JP2013023865A - Revolving angle measuring device - Google Patents

Abstract

An object of the present invention is to measure a turning angle of a revolving body without incurring complicated processing and problems in strength.
A swivel joint 1 is disposed so that a rotor 10 and a shaft 20 rotate relative to each other when an upper swing body 200 rotates with respect to a lower traveling body 100 of a construction machine, and the rotor 10 and the shaft 20 are interposed therebetween. In the turning angle measuring device in which the turning angle of the upper turning body 200 relative to the lower traveling body 100 is detected by the rotation sensor, the detected surface 41 along the circumference with the rotation center of the rotor 10 as the axis of the shaft 20. The rotation sensor is provided with a rotation detector 80 for detecting the displacement of the detected surface 41 when the rotor 10 and the shaft 20 are rotated relative to each other.
[Selection] Figure 1

Description

  The present invention relates to a turning angle measuring device suitable for measuring a turning angle of a turning body such as an upper turning body in a construction machine.

  In construction machines such as power shovels, crawler carriers, and cranes, a turning angle measuring device is disposed between the lower traveling body and the upper turning body, and the lower traveling body is attached to the lower traveling body based on the output result of the turning angle measuring device. On the other hand, control for turning the upper turning body to a target turning angle is performed. As a turning angle measuring device used for a construction machine, for example, as described in Patent Literature 1, a rotary potentiometer is attached to a swivel joint interposed between a lower traveling body and an upper turning body. Is provided.

  The swivel joint rotatably arranges a shaft in the center hole of the rotor, and configures an oil passage between the rotor and the shaft that rotate relative to each other, and the upper swing body and the lower traveling body are passed through the oil passage. Oil is circulated between the two. More specifically, at a position where the rotation center of the shaft coincides with the rotation center of the upper swing body, for example, the rotor is supported by the lower travel body and the shaft is supported by the upper swing body, When the upper swing body is swung, the shaft is arranged to rotate with respect to the rotor.

  The rotary potentiometer outputs a detection signal corresponding to the rotation angle when the input shaft rotates with respect to the main body. The main body is supported by the shaft of the swivel joint, and the input shaft is connected to the rotor of the swivel joint via the connecting shaft. It is connected to.

  In this turning angle measuring device, when the upper turning body turns with respect to the lower traveling body, the main body of the rotary potentiometer and the input shaft rotate relative to each other via the rotor and shaft of the swivel joint. The turning angle of the turning body can be output as a detection signal.

Japanese Utility Model Publication No. 62-7458

  By the way, the connecting shaft that transmits the rotation of the rotor to the input shaft of the rotor potentiometer must pass through the center of rotation of the shaft, that is, the center of the shaft. For this reason, in order to comprise the above-mentioned turning angle measuring device, it is necessary to provide the through-hole for penetrating a connecting shaft in the center part with respect to the shaft of a swivel joint.

  As described above, the swivel joint has an oil passage between the rotor and the shaft. In particular, the shaft has a plurality of oil passages formed along the axial direction. Therefore, when a through-hole is further provided in the central portion of the shaft having an oil passage inside, not only the processing is complicated, but also the strength of the swivel joint may be caused. There is.

  In view of the above circumstances, an object of the present invention is to provide a turning angle measuring device for a construction machine capable of measuring the turning angle of a turning body without causing complication of processing and problems in strength. To do.

  In order to achieve the above object, a turning angle measuring device for a construction machine according to the present invention includes a rotor having a center hole and a shaft rotatably disposed in the center hole of the rotor, and the rotor and the shaft that rotate relative to each other. The swivel joint provided with an oil passage through which oil can be passed between and the rotor and the shaft are supported by one of them, and the relative rotation angle of the rotor and the shaft is detected using the other as a detection target. The swivel joint is disposed so that the rotor and the shaft rotate relative to each other when the swinging body turns relative to the traveling body of the construction machine. In the turning angle measuring device for a construction machine that detects the turning angle of the turning body with respect to the traveling body by the rotation sensor, When the rotor or the shaft to be detected by the rotation sensor is provided with a detection surface along the circumference centering on the rotation center of the rotor, the rotation sensor is rotated when the rotor and the shaft are relatively rotated. A detection unit for detecting a displacement of the detected surface is provided.

  According to the present invention, in the turning angle measuring device for a construction machine described above, the detected surface is provided on the outer peripheral surface of the rotor, the rotation sensor is supported on the shaft, and the rotation sensor is interposed via the outer peripheral surface. And a rolling roller that rolls on the detected surface of the rotor, and the detection unit detects rotational displacement of the rolling roller.

  In the turning angle measuring device for a construction machine, the swivel joint includes a cover member that covers an opening end portion of the rotor on an outer peripheral surface of the shaft, and the rotation sensor A part is supported by the shaft as a sensor container.

  Further, the present invention is characterized in that in the turning angle measuring device for a construction machine described above, a pressing means for pressing the peripheral surface of the rolling roller against the detected surface is provided.

  The turning angle measuring device for a construction machine according to the present invention includes a rotor having a center hole and a shaft rotatably disposed in the center hole of the rotor, and the rotor and the shaft that rotate relative to each other are provided. A swivel joint provided with an oil passage through which oil can be circulated, and a rotation sensor that is supported by the shaft and detects a relative rotation angle of the rotor and the shaft when the rotor rotates relatively, and is constructed. The swivel joint is disposed so that the rotor and the shaft rotate relative to each other when the swinging body rotates with respect to the traveling body of the machine, and the traveling body is configured by the rotation sensor via the rotor and the shaft. In the swivel angle measuring device for a construction machine that detects the swivel angle of the swivel body with respect to the swivel, the swivel joint includes the shuffle joint A cover member that covers the opening end of the rotor is provided on the outer peripheral surface of the rotor, and a detected surface is provided on the outer peripheral surface of the rotor along a circumference centered on the rotation center of the rotor, and the rotation is provided on the cover member. The rotation sensor is supported so as to be rotatable with respect to the cover member, and a rolling roller that rolls on the detected surface of the rotor via an outer peripheral surface, and a rotational displacement of the rolling roller And a pressing means for pressing the circumferential surface of the rolling roller against the detected surface.

  According to the present invention, the rotor or shaft to be detected by the rotation sensor is provided with a detection surface along the circumference centered on the rotation center of the rotor, and the rotation sensor is a case where the rotor and the shaft rotate relative to each other. Since a sensor that detects the displacement of the surface to be detected is applied, it is sufficient to provide a rotation sensor at the part facing the surface to be detected, and the shaft and rotor need to be processed in a complicated manner that affects the strength. It is possible to measure the turning angle of the turning body without any problem.

FIG. 1 is a sectional view showing a turning angle measuring device for a construction machine according to an embodiment of the present invention. 2 is an enlarged cross-sectional side view of a main part of the turning angle measuring device shown in FIG. FIG. 3 is a plan view of the turning angle measuring apparatus shown in FIG. FIG. 4 is an arrow X view in FIG. FIG. 5 is a diagram schematically showing a construction machine to which the turning angle measuring device shown in FIG. 1 is applied.

  DESCRIPTION OF EMBODIMENTS Hereinafter, preferred embodiments of a turning angle measuring device for a construction machine according to the present invention will be described in detail with reference to the accompanying drawings.

  1 to 4 show a turning angle measuring apparatus according to an embodiment of the present invention. The turning angle measuring device illustrated here is for measuring the turning angle of the upper turning body 200 with respect to the lower traveling body 100 in a construction machine such as a power shovel or a backhoe as shown in FIG.

  In the construction machine to which the turning angle measuring device is applied, a turning circle 300 is provided between the lower traveling body 100 and the upper turning body 200. The turning circle 300 is an annular member configured to include two inner and outer circle portions 301 and 302 that can rotate with respect to each other. In this turning circle 300, the inner circle portion 301 is fixed to the lower traveling body 100, and the outer circle portion 302 is fixed to the upper rotating body 200, and the upper turning body 200 is perpendicular to the lower traveling body 100. It is possible to swivel about an axis along the direction. In this construction machine, the swivel joint 1 is disposed between the lower traveling body 100 and the upper swing body 200.

  1 to 4, the swivel joint 1 includes a rotor 10 having a center hole 11 having an upper end opened and a lower end closed, and a shaft 20 rotatably disposed in the center hole 11 of the rotor 10. It is comprised and is comprised. As shown in FIG. 5, the swivel joint 1 has an upper center of rotation of the shaft 20 so that the shaft 20 rotates with respect to the rotor 10 when the upper swing body 200 rotates with respect to the lower traveling body 100. The rotor 10 is attached to the lower traveling body 100 and the shaft 20 is attached to the upper turning body 200 in a state in which the turning body 200 matches the turning center.

  As shown in FIGS. 1 to 4, the swivel joint 1 is provided with a plurality of oil passages 30 between the rotor 10 and the shaft 20. In the present embodiment, the rotor 10 is provided with four annular oil passage portions 31A, 31B, 31C, 31D and four rotor side port portions 32A, 32B, 32C, 32D, and the shaft 20 is provided with four shaft side port portions 33A. , 33B, 33C, and 33D, four oil passages 30A, 30B, 30C, and 30D that are independent from each other are configured.

  As shown in FIG. 1, the annular oil passage portions 31 </ b> A, 31 </ b> B, 31 </ b> C, and 31 </ b> D each form an annular shape with the rotation center of the shaft 20 as an axis, and each inner periphery opens into the center hole 11 of the rotor 10. However, they are juxtaposed along the center of rotation of the shaft 20 with a space between them. The rotor-side port portions 32A, 32B, 32C, 32D extend along the radial direction of the rotor 10 from the individual annular oil passage portions 31A, 31B, 31C, 31D. As shown in FIG. The extended end portion opens on the outer surface of the rotor 10. As shown in FIG. 3, the shaft-side port portions 33A, 33B, 33C, and 33D are arranged at equal intervals on the circumference centered on the rotational axis of the shaft 20, and are respectively along the rotational axis of the shaft 20. It is extended. The base end portions of the shaft side port portions 33A, 33B, 33C, and 33D are open to the end surface of the shaft 20, respectively. As shown in FIG. 2, the distal end portions of the shaft-side port portions 33A, 33B, 33C, and 33D are bent outward along the radial direction of the shaft 20, and then opened to the outer peripheral surface of the shaft 20. The positions where the shaft-side port portions 33A, 33B, 33C, and 33D are opened on the outer peripheral surface of the shaft 20 are shifted from each other along the rotation center of the shaft 20, and each of the annular oil passage portions 31A, 31B, 31C, It faces 31D.

  The oil passages 30A, 30B, 30C, and 30D of the swivel joint 1 configured as described above have the shaft 20 at the shaft-side port portions 33A, 33B, 33C, and 33D even when the shaft 20 rotates with respect to the rotor 10. The position opened to the outer peripheral surface is maintained in a state facing the corresponding annular oil passage portions 31A, 31B, 31C, 31D. Thereby, irrespective of the rotation angle of the shaft 20 with respect to the rotor 10, the rotor side port portions 32A, 32B, 32C, 32D that open to the outer peripheral surface of the rotor 10 and the shaft side port portions 33A, 33B that open to the end surface of the shaft 20 It becomes possible to always distribute oil between 33C and 33D. Although not clearly shown in the drawing, hydraulic piping 101 (FIG. 5) for circulating oil between the traveling motor and the rotor side port portions 32A, 32B, 32C, and 32D that opens to the outer peripheral surface of the rotor 10 is connected. In addition, a hydraulic pipe 201 (FIG. 5) through which oil flows is connected to the shaft-side port portions 33A, 33B, 33C, and 33D that open to the end surface of the shaft 20 with the hydraulic pump. Note that reference numeral 34 in FIG. 2 denotes an oil seal disposed at positions on both sides of each of the annular oil passage portions 31A, 31B, 31C, 31D in the center hole 11 of the rotor 10.

  As shown in FIGS. 1 and 2, the swivel joint 1 is provided with a detected surface 41 at the upper end of the rotor 10 so as to constitute a turning angle measuring device, and is detected on the outer peripheral surface of the shaft 20. A cover member 50 is provided at a site adjacent to the surface 41. The detected surface 41 of the rotor 10 is configured on the outer peripheral surface of the guide member 40 by mounting a hollow cylindrical guide member 40 on the outer periphery of the upper end portion of the rotor 10. The detected surface 41 is provided along a circumference with the rotation center of the shaft 20 as an axis. As shown in FIG. 3, the cover member 50 has a polygonal shape in plan view, and has a cylindrical shape with a reference plate portion 51 that is fitted to the outer peripheral surface of the shaft 20 via a fitting hole 51 a. The plate portion 51 includes an outer peripheral cover portion 52 disposed in a manner covering the guide member 40 from an end surface located on the rotor 10 side. The cover member 50 covers the opening end of the rotor 10. A dust seal member 53 is provided at the lower end portion of the outer peripheral cover portion 52 to prevent foreign matter from entering between the detected surface 41 of the rotor 10.

  As shown in FIGS. 1 to 4, the cover member 50 has a sensor housing 54 formed in a part thereof. The sensor housing 54 is a hollow portion provided so as to bulge outward from a part of the outer peripheral cover portion 52 of the cover member 50, and opens only at a portion facing the detected surface 41 of the rotor 10. . As shown in FIG. 1, the sensor housing 54 is provided with a pusher 60, a rolling roller (rotation sensor) 70, and a rotation detector (rotation sensor) 80.

  As shown in FIG. 2, the pusher 60 is a cylindrical member disposed inside the sensor housing 54 so as to be movable along a direction approaching and moving away from the detected surface 41 of the rotor 10. A press spring (pressing means) 61 that presses the pusher 60 toward the detected surface 41 of the rotor 10 is interposed between the pusher 60 and the cover member 50 that constitutes the sensor housing 54.

  The rolling roller 70 has a sensor shaft 72 fitted in a center hole 71, and can rotate on the unit case 73 by interposing bearings 74 between both ends of the sensor shaft 72 and the unit case 73. Is supported. The rolling roller 70 is supported by a portion located between the pusher 60 and the guide member 40 via the unit case 73 in a state where the axis of the sensor shaft 72 is parallel to the rotation center of the shaft 20. . As apparent from FIG. 1, the outer peripheral surface of the rolling roller 70 is exposed to the outside from the unit case 73, and the pusher 60, the unit case 73, the bearing 74, and the sensor shaft 72 are pressed by the pressing force of the pressing spring 61. The state is always kept pressed against the detected surface 41 of the rotor 10 via the.

  As shown in FIG. 1, the rotation detector 80 outputs an electrical signal corresponding to the magnetic force of the permanent magnet 75 disposed at the end of the sensor shaft 72 and is constituted by a Hall element, for example. Although not explicitly shown in the figure, in the present embodiment, two Hall elements are arranged 90 ° out of phase along the rotation direction of the sensor shaft 72, and two outputs from Hall elements having different phases are arranged. The rotation detector 80 is configured to detect the absolute angle and rotation direction of the sensor shaft 72 based on the signal. Note that reference numeral 90 in FIG. 2 denotes a terminal block for connecting the signal cable 91. The terminal block 90 is connected with a signal cable 91 that transmits and receives electrical signals to and from a control unit (not shown) mounted on the upper swing body 200.

  In the turning angle measuring apparatus configured as described above, when the upper turning body 200 turns with respect to the lower traveling body 100 by driving a turning actuator (not shown), the rotor of the swivel joint 1 when the lower traveling body 100 is used as a reference. The shaft 20 rotates in the same direction by the same angle with respect to 10. When the shaft 20 rotates with respect to the rotor 10, the rolling roller 70 pressed against the detection surface 41 of the rotor 10 rotates according to the relative rotation angle of the rotor 10 and the shaft 20, and the rotational displacement of the rolling roller 70 is changed. It is detected by the rotation detector 80 and an electric signal is output.

  Here, according to the turning angle measuring device, the rolling roller 70 is pressed against the detected surface 41 of the rotor 10 by the pressing force of the pressing spring 61. Therefore, even when some rattling occurs between the rotor 10 and the shaft 20, the rolling roller 70 can always be rotated in accordance with the relative rotational displacement of the rotor 10 and the shaft 20, and the lower traveling The turning angle of the upper turning body 200 with respect to the body 100 can be detected more accurately. As described above, it is essential to interpose the oil seal 34 between the center hole 11 of the rotor 10 and the outer peripheral surface of the shaft 20, and a gap must be provided between the rotor 10 and the shaft 20. A configuration in which the rolling roller 70 can follow the backlash between the rotor 10 and the shaft 20 is extremely effective.

  As a result, if the drive of the turning actuator (not shown) is controlled based on the electrical signal output from the rotation detector 80, the upper turning body 200 is accurately set to a desired turning angle with respect to the lower traveling body 100. It can be turned.

  Moreover, in the above-described turning angle measuring device, the outer peripheral surface of the guide member 40 provided on the rotor 10 is the detected surface 41, and the rotational displacement of the rolling roller 70 rolling on the detected surface 41 is detected by the rotation detecting unit 80. Since it is configured to detect, there is no need to perform any complicated processing that affects the strength of the shaft 20 or the rotor 10. Therefore, it is possible to accurately detect the turning angle of the upper turning body 200 with respect to the lower traveling body 100 without causing complication of processing and a problem in strength.

  In the above-described embodiment, the rolling roller 70 and the rotation detection unit 80 constituting the rotation sensor are supported by the shaft 20. However, the rolling roller 70 and the rotation detection unit 80 are supported by the rotor 10. You may comprise as follows. In this case, it goes without saying that the detected surface 41 needs to be provided on the shaft 20. Further, the rotor 10 of the swivel joint 1 is supported by the lower traveling body 100 and the shaft 20 is supported by the upper swing body 200. However, the rotor 10 and the shaft 20 are mounted on the construction machine in the reverse manner. Also good.

  Furthermore, in the above-described embodiment, the outer peripheral surface of the guide member 40 is exemplified as the detected surface 41, but the turning angle measuring device is configured with the inner peripheral surface of the guide member 40 as the detected surface 41. It is also possible to do.

  Furthermore, in the above-described embodiment, an example is provided that includes the rolling roller 70 that rolls on the detection surface 41 as a rotation sensor and the rotation detector 80 that detects the rotational displacement of the rolling roller 70. However, it is not necessarily limited to this. For example, without requiring a rolling roller, it is possible to optically detect the displacement of the surface to be detected when the rotor and shaft rotate relative to each other, or to provide a detection unit that detects magnetically to constitute a rotation sensor. It is. In the above-described embodiment, when the rotation sensor that detects the rotational displacement of the rolling roller 70 is applied, an electric signal corresponding to the magnetic force of the permanent magnet 75 disposed at the end of the sensor shaft 72 is output. However, the rotation sensor may be configured to optically detect the rotational displacement of the rolling roller.

DESCRIPTION OF SYMBOLS 1 Swivel joint 10 Rotor 11 Center hole 20 Shaft 30A, 30B, 30C, 30D Oil passage 40 Guide member 41 Detection surface 50 Cover member 51 Reference | standard plate part 52 Outer periphery cover part 53 Dust seal member 54 Sensor container 60 Pusher 61 Pressing spring 70 Rolling roller 75 Permanent magnet 80 Rotation detector 100 Lower traveling body 200 Upper revolving body 300 Turning circle

Claims (5)

A rotor having a center hole and a shaft rotatably disposed in the center hole of the rotor, and a swivel joint provided with an oil passage through which oil can flow between the rotor and the shaft rotating relative to each other;
A rotation sensor that is supported by one of the rotor and the shaft and detects the relative rotation angle of the rotor and the shaft with the other as a detection target; In this case, the swivel joint is disposed so that the rotor and the shaft rotate relative to each other, and the rotation angle of the revolving body with respect to the traveling body is detected by the rotation sensor via the rotor and the shaft. In the construction machine turning angle measuring device,
When the rotor or the shaft to be detected by the rotation sensor is provided with a surface to be detected along a circumference centered on the rotation center of the rotor, the rotation sensor is rotated when the rotor and the shaft are relatively rotated. A turning angle measuring device for a construction machine, comprising a detecting unit for detecting a displacement of the detected surface. While providing the detected surface on the outer peripheral surface of the rotor, the rotation sensor is supported on the shaft,
The rotation sensor includes a rolling roller that rolls on a detected surface of the rotor via an outer peripheral surface, and the detection unit detects a rotational displacement of the rolling roller. The turning angle measuring device for the construction machine described.   The swivel joint includes a cover member that covers an opening end portion of the rotor on an outer peripheral surface of the shaft, and the rotation sensor has a part of the cover member supported by the shaft as a sensor container. The turning angle measuring device for a construction machine according to claim 2.   The turning angle measuring device for a construction machine according to claim 2, further comprising pressing means for pressing a circumferential surface of the rolling roller against the detected surface. A rotor having a center hole and a shaft rotatably disposed in the center hole of the rotor, and a swivel joint provided with an oil passage through which oil can flow between the rotor and the shaft rotating relative to each other;
A rotation sensor that is supported by the shaft and detects a relative rotation angle of the rotor and the shaft when the rotor rotates relatively. A construction machine in which the swivel joint is arranged so that the rotor and the shaft rotate relative to each other, and the turning angle of the turning body with respect to the traveling body is detected by the rotation sensor via the rotor and the shaft. In the turning angle measuring device of
The swivel joint includes a cover member that covers the opening end of the rotor on the outer peripheral surface of the shaft,
While providing a detected surface along the circumference centered on the rotation center of the rotor on the outer peripheral surface of the rotor, and supporting the rotation sensor on the cover member,
The rotation sensor is arranged to be rotatable with respect to the cover member, and rolls on a detected surface of the rotor via an outer peripheral surface, and a detection unit that detects a rotational displacement of the roller. And
Furthermore, a turning angle measuring device for a construction machine, characterized in that pressing means for pressing the circumferential surface of the rolling roller against the detected surface is provided.

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