JP2015160676A - Slewing angle detection device for slewing type work machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To facilitate arrangement of a slewing angle detection device.SOLUTION: A slewing angle detection device for a slewing type work machine is provided, the device including: a rotation member that is mounted to an upper slewing body and that rotates together with the upper slewing body with respect to a lower traveling body, the rotation member rotating by itself while revolving around the slewing center of the upper slewing body when the upper slewing body rotates with respect to the lower traveling body; an engagement member that is mounted to the lower traveling body or a housing, and that directly or indirectly engages with the rotation member; an angle sensor for detecting a rotation angle of the rotation member; and a calculation device for calculating a slewing angle of the upper slewing body with respect to the lower traveling body from a rotation angle detected by the angle sensor.

Description

  The present invention relates to a turning angle detection device for a turning work machine.

  In a swing type work machine including a lower traveling body and an upper swinging body that turns with respect to the lower traveling body, the overturning moment and the stable moment change according to the turning angle of the upper swinging body with respect to the lower traveling body. Therefore, there is known a construction machine that detects the turning angle of the work implement main body and presents the positional relationship between the traveling body and the work implement main body to an operator (see Patent Document 1).

Japanese Patent Laid-Open No. 9-21605

  However, in the construction machine described in the above-mentioned patent document, a magnetic sensor for detecting a turning angle is attached to an upper part of a swivel joint for supplying pressure oil from a hydraulic pump of a work machine body to a traveling body. However, since a plurality of hydraulic pipes are provided in the upper part of the swivel joint, it is not easy to arrange a member for detecting a turning angle such as a magnetic sensor.

(1) A turning angle detecting device for a turning work machine according to the invention of claim 1 is provided in a lower traveling body, an upper turning body that turns relative to the lower traveling body, and a housing and an upper turning body that are attached to the lower traveling body. In a turning angle detecting device of a turning work machine having a center joint that has a spindle attached and rotatable with respect to a housing and connects a hydraulic circuit of a lower traveling body and a hydraulic circuit of an upper turning body. A member that is attached to the revolving structure and revolves with respect to the lower traveling body together with the upper revolving structure. When the upper revolving structure revolves with respect to the lower traveling structure, it rotates while revolving with respect to the turning center of the upper revolving structure. A rotating member, a lower traveling body, a meshing member that is directly or indirectly meshed with the rotating member, and a rotation angle of the rotating member. An angle sensor for detecting the degree and a calculation device for calculating the turning angle of the upper turning body relative to the lower traveling body from the rotation angle detected by the angle sensor.
(2) According to a second aspect of the present invention, in the turning angle detecting device of the turning type working machine according to the first aspect, the diameter of the pitch circle of the rotating member and the meshing member so that the turning angle and the rotation angle are equal to each other. The pitch circle diameter is made equal to each other.
(3) The invention of claim 3 is the turning angle detecting device for a turning work machine according to claim 1 or claim 2, wherein the rotating member directly meshes with the meshing member and revolves around the meshing member. It rotates by being rotated by the meshing member.
(4) According to a fourth aspect of the present invention, in the swivel angle detection device for the swivel work machine according to the third aspect, the rotating member is any one of a sprocket, a pulley, a roller, and a gear, and the meshing member is a rotating member. If the rotating member is a pulley, the belt is used. If the rotating member is a gear, it is a gear.
(5) The invention according to claim 5 is the turning angle detecting device for the turning work machine according to claim 1 or 2, further comprising a transmission member wound around the rotating member and the meshing member. .

  According to the present invention, since the turning angle is calculated based on the rotation angle of the rotating member that rotates while revolving with respect to the turning center, a sensor or the like for detecting the turning angle is provided above the center joint. Since it does not need to arrange | position, arrangement | positioning of a turning angle detection apparatus becomes easy.

It is a right view of the crawler crane which is an example of the working machine carrying the turning angle detection apparatus by this invention. It is typical sectional drawing which looked at the vicinity of the turning center of an upper turning body from the side of a crawler crane. (A) is the figure which looked at the vicinity of the center joint from the side surface of the crawler crane, (b) is a plan view of the vicinity of the center joint, and (c) is a cross-sectional view taken along arrow A in (a). (A) is a side view of the turning angle detection device, (b) is a plan view taken along arrow A in (a), and (c) is a cross-sectional view taken along arrow B in (a). It is a perspective view of the vicinity of a center joint. It is a perspective view of the vicinity of a center joint. It is a perspective view of the vicinity of a center joint. It is a perspective view of the vicinity of a center joint. It is a perspective view of the vicinity of a center joint. It is a perspective view of the vicinity of a center joint.

  With reference to FIGS. 1-10, one Embodiment of the turning angle detection apparatus of the turning type work machine by this invention is described. FIG. 1 is an external side view of a crawler crane which is an example of a work machine equipped with a turning angle detection device according to the present invention. In this crawler crane (hereinafter simply referred to as a crane) 10, an upper revolving unit 2 is mounted on an endless track type lower traveling unit 1 via a revolving wheel 11 so as to freely turn.

  The upper revolving unit 2 includes a revolving frame 3 that forms a structure, a cab 8 on the right side of the front part of the revolving frame 3, and a boom 4 that is pivotally supported at the front center of the revolving frame 3. On the rear side of the frame 3, a counterweight 9 is installed. Between the cab 8 and the counterweight 9 on the revolving frame 3, a building cover 7 that defines a machine room is installed. The machine room is provided with a hoisting drum 5 that is a winch drum for hoisting, a hoisting drum 6 that is a hoisting winch drum, an engine (not shown), a hydraulic pump (main pump) (not shown) driven by the engine, and the like. Has been.

  A hoisting rope 5 a is wound around the hoisting drum 5, and the hoisting rope 5 a is wound or fed out by driving of the hoisting drum 5, and a hook device (hook) 12 moves up and down. A hoisting rope 6 a is wound around the hoisting drum 6, and the hoisting rope 6 a is wound or fed out by driving of the hoisting drum 6, and the boom 4 is raised and lowered. The hoisting drum 5 is driven by a hoisting hydraulic motor, and the hoisting drum 6 is driven by a hoisting hydraulic motor. The rotation of these hydraulic motors can be braked by a brake device (not shown).

  FIG. 2 is a schematic cross-sectional view of the vicinity of the turning center of the upper-part turning body 2 as viewed from the side of the crane 10 and schematically shows the configuration of the turning angle detection device 100 of the present embodiment. In FIG. 2 and each figure mentioned later, the reference symbol Z is attached to the turning center of the upper turning body 2. A center joint 15 is provided at the turning center Z of the upper turning body 2. Around the turning center Z of the upper turning body 2, the above-described turning wheel 11 is provided. The turning frame 3 is provided with a turning motor 25.

  The turning wheel 11 includes a plurality of turning wheel outer races 11a fixed to the turning frame 3, a turning wheel inner race 11b fixed to the track frame 1a, and a plurality of turns interposed between the turning wheel outer race 11a and the turning wheel inner race 11b. And a ball 11c. A gear is formed on the inner surface of the inner race 11b. This gear and a gear provided on the output shaft of the turning motor 25 are engaged with each other. When the turning motor 25 is driven, the track frame 1a and the turning frame 3 via the turning wheel 11 are turned to the turning center Z. Rotate relative to the center.

  3A is a view of the vicinity of the center joint 15 as viewed from the side of the crane 10, FIG. 3B is a plan view of the vicinity of the center joint 15, and FIG. It is A arrow sectional drawing of 3 (a). 4 (a) is a side view of the turning angle detection device 100, FIG. 4 (b) is a plan view taken along the arrow A in FIG. 4 (a), and FIG. 4 (c) is a plan view of FIG. It is a B arrow cross section of). 5 to 10 are perspective views of the vicinity of the center joint 15.

  The center joint 15 is a device that connects the hydraulic circuit and electric circuit of the lower traveling body 1 to the hydraulic circuit and electric circuit of the upper swing body 2. The center joint 15 has a center joint spindle 15a fixed to the revolving frame 3 side and a center joint housing 15b fixed to the track frame 1a side of the lower traveling body 1. The center joint spindle 15a is provided with a swing body side connection portion 14a to which a hydraulic circuit and an electric circuit on the upper swing body 2 side are connected, and a hydraulic circuit and an electric circuit on the lower traveling body 1 side are provided on the center joint housing 15b. The traveling body side connection part 14b to be connected is provided.

  The center joint spindle 15a is supported on the revolving frame 3 side by a rotation stop plate 32 and a rotation stop support plate 33. That is, one end of a rotation prevention plate 32 for preventing rotation of the center joint spindle 15a is attached to the center joint spindle 15a. The rotation stop plate 32 extends radially outward with the turning center Z as the center, and the other end is supported by a rotation stop support plate 33 attached to the turning frame 3, so that the upper turning body 2 is turned. Movement in the direction is restricted. As a result, the center joint spindle 15 a rotates in the turning direction of the upper turning body 2 together with the turning frame 3. The anti-rotation plate 32 and the anti-rotation support plate 33 are members conventionally provided to prevent the center joint spindle 15a from rotating.

  The center joint housing 15 b is fixed to the track frame 1 a by a center joint fixing member 16. As a result, the center joint housing 15b does not move with respect to the track frame 1a even when the upper swing body 2 rotates.

  The turning angle detection device 100 of the present embodiment includes a lower traveling body side member 110 provided on the lower traveling body 1 side, a movable bracket 140, a rotating member 120, and an angle sensor 130 provided on the upper turning body 2 side. I have. The lower traveling body side member 110 includes a bracket 111 for fixing to the lower traveling body 1 side, and a chain 112 that is attached to the bracket 111 and meshes with a sprocket that is a rotating member 120 described later.

  The bracket 111 is, for example, a member in which a hole serving as a relief of the center joint 15 is formed in a rectangular flat plate, and a cylindrical member is erected around the hole. The bracket 111 is divided into two at the cylindrical portion along the central axis of the cylinder. Each of the two divided brackets 111 is fixed to the center joint fixing member 16, thereby being fixed to the track frame 1 a side as an integral bracket 111. The center joint fixing member 16 includes a first fixing member 16a attached to the track frame 1a and a second fixing member 16b attached to the center joint housing 15b.

  A chain 112 is wound around the outer periphery of the cylindrical portion of the bracket 111. The chain 112 is a two-row roller chain. The lower chain is fixed to the outer periphery of the cylindrical portion of the bracket 111 by, for example, a bolt 113, and the upper chain meshes with a rotating member 120 described later.

  The movable bracket 140 is a bracket that holds the rotating member 120 and the angle sensor 130, and is attached to the rotation stop plate 32 so as to be rotatable. That is, the movable bracket 140 is pivotally supported by a support shaft 32 a parallel to the turning center axis of the upper turning body 2 provided on the rotation stopper plate 32. For example, as shown in the plan views of FIGS. 3B and 4B and the perspective views of FIGS. 6 and 7, the movable bracket 140 has one end of a spring 17 attached thereto. The other end of the spring 17 is attached to the rotation stop plate 32. Due to the urging force of the spring 17, the movable bracket 140 is urged clockwise around the support shaft 32 a in the plan views of FIGS. 3 (b) and 4 (b) to move the rotating member 120 to the chain 112. Press.

  As described above, the rotating member 120 is a sprocket that meshes with the chain 112, and is pivotally supported by the movable bracket 140. The rotating member 120 revolves around the chain 112 fixed on the circumference around the turning center Z on the lower traveling body 1 side together with the turning of the upper turning body 2 as shown by the arrow REV in FIG. When rotating, it rotates as indicated by an arrow ROT.

  The pitch circle of the rotating member 120 has substantially the same diameter as the pitch circle formed by the chain 112 wound around the cylindrical portion of the bracket 111. That is, the number of teeth of the rotating member 120 and the number of links of the chain 112 are equal. For this reason, when the rotating member 120 rotates 360 degrees around the turning center Z, that is, when the upper rotating body 2 rotates 360 degrees, the rotating member 120 rotates 360 degrees. Therefore, in the present embodiment, the turning angle θ of the upper turning body 2 matches the rotation angle θrot of the rotating member 120.

  The rotation angle (rotation angle) θrot of the rotating member 120 is detected by an angle sensor 130 attached to the movable bracket 140. The angle sensor 130 is, for example, a potentiometer, and includes an angle sensor main body 131 and a rotation shaft 132 for angle detection. In the present embodiment, a potentiometer having an electrical effective rotation angle of 360 degrees is used as the angle sensor 130. The rotating shaft 132 is connected to the rotating member 120 via the universal joint 135.

  The angle detection signal output from the angle sensor 130 is input to the turning angle calculation device 191. The turning angle calculation device 191 calculates the rotation angle θrot of the rotating shaft 132 based on the angle detection signal output from the angle sensor 130. Then, based on the calculated rotation angle θrot of the rotating shaft 132, the turning angle θ of the upper swing body 2 is calculated. In the present embodiment, as described above, the turning angle θ of the upper turning body 2 and the rotation angle θrot of the rotating member 120 coincide with each other. Therefore, the turning angle calculation device 191 calculates the rotation angle θrot of the rotating member 120 as the turning angle θ of the upper turning body 2. The turning angle calculation device 191 outputs the calculated turning angle signal (turning angle signal) of the upper turning body 2 to the moment calculation device 192.

  The moment calculation device 192 calculates a stable moment that prevents the crane 10 from overturning and a tipping moment that operates so as to cause the crane 10 to fall over. It is a device for operating the illustrated alarm device and the like. The moment computing device 192 calculates a stable moment and a tipping moment using the turning angle θ calculated by the turning angle calculating device 191. Note that the method for calculating the stable moment and the overturning moment in the moment calculation device 192 and the operation of operating an alarm device (not shown) based on the calculated moments are well known, and thus the description thereof is omitted.

The turning angle detection device 100 of the present embodiment described above has the following operational effects.
(1) A rotating member 120 that revolves around the turning center Z by turning the upper turning body 2 and a chain 112 that is attached to the lower traveling body 1 and directly meshes with the rotating member 120. The rotating member 120 is configured to rotate while revolving with respect to the turning center Z as the upper turning body 2 turns. The rotation angle θrot of the rotating member 120 is detected by the angle sensor 130, and the turning angle θ of the upper swing body 2 is calculated based on the detected rotation angle θrot. Thereby, since it is not necessary to provide a sensor or the like for detecting the turning angle θ on the upper part of the center joint spindle 15a, the turning angle detecting device 100 can be easily provided. Therefore, the design cost and manufacturing cost of the crane 10 can be suppressed. Furthermore, since the configuration of each part of the turning angle detection device 100 is simplified, the reliability and durability of the turning angle detection device 100 can be improved.

(2) The pitch circle diameter of the rotating member 120 and the pitch circle diameter formed by the chain 112 wound around the cylindrical portion of the bracket 111 are configured to be equal. As a result, the turning angle θ of the upper swing body 2 and the rotation angle θrot of the rotating member 120 match, so that the swing angle θ of the upper swing body 2 and the rotation angle of the rotation shaft 132 of the angle sensor 130 also match. Therefore, when calculating the turning angle θ of the upper swing body 2, it is only necessary to calculate the rotation angle of the rotation shaft 132 of the angle sensor 130. There is no need for a conversion formula or a conversion map for calculating the turning angle θ. Thereby, the calculation load of the turning angle calculation device 191 can be suppressed, and the cost increase of the turning angle calculation device 191 can be suppressed.

(3) The chain 112 and the rotating member 120 which is a sprocket are configured to directly mesh with each other. Thereby, since the distance between the turning center Z and the center of the rotating member 120 is the shortest, the turning angle detecting device 100 can be miniaturized, so that the turning angle detecting device 100 can be easily mounted on the crane 10. 10 design costs and manufacturing costs can be suppressed. Further, since the turning angle detection device 100 can be mounted without difficulty, the reliability and durability of the turning angle detection device 100 can be improved.

(4) Each of the two divided brackets 111 is fixed to the center joint fixing member 16 so that the bracket 111 is fixed to the track frame 1a side as an integral bracket 111. Thereby, the bracket 111 can be easily retrofitted without removing the hydraulic piping connected to the center joint 15 and the workability is improved. Further, since the chain 112 may be fixed to the bracket and connected in an annular shape after the bracket 111 is attached, it can be easily attached in the same manner as the bracket 111, and the workability is improved.

(5) Two rows of roller chains were used as the chain 112, and the lower chain was fixed to the outer periphery of the cylindrical portion of the bracket 111 by the bolt 113, and the upper chain engaged with the rotating member 120. Thereby, since the chain 112 can be easily fixed to the bracket 111, the workability is improved.

(6) The rotating member 120 attached to the movable bracket 140 is pressed against the chain 112 by the urging force of the spring 17. Thereby, even if position shift with respect to the turning center Z occurs between the lower traveling body 1 and the upper turning body 2 due to, for example, looseness of the turning wheel 11, the influence on the turning angle detection device 100 can be suppressed. Therefore, the reliability and durability of the turning angle detection device 100 can be improved.

---- Modified example ---
(1) In the above description, the rotating member 120 attached to the movable bracket 140 is pressed against the chain 112 by the urging force of the spring 17, but the present invention is not limited to this. For example, you may comprise so that the rotation member 120 and the angle sensor 130 may be attached to the bracket directly fixed to the turning frame 3. FIG.

(2) In the above description, the number of teeth of the rotating member 120 and the number of links of the chain 112 are made equal, but the present invention is not limited to this. For example, the number of teeth of the rotating member 120 and the number of links of the chain 112 may not be equal. In this case, the turning angle calculation device 191 may be configured to calculate the turning angle θ of the upper turning body 2 based on the rotation angle θrot of the rotating member 120.

(3) In the above description, the lower traveling body side member 110 includes the chain 112 and the rotating member 120 is a sprocket. However, the present invention is not limited to this, and the chain and the sprocket may be interchanged. That is, the lower traveling body side member 110 may include a sprocket and the rotating member 120 may include a chain. In this case, if the sprocket is divided into two sections including the rotating shaft and each of the two divided sprockets is attached to the bracket 111, the retrofitting becomes easy as in the case of the chain 112. Moreover, you may comprise the rotation member 120 by attaching a chain to the outer peripheral surface of a pulley.

(4) In the above description, the chain 112 is a roller chain, but the present invention is not limited to this. For example, a silent chain may be used for the chain 112 instead of a roller chain. In this case, a silent chain sprocket may be used as the rotating member 120.

(5) In the above description, the bracket 111 is divided. However, the present invention is not limited to this, and the bracket 111 may be integrated. In this case, when the new crane 10 is manufactured, the bracket 111 may be attached before connecting the hydraulic piping or the like to the center joint 15. Even in this case, since the chain 112 itself can be cut at an arbitrary position, it is not necessary to disconnect the hydraulic piping connected to the center joint 15 when the chain 112 is replaced.

(6) In the above description, the rotation center Z and the rotation center axis of the rotating member 120 are brought close to each other so that the chain 112 and the rotating member 120 are directly meshed, but the present invention is limited to this. Not. For example, the turning center Z and the rotation center axis of the rotating member 120 may be moved away from each other. In this case, a sprocket is used instead of the chain 112 of the lower traveling member side member 110, and the rotating member 120 is rotated by the chain transmission by hanging the chain between the sprocket and the sprocket of the rotating member 120. What is necessary is just to comprise. In this case, if the number of teeth is equal between the sprocket of the lower traveling body side member 110 and the sprocket of the rotating member 120, the turning angle θ of the upper rotating body 2 matches the rotation angle θrot of the rotating member 120. . As a result, similarly to the case described above, the turning angle θ of the upper turning body 2 and the rotation angle of the rotation shaft 132 of the angle sensor 130 also coincide with each other, and the same effects as the above-described effects can be obtained.

  Further, instead of chain transmission, belt transmission may be used. In this case, a toothed belt may be used, a V belt may be used, and a flat belt may be used. Then, one pulley corresponding to the belt to be used is fixed to the bracket 111, the other pulley is used as the rotating member 120, and the belt is wound around the two pulleys.

(7) In the above description, the lower traveling body side member 110 includes the chain 112 and the rotating member 120 is a sprocket. However, the present invention is not limited to this, and transmission elements that contact each other other than the chain and the sprocket are used. May be. For example, the chain 112 may be replaced with a toothed belt, and the sprocket of the rotating member 120 may be replaced with a toothed gear that meshes with the toothed belt. Further, for example, the sprocket of the rotating member 120 may be configured to contact the cylindrical portion of the bracket 111 instead of a friction wheel such as a rubber roller. Further, for example, the sprockets of the chain 112 and the rotating member 120 may be replaced with a gear such as a spur gear.

(8) In the above description, the crawler crane 10 has been described as an example of a work machine. However, the present invention is not limited to this, and a turning center such as a crane fixed to a work site or a hydraulic excavator other than the crane is used. The present invention may be applied to each work machine that rotates the upper swing body around the center.

(9) In the above description, a gear is engraved on the inner surface of the turning wheel inner race 11b fixed to the track frame 1a, and this gear meshes with the gear provided on the output shaft of the turning motor 25. However, the present invention is not limited to this. For example, the turning wheel inner race 11b may be fixed to the turning frame 3, and the turning wheel outer race 11a may be fixed to the track frame 1a. Then, a gear may be formed on the outer periphery of the turning wheel outer race 11a so that the gear and a gear provided on the output shaft of the turning motor 25 are engaged with each other. Even if comprised in this way, there exists an effect similar to the effect mentioned above.
(10) Each embodiment and modification described above may be combined.

1 Lower traveling body, 1a Track frame, 2 Upper turning body, 3 Turning frame,
DESCRIPTION OF SYMBOLS 10 Crawler crane (crane), 11 slewing wheel, 15 center joint, 15a center joint spindle, 15b center joint housing, 16 center joint fixing member, 17 spring, 32 rotation stop plate, 33 rotation stop support plate, 100 rotation angle detection device , 110 Lower traveling body side member, 111 bracket, 112 chain, 120 rotating member, 130 angle sensor, 140 movable bracket, 191 turning angle calculation device, 192 moment calculation device

Claims (5)

Undercarriage,
An upper swing body that pivots relative to the lower traveling body;
And a housing attached to the lower traveling body and a spindle attached to the upper swing body and rotatable relative to the housing,
In a turning angle detection device for a turning work machine including a center joint that connects the hydraulic circuit of the lower traveling body and the hydraulic circuit of the upper turning body,
A member attached to the upper swing body and swinging with respect to the lower traveling body together with the upper swing body, and when the upper swing body swings with respect to the lower traveling body, the turning center of the upper swing body A rotating member that rotates while revolving,
A meshing member attached to any one of the lower traveling body and the housing and meshing directly or indirectly with the rotating member;
An angle sensor for detecting a rotation angle of the rotating member;
A turning angle detecting device for a turning work machine, comprising: a calculating device that calculates a turning angle of the upper turning body relative to the lower traveling body from the rotation angle detected by the angle sensor. In the turning angle detection device of the turning work machine according to claim 1,
A turning angle detecting device for a turning work machine, characterized in that the diameter of the pitch circle of the rotating member is equal to the diameter of the pitch circle of the meshing member so that the turning angle and the rotation angle are equal. . In the turning angle detection device for a turning work machine according to claim 1 or 2,
The turning angle detecting device for a swing type work machine, wherein the rotating member is directly meshed with the meshing member and revolves around the meshing member so as to be rotated by the meshing member. In the turning angle detecting device for a turning work machine according to claim 3,
The rotating member is one of a sprocket, a pulley, a roller, and a gear,
The meshing member is a roller chain when the rotating member is a sprocket, a belt when the rotating member is a pulley, and a gear when the rotating member is a gear. Turning angle detection device. In the turning angle detection device for a turning work machine according to claim 1 or 2,
A turning angle detecting device for a turning work machine, further comprising a transmission member wound around the rotating member and the meshing member.

Images