JPH085363A - Angle detection mechanism of working apparatus - Google Patents

Abstract

PURPOSE:To detect, with good accuracy and precisely, the angle of rotation with reference to a fixed body of a rotating body which is shaft-supported by the fixed body for a working apparatus. CONSTITUTION:A fixation-side pulley 21 is fixed to the axiala center position on the side of a boom-foot pin 20, a rotation-side pulley 22 is attached to a bracket 27 for an expansion and contraction boom 6 so as to be freely rotatable, the fixation-side pulley 21 and to rotation-side pulley 22 are coupled by a timing belt 23, and the detection axis of a rotary encoder 25 is coupled to the shaft 24 of the rotation-side pulley 22. When the expansion and contraction boom 6 is turned, the rotation-side pulley 22 is revolved around the fixation-side pulley 21, and it is rotated on the shaft. As a result, when the angle of rotation of the rotation-side pulley 22 is detected, the angle of rotation of the expansion and contraction boom 6 can be detected.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an aerial work vehicle, a punching machine, a boom, an arm, etc. provided in a power shovel, etc.
In a working device including a member that is rotatably connected,
The present invention relates to an angle detection mechanism that detects a rotation angle of a member.

[0002]

2. Description of the Related Art In a working device in which members are pivotally attached to each other, it is necessary to detect the angle of rotation of the members in order to control the position of the working device. For example, in the case of an aerial work vehicle, in order to improve the position accuracy of the work platform attached to the tip of the boom, the boom rotation angle and the undulation angle, which are the basic data for the position control, include mechanical errors. Must be accurately detected without. Therefore, an angle detector is attached to detect the angle of rotation of the member.

As a conventional angle detecting mechanism in such a working device, as shown in FIG. 5, a pin 52 is rotatably supported by a bush 51 of a fixed body 50.
The rotating body 53 is fixed to the fixed body 50 with the key 54, and the angle detector 55 is installed on the fixed body 50 side.
6, the pin 62 is fixed to the fixed body 60, and the bush 61 of the rotating body 63 is rotatably supported by the pin 62 so as to detect the angle on the fixed body 60 side. A device 65 is installed to transmit rotation from a gear 67 provided on the rotating body 63 side to a gear 68 provided on a detection shaft 66 of the angle detector 65. As shown in FIG. Fix the bush 7 of the rotating body 73 with this pin 72.
1 is rotatably supported, and an angle detector 75 is provided on the fixed body 70 side.
And the hole 80 of the arm 79 provided on the rotating body 73 side.
In addition, there is one in which the rod 81 provided on the detection shaft 76 of the angle detector 75 is engaged to transmit the rotation.

[0004]

However, in the angle detecting mechanism as shown in FIG. 5, it is difficult to align the cores of the pin 52 and the angle detector 55 at the time of mounting, and in the angle detecting mechanism as shown in FIG. The backlash of the gears 67 and 68 causes rattling, and it is difficult to align the cores of the pin 72 and the angle detector 75 with each other in the angle detection mechanism as shown in FIG. There is a problem that mechanical rattling is generated between the detector 75 and the rod 81 provided on the detection shaft 76.

The present invention solves such a problem in the angle detection mechanism of the working apparatus, and the mounting adjustment is simple, no mechanical rattling occurs, and the rotation angle can be detected accurately and accurately. An object is to provide an angle detection mechanism for a working device.

[0006]

According to the present invention, there is provided an angle detecting mechanism for detecting a rotation angle of a rotary body pivotally supported by a fixed body of a working device with respect to the fixed body, the position being a center of rotation of the rotary body on the fixed body side. The fixed-side pulley is fixed to the rotary body, the rotary-side pulley is rotatably mounted in a suitable place on the rotating body, and the fixed-side pulley and the rotary-side pulley are connected by a timing belt. The above problem is solved by connecting the above.

[0007]

When the rotating body rotates with respect to the fixed body, the rotation side pulley attached to the rotating body rotates (revolves) around the fixed body side supporting shaft which is the center of rotation of the rotating body. . At this time, since the fixed pulley and the rotating pulley are connected by the timing belt, the rotating pulley rotates (rotates) on its rotating shaft. Here, the ratio of the rotation angle of the rotating body with respect to the fixed body (that is, the revolution angle of the rotating pulley) and the rotation angle of the rotating pulley is inversely proportional to the ratio of the number of teeth of the fixed pulley and the rotating pulley. Therefore,
If the number of teeth on the fixed pulley and the rotating pulley is constant,
The ratio of the rotation angle of the rotating body to the fixed body and the rotation angle of the rotating pulley is constant, and the rotation angle of the rotating body to the fixed body can be obtained by detecting the rotation angle of the rotating pulley with the angle detector. it can.

Further, by changing the number of teeth of the fixed pulley and the rotating pulley, the ratio of the revolution angle of the rotating pulley to the rotation angle can be easily changed. Therefore, the rotation angle with respect to the revolution angle is changed. If is set to a large value, the resolution can be reduced and the rotation angle of the rotating body with respect to the fixed body can be detected more accurately.

[0009]

1 is a side view of an aerial work vehicle equipped with an angle detecting mechanism of a working apparatus according to the present invention, and FIG. 2 is a configuration of an angle detecting mechanism for detecting a turning angle of a boom according to an embodiment of the present invention. FIG. 3 is an explanatory diagram of the operation of the fixed pulley and the rotating pulley. In this aerial work vehicle 1, a swing frame 4 is installed on a vehicle frame 3 behind the driver's cab 2, and a base end portion of a telescopic boom 6 is pivotally supported on an upper end portion of the swing frame 4. A hoisting cylinder 5 is provided between the revolving frame 4 and the telescopic boom 6, and the telescopic boom 6 is hoisted when the hoisting cylinder 5 extends and contracts.

The telescopic boom 6 is a three-stage boom in which the intermediate boom 6B and the distal boom 6C are sequentially telescopically fitted to the proximal boom 6A, and the boom is telescopic between the proximal boom 6A and the intermediate boom 6B. A cylinder (not shown) for
Further, a simultaneous expansion / contraction mechanism (not shown) is provided between the tip boom 6C and a combination of a wire rope and a pulley so that the intermediate boom 6B and the tip boom 6C can be simultaneously expanded / contracted by the expansion / contraction of the boom expansion / contraction cylinder. There is. A workbench 7 and a manipulator 8 are attached to the tip of the tip boom 6C.

In the portion where the turning frame 4 is mounted on the vehicle frame 3, the turning frame 4 serving as a rotating body is rotatably supported by the turning bearing 9 on the vehicle frame 3 serving as a fixed body. In addition, a swivel joint 10 and a fixed pulley 11 that connect hydraulic pipes are fixed at a rotation center position of the turning frame 4 on the vehicle frame 3 side.

A rotating pulley 12 is rotatably attached to a base 4B of the revolving frame 4, and the fixed pulley 11 and the rotating pulley 12 are connected by a timing belt 13. The timing belt 13 is an endless rubber belt with teeth, and meshes with the teeth formed on the outer circumferences of the stationary pulley 11 and the rotating pulley 12. A detection shaft 16 of a rotary encoder 15 which is an angle detector is connected to a rotation shaft 14 of the rotation pulley 12.

When the revolving frame 4 rotates with respect to the vehicle frame 3, the rotating pulley 12 mounted on the revolving frame 4 revolves around the fixed pulley 11 as shown in FIG. At this time, since the fixed pulley 11 and the rotating pulley 12 are connected by the timing belt 13, the rotating pulley 12 rotates on its rotating shaft 14. The rotary encoder 15 detects the rotation angle of the rotation-side pulley 12 and codes it to send a detection signal to a control device (not shown) of the aerial work vehicle 1.

Here, the vehicle frame 3 of the turning frame 4
The ratio of the rotation angle with respect to the rotation angle of the rotation side pulley 12 is inversely proportional to the ratio of the number of teeth of the fixed side pulley 11 and the rotation side pulley 12. Therefore, if the number of teeth of the fixed pulley 11 and the rotation pulley 12 is constant, the ratio of the rotation angle of the turning frame 4 with respect to the vehicle frame 3 and the rotation angle of the rotation pulley 12 is constant. 1
If the rotation angle of the rotating pulley 12 is detected at 5, the control device for the aerial work vehicle can obtain the rotation angle of the turning frame 4 with respect to the vehicle frame 3.

Further, the fixed pulley 11 and the rotary pulley 1
The ratio of the revolution angle of the rotation side pulley 12 to the rotation angle can be easily changed by changing the number of teeth of 2 and 2. Therefore, if the rotation angle with respect to the revolution angle of the revolving frame 4 is set to be large, By reducing the resolution, the rotation angle of the turning frame 4 with respect to the vehicle frame 3 can be detected more accurately.

FIG. 4 is an explanatory view of the construction of an angle detection mechanism for detecting a hoisting angle of a boom which is another embodiment. At the upper end of the revolving frame 4, the base end of the telescopic boom 6 serving as a rotating body is pivotally supported by a boom foot pin 20 serving as a fixed body. The fixed side pulley 2 is provided on the axis of the boom foot pin 20.
1 is fixed. A rotary pulley 22 is rotatably attached to a bracket 27 fixed to the side surface of the telescopic boom 6, and the fixed pulley 21 and the rotary pulley 22 are attached.
And are connected by a timing belt 23. A detection shaft of a rotary encoder 25 which is an angle detector is connected to a rotation shaft 24 of the rotation pulley 22.

When the telescopic boom 6 rises and falls, the telescopic boom 6 rotates with respect to the boom foot pin 20, and the rotary pulley 22 attached to the telescopic boom 6 revolves around the fixed pulley 21. At this time, the fixed pulley 2
Since 1 and the rotating pulley 22 are connected by the timing belt 23, the rotating pulley 22 rotates on its rotation shaft 24. The rotary encoder 25 is the rotary pulley 2
Since the rotation angle of 2 is detected and coded, a detection signal is sent to a control device (not shown) of the aerial work vehicle.
Can control the undulation angle of the telescopic boom 6 with respect to the revolving frame 4.

[0018]

As described above, since the angle detecting mechanism of the working apparatus of the present invention is configured such that the fixed pulley and the rotating pulley are connected by the timing belt, no mechanical rattling occurs. , The mounting adjustment can be easily performed only by tensioning the timing belt between the fixed pulley and the rotating pulley, and the mounting position accuracy is not required. Also,
By changing the tooth number ratio between the fixed pulley and the rotating pulley, the ratio between the revolution angle and the rotation angle of the rotating pulley becomes
Since it can be changed easily, if the rotation angle with respect to the revolution angle is set large, the resolution can be reduced and the rotation angle of the rotating body with respect to the fixed body can be detected more accurately.

[Brief description of drawings]

FIG. 1 is a side view of an aerial work vehicle equipped with an angle detection mechanism of a work apparatus according to the present invention.

FIG. 2 is an explanatory diagram of a configuration of an angle detection mechanism for detecting a swing angle of a boom that is an embodiment of the present invention.

FIG. 3 is an explanatory diagram of operations of a fixed pulley and a rotating pulley.

FIG. 4 is an explanatory view of a configuration of an angle detection mechanism for detecting a hoisting angle of a boom which is another embodiment of the present invention.

FIG. 5 is an explanatory diagram of an angle detection mechanism of a conventional work device.

FIG. 6 is an explanatory view of an angle detection mechanism of a conventional working device.

FIG. 7 is an explanatory diagram of an angle detection mechanism of a conventional working device.

[Explanation of symbols]

 1 aerial work vehicle 3 vehicle frame 4 swivel frame 5 hoisting cylinder 6 telescopic boom 7 workbench 8 manipulator 9 swivel bearing 11 fixed side pulley 12 rotary side pulley 13 timing belt 14 rotary shaft 15 rotary encoder 16 detection shaft 21 fixed side Pulley 22 Rotating pulley 23 Timing belt 24 Rotating shaft 25 Rotary encoder

Claims (1)

[Claims] 1. An angle detection mechanism for detecting a rotation angle of a rotating body pivotally supported by a fixed body of a work device with respect to the fixed body, wherein a fixed pulley is fixed at a rotating body rotation center position on the fixed body side, A rotary pulley is rotatably mounted at a proper position on a rotating body, a fixed pulley and a rotary pulley are connected by a timing belt, and a detection shaft of an angle detector is connected to a rotary shaft of the rotary pulley. Working device angle detection mechanism.