Rotary Limit System and Its Control Method, Elevating Fire-Fighting Robot

Abstract

The present disclosure relates to a slewing limit system, a control method thereof, and an elevated fire fighting robot. The slewing limit system is used to limit the slewing angle of a slewing platform (1) relative to a base (2). The slewing limit system includes: a first detection body (34) and a second detection body (35), both connected to the base; a first detection switch (31) and a second detection switch (32), both connected to the slewing platform and rotating synchronously with the slewing platform; the first detection switch emits a first signal when rotating to be aligned with the first detection body in the slewing axis direction, and the second detection switch emits a second signal when rotating to be aligned with the second detection body in the slewing axis direction; and a controller configured to limit the slewing platform from rotating in the original rotation direction when receiving the first signal and not receiving the second signal, and limit the slewing platform from rotating in the original rotation direction when receiving the second signal and not receiving the first signal.

Description

Technical Field

[0001] The present disclosure relates to the field of slewing control, and particularly to a slewing limit system, a control method thereof, and an elevating fire-fighting robot. Background Art

[0002] In the related art known to the inventors, an elevating fire-fighting robot can be structurally divided into an upper vehicle and a lower vehicle. The lower vehicle is a traveling chassis, which can enable the elevating fire-fighting robot to walk a short distance within the working site by its own power. The upper vehicle mainly includes a water cannon, a boom, and a slewing platform, and can rotate 360° relative to the lower vehicle for work. The upper vehicle PLC control device needs signals from the lower vehicle such as lower vehicle braking, high and low speeds, motor status, etc. However, during the working process, the upper and lower vehicles rotate relative to each other. Due to the form of direct connection of the signal application wire harness between the upper and lower vehicles, in order to avoid excessive winding of the wire harness, it is necessary to limit the slewing angle of the upper vehicle.

[0003] During the working process of the elevating fire-fighting robot, when the slewing platform of the upper vehicle rotates beyond a certain angle, the length of the reserved wire harness and hydraulic pipeline may have reached the limit. If it continues to rotate, it will cause the wire harness and hydraulic oil pipe to break, resulting in serious failures of the vehicle or equipment. Therefore, under normal operating conditions, it is necessary to set a limit position, and the accurate and reliable detection of the limit position has very important safety significance. Summary of the Invention

[0004] Embodiments of the present disclosure provide a slewing limit system, a control method thereof, and an elevating fire-fighting robot, which can improve the reliability of the slewing limit system.

[0005] According to a first aspect of the present disclosure, a slewing limit system is proposed for limiting the slewing angle of a slewing platform relative to a base. The slewing limit system includes:

[0006] A first detection body and a second detection body, both connected to the base;

[0007] A first detection switch and a second detection switch, both connected to the slewing platform and rotating synchronously with the slewing platform. The projections of the first detection switch and the first detection body in the slewing plane are both located on a first circumference, and the projections of the second detection switch and the second detection body in the slewing plane are both located on a second circumference. The centers of the first circumference and the second circumference are both located on the axis of rotation of the slewing platform. The first detection switch emits a first signal when it rotates to align with the first detection body in the direction of the axis of rotation, and the second detection switch emits a second signal when it rotates to align with the second detection body in the direction of the axis of rotation; and

[0008] The controller is configured to limit the slewing platform from rotating in the original rotation direction when the first signal is received and the second signal is not received, and to limit the slewing platform from rotating in the original rotation direction when the second signal is received and the first signal is not received.

[0009] In some embodiments, the radius of the first circumference is greater than that of the second circumference.

[0010] In some embodiments, at least one of the first detection switch and the second detection switch and the first detection body and the second detection body are circumferentially offset.

[0011] In some embodiments, both the first detection switch and the second detection switch are located in the first horizontal plane, both the first detection body and the second detection body are located in the second horizontal plane, and the first horizontal plane is higher than the second horizontal plane.

[0012] In some embodiments, in the direction of the slewing axis, the first detection switch and the first detection body and the second detection switch and the second detection body are never aligned simultaneously.

[0013] In some embodiments, the first detection switch and the second detection switch are circumferentially aligned, and the first detection body and the second detection body are circumferentially offset.

[0014] In some embodiments, the first detection body and the second detection body are circumferentially adjacent.

[0015] In some embodiments, the controller is configured to stop the slewing platform from rotating or rotate it in the opposite direction of the original rotation direction when the first signal is received and the second signal is not received; when the controller receives the second signal and does not receive the first signal, stop the slewing platform from rotating or rotate it in the opposite direction of the original rotation direction.

[0016] In some embodiments, the slewing limit system further includes:

[0017] A third detection body, connected to the base, and both the first circumference and the second circumference pass through the third detection body;

[0018] Wherein, the radius of the first circumference is greater than that of the second circumference. In the direction of the slewing axis, the first detection switch and the first detection body and the second detection switch and the second detection body are never aligned simultaneously. The first detection switch emits a first signal when it rotates to be aligned with the third detection body in the slewing axis direction, and the second detection switch emits a second signal when it rotates to be aligned with the third detection body in the slewing axis direction. The controller is configured to emit a prompt signal and / or decelerate the slewing platform when the first signal and the second signal are received simultaneously.

[0019] In some embodiments, the controller is configured to determine that the slewing platform is in the centered position when the first signal and the second signal are received simultaneously.

[0020] In some embodiments, the third detection body and the first detection body are arranged opposite to each other in the radial direction, and the first detection body and the second detection body are circumferentially offset and adjacent to each other.

[0021] In some embodiments, the slewing limit system further includes:

[0022] A bracket, including a first cross plate, a second cross plate and a vertical plate. The first cross plate is connected to the top end of the vertical plate and extends along the inner side in the radial direction. The second cross plate is connected to the bottom end of the vertical plate and extends along the outer side in the radial direction. Both the first detection switch and the second detection switch are arranged on the second cross plate.

[0023] In some embodiments, both the first detection switch and the second detection switch include proximity switches.

[0024] According to a second aspect of the present disclosure, there is provided a slewing limit control method for a slewing limit system based on the above embodiments, including:

[0025] Obtaining the signals of the first detection switch and the second detection switch;

[0026] When the first signal is received and the second signal is not received, restricting the slewing platform from rotating towards the direction close to the second detection body;

[0027] When the second signal is received and the first signal is not received, restricting the slewing platform from rotating towards the direction close to the first detection body.

[0028] In some embodiments, the slewing limit system further includes a third detection body connected to the base. Both the first circumference and the second circumference pass through the third detection body. The radius of the first circumference is greater than that of the second circumference. The first detection switch and the first detection body, and the second detection switch and the second detection body are never aligned simultaneously. The slewing limit control method further includes:

[0029] When the first signal and the second signal are received simultaneously, sending a prompt signal and / or decelerating the slewing platform.

[0030] In some embodiments, when neither the first signal nor the second signal is received simultaneously, the rotation direction of the slewing platform is not restricted.

[0031] According to a third aspect of the present disclosure, there is provided an elevated fire-fighting robot, including:

[0032] A lower vehicle part, including a base;

[0033] An upper vehicle part, including a slewing platform, which is rotatably arranged on the base in a horizontal plane; and

[0034] The slewing limit system as described in the above embodiments.

[0035] Based on the above technical solutions, the slewing limit system of the embodiments of the present disclosure can detect and determine the limit position of the slewing platform by using two sets of independent detection switches and detection bodies. The detection signals and judgment logic are simple and reliable. It is not necessary to record the rotation direction before the slewing platform reaches the limit position, which can reduce production costs, improve the reliability of the slewing limit system, and ensure the safety of the slewing platform and related equipment or vehicles, etc. By receiving the detection switch signals through the controller to limit the rotation of the slewing platform, the impact on the slewing platform at the limit position can be greatly reduced, and the motion smoothness of the slewing platform and related equipment or vehicles, etc. can be improved. Description of the Drawings

[0036] The drawings described herein are used to provide a further understanding of the present disclosure, and constitute a part of this application. The schematic embodiments of the present disclosure and their descriptions are used to explain the present disclosure and do not constitute an improper limitation of the present disclosure. In the drawings:

[0037] Figure 1 It is a top view structural schematic diagram of some embodiments of the slewing limit system of the present disclosure.

[0038] Figure 2 It is a cross-sectional view of some embodiments of the slewing limit system of the present disclosure.

[0039] Figure 3 It is a cross-sectional view of some other embodiments of the slewing limit system of the present disclosure.

[0040] Figure 4 It is a schematic diagram of the composition of the control system of the slewing limit system of the present disclosure.

[0041] Description of the Reference Numerals

[0042] 1. Slewing platform; 2. Base; 31. First detection switch; 32. Second detection switch; 33. Third detection body; 34. First detection body; 35. Second detection body; 4. Control handle; 41. First contact; 42. Second contact; 5. Bracket; 51. First horizontal plate; 52. Second horizontal plate; 53. Vertical plate; 54. Fixed bolt; 6. Controller; θ1. First radian; θ2. Second radian; 71. First hydraulic valve; 72. Second hydraulic valve. Detailed Embodiments

[0043] The present disclosure is described in detail below. In the following paragraphs, different aspects of the embodiments are defined in more detail. Each aspect so defined can be combined with any other one or more aspects, unless explicitly stated that they cannot be combined. In particular, any feature considered to be preferred or advantageous can be combined with one or more other features considered to be preferred or advantageous.

[0044] The terms "first", "second", etc. that appear in the present disclosure are only for convenience of description to distinguish different components with the same name, and do not indicate a sequence or primary-secondary relationship.

[0045] In the description of the present disclosure, it should be understood that the orientation or positional relationship indicated by terms such as "upper", "lower", "inner", "outer", "circumferential" or "radial" is defined based on the rotation circle, rotation plane, etc. of the slewing platform, and is only for the convenience of describing the present disclosure, rather than indicating or implying that the device referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the protection scope of the present disclosure.

[0046] To make the content of the present disclosure clearer and to describe the present disclosure more conveniently, some abbreviations and definitions of key terms are given here. The definitions of these specific terms do not constitute a limitation on the protection scope of the present disclosure.

[0047] Elevating fire-fighting robot: It is a kind of special robot with a small overall vehicle volume and flexible movements. It is especially suitable for fires in old communities with crowded roads, petrochemical fires where rescue personnel cannot approach for rescue, and ultra-high voltage substation fires, etc.

[0048] Limit position: When the slewing platform of the elevating fire-fighting robot rotates to this position, the control of the slewing handle of the slewing platform of the elevating fire-fighting robot fails. Only by operating the handle in the opposite direction can it continue to rotate. This setting is used to prevent the elevating fire-fighting robot from rotating excessively and avoid damage to the wire harness and oil pipe.

[0049] Proximity switch: A position switch that can be operated without mechanical direct contact with the moving part; when the metal detection body approaches the sensing area of the proximity switch, the switch can issue an electrical command without contact, pressure, or spark, and accurately reflect the position and stroke of the moving mechanism.

[0050] First, the present disclosure provides a slewing limit system, as Figures 1 to 4 shown, for limiting the slewing angle of the slewing platform 1 relative to the base 2. The slewing limit system includes:

[0051] A first detection body 34 and a second detection body 35, both connected to the base 2;

[0052] The first detection switch 31 and the second detection switch 32 are both connected to the slewing platform 1 and rotate synchronously with the slewing platform 1. The projections of the first detection switch 31 and the first detection body 34 in the slewing plane are both located on the first circumference, and the projections of the second detection switch 32 and the second detection body 35 in the slewing plane are both located on the second circumference. The centers of the first circumference and the second circumference are both located on the axis of rotation of the slewing platform 1. The first detection switch 31 emits a first signal when it rotates to align with the first detection body 34 in the axial direction of the axis of rotation, and the second detection switch 32 emits a second signal when it rotates to align with the second detection body 35 in the axial direction of the axis of rotation; and

[0053] The controller 6 is configured to limit the slewing platform 1 from rotating in the original rotation direction when receiving the first signal and not receiving the second signal, and to limit the slewing platform 1 from rotating in the original rotation direction when receiving the second signal and not receiving the first signal.

[0054] Specifically, the slewing limit of the slewing platform 1 by the slewing limit system includes clockwise slewing limit and counterclockwise slewing limit, that is, the limit positions include the clockwise extreme position and the counterclockwise extreme position. For example, in Figure 1 the illustrated embodiment, the first detection switch 31 and the first detection body 34 cooperate to detect the counterclockwise extreme position, or the counterclockwise slewing limit position, or the left slewing extreme position of the slewing platform 1, and the second detection switch 32 and the second detection body 35 cooperate to detect the clockwise extreme position, or the clockwise slewing limit position or the right slewing extreme position of the slewing platform 1.

[0055] Specifically, in the related art known to the inventor, the controller 6 can be a PLC control device, which is mostly installed in the upper vehicle part where the slewing platform 1 is located. Optionally, the controller 6 can also be installed in the lower vehicle part where the base 2 is located. At this time, the first detection switch 31 and the second detection switch 32 can be connected to the base 1, and the first detection body 34 and the second detection body 35 can be connected to the slewing platform 1.

[0056] Specifically, the rotation of the slewing platform 1 can be achieved by operating the control handle 4. When the slewing limit system detects that the slewing platform reaches the limit position, the operation of the control handle 4 in the original rotation direction fails, and the slewing platform 1 stops rotating. It is necessary to operate the control handle 4 in the reverse direction to make the slewing platform 1 rotate in the opposite direction to get out of the failure area.

[0057] Specifically, in Figure 1In the illustrated embodiment, when the controller 6 receives the first signal and does not receive the second signal, the slewing platform 1 reaches the counterclockwise limit position, restricting the slewing platform 1 from rotating in the original rotation direction, that is, restricting the slewing platform 1 from continuing to rotate counterclockwise, or in other words, the operation of rotating the control handle 4 counterclockwise fails; similarly, when the controller 6 receives the second signal and does not receive the first signal, the slewing platform 1 reaches the clockwise limit position, restricting the slewing platform 1 from rotating in the original rotation direction, that is, restricting the slewing platform 1 from continuing to rotate clockwise, or in other words, the operation of rotating the control handle 4 clockwise fails.

[0058] Optionally, the slewing platform 1 can be circular or any other shape such as a polygon, and the slewing platform 1 can perform a rotational movement about the slewing axis. Optionally, the positions of the first detection body 34 and the second detection body 35 can be interchanged. For example, they can be in the same position as shown in Figure 1 where the first detection body 34 is used to detect the counterclockwise slewing limit position and the second detection body 35 is used to detect the clockwise slewing limit position, or they can be in the opposite position as shown in Figure 1 where the second detection body 35 is used to detect the counterclockwise slewing limit position and the first detection body 34 is used to detect the clockwise slewing limit position. Correspondingly, in the latter case, the specific manner of restricting the slewing platform from rotating in the original rotation direction is similar to the above embodiment and will not be elaborated.

[0059] Specifically, the first detection switch 31 and the first detection body 34 cooperate to emit the first signal, and the first signal can be a digital signal or the like. The second detection switch 32 and the second detection body 35 cooperate to emit the second signal, and the second signal can also be a digital signal or the like. For example, the first signal is "1" and the second signal is "0", representing that the slewing platform reaches the counterclockwise limit position; the first signal is "0" and the second signal is "1", representing that the slewing platform reaches the clockwise limit position. Optionally, the first detection switch 31 and the second detection switch 32 can be proximity switches, such as magnetoelectric proximity switches, or they can also be travel switches, etc.

[0060] Optionally, the first detection switch 31 and the second detection switch 32 can be of the same type of detection switch. For example, they are both magnetoelectric proximity switches, or they can be of different types of detection switches. For example, one is a proximity switch and the other is a travel switch. The first detection body 34 and the second detection body 35 can be of the same type of detection body or of different types of detection bodies, but the first detection switch 31 must be matched with the first detection body 34, that is, the first detection switch 31 can emit the first signal when it rotates to be aligned with the first detection body 34 in the slewing axis direction, and the second detection switch 32 can emit the second signal when it rotates to be aligned with the second detection body 35 in the slewing axis direction.

[0061] Optionally, the position of the change detection body or the detection switch can be adjusted to limit the slewing platform 1 at different angles. Optionally, two sets of the detection switches and the detection bodies of this embodiment are correspondingly arranged, but the number of the detection switches and the detection bodies is not limited herein. The detection switches and the detection bodies can be arranged in multiple sets or multiple pieces according to the actual requirements according to a similar logic. For example, in addition to the first and second detection bodies, a centering detection body or detection bodies at other arbitrary angles can be arranged along the circumferential direction. For another example, the detection switches and the detection bodies can also be arranged in three sets, four sets, etc. according to the angle requirements under a similar logic.

[0062] Specifically, the setting of the first circumference and the second circumference can ensure that the detection switch and the detection body can be aligned in the direction of the slewing axis through the slewing of the slewing platform 1, improving the reliability of the slewing limit system. Optionally, the radii of the first circumference and the second circumference can be the same or different. For example, when the radii of the first circumference and the second circumference are the same, the first detection switch 31 and the second detection switch 32 can be adjacent in the circumferential tangent direction, and the first detection body 34 and the second detection body 35 can be adjacent in the circumferential tangent direction.

[0063] The slewing limit system of this embodiment restricts one of the clockwise rotation and the counterclockwise rotation through the cooperation of the first detection switch 31 and the first detection body 34, and restricts the rotation in the other direction through the cooperation of the second detection switch 32 and the second detection body 35. It can distinguish the two slewing directions according to the different signals of the first detection switch 31 and the second detection switch 32 without recording the previous rotation direction. Even in case of a power failure or other faults, after the fault is repaired, the controller 6 can also re-limit the slewing platform 1 reliably according to different signals and the limit logic, and there is no possibility that the slewing platform 1 breaks through the limit angle due to data loss, avoiding serious faults such as the breakage of the wire harness and the hydraulic pipe, improving the reliability of the slewing limit system, and ensuring the safety of the slewing platform and related equipment or vehicles, etc.

[0064] The slewing limit system of this embodiment, by adopting two sets of independent and cooperating detection switches and detection bodies, can detect and judge the limit position of the slewing platform according to different detection switch signals. The detection signals and the judgment logic are simple and reliable, without recording the rotation direction before the slewing platform reaches the limit position, which can reduce the production cost, improve the reliability of the slewing limit system, and ensure the safety of the slewing platform and related equipment or vehicles, etc.; by receiving the detection switch signals through the controller 6 to limit the rotation of the slewing platform, the impact on the slewing platform at the limit position can be greatly reduced, improving the motion smoothness of the slewing platform and related equipment or vehicles, etc.

[0065] In some embodiments, as Figures 1 to 3 shown, the radius of the first circumference is greater than that of the second circumference.

[0066] Specifically, the radius of the first circumference is greater than that of the second circumference, so that the first detection switch 31 is radially offset from the second detection switch 32, the first detection body 34, and the second detection body 35, effectively avoiding misoperation or false signals of the detection switch. More specifically, when the radius of the first circumference is the same as that of the second circumference, the first detection switch 31 and the second detection switch 32 emit signals within the same circumference, there is a possibility of false signals, and it is not conducive to adding other detection bodies on the rotation circumference, such as centering detection bodies or other angle detection bodies, etc.

[0067] For the rotation limit system of this embodiment, by making the radius of the first circumference greater than that of the second circumference, it is convenient to set other detection bodies outside the limit position according to requirements, effectively avoiding misoperation or false signals of the detection switch, further improving the reliability of the rotation limit system, and ensuring the safety of the rotation platform and related equipment or vehicles, etc.

[0068] In some embodiments, such as Figure 1 and Figure 2 as shown, at least one group of the first detection switch 31 and the second detection switch 32, and the first detection body 34 and the second detection body 35 are circumferentially offset.

[0069] Specifically, the circumferential direction is the circumferential direction of the rotation circle of the rotation platform 1. Optionally, the relative position relationship between the detection switch and the detection body of the rotation limit system can be set correspondingly according to actual requirements. Optionally, the first detection switch 31 and the second detection switch 32 can be circumferentially aligned, that is, both are located on the same radius line, and the first detection body 34 and the second detection body 35 are circumferentially offset, that is, both are located on different radius lines, as shown in the embodiment of Figure 1 shown.

[0070] Optionally, it can also be that the first detection switch 31 and the second detection switch 32 are circumferentially offset, that is, both are located in different radial directions, and the first detection body 34 and the second detection body 35 are circumferentially aligned, that is, both are located in the same radial direction. Optionally, it can also be that the first detection switch 31 and the second detection switch 32, and the first detection body 34 and the second detection body 35 are all circumferentially offset, but the offset angles of the two groups are different, to ensure that the first detection switch 31 and the first detection body 34, and the second detection switch 32 and the second detection body 35 are not simultaneously aligned and emit signals in the direction of the rotation axis.

[0071] Optionally, when the first detection switch 31 and the first detection body 34, and the second detection switch 32 and the second detection body 35 are simultaneously aligned in the direction of the rotation axis, the controller 6 receives the first signal and the second signal simultaneously, restricting the rotation platform 1 from rotating in the original rotation direction, but the rotation limit system needs to be additionally provided with sensors, etc. to record the original rotation direction of the rotation platform 1 to ensure the reliability of the rotation limit system.

[0072] The setting manner of the detection switch and the detection body in this embodiment can ensure that the slewing limit system can distinguish between the two slewing directions according to different signal combinations of the first detection switch 31 and the second detection switch 32, improve the reliability of the slewing limit system, and ensure the safety of the slewing platform and related equipment or vehicles, etc.

[0073] In some embodiments, such as Figures 1 to 3 shown, both the first detection switch 31 and the second detection switch 32 are located in the first horizontal plane, both the first detection body 34 and the second detection body 35 are located in the second horizontal plane, and the first horizontal plane is higher than the second horizontal plane.

[0074] Specifically, controllers such as PLC control devices are mostly installed in the upper vehicle part where the slewing platform 1 is located. The detection switch is connected to the slewing platform 1 and rotates synchronously with the slewing platform 1. The detection body is fixed to the base 2, which can effectively ensure the timeliness and stability of the signal transmission of the detection switch.

[0075] In this embodiment, by having the horizontal plane where the detection switch is located higher than the horizontal plane where the detection body is located, the timeliness and stability of the signal transmission of the detection switch can be improved, the reliability of the slewing limit system can be improved, and the safety of the slewing platform and related equipment or vehicles, etc. can be ensured.

[0076] In some embodiments, such as Figure 1 and Figure 2 shown, in the direction of the slewing axis, the first detection switch 31 and the first detection body 34 and the second detection switch 32 and the second detection body 35 are never aligned simultaneously.

[0077] Specifically, when the first detection switch 31 and the first detection body 34 and the second detection switch 32 and the second detection body 35 are aligned simultaneously in the direction of the slewing axis, the controller 6 receives the first signal and the second signal simultaneously, which is not conducive to distinguishing between the counterclockwise slewing direction and the clockwise slewing direction.

[0078] Specifically, in the direction of the slewing axis, the first detection switch 31 and the first detection body 34 and the second detection switch 32 and the second detection body 35 are never aligned simultaneously, so that the effective slewing angle of the slewing platform 1 is slightly less than 360°. The slewing limit system sacrifices a very small finite slewing angle in exchange for a great improvement in system reliability.

[0079] The setting manner of the detection switch and the detection body in this embodiment can ensure that the slewing limit system can distinguish between the two slewing directions according to different signal combinations of the first detection switch 31 and the second detection switch 32, improve the reliability of the slewing limit system, and improve the safety of the slewing platform and related equipment or vehicles, etc.

[0080] In some embodiments, such as Figure 1 andFigure 2 As shown, the first detection switch 31 and the second detection switch 32 are aligned in the circumferential direction, and the first detection body 34 and the second detection body 35 are offset in the circumferential direction.

[0081] Specifically, the first detection switch 31 and the second detection switch 32 are aligned in the circumferential direction, that is, the two detection switches are located on the same radial line, and the first detection body 34 and the second detection body 35 are offset in the circumferential direction, that is, the two detection bodies are located on different radial lines.

[0082] For the slewing limit system of this embodiment, by aligning the first detection switch 31 and the second detection switch 32 in the circumferential direction and offsetting the first detection body 34 and the second detection body 35 in the circumferential direction, it is possible to judge the limit position of the slewing platform according to different detection switch signals, effectively avoiding false signals. The detection signals and judgment logic are simple and reliable, which can reduce production costs, improve the reliability of the slewing limit system, and ensure the safety of the slewing platform and related equipment or vehicles, etc.

[0083] In some embodiments, as Figure 1 and Figure 2 shown, the first detection body 34 and the second detection body 35 are adjacent in the circumferential direction.

[0084] Specifically, the first detection body 34 and the second detection body 35 are adjacent in the circumferential direction, that is, the first detection body 34 and the second detection body 35 are offset and adjacent in the circumferential direction.

[0085] In this embodiment, by making the first detection body 34 and the second detection body 35 adjacent in the circumferential direction, it is possible to obtain the largest possible effective slewing angle of the slewing platform 1 on the premise of realizing the judgment of the limit position of the slewing platform according to different detection switch signals.

[0086] In some embodiments, the controller 6 is configured to make the slewing platform 1 stop rotating or rotate in the opposite direction of the original rotation direction when receiving the first signal and not receiving the second signal; when the controller 6 receives the second signal and does not receive the first signal, make the slewing platform 1 stop rotating or rotate in the opposite direction of the original rotation direction.

[0087] Specifically, the rotation of the slewing platform 1 can be realized by operating the control handle 4. For example, in Figure 1 the embodiment shown, when the controller 6 receives the first signal and does not receive the second signal, that is, the slewing platform 1 reaches the counterclockwise limit position, the operation of rotating the control handle 4 counterclockwise fails, and the slewing platform 1 stops rotating. It is necessary to operate the control handle 4 to rotate clockwise to make the slewing platform 1 rotate clockwise to get out of the failure area. The situation where the controller 6 receives the second signal and does not receive the first signal is similar to the above example and will not be elaborated.

[0088] In some embodiments, such as Figures 1 to 3 shown, the slewing limit system further includes:

[0089] A third detection body 33, connected to the base 2, and both the first circumference and the second circumference pass through the third detection body 33;

[0090] Wherein, the radius of the first circumference is greater than that of the second circumference. In the slewing axis direction, the first detection switch 31 and the first detection body 34, and the second detection switch 32 and the second detection body 35 are never aligned simultaneously. The first detection switch 31 emits a first signal when it rotates to be aligned with the third detection body 33 in the slewing axis direction, and the second detection switch 32 emits a second signal when it rotates to be aligned with the third detection body 33 in the slewing axis direction. The controller 6 is configured to emit a prompt signal and / or decelerate the slewing platform 1 when receiving the first signal and the second signal simultaneously.

[0091] Specifically, by the radius of the first circumference being greater than that of the second circumference, the two situations where the controller 6 receives the first signal but not the second signal and receives the second signal but not the first signal only occur at the clockwise limit position or the counterclockwise limit position; by the first detection switch 31 and the first detection body 34, and the second detection switch 32 and the second detection body 35 never being aligned simultaneously in the slewing axis direction, the two detection switches provide four different situations according to the logic, and each different situation represents a specific slewing position.

[0092] Optionally, when the rotation of the slewing platform 1 can be achieved by operating the control handle 4, the prompt signal emitted by the controller 6 can be to vibrate the control handle 4 or an audible and visual signal, etc. Optionally, the third detection body 33 can be arranged at the centering position, or can be arranged at other angular positions as required.

[0093] This embodiment can detect the slewing platform at other angles except for the two limit positions by making the slewing platform emit a prompt signal and / or decelerate when passing through the third detection body, which helps to improve the operation experience of the operator, improve the safety of the slewing limit system, and ensure the safety of the slewing platform and related equipment or vehicles, etc.

[0094] In some embodiments, the controller 6 is configured to determine that the slewing platform 1 is in the centering position when receiving the first signal and the second signal simultaneously.

[0095] Optionally, the centering position can be the position of the slewing platform when it is in the forward direction or the initial position when it is reset, etc. Optionally, the centering position can also be the angular equal division position of the slewing circle. For example, the third detection body 33 is arranged at the centering position of the slewing platform 1, and the first radian θ1 corresponding to the third detection body 33 and the first detection body 34 on the first slewing circumference is equal to the second radian θ2 corresponding to the third detection body 33 and the second detection body 35 on the second slewing circumference. Both the first radian θ1 and the second radian θ2 are less than π. For example, both the first radian θ1 and the second radian θ2 are 2 / 3π; correspondingly, Figure 1 the first radian θ1 can also be greater than the second radian θ2.

[0096] Specifically, the two detection switches and the three detection bodies provide four different situations according to the logic, and each different situation represents a specific slewing position. For example, in the Figure 1 illustrated embodiment, several situations are as follows: The controller 6 receives the first signal and does not receive the second signal, that is, the signals of the two detection switches are "1, 0". At this time, the slewing platform 1 is in the counterclockwise limit position, restricting the slewing platform 1 from continuing to rotate counterclockwise; the controller 6 receives the second signal and does not receive the first signal, that is, the signals of the two detection switches are "0, 1". At this time, the slewing platform 1 is in the clockwise limit position, restricting the slewing platform 1 from continuing to rotate clockwise; the controller 6 receives both the first signal and the second signal, that is, the signals of the two detection switches are "1, 1". At this time, the slewing platform 1 is in the centering position, and the controller 6 issues a prompt signal and / or decelerates the slewing platform 1; the controller 6 does not receive both the first signal and the second signal, that is, the signals of the two detection switches are "0, 0". At this time, the slewing platform 1 is between the centering position and the two limit positions, and the slewing platform 1 can rotate in any direction.

[0097] By setting and detecting the centering position in this embodiment, it is possible to detect the slewing platform in addition to the two limit positions, enabling the slewing limit system to simultaneously have the slewing limit detection function and the centering detection function, which helps the equipment to move forward or reset, thereby improving the operation experience of the operator, enhancing the safety of the slewing limit system, and ensuring the safety of the slewing platform and related equipment or vehicles, etc.

[0098] In some embodiments, as Figure 1 and Figure 3 shown, the third detection body 33 and the first detection body 34 are arranged opposite to each other along the radial direction, and the first detection body 34 and the second detection body 35 are staggered and adjacent in the circumferential direction.

[0099] Specifically, the third detection body 33 and the first detection body 34 being arranged opposite to each other along the radial direction means that the third detection body 33 and the first detection body 34 are located on the same diameter line.

[0100] By optimizing the arrangement positions of the three detection bodies, this embodiment can, on the premise of realizing the determination of the limit position of the slewing platform according to different detection switch signals, detect the slewing platform 1 at the third detection body 33 by means of the third detection body 33, and at the same time enable the slewing platform 1 to obtain as large an effective slewing angle as possible, which helps to improve the operation experience of the operator, enhance the safety of the slewing limit system, and ensure the safety of the slewing platform and related equipment or vehicles, etc.

[0101] In some embodiments, such as Figure 2 and Figure 3 shown, the slewing limit system further includes:

[0102] A bracket 5, including a first cross plate 51, a second cross plate 52 and a vertical plate 53. The first cross plate 51 is connected to the top end of the vertical plate 53 and extends along the inner side in the radial direction. The second cross plate 52 is connected to the bottom end of the vertical plate 53 and extends along the outer side in the radial direction. Both the first detection switch 31 and the second detection switch 32 are arranged on the second cross plate 52.

[0103] Specifically, the vertical plate 53 can be parallel to the slewing axis. Optionally, the first detection switch 31 and the second detection switch 32 can penetrate through the second cross plate 52 or be fixed on the bottom surface of the second cross plate 52. Optionally, the first cross plate 51 can be fixed to the bottom of the slewing platform 1 by fixing bolts 54.

[0104] The bracket 5 of this embodiment not only provides a fulcrum for the installation of the first detection switch 31 and the second detection switch 32, but also can reduce the distance between the detection switch and the detection body in the vertical direction, thereby improving the accuracy and stability of the detection signal, enhancing the reliability of the slewing limit system, and ensuring the safety of the slewing platform and related equipment or vehicles, etc.

[0105] In some embodiments, both the first detection switch 31 and the second detection switch 32 include proximity switches.

[0106] Specifically, the cooperation control of the proximity switch and the controller 6 can avoid the impact caused by the direct contact between the detection switch and the detection body. Specifically, the proximity switch can be a magnetoelectric proximity switch to further improve the accuracy and stability of the detection signal.

[0107] This embodiment receives the proximity switch signal through the controller 6 to limit the rotation of the slewing platform, which can greatly reduce the impact on the slewing platform at the limit position and improve the motion smoothness of the slewing platform and related equipment or vehicles, etc.

[0108] In some specific embodiments, such as Figures 1 to 4As shown in the figure, the slewing limit system includes a first detection switch 31, a second detection switch 32, a first detection body 34, a second detection body 35, and a third detection body 33. The third detection body 33 is arranged at the centering position. Both the first circumference and the second circumference pass through the third detection body 33. The radius of the first circumference is greater than that of the second circumference. The first detection switch 31 and the first detection body 34, and the second detection switch 32 and the second detection body 35 are never aligned simultaneously. The third detection body 33 and the first detection body 34 are arranged radially opposite to each other. The first detection body 34 and the second detection body 35 are circumferentially offset and adjacent to each other. Both the first detection switch 31 and the second detection switch 32 include proximity switches. Specifically, the first detection body 34, the second detection body 35, and the third detection body 33 can be detection plates, etc. The slewing platform 1 rotates left, i.e., clockwise, and rotates right, i.e., counterclockwise. The controller 6 is a PLC controller.

[0109] Specifically, when the slewing platform 1 rotates left, the control handle 4 of the slewing platform 1 is turned to the left slewing position, and the first contact 41 is turned on. At this time, the PLC controller controls the opening of the first hydraulic valve 71 of the slewing platform 1. When it rotates to the left slewing limit position, after the first detection switch 31 detects the first detection body 34, the first signal of the first detection switch 31 is transmitted to the PLC controller, and the second signal of the second detection switch 32 is not transmitted to the PLC controller. At this time, the PLC controller determines that the slewing platform 1 has rotated to the left limit position, and the left slewing action of the control handle 4 of the slewing platform 1 fails. The PLC controller controls the closing of the first hydraulic valve 71 of the slewing platform 1, and the slewing platform 1 stops rotating and can only perform the right slewing action.

[0110] Specifically, when the slewing platform 1 rotates right, the control handle 4 of the slewing platform 1 is turned to the right slewing position, and the second contact 42 is turned on. At this time, the PLC controller controls the opening of the second hydraulic valve 72 of the slewing platform 1. When it rotates to the right slewing limit position, after the second detection switch 32 detects the second detection body 35, the second signal of the second detection switch 32 is transmitted to the PLC controller, and the first signal of the first detection switch 31 is not transmitted to the PLC controller. At this time, the PLC controller determines that the slewing platform 1 has rotated to the right limit position, and the right slewing action of the control handle 4 of the slewing platform 1 fails. The PLC controller controls the closing of the second hydraulic valve 72 of the slewing platform 1, and the slewing platform 1 stops rotating and can only perform the left slewing action.

[0111] Specifically, when the slewing platform 1 rotates to the centering position, both the first detection switch 31 and the second detection switch 32 detect the third detection body 33 simultaneously, and the first signal and the second signal of the first detection switch 31 and the second detection switch 32 are transmitted to the PLC controller simultaneously. At this time, the PLC controller determines that the slewing platform 1 has rotated to the middle position, and the controller 6 performs a deceleration or reminder action without restricting the slewing.

[0112] Specifically, when the slewing platform 1 rotates to other positions, neither the first detection switch 31 nor the second detection switch 32 can detect the detection body, and the first signal and the second signal of the first detection switch 31 and the second detection switch 32 are not transmitted to the PLC controller at the same time, and the slewing of the slewing platform 1 is not restricted.

[0113] For the slewing limit system of this embodiment, by adopting independent detection switches and detection bodies, it can detect and judge the limit position or centering position of the slewing platform according to different detection switch signals, so that the system has both slewing limit detection function and centering detection function at the same time; the detection signals and judgment logic are simple and reliable, without the need to record the rotation direction of the slewing platform before reaching the limit position, which can reduce production costs, improve the reliability of the slewing limit system, and ensure the safety of the slewing platform and related equipment or vehicles, etc.; by receiving the proximity switch signal through the controller 6 to limit the rotation of the slewing platform, the impact on the slewing platform at the limit position can be greatly reduced, and the movement smoothness of the slewing platform and related equipment or vehicles, etc. can be improved.

[0114] Secondly, the present disclosure proposes a slewing limit control method for a slewing limit system based on the above embodiment, including:

[0115] Obtain the signals of the first detection switch 31 and the second detection switch 32;

[0116] When the first signal is received and the second signal is not received, limit the slewing platform 1 to rotate in the direction close to the second detection body 35;

[0117] When the second signal is received and the first signal is not received, limit the slewing platform 1 to rotate in the direction close to the first detection body 34.

[0118] For the slewing limit control method of this embodiment, by adopting two groups of independent and cooperating detection switches and detection bodies, it can detect and judge the limit position of the slewing platform according to different detection switch signals, the judgment logic is simple and reliable, without the need to record the rotation direction of the slewing platform before reaching the limit position, which can reduce the production cost of the slewing limit system, improve the reliability of the slewing limit system, and ensure the safety of the slewing platform and related equipment or vehicles, etc.

[0119] In some embodiments, the slewing limit system further includes a third detection body 33 connected to the base 2, both the first circumference and the second circumference pass through the third detection body 33, the radius of the first circumference is greater than that of the second circumference, the first detection switch 31 and the first detection body 34 and the second detection switch 32 and the second detection body 35 are never aligned simultaneously, and the slewing limit control method further includes:

[0120] When the first signal and the second signal are received simultaneously, issue a prompt signal and / or decelerate the slewing platform 1.

[0121] Optionally, when the first signal and the second signal are received simultaneously, it can be determined that the slewing platform 1 is in the centering position.

[0122] The control method of this embodiment can detect the slewing platform at other angles except the two limit positions by making the slewing platform emit a prompt signal and / or decelerate when passing through the third detection body, which helps to improve the operation experience of the operator, enhance the safety of the slewing limit system, and ensure the safety of the slewing platform and related equipment or vehicles, etc.

[0123] In some embodiments, when the first signal and the second signal are not received simultaneously, the rotation direction of the slewing platform 1 is not restricted.

[0124] The control method of this embodiment can improve the smoothness of the operation of the slewing platform and related equipment or vehicles, etc. while ensuring safety by making the slewing platform 1 rotate freely at positions other than the limit position and the centering position.

[0125] In addition, the present disclosure also provides an elevating fire extinguishing robot, including:

[0126] The lower vehicle part, including the base 2;

[0127] The upper vehicle part, including the slewing platform 1, which is rotatably arranged on the base 2 in the horizontal plane; and

[0128] The slewing limit system as described in the above embodiment.

[0129] Specifically, the base 2 can be the vehicle frame of the lower vehicle part, etc.

[0130] The elevating fire extinguishing robot of this embodiment can detect and judge the limit position of the slewing platform according to different detection switch signals by adopting the slewing limit system of the above embodiment. The detection signal and the judgment logic are simple and reliable. There is no need to record the rotation direction of the slewing platform before reaching the limit position, which can reduce the production cost and ensure the safety of the elevating fire extinguishing robot; by receiving the detection switch signal through the controller to limit the rotation of the slewing platform, the impact on the slewing platform at the limit position can be reduced, and the motion smoothness of the elevating fire extinguishing robot can be improved.

[0131] The above has introduced in detail a slewing limit system, its control method, and an elevating fire-fighting robot provided by the present disclosure. Specific embodiments are applied herein to elaborate on the principle and implementation manner of the present disclosure. The description of the above embodiments is only used to help understand the method and its core idea of the present disclosure. It should be noted that for those of ordinary skill in the art, without departing from the principle of the present disclosure, several improvements and modifications can be made to the present disclosure, and these improvements and modifications also fall within the protection scope of the claims of the present disclosure.

Claims

1. A rotary limit system, characterized in that, it is used to limit the rotary angle of a rotary platform (1) relative to a base (2), and the rotary limit system includes: A first detection body (34) and a second detection body (35), both connected to the base (2); A first detection switch (31) and a second detection switch (32), both connected to the rotary platform (1) and rotating synchronously with the rotary platform (1). The projections of the first detection switch (31) and the first detection body (34) in the rotary plane are both located on a first circumference, and the projections of the second detection switch (32) and the second detection body (35) in the rotary plane are both located on a second circumference. The centers of the first circumference and the second circumference are both located on the rotation axis of the rotary platform (1). The first detection switch (31) emits a first signal when it rotates to be aligned with the first detection body (34) in the direction of the rotation axis, and the second detection switch (32) emits a second signal when it rotates to be aligned with the second detection body (35) in the direction of the rotation axis; A third detection body (33), connected to the base (2), and both the first circumference and the second circumference pass through the third detection body (33); and A controller (6), configured to limit the rotary platform (1) from rotating in the original rotation direction when receiving the first signal and not receiving the second signal, and limit the rotary platform (1) from rotating in the original rotation direction when receiving the second signal and not receiving the first signal; wherein, the radius of the first circumference is greater than that of the second circumference, and in the direction of the rotation axis, the first detection switch (31) and the first detection body (34) and the second detection switch (32) and the second detection body (35) are never aligned simultaneously. The first detection switch (31) emits the first signal when it rotates to be aligned with the third detection body (33) in the direction of the rotation axis, and the second detection switch (32) emits the second signal when it rotates to be aligned with the third detection body (33) in the direction of the rotation axis. The controller (6) is configured to emit a prompt signal and / or decelerate the rotary platform (1) when receiving both the first signal and the second signal.

2. The rotary limit system according to claim 1, characterized in that, the radius of the first circumference is greater than that of the second circumference.

3. The rotary limit system according to claim 1, characterized in that, at least one group of the first detection switch (31) and the second detection switch (32) and the first detection body (34) and the second detection body (35) are offset in the circumferential direction.

4. The rotary limit system according to claim 1, characterized in that, the first detection switch (31) and the second detection switch (32) are both located in a first horizontal plane, the first detection body (34) and the second detection body (35) are both located in a second horizontal plane, and the first horizontal plane is higher than the second horizontal plane.

5. The slewing limit system according to claim 1, characterized in that in the direction of the slewing axis, the first detection switch (31) and the first detection body (34), and the second detection switch (32) and the second detection body (35) are never aligned simultaneously.

6. The slewing limit system according to claim 1, characterized in that the first detection switch (31) and the second detection switch (32) are aligned circumferentially, and the first detection body (34) and the second detection body (35) are offset circumferentially.

7. The slewing limit system according to claim 6, characterized in that the first detection body (34) and the second detection body (35) are adjacent circumferentially.

8. The slewing limit system according to claim 1, characterized in that the controller (6) is configured to stop the slewing platform (1) from rotating or rotate it in the opposite direction of the original rotation direction when receiving the first signal and not receiving the second signal; when the controller (6) receives the second signal and does not receive the first signal, stop the slewing platform (1) from rotating or rotate it in the opposite direction of the original rotation direction.

9. The slewing limit system according to claim 1, characterized in that the controller (6) is configured to determine that the slewing platform (1) is in the centering position when receiving the first signal and the second signal simultaneously.

10. The slewing limit system according to claim 1, characterized in that the third detection body (33) and the first detection body (34) are arranged opposite to each other radially, and the first detection body (34) and the second detection body (35) are offset and adjacent circumferentially.

11. The slewing limit system according to any one of claims 1 to 10, characterized in that further comprising: a bracket (5), including a first cross plate (51), a second cross plate (52) and a vertical plate (53), the first cross plate (51) is connected to the top end of the vertical plate (53) and extends radially inward, the second cross plate (52) is connected to the bottom end of the vertical plate (53) and extends radially outward, and the first detection switch (31) and the second detection switch (32) are both arranged on the second cross plate (52).

12. The slewing limit system according to any one of claims 1 to 10, characterized in that both the first detection switch (31) and the second detection switch (32) include proximity switches.

13. A slewing limit control method based on the slewing limit system according to any one of claims 1 to 12, characterized in that comprising: acquiring signals of the first detection switch (31) and the second detection switch (32); when receiving the first signal and not receiving the second signal, restricting the slewing platform (1) from rotating towards the direction close to the second detection body (35); when receiving the second signal and not receiving the first signal, restricting the slewing platform (1) from rotating towards the direction close to the first detection body (34).

14. The slewing limit control method according to claim 13, characterized in that, the slewing limit system further includes a third detection body (33) connected to the base (2), both the first circumference and the second circumference pass through the third detection body (33), the radius of the first circumference is greater than that of the second circumference, the first detection switch (31) and the first detection body (34), and the second detection switch (32) and the second detection body (35) are never aligned simultaneously, and the slewing limit control method further includes: when the first signal and the second signal are received simultaneously, sending a prompt signal and / or decelerating the slewing platform (1).

15. The slewing limit control method according to claim 13 or 14, characterized in that, when the first signal and the second signal are not received simultaneously, the rotation direction of the slewing platform (1) is not restricted.

16. An elevated fire-fighting robot, characterized in that, comprising: a lower vehicle part including the base (2); an upper vehicle part including the slewing platform (1), the slewing platform (1) being rotatably arranged on the base (2) in a horizontal plane; and a slewing limit system according to any one of claims 1 to 12.

Images