阅读说明：本技术 基于电子罗盘技术实现斗轮机回转定位系统 (System for realizing rotation positioning of bucket wheel machine based on electronic compass technology ) 是由 金烜弘 张鑫 张立建 唐连吉 季圣楠 丛松 王嘉琪 郭思远 徐春梅 王赟翔 于 2020-06-03 设计创作，主要内容包括：本发明公开了斗轮机技术领域的基于电子罗盘技术实现斗轮机回转定位系统,还包括电子罗盘仪,斗轮机包括悬臂、回转转盘和PLC控制系统,悬臂通过回转转盘转到与系统皮带相平行,斗轮机的悬臂和回转转盘的中心线上,且远离斗轮机电机和电缆处设有一安装位,电子罗盘仪通过外部的无磁护罩安装于水平安装底座上,电子罗盘仪的中心线与回转转盘和悬臂的中心线一致,电子罗盘仪连接有航空插头,电子罗盘仪通过航空插头与斗轮机的PLC控制系统相连接,通过过电子罗盘技术,测量地球磁场,再根据系统皮带方向确定回转零位,精确计算出斗轮机回转的当前角度,从而解决因满足斗轮机智能化控制对于回转定位要求的稳定性、精确性以及经济性的问题。(The invention discloses a rotary positioning system of a bucket wheel machine based on an electronic compass technology in the technical field of bucket wheel machines, and further comprises an electronic compass, wherein the bucket wheel machine comprises a cantilever, a rotary turntable and a P L C control system, the cantilever is rotated to be parallel to a system belt through the rotary turntable, a central line of the cantilever and the rotary turntable of the bucket wheel machine is provided with a mounting position far away from a motor and a cable of the bucket wheel machine, the electronic compass is mounted on a horizontal mounting base through an external non-magnetic shield, the central line of the electronic compass is consistent with the central lines of the rotary turntable and the cantilever, the electronic compass is connected with an aviation plug, the electronic compass is connected with the P L C control system of the bucket wheel machine through the aviation plug, the earth magnetic field is measured through the electronic compass technology, a rotary zero position is determined according to the direction of the system belt, and the current angle of rotation of the bucket wheel machine is accurately calculated, so that the problems of stability, accuracy and economy of the requirement of intelligent control of.)

1. Realize bucket wheel machine gyration positioning system based on electron compass technique, including bucket wheel machine and system belt, its characterized in that:

the bucket wheel machine comprises a cantilever, a rotary turntable and a P L C control system, the cantilever is rotated to be parallel to a system belt through the rotary turntable, an installation position is arranged on the central line of the cantilever and the rotary turntable of the bucket wheel machine and far away from a bucket wheel machine motor and a cable, the installation position is used for installing a horizontal installation base,

the device also comprises an electronic compass used for detecting the rotation angle of the bucket wheel machine, the central line of the electronic compass is consistent with the central lines of the rotary turntable and the cantilever, the electronic compass is arranged on the horizontal mounting base through an external non-magnetic shield,

the electronic compass is connected with an aviation plug, the electronic compass is connected with a P L C control system of the bucket wheel machine through the aviation plug, and the aviation plug is used for uploading data detected by the electronic compass to the P L C control system of the bucket wheel machine.

2. The electronic compass-based rotary positioning system for bucket wheel machines of claim 1, wherein: the non-magnetic shield is made of non-magnetic stainless steel.

3. The electronic compass-based rotary positioning system for bucket wheel machines of claim 1, wherein: the electronic compass comprises

The sensor module comprises a triaxial magneto-resistive sensor and a biaxial accelerometer, the triaxial magneto-resistive sensor is used for measuring the earth magnetic field, the sensors in the three mutually perpendicular axial directions detect the intensity of the earth magnetic field in the direction, and the biaxial accelerometer is used for compensating when the electronic compass is in a non-horizontal state.

The signal conditioning and collecting module comprises a signal conditioning circuit and an analog-digital conversion and counting circuit, the signal conditioning circuit is used for eliminating jitter, filtering, protecting, level conversion and isolation of the electric signals collected by the sensor module, the analog-digital conversion and counting circuit is used for converting the electric signals collected by the sensor module into numerical values, counting the collection times and transmitting the numerical values to the main controller module,

a main controller module including a set/reset circuit for not executing at reset time and executing at set time, a microcontroller for processing a received value, and a power supply adjustment circuit for adjusting an external input voltage,

triaxial magnetoresistive sensor and biax accelerometer are connected signal conditioning circuit, signal conditioning circuit is connected with microcontroller through analog-to-digital conversion and counting circuit, microcontroller is connected with triaxial magnetoresistive sensor and biax accelerometer respectively through set/reset circuit, the external power adapter is connected with triaxial magnetoresistive sensor, biax accelerometer, signal conditioning circuit, analog-to-digital conversion and counting circuit respectively through power adjusting circuit, microcontroller is connected with the aviation plug through UART and cable.

4. The electronic compass-based rotary positioning system for bucket wheel machines of claim 1, wherein: a plurality of clamping grooves used for placing the sensor module, the signal adjusting and collecting module and the main controller module are formed in the non-magnetic shield, and waterproof fillers are filled in the non-magnetic shield.

5. The electronic compass-based system for realizing the rotational positioning of the bucket wheel machine is characterized in that the P L C control system of the bucket wheel machine comprises a storage address of a P L C rotational angle, and the storage address of the P L C rotational angle is used for storing angle data of the electronic compass.

6. The electronic compass technology-based bucket wheel rotation positioning system of claim 1, wherein the P L C control system of the bucket wheel machine comprises a touch screen for displaying the current angle of the bucket wheel machine rotation obtained by the P L C control system.

7. The electronic compass-based rotary positioning system for bucket wheel machines of claim 6, wherein: the current angle calculation formula of the bucket wheel machine rotation is as follows:

α＝α₂-α₁

where α is the current angle of bucket wheel machine rotation, α₁For making the cantilever parallel to the system beltCurrent angle of the sub compass, set "0" angle of rotation of the bucket wheel machine, α₂The angle data of the electronic compass.

8. The electronic compass-based rotary positioning system for bucket wheel machines of claim 1, wherein: the power supply of the electronic compass is 12VDC, the working environment temperature is-40 ℃ to +85 ℃, and the detection range is 0-360 DEG precision: 0.1 to 0.5.

Technical Field

The invention relates to the technical field of bucket wheel machines, in particular to a rotary positioning system for a bucket wheel machine based on an electronic compass technology.

Background

At present, along with the increasing requirement on intelligent control of the bucket wheel machine, the requirements on the stability, the accuracy and the maintainability of the bucket wheel machine positioning detection device are increasing. The traditional bucket wheel machine rotation angle detection is shown in fig. 1, and mainly comprises a rotation mechanism 1, a rotation bearing 2, a rotation gear 3, an encoder gear 4, an encoder gear shaft 5, a rotary disc 6, an encoder support 7, a turbine speed reducer 8, a sleeve coupling 9 and an encoder 10, wherein the rotation mechanism is coaxially connected with the encoder in a multi-gear transmission mode, and then the bucket wheel machine rotation angle is calculated through encoding conversion. The positioning mode is often influenced by mechanical connection and conversion errors, so that the error of a rotation angle is caused, and the intelligent control precision and stability of the bucket wheel machine cannot be met.

And a bucket wheel machine rotation positioning mode realized by a Gray bus technology is adopted, and although the positioning mode meets the accuracy and stability of intelligent control of the bucket wheel machine, the bucket wheel machine rotation positioning mode is difficult to widely apply due to high installation cost and maintenance cost.

Based on the technical scheme, the invention designs a rotary positioning system for the bucket wheel machine based on the electronic compass technology to solve the problems.

Disclosure of Invention

The invention aims to provide a rotary positioning system of a bucket wheel machine based on an electronic compass technology, so as to solve the problems in the background technology.

In order to achieve the purpose, the invention provides the following technical scheme: a rotary positioning system of a bucket wheel machine based on an electronic compass technology comprises the bucket wheel machine and a system belt,

the bucket wheel machine comprises a cantilever, a rotary turntable and a P L C control system, the cantilever is rotated to be parallel to a system belt through the rotary turntable, an installation position is arranged on the central line of the cantilever and the rotary turntable of the bucket wheel machine and far away from a bucket wheel machine motor and a cable, the installation position is used for installing a horizontal installation base,

the device also comprises an electronic compass used for detecting the rotation angle of the bucket wheel machine, the central line of the electronic compass is consistent with the central lines of the rotary turntable and the cantilever, the electronic compass is arranged on the horizontal mounting base through an external non-magnetic shield,

the electronic compass is connected with an aviation plug, the electronic compass is connected with a P L C control system of the bucket wheel machine through the aviation plug, and the aviation plug is used for uploading data detected by the electronic compass to the P L C control system of the bucket wheel machine.

Preferably, the non-magnetic shield is made of non-magnetic stainless steel.

Preferably, the electronic compass comprises

The sensor module comprises a triaxial magneto-resistive sensor and a biaxial accelerometer, the triaxial magneto-resistive sensor is used for measuring the earth magnetic field, the sensors in the three mutually perpendicular axial directions detect the intensity of the earth magnetic field in the direction, and the biaxial accelerometer is used for compensating when the electronic compass is in a non-horizontal state.

The signal conditioning and collecting module comprises a signal conditioning circuit and an analog-digital conversion and counting circuit, the signal conditioning circuit is used for eliminating jitter, filtering, protecting, level conversion and isolation of the electric signals collected by the sensor module, the analog-digital conversion and counting circuit is used for converting the electric signals collected by the sensor module into numerical values, counting the collection times and transmitting the numerical values to the main controller module,

a main controller module including a set/reset circuit for not executing at reset time and executing at set time, a microcontroller for processing a received value, and a power supply adjustment circuit for adjusting an external input voltage,

triaxial magnetoresistive sensor and biax accelerometer are connected signal conditioning circuit, signal conditioning circuit is connected with microcontroller through analog-to-digital conversion and counting circuit, microcontroller is connected with triaxial magnetoresistive sensor and biax accelerometer respectively through set/reset circuit, the external power adapter is connected with triaxial magnetoresistive sensor, biax accelerometer, signal conditioning circuit, analog-to-digital conversion and counting circuit respectively through power adjusting circuit, microcontroller is connected with the aviation plug through UART and cable.

Preferably, a plurality of clamping grooves used for placing the sensor module, the signal adjusting and collecting module and the main controller module are formed in the non-magnetic shield, and waterproof fillers are filled in the non-magnetic shield.

Preferably, the P L C control system of the bucket wheel machine comprises a storage address of a P L C rotation angle, and the storage address of the P L C rotation angle is used for storing angle data of the electronic compass.

Preferably, the P L C control system of the bucket wheel machine comprises a touch screen for displaying the current angle of the bucket wheel machine revolution obtained by the P L C control system.

Preferably, the current angle calculation formula of the bucket wheel machine rotation is as follows:

α＝α₂-α₁

where α is the current angle of bucket wheel machine rotation, α₁Setting the angle of 0 degree of rotation of the bucket wheel machine for the current angle of the electronic compass when the cantilever is parallel to the system belt, α₂As angle data of electronic compass。

Preferably, the power supply of the electronic compass is 12VDC, the working environment temperature is-40 ℃ to +85 ℃, and the detection range is 0-360 DEG precision: 0.1 to 0.5.

Compared with the prior art, the invention has the beneficial effects that: according to the invention, by means of an electronic compass technology, the azimuth value can be determined by measuring the earth magnetic field and two component vector values of the earth magnetic field in X and Y, and then the rotation zero position is determined according to the belt direction of the system, so that the current rotation angle of the bucket wheel machine can be accurately calculated, and the problems of stability, accuracy and economy of rotation positioning requirements due to the fact that the intelligent control of the bucket wheel machine is met are solved.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.

FIG. 1 is a schematic diagram of a prior art configuration of the present invention;

FIG. 2 is a schematic structural view of the present invention;

FIG. 3 is a schematic view of a non-magnetic shield structure according to the present invention;

FIG. 4 is a schematic diagram of an electronic compass according to the present invention;

fig. 5 is a schematic block diagram of the present invention.

In the drawings, the components represented by the respective reference numerals are listed below:

100. a rotary turntable; 101. an installation position; 200. an electronic compass; 201. a three-axis magnetoresistive sensor; 202. a dual-axis accelerometer; 203. a main controller module; 204. a card slot; 205. a waterproof filler; 206. a cable; 300. a non-magnetic shield; 400. the base is horizontally installed.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.