A yaw mechanism position control system, method and excavator

Abstract

The application discloses an excavator and a swing mechanism position control system and method in the technical field of engineering machinery, and aims to solve the problem that the position of a deflector and a working mechanism changes due to a swing cylinder in the prior art. The application comprises a rotary table, a working mechanism rotatably connected to the rotary table, and a locking mechanism for limiting the working mechanism on the rotary table. The working mechanism comprises a deflector, a pin shaft is arranged in the deflector, the pin shaft is rotatably connected to the rotary table, a first power mechanism is rotatably connected to the rotary table, and the output end of the first power mechanism is rotatably connected to the deflector. The connecting seat and the clamping mechanism cooperate to fix the pin shaft in the deflector, so that the position of the working mechanism is prevented from changing due to the first power mechanism, and the position of the working mechanism is ensured to be stable.

Description

Technical Field

[0001] This invention relates to a position control system and method for an oscillation mechanism, and an excavator, belonging to the field of engineering machinery technology. Background Technology

[0002] Mini excavators often need to adapt to special working conditions such as narrow areas and angled excavation. Therefore, most models are equipped with a yaw mechanism. The expansion and contraction of the yaw cylinder drives the rotation of the yaw body, thereby rotating the entire working mechanism relative to the machine body. This adjusts the angle of the working mechanism relative to the machine body, enabling it to adapt to narrow areas and angled excavation. In existing technologies, most models control the rotation angle of the yaw mechanism by controlling the length of the yaw cylinder. The opening and closing of the main valve corresponding to the valve core and channel opens or cuts off the oil inlet and return routes of the large and small chambers of the yaw cylinder, thus controlling the extension and retraction length of the yaw cylinder to control the rotation angle of the yaw mechanism.

[0003] In existing hydraulic excavators, during excavation and lifting operations, the working mechanism is continuously subjected to the impact of alternating load resistances such as digging force, support reaction force, and rotational torque. Due to unavoidable internal leakage in the main valve core and yaw cylinder, prolonged impact and uneven force can cause changes in the length of the yaw cylinder, leading to alterations in the position of the deflector and the working mechanism. This change is difficult to detect and significantly impacts the excavation stability, lifting stability, operational safety, and work efficiency of the entire machine during construction. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of the prior art and provide a yaw mechanism position control system, method and excavator. By cooperating with the connecting seat and clamping mechanism, the pin in the yaw body is fixed, thereby preventing the first power mechanism from causing the position of the working mechanism to change, ensuring the position stability of the working mechanism, and thus ensuring the digging stability, lifting stability, operation safety and operation effect during the construction process.

[0005] To solve the above-mentioned technical problems, the present invention is implemented using the following technical solution: In a first aspect, the present invention provides a position control system for a yaw mechanism, including a turntable, wherein a working mechanism is rotatably connected to the turntable, and a locking mechanism for limiting the working mechanism is provided on the turntable. The working mechanism includes a deflecting body, a pin is provided inside the deflecting body, the pin is rotatably connected to the turntable, and a first power mechanism is rotatably connected to the turntable, the output end of the first power mechanism is rotatably connected to the deflecting body; The locking mechanism includes a support mounting base on the turntable, a second power mechanism on the support mounting base, a connecting seat at the output end of the second power mechanism, and a clamping mechanism on the side wall of the connecting seat. The second power mechanism is used to drive the clamping mechanism to clamp or release the pin through the connecting seat, so as to realize the fixing or unlocking of the pin.

[0006] Furthermore, the clamping mechanism includes two swing blocks and two clamping seats. One end of each of the two swing blocks is rotatably connected to the connecting seat, and the other end of each of the two swing blocks is rotatably connected to the two clamping seats respectively. The ends of the two clamping seats away from the swing blocks are rotatably connected. The two clamping seats define limiting holes, the clamping mechanism clamps the pin in the limiting holes, and the swing block pushes the clamping seats to rotate to adjust the diameter of the limiting holes.

[0007] Furthermore, the two swing blocks and the two clamping seats form a four-bar linkage structure, and in the direction from the connecting seat to the swing block, the two swing blocks extend in arcs that are far apart from each other; And / or, the clamping seat includes two connecting sections and two clamping sections, the two connecting sections and the two clamping sections correspond one-to-one, the connecting sections extend in a straight line, one end of the connecting section is connected to the swing block, the other end of the connecting section is connected to the clamping section, and the two clamping sections extend circumferentially along the pin shaft and define the limiting hole.

[0008] Furthermore, the first power mechanism includes a yaw cylinder; The second power mechanism includes a motor, and the output end of the motor is provided with a screw, which is threadedly connected to the connecting seat.

[0009] Furthermore, the turntable includes a base plate, on which a first mounting plate and a second mounting plate are provided. Both the first mounting plate and the second mounting plate are provided with pin holes. The pin hole on the first mounting plate is located directly above the pin hole on the second mounting plate. The pin is rotatably connected to both pin holes simultaneously. The base plate is provided with a mounting seat, and the first power mechanism is rotatably connected to the mounting seat.

[0010] Furthermore, it also includes an electronic control system, which includes a controller. The first power mechanism and the second power mechanism are both electrically connected to the controller, and the controller is electrically connected to a sensor. The sensor includes an angle sensor and a displacement sensor. The angle sensor is used to detect the angle change of the deflector relative to the turntable, and the displacement sensor is used to detect the position change of the deflector relative to the turntable.

[0011] Furthermore, the working mechanism also includes a boom stick disposed on the outer wall of the deflector body.

[0012] In a second aspect, the present invention provides a method for controlling the position of a yaw mechanism, based on the yaw mechanism position control system described in the first aspect, comprising: Acquire the controller signal and determine whether to adjust the yaw angle based on the controller signal; If the determination result is to perform yaw angle adjustment, then the working mode is obtained, and the position adjustment is completed according to the working mode; wherein, the working mode includes reset mode and / or lock holding mode; If the judgment result is that no yaw angle adjustment is performed, the working mode is the lock-and-hold mode, which acquires and saves the sensor parameters of the current position of the deflector.

[0013] Furthermore, the step of adjusting the position according to the working mode specifically includes: If the operating mode is reset mode, the step of adjusting the position according to the operating mode includes: Step a: Select the preset position of the deflector and obtain the sensor parameters of the preset position of the deflector; Step b: Acquire the sensor parameters of the current position of the deflector in real time, and compare the sensor parameters of the current position of the deflector with the sensor parameters of the preset position of the deflector to obtain the first comparison result; Step c: Based on the first comparison result and the tolerance range, determine whether the first comparison result is within the tolerance range; wherein, the tolerance range is a preset range; Step d: If the judgment result is that the first comparison result is within the tolerance range, the position adjustment work is completed, and steps b and c are repeated; Step e: If the judgment result is that the first comparison result is not within the tolerance range, then proceed to step f; Step f: Control the locking mechanism to release the pin, and adjust the current position of the deflector through the first power mechanism; reacquire the sensor parameters of the current position of the deflector, and compare the sensor parameters of the current position of the deflector with the sensor parameters of the preset position of the deflector to obtain the second comparison result; Step g: Based on the second comparison result and the tolerance range, determine whether the second comparison result is within the tolerance range; Step h: If the judgment result is that the second comparison result is within the tolerance range, then stop the operation of the first power mechanism, and control the locking mechanism to fix the pin. The position adjustment work is completed, and steps b and c are repeated. Step i: If the judgment result is that the second comparison result is not within the tolerance range, then repeat steps f and g; Wherein, if the working mode is the lock-and-hold mode, the step of performing position adjustment according to the working mode includes: Step j: Obtain the yaw signal based on the handle signal; Step k: Control the locking mechanism to release the pin, and adjust the current position of the deflector through the first power mechanism. Determine whether the position adjustment is completed based on the yaw signal. Step 1: If the judgment result is that the position adjustment is completed, stop the operation of the first power mechanism and control the locking mechanism to fix the pin. The position adjustment work is completed. Obtain the sensor parameters of the current position of the deflector and save them. Step m: If the judgment result is that the position adjustment is not completed, then repeat steps j and k.

[0014] Thirdly, the present invention provides an excavator including the yaw mechanism position control system described in the first aspect.

[0015] Compared with the prior art, the beneficial effects achieved by the present invention are as follows: 1. The position control system of the yaw mechanism, through the cooperation of the connecting seat and the clamping mechanism, plays a role in fixing the pin in the yaw body, thereby preventing the first power mechanism from causing the position of the working mechanism to change, ensuring the position stability of the working mechanism, and thus ensuring the excavation stability, lifting stability, operation safety and operation effect during the construction process. 2. The position control method of this yaw mechanism locks and maintains the position of the working mechanism through a locking mechanism. Furthermore, it can automatically detect changes in the yaw angle of the working mechanism through sensors and realize automatic correction and adjustment, preventing changes in the yaw angle due to internal leakage of the yaw cylinder, thereby improving the operability, stability and safety of the whole machine operation. Attached Figure Description

[0016] Figure 1 This is a three-dimensional structural schematic diagram of a position control system for a yaw mechanism according to an embodiment of the present invention; Figure 2 This is a three-dimensional structural schematic diagram of the locking mechanism provided according to an embodiment of the present invention; Figure 3 This is a three-dimensional structural diagram of the locking mechanism provided in the embodiment of the present invention in the clamping state; Figure 4 This is a three-dimensional structural diagram of the locking mechanism provided in the embodiment of the present invention in the released state; Figure 5 This is a three-dimensional structural diagram of the turntable provided according to an embodiment of the present invention; Figure 6 This is a three-dimensional structural diagram of the working mechanism provided in an embodiment of the present invention; Figure 7This is a flowchart illustrating a position control method for a yaw mechanism according to an embodiment of the present invention.

[0017] In the diagram: 1. Locking mechanism; 11. Support mounting base; 12. Second power mechanism; 13. Connecting base; 14. Swing block; 15. Clamping base; 2. Turntable; 21. First mounting plate; 22. Second mounting plate; 23. Mounting base; 3. Working mechanism; 31. First power mechanism; 32. Deflector; 33. Pin; 34. Boom stick. Detailed Implementation

[0018] The present invention will be further described below with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and should not be used to limit the scope of protection of the present invention.

[0019] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are used only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0020] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art will understand the specific meaning of the above terms in this invention based on the specific circumstances. Example 1:

[0021] like Figures 1-6As shown, the present invention provides a position control system for a yaw mechanism, including a turntable 2, on which a rotatably connected working mechanism 3 is provided, and a locking mechanism 1 for limiting the working mechanism 3 is provided on the turntable 2; the working mechanism 3 includes a deflecting body 32, and a pin 33 is provided inside the deflecting body 32, the pin 33 being rotatably connected to the turntable 2; a first power mechanism 31 is rotatably connected on the turntable 2, and the output end of the first power mechanism 31 is rotatably connected to the deflecting body 32; the locking mechanism 1 includes a support mounting base 11 provided on the turntable 2, a second power mechanism 12 provided on the support mounting base 11, a connecting seat 13 provided at the output end of the second power mechanism 12, and a clamping mechanism provided on the side wall of the connecting seat 13; the second power mechanism 12 is used to drive the clamping mechanism to clamp or release the pin 33 through the connecting seat 13, so as to realize the fixing or unlocking of the pin 33.

[0022] Specifically, during operation, when it is necessary to adjust the sway angle of the working mechanism 3, this application can control the second power mechanism 12 of the locking mechanism 1 to start working. The second power mechanism 12 can drive the connecting seat 13 to approach the pin 33, thereby pushing the clamping mechanism to release the pin 33, thus canceling the clamping mechanism's fixation of the pin 33. At this time, the first power mechanism 31 can be controlled to start working, thereby pushing the deflector 32 to swing, thus adjusting the sway angle of the working mechanism 3. The turntable 2 is used to support the locking mechanism 1 and the working mechanism 3, and the support mounting seat 11 is used to support the second power mechanism 12. After the sway angle of the working mechanism 3 is adjusted, the second power mechanism 12 is controlled to work, driving the connecting seat 13 away from the pin 33, thereby driving the clamping mechanism to clamp and fix the pin 33, completing the fixation of the pin 33 and the working mechanism 3, and preventing the second power mechanism 12 from affecting the stability of the position of the working mechanism 3.

[0023] The present invention uses the connecting seat 13 to cooperate with the clamping mechanism to fix the pin 33 in the deflecting body 32, thereby preventing the first power mechanism 31 from causing the position of the working mechanism 3 to change, ensuring the position stability of the working mechanism 3, and thus ensuring the excavation stability, lifting stability, operation safety and operation efficiency during the construction process.

[0024] like Figure 6 As shown, in this embodiment, the working mechanism 3 further includes a boom stick 34 disposed on the outer wall of the deflector 32. The boom stick 34 rotates with the rotation of the deflector 32, thereby realizing the adjustment of the deflection angle of the working mechanism 3. The first power mechanism 31 includes a deflection cylinder. Optionally, the first power mechanism 31 can also be an electric cylinder, an electric telescopic rod, or other drive mechanisms with the same working principle.

[0025] like Figures 2-4 As shown, in this embodiment, the second power mechanism 12 includes a motor, the output end of which is provided with a screw, which is threadedly connected to the connecting seat 13; when it is necessary to drive the connecting seat 13 to clamp or release the pin 33, the motor can rotate forward or reverse, driving the screw to rotate, thereby driving the connecting seat 13 to move; the clamping mechanism includes two swing blocks 14 and two clamping seats 15, one end of the two swing blocks 14 is rotatably connected to the connecting seat 13, and the other end of the two swing blocks 14 is rotatably connected to the two clamping seats 15 respectively, and the ends of the two clamping seats 15 away from the swing blocks are rotatably connected; the two clamping seats 15 define limiting holes, and the clamping mechanism is located within the limiting holes. The pin 33 is clamped, and the swing block 14 pushes the clamping seat 15 to rotate to adjust the diameter of the limiting hole. The two swing blocks 14 and the two clamping seats 15 form a four-bar linkage structure, and the entire four-bar linkage structure is located outside the pin 33. In the direction from the connecting seat 13 to the swing block 14, the two swing blocks 14 extend in arcs that are far apart from each other. And / or, the clamping seat 15 includes two connecting sections and two clamping sections, which correspond one-to-one. The connecting sections extend in a straight line, one end of which is connected to the swing block 14, and the other end of which is connected to the clamping section. The two clamping sections extend circumferentially along the pin 33 and define the limiting hole. Specifically, when the connecting seat 13 moves close to the pin 33, the clamping section near the swing block 14 contacts the pin 33, and the pin 33 pushes the two clamping sections away from each other. The connecting section connects the clamping sections and the swing block 14. At this time, the clamping sections are not in close contact with the pin 33, thus canceling the fixing work of the pin 33. At this time, the locking mechanism 1 is in the released state. When the connecting seat 13 moves away from the pin 33, the two clamping sections away from the swing block 14 contact the pin 33. As the connecting seat 13 and the four-bar linkage move, the two clamping sections move closer to each other and make close contact with the pin 33, thereby achieving the positioning work of the pin 33. At this time, the locking mechanism 1 is in the clamping state. At the same time, the two clamping sections are located on both sides of the pin 33. The clamping seat 15 can limit the rotation of the connecting seat 13, preventing it from rotating and ensuring that the screw can drive the connecting seat 13 to move. This invention controls the opening and closing of the clamping seat 15 to lock and release the pin 33. When locked, the pin 33 cannot rotate, thus locking and maintaining the position of the working mechanism 3 relative to the turntable 2. When released, the pin 33 can rotate, allowing the position of the working mechanism 3 relative to the turntable 2 to be adjusted and reset. Optionally, the second power mechanism 12 can be a hydraulic cylinder or similar structure to drive the connecting seat 13 in linear motion. Optionally, the inner wall of the limiting hole is arc-shaped. When the two clamping sections approach each other, the inner walls of the limiting hole are in close contact with the pin 33, completing the limiting operation of the pin 33.

[0026] like Figures 1-5 As shown, in this embodiment, the turntable 2 includes a base plate, on which a first mounting plate 21 and a second mounting plate 22 are provided. Both the first mounting plate 21 and the second mounting plate 22 are provided with pin holes. The pin hole on the first mounting plate 21 is located directly above the pin hole on the second mounting plate 22. The pin 33 is rotatably connected to both pin holes. The base plate is provided with a mounting seat 23, and the first power mechanism 31 is rotatably connected to the mounting seat 23.

[0027] Specifically, the main structure of the turntable 2 is a steel plate cutting and welding structure, with two pin holes set concentrically for mounting pins 33, so that the working mechanism 3 and the turntable 2 can rotate relative to each other, and the mounting base 23 is used to mount the oscillating cylinder.

[0028] In this embodiment, an electronic control system is also included. The electronic control system includes a controller. The first power mechanism 31 and the second power mechanism 12 are both electrically connected to the controller. The controller is electrically connected to a sensor. The sensor includes an angle sensor and a displacement sensor. The angle sensor is used to detect the angle change of the deflector 32 relative to the turntable 2, and the displacement sensor is used to detect the position change of the deflector 32 relative to the turntable 2.

[0029] Optionally, the present invention can achieve the requirements of position locking and holding, real-time monitoring, and automatic adjustment and correction of the yaw mechanism. The electronic control system still needs to include electro-hydraulic components such as angle sensors, displacement sensors, controllers, instruments, and proportional solenoid valves. The angle sensor and displacement sensor work together to accurately detect the position of the deflector 32 and prevent the failure of a single detection method or error deviation. After the excavator is powered on, the instrument defaults to the locking and holding mode, and the control program starts to run. The locking mechanism 1 is kept locked under the control of the motor. The angle sensor and displacement sensor collect the relative position parameters between the current working mechanism 3 and the turntable 2 and store them in the memory. Example 2:

[0030] like Figure 7 As shown, the present invention provides a method for controlling the position of a yaw mechanism, based on the yaw mechanism position control system described in Embodiment 1, comprising: Acquire the controller signal and determine whether to adjust the yaw angle based on the controller signal; If the determination result is to perform yaw angle adjustment, then the working mode is obtained, and the position adjustment is completed according to the working mode; wherein, the working mode includes reset mode and / or lock holding mode; If the judgment result is that no yaw angle adjustment is performed, the working mode is the lock-and-hold mode, and the sensor parameters of the current position of the deflector 32 are obtained and saved.

[0031] The process of adjusting the position according to the working mode specifically includes: If the operating mode is reset mode, the step of adjusting the position according to the operating mode includes: Step a: Select the preset position of the deflector 32 and obtain the sensor parameters of the preset position of the deflector 32; Step b: Real-time acquisition of sensor parameters at the current position of deflector 32, and comparison of sensor parameters at the current position of deflector 32 with sensor parameters at a preset position of deflector 32 to obtain the first comparison result; Step c: Based on the first comparison result and the tolerance range, determine whether the first comparison result is within the tolerance range; wherein, the tolerance range is a preset range; Step d: If the judgment result is that the first comparison result is within the tolerance range, the position adjustment work is completed, and steps b and c are repeated; Step e: If the judgment result is that the first comparison result is not within the tolerance range, then proceed to step f; Step f: Control the locking mechanism 1 to release the fixation of the pin 33, and adjust the current position of the deflector 32 through the first power mechanism 31; reacquire the sensor parameters of the current position of the deflector 32, and compare the sensor parameters of the current position of the deflector 32 with the sensor parameters of the preset position of the deflector 32 again to obtain the second comparison result; Step g: Based on the second comparison result and the tolerance range, determine whether the second comparison result is within the tolerance range; Step h; If the judgment result is that the second comparison result is within the tolerance range, then stop the operation of the first power mechanism 31, and control the locking mechanism 1 to fix the pin 33. The position adjustment work is completed, and steps b and c are repeated. Step i: If the judgment result is that the second comparison result is not within the tolerance range, then repeat steps f and g.

[0032] Specifically, by reading the parameter values ​​of angle and displacement sensors in real time, preset specific commonly used yaw angle related parameter values, and storing historical yaw angle records in memory, manual control and reset of specific yaw angles can be achieved. When the yaw angle is preset and adjusted manually, the angle and displacement sensors collect the corresponding parameters in real time and transmit them to the instrument via CAN signal for comparison with the set data. When the collected real-time data and the set data enter the set tolerance range, the instrument issues a prompt, reminding the user that the current yaw angle of the working mechanism 3 has reached the preset value. After user confirmation, the position adjustment is considered complete, the yaw cylinder stops moving, and the controller transmits a locking signal to the motor. The motor rotates forward to lock the locking mechanism 1, keeping the relative position of the working mechanism 3 and the turntable 2 fixed. During subsequent operation, the angle and displacement sensors continue to collect the corresponding parameters in real time and transmit them to the instrument via CAN signal for comparison with the set data. When the collected real-time data and the set data exceed the set tolerance range, the instrument issues an alarm prompt, reminding the user that the current yaw angle of the working mechanism 3 has deviated, and displays the changed data. At this time, the customer can reset according to the alarm and readjust to the set angle. Furthermore, by reading the parameter values ​​of the angle sensor and displacement sensor in real time, and preset specific commonly used yaw angle related parameter values, and by improving the instrument's communication and control authority, automatic control and reset of specific yaw angles can be achieved. When the user activates the automatic control and reset mode and presets the yaw angle, the whole machine controller detects the automatic control mode and the set angle, transmits an unlocking signal to the motor, and the motor reverses to unlock the locking mechanism 1. The yaw device moves under the drive of the yaw cylinder. The angle sensor and displacement sensor collect the corresponding parameters in real time and transmit them to the instrument via CAN signal for comparison with the set data. When the collected real-time data and the set data enter the set tolerance range, it is automatically determined that the position adjustment is completed, the yaw cylinder stops moving, and the controller transmits the lock signal. A signal is sent to the motor, causing the motor to rotate forward and lock the locking mechanism 1, maintaining the relative position of the working mechanism 3 and the turntable 2. During subsequent operation, the angle sensor and displacement sensor continuously collect the corresponding parameters in real time and transmit them to the instrument via CAN signal for comparison with the set data. When the collected real-time data exceeds the set tolerance range, the instrument issues an alarm, reminding the user that the current yaw angle of the working mechanism 3 has deviated and controls the solenoid valve to replenish oil to the yaw cylinder. The yaw cylinder drives the deflector 32 to rotate. The angle sensor and displacement sensor collect data in real time and transmit it to the instrument via CAN signal for comparison with the set data. When the collected real-time data enters the set tolerance range, the instrument issues a prompt, reminding the user that it has automatically reset.

[0033] In this embodiment, if the working mode is the lock-and-hold mode, the step of performing the position adjustment work according to the working mode includes: Step j: Obtain the yaw signal based on the handle signal; Step k: Control the locking mechanism 1 to release the fixation of the pin 33, and adjust the current position of the deflector 32 through the first power mechanism 31. Determine whether the position adjustment is completed based on the deflection signal. Step 1: If the judgment result is that the position adjustment is completed, stop the operation of the first power mechanism 31, and control the locking mechanism 1 to fix the pin 33. The position adjustment work is completed, and the sensor parameters of the current position of the deflector 32 are obtained and saved. Step m: If the judgment result is that the position adjustment is not completed, then repeat steps j and k.

[0034] Specifically, when the working mode is locked and held, i.e., when the tilt angle of the working mechanism 3 is manually adjusted, the whole machine controller detects the CAN tilt signal transmitted from the handle, determines that the tilt angle is adjusted by human operation, transmits an unlock signal to the motor, the motor reverses to unlock the locking mechanism 1, and the working mechanism 3 moves under the drive of the tilt cylinder to realize the adjustment of the tilt angle; when the tilt angle is adjusted to the expected position, the user releases the tilt button, the whole machine controller does not detect the tilt signal, determines that the position adjustment is completed, the tilt cylinder stops moving, and at the same time the controller transmits a locking signal to the motor, the motor rotates forward to lock the locking mechanism 1, keeping the relative position of the working mechanism 3 and the turntable 2 fixed. At the same time, the angle sensor and displacement sensor collect the relative position parameters between the current working mechanism 3 and the turntable 2 and store them in the memory; the displacement sensor and angle sensor collect data to determine the current tilt angle and relative position; the controller and instruments are used to determine whether an angle deviation has occurred; the controller is used to control the flow output of the solenoid valve and adjust the extension and retraction of the tilt cylinder, thereby accurately resetting the position of the working mechanism 3.

[0035] The present invention can lock and maintain the position of the working mechanism 3 through the locking mechanism 1. Furthermore, it can automatically detect the change of the yaw angle of the working mechanism 3 through the sensor and realize automatic correction and adjustment, so as to prevent the change of the yaw angle due to the internal leakage of the yaw cylinder, thereby improving the operability, stability and safety of the whole machine operation. Example 3:

[0036] The present invention provides an excavator, including the yaw mechanism position control system described in Embodiment 1.

[0037] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A position control system for a yaw mechanism, characterized in that, Includes a turntable, on which a rotating working mechanism is provided, and on which a locking mechanism for limiting the working mechanism is provided; The working mechanism includes a deflecting body, a pin is provided inside the deflecting body, the pin is rotatably connected to the turntable, and a first power mechanism is rotatably connected to the turntable, the output end of the first power mechanism is rotatably connected to the deflecting body; The locking mechanism includes a support mounting base on the turntable, a second power mechanism on the support mounting base, a connecting seat at the output end of the second power mechanism, and a clamping mechanism on the side wall of the connecting seat. The second power mechanism is used to drive the clamping mechanism to clamp or release the pin through the connecting seat, so as to realize the fixing or unlocking of the pin.

2. The yaw mechanism position control system according to claim 1, characterized in that, The clamping mechanism includes two swing blocks and two clamping seats. One end of each swing block is rotatably connected to the connecting seat, and the other end of each swing block is rotatably connected to the two clamping seats respectively. The ends of the two clamping seats away from the swing blocks are rotatably connected. The two clamping seats define limiting holes, the clamping mechanism clamps the pin in the limiting holes, and the swing block pushes the clamping seats to rotate to adjust the diameter of the limiting holes.

3. The yaw mechanism position control system according to claim 2, characterized in that, In the direction from the connecting seat to the swing block, the two swing blocks extend in arcs that are far apart from each other; And / or, the clamping seat includes two connecting sections and two clamping sections, the two connecting sections and the two clamping sections correspond one-to-one, the connecting sections extend in a straight line, one end of the connecting section is connected to the swing block, the other end of the connecting section is connected to the clamping section, and the two clamping sections extend circumferentially along the pin shaft and define the limiting hole.

4. The yaw mechanism position control system according to claim 1, characterized in that, The first power mechanism includes a yaw cylinder; The second power mechanism includes a motor, and the output end of the motor is provided with a screw, which is threadedly connected to the connecting seat.

5. The yaw mechanism position control system according to claim 1, characterized in that, The turntable includes a base plate, on which a first mounting plate and a second mounting plate are provided. Both the first mounting plate and the second mounting plate are provided with pin holes. The pin hole on the first mounting plate is located directly above the pin hole on the second mounting plate. The pin is rotatably connected to both pin holes. The base plate is provided with a mounting seat, and the first power mechanism is rotatably connected to the mounting seat.

6. The yaw mechanism position control system according to claim 1, characterized in that, It also includes an electronic control system, which includes a controller. The first power mechanism and the second power mechanism are both electrically connected to the controller, and the controller is electrically connected to a sensor. The sensor includes an angle sensor and a displacement sensor. The angle sensor is used to detect the angle change of the deflector relative to the turntable, and the displacement sensor is used to detect the position change of the deflector relative to the turntable.

7. The yaw mechanism position control system according to claim 1, characterized in that, The working mechanism also includes a boom stick disposed on the outer wall of the deflector body.

8. A method for controlling the position of a yaw mechanism, based on the yaw mechanism position control system of claim 6, characterized in that, include: Acquire the controller signal and determine whether to adjust the yaw angle based on the controller signal; If the determination result is to perform yaw angle adjustment, then the working mode is obtained, and the position adjustment is completed according to the working mode; wherein, the working mode includes reset mode and / or lock holding mode; If the judgment result is that no yaw angle adjustment is performed, the working mode is the lock-and-hold mode, which acquires and saves the sensor parameters of the current position of the deflector.

9. The position control method for the yaw mechanism according to claim 8, characterized in that, The process of adjusting the position according to the working mode specifically includes: If the operating mode is reset mode, the step of adjusting the position according to the operating mode includes: Step a: Select the preset position of the deflector and obtain the sensor parameters of the preset position of the deflector; Step b: Acquire the sensor parameters of the current position of the deflector in real time, and compare the sensor parameters of the current position of the deflector with the sensor parameters of the preset position of the deflector to obtain the first comparison result; Step c: Based on the first comparison result and the tolerance range, determine whether the first comparison result is within the tolerance range; wherein, the tolerance range is a preset range; Step d: If the judgment result is that the first comparison result is within the tolerance range, the position adjustment work is completed, and steps b and c are repeated; Step e: If the judgment result is that the first comparison result is not within the tolerance range, then proceed to step f; Step f: Control the locking mechanism to release the pin, and adjust the current position of the deflector through the first power mechanism; reacquire the sensor parameters of the current position of the deflector, and compare the sensor parameters of the current position of the deflector with the sensor parameters of the preset position of the deflector to obtain the second comparison result; Step g: Based on the second comparison result and the tolerance range, determine whether the second comparison result is within the tolerance range; Step h: If the judgment result is that the second comparison result is within the tolerance range, then stop the operation of the first power mechanism, and control the locking mechanism to fix the pin. The position adjustment work is completed, and steps b and c are repeated. Step i: If the judgment result is that the second comparison result is not within the tolerance range, then repeat steps f and g; Wherein, if the working mode is the lock-and-hold mode, the step of performing position adjustment according to the working mode includes: Step j: Obtain the yaw signal based on the handle signal; Step k: Control the locking mechanism to release the pin, and adjust the current position of the deflector through the first power mechanism. Determine whether the position adjustment is completed based on the yaw signal. Step 1: If the judgment result is that the position adjustment is completed, stop the operation of the first power mechanism and control the locking mechanism to fix the pin. The position adjustment work is completed. Obtain the sensor parameters of the current position of the deflector and save them. Step m: If the judgment result is that the position adjustment is not completed, then repeat steps j and k.

10. An excavator, characterized in that, The yaw mechanism position control system includes any one of claims 1 to 7.

Images