Flexible swing limiting mechanism, control method and engineering machine

Abstract

The application discloses a flexible rotary limiting mechanism, a control method and engineering machinery, which comprises two flexible buffer deceleration assemblies symmetrically arranged on a lower frame and a stop block assembly fixed on an upper frame between the two flexible buffer deceleration assemblies; the flexible buffer deceleration assembly comprises an outer shell, a flexible buffer component, a pressure detection component and a first elastic rubber block; the stop block assembly can rotate on the lower frame along with the upper frame; when the upper frame rotates, the stop block assembly penetrates into an arc-shaped guide groove on the outer shell and contacts the first elastic rubber block to realize limiting and buffering, converts kinetic energy into elastic potential energy, and then converts the elastic potential energy into a pressure electric signal; the signal is fed back to a hydraulic oil control system; with the gradual increase of the pressure, the flow of the hydraulic oil is gradually reduced, and an alarm is sent to remind the driver; a rated pressure value is set; when the elastic potential energy reaches the set value, the supply of the hydraulic oil is directly cut off, and the upper frame stops running.

Description

TECHNICAL FIELD

[0001] The present application relates to a flexible rotary limiting mechanism, belonging to the technical field of engineering machinery. BACKGROUND

[0002] The hydraulic excavator generally comprises a superstructure, an undercarriage and a rotary mechanism, etc. The superstructure is connected with the outer ring of the rotary mechanism, and the undercarriage is connected with the inner ring of the rotary mechanism. In the wide working environment of engineering construction and mining, the superstructure of the excavator can perform circumferential operation around the center of the rotary mechanism. However, in some narrow or specific working conditions, in order to avoid the collision between the working device, hydraulic pipe and the surrounding wall or rock, the excavator is only allowed to work within a specified angle range to ensure the safety of operation. At present, the rotary limiting mechanism has limited limiting angle, does not have the function of limiting multiple angles, cannot accurately control the rotary angle, has poor flexibility, and is inconvenient to operate.

[0003] The utility model patent with the publication number CN209277227U proposes a rotary limiting mechanism, the superstructure frame is provided with a stop block, the undercarriage frame is provided with a limiting block, and the rotary angle is limited by adjusting the circumferential distance of the superstructure frame buffer. The utility model patent with the publication number CN214940593U proposes a rotary limiting structure of engineering machinery, the limiting blocks representing different angles are misaligned and welded on the undercarriage frame along the radial direction of the rotation center, and the rotary angle is controlled by adjusting the contact between the cooperating parts fixed on the superstructure frame. The utility model patent with the publication number CN214194730 has a similar limiting principle, and the angle limiting is realized by mechanical collision. The limiting mechanisms of the above-mentioned patents have some shortcomings: during the mechanical limiting process, the collision between the stop blocks will cause a huge impact, and in the working state, the kinetic energy of the superstructure frame is very large, so the vibration caused by the impact is easy to damage the equipment and poses a huge safety risk. The patent CN209277227U mentioned above adds a buffer device, but in actual work, simply relying on the buffer device to absorb the huge rotary kinetic energy of the excavator during work is easy to fatigue and fail, resulting in the loss of limiting function. At the same time, frequent replacement of different lengths of shock absorbers increases the maintenance cost.

[0004] The invention patent with the publication number CN113235690A proposes a rotary limiting mechanism, which welds a specific slide on the lower frame in advance, installs two sliders on the slide, fixes the sliders according to the working angle, installs a proximity switch on the upper frame, controls the on-off of the hydraulic oil circuit through the cooperation of the proximity switch and the slider, and realizes the rotary limiting function. The invention patents with the publication numbers CN219343366U and CN114809180A also adopt similar limiting principles. The above-mentioned patent principles also have some shortcomings, for example, in the actual working process, a large amount of soil, dust or mud will accumulate on the lower frame, which causes the proximity switch of the upper frame to fail to work normally, causes the excavator to fail to work within the specified angle, and has a great safety hazard. SUMMARY

[0005] According to the deficiencies of the prior art, the utility model provides a flexible rotary limiting mechanism, which is assembled, convenient to install, disassemble and maintain, the rotary angle stroke is adjustable, and different angle narrow working conditions can be coped with.

[0006] The present application is implemented according to the following technical solutions:

[0007] In the first aspect, the present application provides a flexible rotary limiting mechanism, which comprises two flexible buffer deceleration assemblies symmetrically arranged on a lower frame and a stop block assembly fixed on an upper frame located between the two flexible buffer deceleration assemblies.

[0008] The flexible buffer deceleration assembly comprises:

[0009] The outer shell is an arc-shaped box structure, which is installed on the outer circumferential surface of the lower frame and extends along the circumference of the lower frame. An arc-shaped guide groove extending from the circumferential end I to the circumferential end II is formed in the top plate of the outer shell.

[0010] The flexible buffer component is installed in the arc-shaped cavity of the outer shell. When there is no external force acting on the flexible buffer component, the circumferential two ends of the flexible buffer component extend to the circumferential end I and the circumferential end II of the outer shell respectively.

[0011] The pressure detection component is installed on one end of the flexible buffer component close to the circumferential end II.

[0012] The first elastic rubber block is installed on the other end of the flexible buffer component close to the circumferential end I.

[0013] The stop block assembly can rotate on the lower frame with the upper frame. When the upper frame rotates, the stop block assembly penetrates into the arc-shaped guide groove and contacts the first elastic rubber block to realize limiting and buffering, converts kinetic energy into elastic potential energy, and further converts it into a pressure electric signal.

[0014] In some embodiments, the outer shell is fixed on the outer circumferential surface of the lower frame in a detachable manner, and the rotation angle range of the upper frame is adjusted by changing the position of the outer shell mounted on the lower frame.

[0015] In some embodiments, the outer shell is provided with a dovetail groove extending from the circumferential end II to the circumferential end I on the arc-shaped inner side plate facing the lower frame; a guide rail extending along the circumferential direction is fixed on the outer circumferential surface of the lower frame by bolts, the cross section of the guide rail is dovetail structure, the outer shell is fixed on the lower frame by tightly clamping the guide rail in the dovetail groove, and the relative circumferential rotation of the outer shell and the guide rail is limited by the limiting components arranged at the circumferential ends of the dovetail groove.

[0016] In some embodiments, the length of the dovetail groove is consistent with the length of the guide rail, the outer shell side plate at the circumferential end II is fixed with a baffle II serving as the limiting component at the notch of the dovetail groove, the movement of the guide rail is limited by blocking the notch with the baffle II; the arc-shaped inner side plate at the circumferential end of the other dovetail groove opposite the notch is fixed with a baffle I serving as the limiting component, and the movement of the guide rail is limited by the baffle I.

[0017] In some embodiments, the flexible buffer component comprises:

[0018] a stop block fixed on the inner side of the outer shell side plate at the circumferential end II;

[0019] an arc-shaped guide rod, one end of which is fixed in the central region of the stop block, and the other end of which extends to the circumferential end I of the outer shell;

[0020] a limiting spring sleeved on the arc-shaped guide rod, the limiting spring being fixed with a connecting block near the circumferential end I, the first elastic rubber block being fixed on the connecting block, and the central regions of the first elastic rubber block and the connecting block being provided with through holes through which the arc-shaped guide rod penetrates.

[0021] In some embodiments, the pressure detection component is a pressure sensor mounted on the side of the stop block facing the limiting spring, the limiting spring being in contact with the pressure sensor, the pressure sensor converting different elastic potential energy into different electrical signals; the wire harness of the pressure sensor is electrically connected with the hydraulic oil control system of the whole vehicle after penetrating out of the stop block and the outer shell side plate, and is used for feeding back the electrical signals to the hydraulic oil control system.

[0022] In some embodiments, the outer shell top plate is provided with a first baffle plate for covering the arc-shaped guide groove, the first baffle plate being connected with the first elastic rubber block, and the first baffle plate being closed and opened with the arc-shaped guide groove by the first elastic rubber block.

[0023] In some embodiments, the first sealing plate is a flexible and magnetically attracted arc-shaped pad, one end of the arc-shaped pad is fixed on the outer shell top plate near the circumferential end II, and the other end of the arc-shaped pad is connected with the first elastic rubber block; when the first elastic rubber block contacts the circumferential end I, the arc-shaped pad is completely adsorbed on the outer shell top plate around the arc-shaped guide groove, for sealing the arc-shaped guide groove; when the stop block assembly pushes the first elastic rubber block to move, the first elastic rubber block drives the arc-shaped pad to gradually separate from the outer shell top plate, and then the arc-shaped guide groove is opened, so that the stop block assembly penetrates in the arc-shaped guide groove.

[0024] In some embodiments, the stop block assembly comprises:

[0025] The mounting block is in a T-shaped structure as a whole, comprising a horizontal plate and a vertical plate, the horizontal plate is fixed on the upper frame by bolts, and the vertical plate is provided with a through hole I opening outward to the outer shell;

[0026] The second elastic rubber block is symmetrically mounted on the two side surfaces of the vertical plate, and the second elastic rubber block is provided with a through hole II, and the two side through holes II and the middle through hole I form an arc-shaped through hole, so that the arc-shaped guide rod in the flexible buffer component can penetrate.

[0027] In some embodiments, the outer shell is provided with a window on the arc-shaped outer side plate away from the lower frame, which is convenient for assembling the flexible buffer component, the pressure detection component and the first elastic rubber block, and the arc-shaped outer side plate is fixed with a second sealing plate by bolts for sealing the window.

[0028] In a second aspect, the present application provides an engineering machine, comprising:

[0029] The lower frame;

[0030] The upper frame can perform a slewing motion on the lower frame;

[0031] The flexible slewing limiting mechanism described above.

[0032] In a third aspect, the present application provides a control method based on the flexible slewing limiting mechanism described above:

[0033] When the upper frame performs a slewing motion on the lower frame, the stop block assembly only performs a reciprocating circumferential motion between the two flexible buffer deceleration assemblies, and this slewing angle region is a normal working region;

[0034] When the upper frame rotation angle exceeds the normal working area angle, the second elastic rubber block in the block assembly starts mechanical contact with the first elastic rubber block, and the limiting spring in the flexible buffer component is compressed, at this time the elastic potential energy of the limiting spring is transmitted to the pressure detection component, the pressure detection component converts different elastic potential energy into different electric signals, the control system controls the rotation mechanism hydraulic oil flow according to different electric signals, the greater the elastic potential energy, the smaller the rotation mechanism hydraulic oil flow;

[0035] When the upper frame rotation angle reaches the preset limit position, the control system cuts off the rotation mechanism hydraulic oil supply, the upper frame stops rotating, and the alarm system issues an alarm to remind the driver that the dangerous area has been reached.

[0036] Compared with the prior art, the present application has the following advantages:

[0037] 1、The present application can absorb and convert the excavator rotation kinetic energy into elastic potential energy through mechanical contact, and then convert it into different pressure electric signals, control the rotation speed of the excavator by controlling the rotation mechanism hydraulic oil flow through the electric signals, accurately control the rotation angle of the excavator, avoid the impact of traditional rigid mechanical collision on the equipment, and ensure the safety of the equipment and the operating personnel.

[0038] 2、The present application can realize the rotation limiting function of different rotation angles of the equipment by reasonably setting the length of the limiting spring, and ensure its wide applicability.

[0039] 3、The flexible rotation limiting mechanism can accurately control the hydraulic oil flow size, rotation speed size and other parameters according to energy conversion, and can meet the rotation limiting requirements of the equipment under the working conditions of large torque and large load.

[0040] 4、The flexible limiting mechanism of the present application adopts mechanical parts and structures for most parts, does not use complex electrical elements or solenoid valves and other elements, has simple structure, is safe and reliable, and adopts assembly type structure, which is convenient for installation, disassembly and maintenance. DETAILED DESCRIPTION

[0041] The accompanying drawings are part of the present application and serve to provide a further understanding of the present application, the illustrative embodiments of the present application and their descriptions serve to explain the present application, but do not constitute undue limitations on the present application. Obviously, the drawings described below are only some embodiments, and other drawings can be obtained from these drawings without creative labor for those skilled in the art.

[0042] In the drawings:

[0043] Figure 1 An application schematic diagram of a flexible rotation limiting mechanism of the present application;

[0044] Labelled as: 1, upper frame; 2, flexible buffering deceleration assembly; 3, block assembly; 4, lower frame.

[0045] Figure 2 It is the overall structure schematic diagram of the flexible buffering deceleration assembly of the present application;

[0046] Figure 3 It is the exploded schematic diagram of the flexible buffering deceleration assembly of the present application;

[0047] Labelled as: 201, first bolt; 202, first sealing plate; 203, guide rail; 204, second bolt; 205, outer shell; 206, block; 207, limiting spring; 208, second sealing plate; 209, limiting component; 210, first elastic rubber block; 211, arc-shaped guide rod; 212, outer shell top plate; 213, outer shell side plate; 214, circumferential end I; 215, circumferential end II; 216, arc-shaped guide groove; 217, arc-shaped inner side plate; 218, arc-shaped outer side plate; 219, connecting block.

[0048] Figure 4 It is the overall structure schematic diagram of the block assembly of the present application;

[0049] Labelled as: 301, mounting block; 302, gasket; 303, third bolt; 304, fourth bolt; 305, second elastic rubber block.

[0050] Figure 5 It is the schematic diagram of the narrow working area of the excavator of the present application.

[0051] It should be noted that these drawings and written descriptions are not intended to limit the scope of the concept of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0052] In order to make the purpose, technical scheme and advantages of the embodiments of the present application more clear, the technical scheme in the embodiments will be described clearly and completely below in conjunction with the drawings of the embodiments of the present application, and the following embodiments are used to illustrate the present application, but not to limit the scope of the present application.

[0053] In the description of the present application, it should be noted that the terms “upper”, “lower”, “front”, “rear”, “left”, “right”, “inner”, “outer” and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as limiting the device or element indicated to have a specific orientation, to be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present application.

[0054] In the description of the present application, it should be noted that unless otherwise expressly specified and limited, the terms "mounting", "connection", "linking" should be understood in a broad sense, for example, it can be fixed connection, or detachable connection, or integral connection; it can be mechanical connection, or electrical connection; it can be direct connection, or indirect connection through intermediate medium. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0055] As shown in Figure 1 , Figure 2 , Figure 3 , Figure 4 A flexible rotary limiting mechanism, comprising two flexible buffer deceleration assemblies 2 symmetrically arranged on the lower frame 4 and a stop block assembly 3 fixed on the upper frame 1 located between the two flexible buffer deceleration assemblies 2; the flexible buffer deceleration assembly 2 comprises an outer shell 205, a flexible buffer component, a pressure detection component, and a first elastic rubber block 210; the outer shell 205 is an arc-shaped box structure, which is mounted on the outer circumferential surface of the lower frame 4 and extends along the circumference of the lower frame 4; an arc-shaped guide groove 216 is formed on the top plate 212 of the outer shell 205, extending from the circumferential end Ⅰ 214 to the circumferential end Ⅱ 215; the flexible buffer component is installed in the arc-shaped cavity of the outer shell 205, and when there is no external force acting on the flexible buffer component, the circumferential ends of the flexible buffer component extend to the circumferential end Ⅰ 214 and the circumferential end Ⅱ 215 of the outer shell 205 respectively; the pressure detection component is installed on one end of the flexible buffer component close to the circumferential end Ⅱ 215; the first elastic rubber block 210 is installed on the other end of the flexible buffer component close to the circumferential end Ⅰ 214; wherein the stop block assembly 3 can rotate on the lower frame 4 following the upper frame 1; when the upper frame 1 rotates, the stop block assembly 3 penetrates into the arc-shaped guide groove 216 and contacts the first elastic rubber block 210 to realize limiting and buffering, converting kinetic energy into elastic potential energy, and further converting it into a pressure electric signal; this signal is fed back to the hydraulic oil control system; as the pressure gradually increases, the flow of hydraulic oil is gradually reduced, and at the same time an alarm is sent to remind the driver; the rated pressure value is set, and when the elastic potential energy reaches the set value, the hydraulic oil supply is directly cut off, and the upper frame stops running. The flexible rotary limiting mechanism can slowly reduce the operating speed of the excavator, smoothly transition to stop, and avoid the harm caused by a huge impact.

[0056] Further, the outer shell 205 is detachably fixed on the outer circumferential surface of the lower frame 4, which is convenient for installation, disassembly and maintenance; by changing the position of the outer shell 205 mounted on the lower frame 4, the rotary angle stroke of the upper frame 1 can be adjusted to cope with different angle narrow working conditions.

[0057] As shown in Figure 2 , Figure 3As shown in the figure, the outer shell 205 is provided with a dovetail groove on the arc-shaped inner side plate 217 facing the lower frame 4, which extends from the circumferential end II 215 to the circumferential end I 214; the outer circumference of the lower frame 4 is fixed with a guide rail 203 extending along the circumference thereof by the second bolt 204, the cross section of the guide rail 203 is dovetail structure, the outer shell 205 is fixed on the lower frame 4 by tightly clamping the guide rail 203 in the dovetail groove, and the relative circumferential rotation of the outer shell 205 and the guide rail 203 is limited by the limiting components 209 arranged at the circumferential ends of the dovetail groove.

[0058] Further, as shown in the figure, Figure 2 、 Figure 3 the length of the dovetail groove is consistent with the length of the guide rail, the length of the outer shell 205 is about 100mm longer than the length of the guide rail 203, the outer shell side plate 213 at the circumferential end II 215 is fixed with a baffle II serving as the limiting component 209 at the slot opening of the dovetail groove by the first bolt 201, the movement of the guide rail 203 is limited by plugging the slot opening by the baffle II; the arc-shaped inner side plate 217 at the circumferential end of the other dovetail groove opposite to the slot opening is fixed with a baffle I serving as the limiting component 209, the movement of the guide rail 203 is limited by the baffle I.

[0059] The specific structure of the flexible buffer component is further described as follows.

[0060] As shown in the figure, Figure 2 、 Figure 3 the flexible buffer component includes a stop block 206, an arc-shaped guide rod 211 and a limiting spring 207; the stop block 206 is fixed on the inner side of the outer shell side plate 213 at the circumferential end II 215 by the first bolt 201; one end of the arc-shaped guide rod 211 is fixed at the center area of the stop block 206, and the other end extends to the circumferential end I 214 of the outer shell 205; the limiting spring 207 is sleeved on the arc-shaped guide rod 211, the limiting spring 207 is fixed with a connecting block 219 near the circumferential end I 214, the first elastic rubber block 210 is fixed on the connecting block 219 by the first bolt 201, and the center areas of the first elastic rubber block 210 and the connecting block 219 are both provided with through holes through which the arc-shaped guide rod 211 can pass.

[0061] The specific structure of the pressure detection component is further described as follows.

[0062] As shown in the figure, Figure 2 、 Figure 3As shown, the pressure detecting component is a pressure sensor, which is installed on the side of the stopper 206 facing the limit spring 207, the limit spring 207 is in contact with the pressure sensor, and the pressure sensor converts different elastic potential energy into different electrical signals; the wire harness of the pressure sensor is electrically connected with the hydraulic oil control system of the whole vehicle after passing through the stopper 206 and the outer shell side plate 213, and is used to feed back the electrical signals to the hydraulic oil control system.

[0063] Further, as shown in Figure 2 , Figure 3 As shown, the outer shell top plate 212 is provided with a first sealing plate 202 for covering the arc-shaped guide groove 216, the first sealing plate 202 is connected with the first elastic rubber block 210, and the first sealing plate 202 is closed and opened by the first elastic rubber block 210 to close and open the arc-shaped guide groove 216, and the non-working state is about the state, which can avoid dust and soil from entering.

[0064] Preferably, the first sealing plate 202 is a flexible and magnetically attracted arc-shaped pad, one end of the arc-shaped pad is fixed on the outer shell top plate 212 near the circumferential end portion II 215 through the first bolt 201, and the other end of the arc-shaped pad is connected with the first elastic rubber block 210 through the first bolt 201; when the first elastic rubber block 210 is in contact with the circumferential end portion I 214, the arc-shaped pad is completely adsorbed on the outer shell top plate 212 around the arc-shaped guide groove 216, and is used for sealing the arc-shaped guide groove 216; when the stopper assembly 3 pushes the first elastic rubber block 210 to move, the first elastic rubber block 210 drives the arc-shaped pad to gradually separate from the outer shell top plate 212, and then opens the arc-shaped guide groove 216, so that the stopper assembly 3 enters in the arc-shaped guide groove 216.

[0065] Further, as shown in Figure 2 , Figure 3 As shown, the outer shell 205 is provided with a window on the arc-shaped outer side plate 218 away from the lower vehicle frame 4, which is convenient for assembling the flexible buffer component, the pressure sensor and the first elastic rubber block 210, and the second sealing plate 208 for sealing the window is fixed on the arc-shaped outer side plate 218 through the first bolt 201.

[0066] As can be seen from the above, the flexible buffer deceleration assembly 2 is assembled as a whole, which is convenient to install, disassemble and maintain, has the advantages of flexible limiting and adjustable limiting angle. At the same time, it can convert the rotary kinetic energy of the upper vehicle frame 1 into elastic potential energy, and convert different elastic potential energy into different pressure electrical signals, the electrical signals are fed back to the control system to gradually reduce the flow of the rotary hydraulic oil circuit until the rotary hydraulic oil supply is stopped (the rotary hydraulic oil flow is negatively related to the elastic potential energy), so that the excavator slowly stops, thereby achieving the safe work of the excavator in the narrow area.

[0067] The specific structure of the stopper assembly is further described below.

[0068] As shown in Figure 4 The stopper assembly includes a mounting block 301 and a second elastic rubber block 305. The mounting block 301 is in a T-shaped structure as a whole, including a horizontal plate and a vertical plate. The horizontal plate is fixed on the upper frame 1 by a third bolt 303 and a gasket 302. The vertical plate is provided with a through hole I with an opening facing the outer shell 205. The second elastic rubber block 305 is symmetrically mounted on the two side surfaces of the vertical plate by a fourth bolt 304. The second elastic rubber block 305 is provided with a through hole II. The two side through holes II and the middle through hole I form an arc-shaped through hole, which is convenient for the arc-shaped guide rod 211 in the flexible buffer component to pass through.

[0069] As can be seen from the above, the stopper assembly 3 is installed on the upper frame 1, and its movement state is consistent with that of the upper frame 1. The flexible deceleration and buffer assembly 2 is installed on the lower frame 3, and its movement state is consistent with that of the lower frame 3. In a narrow working condition, when the upper frame 1 rotates to a certain angle, the second elastic rubber block 305 in the stopper assembly 3 comes into mechanical contact with the first elastic rubber block 210 in the flexible deceleration and buffer assembly 2. This contact is through elastic contact, which can avoid the huge impact and noise caused by the direct contact between rigid bodies. As the rotation angle of the upper frame 1 increases, the limit spring 207 will be further compressed. The pressure sensor 206 converts the compression amount of the limit spring 207 into different electrical signals input to the control system. At this time, the control system correspondingly reduces the hydraulic oil flow of the rotary system, and at the same time, an alarm sound is emitted. The greater the compression amount of the limit spring 207, the smaller the hydraulic oil flow of the rotary system. When reaching the limit position, the supply of rotary hydraulic oil is cut off, and the machine stops working. The flexible rotary limiting mechanism can slowly reduce the operating speed of the excavator, smoothly transition to stop, and avoid the harm caused by the huge impact.

[0070] The engineering machinery provided by the present application will be described below. The engineering machinery described below can be correspondingly referred to the flexible rotary limiting mechanism described above.

[0071] The engineering machinery provided by the present application can include the flexible rotary limiting mechanism described in any one of the above embodiments.

[0072] The beneficial effects achieved by the engineering machinery provided by the present application are consistent with the beneficial effects achieved by the flexible rotary limiting mechanism provided by the present application. Therefore, they will not be described here again.

[0073] It should be noted that the above engineering machinery can be a tracked excavator or a wheeled excavator.

[0074] The control method of the flexible rotary limiting mechanism described above will be described in detail below taking the excavator as an example.

[0075] Figure 5The excavator narrow working area is shown in the schematic diagram, which is collectively referred to as a safe working area and can be divided into a working area, a buffer area and a limit position. According to the angle of the planned working area, the flexible buffer deceleration assembly 2 is installed on both sides of the lower frame 3. When the excavator reciprocates in the normal working area, the flexible buffer deceleration assembly 2 will not be triggered. When the excavator rotates to an angle exceeding the normal working area, the second elastic rubber block 305 starts to mechanically contact the first elastic rubber block 210, and the limiting spring 207 is compressed along the guide rod 211. At this time, the elastic potential energy of the limiting spring 207 is transmitted to the pressure sensor, and the pressure sensor converts different elastic potential energy into different electrical signals. The control system controls the hydraulic oil flow of the rotary mechanism according to different electrical signals. The greater the elastic potential energy (the greater the excavator rotation angle), the smaller the hydraulic oil flow of the rotary mechanism. The rotation of the excavator can be slowly reduced. When the rotation angle reaches the specified limit value, the hydraulic oil supply to the rotary mechanism is cut off, and the excavator stops rotating. At the same time, the buzzer sends an alarm to remind the driver that the dangerous area has been reached. At this time, when the driver operates the excavator to reverse, the elastic potential energy of the limiting spring 207 gradually decreases, and the hydraulic oil flow of the rotary mechanism gradually increases until it reaches the normal working area. When the reverse angle reaches the buffer area, the flexible buffer deceleration assembly 2 starts to work, and the principle is the same as above. In this way, the working range of the excavator in the narrow area can be accurately controlled. When the limiting spring 207 reciprocates along the guide rod 211, the first sealing plate 202 will reciprocate with it, ensuring that the first sealing plate 202 is open during work and in a non-working state. It can prevent dust and soil from entering.

[0076] In summary, the present application provides a flexible rotary limiting mechanism and a control method thereof, which realizes the following functions and effects:

[0077] 1. The present application can convert the excavator rotary kinetic energy into elastic potential energy through mechanical contact, and then convert it into different pressure electrical signals. The hydraulic oil flow of the rotary mechanism is controlled by the electrical signals to control the excavator rotation speed, accurately control the excavator rotation angle, avoid the impact of traditional rigid mechanical collision on the equipment, and ensure the safety of the equipment and the workers.

[0078] 2. The present application can realize the rotary limiting function of different rotation angles of the equipment by reasonably setting the length of the limiting spring, ensuring its wide applicability.

[0079] 3. The flexible rotary limiting mechanism can accurately control the hydraulic oil flow, rotation speed and other parameters according to energy conversion, which can meet the rotary limiting requirements of the equipment under large torque and large load working conditions.

[0080] 4、The flexible limiting mechanism of the present application mostly uses mechanical parts and structures to realize, does not use complex electrical elements or solenoid valve and other elements, simple structure, safe and reliable; the whole adopts the assembled structure, convenient to install and dismount maintenance.

[0081] In the specification provided herein, a large number of specific details are explained. However, it can be understood that the embodiments of the present application can be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure the understanding of the present specification.

[0082] In addition, those skilled in the art can understand that although some embodiments described herein include certain features contained in other embodiments but not others, combinations of features of different embodiments are also meant to be within the scope of the present application and form different embodiments. For example, in the above embodiments, those skilled in the art can use in a combined manner according to the known technical solutions and the technical problems to be solved by the present application.

[0083] The above only describes the preferred embodiments of the present application, and does not limit the present application in any form. Although the present application has been disclosed as above with the preferred embodiments, it is not intended to limit the present application, and any skilled person in the art can make some changes or modifications to the above-mentioned technical content within the scope of the technical solutions of the present application to form equivalent embodiments, but as long as it does not deviate from the technical solutions of the present application, any simple modification, equivalent change and modification of the above embodiments according to the technical essence of the present application are still within the scope of the present application.

Claims

1. A flexible rotary limit mechanism, characterized by: The flexible buffering deceleration assembly comprises a flexible buffering component, a pressure detection component, a first elastic rubber block, and a stop block assembly. The flexible buffering deceleration assembly comprises a flexible buffering component, a pressure detection component, a first elastic rubber block, and a stop block assembly. The outer shell is an arc-shaped box structure, which is installed on the outer circumferential surface of the lower frame and extends along the circumference of the lower frame. The flexible buffering component is installed in the arc-shaped cavity of the outer shell. The pressure detection component is installed on one end of the flexible buffering component close to the circumferential end II. The first elastic rubber block is installed on the other end of the flexible buffering component close to the circumferential end I. The stop block assembly can rotate on the lower frame along with the upper frame.

2. The flexible rotary limiting mechanism according to claim 1, wherein the outer shell is detachably fixed on the outer circumferential surface of the lower frame, and the rotation angle range of the upper frame is adjusted by changing the position of the outer shell on the lower frame.

3. The flexible rotary limiting mechanism according to claim 2, wherein the outer shell is provided with a dovetail groove extending from the circumferential end II to the circumferential end I on the arc-shaped inner side plate facing the lower frame.

4. The flexible rotary limiting mechanism according to claim 3, wherein the length of the dovetail groove is consistent with the length of the guide rail, and the side plate of the outer shell at the circumferential end II is provided with a baffle II as the limiting component at the slot opening of the dovetail groove to limit the movement of the guide rail.

5. The flexible rotary limiting mechanism according to claim 4, wherein the flexible buffering component comprises a stop block fixed on the inner side of the side plate of the outer shell at the circumferential end II, an arc-shaped guide rod with one end fixed on the center area of the stop block and the other end extending to the circumferential end I of the outer shell, and a limiting spring sleeved on the arc-shaped guide rod.

6. The flexible rotary limiting mechanism according to claim 5, wherein the limiting spring is provided with a connecting block close to the circumferential end I, and the first elastic rubber block is fixed on the connecting block. ​ ​ ​ 5. The flexible rotary limit mechanism of claim 1, wherein ​ ​ ​ ​ ​ The pressure detection component is a pressure sensor, which is installed on the side of the stopper facing the limit spring, the limit spring is in contact with the pressure sensor, and the pressure sensor converts different elastic potential energy into different electrical signals; The wire harness of the pressure sensor is electrically connected with the hydraulic oil control system of the whole vehicle after passing through the stopper and the shell side plate, and is used for feeding back the electrical signals to the hydraulic oil control system.

7. The flexible rotary limiting mechanism according to claim 1, wherein: A first sealing plate for covering the arc-shaped guide groove is arranged on the top plate of the shell body, the first sealing plate is connected with the first elastic rubber block, and the first elastic rubber block drives the first sealing plate to close and open the arc-shaped guide groove.

8. The flexible rotary limiting mechanism according to claim 7, wherein: The first sealing plate is a flexible arc-shaped pad with magnetic attraction, one end of the arc-shaped pad is fixed on the top plate of the shell body near the circumferential end portion II, and the other end of the arc-shaped pad is connected with the first elastic rubber block; When the first elastic rubber block is in contact with the circumferential end portion I, the arc-shaped pad is completely adsorbed on the top plate of the shell body around the arc-shaped guide groove, and is used for sealing the arc-shaped guide groove; When the stopper assembly pushes the first elastic rubber block to move, the first elastic rubber block drives the arc-shaped pad to gradually separate from the top plate of the shell body, and then the arc-shaped guide groove is opened, so that the stopper assembly penetrates into the arc-shaped guide groove.

9. The flexible rotary limit mechanism of claim 1, wherein, The stopper assembly comprises: The mounting block is in a T-shaped structure as a whole, and comprises a horizontal plate and a vertical plate, the horizontal plate is fixed on the upper frame by bolts, and the vertical plate is provided with a through hole I opening towards the shell body; The second elastic rubber blocks are symmetrically arranged on the two side surfaces of the vertical plate, and the second elastic rubber blocks are provided with through holes II, and the two side through holes II and the middle through hole I form an arc-shaped through hole, so that the arc-shaped guide rods in the flexible buffer component can penetrate into the arc-shaped through hole.

10. The flexible rotary limiting mechanism according to claim 1, wherein: A window for assembling the flexible buffer component, the pressure detection component and the first elastic rubber block is arranged on the arc-shaped outer side plate of the shell body away from the lower frame, and a second sealing plate for sealing the window is fixed on the arc-shaped outer side plate by bolts.

11. A working machine, characterized in that It comprises: The lower frame; The upper frame can rotate on the lower frame; The flexible rotary limiting mechanism according to any one of claims 1 to 10.

12. A control method based on the flexible rotary limiting mechanism according to any one of claims 1 to 10, wherein: When the upper frame rotates on the lower frame, the stopper assembly only reciprocally moves circumferentially between the two flexible buffer deceleration assemblies, and the rotation angle region is a normal working region; When the rotation angle of the upper frame exceeds the angle of the normal working region, the second elastic rubber blocks in the stopper assembly are in mechanical contact with the first elastic rubber blocks, the limit springs in the flexible buffer component are compressed, the elastic potential energy of the limit springs is transmitted to the pressure detection component, the pressure detection component converts different elastic potential energy into different electrical signals, the control system controls the hydraulic oil flow of the rotary mechanism according to different electrical signals, and the greater the elastic potential energy, the smaller the hydraulic oil flow of the rotary mechanism. When the upper frame rotation angle reaches the preset limit position, the control system cuts off the rotation mechanism hydraulic oil supply, the upper frame stops rotating, and the alarm system issues an alarm to remind the driver of the dangerous area.

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