inner ring and an outer ring, wherein the inner ring is fixed, the outer ring is rotatably arranged relative to the inner ring, and the periphery of the outer ring is provided with a toothed ring;
the final gear of the speed reducing component is meshed with the gear ring at the outer side of the gear ring;
a hydraulic motor for powering the speed reducing member, the hydraulic motor having an output shaft; and
And the rotating speed detection component is used for detecting the rotating speed of the output shaft of the hydraulic motor so as to obtain the rotating parameter of the slewing bearing according to the rotating speed of the output shaft of the hydraulic motor and the transmission ratio from the speed reduction component to the slewing bearing.
In some embodiments, the hydraulic motor comprises:
A motor main body; and
The installation component is connected to one end of the motor main body, which is close to the output shaft of the hydraulic motor, the output shaft of the hydraulic motor penetrates through the installation component, and the installation component is provided with an oil inlet and an oil outlet;
Wherein the rotation speed detecting component is arranged on the mounting component.
In some embodiments, the hydraulic motor comprises a housing, the housing is of an integrated structure, an oil inlet and an oil outlet are arranged on the housing, and the rotating speed detection component is arranged on the housing.
In some embodiments, the rotational speed detecting means includes:
The coded disc is coaxially connected with an output shaft of the hydraulic motor, a plurality of protruding parts are uniformly arranged on the coded disc along the circumferential direction, the protruding parts protrude outwards along the radial direction of the coded disc, and concave parts are formed between every two adjacent protruding parts; and
The sensor is arranged at the outer side of the code wheel in the radial direction and is used for detecting the pulse number when the output shaft of the hydraulic motor drives the code wheel to rotate, and each pulse is sent out when the sensor is opposite to the protruding part;
The rotation parameters comprise a rotation speed N, wherein the rotation speed n=N/t, and N is the pulse number measured by the sensor in time t.
In some embodiments, the slewing parameters further comprise a slewing angle, the slewing angle being derived by a product of the slewing speed and a slewing time of the slewing bearing from the initial position;
the swing speed reducer device further comprises a controller for decelerating the hydraulic motor when the swing angle reaches a preset angle, and stopping the hydraulic motor when the swing angle reaches a limit swing angle, wherein the preset angle is smaller than the limit swing angle.
In some embodiments, the sensors are provided with at least two, the rotation parameters comprise rotation directions, and the rotation directions are determined through phase differences of electric signals acquired by the sensors under the working condition that the output shaft of the hydraulic motor drives the code wheel to rotate.
In some embodiments, the sensors are provided in two, including a first sensor and a second sensor, the first sensor and the second sensor being disposed at intervals along the circumference of the code wheel, one of the first sensor and the second sensor being opposite to the convex portion and the other being opposite to the concave portion in the initial position.
In some embodiments, the swing speed reducer apparatus further comprises: and a braking member provided between the hydraulic motor and the deceleration member.
In some embodiments, the slewing reducer device further comprises a mounting plate, the slewing bearing is arranged above the mounting plate, and the inner ring is fixed on the mounting plate; the speed reducing member includes:
The speed reducer is of an integral structure and is fixed below the mounting plate, and the input end of the speed reducer is connected with the output shaft of the hydraulic motor; and
The rotary gear is arranged above the mounting plate, is used as a final-stage gear to be meshed with the toothed ring, and is connected with the output end of the speed reducer.
To achieve the above object, an embodiment of the present invention provides a construction machine including the swing speed reducer device of the above embodiment.
In some embodiments, the work machine includes a concrete pump truck, an automotive crane, or an excavator.
Based on the technical scheme, the rotary speed reducer device provided by the embodiment of the invention detects the rotation speed of the output shaft of the hydraulic motor through the rotation speed detection component so as to obtain the rotation parameter of the rotary support according to the rotation speed of the output shaft of the hydraulic motor and the transmission ratio from the speed reduction component to the rotary support. The device integrates the rotation parameter detection function on the hydraulic motor, has a simple and compact structure, can detect rotation parameters while realizing the driving function, can optimize the space layout and reduces the cost; in addition, with the existing device without the rotation parameter detection function, only the hydraulic motor needs to be replaced, so that the universality is high, and holes for installing the detection device do not need to be machined on the installation plate of the rotation support.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute a limitation on the application. In the drawings:
FIG. 1 is a schematic diagram of one embodiment of a prior art rotary speed reducer apparatus;
FIG. 2 is a schematic diagram of one embodiment of a rotary speed reducer apparatus of the present invention;
FIG. 3 is a schematic view showing the structure of one embodiment of the rotation speed detecting unit in the rotary speed reducer device of the present invention;
FIG. 4 is a schematic view of the mounting structure of the sensor in the rotary speed reducer device of the present invention;
fig. 5 is a schematic waveform diagram of the first sensor and the second sensor in fig. 3.
Description of the reference numerals
1A, a rotary motor; 2a, a speed reducer; 3a, mounting plate; 4a, a first gear; 5a, a slewing bearing; 6a, a second gear; 7a, an angle sensor;
1. a hydraulic motor; 11. a motor main body; 12. a mounting member; 13. an oil inlet; 14. an oil outlet; 2. a speed reducer; 3. a mounting plate; 4. a rotary gear; 5. a slewing bearing; 51. an inner ring; 52. an outer ring; 53. a toothed ring; 6. a braking member; 7A, a first sensor; 7B, a second sensor; 8. a code wheel; 81. a protruding portion; 82. a concave portion; 9. a fastener; 10. and (5) a vent pipe.
Detailed Description
The present invention is described in detail below. In the following paragraphs, the different aspects of the embodiments are defined in more detail. Aspects so defined may be combined with any other aspect or aspects unless explicitly stated to be non-combinable. In particular, any feature or features may be combined with one or more other features may be desired and advantageous.
The terms "first," "second," and the like in the present invention are merely for convenience of description to distinguish between different constituent components having the same name, and do not denote a sequential or primary or secondary relationship.
In the description of the present invention, the directions or positional relationships indicated by "upper", "lower", "top", "bottom", "front", "rear", "inner" and "outer", etc. are used for convenience of describing the present invention based on the actual directions or positional relationships of the construction machine shown in the drawings, and are not intended to indicate or imply that the apparatus referred to must have a specific direction, be constructed and operated in a specific direction, and thus should not be construed as limiting the scope of protection of the present invention.
In order to make the scheme of the present invention more clearly understood by those skilled in the art, the following related terms are explained.
1. Single side operation: an operating state of the construction machine in which the upper working device is limited to a certain range of operation, such as a single side of the vehicle body. The working condition has high requirements on the stability and the safety of the engineering machinery, and the working position (rotation angle) of the working device needs to be detected at any time.
2. Maximum rotation angle: the maximum angle of a single turning of the working device to one side of the working machine, which if not limited, can cause the hydraulic line to wind up, thereby causing faults.
3. An angle sensor: a sensing instrument for detecting angles, commonly known as an encoder.
4. A speed sensor: a sensing instrument for detecting a rotational speed.
5. And (3) slewing bearing: a connecting device for supporting the upper and lower parts is similar to a bearing in principle. The device consists of two parts of an inner ring and an outer ring, and a ball or roller device is arranged between the two parts, so that the relative movement of the two parts of the inner ring and the outer ring can be realized. On the engineering machinery, the inner ring (outer ring) of the slewing bearing is fixedly connected with the vehicle body, the other part of the slewing bearing is connected with the working device, and the rotation of the working mechanism can be realized through the motor driving on the slewing speed reducer.
6. A rotary pinion: the rotary support is arranged on an output shaft of the rotary speed reducer to drive the rotary support to work.
7. The working device comprises: the device is arranged on the upper plane of the slewing bearing and rotates along with the slewing bearing to realize operation at different positions, such as a concrete pump truck arm frame.
As shown in fig. 1, the present invention provides a swing speed reducer apparatus, in some embodiments, comprising: slewing bearing 5, speed reduction part, hydraulic motor 1, rotational speed detection part and controller. The controller may be an additional controller or an in-vehicle controller.
The slewing bearing 5 includes an inner ring 51 and an outer ring 52, the inner ring 51 is fixed, the outer ring 52 is rotatably provided with respect to the inner ring 51, the outer periphery of the outer ring 52 is provided with a toothed ring 53, and the toothed ring 53 has external teeth. The final gear of the reduction member meshes with the toothed ring 53 on the outer side of the toothed ring 53. The hydraulic motor 1 is used for powering a reduction member, the hydraulic motor 1 having an output shaft. The rotation speed detecting component is used for detecting the rotation speed of the output shaft of the hydraulic motor 1, so that the controller obtains the rotation parameter of the slewing bearing 5 according to the rotation speed of the output shaft of the hydraulic motor 1 and the transmission ratio from the speed reducing component to the slewing bearing 5.
For construction machines capable of executing turning operations, such as concrete pump trucks, mobile cranes, excavators, etc., an upper truck is connected with an outer ring 52 of a turning support 5, an inner ring 51 of the turning support 5 is connected with a lower truck, and the outer ring 52 of the turning support 5 is driven to rotate by driving a speed reducing component through a hydraulic motor 1 so as to enable the upper truck to perform turning operations. For some engineering machinery, an operation range of +/-360 degrees can be realized; for other functional machines, the partial angle may also be rotated in the circumferential direction. The hydraulic motor 1 has a large output torque, and can meet the driving force required by the turning operation of the upper carriage of the engineering machinery, and the electric or pneumatic motor and the like cannot meet the turning driving requirement.
Wherein the revolution parameter may comprise a revolution speed, a revolution angle and/or a revolution direction. For example, the engineering machinery is a concrete pump truck, and since the distribution bars are fully unfolded during operation of the concrete pump truck, the distribution bars can be often stretched out of the main body of the concrete pump truck according to the distribution position requirement, and the safety during the rotation of the upper truck is very important. The rotation speed of the material distribution rod is detected, so that the rotation speed can be kept within a preset safety speed, and the material distribution rod is prevented from shaking due to rapid rotation; by detecting the rotation angle of the material distribution rod, the material distribution rod can accurately reach a preset material distribution position, and the material distribution rod is prevented from rotating to exceed a preset safety angle, so that equipment faults caused by winding of a hydraulic pipeline and an electric circuit in a vehicle are avoided; by detecting the rotation direction, the distributing rod can accurately move towards a required area, and the working efficiency is improved.
This embodiment of the invention has at least one of the following advantages:
1. In the prior art, the hydraulic motor of the rotary speed reducer adopts hydraulic oil as power, so that the hydraulic motor is not provided with a detection function. The invention integrates the rotation parameter detection function on the hydraulic motor, has simple and compact structure, can detect rotation parameters while realizing the driving function, can optimize the space layout and reduce the cost;
2. For the existing device without the rotation parameter detection function, only the hydraulic motor needs to be replaced, so that the universality is high, the hole for installing the detection device is not required to be machined on the installation plate of the rotation support like the prior art figure 1, and the machining quantity is reduced.
3. In prior art fig. 1, the second gear 6a is provided to detect the rotation angle, and when an operator installs the detection device or maintains the detection device, the area between the first gear 4a and the second gear 6a may be dangerous to the operator, so that the gear in the area needs to be provided with a protection mechanism to avoid the operator from being hurt when the gear rotates. The invention integrates the rotation parameter detection function on the hydraulic motor, does not need to independently install a rotation speed detection part during the whole vehicle assembly, is far away from a gear meshing area, and can improve the disassembly and assembly efficiency and the safety.
As shown in fig. 2, the hydraulic motor 1 includes: the hydraulic motor comprises a motor main body 11 and a mounting part 12, wherein the mounting part 12 is connected to one end of the motor main body 11, which is close to an output shaft of the hydraulic motor 1, the output shaft of the hydraulic motor 1 passes through the mounting part 12, and an oil inlet 13 and an oil outlet 14 are arranged on the mounting part 12; wherein the rotation speed detecting means is provided to the mounting means 12. For example, the mounting member 12 has a rectangular parallelepiped structure, and considering that the hydraulic motor 1 is generally of an irregular structure, such a hydraulic motor 1 has an independent mounting member 12, which facilitates the installation of the oil inlet 13, the oil outlet 14, and the rotation speed detecting member, and also facilitates the mounting connection with downstream members.
In another construction, the hydraulic motor 1 comprises a housing, which is of one-piece construction, on which an oil inlet 13 and an oil outlet 14 are provided, and on which the rotation speed detecting means are provided. Because the engineering machinery is in stronger vibration during operation, the structure can improve the sealing performance of the hydraulic motor 1 and prevent oil leakage.
In some embodiments, as shown in fig. 3, the rotation speed detecting means includes: code wheel 8 and sensors. The code wheel 8 is coaxially connected with the output shaft of the hydraulic motor 1, for example, the code wheel 8 may be disposed in the mounting member 12, the code wheel 8 is uniformly provided with a plurality of protruding portions 81 along the circumferential direction, the protruding portions 81 protrude outward along the radial direction of the code wheel 8, and concave portions 82 are formed between adjacent protruding portions 81, so that the outer periphery of the code wheel 8 forms a tooth-like structure. The sensor is arranged on the radial outer side of the code wheel 8 and is used for detecting the pulse number when the output shaft of the hydraulic motor 1 drives the code wheel 8 to rotate, each pulse is sent out when the sensor is opposite to the protruding part 81, and the sensor and the protruding part 81 can ensure a preset gap when being installed. For example, the sensor may be a magnetic, photoelectric, hall sensor or the like, as long as the sensor capable of detecting the pulse signal of the code wheel 8 is within the protection range.
The rotation parameters comprise rotation speed, wherein the rotation speed n=N/t, and N is the pulse number measured by the sensor in time t. The greater the number of codes on the code wheel 8, the greater the measurement accuracy.
One or more sensors can be arranged, and if a plurality of sensors are arranged, the detection signal of any one sensor can be selected to calculate the rotation speed; or comparing the detection signals of the sensors, removing the detection signals with the deviation exceeding the preset value, and selecting one or obtaining an average value from the residual detection signals to calculate the rotation speed.
Further, the turning parameter also includes a turning angle, which is obtained by multiplying the turning speed by the turning time of the slewing bearing 5 from the initial position. The controller is used for enabling the hydraulic motor 1 to be decelerated when the rotation angle reaches a preset angle and enabling the hydraulic motor 1 to stop working when the rotation angle reaches a limit rotation angle, wherein the preset angle is smaller than the limit rotation angle, and the limit rotation angle can be set according to the working requirement of the engineering machinery.
According to the embodiment, through detecting the rotation angle in real time, an operator can know the rotation angle of the boarding car in real time, the safety of the boarding car rotation can be improved by early decelerating when the boarding car reaches the limit rotation angle, and the boarding car can stop rotating in time when the boarding car reaches the limit rotation angle.
For some engineering machines with strict requirements on the limit rotation angle, if the limit rotation angle is exceeded, the operation safety can be greatly influenced. For such a construction machine, the swing speed reducer device may further include: the travel switch is arranged at the limit rotation position of the rotation of the slewing bearing 5; the controller is used for stopping the hydraulic motor 1 when receiving the trigger signal of the travel switch.
In this embodiment, the hydraulic motor 1 is stopped when the controller calculates that the turning angle reaches the limit turning angle, or when it is detected that the turning support 5 reaches the limit turning angle by the trigger of the travel switch. The control mode can enable the slewing bearing 5 to stop moving when reaching the limit slewing position more timely, and can still rely on the other detection when one of the rotating speed detection component and the travel switch breaks down, so that the reliability of slewing parameter detection can be improved.
As shown in fig. 3, the sensors are provided with at least two, the rotation parameters further comprise rotation directions, and the controller is used for determining the rotation directions through the phase differences of the electric signals collected by the sensors under the working condition that the output shaft of the hydraulic motor 1 drives the code wheel 8 to rotate. For example, the electrical signal is a voltage signal. When the hydraulic motor 1 is in operation, the controller can obtain a waveform of the sensor, from which the revolution speed, the revolution angle and/or the revolution direction can be obtained.
For example, as shown in fig. 3, the sensors are provided in two, including a first sensor 7A and a second sensor 7B, the first sensor 7A and the second sensor 7B being disposed at intervals along the circumferential direction of the code wheel 8, one of the first sensor 7A and the second sensor 7B being opposed to the convex portion 81 and the other being opposed to the concave portion 82 in the initial position. The minimum angular interval of the positions where the first sensor 7A and the second sensor 7B are disposed is the angle between the adjacent convex portion 81 and concave portion 82 at the central position in the circumferential direction, or may be an odd multiple of the angle.
In fig. 3, the hydraulic motor 1 rotates one revolution with six frequency cycles, i.e. comprising six protrusions 81 and six recesses 82. As shown in fig. 5, ua is a schematic waveform of the first sensor 7A and Ub is a schematic waveform of the second sensor 7B during one rotation of the hydraulic motor 1, and in the initial state, the first sensor 7A faces the concave portion 82 and the second sensor 7B faces the convex portion 81, so that the high level signal of the first sensor 7A is delayed in phase from the high level signal of the second sensor 7B by, for example, 15 °.
Fig. 4 is a schematic view showing the mounting structure of the first sensor 7A and the second sensor 7B, and the mounting interfaces of the first sensor 7A and the second sensor 7B are inserted into holes in the mounting member 12, and a part of the mounting member 12 may be exposed. Because the hydraulic oil exists in the hydraulic motor 1 and has certain pressure, the sensor can select an oil-resistant and pressure-resistant sensor so as to improve the detection reliability and prolong the service life.
As shown in fig. 2, the swing speed reducer device further includes: and a braking member 6 provided between the hydraulic motor 1 and the deceleration member for braking the slewing bearing 5. The braking component 6 is arranged between the hydraulic motor 1 and the speed reducing component, so that the required braking moment can be reduced, and the braking moment requirement on the braking component 6 is reduced. The brake member 6 may be fixed to the mounting member 12 and connected to the output shaft of the hydraulic motor 1.
As shown in fig. 2, the rotary speed reducer device further comprises a mounting plate 3, a slewing bearing 5 is arranged above the mounting plate 3, and an inner ring 51 is fixed on the mounting plate 3; the speed reducing member includes: the speed reducer 2 is of an integral structure and is fixed below the mounting plate 3, for example, the speed reducer 2 is fixed on the mounting plate 3 through a fastener 9, and the input end of the speed reducer 2 is connected with the output shaft of the hydraulic motor 1; and a rotary gear 4 provided above the mounting plate 3, the rotary gear 4 being engaged with the ring gear 53 as a final stage gear, the rotary gear 4 being connected to an output end of the speed reducer 2, for example, the rotary gear 4 being connectable to an output shaft of the speed reducer 2 by a spline.
As shown in fig. 2, a breather pipe 10 is provided in the upper region of the speed reducer 2, and when lubricating oil is injected from the bottom region of the speed reducer 2, the lubricating oil can be smoothly injected. Further, an oil cup can be arranged at the top of the exhaust pipe, and if oil appears in the oil cup in the process of injecting lubricating oil, the fact that the lubricating oil is filled is indicated, so that the condition of adding the lubricating oil can be conveniently known.
Preferably, the output shaft of the hydraulic motor 1, the braking member 6, the output shaft of the speed reducer 2 and the swing gear 4 may be coaxially arranged in the vertical direction, so as to reduce the space occupied by the swing speed reducer device in the horizontal plane, leaving room for arranging other members.
By arranging the speed reducing part combination as an integral speed reducer 2 and a rotary gear 4, different transmission ratios may need to be arranged from the hydraulic motor 1 to the rotary support 5 for different engineering machines, so that different transmission ratios can be combined by only selecting the rotary gears 4 with different teeth numbers, the whole speed reducing part does not need to be redesigned, and the adaptability to different engineering machines can be improved.
When the hydraulic motor 1 is operated, the rotation speed n of the output shaft of the hydraulic motor 1 is detected, and the rotation speed n' =n×i 1×i2 of the slewing bearing 5 (i.e., the boarding operation device) can be obtained by programming the controller, knowing the gear ratio i 1 of the speed reducer 2 and the gear ratio i 2 of the slewing gear 4 and the slewing bearing 5. The judgment of the rotation direction is realized by programming in a controller according to the difference of phase differences of the two sensors, and at least two sensors are needed for realizing the direction detection. The rotation speed and the angle of the engineering machinery without the requirement on the rotation direction can be detected by only one sensor.
Secondly, the invention also provides engineering machinery, which comprises the slewing reducer device of the embodiment. For example, the construction machine includes a concrete pump truck, an automobile crane, or an excavator.
The rotary speed reducer device is arranged between an upper car and a lower car of the engineering machinery, the upper car is connected with an outer ring 52 of the slewing bearing 5, the lower car is connected with an inner ring 51 of the slewing bearing 5, rolling bodies can be arranged between the inner ring 51 and the outer ring 52, and when the upper car rotates, the outer ring 52 is driven to rotate relative to the inner ring 51.
The rotary speed reducer device of the engineering machinery is compact in structure, can optimize space layout, reduces cost, is easy to be applied to the engineering machinery with the rotary parameter detection function by replacing a hydraulic motor, does not need to additionally process a mounting plate, and can improve the dismounting efficiency and the safety of rotary parameter detection components. In addition, the rotation speed detecting means can accurately obtain each rotation parameter, so that the safety of the engineering machinery operation can be improved.
The embodiments of the present invention have been described in detail. The principles and embodiments of the present invention have been described herein with reference to specific examples, which are intended to be merely illustrative of the methods of the present invention and their core ideas. It should be noted that it will be apparent to those skilled in the art that various modifications and adaptations of the invention can be made without departing from the principles of the invention and these modifications and adaptations are intended to be within the scope of the invention as defined in the following claims.
Claims (9)
1. A slewing reducer device, comprising:
The slewing bearing (5) comprises an inner ring (51) and an outer ring (52), wherein the inner ring (51) is fixed, the outer ring (52) is rotatably arranged relative to the inner ring (51), and a toothed ring (53) is arranged on the periphery of the outer ring (52);
a speed reduction member whose final gear meshes with the toothed ring (53) on the outer side of the toothed ring (53);
-a hydraulic motor (1) for powering the reduction member, the hydraulic motor (1) having an output shaft;
a rotation speed detection means for detecting a rotation speed of an output shaft of the hydraulic motor (1) to obtain a rotation parameter of the slewing bearing (5) from a rotation speed of the output shaft of the hydraulic motor (1) and a transmission ratio of the speed reduction means to the slewing bearing (5), the rotation parameter including a rotation speed and a rotation angle, the rotation angle being obtained by a product of the rotation speed and a rotation time of the slewing bearing (5) from an initial position; the rotation speed detection means includes: the code disc (8) is coaxially connected with an output shaft of the hydraulic motor (1), a plurality of protruding parts (81) are uniformly arranged on the code disc (8) along the circumferential direction, the protruding parts (81) protrude outwards along the radial direction of the code disc (8), and concave parts (82) are formed between adjacent protruding parts (81); the sensors are arranged on the outer side of the code wheel (8) along the radial direction and are used for detecting the pulse number when the output shaft of the hydraulic motor (1) drives the code wheel (8) to rotate, and each pulse is emitted when the sensor is opposite to the protruding part (81); comparing the detection signals of the sensors, removing the detection signals with the deviation exceeding a preset value, and obtaining an average value from the residual detection signals to calculate the rotating speed of the output shaft of the hydraulic motor;
The travel switch is arranged at the limit rotation position of the rotation of the slewing bearing (5); and
And the controller is configured to enable the hydraulic motor (1) to be decelerated when the rotation angle reaches a preset angle, and enable the hydraulic motor (1) to stop working when the rotation angle reaches a limit rotation angle or the travel switch is triggered and detected that the rotation support (5) reaches the limit rotation angle, wherein the preset angle is smaller than the limit rotation angle.
2. The swing reduction device according to claim 1, wherein the hydraulic motor (1) comprises:
A motor main body (11); and
The installation component (12) is connected to one end, close to the output shaft of the hydraulic motor (1), of the motor main body (11), the output shaft of the hydraulic motor (1) penetrates through the installation component (12), and an oil inlet (13) and an oil outlet (14) are formed in the installation component (12);
wherein the rotation speed detecting member is provided to the mounting member (12).
3. The rotary speed reducer device according to claim 1, characterized in that the hydraulic motor (1) comprises a housing, the housing is of an integrated structure, an oil inlet (13) and an oil outlet (14) are arranged on the housing, and the rotation speed detecting component is arranged on the housing.
4. The rotary speed reducer device according to claim 1, wherein the rotation parameters further comprise a rotation direction, and the controller is configured to determine the rotation direction through a phase difference of the electric signals collected by each sensor under a condition that the output shaft of the hydraulic motor (1) drives the code wheel (8) to rotate.
5. The rotary speed reducer device according to claim 4, wherein the sensors are provided in two, including a first sensor (7A) and a second sensor (7B), the first sensor (7A) and the second sensor (7B) being disposed at intervals along the circumferential direction of the code wheel (8), one of the first sensor (7A) and the second sensor (7B) being opposed to the convex portion (81) and the other being opposed to the concave portion (82) in an initial position.
6. The swing speed reducer apparatus according to claim 1, further comprising: and a brake member (6) provided between the hydraulic motor (1) and the deceleration member.
7. The slewing gear device according to claim 1, further comprising a mounting plate (3), wherein the slewing bearing (5) is arranged above the mounting plate (3), and wherein the inner ring (51) is fixed to the mounting plate (3); the deceleration component includes:
The speed reducer (2) is of an integral structure and is fixed below the mounting plate (3), and the input end of the speed reducer (2) is connected with the output shaft of the hydraulic motor (1); and
The rotary gear (4) is arranged above the mounting plate (3), the rotary gear (4) is used as the final-stage gear to be meshed with the toothed ring (53), and the rotary gear (4) is connected with the output end of the speed reducer (2).
8. An engineering machine comprising the swing speed reducer device according to any one of claims 1 to 7.
9. The work machine of claim 8, wherein the work machine comprises a concrete pump truck, an automotive crane, or an excavator.
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| CN201910862452.3A CN110486462B (en) | 2019-09-12 | 2019-09-12 | Rotary speed reducer device and engineering machinery |
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| CN112504212A (en) * | 2020-12-17 | 2021-03-16 | 徐州徐工施维英机械有限公司 | Gyration angle monitoring devices and engineering machine tool |
| CN113276284B (en) * | 2021-05-15 | 2024-09-24 | 上海中筑实业有限公司 | Chain arm type cutting machine |
| CN113586469B (en) * | 2021-08-20 | 2023-04-07 | 合肥新沪屏蔽泵有限公司 | Rotating speed steering detection device of high-temperature and high-pressure canned motor pump |
| CN116771882B (en) * | 2023-06-06 | 2024-07-02 | 郑机所(郑州)传动科技有限公司 | Vertical planetary gear transmission device for drilling machine |
| CN117073522B (en) * | 2023-10-17 | 2024-01-09 | 浙江大学 | Rotation angle detection device for work machine and work machine |
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| CN201006825Y (en) * | 2006-03-02 | 2008-01-16 | 贵州航天设备制造有限公司 | High-precision large-torque hydraulic slewing device |
| CN103940398A (en) * | 2014-03-17 | 2014-07-23 | 中联重科股份有限公司 | Rotation angle measuring method, device and system and engineering machinery |
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