WO2013075456A1 - Leveling sensing device and leveling control system - Google Patents

Leveling sensing device and leveling control system Download PDF

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Publication number
WO2013075456A1
WO2013075456A1 PCT/CN2012/074317 CN2012074317W WO2013075456A1 WO 2013075456 A1 WO2013075456 A1 WO 2013075456A1 CN 2012074317 W CN2012074317 W CN 2012074317W WO 2013075456 A1 WO2013075456 A1 WO 2013075456A1
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WO
WIPO (PCT)
Prior art keywords
leveling
signal
sensor
sensing device
stator
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PCT/CN2012/074317
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French (fr)
Chinese (zh)
Inventor
罗诗风
周翔
廖传伟
Original Assignee
湖南三一智能控制设备有限公司
三一重工股份有限公司
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Application filed by 湖南三一智能控制设备有限公司, 三一重工股份有限公司 filed Critical 湖南三一智能控制设备有限公司
Publication of WO2013075456A1 publication Critical patent/WO2013075456A1/en

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    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
    • E01C23/00—Auxiliary devices or arrangements for constructing, repairing, reconditioning, or taking-up road or like surfaces
    • E01C23/01—Devices or auxiliary means for setting-out or checking the configuration of new surfacing, e.g. templates, screed or reference line supports; Applications of apparatus for measuring, indicating, or recording the surface configuration of existing surfacing, e.g. profilographs
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means

Definitions

  • the invention relates to a Chinese patent application filed on November 23, 2011 by the Chinese Patent Office, the application number is 201120471098.0, and the invention name is "a leveling sensing device and a leveling control system". Priority is hereby incorporated by reference in its entirety.
  • the invention relates to the technical field of engineering machinery, in particular to a leveling control device. Furthermore, the invention relates to a leveling control system comprising the above described leveling sensing device.
  • the leveling control system includes a leveling sensing device, a controller, and a leveling cylinder.
  • the leveling control system detects the leveling condition of the ground by the leveling sensing device, and transmits the detected ground signal to the controller, and the controller controls the leveling cylinder to finally achieve leveling of the construction ground.
  • Figure 1 is a cross-sectional view of a typical leveling sensing device
  • Figure 2 is a perspective view of the leveling sensing device of Figure 1.
  • the leveling sensing device is hoisted by the suspension device 1, and the shoe and the main shaft 2 are connected by a swing arm.
  • the shoe has a plane in contact with the ground to sense whether the ground is flat, one end of the swing arm is hinged to the shoe, and the other end is fixedly coupled to the main shaft 2.
  • the shoe With the moving direction of the leveling device, if the ground is uneven, the shoe will drive the spindle 2 to rotate by the swing arm, and the rotation angle of the spindle 2 is obtained by the sensor 7.
  • the calculation can obtain the specific situation of the ground unevenness, and the leveling of the ground is realized by the controller.
  • the swing arm is hinged to the shoe and the balance arm and the shoe are balanced by a counterweight.
  • the swing arm will rotate as the ground is uneven.
  • the data of the angle of rotation and the height of the main shaft 2 can be used to derive the height of the ground.
  • a typical leveling sensing device connects the sensor 7 to the spindle 2 via a belt 9 and a pulley 8, the rotation of which rotates the sensor 7 through the belt 9 and the pulley Rotating causes the sensor 7 to obtain the angle of rotation of the spindle 2.
  • the main shaft 2 and the sensor 7 are connected by a belt structure, and there is an error in the transmission of the rotation angle of the main shaft 2, which reduces the detection accuracy of the sensor 7.
  • the belt 9 is susceptible to aging, and in the operation of the leveling sensing device, the spindle 2 is normally operated in a range of rotation, which further exacerbates the aging of the belt 9.
  • An object of the present invention is to provide a leveling sensing device which has both high precision and high reliability. Another object of the present invention is to provide a leveling control system including the above described leveling sensing device.
  • the present invention provides a leveling sensing device, comprising a signal collecting device, a signal processor and an external interface; the signal processor is respectively connected to the signal collecting device and the external interface;
  • the signal acquisition device includes a sensor, the signal acquisition device transmits the collected signal to the signal processor, and the signal processed by the signal processor is transmitted through the external interface;
  • the sensor includes a coaxial stator and a rotor The sensor acquires a signal by relative rotation of the stator and the rotor.
  • the signal acquisition device further includes a sliding shoe, a swing arm and a main shaft, the sliding shoe is in contact with the ground; one end of the swing arm is hinged with the sliding shoe, and the other end is fixedly connected with the main shaft;
  • the rotatably mounted horizontally is mounted in the through hole of the housing; the stator is fixed to the housing, and the rotor is fixed to a position on the main shaft corresponding to the stator.
  • the through hole of the housing is mounted with a support member, and the stator is fixedly mounted on the support member.
  • the rotor has an interference fit with the main shaft.
  • the main shaft is mounted in a through hole of the support member by a bearing.
  • the signal processor is fixed to a bottom plate of the housing.
  • the external interface is located on a side of the housing.
  • the senor has a control function, and the sensor is capable of leveling control based on the acquired signal.
  • the leveling sensing device further comprises a leveling controller
  • the external interface will A signal is passed to the leveling controller, and the leveling controller performs leveling control by the signal.
  • the present invention also provides a leveling control system comprising a controller and a leveling sensing device, the leveling sensing device being the leveling sensing device of any of the above.
  • the leveling sensing device comprises a signal collecting device, a signal processor and an external interface; the signal processor is respectively connected to the signal collecting device and the external interface; the signal collecting device comprises a sensor, The signal acquisition device transmits the collected signal to the signal processor, and the signal processed by the signal processor is transmitted through the external interface; the sensor includes a coaxial stator and a rotor, and the sensor passes through the stator A signal is acquired with relative rotation of the rotor.
  • the signal collecting device collects information about whether the ground is flat by the sensor, and transmits the signal to the signal processor, where the signal processor calculates a specific situation of the ground, and passes the external interface. Passed to a controller external to the leveling sensing control, the controller ultimately achieving leveling of the ground.
  • the transmission of the belt and the pulley or other device is not required, and effective information can be obtained directly, and the accuracy and reliability of the sensor are compared.
  • the accuracy and reliability of the leveling sensing device are also high.
  • the signal collecting device further includes a sliding shoe, a swing arm and a main shaft, wherein the sliding shoe is in contact with the ground; one end of the swing arm is hinged with the sliding shoe, and the other end is fixedly connected with the main shaft;
  • the spindle is rotatably mounted horizontally within the through hole of the housing; the stator is fixed to the housing, and the rotor is fixed to a position on the main shaft corresponding to the stator.
  • the shoe is in contact with the ground and is capable of sensing whether the ground is flat. When the ground is uneven, the shoe will have the same inclination tendency as the ground. As the leveling sensor moves, the swing arm will oscillate as the ground tilts and will cause the main shaft to rotate together.
  • the sensor is capable of acquiring a rotational angle of the spindle and transmitting it to the signal processor, and the signal processor processes the obtained signal to obtain a tilt of the ground.
  • the main shaft may be perpendicular to a vertical plane in which the swing arm is located.
  • a through hole of the housing is mounted with a support member, and the stator is fixedly mounted On the support.
  • the stator is fixed to the support member of the housing, and it is possible to ensure that the stator is fixedly coupled and coaxial with the rotor.
  • the rotor is interference fit with the main shaft.
  • the rotor is interference-fitted with the main shaft to ensure that the rotor rotates together with the main shaft, and the angle at which the rotor rotates is the angle at which the main shaft rotates.
  • the main shaft is mounted in a through hole of the support member through a bearing.
  • the spindle is mounted by bearings to ensure the smoothness of the rotation of the spindle.
  • the signal processor is attached to a bottom plate of the housing.
  • the signal processor is attached to the bottom plate of the housing to have a defined station.
  • the external interface is located on a side of the housing.
  • the external interface is mounted to a side of the housing for connecting a controller outside the housing and transmitting a signal to the controller.
  • the senor has a control function, and the sensor can perform leveling control according to the collected signal.
  • the sensor has a control function at the same time, and can perform leveling control while collecting signals.
  • the leveling sensing device further includes a leveling controller, the external interface transmitting the signal to the leveling controller, and the leveling controller performs leveling control by the signal.
  • the leveling sensing device further includes a leveling controller that is capable of leveling control, the leveling sensing device capable of leveling the ground while obtaining a signal that the ground is flat.
  • the present invention also provides a leveling control system comprising a leveling sensing device, the leveling sensing device of the leveling control system having high precision and reliability.
  • Figure 1 is a cross-sectional view of a typical leveling sensing device
  • Figure 2 is a perspective view of the leveling sensing device shown in Figure 1;
  • FIG. 3 is a schematic view showing the working state of the leveling sensor device provided by the present invention.
  • Figure 4 is a cross-sectional view showing an embodiment of the leveling sensor device shown in Figure 3;
  • Figure 5 is a schematic view showing an installation manner of the external interface of the leveling sensor device shown in Figure 3;
  • Fig. 6 is a structural schematic view showing the stator and the rotor of the leveling sensor device shown in Fig. 3.
  • the core of the present invention is to provide a leveling sensing device that has both high precision and high reliability.
  • Another core of the present invention is to provide a leveling control system including the above described leveling sensing device.
  • FIG. 3 is a schematic view showing the working state of the leveling sensor device according to the present invention
  • FIG. 4 is a cross-sectional view showing an embodiment of the leveling sensor device shown in FIG. 3
  • FIG. FIG. 6 is a schematic view showing the structure of the stator and the rotor of the leveling sensor device shown in FIG.
  • the present invention provides a leveling sensing device including a signal acquisition device, a signal processor 11 and an external interface 12; the signal processor 11 and the signal acquisition device and the external interface, respectively
  • the signal acquisition device includes a sensor 71, and the signal acquisition device transmits the collected signal to the signal processor 11, and the signal processed by the signal processor 11 is transmitted through the external interface 12.
  • the sensor 71 includes a coaxial stator 72 and a rotor 73 that collects signals by relative rotation of the stator 72 and the rotor 73.
  • the signal acquisition device can collect information on whether the ground 6 is flat through the sensor 71, and transmit the signal to the signal processor 11, and the signal processor 11 can process the signal.
  • the leveling of the ground 6 is communicated to the external controller via the external interface 12, which ultimately achieves leveling of the ground 6.
  • the sensor 71 obtains a signal indicating whether the ground 6 is flat by the relative rotation of the stator 72 and the rotor 73, it is possible to obtain effective information directly without the transmission of the belt structure or other devices, and the accuracy of the sensor 71 And the reliability is high, and the accuracy and reliability of the leveling sensing device are also high.
  • the signal acquisition device further includes a sliding shoe 5, a swing arm 3 and a main shaft 2, the sliding shoe 5 is in contact with the ground 6; the swing arm 3 end and the sliding shoe 5 Hinged, the other end is fixedly connected to the main shaft 2; the main shaft 2 is rotatably mounted horizontally in the through hole of the casing 10; the stator 72 is fixed on the casing 10, and the rotor 73 is fixed at the Master A position on the shaft 2 corresponding to the stator 72.
  • the shoe 5 is in contact with the floor 6 and is capable of sensing whether the floor 6 is flat. When the floor 6 is uneven, the shoe 5 will have the same inclination tendency as the floor 6. As the leveling sensing device travels, the swing arm 3 will oscillate as the ground 6 tilts and will cause the main shaft 2 to rotate together.
  • the sensor 71 is capable of acquiring the rotational angle of the spindle 2 and transmitting it to the signal processor 11, and the signal processor 11 processes the obtained signal to obtain the tilt of the ground 6.
  • the leveling sensor When the leveling sensor is in operation, it is hoisted by the suspension device 1 at its upper portion and always travels in the direction of the work. Usually the swing arm 3 is inclined, and the leveling sensing device is provided with a counterweight 4 to balance the swing arm 3.
  • the spindle 2 can be perpendicular to the vertical plane in which the swing arm 3 is located.
  • the shoe 5 has a plane in contact with the ground 6, the swing arm 3 being hinged to the shoe 5, the spindle 2 being horizontal and perpendicular to the vertical plane in which the swing arm 3 is located.
  • the angle between the swing arm 3 and the ground 6, the length of the swing arm 3, the height of the main shaft 2, and the rotation angle of the main shaft 2 can be obtained.
  • the inclination of the ground 6 is the case.
  • the distance from the main shaft 2 to the standard horizontal plane of the ground 6 is determined, the angle between the swing arm 3 and the standard horizontal plane is determined, the length of the swing arm 3 is determined, and the position of the swing arm 3 is determined.
  • the stator 72 and the rotor 73 are coaxial, and an angle at which the stator 72 and the rotor 73 rotate with each other is an angle at which the spindle 2 rotates.
  • the position of the stator 72 is fixed, and the angle at which the rotor 73 rotates is the angle at which the spindle 2 rotates.
  • the sensor 71 is capable of transmitting a varying angle of rotation between the stator 72 and the rotor 73 to the signal processing device 11, and the rotation angle and known information can be used to obtain the height change of the ground 6. happening.
  • the through hole of the housing 10 mounts a support member 21, and the stator 72 is fixedly mounted on the support member 21.
  • the support member 21 securely mounts the stator 72 within the housing 10.
  • the mounting form of the stator 72 is not limited to the case described in the above embodiment, and other mounting methods capable of ensuring that the stator 72 is fixedly mounted and coaxial with the rotor 73 are also ensured. It can be applied to the present invention.
  • the rotor 73 is interference fit with the main shaft 2.
  • the rotor 73 is interference-fitted with the main shaft 2 to ensure that the rotor 73 rotates together with the main shaft 2.
  • the stator 72 is fixed, and the angle at which the rotor 73 rotates is the angle at which the main shaft 2 rotates.
  • connection form of the rotor 73 and the main shaft 2 is not limited to the case described in the above embodiment, and other connection manners capable of ensuring that the rotor 73 rotates synchronously with the main shaft 2 are also possible, such as bolting. Or glue bonding.
  • the spindle 2 is mounted in the through hole of the support member 21 via a bearing 22.
  • the main shaft 2 can be mounted in a through hole of the support member 21 through a bearing 22, which can easily ensure that the stator 72 is coaxial with the rotor 73. At the same time, the bearing 22 can also ensure the smoothness of the rotation of the spindle 2.
  • the mounting form of the spindle is not limited thereto, and other mounting forms capable of rotatably mounting the spindle and simultaneously ensuring that the stator 72 is coaxial with the rotor 73 can also be applied in the present invention.
  • the signal processor 11 is fixed to the bottom plate of the housing 10.
  • the signal processor 11 is fixed to the bottom plate of the housing 2 such that the signal processor 11 has a determined working position. When the leveling sensor moves, the position of the signal processor 11 determines that no movement will occur.
  • the installation position of the signal processor 11 is not limited to this.
  • the external interface 12 is located on a side of the housing 10.
  • the external interface 12 is mounted on a side of the housing 10 for connecting a controller outside the housing 10 and transmitting a signal to the controller.
  • the mounting position of the external interface 12 is not limited to this.
  • the senor 71 has a control function, and the sensor 71 is capable of leveling control based on the acquired signal.
  • the sensor 71 has a control function, and the sensor 71 is capable of performing leveling control, and the leveling sensor device can enter the ground 6 while obtaining a signal that the ground 6 is flat. Line leveling.
  • the leveling sensing device further includes a leveling controller, the external interface 12 transmits the signal to the leveling controller, and the leveling controller performs leveling control by using the signal .
  • the leveling sensing device further includes a leveling controller capable of leveling control, the leveling sensing device capable of leveling the floor 6 while obtaining a signal that the floor 6 is flat.
  • the leveling controller may be located on the shoe 5 on the grounding device.
  • the leveling sensor device of the structure combines the sensing element with the actuator to sense whether the ground 6 is flat or not. The ground 6 is leveled.
  • the sensing element may be combined with the actuator, or the actuator may be separately provided, and the sensing element and the actuator may be arranged in tandem, and the signal is acquired by the front sensing element, followed by The actuator can perform leveling control based on the signal.
  • leveling controller is not limited to the case described in the above embodiments, and other structural forms capable of achieving leveling control are also possible.
  • the present invention also provides a leveling control system including the above-described leveling sensing device.
  • a leveling control system including the above-described leveling sensing device.

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  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Operation Control Of Excavators (AREA)
  • Placing Or Removing Of Piles Or Sheet Piles, Or Accessories Thereof (AREA)

Abstract

A leveling sensing device and a leveling control system including same. The leveling sensing device includes a signal collection device, a signal processor (11) and an external interface (12). The signal collection device includes a sensor (71). The signal collection device transfers a collected signal to the signal processor (11). The signal processed by the signal processor (11) is transferred via the external interface (12). The sensor (71) includes a coaxial stator (72) and rotor (73). The sensor (71) collects signals through the relative rotation of the stator (72) and rotor (73). The signal collection device transfers the collected ground information to the signal processor (11). The signal processor (11) calculates the specific situation of the ground and transfers same to an external controller, and the controller finally realizes the leveling of the ground. The sensor (71) acquires signals without the transfer of a belt structure or other means, which has relatively high accuracy and reliability.

Description

一种找平传感装置及找平控制*** 本申请要求于 2011 年 11 月 23 日提交中国专利局、 申请号为 201120471098.0、 发明名称为"一种找平传感装置及找平控制***"的中国 专利申请的优先权， 其全部内容通过引用结合在本申请中。  The invention relates to a Chinese patent application filed on November 23, 2011 by the Chinese Patent Office, the application number is 201120471098.0, and the invention name is "a leveling sensing device and a leveling control system". Priority is hereby incorporated by reference in its entirety.
技术领域 Technical field
本发明涉及工程机械技术领域，特别是涉及一种找平控制装置。此外， 本发明还涉及一种包括上述找平传感装置的找平控制***。  The invention relates to the technical field of engineering machinery, in particular to a leveling control device. Furthermore, the invention relates to a leveling control system comprising the above described leveling sensing device.
背景技术 Background technique
现有的自动施工机械， 例如自动铺路机， 需要摊铺形成平面， 需要具 有找平控制***。  Existing automatic construction machines, such as automatic pavers, need to be paved to form a plane, and a leveling control system is required.
所述找平控制***包括找平传感装置、 控制器和找平油缸。 所述找平 控制***通过所述找平传感装置检测地面的平整状况， 并将检测到的地面 信号传递给所述控制器， 所述控制器控制所述找平油缸， 最终实现对施工 地面的找平。  The leveling control system includes a leveling sensing device, a controller, and a leveling cylinder. The leveling control system detects the leveling condition of the ground by the leveling sensing device, and transmits the detected ground signal to the controller, and the controller controls the leveling cylinder to finally achieve leveling of the construction ground.
请参考图 1和图 2, 图 1为一种典型的找平传感装置的剖视图， 图 2 为图 1所示的找平传感装置的轴测图。  Referring to Figures 1 and 2, Figure 1 is a cross-sectional view of a typical leveling sensing device, and Figure 2 is a perspective view of the leveling sensing device of Figure 1.
所述找平传感装置通过悬挂装置 1 吊装， 由摆臂连接滑靴和主轴 2。 所述滑靴具有与地面接触的平面能够感应所述地面是否平整， 所述摆臂一 端与所述滑靴铰接， 另一端与所述主轴 2固定连接。  The leveling sensing device is hoisted by the suspension device 1, and the shoe and the main shaft 2 are connected by a swing arm. The shoe has a plane in contact with the ground to sense whether the ground is flat, one end of the swing arm is hinged to the shoe, and the other end is fixedly coupled to the main shaft 2.
随着所述找平传感装置的移动方向， 如果所述地面高低不平， 所述滑 靴将通过所述摆臂带动所述主轴 2转动， 并由传感器 7获得所述主轴 2的 转动角度， 经过计算可以得到所述地面不平整的具体情况， 再通过所述控 制器实现所述地面的找平。  With the moving direction of the leveling device, if the ground is uneven, the shoe will drive the spindle 2 to rotate by the swing arm, and the rotation angle of the spindle 2 is obtained by the sensor 7. The calculation can obtain the specific situation of the ground unevenness, and the leveling of the ground is realized by the controller.
通常所述摆臂与所述滑靴铰接， 并由配重平衡所述摆臂与所述滑靴。 在所述找平传感装置的行进过程中，所述摆臂将随着地面凸凹不平而转动。 所述地面平整时所述摆臂与所述底面的夹角、 所述摆臂的长度、 所述主轴 Typically the swing arm is hinged to the shoe and the balance arm and the shoe are balanced by a counterweight. During the travel of the leveling sensing device, the swing arm will rotate as the ground is uneven. An angle between the swing arm and the bottom surface, a length of the swing arm, the main axis when the ground is flat
2转动的角度和所述主轴 2的高度等数据可以得出所述地面的高低情况。 The data of the angle of rotation and the height of the main shaft 2 can be used to derive the height of the ground.
一种典型的找平传感装置通过皮带 9和皮带轮 8连接传感器 7与所述 主轴 2,所述主轴 2的转动通过所述皮带 9和所述皮带轮带动所述传感器 7 转动， 使所述传感器 7获得所述主轴 2的转动角度。 A typical leveling sensing device connects the sensor 7 to the spindle 2 via a belt 9 and a pulley 8, the rotation of which rotates the sensor 7 through the belt 9 and the pulley Rotating causes the sensor 7 to obtain the angle of rotation of the spindle 2.
采用皮带结构连接所述主轴 2与所述传感器 7, 所述主轴 2旋转角度 的传递存在误差， 降低了所述传感器 7的检测精度。所述皮带 9容易老化， 在所述找平传感装置的工作中， 所述主轴 2通常在一个旋转范围内频繁动 作， 这样更会加剧所述皮带 9的老化。  The main shaft 2 and the sensor 7 are connected by a belt structure, and there is an error in the transmission of the rotation angle of the main shaft 2, which reduces the detection accuracy of the sensor 7. The belt 9 is susceptible to aging, and in the operation of the leveling sensing device, the spindle 2 is normally operated in a range of rotation, which further exacerbates the aging of the belt 9.
因此， 如何解决所述找平传感装置精度低和可靠性低等问题， 是本领域技 术人员目前急需解决的技术问题。 Therefore, how to solve the problems of low precision and low reliability of the leveling sensing device is a technical problem that is urgently needed to be solved by those skilled in the art.
发明内容 Summary of the invention
本发明的目的是提供一种找平传感装置， 该找平传感装置同时具有高 精度和高可靠性。 本发明的另一目的是提供一种包括上述找平传感装置的 找平控制***。  SUMMARY OF THE INVENTION An object of the present invention is to provide a leveling sensing device which has both high precision and high reliability. Another object of the present invention is to provide a leveling control system including the above described leveling sensing device.
为了解决上述技术问题， 本发明提供了一种找平传感装置， 包括信号 采集装置、 信号处理器和外部接口； 所述信号处理器分别与所述信号采集 装置和所述外部接口相连； 所述信号采集装置包括传感器， 所述信号采集 装置将采集到的信号传递给所述信号处理器， 经过所述信号处理器处理的 信号通过所述外部接口传递； 所述传感器包括同轴的定子和转子， 所述传 感器通过所述定子与所述转子的相对转动采集信号。  In order to solve the above technical problem, the present invention provides a leveling sensing device, comprising a signal collecting device, a signal processor and an external interface; the signal processor is respectively connected to the signal collecting device and the external interface; The signal acquisition device includes a sensor, the signal acquisition device transmits the collected signal to the signal processor, and the signal processed by the signal processor is transmitted through the external interface; the sensor includes a coaxial stator and a rotor The sensor acquires a signal by relative rotation of the stator and the rotor.
优选地， 所述信号采集装置还包括滑靴、 摆臂和主轴， 所述滑靴与地 面接触； 所述摆臂一端与所述滑靴铰接， 另一端与所述主轴固定连接； 所 述主轴可转动的水平安装在壳体的通孔内； 所述定子固定在所述壳体上， 所述转子固定在所述主轴上与所述定子对应的位置。  Preferably, the signal acquisition device further includes a sliding shoe, a swing arm and a main shaft, the sliding shoe is in contact with the ground; one end of the swing arm is hinged with the sliding shoe, and the other end is fixedly connected with the main shaft; The rotatably mounted horizontally is mounted in the through hole of the housing; the stator is fixed to the housing, and the rotor is fixed to a position on the main shaft corresponding to the stator.
优选地， 所述壳体的通孔安装支撑件， 所述定子固定安装在所述支撑 件上。  Preferably, the through hole of the housing is mounted with a support member, and the stator is fixedly mounted on the support member.
优选地， 所述转子与所述主轴过盈配合。  Preferably, the rotor has an interference fit with the main shaft.
优选地， 所述主轴通过轴承安装在所述支撑件的通孔内。  Preferably, the main shaft is mounted in a through hole of the support member by a bearing.
优选地， 所述信号处理器固定在所述壳体的底板上。  Preferably, the signal processor is fixed to a bottom plate of the housing.
优选地， 所述外部接口位于所述壳体的侧面。  Preferably, the external interface is located on a side of the housing.
优选地， 所述传感器具有控制功能， 所述传感器能够根据采集到的信 号进行找平控制。  Preferably, the sensor has a control function, and the sensor is capable of leveling control based on the acquired signal.
优选地， 所述找平传感装置还包括找平控制器， 所述外部接口将所述 信号传递给所述找平控制器，所述找平控制器通过所述信号进行找平控制。 本发明还提供了一种找平控制***， 包括控制器和找平传感装置， 所 述找平传感装置为上述任一项所述的找平传感装置。 Preferably, the leveling sensing device further comprises a leveling controller, the external interface will A signal is passed to the leveling controller, and the leveling controller performs leveling control by the signal. The present invention also provides a leveling control system comprising a controller and a leveling sensing device, the leveling sensing device being the leveling sensing device of any of the above.
本发明提供的找平传感装置， 包括信号采集装置、 信号处理器和外部 接口； 所述信号处理器分别与所述信号采集装置和所述外部接口相连； 所 述信号采集装置包括传感器， 所述信号采集装置将采集到的信号传递给所 述信号处理器， 经过所述信号处理器处理的信号通过所述外部接口传递； 所述传感器包括同轴的定子和转子， 所述传感器通过所述定子与所述转子 的相对转动采集信号。  The leveling sensing device provided by the present invention comprises a signal collecting device, a signal processor and an external interface; the signal processor is respectively connected to the signal collecting device and the external interface; the signal collecting device comprises a sensor, The signal acquisition device transmits the collected signal to the signal processor, and the signal processed by the signal processor is transmitted through the external interface; the sensor includes a coaxial stator and a rotor, and the sensor passes through the stator A signal is acquired with relative rotation of the rotor.
所述信号采集装置通过所述传感器采集到地面是否平整的信息， 并将 所述信号传递给所述信号处理器， 所述信号处理器计算出所述地面的具体 情况， 并通过所述外部接口传递给所述找平传感控制外部的控制器， 所述 控制器最终实现所述地面的找平。  And the signal collecting device collects information about whether the ground is flat by the sensor, and transmits the signal to the signal processor, where the signal processor calculates a specific situation of the ground, and passes the external interface. Passed to a controller external to the leveling sensing control, the controller ultimately achieving leveling of the ground.
所述传感器通过所述定子和转子的相对转动获取所述地面是否平整的 信号时， 不需要皮带和皮带轮或其他装置的传递， 直接就能够获得有效的 信息， 所述传感器的精度和可靠性较高， 进而所述找平传感装置的精度和 可靠性也均较高。  When the sensor obtains the signal of whether the ground is flat through the relative rotation of the stator and the rotor, the transmission of the belt and the pulley or other device is not required, and effective information can be obtained directly, and the accuracy and reliability of the sensor are compared. The accuracy and reliability of the leveling sensing device are also high.
一种方式中， 所述信号采集装置还包括滑靴、 摆臂和主轴， 所述滑靴 与地面接触； 所述摆臂一端与所述滑靴铰接， 另一端与所述主轴固定连接； 所述主轴可转动的水平安装在壳体的通孔内；所述定子固定在所述壳体上， 所述转子固定在所述主轴上与所述定子对应的位置。  In one mode, the signal collecting device further includes a sliding shoe, a swing arm and a main shaft, wherein the sliding shoe is in contact with the ground; one end of the swing arm is hinged with the sliding shoe, and the other end is fixedly connected with the main shaft; The spindle is rotatably mounted horizontally within the through hole of the housing; the stator is fixed to the housing, and the rotor is fixed to a position on the main shaft corresponding to the stator.
所述滑靴与所述地面接触并能够感应所述地面是否平整， 当所述地面 不平整时， 所述滑靴将与所述地面具有相同的倾斜趋势。 随着所述找平传 感装置的行进， 所述摆臂将随着所述地面的倾斜趋势摆动， 并带动所述主 轴共同转动。 所述传感器能够获取所述主轴的转动角度并传递给所述信号 处理器， 所述信号处理器对获得的信号的处理即可得出所述地面的倾斜情 况。  The shoe is in contact with the ground and is capable of sensing whether the ground is flat. When the ground is uneven, the shoe will have the same inclination tendency as the ground. As the leveling sensor moves, the swing arm will oscillate as the ground tilts and will cause the main shaft to rotate together. The sensor is capable of acquiring a rotational angle of the spindle and transmitting it to the signal processor, and the signal processor processes the obtained signal to obtain a tilt of the ground.
所述主轴可以垂直于所述摆臂所在的竖直平面。 所述定子和所述转子 更进一步的方式中， 所述壳体的通孔安装支撑件， 所述定子固定安装 在所述支撑件上。 The main shaft may be perpendicular to a vertical plane in which the swing arm is located. In a still further manner of the stator and the rotor, a through hole of the housing is mounted with a support member, and the stator is fixedly mounted On the support.
所述定子固定在所述壳体的支撑件上， 能够保证所述定子固定连接并 与所述转子同轴的安装方式都是可以的。  The stator is fixed to the support member of the housing, and it is possible to ensure that the stator is fixedly coupled and coaxial with the rotor.
进一步优选的方式中， 所述转子与所述主轴过盈配合。  In a further preferred mode, the rotor is interference fit with the main shaft.
所述转子与所述主轴过盈配合， 能够保证所述转子与所述主轴共同转 动， 所述转子转动的角度即为所述主轴转动的角度。  The rotor is interference-fitted with the main shaft to ensure that the rotor rotates together with the main shaft, and the angle at which the rotor rotates is the angle at which the main shaft rotates.
另一种方式中， 所述主轴通过轴承安装在所述支撑件的通孔内。  In another mode, the main shaft is mounted in a through hole of the support member through a bearing.
所述主轴通过轴承安装可以保证所述主轴旋转的顺畅性。  The spindle is mounted by bearings to ensure the smoothness of the rotation of the spindle.
在另一种方式中， 所述信号处理器固定在所述壳体的底板上。  In another mode, the signal processor is attached to a bottom plate of the housing.
所述信号处理器固定在所述壳体的底板上使其具有确定的工位。  The signal processor is attached to the bottom plate of the housing to have a defined station.
另一种方式中， 所述外部接口位于所述壳体的侧面。  In another mode, the external interface is located on a side of the housing.
所述外部接口安装在所述壳体的侧面， 用于连接所述壳体外侧的控制 器， 并将信号传递给所述控制器。  The external interface is mounted to a side of the housing for connecting a controller outside the housing and transmitting a signal to the controller.
一种优选的方式中， 所述传感器具有控制功能， 所述传感器能够根据 采集到的信号进行找平控制。  In a preferred mode, the sensor has a control function, and the sensor can perform leveling control according to the collected signal.
所述传感器同时具有控制功能，能够在采集信号的同时进行找平控制。 另一种优选的方式中， 所述找平传感装置还包括找平控制器， 所述外 部接口将所述信号传递给所述找平控制器， 所述找平控制器通过所述信号 进行找平控制。  The sensor has a control function at the same time, and can perform leveling control while collecting signals. In another preferred mode, the leveling sensing device further includes a leveling controller, the external interface transmitting the signal to the leveling controller, and the leveling controller performs leveling control by the signal.
所述找平传感装置还包括找平控制器， 所述找平控制器能够进行找平 控制， 所述找平传感装置能够在获得地面是否平整的信号的同时对所述地 面进行找平。  The leveling sensing device further includes a leveling controller that is capable of leveling control, the leveling sensing device capable of leveling the ground while obtaining a signal that the ground is flat.
本发明还提供了一种找平控制***， 包括找平传感装置， 所述找平控 制***的找平传感装置具有较高的精度和可靠性。  The present invention also provides a leveling control system comprising a leveling sensing device, the leveling sensing device of the leveling control system having high precision and reliability.
附图说明 DRAWINGS
图 1为一种典型的找平传感装置的剖视图；  Figure 1 is a cross-sectional view of a typical leveling sensing device;
图 2为图 1所示的找平传感装置的轴测图；  Figure 2 is a perspective view of the leveling sensing device shown in Figure 1;
图 3为本发明所提供的找平传感装置工作状态示意图；  3 is a schematic view showing the working state of the leveling sensor device provided by the present invention;
图 4为图 3所示的找平传感装置一种实施方式的剖视图；  Figure 4 is a cross-sectional view showing an embodiment of the leveling sensor device shown in Figure 3;
图 5为图 3所示的找平传感装置外部接口的一种安装方式的示意图； 图 6为图 3所示的找平传感装置的定子和转子的结构示意图。 Figure 5 is a schematic view showing an installation manner of the external interface of the leveling sensor device shown in Figure 3; Fig. 6 is a structural schematic view showing the stator and the rotor of the leveling sensor device shown in Fig. 3.
具体实施方式 detailed description
本发明的核心是提供一种找平传感装置， 该找平传感装置既具有较高 的精度又具有较高的可靠性。 本发明的另一核心是提供一种包括上述找平 传感装置的找平控制***。  The core of the present invention is to provide a leveling sensing device that has both high precision and high reliability. Another core of the present invention is to provide a leveling control system including the above described leveling sensing device.
为了使本技术领域的人员更好地理解本发明方案， 下面结合附图和具 体实施方式对本发明作进一步的详细说明。  The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.
请参考图 3至图 6, 图 3为本发明所提供的找平传感装置工作状态示 意图， 图 4为图 3所示的找平传感装置一种实施方式的剖视图， 图 5为图 3所示的找平传感装置外部接口的一种安装方式的示意图， 图 6为图 3所 示的找平传感装置的定子和转子的结构示意图。  Please refer to FIG. 3 to FIG. 6 . FIG. 3 is a schematic view showing the working state of the leveling sensor device according to the present invention, FIG. 4 is a cross-sectional view showing an embodiment of the leveling sensor device shown in FIG. 3 , and FIG. FIG. 6 is a schematic view showing the structure of the stator and the rotor of the leveling sensor device shown in FIG.
在一种具体的实施方式中， 本发明提供的找平传感装置， 包括信号采 集装置、 信号处理器 11和外部接口 12; 所述信号处理器 11分别与所述信 号采集装置和所述外部接口 12相连； 所述信号采集装置包括传感器 71 , 所述信号采集装置将采集到的信号传递给所述信号处理器 11 , 经过所述信 号处理器 11处理的信号通过所述外部接口 12传递；所述传感器 71包括同 轴的定子 72和转子 73 , 所述传感器 71通过所述定子 72与所述转子 73的 相对转动采集信号。  In a specific embodiment, the present invention provides a leveling sensing device including a signal acquisition device, a signal processor 11 and an external interface 12; the signal processor 11 and the signal acquisition device and the external interface, respectively The signal acquisition device includes a sensor 71, and the signal acquisition device transmits the collected signal to the signal processor 11, and the signal processed by the signal processor 11 is transmitted through the external interface 12. The sensor 71 includes a coaxial stator 72 and a rotor 73 that collects signals by relative rotation of the stator 72 and the rotor 73.
所述信号采集装置能够通过所述传感器 71采集到地面 6是否平整的信 息， 并将所述信号传递给所述信号处理器 11 , 所述信号处理器 11对所述 信号的处理可以得出所述地面 6的平整情况，并通过所述外部接口 12传递 给外部的控制器， 所述控制器最终实现所述地面 6的找平。  The signal acquisition device can collect information on whether the ground 6 is flat through the sensor 71, and transmit the signal to the signal processor 11, and the signal processor 11 can process the signal. The leveling of the ground 6 is communicated to the external controller via the external interface 12, which ultimately achieves leveling of the ground 6.
所述传感器 71通过所述定子 72和转子 73的相对转动获取所述地面 6 是否平整的信号时， 不需要皮带结构或其他装置的传递， 直接就能够获得 有效的信息，所述传感器 71的精度和可靠性较高，进而所述找平传感装置 的精度和可靠性也均较高。  When the sensor 71 obtains a signal indicating whether the ground 6 is flat by the relative rotation of the stator 72 and the rotor 73, it is possible to obtain effective information directly without the transmission of the belt structure or other devices, and the accuracy of the sensor 71 And the reliability is high, and the accuracy and reliability of the leveling sensing device are also high.
另一种具体的实施方式中， 所述信号采集装置还包括滑靴 5、 摆臂 3 和主轴 2, 所述滑靴 5与地面 6接触； 所述摆臂 3—端与所述滑靴 5铰接， 另一端与所述主轴 2 固定连接； 所述主轴 2可转动的水平安装在壳体 10 的通孔内； 所述定子 72固定在所述壳体 10上，所述转子 73固定在所述主 轴 2上与所述定子 72对应的位置。 In another specific embodiment, the signal acquisition device further includes a sliding shoe 5, a swing arm 3 and a main shaft 2, the sliding shoe 5 is in contact with the ground 6; the swing arm 3 end and the sliding shoe 5 Hinged, the other end is fixedly connected to the main shaft 2; the main shaft 2 is rotatably mounted horizontally in the through hole of the casing 10; the stator 72 is fixed on the casing 10, and the rotor 73 is fixed at the Master A position on the shaft 2 corresponding to the stator 72.
所述滑靴 5与所述地面 6接触并能够感应所述地面 6是否平整， 当所 述地面 6不平整时， 所述滑靴 5将与所述地面 6具有相同的倾斜趋势。 随 着所述找平传感装置的行进， 所述摆臂 3将随着所述地面 6的倾斜趋势摆 动， 并带动所述主轴 2共同转动。所述传感器 71能够获取所述主轴 2的转 动角度并传递给所述信号处理器 11 , 所述信号处理器 11对获得的信号的 处理即可得出所述地面 6的倾斜情况。  The shoe 5 is in contact with the floor 6 and is capable of sensing whether the floor 6 is flat. When the floor 6 is uneven, the shoe 5 will have the same inclination tendency as the floor 6. As the leveling sensing device travels, the swing arm 3 will oscillate as the ground 6 tilts and will cause the main shaft 2 to rotate together. The sensor 71 is capable of acquiring the rotational angle of the spindle 2 and transmitting it to the signal processor 11, and the signal processor 11 processes the obtained signal to obtain the tilt of the ground 6.
所述找平传感装置工作时， 由其上部的悬挂装置 1吊装， 并始终向作 业方向行进。 通常所述摆臂 3为倾斜的， 所述找平传感装置设置配重 4平 衡所述摆臂 3。  When the leveling sensor is in operation, it is hoisted by the suspension device 1 at its upper portion and always travels in the direction of the work. Usually the swing arm 3 is inclined, and the leveling sensing device is provided with a counterweight 4 to balance the swing arm 3.
所述主轴 2可以垂直于所述摆臂 3所在的竖直平面。 所述滑靴 5具有 与所述地面 6接触的平面， 所述摆臂 3与所述滑靴 5铰接， 所述主轴 2水 平且垂直于所述摆臂 3所在的竖直平面。  The spindle 2 can be perpendicular to the vertical plane in which the swing arm 3 is located. The shoe 5 has a plane in contact with the ground 6, the swing arm 3 being hinged to the shoe 5, the spindle 2 being horizontal and perpendicular to the vertical plane in which the swing arm 3 is located.
所述地面 6平整时所述摆臂 3与所述地面 6的夹角、 所述摆臂 3的长 度、 所述主轴 2的高度和所述主轴 2的转动角度等数据即能够得出所述地 面 6的倾斜情况。  When the ground 6 is flat, the angle between the swing arm 3 and the ground 6, the length of the swing arm 3, the height of the main shaft 2, and the rotation angle of the main shaft 2 can be obtained. The inclination of the ground 6 is the case.
所述主轴 2到所述地面 6的标准水平面的距离是确定的， 所述摆臂 3 与所述标准水平面的夹角确定， 所述摆臂 3的长度确定， 当所述摆臂 3的 位置发生变化时， 很容易计算出所述摆臂 3下端的位置变化， 即所述地面 6的高低变化。  The distance from the main shaft 2 to the standard horizontal plane of the ground 6 is determined, the angle between the swing arm 3 and the standard horizontal plane is determined, the length of the swing arm 3 is determined, and the position of the swing arm 3 is determined. When a change occurs, it is easy to calculate the positional change of the lower end of the swing arm 3, that is, the height change of the ground 6.
所述定子 72和所述转子 73同轴， 所述定子 72与所述转子 73之间相 互转动的角度即为所述主轴 2转动的角度。所述定子 72的位置固定，所述 转子 73转动的角度即为所述主轴 2转动的角度。 所述传感器 71能够将所 述定子 72 与所述转子 73 之间变化的转动角度传递给所述信号处理装置 11 , 所述转动角度与已知的信息即可得出所述地面 6的高低变化情况。  The stator 72 and the rotor 73 are coaxial, and an angle at which the stator 72 and the rotor 73 rotate with each other is an angle at which the spindle 2 rotates. The position of the stator 72 is fixed, and the angle at which the rotor 73 rotates is the angle at which the spindle 2 rotates. The sensor 71 is capable of transmitting a varying angle of rotation between the stator 72 and the rotor 73 to the signal processing device 11, and the rotation angle and known information can be used to obtain the height change of the ground 6. Happening.
更进一步具体的实施方式中， 所述壳体 10的通孔安装支撑件 21 , 所 述定子 72固定安装在所述支撑件 21上。  In still another specific embodiment, the through hole of the housing 10 mounts a support member 21, and the stator 72 is fixedly mounted on the support member 21.
所述支撑件 21将所述定子 72固定安装在所述壳体 10内。  The support member 21 securely mounts the stator 72 within the housing 10.
显然， 所述定子 72的安装形式不仅仅局限于上述实施例所述的情况， 能够保证所述定子 72固定安装并且与所述转子 73同轴的其他安装方式也 可以应用在本发明中。 Obviously, the mounting form of the stator 72 is not limited to the case described in the above embodiment, and other mounting methods capable of ensuring that the stator 72 is fixedly mounted and coaxial with the rotor 73 are also ensured. It can be applied to the present invention.
进一步优选的实施方式中， 所述转子 73与所述主轴 2过盈配合。  In a further preferred embodiment, the rotor 73 is interference fit with the main shaft 2.
所述转子 73与所述主轴 2过盈配合， 能够保证所述转子 73与所述主 轴 2共同转动。 所述定子 72固定， 则所述转子 73转动的角度即为所述主 轴 2转动的角度。  The rotor 73 is interference-fitted with the main shaft 2 to ensure that the rotor 73 rotates together with the main shaft 2. The stator 72 is fixed, and the angle at which the rotor 73 rotates is the angle at which the main shaft 2 rotates.
当然，所述转子 73与所述主轴 2的连接形式不仅仅局限于上述实施例 所述的情况，能够保证所述转子 73与所述主轴 2同步转动的其他连接方式 也是可以的， 例如螺栓连接或胶粘接。  Of course, the connection form of the rotor 73 and the main shaft 2 is not limited to the case described in the above embodiment, and other connection manners capable of ensuring that the rotor 73 rotates synchronously with the main shaft 2 are also possible, such as bolting. Or glue bonding.
另一种具体的实施方式中，所述主轴 2通过轴承 22安装在所述支撑件 21的通孔内。  In another specific embodiment, the spindle 2 is mounted in the through hole of the support member 21 via a bearing 22.
所述主轴 2可以通过轴承 22安装在所述支撑件 21的通孔内， 所述支 撑件 21能够很容易确保所述定子 72与所述转子 73同轴。 同时，所述轴承 22也可以保证所述主轴 2旋转的顺畅性。  The main shaft 2 can be mounted in a through hole of the support member 21 through a bearing 22, which can easily ensure that the stator 72 is coaxial with the rotor 73. At the same time, the bearing 22 can also ensure the smoothness of the rotation of the spindle 2.
显然， 所述主轴的安装形式也不仅局限于此， 能够实现所述主轴可转 动的安装并能同时确保所述定子 72与所述转子 73同轴的其他安装形式也 可以在本发明中应用。  Obviously, the mounting form of the spindle is not limited thereto, and other mounting forms capable of rotatably mounting the spindle and simultaneously ensuring that the stator 72 is coaxial with the rotor 73 can also be applied in the present invention.
在另一种具体的实施方式中， 所述信号处理器 11 固定在所述壳体 10 的底板上。  In another specific embodiment, the signal processor 11 is fixed to the bottom plate of the housing 10.
所述信号处理器 11 固定在所述壳体 2的底板上， 使所述信号处理器 11 具有确定的工作位置。 所述找平传感装置移动时， 所述信号处理器 11 的位置确定不会发生移动。 当然， 所述信号处理器 11的安装位置不近局限 于此。  The signal processor 11 is fixed to the bottom plate of the housing 2 such that the signal processor 11 has a determined working position. When the leveling sensor moves, the position of the signal processor 11 determines that no movement will occur. Of course, the installation position of the signal processor 11 is not limited to this.
另一种具体的实施方式中，所述外部接口 12位于所述壳体 10的侧面。 所述外部接口 12安装在所述壳体 10的侧面， 用于连接所述壳体 10 外侧的控制器， 并将信号传递给所述控制器。 显然， 所述外部接口 12的安 装位置也不仅局限于此。  In another specific embodiment, the external interface 12 is located on a side of the housing 10. The external interface 12 is mounted on a side of the housing 10 for connecting a controller outside the housing 10 and transmitting a signal to the controller. Obviously, the mounting position of the external interface 12 is not limited to this.
一种优选的实施方式中， 所述传感器 71 具有控制功能， 所述传感器 71能够根据采集到的信号进行找平控制。  In a preferred embodiment, the sensor 71 has a control function, and the sensor 71 is capable of leveling control based on the acquired signal.
所述传感器 71具有控制功能， 所述传感器 71能够进行找平控制， 所 述找平传感装置能够在获得地面 6是否平整的信号的同时对所述地面 6进 行找平。 The sensor 71 has a control function, and the sensor 71 is capable of performing leveling control, and the leveling sensor device can enter the ground 6 while obtaining a signal that the ground 6 is flat. Line leveling.
另一种优选的实施方式中， 所述找平传感装置还包括找平控制器， 所 述外部接口 12将所述信号传递给所述找平控制器，所述找平控制器通过所 述信号进行找平控制。  In another preferred embodiment, the leveling sensing device further includes a leveling controller, the external interface 12 transmits the signal to the leveling controller, and the leveling controller performs leveling control by using the signal .
所述找平传感装置还包括找平控制器， 所述找平控制器能够进行找平 控制， 所述找平传感装置能够在获得地面 6是否平整的信号的同时对所述 地面 6进行找平。  The leveling sensing device further includes a leveling controller capable of leveling control, the leveling sensing device capable of leveling the floor 6 while obtaining a signal that the floor 6 is flat.
所述找平控制器对所述地面 6找平的执行元件可以位于所述滑靴 5上， 此结构的找平传感装置， 将感应元件与执行元件合并， 在感应所述地面 6 是否平整的同时对所述地面 6进行找平。  The leveling controller may be located on the shoe 5 on the grounding device. The leveling sensor device of the structure combines the sensing element with the actuator to sense whether the ground 6 is flat or not. The ground 6 is leveled.
可以将所述感应元件与所述执行元件合并， 也可以单独设置所述执行 元件， 可以将所述感应元件与所述执行元件设置成一前一后， 由前边的所 述感应元件获取信号， 后边的执行元件即可根据所述信号进行找平控制。  The sensing element may be combined with the actuator, or the actuator may be separately provided, and the sensing element and the actuator may be arranged in tandem, and the signal is acquired by the front sensing element, followed by The actuator can perform leveling control based on the signal.
当然， 所述找平控制器不仅局限于上述实施例所述的情况， 其他能够 实现找平控制的结构形式也是可以的。  Of course, the leveling controller is not limited to the case described in the above embodiments, and other structural forms capable of achieving leveling control are also possible.
除了上述找平传感装置， 本发明还提供一种包括上述找平传感装置的 找平控制***， 该找平控制***其他各部分的结构请参考现有技术， 本文 不再赘述。  In addition to the above-described leveling sensing device, the present invention also provides a leveling control system including the above-described leveling sensing device. For the structure of other parts of the leveling control system, please refer to the prior art, and no further description is provided herein.
以上对本发明所提供的找平控制***及其找平传感装置进行了详细介 实施例的说明只是用于帮助理解本发明的方法及其核心思想。 应当指出， 对于本技术领域的普通技术人员来说， 在不脱离本发明原理的前提下， 还 可以对本发明进行若干改进和修饰， 这些改进和修饰也落入本发明权利要 求的保护范围内。  The above detailed description of the leveling control system and the leveling sensing device provided by the present invention is only for assisting in understanding the method of the present invention and its core idea. It should be noted that those skilled in the art can make various modifications and changes to the present invention without departing from the spirit and scope of the invention.

Claims

权 利 要 求 Rights request
1、 一种找平传感装置， 包括信号采集装置、 信号处理器（11)和外部 接口 （ 12); 所述信号处理器（ 11 )分别与所述信号采集装置和所述外部接 口 （12)相连； 所述信号采集装置包括传感器（71), 所述信号采集装置将 采集到的信号传递给所述信号处理器（ 11 ), 经过所述信号处理器（ 11 )处 理的信号通过所述外部接口 （12)传递； 其特征在于， 所述传感器（71 ) 包括同轴的定子（ 72 )和转子（ 73 ), 所述传感器（ 71 )通过所述定子（ 72 ) 与所述转子 （73) 的相对转动采集信号。  A leveling sensing device comprising a signal acquisition device, a signal processor (11) and an external interface (12); the signal processor (11) and the signal acquisition device and the external interface (12) Connected; the signal acquisition device comprises a sensor (71), the signal acquisition device transmits the collected signal to the signal processor (11), and the signal processed by the signal processor (11) passes through the external The interface (12) is transmitted; wherein the sensor (71) comprises a coaxial stator (72) and a rotor (73), and the sensor (71) passes through the stator (72) and the rotor (73) The relative rotation of the acquisition signal.
2、 如权利要求 1所述的找平传感装置， 其特征在于， 所述信号采集装 置还包括滑靴（ 5 )、 摆臂（ 3 )和主轴（ 2 ), 所述滑靴（ 5 )与地面 （ 6 )接 触； 所述摆臂（3)—端与所述滑靴（5)铰接， 另一端与所述主轴（2) 固 定连接； 所述主轴（2)可转动的水平安装在壳体（10)的通孔内； 所述定 子 （72) 固定在所述壳体（10)上， 所述转子（73) 固定在所述主轴（2) 上与所述定子（72)对应的位置。  2. The leveling sensing device according to claim 1, wherein the signal acquisition device further comprises a shoe (5), a swing arm (3) and a main shaft (2), the shoe (5) and The ground (6) is in contact; the swing arm (3) end is hinged to the shoe (5), and the other end is fixedly connected to the main shaft (2); the main shaft (2) is rotatably mounted horizontally on the shell The stator (72) is fixed to the housing (10), and the rotor (73) is fixed on the main shaft (2) corresponding to the stator (72) position.
3、 如权利要求 2所述的找平传感装置， 其特征在于， 所述壳体（10) 的通孔安装支撑件（ 21 ), 所述定子（ 72 )固定安装在所述支撑件（ 21 )上。  The leveling sensor device according to claim 2, wherein the through hole of the casing (10) is mounted with a support member (21), and the stator (72) is fixedly mounted on the support member (21) )on.
4、 如权利要求 3所述的找平传感装置， 其特征在于， 所述转子（73) 与所述主轴 （2)过盈配合。  4. Leveling sensing device according to claim 3, characterized in that the rotor (73) is interference-fitted with the main shaft (2).
5、 如权利要求 4所述的找平传感装置， 其特征在于， 所述主轴（2) 通过轴承（ 22 )安装在所述支撑件 （ 21 ) 的通孔内。  The leveling sensor device according to claim 4, characterized in that the main shaft (2) is mounted in a through hole of the support member (21) via a bearing (22).
6、 如权利要求 5所述的找平传感装置， 其特征在于， 所述信号处理器 ( 11 ) 固定在所述壳体（ 10) 的底板上。  6. Leveling sensing device according to claim 5, characterized in that the signal processor (11) is fixed to the bottom plate of the housing (10).
7、如权利要求 6所述的找平传感装置，其特征在于，所述外部接口（ 12 ) 位于所述壳体（10) 的侧面。  7. Leveling sensing device according to claim 6, characterized in that the external interface (12) is located on the side of the housing (10).
8、 如权利要求 1至 7任一项所述的找平传感装置， 其特征在于， 所述 传感器（71)具有控制功能， 所述传感器（71) 能够根据采集到的信号进 行找平控制。  The leveling sensor device according to any one of claims 1 to 7, characterized in that the sensor (71) has a control function, and the sensor (71) is capable of leveling control based on the acquired signal.
9、 如权利要求 1至 7任一项所述的找平传感装置， 其特征在于， 所述 找平传感装置还包括找平控制器， 所述外部接口 （12)将所述信号传递给 所述找平控制器， 所述找平控制器通过所述信号进行找平控制。 The leveling sensor device according to any one of claims 1 to 7, wherein the leveling sensor device further comprises a leveling controller, and the external interface (12) transmits the signal to the A leveling controller that performs leveling control by the signal.
10、 一种找平控制***， 包括控制器和找平传感装置， 其特征在于 所述找平传感装置为权利要求 1至 9任一项所述的找平传感装置。 10. A leveling control system comprising a controller and a leveling sensing device, characterized in that said leveling sensing device is the leveling sensing device of any one of claims 1 to 9.
PCT/CN2012/074317 2011-11-23 2012-04-18 Leveling sensing device and leveling control system WO2013075456A1 (en)

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Publication number Priority date Publication date Assignee Title
US3519770A (en) * 1968-07-19 1970-07-07 Long George Switching apparatus for servo system
US3791452A (en) * 1971-03-17 1974-02-12 Grad Line Control system for road grader
JPH10147910A (en) * 1996-11-15 1998-06-02 Fujio Takehara Paving controller for finisher
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