Angle detection system and angle detection method for swing chute of blast furnace

Abstract

The invention discloses an angle detection system and an angle detection method of a blast furnace swing chute, the angle detection system comprises a driving motor, a reduction gear box, an encoder and a processor, pulse information generated by the encoder can be received and processed, the pulse information is converted into accurate angle information, the accuracy and the stability of angle measurement are ensured, and the angle detection precision is improved. The encoder is higher in measurement accuracy, angle measurement errors can be effectively reduced, angle control over the swing chute is more accurate, and therefore the control accuracy of the direction and the flow speed of molten iron flowing into a ladle is better guaranteed, the reliability of the blast-furnace tapping process is improved, the blast-furnace tapping process can be optimized through accurate angle detection and automatic control, and the production efficiency is improved. The molten iron can flow into the ladle more accurately, accidents such as overflowing of the molten iron are reduced, the recovery rate and the production efficiency of the molten iron are improved, safety accidents such as fire disasters and scalds caused by overflowing of the molten iron due to improper angle control are avoided, and therefore production safety in the blast furnace tapping process is guaranteed.

Description

Technical Field

[0001] The present application relates to the technical field of swing chute detection, and in particular to an angle detection system and an angle detection method for a swing chute of a blast furnace. Background Art

[0002] During the blast furnace tapping process, the swinging chute controls the direction of molten iron flowing into the ladle by swinging left and right. To ensure the safety of the iron flow, the angle of the swinging chute must be strictly controlled within ±5° during normal tapping and adjusted appropriately according to actual conditions. Currently, tapping operations mainly rely on manual observation of the changes in the swinging pointer code disk to identify angle changes and make corresponding adjustments to control the tapping direction and flow rate. However, this manual operation method has many problems. Manual observation is affected by the on-site environment (such as light, smoke, etc.) and the operator's operating skills (experience, attention, etc.), and is prone to problems such as large angle recognition errors, untimely or incorrect angle recognition. Summary of the Invention

[0003] In response to the defects in the prior art, the present application provides an angle detection system and angle detection method for a blast furnace swing chute to solve the problems of low angle detection accuracy and poor reliability of the blast furnace swing chute in the prior art.

[0004] The above-mentioned purpose of this application is mainly achieved through the following technical solutions:

[0005] An angle detection system for a blast furnace swing chute, the angle detection system comprising:

[0006] A driving motor is used to connect to and drive the swing chute to swing, an extension piece is coaxially connected to the output shaft of the driving motor, and the extension piece rotates synchronously with the output shaft;

[0007] a reduction gearbox having an input end and an output end, a transmission member being provided between the input end and the extension member, the input end and the transmission member rotating synchronously;

[0008] an encoder connected to the output end, the encoder being used to obtain rotation information of the output end and generate corresponding pulse information;

[0009] The processor is connected to the encoder, and after receiving and processing the pulse information, the processor converts it into angle information.

[0010] In an optional embodiment, the transmission member is a transmission chain.

[0011] In an optional embodiment, the extension piece and the input end are respectively provided with a transmission gear connected to the transmission chain, and the extension piece and the transmission gear on the input end are the same.

[0012] In an optional embodiment, the transmission gear is fixed to the extension member and the input end by tightening a top screw.

[0013] In an optional embodiment, the encoder is a rotary encoder.

[0014] In an optional embodiment, the encoder is an absolute rotary encoder.

[0015] In an optional embodiment, a protective cover is provided outside the transmission member.

[0016] In an optional embodiment, the encoder includes an input shaft connected to the output end, and a coupling is provided between the input shaft and the output end.

[0017] Based on the same inventive concept, the present application also provides an angle detection method for a blast furnace swing chute, which is applied to the above-mentioned angle detection system, and the angle detection method includes:

[0018] Obtaining the swing angle of the swing chute and the number of rotations of the output shaft of the drive motor;

[0019] Determining a linear relationship between the swing angle and the number of rotations;

[0020] Configure the output ratio of the reduction gearbox and the number of pulse signals output by the encoder when the output end rotates one circle;

[0021] The swing chute is driven to swing, the processor processes the pulse information and obtains the number of rotations, and obtains the swing angle through the linear relationship to complete the angle detection of the swing chute.

[0022] In an optional embodiment, when determining the linear relationship between the swing angle and the number of rotations, the swing angle of the swing chute pointer is observed and recorded, the number of rotations of the output shaft of the drive motor is recorded, and the value of the number of rotations when the swing angle is 1° is calculated.

[0023] Compared with the prior art, the advantages of this application are:

[0024] The angle detection system in the present application is used for the angle detection operation of the swinging chute of a blast furnace. The angle detection system includes a drive motor, a reduction gearbox, an encoder and a processor. The drive motor is used to connect and drive the swinging chute to swing. An extension piece is coaxially connected to the output shaft of the drive motor, and the extension piece rotates synchronously with the output shaft; the reduction gearbox has an input end and an output end, and a transmission piece is provided between the input end and the extension piece, and the input end rotates synchronously with the transmission piece; the encoder is connected to the output end, and the encoder is used to obtain the rotation information of the output end and generate corresponding pulse information; the processor is connected to the encoder, and after receiving and processing the pulse information, the processor converts it into angle information.

[0025] The angle detection system uses an encoder to obtain rotation information from the swing chute. The encoder accurately detects the rotation of the reduction gear output and converts this information into pulses. Compared to traditional mechanical angle detection methods, the encoder offers higher measurement accuracy, effectively reducing angle measurement errors and enabling more precise angle control of the swing chute, thereby ensuring better control of the direction and flow rate of molten iron flowing into the ladle.

[0026] By connecting the processor to the encoder, it can receive and process the pulse information generated by the encoder and convert it into accurate angle information. This direct acquisition of angle information avoids the errors caused by traditional manual observation of the swinging pointer code disk, improves the reliability and accuracy of angle measurement, and better resists various interference factors in the field environment, such as dust, vibration, and electromagnetic interference, ensuring the accuracy and stability of angle measurement, thereby improving the reliability of the blast furnace tapping process.

[0027] This angle detection system automatically detects and provides feedback on the swing chute's angle. Through the collaboration of an encoder and processor, it acquires real-time angle information and feeds it back to the control system. This allows the control system to automatically adjust the swing chute's angle based on real-time angle data without manual intervention. This significantly improves the automation level of the tapping process, reduces the labor intensity and human error associated with manual operation, and adapts to changes in the speed and direction of molten iron flow during the tapping process, ensuring stability and safety.

[0028] By connecting an encoder to the output end of the reduction gearbox, errors caused by mechanical clearance are avoided, effectively reducing the impact of mechanical clearance on angle detection, enabling the encoder to more accurately obtain the rotation information of the swing chute, thereby improving the reliability of the entire angle detection system.

[0029] Precise angle detection and automatic control can optimize the blast furnace tapping process, allowing molten iron to flow into the ladle more accurately, reducing accidents such as molten iron overflow, improving molten iron recovery and production efficiency, and avoiding safety accidents caused by improper angle control, such as fires and burns caused by molten iron overflow, thereby ensuring production safety in the blast furnace tapping process. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following is a brief introduction to the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0031] Figure 1 A connection diagram of the angle detection system provided in an embodiment of the present application;

[0032] Figure 2 A schematic diagram of the flow of the angle detection method provided in an embodiment of the present application;

[0033] In the figure: 1. Drive motor; 2. Reduction gearbox; 3. Encoder; 4. Processor; 5. Transmission gear; 6. Pointer; 7. Transmission parts. DETAILED DESCRIPTION

[0034] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments. It should be noted that the description of these embodiments is intended to help understand the present invention, but does not constitute a limitation of the present invention. The specific structural and functional details disclosed herein are merely intended to describe exemplary embodiments of the present invention. However, the present invention can be embodied in many alternative forms, and it should not be understood that the present invention is limited to the embodiments set forth herein.

[0035] like Figure 1 As shown, Figure 1 This is a connection diagram of the angle detection system provided in an embodiment of the present application. An angle detection system for a blast furnace swing chute is used to ensure that molten iron can flow safely and accurately into the ladle, thereby improving the automation level and safety of the blast furnace tapping process. The angle detection system includes a drive motor 1, a reduction gearbox 2, an encoder 3, and a processor 4, wherein:

[0036] The driving motor 1 is used to connect and drive the swing chute to swing. An extension piece is coaxially connected to the output shaft of the driving motor 1, and the extension piece rotates synchronously with the output shaft.

[0037] Drive motor 1 is connected to and drives the swing chute to swing left and right. To ensure precise transmission, an extension piece is coaxially connected to the output shaft of drive motor 1, rotating synchronously with the output shaft. This ensures stable and reliable power transmission and provides a foundation for subsequent deceleration and angle detection.

[0038] The reduction gearbox 2 has an input end and an output end. A transmission member 7 is provided between the input end and the extension member. The input end and the transmission member 7 rotate synchronously.

[0039] The function of the reduction gearbox 2 is to reduce the high speed of the drive motor 1 to a low speed suitable for the encoder 3, thereby meeting the detection accuracy of the encoder 3 during actual operation. The reduction gearbox 2 has an input end and an output end. The input end is connected to the extension of the drive motor 1 through the transmission member 7, and rotates synchronously with the transmission member 7. It also provides a suitable mechanical interface for the installation and angle detection of the encoder 3.

[0040] The encoder 3 is connected to the output end, and the encoder 3 is used to obtain the rotation information of the output end and generate corresponding pulse information.

[0041] Encoder 3 is a key component for angle detection and is connected to the output of reduction gearbox 2. Its primary function is to acquire real-time rotational information from the output and convert it into corresponding pulses. This pulse information contains the real-time position and motion status of the swing chute, providing the basis for subsequent angle calculation and control.

[0042] The processor 4 is connected to the encoder 3 , and after receiving and processing the pulse information, the processor 4 converts it into angle information.

[0043] Processor 4 is directly connected to encoder 3. Its primary task is to receive pulse information from encoder 3 and process and analyze it. Through calculation, processor 4 converts the pulse information into precise angle information, enabling real-time monitoring and control of the swing chute angle. This automated angle detection and control method not only improves system accuracy and response speed, but also reduces manual intervention and operator workload.

[0044] The angle detection system in the present application is used for the angle detection operation of the swinging chute of the blast furnace. The angle detection system includes a drive motor 1, a reduction gearbox 2, an encoder 3 and a processor 4. The drive motor 1 is used to connect and drive the swinging chute to swing. An extension piece is coaxially connected to the output shaft of the drive motor 1, and the extension piece rotates synchronously with the output shaft; the reduction gearbox 2 has an input end and an output end, and a transmission piece 7 is provided between the input end and the extension piece, and the input end rotates synchronously with the transmission piece 7; the encoder 3 is connected to the output end, and the encoder 3 is used to obtain the rotation information of the output end and generate corresponding pulse information; the processor 4 is connected to the encoder 3, and after receiving and processing the pulse information, the processor 4 converts it into angle information.

[0045] The angle detection system uses encoder 3 to acquire rotation information from the swing chute. Encoder 3 accurately detects the rotation of the output end of the reduction gearbox 2 and converts this information into pulse information. Compared to traditional mechanical angle detection methods, encoder 3 offers higher measurement accuracy, effectively reducing angle measurement errors and enabling more precise angle control of the swing chute, thereby ensuring better control of the direction and flow rate of molten iron flowing into the ladle.

[0046] Processor 4 is connected to encoder 3 and is capable of receiving and processing the pulse information generated by encoder 3, converting the pulse information into accurate angle information. This direct acquisition of angle information avoids the errors caused by traditional manual observation of the swinging pointer 6 code disk or by installing encoder 3 at the code disk connection shaft with large mechanical clearance, thereby improving the reliability and accuracy of angle measurement.

[0047] This angle detection system automatically detects and provides feedback on the swing chute's angle. Through the collaboration of encoder 3 and processor 4, the system acquires real-time angle information and feeds it back to the control system. This allows the control system to automatically adjust the swing chute's angle based on real-time angle data without manual intervention, significantly improving the automation of the iron-tapping process and reducing the labor intensity and human error associated with manual operation.

[0048] Processor 4 rapidly processes pulse information from encoder 3 and converts it into angle information. This real-time data processing capability enables the system to quickly respond to changes in the swing chute's angle, adjusting it promptly to accommodate changes in the speed and direction of the molten iron flow during the tapping process, ensuring stability and safety.

[0049] The combined use of encoder 3 and processor 4 gives the angle detection system greater anti-interference capabilities. Compared to traditional mechanical angle detection methods, this system is more resistant to various interference factors in the field environment, such as dust, vibration, and electromagnetic interference, ensuring the accuracy and stability of angle measurement, thereby improving the reliability of the blast furnace tapping process.

[0050] The angle detection system, consisting of a drive motor 1, a reduction gearbox 2, an encoder 3, and a processor 4, forms a relatively independent modular system. This allows the angle detection system to be easily integrated with existing blast furnace tapping control systems, eliminating the need for large-scale modifications to existing equipment and reducing the difficulty and cost of system integration.

[0051] The modular structure of the angle detection system also facilitates future expansion and upgrades. For example, if angle detection accuracy needs to be further improved or additional functions need to be added, encoder 3 or processor 4 can be easily upgraded, or other sensors and control modules can be added to the system to meet changing production needs.

[0052] Precise angle detection and automatic control optimize the blast furnace tapping process, ensuring more accurate flow of molten iron into the ladle, reducing incidents such as overflows, and improving iron recovery and production efficiency. Furthermore, a stable tapping process helps extend equipment life and reduce maintenance costs.

[0053] By real-time monitoring and automatic control of the angle of the swing chute, the system can promptly detect and correct angle deviations, avoiding safety accidents caused by improper angle control, such as fires and burns caused by molten iron overflow, thereby ensuring production safety during the blast furnace iron-making process.

[0054] In an optional embodiment, the transmission member 7 is a transmission chain. The transmission chain has the advantages of smooth transmission, compact structure, and easy installation. Through the transmission chain, the power of the drive motor 1 can be efficiently transmitted to the input end of the reduction gearbox 2, ensuring smooth driving.

[0055] In an optional embodiment, the extension piece and the input end are respectively provided with a transmission gear 5 connected to the transmission chain, and the extension piece is identical to the transmission gear 5 on the input end.

[0056] The extension piece and the input end of the reduction gearbox 2 are each equipped with transmission gears 5, which are connected to the transmission chain. These transmission gears 5 not only need to cooperate with the transmission chain but also ensure efficient and stable power transmission. To achieve this goal, the transmission gears 5 on the extension piece and the input end use the same specifications and design to ensure a precise and consistent transmission ratio.

[0057] In an optional embodiment, the transmission gear 5 is secured to the extension member and the input end via a set screw. This is a reliable securing method that ensures the transmission gear 5 remains stable during extended operation, preventing loosening due to vibration or impact. This not only improves system reliability but also facilitates maintenance and replacement.

[0058] In an optional embodiment, the encoder 3 is a rotary encoder 3. The rotary encoder 3 is a sensor that can convert mechanical rotation into an electrical signal. Through the rotary encoder 3, the angle detection system can obtain the rotation information of the swing chute in real time and convert the rotation information into a pulse signal to provide basic data for subsequent angle calculation and control.

[0059] In an optional embodiment, the encoder 3 is an absolute rotary encoder 3. This type of encoder not only provides highly accurate angle measurement but also features a power-off memory function, retaining previous angle information even after a power outage or restart. The output signal of this type of encoder is an absolute position code, unaffected by mechanical backlash or pulse loss, significantly improving system reliability and accuracy.

[0060] In an optional embodiment, a protective cover is provided over the transmission element 7 to protect the transmission chain and gears from harsh environmental influences such as dust, iron filings, and high temperatures, thereby extending the service life of the transmission element 7 and reducing maintenance costs. The protective cover is made of high-temperature and corrosion-resistant materials to ensure normal operation even in the harsh environment of blast furnace iron tapping.

[0061] In an optional embodiment, the encoder 3 includes an input shaft connected to the output end, with a coupling disposed between the input shaft and the output end. The coupling ensures a stable and reliable connection between the encoder 3 and the output end of the reduction gearbox 2, while allowing for a certain amount of axial and radial deviation to reduce the impact of mechanical vibration on the encoder 3. This not only improves system stability but also enhances its anti-interference capability.

[0062] like Figure 1 、 Figure 2 As shown, Figure 2 This is a flow chart of the angle detection method provided in an embodiment of the present application. Based on the same inventive concept, the present application also provides an angle detection method for a blast furnace swing chute, which is applied to the angle detection system as described above, and includes:

[0063] Obtain the swing angle of the swing chute and the number of rotations of the output shaft of the drive motor 1;

[0064] Before performing angle detection, it is necessary to first obtain the actual swing angle of the swing chute and the number of revolutions of the output shaft of the drive motor 1. This can be achieved by installing an angle indicator device (such as pointer 6) on the swing chute and a tachometer on the output shaft of the drive motor 1. Through these devices, the angle changes of the swing chute and the rotation of the output shaft of the drive motor 1 can be monitored in real time.

[0065] Determining a linear relationship between the swing angle and the number of rotations;

[0066] Configure the output ratio of the reduction gearbox 2 and the number of pulse signals output by the encoder 3 when the output end rotates one circle;

[0067] In order to ensure the accuracy of angle detection, it is necessary to configure the output ratio of the reduction gearbox 2 and the number of pulse signals output by the encoder 3.

[0068] Configure the output ratio of reduction gearbox 2: Determine the transmission ratio between the input and output ends based on the design parameters of reduction gearbox 2. For example, if the transmission ratio of reduction gearbox 2 is 60:1, the output end will rotate 1 turn for every 60 turns of the input end.

[0069] Configure the number of encoder 3 pulse signals: This parameter determines the number of pulse signals that encoder 3 outputs per one revolution. For example, if the resolution of encoder 3 is 1024 pulses per revolution, encoder 3 outputs 1024 pulse signals per one revolution. These configuration parameters are used in subsequent angle calculations.

[0070] The swing chute is driven to swing, and the processor 4 processes the pulse information and obtains the number of rotations, and obtains the swing angle through the linear relationship to complete the angle detection of the swing chute.

[0071] The processor 4 calculates the number of revolutions of the output shaft of the drive motor 1 based on the pulse signal output by the encoder 3. For example, if the encoder 3 outputs 1024 pulse signals and the resolution of the encoder 3 is 1024 pulses per revolution, the output shaft rotates 1 revolution.

[0072] According to the linear relationship formula determined previously, the number of rotations is converted into a swing angle, and the processor 4 feeds back the calculated swing angle to the control system in real time to complete the angle detection of the swing chute.

[0073] In an optional embodiment, when determining the linear relationship between the swing angle and the number of rotations, the swing angle of the swing chute pointer 6 is observed and recorded, the number of rotations of the output shaft of the drive motor 1 is recorded, and the value of the number of rotations when the swing angle is 1° is calculated.

[0074] In practice, the number of rotations of the output shaft of the drive motor 1 when the swing angle is 1° can be calculated by obtaining the swing angle of the swing chute and the number of rotations of the output shaft of the drive motor 1. For example, if the output shaft of the drive motor 1 rotates 46 times when the swing angle is 5°, then the number of rotations when the swing angle is 1° is 9.2. In this way, a linear relationship formula can be established between the swing angle and the number of rotations.

[0075] It should be understood that the terms first, second, etc. are used only to distinguish descriptions and should not be construed as indicating or implying relative importance. Although the terms first, second, etc. may be used herein to describe various elements, these elements should not be limited by these terms. These terms are used only to distinguish one element from another. For example, a first element may be referred to as a second element, and similarly, a second element may be referred to as a first element without departing from the scope of the exemplary embodiments of the present invention.

[0076] It should be understood that the term "and / or" in this article is merely a description of the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent three situations: A exists alone, B exists alone, and A and B exist at the same time. The term " / and" in this article describes another type of association object relationship, indicating that two relationships may exist. For example, A / and B can represent two situations: A exists alone, and A and B exist alone. In addition, the character " / " in this article generally indicates that the previous and subsequent associated objects are in an "or" relationship.

[0077] It should be understood that in the description of the present invention, the terms "upper", "vertical", "inside", "outside" and the like indicate orientations or positional relationships in which the disclosed product is conventionally placed when in use, or are orientations or positional relationships conventionally understood by those skilled in the art. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0078] In the description of the present invention, it should also be noted that, unless otherwise expressly specified or limited, the terms "disposed," "installed," and "connected" should be understood broadly. For example, they may refer to fixed connections, detachable connections, or integral connections; they may refer to direct connections, indirect connections through an intermediate medium, or internal connections between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0079] The terms used herein are used only to describe specific embodiments and are not intended to limit the exemplary embodiments of the present invention. As used herein, the singular forms "a," "an," and "the" are intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the terms "comprise," "include," "include," and / or "comprising" when used herein specify the presence of claimed features, integers, steps, operations, units, and / or components, and do not preclude the presence or addition of one or more other features, quantities, steps, operations, units, components, and / or combinations thereof.

[0080] In the following description, certain details are provided to facilitate a thorough understanding of the exemplary embodiments. However, one of ordinary skill in the art will appreciate that the exemplary embodiments may be practiced without these specific details. In other embodiments, well-known processes, structures, and techniques may not be shown in unnecessary detail in order to avoid obscuring the exemplary embodiments.

[0081] The above are merely specific embodiments of the present application to enable those skilled in the art to understand or implement the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but rather is intended to conform to the widest scope consistent with the principles and novel features of the present application.

[0082] It should be noted that the information disclosed in the above background technology section is only used to enhance the understanding of the background of the present disclosure, and therefore may include information that does not constitute prior art known to ordinary technicians in the field.

Claims

1. An angle detection system for a blast furnace swing chute, characterized in that: The angle detection system comprises: A driving motor is used to connect to and drive the swing chute to swing, an extension piece is coaxially connected to the output shaft of the driving motor, and the extension piece rotates synchronously with the output shaft; a reduction gearbox having an input end and an output end, a transmission member being provided between the input end and the extension member, the input end and the transmission member rotating synchronously; an encoder connected to the output end, the encoder being used to obtain rotation information of the output end and generate corresponding pulse information; The processor is connected to the encoder, and after receiving and processing the pulse information, the processor converts it into angle information.

2. The angle detection system for a blast furnace swing chute according to claim 1, characterized in that: The transmission member is a transmission chain.

3. The angle detection system for a blast furnace swing chute according to claim 2, characterized in that: The extension piece and the input end are respectively provided with transmission gears connected to the transmission chain, and the transmission gears on the extension piece and the input end are the same.

4. The angle detection system for a blast furnace swing chute according to claim 3, characterized in that: The transmission gear is fixed to the extension piece and the input end by tightening the top screw.

5. The angle detection system for a blast furnace swing chute according to claim 1, characterized in that: The encoder is a rotary encoder.

6. The angle detection system for a blast furnace swing chute according to claim 5, characterized in that: The encoder is an absolute value rotary encoder.

7. The angle detection system for a blast furnace swing chute according to claim 1, characterized in that: A protective cover is provided outside the transmission member.

8. The angle detection system for a blast furnace swing chute according to claim 1, characterized in that: The encoder includes an input shaft connected to the output end, and a coupling is provided between the input shaft and the output end.

9. A method for detecting the angle of a blast furnace swing chute, characterized in that: The angle detection method is applied to the angle detection system according to any one of claims 1 to 8, and the angle detection method includes: Obtaining the swing angle of the swing chute and the number of rotations of the output shaft of the drive motor; Determining a linear relationship between the swing angle and the number of rotations; Configure the output ratio of the reduction gearbox and the number of pulse signals output by the encoder when the output end rotates one circle; The swing chute is driven to swing, the processor processes the pulse information and obtains the number of rotations, and obtains the swing angle through the linear relationship to complete the angle detection of the swing chute.

10. The angle detection method of a blast furnace swing chute according to claim 9, characterized in that: When determining the linear relationship between the swing angle and the number of rotations, observe and record the swing angle of the swing chute pointer, record the number of rotations of the output shaft of the drive motor, and calculate the value of the number of rotations when the swing angle is 1°.

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