A turntable rotation overlapping area identification and mechanical limiting composite mechanism and method

Abstract

The present application relates to the technical field of mechanical transmission, aiming at solving the problems of the existing rotary table limiting mechanism, such as complex structure, numerous parts, complicated rotation overlap area judgment method, low reliability, and difficulty in realizing overlap area identification and mechanical limiting at the same time, providing a rotary table rotation overlap area identification and mechanical limiting composite mechanism and method; the mechanism comprises a movable pin, a fixed pin, a limiting fork, a position sensor and a single-turn angle sensor; the fixed pin and the position sensor are installed on the rotary table base; the movable pin is installed on the rotary table turntable; the limiting fork is placed on the base and can rotate relative to the base; the movable pin can abut against the end face of the limiting fork and push it to rotate around the rotary table rotary shaft in both directions, and the limiting fork can be rotated to abut against the fixed pin to realize mechanical limiting; the single-turn angle sensor is installed on the base, and its input shaft is connected with the rotary table; the limiting fork can cooperate with the position sensor and trigger the position sensor, and cooperate with the single-turn angle sensor to realize rotation overlap area identification.

Description

Technical Field

[0001] This invention relates to the field of mechanical transmission technology, and more specifically, to a composite mechanism and method for identifying and mechanically limiting the overlapping area of ​​a turntable rotation. Background Technology

[0002] In industries such as communications and radar, reciprocating turntables with a rotation range greater than 360° are often required. These turntables need to be equipped with limit mechanisms to prevent accidents such as cable breakage and system malfunction. Limit mechanisms include software limits, electrical limits, and mechanical limits. Software and electrical limits can be selected and configured according to system characteristics, while mechanical limits are the final layer of limit mechanisms. Software limits use angle sensors to collect the rotation angle and limit the rotation range through control software; mechanical limits use a specific structure to restrict the rotation range.

[0003] For reciprocating turntables with a rotation range greater than 360°, there is an overlapping area between their forward and reverse rotations. When a single-turn angle sensor is directly connected to the rotating part to collect the rotation angle, since the angle reported by the single-turn angle sensor is 0~360° (excluding 360°), the corresponding angle is unique for non-overlapping areas; however, for overlapping areas, a certain judgment method is needed to identify the area.

[0004] Chinese invention patent CN107500156B discloses a device and method for determining the overlapping area of ​​a slewing crane. Chinese invention patent CN103395726B discloses a vertical turntable slewing limit mechanism with a slewing angle greater than 360° and less than 540°. The technical solution of these inventions uses a large number of devices and parts, and the determination method is relatively complex and has low reliability. Chinese invention patent CN109917849B discloses a turntable slewing electrical limit device, control method and engineering machinery vehicle. It only involves electrical limit and cannot achieve mechanical limit.

[0005] Therefore, industries such as communications and radar need a composite mechanism that is simple in composition and judgment method, highly reliable, and capable of recognizing overlapping areas of turntable rotation and mechanically limiting them, so as to ensure the safe and reliable use of the system. Summary of the Invention

[0006] The present invention aims to provide a composite mechanism and method for identifying and mechanically limiting the overlapping area of ​​a turntable rotation, in order to solve the problems of existing turntable limiting mechanisms having complex structures, numerous parts, cumbersome methods for judging the overlapping area of ​​rotation, low reliability, and difficulty in simultaneously achieving overlapping area identification and mechanical limiting.

[0007] This invention is achieved using the following technical solution: This invention provides a composite mechanism for identifying overlapping areas of a turntable rotation and mechanical limiting, including a moving pin, a fixed pin, a limiting fork, a positioning sensor, and a single-turn angle sensor; The positioning pin and the positioning sensor are mounted on the base of the turntable; The moving pin is installed on the turntable and rotates synchronously with the turntable; The limiting fork is placed on the base, and the limiting fork can rotate relative to the base; When the moving pin rotates synchronously with the turntable, it can abut against the end face of the limiting fork and push the limiting fork to rotate clockwise or counterclockwise around the rotation axis of the turntable. The limiting fork can rotate to abut against the fixed pin to achieve mechanical limiting. The single-turn angle sensor is mounted on the base, and its input shaft is connected to the turntable to collect the angle information of the turntable. The limiting fork can cooperate with the positioning sensor and trigger the positioning sensor, and cooperate with the single-turn angle sensor to realize the identification of the rotational overlapping area.

[0008] This invention collects turntable angle information through a single-turn angle sensor, and combines it with the signal status of the position sensor to determine the rotation overlap area of ​​the turntable. Mechanical limiting is achieved through the cooperation of the limit fork and the fixed pin, thus realizing the dual functions of rotation overlap area identification and mechanical limiting. The overall mechanism consists of only a moving pin, a fixed pin, a limit fork, a position sensor, and a single-turn angle sensor. It has a simple structure, uses few components and parts, has high reliability, and a compact layout. It does not require complex transmission and control logic, and the judgment method is simple and intuitive with a rapid response. It effectively improves the stability and safety of the turntable operation, and has high reliability and strong practicality.

[0009] As a preferred technical solution: The limiting fork has a ring structure, including an inner ring and an outer ring, and the inner ring and the outer ring are an integral structure.

[0010] As a preferred technical solution: The inner surface of the inner ring is fitted with the annular protrusion on the base with a clearance.

[0011] As a preferred technical solution: The outer ring of the limiting fork is an arc-shaped segment, and the two ends of the arc-shaped segment are respectively formed with a first end face and a second end face for cooperating with the moving pin; When the movable pin rotates with the turntable, it can abut against the first end face or the second end face and push the limiting fork to rotate forward or backward.

[0012] As a preferred technical solution: The single-turn angle sensor measures angles ranging from 0° to 360°. The position of the fixed pin on the base and the position of the movable pin on the turntable both correspond to the 0° measurement reference position of the single-turn angle sensor.

[0013] As a preferred technical solution: The angle range of the movable pin rotating around the rotary axis is ±θ, where 180° < θ < 270°; The forward and reverse rotation areas of the moving pin overlap.

[0014] As a preferred technical solution: The input shaft of the single-turn angle sensor is connected to the turntable via a coupling, and the coupling is fixedly connected to the input shaft of the single-turn angle sensor and the turntable.

[0015] As a preferred technical solution: Both the moving pin and the fixed pin are cylindrical.

[0016] This invention further provides a method for identifying and mechanically limiting the overlapping area of ​​a turntable rotation, based on the aforementioned composite mechanism for identifying and mechanically limiting the overlapping area of ​​a turntable rotation, comprising the following steps: S1: The rotation angle of the turntable is collected in real time by a single-turn angle sensor, with a measurement range of [0°~360°); S2: By cooperating with the positioning sensor through the limit fork, the positioning sensor outputs a high-level signal or a low-level signal; S3: Based on the rotation angle and level signal, identify whether the turntable is in a non-overlapping or overlapping area; S4: When the moving pin pushes the limit fork to rotate until it abuts against the stationary pin, it reaches the limit position and achieves mechanical limiting.

[0017] As a preferred technical solution: The angle range of the movable pin's rotation around the rotation axis is ±θ; there is an overlap between the forward and reverse rotation areas of the movable pin. The angular range of the non-overlapping region is [0°~360°]. θ] and [θ] Within the range of 360° to 0°, the angle reported by the single-circle angle sensor is unique, directly determining the location of the area; The overlapping area has an angular range of (360°-θ~θ) and [-θ~θ-360°], which needs to be identified; When the single-turn angle sensor reports an angle of (360°) When the position sensor outputs a high-level signal within the range of θ~θ], it is determined that the turntable is in the forward rotation overlap region; When the single-turn angle sensor reports an angle of (360°) When the position sensor outputs a low-level signal within the range of θ~θ], it is determined that the turntable is in the reverse overlapping region.

[0018] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are: This invention collects turntable angle information through a single-turn angle sensor, and combines it with the signal status of the position sensor to determine the rotation overlap area of ​​the turntable. Mechanical limiting is achieved through the cooperation of the limit fork and the fixed pin, thus realizing the dual functions of rotation overlap area identification and mechanical limiting. The overall mechanism consists of only a moving pin, a fixed pin, a limit fork, a position sensor, and a single-turn angle sensor. It has a simple structure, uses few components and parts, has high reliability, and a compact layout. It does not require complex transmission and control logic, and the judgment method is simple and intuitive with a rapid response. It effectively improves the stability and safety of the turntable operation, and has high reliability and strong practicality. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the installation of the rotary table rotation overlap area identification and mechanical limit composite mechanism described in this invention. Figure 1 .

[0020] Figure 2 This is a schematic diagram of the installation of the rotary table rotation overlap area identification and mechanical limit composite mechanism described in this invention. Figure 2 .

[0021] Figure 3 This is a schematic diagram of the rotation direction, limit angle, and overlapping area of ​​the moving pin described in this invention.

[0022] Figure 4 This is a schematic diagram of the limiting shift fork described in this invention.

[0023] Figure 5 This is a schematic diagram of the moving pin and the fixed pin as described in this invention at the 0° measurement reference position of the single-turn angle sensor.

[0024] Figure 6 for Figure 5 Enlarged diagram of point A in the middle.

[0025] Figure 7 This is a schematic diagram of the moving pin rotating to a certain position according to the present invention.

[0026] Figure 8 This is a schematic diagram of the mechanical limit switch triggered by the forward rotation of the moving pin as described in this invention.

[0027] Figure 9 This is a schematic diagram of the moving pin reversing to a certain position according to the present invention.

[0028] Icons: 1-Moving pin, 2-Fixed pin, 3-Limit fork, 4-Position sensor, 5-Single-turn angle sensor, 6-Coupling, 7-Base, 8-Turntable. Detailed Implementation

[0029] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0030] Example 1 like Figure 1 and Figure 2 As shown, this embodiment proposes a composite mechanism for identifying the overlapping area of ​​a turntable rotation and mechanical limiting, including a moving pin 1, a fixed pin 2, a limiting fork 3, a positioning sensor 4, and a single-turn angle sensor 5.

[0031] The turntable includes a base 7 and a turntable 8. The base 7 is the fixed part of the turntable, and the turntable 8 is the rotating part of the turntable. The turntable 8 is arranged opposite to the base 7, and the turntable 8 can rotate relative to the base 7.

[0032] The rotation structure of the turntable 8 is existing technology. For example, the turntable 8 is connected to a slewing bearing, and rotation is achieved through the slewing bearing, but it is not limited to the slewing bearing. The driving structure of the turntable 8 is existing technology. For example, a motor provides power for the rotation of the turntable 8.

[0033] The fixed pin 2 and the positioning sensor 4 are fixedly installed on the base 7, and the positions of the fixed pin 2 and the positioning sensor 4 are fixed. The movable pin 1 is fixedly installed on the turntable 8, and the movable pin 1 can rotate together with the turntable 8.

[0034] The limiting fork 3 is placed on the base 7, such as Figure 4 As shown, the limiting fork 3 has a ring structure, including an inner ring and an outer ring. The inner ring and the outer ring are an integral structure. The inner side of the inner ring is in clearance fit with the annular protrusion on the base 7 to achieve radial limiting of the limiting fork 3. The limiting fork 3 can rotate relative to the base 7 around the rotation axis of the turntable 8.

[0035] The outer ring of the limiting fork 3 is an arc-shaped segment. The two ends of the arc-shaped segment are respectively formed with a first end face and a second end face for cooperating with the moving pin 1. When the moving pin 1 rotates synchronously with the turntable 8, the moving pin 1 can abut against the end face of the limiting fork 3 and push the limiting fork 3 to rotate clockwise or counterclockwise around the rotation axis of the turntable 8. The limiting fork 3 can rotate to abut against the fixed pin 2 to achieve mechanical limiting.

[0036] The limiting fork 3, in conjunction with the positioning sensor 4, enables the positioning sensor 4 to be triggered.

[0037] The single-turn angle sensor 5 is mounted on the base 7, and the housing of the single-turn angle sensor 5 is fixedly connected to the base 7. The input shaft of the single-turn angle sensor 5 is connected to the turntable 8 through a coupling 6. The coupling 6 is fixedly connected to the input shaft of the single-turn angle sensor 5 and the turntable 8. In this way, the input shaft of the single-turn angle sensor 5 will rotate together with the turntable 8, and the angle information of the turntable 8 can be collected in real time through the single-turn angle sensor 5.

[0038] Preferably, the positioning sensor 4 is cylindrical, and during installation, the axial direction of the positioning sensor 4 is aligned with the axial direction of the base 7. The sensing element reaches the center of the upper surface of the positioning sensor 4 from its radial direction. When the sensing element and the upper surface of the positioning sensor 4 reach a certain distance along the axial direction, a high-level signal is output; otherwise, a low-level signal is always output. The sensing element is made of metal. The positioning sensor 4 outputting a high-level or low-level signal is prior art, and its principle will not be elaborated upon.

[0039] The sensor is the limiting fork 3. When the outer ring of the limiting fork 3 rotates to the upper end face of the positioning sensor 4, the positioning sensor 4 is triggered and generates a high-level signal; otherwise, it generates a low-level signal.

[0040] The measurement angle range of the single-turn angle sensor 5 is fixed at [0°~360°). The position of the fixed pin 2 on the base 7 and the position of the movable pin 1 on the turntable 8 both correspond to the 0° measurement reference position of the single-turn angle sensor 5.

[0041] Because the limiting fork 3 is designed with an outer ring, the movable pin 1 can push one end of the outer ring, causing the limiting fork 3 to rotate until the other end of the outer ring abuts against the fixed pin 2, thereby limiting the rotation range of the movable pin 1 around the rotation axis. The angle range of the movable pin 1 rotating clockwise and counterclockwise around the rotation axis is ±θ, where 180° < θ < 270°. Clockwise rotation of the movable pin 1 is forward rotation, and counterclockwise rotation is reverse rotation. The forward and reverse rotation areas of the movable pin 1 overlap, such as... Figure 3 As shown.

[0042] Both the fixed pin 2 and the movable pin 1 are cylindrical, such as Figure 3 As shown, O is the rotation center of turntable 8. Oa1 and Oa2 are tangent to both sides of moving pin 1, with a1 and a2 being the two points of tangency, and α = ∠a1Oa2. Ob1 and Ob2 are tangent to both sides of fixed pin 2, with b1 and b2 being the two points of tangency, and β = ∠b1Ob2. The included angle between the two end faces M and N of the outer ring of the limiting fork 3 is γ. Furthermore, for ease of explanation, it is assumed that moving pin 1 and fixed pin 2 have the same diameter, in which case α < β. Figure 5 As shown, ω is the acute angle formed by a connecting line and a straight line. The connecting line is the line connecting the center of the position sensor 4 and the rotation center, and the straight line is the line between the 0° measurement reference position of the single-turn angle sensor 5 and the rotation center.

[0043] For non-overlapping regions, i.e., the angle range of [0°~360°-θ] and [θ-360°~0°), the angle reported by the single-turn angle sensor 5 is unique; while for overlapping regions, i.e., the angle range of (360°-θ~θ] and [-θ~θ-360°), identification is required.

[0044] The moving pin 1 and the fixed pin 2 are at the 0° measurement reference position of the single-turn angle sensor 5, and the fixed pin 2 is in contact with the M surface of the limit fork 3, as shown. Figure 5 and Figure 6 As shown; after the moving pin 1 rotates forward by an angle Δs1 = β / 2 - α / 2, it contacts the M surface of the limiting fork 3; after the moving pin 1 pushes the limiting fork 3 to continue rotating by an angle Δs2 = 180° + ω - γ - α / 2 - (β / 2 - α / 2), as shown... Figure 7 As shown, the positioning sensor 4 is triggered; the moving pin 1 pushes the limit fork 3 and then rotates it by an angle Δs3 = 180° - ω - β / 2, as... Figure 8 As shown, the limit fork 3N surface contacts the fixed pin 2, reaching the limit position, and the corresponding limit rotation angle θ = Δs1 + Δs2 + Δs3 = 360° - (α / 2 + β / 2 + γ). Where Δs3 ≤ γ, meaning that within the range of (Δs1 + Δs2 ~ θ), the position sensor 4 triggers and reports a high-level signal. Furthermore, within the angle range of (360° - θ ~ θ], regardless of whether the moving pin 1 contacts the limit fork 3, the position sensor 4 triggers and reports a high-level signal. That is, when the single-turn angle sensor 5 reports an angle within the range of (360° - θ ~ θ] and there is a high-level signal, it can be determined that the turntable is within the range of (360° - θ ~ θ].

[0045] Still with Figure 5 and Figure 6 The diagram shows the starting position. If the moving pin 1 reverses, within the angle range of [-θ~0°), the position sensor 4 will not trigger and will always be at a low level. The moving pin 1 will rotate to the -θ angle and contact the limit fork 3N surface, reaching its limit position. If... Figure 9 With the state at the initial position, the moving pin 1 reverses. Within the angle range of [θ-360°~0°), there is no need to consider whether the position sensor 4 is triggered. Within the angle range of [-θ~θ-360°), the position sensor 4 will not be triggered and will always be at a low level. Furthermore, regardless of whether the moving pin 1 is in contact with the limit fork 3, the position sensor 4 will not be triggered. That is, when the single-turn angle sensor 5 reports an angle within the range of (360°-θ~θ) and there is a low-level signal, it can be determined that the turntable is within the range of [-θ~θ-360°).

[0046] Here is an example: In this example, θ is taken as 225.37°.

[0047] For ease of explanation, both moving pin 1 and fixed pin 2 are cylindrical with a diameter of 2.75 mm. The diameter of the distribution circle of moving pin 1 is 71.5 mm, and the diameter of the distribution circle of fixed pin 2 is 65 mm. Oa1 and Oa2 are tangent to both sides of moving pin 1, with a1 and a2 as the two points of tangency, and α = ∠a1Oa2. Ob1 and Ob2 are tangent to both sides of fixed pin 2, with b1 and b2 as the two points of tangency, and β = ∠b1Ob2. Based on their dimensions and layout, α = 4.40° and β = 4.86°.

[0048] The included angle between the two end faces M and N of the limit fork 3 is γ, and ω is the acute angle formed by a connecting line and a straight line. The connecting line is the line connecting the center of the position sensor 4 and the rotation center, and the straight line is the line connecting the 0° measurement reference position of the single-turn angle sensor 5 and the rotation center. In this example, γ = 130° and ω = 65°.

[0049] For non-overlapping regions, i.e., the angle range of [0°~134.63°] and [-134.63°~0°), the angle reported by the single-turn angle sensor 5 is unique; while for overlapping regions, i.e., the angle range of (134.63°~225.37°) and [-225.37°~-134.63°), identification is required.

[0050] The moving pin 1 and the fixed pin 2 are at the 0° measurement reference position of the single-turn angle sensor 5, and the fixed pin 2 is in contact with the M surface of the limit fork 3, as shown. Figure 5 and Figure 6 As shown; after the moving pin 1 rotates forward by an angle Δs1 = 0.23°, it contacts the M surface of the limit fork 3; after the moving pin 1 pushes the limit fork 3 to continue rotating by an angle Δs2 = 112.57°, as... Figure 7 As shown, the positioning sensor 4 is triggered; the moving pin 1 pushes the limit fork 3 and then rotates it by an angle of Δs3 = 112.57°, as shown. Figure 8As shown, the N-side of the limit fork 3 contacts the fixed pin 2, reaching its limit position. That is, within the range of (112.8°~225.37°), the position sensor 4 triggers and reports a high-level signal. Furthermore, within the angle range of (134.63°~225.37°), regardless of whether the moving pin 1 is in contact with the limit fork 3, the position sensor 4 triggers and reports a high-level signal. Therefore, when the single-turn angle sensor 5 reports an angle within the range of (134.63°~225.37°) and there is a high-level signal, it can be determined that the turntable is within the range of (134.63°~225.37°).

[0051] Still with Figure 5 and Figure 6 The starting position is shown. If the moving pin 1 is reversed, the position sensor 4 will not be triggered within the angle range of [-225.37°~0°] and will always be at a low level. The moving pin 1 will rotate to -225.37° and contact the N side of the limit fork 3, reaching the limit position.

[0052] If we take Figure 9 With the state at the initial position, the moving pin 1 reverses. Within the angle range of [-134.63°~0°], there is no need to consider whether the position sensor 4 is triggered. Within the angle range of [-225.37°~-134.63°], the position sensor 4 will not be triggered and will always be at a low level. Furthermore, regardless of whether the moving pin 1 is in contact with the limit fork 3, the position sensor 4 will not be triggered. That is, when the single-turn angle sensor 5 reports an angle within the range of (134.63°~225.37°) and there is a low-level signal, it can be determined that the turntable is within the range of [-225.37°~-134.63°].

[0053] Based on the required forward and reverse rotation angle range θ of the turntable, determine parameters such as α, β, γ, and ω. For example, if θ is 225.37°, it can be implemented as shown in the figure of this invention. This technical solution can also be used for other angles within the range of (180°, 270°).

[0054] Example 2 This embodiment proposes a method for identifying and mechanically limiting the overlapping area of ​​a turntable rotation, based on the composite mechanism for identifying and mechanically limiting the overlapping area of ​​a turntable rotation described in Embodiment 1, including the following steps: S1: The rotation angle of the turntable 8 is collected in real time by the single-turn angle sensor 5, and the measurement range is [0°~360°); S2: By cooperating with the positioning sensor 4 through the limit fork 3, the positioning sensor 4 outputs a high-level signal or a low-level signal; S3: Based on the rotation angle and level signal, identify whether the turntable is in a non-overlapping or overlapping area; S4: When the moving pin 1 pushes the limiting fork 3 to rotate until it abuts against the fixed pin 2, it reaches the limit position and realizes mechanical limiting.

[0055] The angle range of the rotation of the movable pin 1 around the pivot is ±θ; there is an overlap between the forward and reverse rotation areas of the movable pin 1. The angular range of the non-overlapping region is [0°~360°]. θ] and [θ] Within the range of 360° to 0°, the angle reported by the single-circle angle sensor 5 is unique, directly determining the location of the area; The overlapping area has an angular range of (360°-θ~θ) and [-θ~θ-360°], which needs to be identified; When the single-turn angle sensor 5 reports an angle of (360°) When the position sensor 4 outputs a high-level signal within the range of θ~θ], it is determined that the turntable is in the forward rotation overlap region; When the single-turn angle sensor 5 reports an angle of (360°) When the position sensor 4 outputs a low-level signal within the range of θ~θ], it is determined that the turntable is in the reverse overlapping region.

[0056] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A composite mechanism for identifying overlapping areas of a rotating turntable and for mechanically limiting it, characterized in that: This includes moving pins, stationary pins, limit forks, position sensors, and single-turn angle sensors; The positioning pin and the positioning sensor are mounted on the base of the turntable; The moving pin is installed on the turntable and rotates synchronously with the turntable; The limiting fork is placed on the base, and the limiting fork can rotate relative to the base; When the moving pin rotates synchronously with the turntable, it can abut against the end face of the limiting fork and push the limiting fork to rotate clockwise or counterclockwise around the rotation axis of the turntable. The limiting fork can rotate to abut against the fixed pin to achieve mechanical limiting. The single-turn angle sensor is mounted on the base, and its input shaft is connected to the turntable to collect the angle information of the turntable. The limiting fork can cooperate with the positioning sensor and trigger the positioning sensor, and cooperate with the single-turn angle sensor to realize the identification of the rotational overlapping area.

2. The rotary table rotation overlap area recognition and mechanical limiting composite mechanism according to claim 1, characterized in that: The limiting fork has a ring structure, including an inner ring and an outer ring, and the inner ring and the outer ring are an integral structure.

3. The rotary table rotation overlap area recognition and mechanical limiting composite mechanism according to claim 2, characterized in that: The inner surface of the inner ring is fitted with the annular protrusion on the base with a clearance.

4. The rotary table rotation overlap area recognition and mechanical limiting composite mechanism according to claim 2, characterized in that: The outer ring of the limiting fork is an arc-shaped segment, and the two ends of the arc-shaped segment are respectively formed with a first end face and a second end face for cooperating with the moving pin; When the movable pin rotates with the turntable, it can abut against the first end face or the second end face and push the limiting fork to rotate forward or backward.

5. The rotary table rotation overlap area recognition and mechanical limiting composite mechanism according to claim 1, characterized in that: The single-turn angle sensor measures angles ranging from 0° to 360°. The position of the fixed pin on the base and the position of the movable pin on the turntable both correspond to the 0° measurement reference position of the single-turn angle sensor.

6. The rotary table rotation overlap area recognition and mechanical limiting composite mechanism according to claim 5, characterized in that: The angle range of the movable pin rotating around the rotary axis is ±θ, where 180° < θ < 270°; The forward and reverse rotation areas of the moving pin overlap.

7. The rotary table rotation overlap area recognition and mechanical limiting composite mechanism according to claim 1, characterized in that: The input shaft of the single-turn angle sensor is connected to the turntable via a coupling, and the coupling is fixedly connected to the input shaft of the single-turn angle sensor and the turntable.

8. The rotary table rotation overlap area recognition and mechanical limiting composite mechanism according to claim 1, characterized in that: Both the moving pin and the fixed pin are cylindrical.

9. A method for identifying and mechanically limiting the overlapping area of ​​a turntable rotation, characterized in that: This is achieved based on the combined mechanism of turntable rotation overlap area recognition and mechanical limiting as described in any one of claims 1-8. Includes the following steps: S1: The rotation angle of the turntable is collected in real time by a single-turn angle sensor, with a measurement range of [0°~360°); S2: By cooperating with the positioning sensor through the limit fork, the positioning sensor outputs a high-level signal or a low-level signal; S3: Based on the rotation angle and level signal, identify whether the turntable is in a non-overlapping or overlapping area; S4: When the moving pin pushes the limit fork to rotate until it abuts against the stationary pin, it reaches the limit position and achieves mechanical limiting.

10. The method for identifying and mechanically limiting the overlapping area of ​​a turntable rotation according to claim 9, characterized in that: The angle range of the movable pin's rotation around the rotation axis is ±θ; there is an overlap between the forward and reverse rotation areas of the movable pin. The angular range of the non-overlapping region is [0°~360°]. θ] and [θ] Within the range of 360° to 0°, the angle reported by the single-circle angle sensor is unique, directly determining the location of the area; The overlapping area has an angular range of (360°-θ~θ) and [-θ~θ-360°], which needs to be identified; When the single-turn angle sensor reports an angle of (360°) When the position sensor outputs a high-level signal within the range of θ~θ], it is determined that the turntable is in the forward rotation overlap region; When the single-turn angle sensor reports an angle of (360°) When the position sensor outputs a low-level signal within the range of θ~θ], it is determined that the turntable is in the reverse overlapping region.

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