Rotation angle measuring device of unmanned excavator

Abstract

The utility model discloses an unmanned excavator rotation angle measuring device and relates to the field of excavator supporting structures. The rotation angle measuring device for the unmanned excavator is used for detecting the rotation angle of a slewing bearing rotatably connected to a base of the unmanned excavator and comprises an annular magnetic grid sleeving and connected to the outer wall of the base, a magnetic head arranged on the outer side of the magnetic grid and a protective cover sleeving the outer side of the base, and the top of the protective cover is detachably connected to the slewing bearing. The magnetic head is detachably connected to the protective cover, and the protective cover and the base enclose to form a protective cavity covering the magnetic grid and the magnetic head. The rotation angle measuring device of the unmanned excavator has the advantages of being simple in structure and convenient to assemble and disassemble, and the rotation angle of the excavator can be stably and accurately detected for a long time.

Description

Technical Field

[0001] This application relates to the field of excavator support structures, and more particularly, to a rotary angle measuring device for an unmanned excavator. Background Technique

[0002] With the development of communication technology, artificial intelligence, and unmanned driving technology, unmanned excavators are increasingly used in different scenarios, and the demand for intelligent operation of unmanned excavators is getting higher and higher. During the operation of an unmanned excavator, it is necessary to plan automatic and precise operations in real time through the feedback of various motion actions. Among them, the control of the rotation angle of the excavator's slewing platform is particularly crucial.

[0003] Currently, standard models of excavators do not have the function of measuring and feedback the rotation angle of the slewing platform. Unmanned excavators need to be modified and retrofitted with measuring devices to feedback the rotation angle of the slewing platform in real time. For example, the utility model patent with the authorization publication number CN216839656U discloses an excavator and its slewing platform positioning component, which includes a slewing turntable gear ring, a gear disk is arranged on the slewing turntable gear ring, and a magnet is arranged on the gear disk; a slewing assembly gear, the slewing assembly gear meshes with the slewing turntable gear ring, a gear shaft is rotatably arranged on the slewing assembly gear, a magnetic sensor is arranged on the gear shaft, when the excavator's slewing platform reaches the zero position, the magnetic sensor is arranged opposite to the magnet; two metal sensors, both of the two metal sensors are arranged opposite to the circumferential surface of the slewing assembly gear, and in the rotation direction of the slewing assembly gear, the distance between the two metal sensors does not exceed the distance between the adjacent tooth top and tooth root in the slewing assembly gear. It needs to disassemble the internal equipment of the excavator, with a large amount of modification work, a long debugging time, and it affects the subsequent maintenance work of the excavator. Moreover, the adaptability and stability of the measuring device after modification are poor, it is easily affected by the external environment, and it is difficult to accurately measure stably for a long time. Utility Model Content

[0004] The purpose of this application is to provide a rotary angle measuring device for an unmanned excavator, which has the advantages of simple structure and convenient installation and disassembly, and can stably and accurately detect the rotary angle of the excavator for a long time.

[0005] This application is implemented as follows:

[0006] This application provides a rotary angle measuring device for an unmanned excavator, which is used to detect the rotation angle of a slewing bearing rotatably connected to the base of the unmanned excavator. It includes an annular magnetic grating sleeved and connected to the outer wall of the base, a magnetic head arranged outside the magnetic grating, and a protective cover sleeved on the outside of the base. The top of the protective cover is detachably connected to the slewing bearing, the magnetic head is detachably connected to the protective cover, and the protective cover and the base enclose a protective cavity covering the magnetic grating and the magnetic head.

[0007] In some alternative embodiments, the magnetic head is movably connected to the protective cover along the radial direction of the base.

[0008] In some alternative embodiments, connection holes extending along the radial direction of the base are formed in the protective cover, the magnetic head is connected to a connection bolt that slidably passes through the connection hole, and fixing nuts are respectively connected to both ends of the connection bolt.

[0009] In some alternative embodiments, the protective cover is further connected with a limit bolt arranged parallel to the connection hole, and the limit bolt is configured to move axially along its axis when rotating to press or stop pressing one end of the magnetic head away from the magnetic grating.

[0010] In some alternative embodiments, a plurality of connection seats are connected to the outer wall of the slewing bearing at intervals along its circumferential direction, and each connection seat is connected to the top of the protective cover through a fixing bolt.

[0011] In some alternative embodiments, a positioning convex ring extending along the circumferential direction of the slewing bearing is formed by the bottom protrusion of the slewing bearing, and a positioning groove for accommodating the positioning convex ring is formed by the top depression of the protective cover.

[0012] In some alternative embodiments, an annular connection seat is sleeved and connected to the outer wall of the base, a chute extending along the circumferential direction of the protective cover is provided at the bottom of the protective cover, a sliding ring extending along the circumferential direction of the connection seat is formed by the top protrusion of the connection seat, and the sliding ring is in sliding fit connection with the chute.

[0013] In some alternative embodiments, the cross-section of the protective cover is U-shaped and both ends of the protective cover respectively press against the outer wall of the base.

[0014] In some alternative embodiments, the protective cover includes at least two cover bodies arranged in sequence along the circumferential direction.

[0015] In some alternative embodiments, an observation operation hole and a closing door that can be rotated to open and close the observation operation hole are provided on the protective cover, and the observation operation hole is arranged outside the magnetic head.

[0016] The beneficial effect of this application is that the rotary angle measuring device for an unmanned excavator provided in this application is used to detect the rotation angle of a slewing bearing rotatably connected to the base of the unmanned excavator, and it includes an annular magnetic grating sleeved and connected to the outer wall of the base, a magnetic head arranged outside the magnetic grating, and a protective cover sleeved outside the base. The top of the protective cover is detachably connected to the slewing bearing, the magnetic head is detachably connected to the protective cover, and the protective cover and the base enclose a protective cavity covering the magnetic grating and the magnetic head. The rotary angle measuring device for an unmanned excavator provided in this application has the advantages of simple structure and convenient assembly and disassembly, and can stably and accurately detect the rotary angle of the excavator for a long time. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] To more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings required for the embodiments. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as limiting the scope. For those of ordinary skill in the art, without creative efforts, other related drawings can also be obtained based on these drawings.

[0018] Figure 1 Schematic structural diagram of the installation of the rotary angle measurement device for the unmanned excavator provided in Embodiment 1 of the present application on the unmanned excavator;

[0019] Figure 2 For the Figure 1 Partial sectional structural diagram along the A-A section line in;

[0020] Figure 3 For Figure 2 Partial enlarged structural diagram at B in;

[0021] Figure 4 Schematic structural diagram of the cover body in the rotary angle measurement device for the unmanned excavator provided in Embodiment 1 of the present application;

[0022] Figure 5 Partial sectional structural diagram of the installation of the rotary angle measurement device for the unmanned excavator provided in Embodiment 2 of the present application on the unmanned excavator;

[0023] Figure 6 Partial sectional structural diagram of the installation of the rotary angle measurement device for the unmanned excavator provided in Embodiment 3 of the present application on the unmanned excavator.

[0024] In the figure: 100, unmanned excavator; 110, base; 120, slewing bearing; 130, connecting seat; 140, fixing bolt; 150, positioning convex ring; 160, connecting seat; 170, slip ring; 200, magnetic grating; 210, magnetic head; 220, protective cover; 221, observation and operation hole; 222, closing door; 223, cover body; 230, protection cavity; 240, connecting hole; 250, connecting bolt; 260, fixing nut; 270, limit bolt; 280, positioning groove; 290, sliding groove; 300, controller. Detailed implementation manners

[0025] To make the objectives, technical solutions, and advantages of the embodiments of the present application clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present application in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are some, but not all, of the embodiments of the present application. Usually, the components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various different configurations.

[0026] Accordingly, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the claimed present application, but merely represents selected embodiments of the present application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present application without creative efforts fall within the scope of protection of the present application.

[0027] It should be noted that like reference numerals and letters denote like items in the following figures, and thus, once an item is defined in one figure, it does not require further definition and explanation in subsequent figures.

[0028] In the description of the present application, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the product of this application is customarily placed during use. It is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation of the present application. In addition, the terms "first", "second", "third", etc. are only used for descriptive distinction and should not be construed as indicating or implying relative importance.

[0029] In addition, the terms "horizontal", "vertical", "hanging", etc. do not mean that the component is required to be absolutely horizontal or hanging, but may be slightly inclined. For example, "horizontal" only means that its direction is more horizontal relative to "vertical", and does not mean that the structure must be completely horizontal, but may be slightly inclined.

[0030] In the description of the present application, it should also be noted that unless otherwise clearly specified and limited, the terms "set", "installed", "connected", "connected to" should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances.

[0031] In this application, unless otherwise clearly specified and defined, the first feature being "on" or "under" the second feature may include direct contact between the first and second features, or may include contact between the first and second features not directly but through additional features therebetween. Moreover, the first feature being "above", "over" and "on top of" the second feature includes the first feature being directly above and obliquely above the second feature, or merely indicating that the horizontal height of the first feature is higher than that of the second feature. The first feature being "under", "beneath" and "underneath" the second feature includes the first feature being directly below and obliquely below the second feature, or merely indicating that the horizontal height of the first feature is less than that of the second feature.

[0032] The features and performance of the swing angle measuring device for an unmanned excavator of the present application will be further described in detail below in conjunction with embodiments.

[0033] Embodiment 1

[0034] As Figure 1 , Figure 2 , Figure 3 and Figure 4 shown, an embodiment of the present application provides a swing angle measuring device for an unmanned excavator, which is installed on the unmanned excavator 100. A swing bearing 120 that can rotate along a vertical axis is connected to the base 110 of the unmanned excavator 100. The swing angle measuring device for the unmanned excavator is used to detect the rotation angle of the swing bearing 120, and includes an annular magnetic grating 200 sleeved and connected to the outer wall of the base 110, a magnetic head 210 arranged outside the magnetic grating 200, and an annular protective cover 220 sleeved on the outside of the base 110. The top of the protective cover 220 is detachably connected to the swing bearing 120. The protective cover 220 and the base 110 enclose a protective cavity 230 covering the magnetic grating 200 and the magnetic head 210. The distance between the magnetic grating 200 and the magnetic head 210 is 2 mm. Among them, the protective cover 220 includes two symmetrically arranged semi-annular cover bodies 223. The cross-section of the cover body 223 is U-shaped and the top and bottom respectively press against the outer wall of the base 110. Ten connecting seats 130 are arranged at intervals along the circumference of the outer wall of the swing bearing 120. Each connecting seat 130 is threadedly connected with a fixing bolt 140 connected to the protective cover 220. Among them, each cover body 223 is connected to five corresponding connecting seats 130 through five fixing bolts 140. The magnetic head 210 is movably connected to one cover body 223 of the protective cover 220 along the radial direction of the base 110. A connecting hole 240 extending along the radial direction of the base 110 is opened on one cover body 223 of the protective cover 220. The magnetic head 210 is connected to a connecting bolt 250 that slidably passes through the connecting hole 240. Both ends of the connecting bolt 250 are respectively fixed to one cover body 223 of the protective cover 220 through fixing nuts 260. In this embodiment, a controller 300 is further provided on the unmanned excavator 100. The controller 300 is electrically connected to the magnetic head 210 through a shielded cable.

[0035] When the rotary angle measuring device for the unmanned excavator provided in the embodiment of the present application is installed on the unmanned excavator 100 during operation, first, the cab of the unmanned excavator 100 is rotated to the forward position, that is, the length direction of the cab of the unmanned excavator 100 is parallel to the crawler of the unmanned excavator 100. At this time, a zero-setting instruction is sent through the controller 300 to set the number of pulses fed back by the magnetic head 210 to zero. Subsequently, every time the cab of the unmanned excavator 100 rotates one circle to this position, the angle is set to zero. Thus, when the cab of the unmanned excavator 100 rotates, the protective cover 220 connected thereto drives the magnetic head 210 to rotate relative to the magnetic grating 200 through the slewing bearing 120. The magnetic head 210 detects the magnetic field change of the magnetic grating 200 and converts it into an electrical signal and transmits it to the controller 300. The controller 300 obtains the rotation angles of the cab of the unmanned excavator 100 and the slewing bearing 120 relative to the base 110 of the unmanned excavator 100 according to the electrical signal transmitted by the magnetic head 210.

[0036] When installing the rotary angle measuring device for the unmanned excavator provided in the embodiment of the present application, only need to set the magnetic grating 200 through a fixed rubber sleeve and connect it to the outer wall of the base 110. Pass the connecting bolt 250 connected to the magnetic head 210 through the connecting hole 240 opened on one cover body 223 of the protective cover 220. Subsequently, move the connecting bolt 250 along the connecting hole 240 to a preset position and then fix it with a fixing nut 260. Then, the tops of the two cover bodies 223 can be respectively connected to five corresponding connecting seats 130 through five fixing bolts 140 and fixed to the bottom of the slewing bearing 120, and the two cover bodies 223 are spliced to form an annular protective cover 220 covering the outer wall of the base 110. At the same time, the protective cover 220 and the base 110 enclose a protective cavity 230 covering the magnetic grating 200 and the magnetic head 210, and the distance between the magnetic grating 200 and the magnetic head 210 is 2 mm.

[0037] The rotary angle measurement device for the unmanned excavator provided by the embodiment of the present application connects a magnetic grating 200 to the outer wall of the base 110, sets a protective cover 220 connected to the bottom of the slewing bearing 120, sets a magnetic head 210 moving radially along the base 110 on the inner wall of the protective cover 220, and enables the protective cover 220 and the outer wall of the base 110 to enclose a protective cavity 230 covering the magnetic grating 200 and the magnetic head 210. It can use the protective cover 220 to cover the magnetic head 210 and the magnetic grating 200 for protection, avoiding the influence of external dust and collision on angle detection during the long-term use of the unmanned excavator 100, and effectively improving the stability and detection accuracy of detection after long-term operation. A connection hole 240 extending radially along the base 110 is formed on the protective cover 220. The magnetic head 210 is connected to a connection bolt 250 slidably passing through the connection hole 240, and both ends of the connection bolt 250 are respectively connected and fixed to the protective cover 220 through fixing nuts 260, which can facilitate the operator to move the connection bolt 250 and the magnetic head 210 along the connection hole 240 to adjust the distance between the magnetic head 210 and the magnetic grating 200 and ensure the best detection position.

[0038] In other alternative embodiments, the distance between the magnetic head 210 and the magnetic grating 200 can also be any distance between 1 and 2 mm.

[0039] Embodiment 2

[0040] As Figure 5 shown, the embodiment of the present application provides a rotary angle measurement device for an unmanned excavator, which has a structure substantially the same as that of the rotary angle measurement device for the unmanned excavator provided in Embodiment 1. The difference is that in this embodiment, the protective cover 220 is also threadedly connected with a limit bolt 270 arranged in parallel with the connection hole 240. The axis of the limit bolt 270 extends radially along the base 110, and when the limit bolt 270 rotates, it moves axially along its axis to press against or stop pressing against one end of the magnetic head 210 away from the magnetic grating 200.

[0041] The rotary angle measurement device for the unmanned excavator provided by the embodiment of the present application is provided with a limit bolt 270 threadedly connected to the protective cover 220. When the limit bolt 270 rotates, it moves axially and radially along the base 110 to press against or stop pressing against one end of the magnetic head 210 away from the magnetic grating 200, and can use the limit bolt 270 to press against and limit the position of the magnetic head 210, avoiding the movement of the magnetic head 210 due to vibration after long-term use and affecting the accuracy of angle detection.

[0042] Embodiment 3

[0043] As Figure 6As shown in the figure, the embodiment of the present application provides a rotary angle measuring device for an unmanned excavator, which has a structure substantially the same as that of the rotary angle measuring device provided in Embodiment 1. The difference is that in this embodiment, a circular positioning convex ring 150 extending along its circumference is formed by the bottom protrusion of the slewing bearing 120, and a positioning groove 280 for accommodating the positioning convex ring 150 is formed by the top depression of the protective cover 220. An annular connecting seat 160 is sleeved and connected to the outer wall of the base 110. An annular sliding groove 290 extending along its circumference is provided at the bottom of the protective cover 220. A sliding ring 170 extending along its circumference is formed by the top protrusion of the connecting seat 160, and the sliding ring 170 is slidably connected with the sliding groove 290. An observation and operation hole 221 is provided on the protective cover 220. A closing door 222 that can rotate to open and close the observation and operation hole 221 is hinged to the protective cover 220. The observation and operation hole 221 and the magnetic head 210 are arranged in sequence from outside to inside along the radial direction of the base 110.

[0044] In the rotary angle measuring device for an unmanned excavator provided by the embodiment of the present application, a circular positioning convex ring 150 extending along its circumference is formed by the bottom protrusion of the slewing bearing 120, and a positioning groove 280 for accommodating the positioning convex ring 150 is formed by the top depression of the protective cover 220. The position of the protective cover 220 can be limited by the mutually engaged positioning convex ring 150 and positioning groove 280, avoiding the displacement of the protective cover 220 due to vibration and collision during the long-term operation of the unmanned excavator 100, which may affect the relative position of the magnetic head 210 and the magnetic grating 200 and lead to a decrease in detection accuracy. An annular connecting seat 160 is sleeved and connected to the outer wall of the base 110. An annular sliding groove 290 extending along its circumference is provided at the bottom of the protective cover 220. A sliding ring 170 extending along its circumference is formed by the top protrusion of the connecting seat 160, and the sliding connection between the sliding ring 170 and the sliding groove 290 can limit the relative position of the protective cover 220 and the base 110, ensuring that the protective cover 220 will not be displaced due to vibration and collision during the long-term operation of the unmanned excavator 100, which may affect the relative position of the magnetic head 210 and the magnetic grating 200.

[0045] An observation and operation hole 221 and a closing door 222 that can rotate to open and close the observation and operation hole 221 are provided on the protective cover 220, which can facilitate the operator to regularly open the closing door 222 to observe the conditions of the magnetic head 210 and the magnetic grating 200 through the observation and operation hole 221, and facilitate the operator to reach into the protection cavity 230 through the observation and operation hole 221 to rotate and loosen the fixing nut 260 connected to the top of the connecting bolt 250, so that the operator can move the connecting bolt 250 and the magnetic head 210 along the connecting hole 240 to adjust the distance between the magnetic head 210 and the magnetic grating 200, ensuring the long-term stable operation of the angle detection and the detection accuracy.

[0046] The embodiments described above are some, but not all, of the embodiments of the present application. The detailed description of the embodiments of the present application is not intended to limit the scope of the present application claimed, but merely represents selected embodiments of the present application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present application without creative efforts shall fall within the scope of protection of the present application.

Claims

1. An unmanned excavator slewing angle measuring device for detecting the rotation angle of a slewing bearing rotatably connected to the base of an unmanned excavator, characterized in that, It includes an annular magnetic grating sleeved and connected to the outer wall of the base, a magnetic head arranged outside the magnetic grating, and a protective cover sleeved outside the base. The top of the protective cover is detachably connected to the slewing bearing, the magnetic head is detachably connected to the protective cover, and the protective cover and the base enclose a protective cavity covering the magnetic grating and the magnetic head.

2. The rotary angle measuring device for the unmanned excavator according to claim 1, wherein, The magnetic head is movably connected to the protective cover along the radial direction of the base.

3. The swing angle measuring device for the unmanned excavator according to claim 1, wherein, A connection hole extending along the radial direction of the base is formed in the protective cover. The magnetic head is connected to a connection bolt that slides through the connection hole. Fixing nuts are respectively connected to both ends of the connection bolt.

4. The unmanned excavator swing angle measuring device according to claim 3, characterized in that, The protective cover is further connected with a limit bolt arranged in parallel with the connection hole. The limit bolt is configured to move axially along its axis when rotating to press or stop pressing one end of the magnetic head away from the magnetic grating.

5. The swing angle measuring device for an unmanned excavator according to claim 1, characterized in that, A plurality of connection seats arranged at intervals along the circumferential direction are connected to the outer wall of the slewing bearing. Each connection seat is connected to the top of the protective cover through a fixing bolt.

6. The rotary angle measuring device for an unmanned excavator according to claim 1, wherein A positioning convex ring extending along the circumferential direction is formed by the bottom protrusion of the slewing bearing, and a positioning groove for accommodating the positioning convex ring is formed by the top depression of the protective cover.

7. The unmanned excavator swing angle measuring device according to claim 1, characterized in that, An annular connection seat is sleeved and connected to the outer wall of the base. A chute extending along the circumferential direction is provided at the bottom of the protective cover. A sliding ring extending along the circumferential direction is formed by the top protrusion of the connection seat. The sliding ring is in sliding fit connection with the chute.

8. The rotary angle measuring device for the unmanned excavator according to claim 1, characterized in that, The cross-section of the protective cover is U-shaped and both ends of the protective cover respectively press against the outer wall of the base.

9. The swing angle measuring device for an unmanned excavator according to claim 8, wherein, The protective cover includes at least two cover bodies arranged in sequence along the circumferential direction.

10. The unmanned excavator swing angle measuring device according to claim 1, characterized in that, An observation and operation hole and a closing door that can be rotated to open and close the observation and operation hole are provided on the protective cover. The observation and operation hole is arranged outside the magnetic head.

Images