CN117023477B - Rotary table rotation centering limiting system and control method thereof - Google Patents

Abstract

The invention belongs to the technical field of turntable control, and discloses a turntable rotation centering limiting system and a control method thereof, wherein the turntable rotation centering limiting system is arranged on engineering machinery and specifically comprises the following steps: the device comprises a limiting execution assembly and a distance detection element, wherein the limiting execution assembly comprises a pushing piece and a limiting rod, the pushing piece is arranged on the rotary table and is in communication connection with the control element, the limiting rod is arranged on the pushing piece, a limiting groove corresponding to the limiting position is formed in the chassis, the distance detection element is in communication connection with the control element and is used for detecting the distance between the arm support and surrounding objects, the control element is suitable for controlling the pushing piece to drive the limiting rod to extend out and insert into the limiting groove when the rotary table rotates to the limiting position, and the rotary table is controlled to stop rotating when the distance between the arm support and the surrounding objects detected by the distance detection element is smaller than a threshold distance. The turntable rotation centering limiting system and the control method thereof can improve the automation degree and the safety of the turntable rotation centering operation process.

Description

A turntable rotation centering limit system and its control method

Technical field

The present invention relates to the technical field of turntable control, and in particular to a turntable rotation centering limit system and a control method thereof.

Background technique

When the boom of the aerial work vehicle is performing rotation centering and limit operation, the operator operates the control panel in the cab to control the rotation of the turntable to drive the boom to rotate to the limit position. When the boom rotates to the limit position, the turntable The limit pin on the boom can be aligned with the limit groove on the chassis, and then the limit pin is inserted into the limit groove to complete the centering and limiting operation of the boom.

At present, operators in the cab often rely on intuition and experience to control the rotation of the boom until the limit pin and the limit groove are aligned to meet the limit requirements. They are unable to observe the real-time rotation angle of the boom in real time, which brings inconvenience to the operation. In order to solve the above problems, some boom rotation centering systems have also been specially invented and designed in the prior art. For example, the application document with the authorization announcement number CN204705896U discloses a construction machinery and boom rotation centering control system. Specifically, , by setting up a rotary encoder, the direction and angle information of the boom rotation can be obtained in real time, so that the controller of the construction machinery controls the boom to rotate to the neutral position based on the information collected by the rotary encoder, effectively improving the efficiency of the rotation centering process. Operation efficiency and accuracy, saving manpower consumption.

However, there are also some shortcomings in the existing technology: if the boom is slightly careless during the rotation process, the rotating boom will collide with the surrounding external parts, causing accidents and affecting the safety of the operation process; when the boom When rotating to the limit position, the limit pin needs to be manually inserted into the limit groove. The degree of automation is poor and also affects the overall efficiency of the alignment operation.

Contents of the invention

The purpose of the present invention is to provide a turntable rotation centering limit system and a control method thereof, which can effectively improve the automation and safety of the turntable rotation centering operation process.

To achieve this goal, the first aspect of the present invention provides a turntable rotation centering and limiting system, which is provided on a construction machine. The construction machine includes a chassis, a turntable and a control component. A boom is provided on the turntable. The control element can drive the turntable to rotate relative to the chassis, and the turntable rotation centering limit system includes:

The limit execution component includes a pusher and a limiter rod. The pusher is provided on the turntable and is communicatively connected with the control element. The limiter rod is provided on the pusher and can be removed from the pusher. The pusher extends or retracts into the pusher, the turntable can rotate relative to the chassis and has a limit position, and the chassis is provided with a limit slot corresponding to the limit position;

Distance detection elements are arranged on both sides of the front end, rear end and middle part of the boom, are communicatively connected with the control element, and are used to detect the distance between the boom and surrounding objects;

The control element is adapted to control the pusher to drive the limit rod to extend and insert into the limit groove when the turntable rotates to the limit position, and detect when the distance detection element detects When the distance between the arm and surrounding objects is less than a threshold distance, the turntable is controlled to stop rotating.

In some embodiments, a rotation angle detection element is further included. The rotation angle detection element is communicatively connected with the control element. The rotation angle detection element can detect the rotation angle of the turntable and send the corresponding rotation angle data to The control element can control the pushing member according to the rotation angle data, so that the pushing member drives the limiting rod to extend or retract.

In some embodiments, the limiting position includes a front limiting position and a rear limiting position, and the limiting groove includes a front limiting groove and a rear limiting groove; wherein,

The front limiting groove and the rear limiting groove are respectively opened on opposite sides of the chassis in the front and rear direction and correspond to the front limiting position and the rear limiting position respectively;

The control element is adapted to control the pushing member to drive the limiting rod to extend and insert into the front limiting groove when the turntable rotates to the front limiting position; the control element is suitable for When the turntable rotates to the rear limiting position, the pushing member is controlled to drive the limiting rod to extend and be inserted into the rear limiting groove.

In some embodiments, an alarm element is also included. The alarm element is communicatively connected to the control element. The control element is adapted to detect when the distance detection element detects that the distance between the arm and surrounding objects is less than a threshold distance. When the alarm component is controlled to alarm.

In some embodiments, a video recording component is further included. The video recording component includes a video recording unit and a display unit. The video recording unit is provided on the arm, and the display unit is adapted to detect the distance between the distance detection elements. When it is detected that the distance between the arm and the surrounding objects is smaller than the threshold distance, the video recording unit displays the parts smaller than the threshold distance.

In some embodiments, the pushing member is configured as a push rod, the fixed end of the push rod is fixed on the turntable, and the telescopic end of the push rod is connected to the limiting rod through an adapter.

In some embodiments, the pushing member is configured as a telescopic cylinder, the cylinder of the telescopic cylinder is fixed on the turntable, and the piston rod of the telescopic cylinder is connected to the limiting rod through an adapter.

In some embodiments, the distance detection element is configured as a distance sensor, and the rotation angle detection element is configured as an angle sensor.

In a second aspect of the present invention, a turntable rotation centering limit control method is provided, which is applied to the turntable rotation centering limit system described in any one of the above, including:

The distance detection component detects the distance between the boom and surrounding objects according to a first preset time interval, and sends the generated distance detection information to the control component;

The rotation angle detection element detects the rotation angle of the turntable according to the second preset time interval, and sends the generated angle detection information to the control unit;

In response to the distance between the boom and surrounding objects being less than the first preset threshold, and/or the difference between the rotation angle of the turntable and the preset rotation angle being greater than the second preset threshold, the control unit is used to control the turntable to stop. Rotation relative to the chassis.

In some embodiments, it also includes:

The control unit is used to control the alarm components to alarm.

Engineering machinery applies the turntable rotation centering limit system provided by the present invention. When the turntable rotation centering work is performed, the control element drives the turntable to rotate relative to the chassis. During the process, the distance detection element detects the distance between the boom and surrounding objects in real time. And the detected distance is sent to the control component in real time. If the distance detection component detects that the distance between the boom and the construction machinery's own accessories, obstacles around the boom and other surrounding objects is less than the threshold distance, the control component will promptly control The turntable stops rotating to avoid collision of the turntable and ensure safety during the rotation and centering process of the turntable. In addition, when the turntable rotates to the centering position, the limit rod also moves to the limit position and is set opposite the limit groove. At this time, the control element controls the pusher so that the pusher directly drives the limit rod to extend and insert into the limiter position. position slot, thereby completing the rotation centering and limiting work of the turntable, which can effectively improve the automation of the operation, save manpower consumption, and improve operating efficiency.

Description of drawings

Figure 1 is a schematic structural diagram of the turntable rotation centering and limiting system of the present invention applied to engineering machinery;

Figure 2 is a schematic structural diagram of the turntable and chassis of the present invention;

Figure 3 is a communication schematic diagram of the control element of the present invention;

Figure 4 is a schematic flow chart of the turntable rotation centering method of the present invention;

Figure 5 is a schematic diagram of the turntable rotation angle corresponding to the method of Figure 4 according to the present invention;

Figure 6 is a flow chart of the turntable rotation centering limit control method of the present invention.

Among them, the reference marks in the figure are as follows:

100. Limit execution component; 110. Pushing member; 120. Limit rod; 130. Adapter; 140. Plug-in sleeve;

200. Distance detection component;

300. Rotation angle detection component;

400. Alarm component; 410. Alarm light; 420. Buzzer;

510. Chassis; 511. Front limit slot; 512. Rear limit slot; 520. Turntable; 521. Auxiliary tools; 530. Control components; 540. Cab; 550. Slewing support; 560. Drive components.

Detailed ways

The present invention will be further described in detail below in conjunction with the accompanying drawings and examples. It should be understood that the specific embodiments described here are only used to explain the present invention, but not to limit the present invention. In addition, it should be noted that, for convenience of description, only some but not all structures related to the present invention are shown in the drawings.

In the description of the present invention, unless otherwise clearly stated and limited, the terms "connected", "connected" and "fixed" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral body. ; It can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be an internal connection between two elements or an interaction between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood on a case-by-case basis.

In the present invention, unless otherwise clearly stated and limited, the term "above" or "below" a first feature of a second feature may include direct contact between the first and second features, or may also include the first and second features. Not in direct contact but through additional characteristic contact between them. Furthermore, the terms "above", "above" and "above" a first feature on a second feature include the first feature being directly above and diagonally above the second feature, or simply mean that the first feature is higher in level than the second feature. “Below”, “below” and “under” the first feature is the second feature includes the first feature being directly below and diagonally below the second feature, or simply means that the first feature is less horizontally than the second feature.

In the description of this embodiment, the terms "upper", "lower", "right", etc. are based on the orientation or positional relationship shown in the drawings, and are only for convenience of description and simplified operation, rather than instructions. Or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore should not be construed as a limitation on the invention. In addition, the terms "first" and "second" are only used for descriptive purposes and have no special meaning.

This embodiment provides an engineering machine. Referring to Figure 1, the engineering machine includes a chassis 510, a turntable 520 and a control element 530. The turntable 520 is provided with a boom, and the control element 530 can drive the turntable 520 to rotate relative to the chassis 510. .

Further, the engineering machinery also includes a drive assembly 560, which includes a slew support 550, a slew motor, a reducer, a multi-way valve and other components (the slew motor, reducer, and multi-way valve are not shown in the figure). The chassis 510 and the turntable 520 are rotationally connected through a slew support 550. A cab 540 is provided on the slew support 550. The cab 540 can rotate relative to the chassis 510 along with the turntable 520 driven by the slew support 550.

The slewing motor and reducer are used to drive the slewing support 550 to rotate, thereby causing the turntable 520 to rotate relative to the chassis 510 . The rotary joint in the multi-way valve can receive the control signal from the control element 530 and adjust the opening and closing of the valve core to realize steering control of the rotary motor.

In this embodiment, the connection relationships and operating principles of the rotary motor, reducer, and multi-way valve are all existing technologies and will not be described in detail here.

In this embodiment, the construction machinery may be, but is not limited to, an aerial work vehicle.

This embodiment also provides a turntable rotation centering limiting system. Referring to Figures 1 to 3, the turntable rotation centering limit system includes a limit execution component 100 and a distance detection element 200. The limit execution component 100 includes a pusher 110 and a limit rod 120. The pusher 110 is located on the turntable. 520 and is communicatively connected with the control element 530. The limit rod 120 is located on the pusher 110. The turntable 520 can rotate relative to the chassis 510 and has a limit position. The chassis 510 is provided with a limit slot corresponding to the limit position. The distance detection element 200 is communicatively connected to the control element 530 and is used to detect the distance between the arm and surrounding objects. The control element 530 is suitable for controlling the pusher 110 to drive the limit rod 120 to extend and insert when the turntable 520 rotates to the limit position. into the limiting slot, and when the distance detection element 200 detects that the distance between the arm and surrounding objects is less than the threshold distance, the turntable 520 is controlled to stop rotating.

In this embodiment, when the turntable 520 is performing rotational centering work, the control component 530 drives the turntable 520 to rotate relative to the chassis 510. During the process, the distance detection component 200 detects the distance between the boom and surrounding objects in real time, and detects the detected distance. The distance is sent to the control component 530 in real time. If the distance detection component 200 detects that the distance between the boom and surrounding objects such as the attachments of the construction machinery itself, obstacles around the boom, etc. is less than the threshold distance, the control component 530 will control the turntable in time. 520 stops rotating to avoid collision of the boom and ensure safety during the rotation and centering of the turntable 520. In addition, when the turntable 520 rotates to the centering position, the limiting rod 120 also moves to the limiting position and is arranged opposite the limiting groove. At this time, the control element 530 controls the pushing member 110 so that the pushing member 110 directly drives the limiting rod 120 It is extended and inserted into the limit groove to complete the rotation centering limit work of the turntable 520, which can effectively improve the automation level of the operation, save manpower consumption, and improve operation efficiency.

In this embodiment, the distance detection element 200 is configured as a distance sensor.

The distance detection element 200 can be disposed on both sides of the front end, rear end and middle part of the arm, and is communicatively connected with the control element, for detecting the distance between the arm and surrounding objects. For example, the two sides of the assistive device 521 shown in FIG. 1 , the two sides of the arm body, and the two sides of the rear end of the arm are the positions with the shortest distance from surrounding objects. In practical applications, multiple distance detection elements 200 can be arranged at equal intervals on each side of the boom at preset intervals according to actual needs.

It is worth mentioning that, in addition to detecting the distance between the boom and surrounding objects, the distance detection element 200 can also simultaneously detect the distance between the auxiliary tool 521 provided at the end of the turntable 520 and the surrounding objects during the rotation of the turntable 520 . , when the distance between the assistive device 521 and surrounding objects is less than the threshold distance during the rotation of the turntable 520, the control element 530 will also control the turntable 520 to stop rotating to avoid collision of the assistive device 521.

Specifically, the chassis 510 is provided with a plug-in sleeve 140, and a limiting slot is opened in the plug-in sleeve 140 for the turntable 520 to be plugged into the limiting rod 120 after rotating to the centered position.

In this embodiment, the auxiliary tool 521 may be a storage platform or a cargo fork, and is not limited here.

In this embodiment, the turntable rotation centering limit system also includes a rotation angle detection component 300. The rotation angle detection component 300 is communicatively connected to the control component 530. The rotation angle detection component 300 can detect the rotation angle of the turntable 520 and adjust the corresponding rotation angle. The angle data is sent to the control element 530, and the control element 530 can control the pushing member 110 according to the rotation angle data, so that the pushing member 110 drives the limiting rod 120 to extend.

Specifically, the threshold angle at which the turntable 520 rotates to the limit position can be preset in the control component 530. During the rotation and alignment process of the turntable 520, the rotation angle detection component 300 detects the rotation angle of the turntable 520 in real time. When the rotation angle of the turntable 520 rotates, When the threshold angle is reached, it means that the turntable 520 has rotated to the position corresponding to the limit rod 120 and the limit groove. The control element 530 automatically controls the pusher 110 to drive the limit rod 120 to extend and insert into the limit groove. , thereby completing the centering and limiting work of the turntable 520, eliminating the operator's repeated angle adjustment operations, thereby further improving operating efficiency.

In this embodiment, the rotation angle detection element 300 is configured as an angle sensor.

Furthermore, the turntable rotation centering limit system also includes an alarm element 400. The alarm element 400 is communicatively connected with the control element 530. The control element 530 is suitable for detecting when the distance detection element 200 detects that the distance between the boom and surrounding objects is less than the threshold distance. The alarm component 400 is controlled to alarm. In this embodiment, the alarm element 400 is configured to alarm in time when the distance between the boom and surrounding objects is less than a threshold distance, so as to remind the operator to adjust the position of the turntable 520 in time. After the turntable 520 is adjusted to a safe position, Then carry out the centering and limiting work.

Optionally, the alarm element 400 is configured as an alarm light 410 and/or a buzzer 420. Optionally, the alarm light 410 and the buzzer 420 can be selectively used according to the actual usage scenario. When the construction machinery works during the day, the buzzer 420 can be given priority; when the construction machinery works at night, the buzzer 420 can be given priority. Make the alarm light 410 work.

Further, the turntable rotation centering limit system also includes a video recording component. The video recording component includes a video recording unit and a display unit (the video recording unit and the display unit are not shown in the figure). The video recording unit is located on the turntable 520 and displays The unit is adapted to display the part smaller than the threshold distance through the camera unit when the distance detection element 200 detects that the distance between the arm and the surrounding objects is less than the threshold distance. Specifically, the video recording unit can be set as a camera. There are multiple cameras distributed at different positions on the arm. The display unit is set as a display screen. Each of the multiple cameras can feed back the picture of the arm at the corresponding position to the display screen. When the distance detection element 200 detects that the distance between the boom and the surrounding objects is less than the threshold spacing, the operator can observe the location where the distance between the boom and the surrounding objects is less than the threshold spacing by observing the display screen, and then the position of the turntable 520 Make timely and effective adjustments.

As an optional embodiment, the pushing member 110 is configured as a push rod, the fixed end of the push rod is fixed on the turntable 520 , and the telescopic end of the push rod is connected to the limiting rod 120 through the adapter 130 . In this embodiment, the push rod may be an electric push rod or an electromagnetic push rod, and is not limited here.

As an optional embodiment, the pushing member 110 is configured as a telescopic cylinder, the cylinder of the telescopic cylinder is fixed on the turntable 520 , and the piston rod of the telescopic cylinder is connected to the limiting rod 120 through the adapter 130 . In this embodiment, the telescopic cylinder may be a pneumatic cylinder or an oil cylinder, and is not limited here.

In this embodiment, the adapter 130 can be configured as a coupling.

As an optional embodiment, continue to refer to Figure 2, the limiting position includes a front limiting position and a rear limiting position, and the limiting groove includes a front limiting groove 511 and a rear limiting groove 512, where the front limiting position The slot 511 and the rear limit slot 512 are respectively opened on opposite sides of the chassis 510 in the front and rear direction and correspond to the front limit position and the rear limit position respectively. The control element 530 is suitable for rotating the turntable 520 to the front limit position. When the turntable 520 rotates to the rear limit position, the pusher 110 is controlled to drive the limit rod 120 to extend and be inserted into the front limit slot 511. The control element 530 is adapted to control the pusher 110 to drive the limit rod 120 to extend when the turntable 520 rotates to the rear limit position. And inserted into the rear limiting groove 512. In this embodiment, the setting of two limit positions gives the turntable 520 more limit points for rotation centering and provides more choices. The turntable 520 can choose to center and limit toward the front of the construction machine, or it can Centering and limiting toward the rear of the construction machinery can simplify the operator's operations to a certain extent and further improve practicality.

Specifically, there are two plug-in sleeves 140 , and the two plug-in sleeves 140 are respectively provided at the front limiting position and the rear limiting position on the chassis 510 . The plug-in sleeve 140 located at the front limiting position is provided with a front limiting groove 511 , and the plug-in sleeve 140 located at the rear limiting position is provided with a rear limiting groove 512 .

Further, the matching relationship between the front limiting groove 511 and the limiting rod 120 and the rear limiting groove 512 and the limiting rod 120 are all set to a clearance fit, that is, the notches of the front limiting groove 511 and the rear limiting groove 512 The diameter is larger than the diameter of the limiting rod 120 . With this arrangement, on the one hand, the limiting rod 120 can be inserted into the front limiting groove 511 or the rear limiting groove 512 more smoothly and reliably; on the other hand, the front limiting position and the rear limiting position can be set to a range value. Specifically, taking the previous centering limiting operation as an example, even if the turntable 520 does not rotate to a position where the limiting rod 120 is completely coaxial with the front limiting groove 511, the notch diameter of the front limiting groove 511 is larger than that of the limiting rod. 120 diameter, so that when there is a small deviation between the axis of the limit rod 120 and the axis of the front limit groove 511, the limit rod 120 can be extended into the front limit groove 511, and the rotation alignment of the turntable 520 is realized. While operating the center limit, it reduces the difficulty of the center limit operation and further improves operating efficiency.

It is worth mentioning that setting the front limit position and the rear limit position to a range value does not mean that the turntable 520 will overshoot relative to the front limit groove 511 or the rear limit groove 512 during the rotation process. It is generally considered that when the turntable 520 can be rotated forward until the limit rod 120 can be inserted into the front limit range of the front limit groove 511, or the turntable 520 can be rotated backward until the limit rod 120 can be inserted into the rear limit range of the rear limit groove 512. It is considered that the turntable 520 rotates to the limit position.

Optionally, the range of the front limit position is set to a range of 1° to the left and right, based on the front of the central axis of the chassis 510; the range of the rear limit position is set to a range of 1° to the left and right, based on the rear of the central axis of the chassis 510. scope.

Referring to Figures 2, 4 and 5, this embodiment also provides a turntable rotation centering method using the turntable rotation centering limiting system. This turntable rotation centering method is applied to construction machinery equipped with front limit positions and rear limit positions. It specifically includes the following steps:

First, the operator rotates the turntable 520 to one direction in the cab and starts the rotation centering limit operation, and then determines the current rotation angle α of the turntable 520 through the control element 530 .

Specifically referring to FIG. 4 , taking the forward direction of the central axis of the chassis 510 as the 0° reference, taking the rotation center of the turntable 520 as the rotation center, the rotation angle α value of the turntable 520 is the angle value of the turntable 520 rotating clockwise from 0°. , and 0° coincides with 360°.

Specifically, the current rotation angle α of the turntable 520 is determined. When the rotation angle α satisfies: 0°<α<90° and 270°<α<360°, at this time, the overall orientation of the turntable 520 is located close to the front limit of the front end of the chassis 510. On one side of the position, on this basis, the control element 530 further determines whether the value of the rotation angle α satisfies: 359°≤α≤360° and 0°≤α≤1°. If so, the turntable 520 is considered to be at the front limit position. Within the range, at this time, the control element 530 controls the pushing member 110, so that the pushing member 110 drives the limiting rod 120 to extend and insert into the front limiting groove 511, thereby completing the front centering limiting operation of the turntable 520; if not, Then the control element 530 controls the turntable 520 to continue to rotate toward the front of the chassis 510. During the process, the rotation angle detection element 300 feeds back the rotation angle α of the turntable 520 to the control element 530 in real time until the rotation angle α of the turntable 520 rotates to 359°≤α≤360°. And within the angle range of 0°≤α≤1°, perform the aforementioned front centering and limiting operation.

It is worth mentioning that when the value of the rotation angle α satisfies 270°<α<359°, the control element 530 controls the turntable 520 to rotate clockwise; when the value of the rotation angle α satisfies 1°<α<90°, the control element 530 controls the turntable 520 to rotate clockwise; Component 530 controls the turntable 520 to rotate counterclockwise.

Specifically, when the value of the rotation angle α satisfies: 90°<α<270°, the orientation of the turntable 520 is generally located on the side close to the rear limit position of the rear end of the chassis 510.

On this basis, the control element 530 further determines whether the value of the rotation angle α satisfies: 179°≤α≤181°. If so, it is considered that the turntable 520 is already within the range of the rear limit position. At this time, the control element 530 controls the pusher 110 , so that the pushing member 110 drives the limit rod 120 to extend and insert into the rear limit groove 512, thereby completing the rear centering and limiting operation of the turntable 520; if not, the control element 530 controls the turntable 520 to continue to rotate toward the rear of the chassis 510 , during the process, the rotation angle detection element 300 feeds back the rotation angle α of the turntable 520 to the control element 530 in real time, until the rotation angle α of the turntable 520 rotates to an angle range of 179°≤α≤181°, and then performs the aforementioned rear centering limit bit operations.

It is worth mentioning that when the value of the rotation angle α satisfies 90°<α<179°, the control element 530 controls the turntable 520 to rotate clockwise; when the value of the rotation angle α satisfies 181°<α<270°, the control element 530 controls the turntable 520 to rotate clockwise; Component 530 controls the turntable 520 to rotate counterclockwise.

Further, during the above operation process, the distance detection component 200 detects the distance between the boom and surrounding objects in real time, and sends the detected distance to the control component 530 in real time. If the distance detection component 200 detects that the boom is When the distance between the auxiliary tool 521 at the end of the boom and the construction machinery's own accessories, obstacles around the boom and other surrounding objects is less than the threshold distance, the control component 530 will promptly control the turntable 520 to stop rotating and control the alarm component 400 to alarm. At the same time, the display unit can display the arm parts that are smaller than the threshold distance through the video recording unit, allowing the operator to adjust the position of the turntable 520 in time, or clear obstacles in time, and then perform centering and limiting after the turntable 520 is in a safe environment. Work.

In this embodiment, the threshold spacing can be set through the control element 530, and is preferably set to 100 mm.

It is worth mentioning that the control element 530 controls the pusher 110 so that the pusher 110 drives the limit rod 120 to extend and insert into the limit slot within a time limit t, thereby completing the rotation centering limit of the turntable 520 work, if the pushing member 110 does not drive the limit rod 120 to extend and insert into the limit groove within the time limit t, the rotation centering limit operation of the turntable 520 is suspended, the control element 530 controls the alarm element 400 to alarm, and the operator further checks Cause of component failure. Continue the rotation centering limit operation after the fault is eliminated. The time limit t is preferably set to 3-5 seconds.

Optionally, the cab 540 is provided with an emergency stop button (not shown) that is communicatively connected to the control element 530. When an emergency occurs and an emergency stop is required, the operator can press the emergency stop button. button to emergency stop the centering and limiting process of the above-mentioned turntable 520.

In addition, the present invention also provides a turntable rotation centering limit control method, which is applied to the turntable rotation centering limit system in the above embodiment. The turntable rotation centering limit control method in this embodiment may include the following steps:

S601: The distance detection component detects the distance between the boom and surrounding objects according to the first preset time interval, and sends the generated distance detection information to the control component.

Specifically, the distance detection element can be a distance sensor, which detects the distance between the boom and the surrounding objects according to a first preset time interval, for example, once every 2 seconds, and returns the detected distance data, that is, the distance detection is generated Information is sent to the control element.

S602: The rotation angle detection element detects the rotation angle of the turntable according to the second preset time interval, and sends the generated angle detection information to the control unit.

At the same time, the rotation angle detection element can be an angle sensor, and the rotation angle detection element can also detect the rotation angle of the turntable according to the second preset time interval, and send the generated angle detection information to the control unit. For example, it detects once every 3 seconds and returns the detected angle data, that is, the distance detection information is generated and sent to the control element.

S603: In response to the distance between the boom and surrounding objects being less than the first preset threshold, and/or the difference between the rotation angle of the turntable and the preset rotation angle being greater than the second preset threshold, the control unit is used to control The turntable stops rotating relative to the chassis.

When it is detected that the distance between the boom and surrounding objects is a preset distance, such as 10 cm, or when it is detected that the difference between the rotation angle of the turntable and the preset rotation angle is greater than the preset angle, such as 2°, The control unit is used to control the turntable to stop rotating relative to the chassis. At the same time, the alarm component can also be controlled to alarm to remind the staff.

Moreover, in this embodiment, when an alarm occurs, the relative position status between the boom and surrounding objects can also be fed back to the driver through the camera component. Specifically, the relative position status between the boom and surrounding objects can be fed back to the display unit installed in the cab through a video recording unit (such as a camera), so that the operator can monitor the boom and surrounding objects without leaving the cab. Observe the parts where the distance between objects is less than the threshold distance, and then adjust the turntable position in a timely and effective manner.

The method of the embodiment of the present invention can achieve similar technical effects to the above-mentioned system, and the details will not be read again here.

Obviously, the above-mentioned embodiments of the present invention are only examples for clearly illustrating the present invention, and are not intended to limit the implementation of the present invention. For those of ordinary skill in the art, various obvious changes, readjustments and substitutions can be made without departing from the scope of the present invention. An exhaustive list of all implementations is neither necessary nor possible. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention shall be included in the protection scope of the claims of the present invention.

Claims (6)

1. A method for controlling the turntable rotation centering limit system, which is provided on a construction machine. The construction machine includes a chassis, a turntable and a control element. A boom is provided on the turntable, and the control element can drive the turntable. Rotating relative to the chassis, the turntable rotation centering limit system includes: The limit execution component includes a pusher and a limiter rod. The pusher is provided on the turntable and is communicatively connected with the control element. The limiter rod is provided on the pusher and can be removed from the pusher. The pusher extends or retracts into the pusher, the turntable can rotate relative to the chassis and has a limit position, and the chassis is provided with a limit slot corresponding to the limit position; Distance detection elements are arranged on both sides of the front end, rear end and middle part of the boom, are communicatively connected with the control element, and are used to detect the distance between the boom and surrounding objects; The control element is adapted to control the pusher to drive the limit rod to extend and insert into the limit groove when the turntable rotates to the limit position, and detect when the distance detection element detects When the distance between the boom and surrounding objects is less than a threshold distance, control the turntable to stop rotating; A rotation angle detection element. The rotation angle detection element is communicatively connected with the control element. The rotation angle detection element can detect the rotation angle of the turntable and send the corresponding rotation angle data to the control element. The control element The element can control the pushing member according to the rotation angle data, so that the pushing member drives the limiting rod to extend or retract; The limit position includes a front limit position and a rear limit position, and the limit groove includes a front limit groove and a rear limit groove; wherein, the front limit groove and the rear limit groove are respectively opened in The chassis is on opposite sides in the front and rear direction and respectively corresponds to the front limit position and the rear limit position; the control element is adapted to control when the turntable rotates to the front limit position. The pushing member drives the limiting rod to extend and insert into the front limiting slot; the control element is adapted to control the pushing member to drive when the turntable rotates to the rear limiting position. The limit rod extends and is inserted into the rear limit groove; the range of the front limit position is set to a range of 1° on the left and right with the front of the central axis of the chassis as the reference; the range of the rear limit position is set to The rear of the chassis central axis is the reference, with a range of 1° on the left and right; It is characterized in that the control method includes: Determine the current rotation angle α of the turntable. When the rotation angle α satisfies: 0°＜α＜90° or 270°＜α≤360°, the orientation of the turntable is generally located on the side close to the front limit position of the front end of the chassis. On this basis, the control element further determines whether the value of the rotation angle α satisfies: 359°≤α≤360° or 0°<α≤1°; if so, it is considered that the turntable is already within the range of the front limit position, and at this time the control element Control the pusher so that the pusher drives the limit rod to extend and insert into the front limiter slot, thereby completing the front centering and limiter operation of the turntable; if not, the control element controls the turntable to continue to rotate toward the front of the chassis, turning during the process The angle detection element feeds back the rotation angle α of the turntable to the control element in real time until the rotation angle α of the turntable rotates to the angle range of 359°≤α≤360° or 0°<α≤1°, and then the front centering limit operation is performed. ; Specifically, when the value of the rotation angle α satisfies 270°<α<359°, the control element controls the turntable to rotate clockwise; when the value of the rotation angle α satisfies 1°<α<90°, the control element controls the turntable to rotate in the reverse direction. clockwise rotation; When the value of the rotation angle α satisfies: 90°＜α＜270°, the orientation of the turntable is generally located on the side close to the rear limit position of the rear end of the chassis. On this basis, the control element further determines the value of the rotation angle α. Whether it is satisfied: 179°≤α≤181°; if so, it is considered that the turntable is already within the range of the rear limit position. At this time, the control element controls the pusher so that the pusher drives the limit rod to extend and insert into the rear limit slot. , thereby completing the rear centering limit operation of the turntable; if not, the control element controls the turntable to continue to rotate toward the rear of the chassis. During the process, the rotation angle detection element feeds back the rotation angle α of the turntable to the control element in real time until the rotation angle α of the turntable rotates to the angle range of 179°≤α≤181°, and then perform the rear centering limit operation; specifically, when the value of the rotation angle α satisfies 90°<α<179°, the control element controls the turntable to rotate clockwise; When the value of the rotation angle α satisfies 181°<α<270°, the control element controls the turntable to rotate counterclockwise. 2. The control method according to claim 1, further comprising an alarm element, the alarm element is communicatively connected with the control element, and the control element is adapted to detect the arm when the distance detection element detects the arm. When the distance between the rack and surrounding objects is less than a threshold distance, the alarm element is controlled to alarm. 3. The control method according to claim 1, further comprising a video recording component, the video recording component includes a video recording unit and a display unit, the video recording unit is disposed on the arm, and the video recording component includes a video recording unit and a display unit. The display unit is adapted to display the part smaller than the threshold distance through the video recording unit when the distance detection element detects that the distance between the arm and surrounding objects is less than a threshold distance. 4. The control method according to claim 1, characterized in that the pushing member is configured as a push rod, the fixed end of the push rod is fixed on the turntable, and the telescopic end of the push rod passes through The adapter is connected to the limiting rod. 5. The control method according to claim 1, characterized in that the pusher is configured as a telescopic cylinder, the cylinder of the telescopic cylinder is fixed on the turntable, and the piston rod of the telescopic cylinder passes through an adapter. Connect the limit rod. 6. The control method according to claim 1, wherein the distance detection element is configured as a distance sensor, and the rotation angle detection element is configured as an angle sensor.