Deflection angle position sensor and field positioning installation method

Abstract

The application relates to a deflection angle position sensor and a field positioning installation method, which comprises the following parts: a sensor main body which is fixedly installed around the shaft hole of a to-be-detected rotating shaft through a positioning installation assembly, and comprises an installation shell with a circular arc inner side and a PCB plate arranged in the installation shell; a magnetic steel assembly which is arranged opposite to the sensor main body, fixedly connected with the to-be-detected rotating shaft and synchronously rotated, and comprises a connecting plate fixedly connected with the to-be-detected rotating shaft, a magnetic steel fixing seat which is detachably installed at the installation position of the connecting plate and a magnetic steel arranged on the magnetic steel fixing seat; and a positioning circular arc mark assembly which is replaceably installed at the installation position of the connecting plate and used for describing the motion track of the magnetic steel in the rotating process of the to-be-detected rotating shaft to determine an installation mark line. Compared with the prior art, the application has the advantages of convenient installation, high detection accuracy, good consistency and the like.

Description

Technical Field

[0001] This invention relates to the field of angle detection for engineering machinery vehicles, and in particular to a deflection angle position sensor and a method for on-site positioning and installation. Background Technology

[0002] The excavator's boom is horizontally rotatably connected to the slewing platform of the machine body via a pivot on the slewing head. The slewing head controls the horizontal rotation angle through the extension and retraction of the steering cylinder, thereby driving the boom to rotate to the appropriate position.

[0003] With the development of excavator automation and intelligence, there is a need for real-time and accurate detection of the boom sway function. This requires the use of a yaw angle position sensor. However, due to the harsh working environment of excavators, which are often in a vibrating or tilted working environment, higher requirements are placed on the installation accuracy and reliability of the yaw angle position sensor. However, due to the influence of errors in the production and installation of the yaw head and slewing platform, the axis of the shaft on the yaw head and the axis of the shaft hole on the slewing platform become misaligned. If the yaw angle position sensor is installed with the shaft hole on the slewing platform as the reference, the distance between the internal Hall chip and the magnet of the yaw angle position sensor will not remain constant when it rotates, thus affecting the detection accuracy and reliability. Summary of the Invention

[0004] To address the technical problems in the background art, the present invention provides a deflection angle position sensor, comprising:

[0005] Sensor body: Positioned and installed within the installation area of ​​the device under test by a positioning and mounting assembly, and positioned opposite to the rotating shaft of the device under test;

[0006] Magnet assembly: includes a connecting plate fixedly connected to the rotating shaft and rotating synchronously, and a magnet fixing seat with magnets detachably mounted on the connecting plate at a mounting position;

[0007] Positioning arc marker component: Set at the installation location during on-site positioning and installation to trace the movement trajectory of the magnet as it rotates with the shaft to determine the installation marking line.

[0008] Furthermore, the sensor body includes a mounting housing and a PCB board disposed within the mounting housing. The mounting housing is arc-shaped relative to the inner side of the rotating shaft. The PCB board is equipped with a processor chip and multiple Hall sensors, which are evenly distributed circumferentially along the arc-shaped inner edge of the PCB board.

[0009] Furthermore, the positioning arc marking assembly includes a mounting block and an elastic clamping marking unit. The mounting block is detachably mounted at the mounting position, and a frustum-shaped cylindrical mounting hole is provided on the mounting block for mounting the elastic clamping unit.

[0010] Furthermore, the elastic compression marking unit includes a fixing pin, a fastening screw disposed on the top of the fixing pin, a steel ball clamp disposed on the bottom of the fixing pin, a spring sleeved on the outside of the fixing pin, and a steel ball that is rolled in the bottom space of the steel ball clamp, the steel ball being pressed downward under the action of the spring.

[0011] Furthermore, the positioning and mounting assembly includes a positioning and mounting plate. An arc-shaped notch with the same shape as the inner surface of the mounting housing is opened on the inner side of the positioning and mounting plate, and arc-shaped positioning holes are respectively opened on both sides of the positioning and mounting plate. The arc-shaped center lines corresponding to the two arc-shaped positioning holes are located on the same circumference. The sensor body is fixed on the positioning and mounting plate to form an intermediate integral part, and the arc-shaped notch is aligned with the inner arc surface of the mounting housing. The positioning and mounting plate is fixed in the mounting area through the arc-shaped positioning holes and positioning screws.

[0012] Furthermore, the width of the arc-shaped positioning hole satisfies the following condition:

[0013]

[0014] Where c is the width of the arc-shaped positioning hole, d is the diameter of the positioning screw body, a is the maximum deviation of the axis of the rotating shaft from the center of the shaft hole in the horizontal direction, b is the maximum deviation between the actual movement trajectory of the rotating shaft and the ideal arc under the influence of radial vibration, k is the design margin percentage, and e is the diameter of the positioning screw head.

[0015] Furthermore, it also includes:

[0016] Measuring tool: A transparent fan-shaped measuring plate, with multiple equally spaced arc-shaped marking lines evenly arranged radially within the measuring area of ​​the fan-shaped measuring plate, the distance between two adjacent arc-shaped marking lines being half of a set threshold D0.

[0017] A method for on-site positioning and installation of a deflection angle position sensor, comprising the following steps:

[0018] 1) Fix the connecting plate to the upper end of the rotating shaft, and fix the mounting shell of the sensor body to the positioning mounting plate, so that the inner side of the mounting shell is aligned with the arc-shaped notch of the positioning mounting plate to form an intermediate integral part;

[0019] 2) Apply a layer of scraping paste to the surface around the shaft hole of the device under test, and fix the positioning arc mark assembly to the installation position of the connecting plate so that the bottom of the steel ball is pressed into contact with the surface around the shaft hole.

[0020] 3) Rotate the shaft to drive the positioning arc marking component to draw an approximately arc-shaped marking line, and use this to determine the installation marking line;

[0021] 4) Based on the installation marking line, adjust the position of the intermediate integral part under the guidance and constraint of the arc-shaped positioning hole, so that the distance between the arc surface of the intermediate integral part and the corresponding arc line and the installation marking line are within the preset range, and tighten the positioning screw to position and install the intermediate integral part in the installation area.

[0022] 5) Remove the positioning arc mark assembly and install the magnet assembly at the lower vertical plate mounting position of the connecting plate to complete the positioning and installation of the deflection angle position sensor.

[0023] Furthermore, in step 3), determining the installation marking line specifically involves:

[0024] The shaft rotates from the starting position to the ending position, drawing an approximately arc-shaped marking line for the positive stroke; then it returns from the ending position to the starting position, drawing an approximately arc-shaped marking line for the reverse stroke.

[0025] If the maximum deviation between the approximate arc-shaped marking lines corresponding to the forward and reverse strokes does not exceed the set threshold D0, then the approximate arc-shaped marking line of the forward stroke is used as the installation marking line.

[0026] If the maximum deviation between the approximate arc-shaped marker lines corresponding to the forward and reverse strokes exceeds the set threshold D0 but does not exceed twice the set threshold D0, then the virtual marker line formed by synchronously shifting the approximate arc-shaped marker line of the forward stroke towards the approximate arc-shaped marker line of the reverse stroke by D0 / 2 is used as the installation marker line.

[0027] If the maximum deviation between the approximately circular arc-shaped markings of the forward and reverse travel exceeds twice the set threshold D0, it indicates that the radial vibration is too large and installation is not advisable.

[0028] Furthermore, in step 4), when the virtual marker line is used as the installation marker line, the two arc-shaped marker lines corresponding to the preset threshold range within the measurement area of ​​the fan-shaped measuring plate are used as the initial boundary. Then, the final boundary is determined based on the synchronous offset of the virtual marker line. If the installation marker lines are all within the range of the two final boundaries, it is determined that the installation is in place.

[0029] Compared with the prior art, the present invention has the following advantages:

[0030] This invention focuses on the field of angle detection for large construction machinery vehicles such as excavators. Considering the actual situation of shaft hole eccentricity and deviations in forward and reverse travel trajectories during actual installation, in order to meet the requirements of high accuracy and reliability, a positioning arc marking component is designed in conjunction with a positioning installation component to eliminate the influence of shaft hole eccentricity. The result is an approximately arc-shaped marking line that conforms to the actual situation of the yaw head shaft during rotation. At the same time, the measuring tool is used to reduce the adverse effects of deviations in forward and reverse travel trajectories during installation. The operation is simple, convenient and reliable. The sensor body and magnet assembly after on-site positioning and installation according to the method shown in this invention have high angle detection accuracy and consistency. Attached Figure Description

[0031] Figure 1 This is a schematic diagram of the installation structure of the deflection angle position sensor (with magnet mounting base) of the present invention;

[0032] Figure 2 This is a schematic diagram of the installation structure of the deflection angle position sensor (with positioning arc scribing assembly) of the present invention;

[0033] Figure 3 This is a schematic diagram of the magnet assembly.

[0034] Figure 4a Axonometric drawing for locating the arc marking assembly;

[0035] Figure 4b Left sectional view for locating the arc mark component;

[0036] Figure 5 A schematic diagram of the installation structure for positioning and installing components;

[0037] Figure 6 A schematic diagram showing the eccentricity and motion trajectory of the yaw head shaft and the shaft hole on the rotary platform;

[0038] Figure 7 A flowchart illustrating a field installation method for a deflection angle position sensor provided by the present invention;

[0039] Figure 8 A schematic diagram of the structure of the measuring tool provided by the present invention.

[0040] Figure 9 This is a schematic diagram of another type of magnet holder.

[0041] Explanation of reference numerals in the attached figures

[0042] 1. Sensor body; 2. Magnet assembly; 21. Connecting plate; 22. Magnet fixing base; 23. Magnet; 24. Mounting screw; 3. Positioning arc marking assembly; 31. Mounting block; 32. Fastening screw; 33. Fixing pin; 34. Steel ball clamp; 35. Steel ball; 36. Spring; 4. Rotary platform; 5. Deflection head shaft; 6. Positioning mounting assembly; 61. Positioning mounting plate; 62. Arc-shaped positioning hole. Detailed Implementation

[0043] The present invention will now be described in detail with reference to the accompanying drawings and specific embodiments. These embodiments are implemented based on the technical solution of the present invention, providing detailed implementation methods and specific operating procedures. However, the scope of protection of the present invention is not limited to the following embodiments.

[0044] It should be noted that in this specification, similar reference numerals and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0045] In the description of this embodiment, it should be noted that the terms "upper", "lower", "inner", "bottom", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship that the product of the invention is usually placed in during use. 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, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting the present invention.

[0046] The terms “first”, “second”, etc., are used only to distinguish descriptions and should not be interpreted as indicating or implying relative importance.

[0047] In the description of this embodiment, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set up," "connected," and "linked" 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 can understand the specific meaning of the above terms in this embodiment based on the specific circumstances.

[0048] To make the objectives, technical solutions, and advantages of the present invention clearer, the embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.

[0049] Example

[0050] like Figure 1 and 2As shown, the present invention provides a deflection angle position sensor for detecting the horizontal turning angle of the excavator arm (the device under test). The deflection angle position sensor adopts a split structure, including a sensor body 1 and a magnet assembly 2 arranged at relatively intervals. The sensor body 1 is fixedly installed in the mounting area around the shaft hole of the rotary platform 4. It includes a mounting housing with an arc-shaped inner side and a PCB board disposed in the mounting housing. The shape of the PCB board is matched with the overall shape of the mounting housing, and its inner edge is also arc-shaped. Hall sensors for detecting magnetic field changes and processor chips connected to the Hall sensors for obtaining the output of the Hall sensors and processing and calculating the rotation angle are disposed on the PCB board. Multiple Hall sensors are evenly distributed circumferentially along the inner edge of the PCB board. The mounting housing is also provided with a terminal for connecting to the PCB board.

[0051] like Figure 3 As shown, the magnet assembly 2 includes a connecting plate 21, a magnet mounting base 22, and a magnet 23 mounted on the magnet mounting base 22. The connecting plate 21 is L-shaped. The upper horizontal plate is fixed to the flange of the yaw head shaft 5 by hexagonal bolts and welded to ensure a stable connection. Mounting holes are opened at the mounting positions on the outer side of the lower vertical plate. The magnet mounting base 22 is mounted at the mounting positions by ear plates on both sides and mounting screws 24. The magnet mounting base 22 can be magnetically shielded to prevent the influence of excavators and complex external environments. Driven by the yaw head shaft 5, the magnet 23 moves in an arc within the rotation range with the axis of the yaw head shaft 5 as the center and the horizontal distance from the magnet 23 to the axis of the yaw head shaft 5 as the radius (ideally). Its arc motion trajectory matches the arc-shaped inner edge shape of the PCB board. At the same time, the magnet 23 is aligned with the arc-shaped inner side of the sensor body 1 at all angle positions during the movement and the distance remains unchanged to ensure high measurement accuracy and consistency.

[0052] Due to errors in the production and installation of the yaw head and slewing platform 4 during the actual application of excavators (or other construction machinery or applications requiring shaft angle measurement), the axis of the yaw head shaft 5 often deviates from the axis of the shaft hole on the slewing platform 4. That is, the axis of the yaw head shaft 5 is not collinear with the axis of the shaft hole on the slewing platform 4. However, there is no reference object when installing the sensor body 1 in the installation area around the shaft hole of the slewing platform 4. If the outer edge of the shaft hole is used as a reference for installation, this can only ensure that the distance between the inner side of the sensor body 1 and the outer edge of the shaft hole is consistent. However, the actual movement trajectory of the magnet 23 when the yaw head shaft 5 rotates is not consistent with the outer edge of the shaft hole, which will greatly affect the accuracy of the angle detection.

[0053] like Figure 6As shown, O represents the center of the shaft hole on the rotary platform, and L is the arc with O as the center and R as the radius; O' is the axis of the yaw head shaft, and L' is the arc with O' as the center and R as the radius, i.e., the ideal arc line. R is the distance from the magnet to the axis O', and OO' is the deviation of the center. It can be seen that if the center of the shaft hole is used as the reference during actual installation, the distance between the ideal arc line L' and the arc L changes with rotation, and may even intersect at zero. This is very detrimental to subsequent angle calibration and testing. Therefore, it is necessary to use the yaw head shaft as the reference. With the axis of 5 as a reference, in this invention, when the deflection angle position sensor is installed on site, the excavator is in a stationary state. The radial deviation caused by vibration when the deflection head shaft 5 rotates is minimal. Therefore, the approximate arc of the actual running trajectory of the magnet can be regarded as the ideal arc. During actual on-site installation, this approximate arc can be used as the installation marker line. The arc S is the projection of the overall arc surface after the actual installation of the deflection angle position sensor. Ideally, the distance between the arc S and the ideal arc L' should remain unchanged (i.e., concentric) at any angle position.

[0054] In addition, due to the radial vibration affecting the slewing head shaft 5 during normal operation of the excavator, the actual running trajectory of the magnet is an approximate circular arc line (not shown in the figure) within the range of L1 and L2. L1 and L2 are the inner boundary line and outer boundary line of the ideal circular arc line after radial deviation, respectively.

[0055] In view of the problems caused by the above-mentioned non-collinearity, the present invention creatively provides the deflection angle position sensor with an additional positioning arc mark component 3 and a positioning installation component 6 to assist in on-site installation and improve measurement accuracy and consistency, so that the center of the arc-shaped inner side of the sensor body 1 coincides with the axis of the deflection head shaft 5 as much as possible.

[0056] The positioning arc mark assembly 3 and the magnet assembly 2 are installed in the same position. Both are fixed to the installation position on the outer side of the lower vertical plate of the connecting plate 21 by mounting screws 24. When installing the deflection angle position sensor on site, the positioning arc mark assembly 3 is installed and used for auxiliary positioning installation. After the deflection angle position sensor body 1 is installed, the positioning arc mark assembly 3 is removed and replaced with the magnet assembly 2 in the original installation position, and the on-site installation of the deflection angle position sensor is finally completed.

[0057] like Figure 4a and Figure 4bAs shown, in one feasible embodiment, the positioning arc marking assembly 3 includes a mounting block 31 and an elastic clamping marking unit. The mounting block 31 is fixed to the mounting position on the outer side of the lower vertical plate of the connecting plate 21 by two mounting screws 24. A cylindrical frustum-shaped mounting hole for mounting the elastic clamping unit is opened at the central axis of the mounting block 31. The upper part of the mounting hole is a small-diameter circular hole to limit and guide the upper part of the fixing pin 33, and the lower part is a large-diameter circular hole to accommodate the lower part of the fixing pin 33 and the spring 36. The compression marking unit includes a fastening screw 32, a fixing pin 33, a steel ball clamping member 34, a steel ball 35, and a spring 36. The fixing pin 33 is installed in a cylindrical mounting hole, and the fastening screw 32 is tightened into a threaded hole at the top of the fixing pin 33. The steel ball clamping member 34 has a Y-shaped cross-section, and its top is fixed in a threaded hole at the bottom of the pin 33. A washer is provided between the bottom of the pin 33 and the steel ball clamping member 34 to abut against the lower end of the spring 36 (if the steel ball clamping member 34 can abut against the lower end of the spring 36 alone, then the washer is not required). A shim is placed in the bottom space, and a steel ball 35 is held in the space. The steel ball 35 can roll within the bottom space of the steel ball holder 34 (similar to the steel ball at the tip of a ballpoint pen). The bottom end of the steel ball 35 is pressed against the surface around the shaft hole of the rotary platform 4. When it moves with the yaw head shaft 5, it works in conjunction with the scraping paste or developing powder applied to the surface around the shaft hole of the rotary platform 4 to draw (depict) an approximately arc-shaped marking line that best matches the actual rotational motion of the yaw head shaft 5 and has high repeatability and consistency. This serves as an installation marking line. The spring 36 is sleeved on the fixed... The pin 33 is located on the outside of the mounting hole and is positioned at the lower part of the mounting hole with a larger diameter. The upper end of the spring 36 abuts against the stepped surfaces at the upper and lower parts of the mounting hole, and the lower end abuts against the washer. This allows the steel ball 35 to be pressed against the surface around the shaft hole under the elastic force of the spring 36. In addition, when the steel ball 35 is subjected to axial vibration, the pin 33 can perform guided telescopic movement within the cylindrical mounting hole of the mounting block 31. The center of the steel ball 35, the center of the fixed pin 33, and the center of the mounting block 31 are collinear and perpendicular to the plane where the rotary platform 4 is located.

[0058] It is worth noting that, since excavators are large construction machinery, the vehicle body will vibrate after startup and operation. Axial vibration will also occur during the rotation of the swivel head and the boom. To accommodate the axial vibration that occurs when the swivel head shaft 5 rotates, the elastic clamping marking unit of this invention is designed with a spring 36 that applies pressure to the steel ball 35. This spring 36 can achieve axial buffering during the marking process, ensuring that the bottom end of the steel ball 35 is always in tight contact with the surface around the shaft hole of the rotary platform 4, so that the marking line is continuous and uninterrupted. At the same time, the elastic clamping marking unit of this invention is designed with a steel ball 35 that can roll on the plane of the rotary platform 4, avoiding the problem of breakage caused by radial vibration when using a rigid and sharp marking head during marking.

[0059] In another feasible embodiment, in addition to using an elastic clamping marking unit similar to the design of this invention to draw marking lines through a contact-type physical marking method, a non-contact marking method can also be used. For example, a laser emitter can be used instead of the steel ball holder 34, steel ball 35 and spring 36, and a material that changes color after being excited by the laser can be placed on the surface position around the shaft hole of the rotating platform 4 to reveal the marking trajectory. For example, photochromic stickers, coatings or films can emit light / show shape under laser excitation of a specific wavelength.

[0060] In another feasible embodiment, since the yaw head shaft 5 of the excavator will wear down after long-term use, causing it to sink in the vertical direction, shims are generally added on site to prevent further wear of the yaw head shaft 5 and to prevent it from sinking too high. However, the degree of wear on the yaw head shaft 5 varies from excavator to excavator, and the number and thickness of the added shims also vary. This results in the distance between the magnet 23 and the sensor body 1 in the vertical direction (the axial direction of the yaw head shaft 5, which is also the Z-axis direction) not being a constant value. Therefore, it is necessary to design a function for the magnet assembly 2 to adjust its position vertically, such as... Figure 9 As shown, this invention improves the magnet fixing seat 22 based on the original magnet assembly 2. A strip hole is opened on both sides of the back plate of the magnet fixing seat 22. The length of the strip hole includes the actual installation height of the magnet assembly 2 after the shim and wear. During on-site installation, the magnet fixing seat 22 is adjusted and positioned vertically along the strip hole and then fixed at the installation position by the mounting screw 24, which ensures that the vertical installation position meets the design requirements. In the positioning arc mark assembly 3, the mounting block 31 also has a strip hole opened on the left and right sides of its back plate, and its installation method is the same as that of the magnet fixing seat 22.

[0061] like Figure 5 As shown, in a feasible embodiment, the positioning and mounting assembly 6 includes a positioning and mounting plate 61. Circular arc-shaped positioning holes 62 are symmetrically provided on the left and right sides of the positioning and mounting plate 61. The positioning and mounting plate 61 is fixed to the rotary platform 4 through the two circular arc-shaped positioning holes 62 and positioning screws. Furthermore, the positioning and mounting plate 61 has a notch with the same curvature as the inner surface of the mounting housing on the side near the deflection head shaft 5. The mounting housing is fixed to the positioning and mounting plate 61 with screws, and the inner arc surface of the mounting housing is aligned with the notch.

[0062] It is worth noting that the center lines of the arcs corresponding to the two arc-shaped positioning holes 62 are both concave towards the axis of symmetry of the positioning mounting plate 61, and the two arc-shaped center lines are both set on the same circumference. Meanwhile, considering that the axis of the deflector shaft 5 is not collinear with the axis of the shaft hole on the rotary platform, resulting in a center deviation, and that the deflector shaft 5 will also deviate from the ideal arc line due to radial vibration during rotation, this invention designs the width of the arc-shaped positioning hole 62 to be c, and the diameter of the positioning screw to be d, then:

[0063] cd≥(1+k)*(a+b)

[0064] And c < e

[0065] In the formula, k is the design margin percentage, which is generally 10-20%, a is the maximum deviation of the axis of the yaw head shaft from the center of the shaft hole in the horizontal direction, b is the maximum deviation of the yaw head shaft from the ideal arc due to radial vibration during rotation, and e is the diameter of the locating screw head.

[0066] Based on the above design of the width of the arc-shaped positioning hole 62, the positioning mounting plate 61 has two degrees of freedom when adjusting its position: rotational adjustment in the vertical direction and horizontal adjustment on the plane of the rotary platform 4. The adjustment range covers all curves that may occur under the influence of non-collinearity and vibration, and also leaves a margin, which can meet most of the actual positioning and installation needs.

[0067] like Figure 7 As shown, based on the aforementioned yaw angle position sensor for excavators, this invention also provides a field installation method for the yaw angle position sensor to improve the measurement accuracy and installation convenience of the sensor, specifically including the following steps:

[0068] 1) The upper horizontal plate of the connecting plate 21 is fixedly welded to the flange at the upper end of the deflector shaft 5 by bolts, and the mounting shell of the sensor body 1 is fixed to the positioning mounting plate 61 by screws to form an intermediate integral part, so that the inner arc surface of the mounting shell is aligned with the side notch of the positioning mounting plate 61 to form an integral arc surface.

[0069] 2) Apply a fine scraping paste to the surface around the shaft hole of the rotary platform 4, and then fix the positioning arc mark assembly 3 to the outer side of the lower vertical plate of the connecting plate 21 so that the bottom of the steel ball 35 is pressed into contact with the surface around the shaft hole of the rotary platform 4.

[0070] 3) Rotate the yaw head shaft 5 from the starting position to the ending position (because most of the rotation of the yaw head is concentrated in the positive stroke when the excavator is working normally), thereby driving the positioning arc marking component 3 to draw an approximately arc-shaped marking line on the surface around the shaft hole of the rotary platform 4 along the movement trajectory through the steel ball 35 (due to radial vibration, the line actually drawn is not an ideal arc shape, but a curve that fluctuates slightly in the near range of the ideal arc line) as the installation marking line;

[0071] Regarding step 3), this invention further considers that during the actual use of the excavator, due to the influence of installation and manufacturing, the radial vibration of the yaw head shaft 5 during the forward stroke (from the starting position to the ending position) and reverse stroke (from the ending position to the starting position) is different, resulting in the approximate arc-shaped marking lines corresponding to the forward stroke trajectory and the reverse stroke trajectory not coinciding. There is a certain deviation between the two, which affects the detection consistency of the yaw angle position sensor and thus reduces the detection accuracy. This invention further accurately determines the installation marking line through the following methods:

[0072] Measure n pre-set angular positions a n The deviation between the two approximately arc-shaped marking lines at point {D an If the largest absolute value among these deviations is |D max If the deviation does not exceed the set threshold D0 (e.g., 1mm), then the approximately arc-shaped marking line of the positive stroke is used as the installation marking line; if the maximum absolute value of these deviations is |D max If the deviation exceeds the set threshold D0 but does not exceed twice the set threshold D0, then the virtual marker line formed by synchronously shifting the approximate arc-shaped marker line of the forward stroke towards the approximate arc-shaped marker line of the reverse stroke is used as the installation marker line; if the maximum absolute value of these deviations is |D max If the radial vibration exceeds twice the set threshold D0, it indicates that the excavator is vibrating too much during operation and needs to be repaired. It is not advisable to install a deflection angle position sensor.

[0073] 4) Based on the installation marking line, under the guidance and constraint of the two arc-shaped positioning holes 62, adjust the position of the intermediate integral part (with two adjustable degrees of freedom) at the corresponding position of the rotary platform 4 so that within the angle range between the starting position and the ending position, the distance between the arc line corresponding to the arc surface of the intermediate integral part and the installation marking line remains approximately the same (i.e. the distance is within the preset threshold range). Tighten the positioning screw to complete the positioning and fixing of the intermediate integral part.

[0074] 5) Remove the positioning arc mark assembly 3 and install the magnet assembly 2 at the installation position of the vertical plate at the bottom of the connecting plate 21. Ensure that the movement trajectory of the magnet 23 is the same as the final approximate arc mark line, and complete the positioning and installation of the deflection angle position sensor.

[0075] like Figure 8 As shown, in step 4), the present invention designs a measuring tool for measuring the distance between the corresponding arc line of the overall arc surface of the intermediate integral part and the installation mark line. The measuring tool is a fan-shaped measuring plate made of transparent material (such as plastic plate or glass plate). The central angle range of the fan-shaped measuring plate is larger than the range of the deflection angle position sensor. In the measuring area of ​​the fan-shaped measuring plate, multiple equally spaced arc-shaped marking lines are uniformly arranged in the radial direction. In this example, the spacing between adjacent arc-shaped marking lines is set to D0 / 2 (e.g., 0.5mm). In addition, multiple scale lines can also be set in the radial direction at different angle positions in the measuring area to indicate specific spacing.

[0076] Before use, determine the arc-shaped marking lines as boundaries according to the preset threshold range (usually an integer multiple of the spacing). For example, when the preset threshold range is 3D0, the outer edge of the fan-shaped measuring plate is used as the first boundary, and the 7th arc-shaped marking line starting from the outer edge inward is used as the second boundary. The preset threshold range is the area within the two boundaries. When using, the outer edge of the fan-shaped measuring plate is placed against the overall arc surface of the middle integral part, so that the installation marking lines are located within the measurement area. Randomly select several angle positions and observe whether the installation marking lines are all within the two boundaries. If so, it indicates that the installation is in place. Otherwise, readjust the position until the installation is in place.

[0077] Additionally, for the maximum absolute value |D| corresponding to the deviation. max If the threshold exceeds the set threshold D0 but does not exceed twice the set threshold D0, taking the preset threshold range of 3D0 as an example, the outer edge of the fan-shaped measuring plate is used as the first preliminary boundary (first final boundary), the 7th arc-shaped marking line is used as the second preliminary boundary, and then the 8th arc-shaped marking line or the 6th arc-shaped marking line is used as the second final boundary in the corresponding offset direction. The method for determining whether the installation is in place is the same as the above method.

[0078] 6) After installing the deflection angle position sensor, start the deflection angle position sensor and verify on-site whether the installation and detection accuracy meet the requirements.

[0079] It can be inferred directly that the excavator yaw angle position sensor of the present invention can be installed on any component, device, or equipment that requires yaw angle detection, including but not limited to excavators, aerial work platforms, and other construction machinery, or in application scenarios related to motors and robots.

[0080] In summary, this invention focuses on the field of angle detection for large construction machinery vehicles such as excavators. Considering the actual situation of shaft hole eccentricity and deviations in forward and reverse travel trajectories during installation, and to meet the requirements of high accuracy and reliability, a positioning arc marking component is designed in conjunction with a positioning installation component to eliminate the influence of shaft hole eccentricity. This results in an approximately arc-shaped marking line that conforms to the actual situation of the yaw head shaft during rotation. Simultaneously, measuring tools are used to reduce the adverse effects of deviations in forward and reverse travel trajectories during installation. Furthermore, the operation is simple, convenient, and reliable. The sensor body and magnet assembly, after on-site positioning and installation according to the method described in this invention, exhibit high accuracy and consistency in angle detection.

[0081] The preferred embodiments of the present invention have been described in detail above. It should be understood that those skilled in the art can make numerous modifications and variations based on the concept of the present invention without creative effort. Therefore, all technical solutions that can be obtained by those skilled in the art based on the concept of the present invention through logical analysis, reasoning, or limited experimentation on the basis of existing technology should be within the scope of protection defined by the claims.

Claims

1. A deflection angle position sensor, characterized in that, include: Sensor body (1): Positioned and installed in the installation area of ​​the device under test by the positioning and installation component (6) and set opposite to the rotating shaft of the device under test; Magnet assembly (2): includes a connecting plate (21) fixedly connected to the rotating shaft and rotating synchronously, and a magnet fixing seat (22) with a magnet (23) detachably mounted on the connecting plate (21) at the mounting position. Positioning arc mark assembly (3): Set at the installation position during on-site positioning and installation to trace the movement trajectory of the magnet (23) as it rotates with the shaft to determine the installation marking line.

2. A deflection angle position sensor according to claim 1, characterized in that, The sensor body (1) includes a mounting housing and a PCB board disposed in the mounting housing. The mounting housing is arc-shaped relative to the inner side of the rotating shaft. The PCB board is equipped with a processor chip and multiple Hall sensors. The multiple Hall sensors are evenly distributed circumferentially at the arc-shaped inner edge of the PCB board.

3. A deflection angle position sensor according to claim 1, characterized in that, The positioning arc marking assembly (3) includes a mounting block (31) and an elastic clamping marking unit. The mounting block (31) is detachably mounted at the mounting position, and a cylindrical frustum mounting hole is provided on the mounting block (31) for mounting the elastic clamping unit.

4. A deflection angle position sensor according to claim 3, characterized in that, The elastic compression marking unit includes a fixed pin (33), a fastening screw (32) set on the top of the fixed pin (33), a steel ball clamp (34) set at the bottom of the fixed pin (33), a spring (36) sleeved on the outside of the fixed pin (33), and a steel ball (35) rolling in the bottom space of the steel ball clamp (34). The steel ball (35) is pressed downward under the action of the spring (36).

5. A deflection angle position sensor according to claim 3, characterized in that, The positioning and mounting assembly includes a positioning and mounting plate (61). An arc-shaped notch with the same shape as the inner surface of the mounting housing is opened on the inner side of the positioning and mounting plate (61). Arc-shaped positioning holes (62) are opened on both sides of the positioning and mounting plate (61). The arc-shaped center lines corresponding to the two arc-shaped positioning holes are located on the same circumference. The sensor body (1) is fixed on the positioning and mounting plate (61) to form an intermediate integral part. The arc-shaped notch is aligned with the inner arc surface of the mounting housing. The positioning and mounting plate (61) is fixed in the mounting area through the arc-shaped positioning holes (62) and positioning screws.

6. A deflection angle position sensor according to claim 5, characterized in that, The width of the arc-shaped positioning hole (62) satisfies the following condition: Where c is the width of the arc-shaped positioning hole, d is the diameter of the positioning screw body, a is the maximum deviation of the axis of the rotating shaft from the center of the shaft hole in the horizontal direction, b is the maximum deviation between the actual movement trajectory of the rotating shaft and the ideal arc under the influence of radial vibration, k is the design margin percentage, and e is the diameter of the positioning screw head.

7. A deflection angle position sensor according to claim 1, characterized in that, Also includes: Measuring tool: A transparent fan-shaped measuring plate, with multiple equally spaced arc-shaped marking lines evenly arranged radially within the measuring area of ​​the fan-shaped measuring plate, the distance between two adjacent arc-shaped marking lines being half of a set threshold D0.

8. A method for on-site positioning and installation of a deflection angle position sensor according to any one of claims 1-7, characterized in that, Includes the following steps: 1) Fix the connecting plate (21) to the upper end of the rotating shaft, and fix the mounting shell of the sensor body (1) to the positioning mounting plate (61), so that the inner side of the mounting shell is aligned with the arc-shaped notch of the positioning mounting plate (61) to form an intermediate integral part; 2) Apply a layer of scraping paste to the surface around the shaft hole of the device under test, and fix the positioning arc mark assembly (3) at the installation position of the connecting plate (21) so that the bottom of the steel ball (35) is pressed into contact with the surface around the shaft hole; 3) Rotate the shaft to drive the positioning arc marking component (3) to draw an approximately arc-shaped marking line, and use this to determine the installation marking line; 4) Based on the installation marking line, adjust the position of the intermediate integral part under the guidance and restriction of the arc-shaped positioning hole (62) so that the distance between the arc line corresponding to the arc surface of the intermediate integral part and the installation marking line is within the preset range. Tighten the positioning screw to position and install the intermediate integral part in the installation area. 5) Remove the positioning arc mark assembly (3) and install the magnet assembly (2) at the lower vertical plate installation position of the connecting plate (21) to complete the positioning and installation of the deflection angle position sensor.

9. The on-site positioning and installation method according to claim 8, characterized in that, In step 3), determining the installation marking line specifically involves: The shaft rotates from the starting position to the ending position, drawing an approximately arc-shaped marking line for the positive stroke; then it returns from the ending position to the starting position, drawing an approximately arc-shaped marking line for the reverse stroke. If the maximum deviation between the approximate arc-shaped marking lines corresponding to the forward and reverse strokes does not exceed the set threshold D0, then the approximate arc-shaped marking line of the forward stroke is used as the installation marking line. If the maximum deviation between the approximate arc-shaped marker lines corresponding to the forward and reverse strokes exceeds the set threshold D0 but does not exceed twice the set threshold D0, then the virtual marker line formed by synchronously shifting the approximate arc-shaped marker line of the forward stroke towards the approximate arc-shaped marker line of the reverse stroke by D0 / 2 is used as the installation marker line. If the maximum deviation between the approximately circular arc-shaped markings of the forward and reverse travel exceeds twice the set threshold D0, it indicates that the radial vibration is too large and installation is not advisable.

10. The on-site positioning and installation method according to claim 9, characterized in that, In step 4), when the virtual marker line is used as the installation marker line, the two arc-shaped marker lines corresponding to the preset threshold range within the measurement area of ​​the fan-shaped measuring plate are used as the initial boundary. Then, the final boundary is determined based on the synchronous offset of the virtual marker line. If the installation marker lines are all within the range of the two final boundaries, it is determined that the installation is in place.

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