A method, system, device and storage medium for adjusting the swing clearance of a dolly

Abstract

The application discloses a slewing gap adjusting method, system, device and storage medium of an arm truck, and belongs to the technical field of engineering machinery. The slewing gap adjusting method of the arm truck comprises the following steps: detecting current state data of the arm truck; wherein the current state data comprises a current arm frame luffing angle, a current arm frame length and a current slewing reducer displacement; calculating a target slewing gap of the arm truck according to the current arm frame luffing angle and the current arm frame length; determining an actual slewing gap of the arm truck according to the current slewing reducer displacement; judging whether the difference between the target slewing gap and the actual slewing gap is within a preset interval; if not, driving the executing component to move by using the gap adjusting motor, so as to adjust the gap between the slewing bearing and the slewing reducer. The application can realize real-time and accurate adjustment of the slewing gap of the arm truck.

Description

Technical Field

[0001] This application relates to the field of engineering machinery technology, and in particular to a method, system, device and storage medium for adjusting the slewing clearance of a boom truck. Background Technology

[0002] A boom lift, also known as a boom-type work platform, boom-type aerial work platform, or aerial work platform, can be used for building facade maintenance, such as exterior wall painting, installation and cleaning of exterior glass, etc.

[0003] To increase the operating range, boom lifts typically employ a 360-degree omnidirectional slewing mechanism. This mechanism includes a slewing bearing and a slewing reducer, forming a gear meshing structure. Operators can control the rotation of the reducer to drive the boom lift's superstructure around the fixed end of the slewing bearing, thus achieving 360-degree omnidirectional slewing. Prolonged heavy-load operation of the boom lift causes wear at the gear-slewing bearing mesh, increasing clearance. Therefore, after a period of use, manual adjustment of the slewing clearance is usually necessary. Manual adjustment relies on the operator's experience, making it impossible to precisely quantify the slewing clearance and resulting in inconsistent adjustments. Furthermore, the optimal clearance varies depending on the boom lift's luffing angle and boom extension, and manual adjustment cannot achieve dynamic adaptation. Excessive clearance can cause the entire machine to sway during high-altitude operations, posing a safety hazard; insufficient clearance will accelerate gear wear and reduce the mechanism's lifespan.

[0004] Therefore, how to adjust the slewing clearance of the boom lift in real time and with precision is a technical problem that needs to be solved by those skilled in the art. Summary of the Invention

[0005] The purpose of this application is to provide a method, system, device, and storage medium for adjusting the slewing clearance of a boom lift, which can adjust the slewing clearance of the boom lift in real time and with precision.

[0006] To solve the above-mentioned technical problems, this application provides a method for adjusting the slewing clearance of a boom lift. The boom lift includes a boom, a slewing mechanism, and a clearance adjustment device. The slewing mechanism includes a slewing bearing and a slewing reducer. The clearance adjustment device includes an adjusting motor, a motor mounting plate, and an actuating component. The adjusting motor is fixed to the turntable base plate via the motor mounting plate. The actuating component is installed at the output end of the adjusting motor, and the end of the actuating component contacts the housing of the slewing reducer. The method for adjusting the slewing clearance of the boom lift includes: The current status data of the boom truck is detected; wherein, the current status data includes the current boom luffing angle, the current boom length, and the current displacement of the slewing reducer; The target slewing clearance of the boom truck is calculated based on the current boom luffing angle and the current boom length; wherein, the slewing clearance is used to describe the clearance between the slewing bearing and the slewing reducer; The actual slewing clearance of the boom truck is determined based on the current displacement of the slewing reducer. Determine whether the difference between the target slewing clearance and the actual slewing clearance is within a preset range; If not, the actuator is driven by the adjustable gap motor to adjust the clearance between the slewing bearing and the slewing reducer.

[0007] Optionally, the target slewing clearance of the boom vehicle is calculated based on the current boom luffing angle and the current boom length, including: Substituting the current boom luffing angle and the current boom length into the first calculation formula, the target slewing clearance of the boom vehicle is obtained. The first calculation formula is: ; Indicates the target slewing clearance. Indicates the reference clearance value. This represents the gap adjustment coefficient. This indicates the current boom luffing angle. Indicates the current boom length. This represents the minimum boom length. This indicates the maximum value of the boom length.

[0008] Optionally, before substituting the current boom luffing angle and the current boom length into the first calculation formula, the method further includes: Determine the model of the rotary mechanism, and look up the value of the clearance adjustment coefficient based on the model of the rotary mechanism.

[0009] Optionally, determining the actual slewing clearance of the boom truck based on the current displacement of the slewing reducer includes: Substituting the current displacement of the slewing reducer into the second calculation formula, the actual slewing clearance of the boom truck is obtained; The second calculation formula is as follows: ; Indicates the actual slewing clearance. Indicates the reference clearance value. This indicates the current displacement of the rotary reducer. This indicates the reference displacement of the rotary reducer.

[0010] Optionally, the actuating component is an adjusting bolt; Accordingly, driving the actuator to move using the adjustable gap motor includes: The adjusting bolt is driven to rotate clockwise by the adjusting motor to increase the gap between the slewing bearing and the slewing reducer. Alternatively, the adjusting bolt can be driven to rotate counterclockwise by the adjusting motor to reduce the gap between the slewing bearing and the slewing reducer.

[0011] Optionally, before determining whether the difference between the target slewing clearance and the actual slewing clearance is within a preset range, the method further includes: The deviation threshold is determined based on the model of the slewing mechanism and the current working condition of the boom truck; Accordingly, determining whether the difference between the target slewing clearance and the actual slewing clearance is within a preset range includes: Determine whether the absolute value of the difference between the target slewing clearance and the actual slewing clearance is less than the deviation threshold; If so, the difference between the target slewing clearance and the actual slewing clearance is determined to be within a preset range; If not, it is determined that the difference between the target slewing clearance and the actual slewing clearance is not within the preset range, and the slewing clearance adjustment motor is prohibited from driving the actuator to move.

[0012] Optionally, driving the actuator to move using the adjustable gap motor includes: The target speed is determined based on the difference between the target slewing clearance and the actual slewing clearance; The actuator is driven to move at the target speed using the adjustable gap motor.

[0013] This application also provides a boom lift slewing clearance adjustment system. The boom lift includes a boom, a slewing mechanism, and a clearance adjustment device. The slewing mechanism includes a slewing bearing and a slewing reducer. The clearance adjustment device includes an adjusting motor, a motor mounting plate, and an actuator. The adjusting motor is fixed to the turntable base plate via the motor mounting plate. The actuator is mounted on the output end of the adjusting motor, and the end of the actuator contacts the housing of the slewing reducer. The boom lift slewing clearance adjustment system includes: The status detection module is used to detect the current status data of the boom truck; wherein, the current status data includes the current boom luffing angle, the current boom length, and the current displacement of the slewing reducer; The target clearance determination module is used to calculate the target slewing clearance of the boom truck based on the current boom luffing angle and the current boom length; wherein, the slewing clearance is used to describe the clearance between the slewing bearing and the slewing reducer; The actual clearance determination module is used to determine the actual slewing clearance of the boom truck based on the current displacement of the slewing reducer. The judgment module is used to determine whether the difference between the target slewing clearance and the actual slewing clearance is within a preset range; The clearance adjustment module is used to drive the actuator to move using the clearance adjustment motor if the difference between the target slewing clearance and the actual slewing clearance is not within a preset range, so as to adjust the clearance between the slewing bearing and the slewing reducer.

[0014] This application also provides a storage medium storing a computer program thereon, which, when executed, implements the steps of the above-described boom clearance adjustment method.

[0015] This application also provides an electronic device, including a memory and a processor, wherein the memory stores a computer program, and the processor, when calling the computer program in the memory, implements the steps of the above-described boom clearance adjustment method.

[0016] This application discloses a method for adjusting the slewing clearance of a boom lift. The boom lift includes a boom, a slewing mechanism, and a clearance adjustment device. The clearance adjustment device includes a clearance adjusting motor, a motor mounting plate, and an actuator. The clearance adjusting motor can drive the actuator to move to limit the movement of the slewing reducer. In the above-mentioned slewing clearance adjustment method, this application detects the current boom luffing angle, the current boom length, and the current displacement of the slewing reducer. It calculates the target slewing clearance of the boom lift based on the current boom luffing angle and the current boom length, and also determines the actual slewing clearance of the boom lift based on the current displacement of the slewing reducer. After comparing the target slewing clearance with the actual slewing clearance, this application determines whether to use the clearance adjusting motor to drive the actuator based on the comparison result. The above process can automatically adjust the slewing clearance based on the current state data of the boom lift without manual intervention. Therefore, this application can adjust the slewing clearance of the boom lift in real time and with precision. This application also provides a boom lift slewing clearance adjustment system, a storage medium, and an electronic device, which have the above-mentioned beneficial effects, and will not be elaborated further here. Attached Figure Description

[0017] To more clearly illustrate the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 A flowchart illustrating a method for adjusting the slewing clearance of a boom lift provided in an embodiment of this application; Figure 2 A flowchart illustrating a control method for automatically adjusting the clearance of a boom slewing mechanism provided in this application embodiment; Figure 3 This is a schematic diagram illustrating the sensor data calculation principle provided in the embodiments of this application; Figure 4 This is a schematic diagram of the boom lift and sensor installation provided in an embodiment of this application; Figure 5 This is a schematic diagram of a rotary mechanism clearance adjustment mechanical structure provided in an embodiment of this application. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0020] Please see below. Figure 1 , Figure 1 This is a flowchart illustrating a method for adjusting the slewing clearance of a boom lift, as provided in an embodiment of this application.

[0021] Specific steps may include: S101: Detect the current status data of the boom truck.

[0022] This embodiment can be applied to the control device of a boom lift, which includes a boom, a slewing mechanism, and a clearance adjustment device. The slewing mechanism includes a slewing bearing and a slewing reducer. The slewing bearing is a bearing capable of simultaneously bearing axial and radial loads and overturning moments, with gears on its inner / outer rings, and is a fundamental component for achieving rotation. The slewing reducer is a power transmission device that drives the rotation of the slewing bearing. The reducer converts the high-speed, low-torque output of a motor or hydraulic motor into a low-speed, high-torque output. Through the meshing of the gear at its output end with the gear ring of the slewing bearing, the equipment is driven to achieve smooth and precise 360-degree continuous slewing motion. The boom can perform telescopic and pitching movements.

[0023] The aforementioned gap adjustment device includes a gap adjustment motor, a motor mounting plate, and an actuator.

[0024] The adjustable clearance motor is used to adjust the slewing clearance, and it is fixed to the turntable base plate via a motor mounting plate. Specifically, the adjustable clearance motor is rigidly connected to the turntable base plate via the motor mounting plate, ensuring a stable mounting reference and outputting precise driving force to drive the actuators to adjust the position of the slewing reducer. The turntable base plate is the basic load-bearing structure of the rotating platform in the slewing mechanism. In this text, the slewing clearance is used to describe the gap between the slewing bearing and the slewing reducer; the target slewing clearance is the desired slewing clearance, and the actual slewing clearance is the current slewing clearance.

[0025] The actuator is installed at the output end of the adjustable gap motor, and the end of the actuator is in contact with the housing of the rotary reducer.

[0026] The actuator can be connected to the output end of the adjustable gap motor via a coupling, and is driven to rotate; its end (tail end) rests against the side of the rotary reducer housing. When the adjustable gap motor drives the actuator to move, the actuator generates axial displacement, thereby precisely pushing the rotary reducer housing to move. As a feasible implementation, the actuator can be a bolt. When the adjustable gap motor drives the adjusting bolt to rotate, the bolt screws in or out of the threaded pair fixed to the turntable base plate, generating axial displacement, thereby precisely pushing the reducer housing to move, realizing automatic adjustment of the meshing clearance.

[0027] In this embodiment, corresponding sensors can be installed on the boom and slewing reducer to determine the current status data of the boom lift based on the data collected by the sensors. The current status data refers to the status data of the boom lift at the current moment; the current status data includes the current boom luffing angle, the current boom length, and the current slewing reducer displacement.

[0028] Current boom luffing angle refers to the boom's luffing angle at the current moment; current boom length refers to the total length of the boom at the current moment; current slewing reducer displacement refers to the displacement of the slewing reducer relative to the reference position at the current moment.

[0029] S102: Calculate the target slewing clearance of the boom vehicle based on the current boom luffing angle and the current boom length.

[0030] The changes in the boom luffing angle and current boom length alter the overturning moment and axial / radial load distribution borne by the slewing bearing, thus affecting the contact state and stress on the gear meshing surfaces. Under the combination of luffing angle and boom length, the meshing position, tooth contact area, and stress deformation degree of the gear pair all change, and the required slewing clearance (i.e., the ideal meshing clearance) also dynamically changes accordingly. To ensure smooth boom truck operation and minimize wear, this solution calculates the target slewing clearance of the boom truck based on the current boom luffing angle and current boom length, enabling slewing clearance adjustment operations based on the target slewing clearance.

[0031] Specifically, in this embodiment, a table showing the correspondence between boom luffing angle, current boom length, and slewing clearance can be pre-stored. After determining the current boom luffing angle and current boom length, this step can determine the target slewing clearance of the boom vehicle by looking up the table.

[0032] This embodiment can also acquire historical data on the boom lift angle, current boom length, and slewing clearance during the boom lift's operation. Combining this historical data with the boom lift's structural parameters, a calculation formula for the target slewing clearance is determined. The calculation formula describes the correspondence between the current boom lift angle, current boom length, and target slewing clearance. Substituting the current boom lift angle and current boom length into the formula yields the target slewing clearance of the boom lift.

[0033] S103: Determine the actual slewing clearance of the boom truck based on the current displacement of the slewing reducer.

[0034] The current displacement of the slewing reducer reflects the positional relationship between the slewing reducer and the slewing bearing. Based on the current displacement of the slewing reducer, the actual slewing meshing clearance of the boom truck can be accurately calculated and deduced.

[0035] Specifically, in this embodiment, a formula for calculating the actual slewing clearance can be constructed by combining the structural parameters of the boom truck. By substituting the current displacement of the slewing reducer into the above formula, the actual slewing clearance of the boom truck can be obtained.

[0036] S104: Determine whether the difference between the target slewing clearance and the actual slewing clearance is within a preset range; if yes, proceed to S105; if no, proceed to S106.

[0037] S105: No adjustment is made to the slewing clearance.

[0038] S106: The actuator is driven to move by the adjustable gap motor in order to adjust the gap between the slewing bearing and the slewing reducer.

[0039] In this embodiment, after obtaining the target slewing clearance and the actual slewing clearance, the difference between the two can be calculated. If the difference is within a preset range, it indicates that the difference between the target slewing clearance and the actual slewing clearance is small, and no adjustment of the slewing clearance is required; if the difference is not within the preset range, it indicates that the difference between the target slewing clearance and the actual slewing clearance is large, and slewing clearance adjustment is required.

[0040] Specifically, when the difference between the target slewing clearance and the actual slewing clearance is not within the preset range, this solution can use the adjustable clearance motor to drive the actuator to move, so as to adjust the clearance between the slewing bearing and the slewing reducer.

[0041] The aforementioned gap adjustment device may also include a motor controller. In this embodiment, the control of the gap-adjusting motor can be achieved by sending commands to the motor controller.

[0042] The boom lift described in this embodiment includes a boom, a slewing mechanism, and a clearance adjustment device. The clearance adjustment device includes a clearance adjustment motor, a motor mounting plate, and an actuator. The clearance adjustment motor drives the actuator to move, thereby limiting the movement of the slewing reducer. In the above-described slewing clearance adjustment method, this embodiment detects the current boom luffing angle, current boom length, and current slewing reducer displacement of the boom lift. It calculates the target slewing clearance of the boom lift based on the current boom luffing angle and current boom length, and also determines the actual slewing clearance of the boom lift based on the current slewing reducer displacement. This embodiment compares the target slewing clearance with the actual slewing clearance and determines whether to use the clearance adjustment motor to drive the actuator based on the comparison result. The above process automatically adjusts the slewing clearance based on the current state data of the boom lift without manual intervention. Therefore, this embodiment can adjust the slewing clearance of the boom lift in real time and with precision.

[0043] As for Figure 1 In a further description of the corresponding embodiment, the process of calculating the target slewing clearance of the boom vehicle based on the current boom luffing angle and the current boom length includes: Substituting the current boom luffing angle and the current boom length into the first calculation formula, the target slewing clearance of the boom vehicle is obtained. The first calculation formula is: ; Indicates the target slewing clearance. Indicates the reference clearance value. This represents the gap adjustment coefficient. This indicates the current boom luffing angle. Indicates the current boom length. This represents the minimum boom length. This indicates the maximum value of the boom length.

[0044] Furthermore, before substituting the current boom luffing angle and the current boom length into the first calculation formula, this embodiment can also determine the model of the slewing mechanism, and look up the value of the clearance adjustment coefficient based on the model of the slewing mechanism, so as to assign a value to the clearance adjustment coefficient in the first calculation formula based on this value. Binding the value of the clearance adjustment coefficient to the model of the slewing mechanism in the above process enables precise adaptation to different models, effectively avoiding adjustment deviations caused by general parameters, thereby improving the adaptability and stability of the adjustment system.

[0045] As for Figure 1 In a further description of the corresponding embodiment, the process of determining the actual slewing clearance of the boom truck based on the current displacement of the slewing reducer includes: substituting the current displacement of the slewing reducer into the second calculation formula to obtain the actual slewing clearance of the boom truck; The second calculation formula is as follows: ; Indicates the actual slewing clearance. Indicates the reference clearance value. This indicates the current displacement of the rotary reducer. This indicates the reference displacement of the rotary reducer.

[0046] As for Figure 1 In a further description of the corresponding embodiment, the aforementioned actuating component is an adjusting bolt; correspondingly, driving the actuating component to move using the adjusting gap motor includes: driving the adjusting bolt to rotate clockwise using the adjusting gap motor to increase the gap between the slewing bearing and the slewing reducer; or, driving the adjusting bolt to rotate counterclockwise using the adjusting gap motor to decrease the gap between the slewing bearing and the slewing reducer.

[0047] Specifically, if the actual slewing clearance is less than the target slewing clearance, the adjusting bolt is driven to rotate clockwise by the adjusting motor to increase the clearance between the slewing bearing and the slewing reducer; if the actual slewing clearance is greater than the target slewing clearance, the adjusting bolt is driven to rotate counterclockwise by the adjusting motor to decrease the clearance between the slewing bearing and the slewing reducer.

[0048] As for Figure 1 In a further description of the corresponding embodiment, before determining whether the difference between the target slewing clearance and the actual slewing clearance is within a preset range, a deviation threshold can be determined based on the model of the slewing mechanism and the current working condition of the boom truck.

[0049] Specifically, the process of determining the deviation threshold includes the following steps: Step 1: Set up a data table that binds the model of each rotary mechanism to a basic deviation threshold T'.

[0050] The aforementioned basic deviation threshold T' is determined as follows: using the slewing mechanism of this model under standard no-load and horizontal boom conditions, actual tests or simulations are conducted to obtain the maximum permissible clearance reference value of its gear transmission system in a wear-free state, consisting only of manufacturing tolerances, assembly clearances, and rated elastic deformation. This process ensures that equipment of the same model has the same reference tolerance.

[0051] Step 2: Determine the operating parameters based on the current operating conditions of the boom truck. The operating parameters include the oil pressure P, the slewing reducer housing temperature T, and the overturning torque M.

[0052] The three operating parameters—oil pressure P, slewing reducer housing temperature T, and overturning moment M—can accurately reflect the slewing load intensity, the thermal expansion effect of metal, and the overall stress state. They are dynamic operating variables that affect the gear meshing clearance.

[0053] Step 3: Substitute the oil circuit pressure Q, the slewing reducer housing temperature T, and the overturning moment M into the third calculation formula to obtain the correction coefficient R.

[0054] The third calculation formula is: .

[0055] In the above formula, a, b, and c represent weighting coefficients. Indicates the maximum oil circuit pressure. Indicates reference temperature. This indicates the maximum overturning moment.

[0056] Step 4: Multiply the basic deviation threshold T' by the correction coefficient R as the deviation threshold K.

[0057] The above process yields K = T' × R.

[0058] The above process constructs a dynamic threshold model based on the model of the rotary mechanism and the current working conditions, which is weighted and corrected in real time to more intelligently distinguish between "normal clearance fluctuation" and "abnormal wear clearance" and realize dynamic dead zone setting.

[0059] Based on the above process, the process of determining whether the difference between the target slewing clearance and the actual slewing clearance is within a preset range includes: determining whether the absolute value of the difference between the target slewing clearance and the actual slewing clearance is less than the deviation threshold; if yes, then it is determined that the difference between the target slewing clearance and the actual slewing clearance is within the preset range; if no, then it is determined that the difference between the target slewing clearance and the actual slewing clearance is not within the preset range, and the adjusting motor is prohibited from driving the actuator to move.

[0060] Through the above methods, this solution can dynamically adjust the allowable range of deviation based on the model of the rotary mechanism and the real-time working conditions, avoiding frequent activation of the adjustment mechanism under small and normal gap fluctuations, thereby reducing ineffective actions, extending the life of the actuators, and locking the system in time when the actual gap exceeds the safety threshold, preventing mechanical interference or transmission shock caused by misadjustment or overadjustment, and improving the intelligence and reliability of the system.

[0061] As for Figure 1 A further description of the corresponding embodiment involves using the adjustable-gap motor to drive the actuator to move, which includes: determining a target speed based on the difference between the target gravitational clearance and the actual gravitational clearance; and using the adjustable-gravity motor to drive the actuator to move according to the target speed. The absolute value of the difference between the target gravitational clearance and the actual gravitational clearance is positively correlated with the target speed. Through the above-described method of controlling the motor speed, this solution can adaptively adjust the speed: when the difference is large, it quickly approaches the target speed to improve efficiency; when the difference is small, it performs low-speed fine-tuning to avoid overshoot and oscillation, thereby significantly improving response stability and system lifespan while ensuring adjustment accuracy.

[0062] The process described in the above embodiments is illustrated below through examples in practical applications.

[0063] Currently, the industry uses manual adjustment of the slewing clearance by tightening the adjusting bolts to bring the slewing reducer closer to the slewing bearing, thereby reducing the clearance of the slewing mechanism. However, the above method has poor precision and cannot achieve dynamic adaptation of the slewing clearance.

[0064] To address the shortcomings of the aforementioned solutions, this embodiment provides a control scheme for automatically adjusting the slewing mechanism clearance. This scheme employs a rotary motor (i.e., a clearance-adjusting motor) + motor controller to collect data on the boom luffing angle, boom extension (i.e., boom length), and the rotation angle of the slewing reducer displacement adjustment bolt. By utilizing the established logical relationship, the slewing clearance value can be automatically and in real-time adjusted, avoiding situations where the slewing clearance is too large and improving operational safety.

[0065] Please see Figure 2 , Figure 2 The flowchart of a control method for automatically adjusting the clearance of a boom slewing mechanism provided in this application embodiment is as follows: Parameters such as boom luffing angle, length, and reducer displacement are acquired in real time through sensors. Based on the actual sensor measurements, the current actual slewing clearance value is obtained. A slewing clearance dead zone determination is performed; if so (i.e., if in the dead zone), normal operation continues, and sensor data is continuously recorded; if not (i.e., not in the dead zone), the motor is controlled by the motor driver to achieve the theoretical clearance.

[0066] During the multi-signal acquisition process, this solution can acquire the boom luffing angle (i.e., the current boom luffing angle) θ, the boom extension (i.e., the current boom length) L, and the reducer displacement (i.e., the current slewing reducer displacement detected by the position sensor) S in real time. In the actual clearance conversion process, this scheme can calculate the current actual clearance value (i.e., the actual rotational clearance) based on the collected reducer displacement S and the mechanical transmission parameters. .

[0067] During the target clearance calculation process, this scheme can substitute the luffing angle and boom extension into the working condition model to calculate the current optimal target clearance value (i.e., the target slewing clearance). .

[0068] During the dead zone determination process, this scheme can calculate the gap deviation and determine whether the absolute value of the deviation exceeds the allowable dead zone threshold.

[0069] During the adjustment action judgment process, if the deviation is within the allowable range, the controller does not output adjustment instructions, maintains the current state, and returns to the signal acquisition step for repeated execution; if the deviation exceeds the threshold, it judges whether the gap is too large or too small, and outputs the corresponding motor control instructions.

[0070] During clearance adjustment, if the clearance is too large, the controller drives the rotary motor to rotate forward, reducing the meshing clearance; if the clearance is too small, the controller drives the rotary motor to rotate in reverse, increasing the meshing clearance. "Clearance too large" refers to the current actual clearance value being greater than the current optimal target clearance value. "Clearance too small" refers to the current actual clearance value being less than the current optimal target clearance value.

[0071] Once the motor has completed its operation, the boom luffing angle θ, boom extension L, and reducer displacement S can be collected again. The clearance can then be recalculated and verified until the clearance falls within the target range, at which point the system enters a real-time cyclic monitoring state.

[0072] Please see Figure 3 , Figure 3 This is a schematic diagram of the sensor data calculation principle provided in the embodiment of this application. The boom luffing angle sensor, boom length sensor and reducer position sensor transmit the collected data to the controller so as to drive the mechanism and realize gap adjustment.

[0073] Please see Figure 4 , Figure 4 This is a schematic diagram of a boom lift and sensor installation provided in an embodiment of this application. In the figure, 401 represents the boom luffing angle sensor, 402 represents the boom length sensor, and 403 represents the reducer position sensor.

[0074] Please see Figure 5 , Figure 5This is a schematic diagram of a rotary mechanism clearance adjustment mechanical structure provided in an embodiment of this application. In the figure, 501 represents a rotary bearing, 502 represents a rotary reducer, 503 represents a rotary motor, 504 represents a motor mounting plate, and 505 represents an adjusting bolt.

[0075] The slewing mechanism clearance adjustment device includes components such as an automatic rotary motor, a motor controller, a motor mounting plate, and adjusting bolts. The automatic rotary motor is fixed to the turntable base plate via the motor mounting plate, the motor controller is installed inside the turntable, and the adjusting bolts are mounted on the rotary motor.

[0076] The boom angle sensor is used to acquire the boom angle θ relative to the horizontal plane in real time; the boom length sensor is used to acquire the total boom extension L in real time; and the position sensor is used to detect the displacement S of the slewing reducer.

[0077] The motor controller receives θ, L, and S signals, substitutes them into a preset logic formula to calculate the target gap value, and outputs control commands. The slewing mechanism gap adjustment device consists of a rotary motor, an adjusting bolt, and a transmission mechanism. The motor controller receives commands from the controller and drives the adjusting bolt to rotate forward / reverse, causing the slewing reducer to move closer / away from the slewing bearing, thereby achieving gap adjustment.

[0078] During equipment operation, the data acquisition module continuously acquires the luffing angle θ and boom extension L. The controller substitutes these values ​​into a preset logic formula to calculate the optimal allowable slewing clearance value under the current operating conditions. The controller compares the current actual gap value. With the optimal slewing clearance value If the deviation exceeds the threshold, the rotary motor will be driven to operate.

[0079] ; ; ; The parameters of the above formula are explained as follows: θ represents the boom luffing angle (°), ranging from 0 to 90°, with 0° for horizontal and 90° for vertical. L represents the total boom extension, with a minimum of the basic boom length. The maximum is the full extension length. S represents the displacement of the rotary reducer relative to the reference position, negative when closer to the slewing bearing and positive when farther away. In this embodiment, α can be used to represent the rotation angle of the adjusting bolt, measured by a sensor built into the rotary motor; positive for forward rotation and negative for reverse rotation. P represents the pitch of the adjusting bolt. This indicates the current actual slewing clearance value. This indicates the target slewing clearance value. This represents the clearance deviation value. K represents the clearance adjustment coefficient, which can be calibrated and optimized based on different machine models (rotary mechanism models) through bench tests and field tests. This represents the baseline clearance value, the initial design clearance of the equipment in its brand-new state, which is calibrated and optimized according to different models through bench tests and field tests. This indicates the allowable deviation threshold, which is calibrated and optimized through bench tests and field tests for different machine models (model of the slewing mechanism). This indicates the reference displacement of the rotary reducer.

[0080] The controller is based on the gap deviation Implement tiered regulation: Dead zone determination: If Do not perform adjustment actions to avoid frequent adjustments that could cause wear and tear on the mechanism.

[0081] Positive adjustment (excessive gap): If The controller outputs a forward rotation command, driving the rotary motor to rotate.

[0082] Reverse adjustment (gap too small): If The controller outputs a reverse command to drive the rotary motor to rotate. The corresponding adjustment displacement is the same as the forward adjustment, only in the opposite direction, to avoid excessive gear meshing and accelerated wear due to insufficient clearance.

[0083] The automatic adjustment control scheme for the slewing mechanism clearance provided in this embodiment employs a rotary motor + motor controller method. It collects the luffing angle and boom extension of the entire machine, and utilizes established logical relationships to achieve automatic real-time adjustment of the slewing clearance value. This scheme eliminates the need for manual subjective judgment, using sensors and the controller to achieve real-time automatic clearance compensation, eliminating the uncertainty of human operation and realizing automation to replace manual labor. In this scheme, the target clearance is dynamically adjusted according to the luffing angle and boom extension, automatically reducing the clearance at high-meter and large-angle operations to maximize the suppression of overall machine sway, achieving dynamic adaptation to working conditions. This scheme avoids the risk of operator falls due to excessive slewing clearance, while also avoiding gear wear and mechanism jamming due to insufficient clearance, thus improving operational safety. This scheme precisely controls the clearance within a reasonable range, reducing abnormal gear wear and extending the service life of the slewing mechanism.

[0084] This application provides a boom lift slewing clearance adjustment system. The boom lift includes a boom, a slewing mechanism, and a clearance adjustment device. The slewing mechanism includes a slewing bearing and a slewing reducer. The clearance adjustment device includes an adjusting motor, a motor mounting plate, and an actuator. The adjusting motor is fixed to the turntable base plate via the motor mounting plate. The actuator is mounted on the output end of the adjusting motor, and its end contacts the housing of the slewing reducer. The boom lift slewing clearance adjustment system includes: The status detection module is used to detect the current status data of the boom truck; wherein, the current status data includes the current boom luffing angle, the current boom length, and the current displacement of the slewing reducer; The target clearance determination module is used to calculate the target slewing clearance of the boom truck based on the current boom luffing angle and the current boom length; wherein, the slewing clearance is used to describe the clearance between the slewing bearing and the slewing reducer; The actual clearance determination module is used to determine the actual slewing clearance of the boom truck based on the current displacement of the slewing reducer. The judgment module is used to determine whether the difference between the target slewing clearance and the actual slewing clearance is within a preset range; The clearance adjustment module is used to drive the actuator to move using the clearance adjustment motor if the difference between the target slewing clearance and the actual slewing clearance is not within a preset range, so as to adjust the clearance between the slewing bearing and the slewing reducer.

[0085] The boom lift described in this embodiment includes a boom, a slewing mechanism, and a clearance adjustment device. The clearance adjustment device includes a clearance adjustment motor, a motor mounting plate, and an actuator. The clearance adjustment motor drives the actuator to move, thereby limiting the movement of the slewing reducer. In the above-described slewing clearance adjustment method, this embodiment detects the current boom luffing angle, current boom length, and current slewing reducer displacement of the boom lift. It calculates the target slewing clearance of the boom lift based on the current boom luffing angle and current boom length, and also determines the actual slewing clearance of the boom lift based on the current slewing reducer displacement. This embodiment compares the target slewing clearance with the actual slewing clearance and determines whether to use the clearance adjustment motor to drive the actuator based on the comparison result. The above process automatically adjusts the slewing clearance based on the current state data of the boom lift without manual intervention. Therefore, this embodiment can adjust the slewing clearance of the boom lift in real time and with precision.

[0086] Furthermore, the process by which the target clearance determination module calculates the target slewing clearance of the boom truck based on the current boom luffing angle and the current boom length includes: substituting the current boom luffing angle and the current boom length into the first calculation formula to obtain the target slewing clearance of the boom truck; The first calculation formula is: ; Indicates the target slewing clearance. Indicates the reference clearance value. This represents the gap adjustment coefficient. This indicates the current boom luffing angle. Indicates the current boom length. This represents the minimum boom length. This indicates the maximum value of the boom length.

[0087] Furthermore, it also includes: The coefficient determination module is used to determine the model of the slewing mechanism before substituting the current boom luffing angle and the current boom length into the first calculation formula, and to query the value of the clearance adjustment coefficient based on the model of the slewing mechanism.

[0088] Furthermore, the process by which the actual clearance determination module determines the actual slewing clearance of the boom truck based on the current displacement of the slewing reducer includes: substituting the current displacement of the slewing reducer into the second calculation formula to obtain the actual slewing clearance of the boom truck; The second calculation formula is as follows: ; Indicates the actual slewing clearance. Indicates the reference clearance value. This indicates the current displacement of the rotary reducer. This indicates the reference displacement of the rotary reducer.

[0089] Furthermore, the actuating component is an adjusting bolt; Accordingly, the process by which the gap adjustment module drives the actuator to move using the gap adjustment motor includes: driving the adjustment bolt to rotate clockwise using the gap adjustment motor to increase the gap between the slewing bearing and the slewing reducer; or, driving the adjustment bolt to rotate counterclockwise using the gap adjustment motor to decrease the gap between the slewing bearing and the slewing reducer.

[0090] Furthermore, it also includes; The threshold determination module is used to determine a deviation threshold based on the model of the slewing mechanism and the current working condition of the boom truck before determining whether the difference between the target slewing clearance and the actual slewing clearance is within a preset range. Accordingly, the process by which the judgment module determines whether the difference between the target slewing clearance and the actual slewing clearance is within a preset range includes: determining whether the absolute value of the difference between the target slewing clearance and the actual slewing clearance is less than the deviation threshold; if yes, then determining that the difference between the target slewing clearance and the actual slewing clearance is within the preset range; if no, then determining that the difference between the target slewing clearance and the actual slewing clearance is not within the preset range, and prohibiting the adjusting motor from driving the actuator to move.

[0091] Furthermore, the process by which the gap adjustment module drives the actuator to move using the gap adjustment motor includes: determining a target speed based on the difference between the target rotation gap and the actual rotation gap; and driving the actuator to move using the gap adjustment motor according to the target speed.

[0092] Since the embodiments of the system part correspond to the embodiments of the method part, please refer to the description of the embodiments of the method part for the embodiments of the system part, and they will not be repeated here.

[0093] This application also provides a storage medium on which a computer program is stored, which, when executed, can perform the steps provided in the above embodiments. The storage medium may include various media capable of storing program code, such as a USB flash drive, a portable hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0094] This application also provides an electronic device that may include a memory and a processor. The memory stores a computer program, and when the processor calls the computer program in the memory, it can implement the steps provided in the above embodiments. Of course, the electronic device may also include various network interfaces, power supplies, and other components.

[0095] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the systems disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the descriptions are relatively simple; relevant parts can be referred to the method section. It should be noted that those skilled in the art can make various improvements and modifications to this application without departing from the principles of this application, and these improvements and modifications also fall within the protection scope of this application.

[0096] It should also be noted that, in this specification, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

Claims

1. A method for adjusting the slewing clearance of a boom lift, characterized in that, The boom lift includes a boom, a slewing mechanism, and a clearance adjustment device. The slewing mechanism includes a slewing bearing and a slewing reducer. The clearance adjustment device includes an adjusting motor, a motor mounting plate, and an actuator. The adjusting motor is fixed to the turntable base plate via the motor mounting plate. The actuator is mounted on the output end of the adjusting motor, and the end of the actuator contacts the housing of the slewing reducer. The method for adjusting the slewing clearance of the boom lift includes: The current status data of the boom truck is detected; wherein, the current status data includes the current boom luffing angle, the current boom length, and the current displacement of the slewing reducer; The target slewing clearance of the boom truck is calculated based on the current boom luffing angle and the current boom length; wherein, the slewing clearance is used to describe the clearance between the slewing bearing and the slewing reducer; The actual slewing clearance of the boom truck is determined based on the current displacement of the slewing reducer. Determine whether the difference between the target slewing clearance and the actual slewing clearance is within a preset range; If not, the actuator is driven by the adjustable gap motor to adjust the clearance between the slewing bearing and the slewing reducer. The calculation of the target slewing clearance of the boom vehicle based on the current boom luffing angle and the current boom length includes: Substituting the current boom luffing angle and the current boom length into the first calculation formula, the target slewing clearance of the boom vehicle is obtained. The first calculation formula is: ; Indicates the target slewing clearance. Indicates the reference clearance value. This represents the gap adjustment coefficient. This indicates the current boom luffing angle. Indicates the current boom length. This represents the minimum boom length. This indicates the maximum value of the boom length; The determination of whether the difference between the target slewing clearance and the actual slewing clearance is within a preset range includes: Determine whether the absolute value of the difference between the target slewing clearance and the actual slewing clearance is less than a deviation threshold; if yes, determine that the difference between the target slewing clearance and the actual slewing clearance is within a preset range; if no, determine that the difference between the target slewing clearance and the actual slewing clearance is not within the preset range. The deviation threshold is the product of the basic deviation threshold T' and the correction coefficient R; The basic deviation threshold T' is determined according to the model of the rotary mechanism; The calculation process of the correction coefficient R includes: determining the working condition parameters based on the current working condition of the boom truck, and substituting the oil circuit pressure Q, the slewing reducer housing temperature T, and the overturning moment M in the working condition parameters into the third calculation formula to obtain the correction coefficient R; The third calculation formula is: ; a, b, and c represent weighting coefficients. Indicates the maximum oil circuit pressure. Indicates reference temperature. This indicates the maximum overturning moment.

2. The method for adjusting the slewing clearance of the boom lift according to claim 1, characterized in that, Before substituting the current boom luffing angle and the current boom length into the first calculation formula, the method further includes: Determine the model of the rotary mechanism, and look up the value of the clearance adjustment coefficient based on the model of the rotary mechanism.

3. The method for adjusting the slewing clearance of the boom lift according to claim 1, characterized in that, Determining the actual slewing clearance of the boom truck based on the current displacement of the slewing reducer includes: Substituting the current displacement of the slewing reducer into the second calculation formula, the actual slewing clearance of the boom truck is obtained; The second calculation formula is as follows: ; Indicates the actual slewing clearance. Indicates the reference clearance value. This indicates the current displacement of the rotary reducer. This indicates the reference displacement of the rotary reducer.

4. The method for adjusting the slewing clearance of the boom lift according to claim 1, characterized in that, The actuating component is an adjusting bolt; Accordingly, driving the actuator to move using the adjustable gap motor includes: The adjusting bolt is driven to rotate clockwise by the adjusting motor to increase the gap between the slewing bearing and the slewing reducer. Alternatively, the adjusting bolt can be driven to rotate counterclockwise by the adjusting motor to reduce the gap between the slewing bearing and the slewing reducer.

5. The method for adjusting the slewing clearance of the boom lift according to claim 1, characterized in that, Driving the actuator to move using the adjustable-gap motor includes: The target speed is determined based on the difference between the target slewing clearance and the actual slewing clearance; The actuator is driven to move at the target speed using the adjustable gap motor.

6. A slewing clearance adjustment system for a boom lift, characterized in that, A method for adjusting the slewing clearance of a boom lift as described in any one of claims 1 to 5, the boom lift comprising a boom, a slewing mechanism, and a clearance adjustment device, the slewing mechanism comprising a slewing bearing and a slewing reducer, the clearance adjustment device comprising an adjusting motor, a motor mounting plate, and an actuating component, the adjusting motor being fixed to the turntable base plate via the motor mounting plate, the actuating component being mounted at the output end of the adjusting motor, and the end of the actuating component contacting the housing of the slewing reducer, the boom lift slewing clearance adjustment system comprising: The status detection module is used to detect the current status data of the boom truck; wherein, the current status data includes the current boom luffing angle, the current boom length, and the current displacement of the slewing reducer; The target clearance determination module is used to calculate the target slewing clearance of the boom truck based on the current boom luffing angle and the current boom length; wherein, the slewing clearance is used to describe the clearance between the slewing bearing and the slewing reducer; The actual clearance determination module is used to determine the actual slewing clearance of the boom truck based on the current displacement of the slewing reducer. The judgment module is used to determine whether the difference between the target slewing clearance and the actual slewing clearance is within a preset range; The clearance adjustment module is used to drive the actuator to move using the clearance adjustment motor if the difference between the target slewing clearance and the actual slewing clearance is not within a preset range, so as to adjust the clearance between the slewing bearing and the slewing reducer.

7. An electronic device, characterized in that, It includes a memory and a processor, wherein the memory stores a computer program, and the processor, when calling the computer program in the memory, implements the steps of the boom clearance adjustment method as described in any one of claims 1 to 5.

8. A storage medium, characterized in that, The storage medium stores computer-executable instructions, which, when loaded and executed by a processor, implement the steps of the boom clearance adjustment method as described in any one of claims 1 to 5.

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