A corner detection device and an excavator

Abstract

The utility model belongs to equipment information collection technical field discloses a corner detection device and excavator. This corner detection device, fixed mounting seat is installed in the car body, and detection component includes detection mounting seat and encoder, and the encoder is installed in the detection mounting seat and its detection shaft is coaxial connection in the pivot of swing arm big arm, one end is connected in detection component in universal joint, the other end is connected in fixed mounting seat, and detection component can rotate relative to fixed mounting seat, and controller is connected with encoder communication, thereby when the swing arm big arm of excavator rotates, the detection shaft of encoder rotates along with the rotation of swing arm big arm, and then accurately measures the angle of rotation of swing arm big arm, and sends the angle of rotation information of swing arm big arm in controller, so that controller can analyze and know the attitude data when swing arm big arm rotates, improves the attitude data detection precision of excavator swing arm big arm.

Description

Technical Field

[0001] This utility model relates to the field of equipment information acquisition technology, and in particular to a corner detection device and an excavator. Background Technology

[0002] Excavators are widely used in the engineering field and require construction personnel to operate them. However, excavators are expensive and have extremely high fuel consumption, resulting in excessively high training costs for excavator operators.

[0003] To reduce the training cost of excavator operators, existing technologies often use simulation software to allow trainees to simulate driving excavators using computers. To improve the realism of the excavator boom's movements and enhance training effectiveness, it is necessary to collect posture data during boom rotation and use it for simulation software development. The excavator boom includes the boom arm, boom forearm, and boom stick. The boom arm is pivotally connected to the vehicle body, and its posture data accuracy detection requirements are the highest.

[0004] In existing technologies, gyroscopes are often used to analyze and detect the attitude data of the swing arm's upper arm when detecting its attitude data. However, due to the spatial acceleration detection principle of gyroscopes, the detection accuracy is relatively insufficient. As a result, the accuracy of the attitude data acquisition of the swing arm's lower arm and the swing arm's stick is significantly reduced due to the cumulative effect of errors. This leads to a decrease in the overall attitude data detection accuracy of the swing arm, which reduces the simulation effectiveness of the simulation software and affects the training effect of the trainees.

[0005] Therefore, there is an urgent need for a corner detection device and an excavator to solve the above problems. Utility Model Content

[0006] The purpose of this invention is to provide a rotation angle detection device and an excavator to improve the accuracy of posture data detection for the boom and arm of an excavator.

[0007] To achieve this objective, the present invention adopts the following technical solution: In a first aspect, a rotation angle detection device is provided for measuring the rotation angle of the boom of an excavator, the excavator including a vehicle body and a boom, the boom being pivotally connected to the vehicle body, the rotation angle detection device comprising: Fixed mounting bracket, the fixed mounting bracket is installed on the vehicle body The detection component includes a detection mounting base and an encoder, wherein the encoder is mounted on the detection mounting base and its detection shaft is coaxially connected to the rotating shaft of the swing arm. A universal joint, one end of which is connected to the detection component and the other end of which is connected to the fixed mounting base, wherein the detection component is rotatable relative to the fixed mounting base; The controller is communicatively connected to the encoder.

[0008] In some embodiments, the corner detection device further includes an adapter frame, which is mounted on the swing arm and the detection shaft is connected to the adapter frame.

[0009] In some embodiments, the detection assembly further includes a connecting rod, one end of which is connected to the detection mounting base and the other end of which is connected to the universal joint.

[0010] In some embodiments, the detection assembly includes a plurality of connecting rods of different lengths, the detection mounting base is selectively connected to one end of one of the connecting rods, and the universal joint is connected to the other end of the connecting rod.

[0011] In some embodiments, the detection mounting base has a threaded hole, and one end of the connecting rod connected to the detection mounting base has an external thread that mates with the threaded hole.

[0012] In some embodiments, the adapter frame is provided with a connecting shaft whose axis coincides with the axis of the swing arm's main shaft, and the connecting shaft is coaxially connected to the detection shaft.

[0013] In some embodiments, the adapter frame includes a first bracket and a second bracket, the first bracket being fixedly connected to the swing arm, the second bracket being slidably connected to the first bracket along a first direction, and the connecting shaft being disposed on the second bracket, wherein the first direction is parallel to the length direction of the connecting rod.

[0014] In some embodiments, the second bracket is provided with a waist hole extending in a first direction, and the first bracket is provided with a through hole corresponding to the waist hole. A locking member passes through the through hole and the waist hole, so that the first bracket and the second bracket are locked to each other.

[0015] In some embodiments, the corner detection device further includes a protective cover mounted on the fixed mounting base, the protective cover having a receiving space for shielding the detection component and the universal joint.

[0016] Secondly, an excavator is provided, including a boom, a body, and the aforementioned angle detection device, wherein the boom is rotatably connected to the body, and the detection shaft of the encoder of the angle detection device is coaxially connected to the shaft of the boom.

[0017] The beneficial effects of this utility model are: The rotation angle detection device provided by this utility model installs an encoder on a detection mounting base, with the encoder's detection shaft coaxially connected to the rotating shaft of the boom. One end of the universal joint is connected to the detection component, and the other end is connected to the fixed mounting base. Thus, when the excavator's boom rotates, the encoder's detection shaft rotates with the boom, thereby accurately measuring the boom's rotation angle and sending the boom's rotation angle information to the controller. This allows the controller to analyze and obtain the boom's posture data during rotation, improving the accuracy of the excavator's boom's posture data detection.

[0018] The excavator provided by this utility model includes a boom, a body, and a rotation angle detection device. The boom is rotatably connected to the body, and the detection shaft of the encoder of the rotation angle detection device is coaxially connected to the rotation shaft of the boom, thereby enabling the posture data of the boom to be accurately detected when the excavator is performing digging operations. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the corner detection device provided in this embodiment of the utility model; Figure 2 This is a side view of the corner detection device provided in this embodiment of the present invention after the protective shell has been removed; Figure 3 This is a top view of the corner detection device provided in this embodiment of the present invention after the protective shell has been removed; Figure 4 yes Figure 3 A cross-sectional diagram along the AA direction.

[0020] 1. Fixed mounting base; 2. Detection assembly; 21. Detection mounting base; 211. Threaded hole; 22. Encoder; 221. Detection shaft; 23. Connecting rod; 231. External thread; 3. Universal joint; 4. Adapter frame; 41. First bracket; 42. Second bracket; 421. Connecting shaft; 422. Waist hole; 5. Protective cover. Detailed Implementation

[0021] The embodiments of this utility model are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar parts or parts having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this utility model, and should not be construed as limiting this utility model.

[0022] In the description of this utility model, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection or a detachable connection; a mechanical connection or an electrical connection; a direct connection or an indirect connection through an intermediate medium; or the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0023] In the description of this utility model, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0024] The technical solution of this utility model will be further described below with reference to the accompanying drawings and specific embodiments.

[0025] An excavator consists of a chassis, a cab, and a boom. The boom includes a boom arm, a forearm arm, and a stick. The boom arm is pivotally connected to the chassis. When the excavator is digging, it drives the boom arm to rotate, which in turn drives the forearm arm and stick to rotate. Therefore, the accuracy of the boom arm's posture data detection is the highest.

[0026] Figure 1 A schematic diagram of the corner detection device provided in this embodiment is shown. Figure 2 The side view of the corner detection device provided in this embodiment after the protective shell has been removed is shown. Figure 3 The diagram shows a top view of the corner detection device provided in this embodiment after the protective shell has been removed. Figure 4 It shows Figure 3 A cross-sectional diagram along the AA direction. (See diagram below.) Figures 1 to 4As shown, this utility model provides a rotation angle detection device for measuring the rotation angle of the boom of an excavator. The rotation angle detection device includes a fixed mounting base 1, a detection component 2, a universal joint 3, and a controller. The fixed mounting base 1 is mounted on the vehicle body. The detection component 2 includes a detection mounting base 21 and an encoder 22. The encoder 22 is mounted on the detection mounting base 21, and its detection shaft 221 is coaxially connected to the rotating shaft of the boom. One end of the universal joint 3 is connected to the detection component 2, and the other end is connected to the fixed mounting base 1, allowing the detection component 2 to rotate relative to the fixed mounting base 1. The controller is communicatively connected to the encoder 22. It should be noted that the universal joint 3 is a connector for connecting the detection component 2 and the fixed mounting base 1. It has a snap-fit ​​ball and a spherical snap-fit ​​groove. The fixed mounting base 1 is connected to the snap-fit ​​ball, and the detection component 2 is connected to the spherical snap-fit ​​groove. The snap-fit ​​ball engages with the spherical snap-fit ​​groove, thereby allowing the detection component 2 to rotate in any direction relative to the fixed mounting base 1. This is common knowledge to those skilled in the art and will not be elaborated further here.

[0027] The rotation angle detection device provided in this embodiment installs the encoder 22 on the detection mounting base 21, and the detection shaft 221 of the encoder 22 is coaxially connected to the rotating shaft of the boom. One end of the universal joint 3 is connected to the detection component 2, and the other end is connected to the fixed mounting base 1. Thus, when the boom of the excavator rotates, the detection shaft 221 of the encoder 22 rotates with the boom, thereby accurately measuring the rotation angle of the boom and sending the rotation angle information of the boom to the controller. This allows the controller to analyze and obtain the posture data of the boom during rotation, improving the accuracy of the excavator boom posture data detection.

[0028] In this embodiment, the controller (not shown in the figure) can be a programmable logic controller or a microcomputer. As long as it can communicate with the encoder 22, obtain the swing arm rotation angle information measured by the encoder 22, and analyze the swing arm rotation angle information to obtain the attitude data of the swing arm when rotating, those skilled in the art can set it reasonably according to actual needs, and it will not be described in detail here.

[0029] like Figures 1 to 2 As shown, the angle detection device also includes an adapter frame 4, which is mounted on the boom of the excavator. The detection shaft 221 is connected to the adapter frame 4, allowing the adapter frame 4 to be installed on the booms of different excavator models. The detection shaft 221 of the encoder 22 is then connected to the adapter frame 4, enabling the angle detection device to be applied to the detection of boom posture data of different excavator models, thus improving its applicability. It should be noted that the installation method of the adapter frame 4 and the boom is not limited here; it can be welding, bolting, or bonding. Those skilled in the art can choose the appropriate method according to actual needs, and it will not be limited here.

[0030] For different models of excavators, the distance between the boom shaft and the vehicle body varies. In order to enable the detection shaft 221 of the encoder 22 of the angle detection device to be coaxially connected with the boom shaft, the detection assembly 2 also includes a connecting rod 23. One end of the connecting rod 23 is connected to the detection mounting base 21, and the other end is connected to the universal joint 3. The length of the connecting rod 23 can be used to extend the encoder 22 by a specific length, so that the detection shaft 221 of the encoder 22 can be coaxially connected with the boom shaft. This makes the angle detection device applicable to different models of excavators, further improving the applicability of the angle detection device.

[0031] Preferably, the detection component 2 includes several connecting rods 23 of different lengths. The detection mounting base 21 is selectively connected to one end of one of the connecting rods 23, and the universal joint 3 is connected to the other end of the connecting rod 23. This allows for the selection of a connecting rod 23 of suitable length for different excavator models. After connecting the suitable connecting rod 23 to the detection mounting base 21 and the universal joint 3 respectively, the detection shaft 221 of the encoder 22 can be coaxially connected to the swing arm's rotating shaft. It should be noted that those skilled in the art can reasonably set the specific length of the connecting rod 23 according to the specific excavator model, as long as the detection shaft 221 of the encoder 22 can be coaxially connected to the swing arm's rotating shaft; further details are omitted here.

[0032] like Figures 3 to 4 As shown, the detection mounting base 21 has a threaded hole 211, and the end of the connecting rod 23 connected to the detection mounting base 21 has an external thread 231 that mates with the threaded hole 211. This allows the threaded hole 211 and the connecting rod 23 to move relative to each other by turning the connecting rod 23, thereby slightly adjusting the distance between the detection mounting base 21 and the universal joint 3, so that the detection shaft 221 of the encoder 22 can be coaxially set and connected with the rotating shaft of the swing arm.

[0033] Continue as Figures 3 to 4 As shown, the adapter frame 4 is equipped with a connecting shaft 421 whose axis coincides with the axis of the swing arm's main shaft. The connecting shaft 421 is coaxially connected to the detection shaft 221, thereby enabling the detection shaft 221 of the encoder 22 to be coaxially connected to the swing arm's main shaft. Specifically, the connecting shaft 421 and the detection shaft 221 are coaxially connected via a coupling, or they can be coaxially connected by welding; this is not limited here.

[0034] like Figures 2 to 4As shown, the adapter frame 4 includes a first bracket 41 and a second bracket 42. The first bracket 41 is fixedly connected to the swing arm boom, and the second bracket 42 is slidably connected to the first bracket 41 along a first direction. The connecting shaft 421 is disposed on the second bracket 42. The first direction is parallel to the length direction of the connecting rod 23, thereby allowing adjustment of the relative position between the second bracket 42 and the first bracket 41, so that the connecting shaft 421 can be coaxially disposed with the rotating shaft of the swing arm boom. When the connecting shaft 421 is coaxially connected with the detection shaft 221 of the encoder 22, the detection shaft 221 can be coaxially disposed with the rotating shaft of the swing arm boom. Therefore, when the angle detection device is applied to different models of excavators, as long as the first bracket 41 can be installed on the swing arm boom, the relative position between the first bracket 41 and the second bracket 42 can be adjusted so that the connecting shaft 421 can be coaxially disposed with the rotating shaft of the swing arm boom. It should be noted that the connection method between the connecting shaft 421 and the second bracket 42 is not limited. It can be integrally formed, snap-fitted, welded or threaded. Those skilled in the art can set it reasonably according to actual needs.

[0035] Continue as Figures 2 to 4 As shown, the second bracket 42 is provided with a waist hole 422 extending along the first direction, and the first bracket 41 is provided with a through hole corresponding to the waist hole 422. A locking element passes through the through hole and the waist hole 422, thereby locking the first bracket 41 and the second bracket 42 together. This allows adjustment of the relative position between the first bracket 41 and the second bracket 42, ensuring that the connecting shaft 421 is coaxially aligned with the pivot shaft of the swing arm. Specifically, the locking element is a bolt and a nut. The bolt passes through the through hole and the waist hole 422 in sequence and is threadedly connected to the nut, thus locking the first bracket 41 and the second bracket 42 together.

[0036] like Figure 1 As shown, the corner detection device also includes a protective cover 5, which is installed on the fixed mounting base 1. The protective cover 5 has a space for accommodating the detection component 2 and the universal joint 3, so that when the excavator is performing digging operations and using the corner detection device to detect the spatial posture of the boom, the detection component 2 and the universal joint 3 are prevented from being damaged by external impact, thereby improving the reliability of the corner detection device.

[0037] The excavator provided in this embodiment includes a boom, a body, and a rotation angle detection device. The boom is rotatably connected to the body, and the detection shaft 221 of the encoder 22 of the rotation angle detection device is coaxially connected to the rotation shaft of the boom, thereby enabling the posture data of the boom to be accurately detected when the excavator is performing digging operations.

[0038] Obviously, the above embodiments of this utility model are merely examples for clearly illustrating the present utility model, and are not intended to limit the implementation of the present utility model. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this utility model should be included within the protection scope of the claims of this utility model.

Claims

1. A rotation angle detection device for measuring the rotation angle of the boom of an excavator, the excavator comprising a chassis and a boom, the boom being pivotally connected to the chassis, characterized in that, The corner detection device includes: Fixed mounting bracket (1), the fixed mounting bracket (1) is installed on the vehicle body The detection component (2) includes a detection mounting base (21) and an encoder (22). The encoder (22) is mounted on the detection mounting base (21) and its detection shaft (221) is coaxially connected to the rotating shaft of the swing arm. Universal joint (3), one end of which is connected to the detection component (2) and the other end is connected to the fixed mounting base (1), the detection component (2) being able to rotate relative to the fixed mounting base (1); The controller is in communication connection with the encoder (22).

2. The angle detection device according to claim 1, characterized in that, The corner detection device also includes a transition frame (4), which is installed on the swing arm and the detection shaft (221) is connected to the transition frame (4).

3. The angle detection device according to claim 2, characterized in that, The detection component (2) also includes a connecting rod (23), one end of which is connected to the detection mounting base (21) and the other end is connected to the universal joint (3).

4. The angle detection device according to claim 3, characterized in that, The detection component (2) includes several connecting rods (23) of different lengths. The detection mounting base (21) is selectively connected to one end of one of the connecting rods (23), and the universal joint (3) is connected to the other end of the connecting rod (23).

5. The corner detection device according to claim 3, characterized in that, The detection mounting base (21) is provided with a threaded hole (211), and the end of the connecting rod (23) connected to the detection mounting base (21) is provided with an external thread (231) that mates with the threaded hole (211).

6. The corner detection device according to claim 3, characterized in that, The adapter (4) is provided with a connecting shaft (421) whose axis coincides with the axis of the swing arm's main shaft. The connecting shaft (421) is coaxially connected with the detection shaft (221).

7. The corner detection device according to claim 6, characterized in that, The adapter (4) includes a first bracket (41) and a second bracket (42). The first bracket (41) is fixedly connected to the swing arm, and the second bracket (42) is slidably connected to the first bracket (41) along a first direction. The connecting shaft (421) is disposed on the second bracket (42). The first direction is parallel to the length direction of the connecting rod (23).

8. The corner detection device according to claim 7, characterized in that, The second bracket (42) is provided with a waist hole (422) extending in the first direction, and the first bracket (41) is provided with a through hole corresponding to the waist hole (422). By passing a locking member through the through hole and the waist hole (422), the first bracket (41) and the second bracket (42) are locked to each other.

9. The angle detection device according to any one of claims 1-8, characterized in that, The corner detection device also includes a protective cover (5), which is mounted on the fixed mounting base (1) and has a receiving space for shielding the detection component (2) and the universal joint (3).

10. An excavator, characterized in that, It includes a swing arm, a vehicle body, and a corner detection device as described in any one of claims 1-9, wherein the swing arm is rotatably connected to the vehicle body, and the detection shaft (221) of the encoder (22) of the corner detection device is coaxially connected to the rotating shaft of the swing arm.

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