阅读说明：本技术 一种旋挖钻机回转角度的实时检测方法 (Real-time detection method for rotation angle of rotary drilling rig ) 是由 刘文彬 黎起富 吴江苏 李源 于 2020-12-31 设计创作，主要内容包括：本发明提供一种旋挖钻机回转角度的实时检测方法,所述实时检测方法包括使用一种旋挖钻机的回转角度检测装置,所述检测装置包括直接或间接固定设置在中央回转接头壳体上的转动部件和直接或间接固定设置在中央回转接头芯体上的固定部件,中央回转接头壳体固定在旋挖钻机的上车平台上并随之回转,中央回转接头芯体通过下车安装法兰固定在旋挖钻机的下车上；转动部件包括角度传感器元件、插座和传感器固定接头；固定部件包括圆柱磁头、固定铜螺母和支撑杆；本发明所述实时检测方法中的旋挖钻机回转角度检测装置结构简单,安装方便,不占空间。由于其体积小,对安装同心度要求不高,对于在恶劣环境下工作的旋挖钻机来说,其可靠性更高。(The invention provides a real-time detection method of a rotary angle of a rotary drilling rig, which comprises the steps of using a rotary angle detection device of the rotary drilling rig, wherein the detection device comprises a rotating part directly or indirectly fixedly arranged on a central rotary joint shell and a fixing part directly or indirectly fixedly arranged on a central rotary joint core, the central rotary joint shell is fixed on an upper vehicle platform of the rotary drilling rig and rotates along with the central rotary joint shell, and the central rotary joint core is fixed on a lower vehicle of the rotary drilling rig through a lower vehicle mounting flange; the rotating part comprises an angle sensor element, a socket and a sensor fixing joint; the fixing part comprises a cylindrical magnetic head, a fixing copper nut and a supporting rod; the rotary angle detection device of the rotary drilling rig in the real-time detection method is simple in structure, convenient to install and free of occupying space. Because the volume is small, the requirement on installation concentricity is not high, and the reliability of the rotary drilling rig working in a severe environment is higher.)

1. A real-time detection method for the rotation angle of a rotary drilling rig comprises the steps that a rotation angle detection device of the rotary drilling rig is used, the detection device comprises a rotating part and a fixing part, the rotating part is directly or indirectly and fixedly arranged on a central rotation joint shell (2), the fixing part is directly or indirectly and fixedly arranged on a central rotation joint core body (4), the central rotation joint shell (2) is fixed on an upper vehicle platform (1) of the rotary drilling rig and rotates along with the central rotation joint shell, and the central rotation joint core body (4) is fixed on a lower vehicle of the rotary drilling rig through a lower vehicle mounting flange (3);

the rotating part comprises an angle sensor element, a socket (5) and a sensor fixing joint (6), and is fixedly arranged on the central rotary joint shell (2) through a central rotary joint shell upper end mounting seat (9);

the fixing part comprises a cylindrical magnetic head (7), a fixed copper nut (8) and a support rod (10), and the fixing part is directly or indirectly fixedly arranged on the central rotary joint core body (4);

the sensor fixed joint (6) is an integrated copper structural part and comprises a first external thread (61), a containing hole (62), a mounting hole (63) and a first screwing head (64), wherein the first external thread (61) is arranged at the lower part of the sensor fixed joint (6) and is used for being connected with an internal thread of a mounting seat (9) at the upper end of a central rotary joint shell, the containing hole (62) comprises a central position which is arranged at the radial inner side of the first external thread (61) and is vertically provided with a hole from bottom to top, the containing hole (62) is used for containing the fixed copper nut (8), the mounting hole (63) is arranged at the top of the sensor fixed joint (6) and is provided with a hole from top to bottom, a socket (5) which is used for fixedly mounting an angle sensor element and is made of a high polymer material is arranged in the mounting hole (63), and the socket (5) is used for inserting a plug signal line, and is used for transmitting the angular displacement signal measured by the angle sensor element to a controller through the plug signal wire, and the first screw head (64) is arranged at the radial outer side of the sensor fixing joint (6) and is used for providing a force application position so as to screw the first screw head and the upper end mounting seat (9) of the central swivel joint shell;

the fixed copper nut (8) is an integrated copper structural part and comprises an internal thread hole (81), a magnetic head assembly hole (82), a screwing body (83) and a separating piece (84), wherein the internal thread hole (81) is arranged at the lower part of the fixed copper nut (8) and is a thread counter bore from bottom to top, an external thread II (101) at the top end of the supporting rod (10) is used for being screwed upwards into the internal thread hole (81) to enable the fixed copper nut (8) to be fixedly connected with the supporting rod (10), the magnetic head assembly hole (82) is arranged at the top of the fixed copper nut (8) and is a counter bore in a cylindrical shape from top to bottom for tightly clamping the cylindrical magnetic head (7) therein, the screwing body (83) is arranged at the radial outer side of the fixed copper nut (8) and is used for providing a force application position so as to enable the fixed copper nut (8) to be in threaded connection with the supporting rod (10), the spacer (84) is disposed between the internally threaded hole (81) and the head mounting hole (82) and serves to separate the two holes; the cylindrical magnetic head (7) is an integrated magnet material structural part, and the cylindrical magnetic head (7) provides a magnetic field for an angle sensor element arranged in the sensor fixing joint (6) so as to detect a rotation angle; the lower end of the supporting rod (10) is used for being directly or indirectly fixed on the central rotary joint core body (4);

the angle sensor element in the rotating part cuts magnetic lines generated by a cylindrical magnetic head (7) in the fixed part in the rotation process of the upper vehicle platform (1), the angle sensor element cuts the magnetic lines to generate an angular displacement signal, the angular displacement signal is transmitted to the controller through a plug signal line on the socket (5), the controller calculates and processes the received angular displacement signal to obtain an angle value, and the angle value relative to a zero point is transmitted to the display screen, so that the reciprocating angle in the construction process of the drill pipe and the drilling bucket is displayed and controlled in real time.

2. The method of claim 1, wherein the receiving bore (62) is a cylindrical bore and the first screw head (64) is a hex head.

3. The detection method according to claim 1, characterized in that the screw body (83) is non-cylindrical, preferably the screw body (83) is an outer hexagonal cylinder and the second screw head (123) is an outer hexagonal head.

4. The inspection method according to claim 1, characterized in that a radial clearance of 1-7 mm, preferably 3-5 mm, is provided between the radially inner side wall of the housing hole (62) and the radially outer side wall of the fixing copper nut (8).

5. The detection method according to claim 1, wherein the fixing part further comprises a lower end fixing joint (12) and a nut (13), the lower end of the support rod (10) is provided with a third external thread (102) for passing through a through hole (121) of the lower end fixing joint (12) and being in threaded connection with the nut (13) below the lower end fixing joint (12); the lower end fixed joint (12) further comprises a fourth external thread (122) and a second screwing head (123), the fourth external thread (122) is arranged on the upper portion of the lower end fixed joint (12) and is used for being connected with an internal thread of the central rotary joint core body lower end mounting seat (11), and the second screwing head (123) is arranged on the radial outer side of the lower end fixed joint (12) and is used for providing a force application position so as to be screwed with the central rotary joint core body lower end mounting seat (11).

6. The detection method according to claim 5, characterized in that the via (121) is a threaded hole.

7. The detection method according to claim 1, wherein the sensor fixing joint (6) further comprises an integrally arranged partition plate (65), the accommodating hole (62) and the mounting hole (63) are both in a counter bore structure, the partition plate (65) is arranged between the accommodating hole (62) and the mounting hole (63), and the thickness of the partition plate (65) is 1-5 mm, preferably 2-4 mm.

8. The detection method according to claim 1, characterized in that a cylindrical counterbore (71) is arranged from top to bottom on the top of the cylindrical magnetic head (7).

9. The detection method according to any one of claims 1 to 8, wherein before the rotation angle of the rotary drilling rig is detected in real time, the vertical distance between the top of the cylindrical magnetic head (7) and the angle sensor element can be adjusted by adjusting the threaded connection depth of the second external thread (101) at the top of the support rod (10) screwed into the internal threaded hole (81).

Technical Field

The invention relates to the field of engineering machinery, in particular to a device for detecting the rotation angle of a boarding platform for drilling and positioning of a rotary drilling rig and a real-time detection method of the rotation angle.

Background

The rotary drilling rig is building pile foundation construction equipment for taking earth and forming holes, and an upper vehicle platform of the rotary drilling rig provides various system arrangement spaces and working device installation platforms for the rotary drilling rig and is a core component of the rotary drilling rig. An upper vehicle platform of the rotary drilling rig is connected with a lower vehicle through a rotary support, and high-pressure hydraulic oil acts on a rotary motor driving speed reducer to enable a gear shaft to be meshed with an inner gear ring of a rotary support and drive an upper vehicle to rotate for 360 degrees; the center of the turning of the upper vehicle platform is provided with a central turning joint which is used for transmitting and conveying hydraulic oil to the lower vehicle hydraulic component; the rotary drilling rig needs to rotate and change position to pour soil after drilling and soil taking by using the drilling bucket every time, and needs to rotate and reset to drill after pouring soil every time, pile holes are finally formed through repeated drilling and soil pouring, and due to the fact that reciprocating motion of working devices such as the drilling rod drilling bucket and the like is achieved through rotation of the upper vehicle platform, the rotation angle of the upper vehicle platform can be accurately positioned through real-time detection.

The invention patent application CN201680059648 provides a swivel joint for a work machine that makes it easy to mount a device for detecting a rotation angle and that is capable of suppressing an increase in size due to the mounting of the device. Embodiments of the present invention include a swivel joint including an outer body (71) fixed to one of a lower traveling body and an upper swivel body and having a closed surface on one end; an inner body (72) fixed on the other of the lower traveling body and the upper revolving body and relatively rotatably fitted in the outer body (71) while opposing the closing surface at one end n in such a manner as to create a space (8 c); a regulated oil passage (8) formed on the rotation center line CL of the inner body (72) for distributing regulated oil; a rod (11b) inserted into the regulated oil passage (8) and fixed to one of the outer body (71) and the inner body (72); and a rotation angle sensor (11a) fixed to the other ends of the outer body (71) and the inner body (72) for detecting a rotation angle of the lever (11 b).

The invention patent application CN201910579031 relates to the technical field of angle measurement, in particular to a central swivel joint and a detection method. The central rotary joint comprises a rotary body, a rotary shaft, a fixed shaft and a sensor element; the sensor element comprises a rotor and a stator, the rotor, a rotating shaft and a rotating shaft are fixed with the upper platform, and the stator, a fixed shaft and a rotating body in the sensor element are fixed with the lower platform; the sensor element is configured to translate relative rotation of the rotor and stator of the sensor element upon relative rotation of the upper and lower platforms, and to detect rotational movement of the shaft within the operating range by employing a hall effect integrated circuit having a magnetic bias. Compared with the common method for measuring the rotation angle by the mechanical gear, the central rotation joint has a simple structure, and compared with a simple electric appliance sensing element, the central rotation joint has strong electromagnetic interference resistance and better comprehensive performance.

In both patent applications, a sensor is used for measuring the rotation angle, but the patent applications do not disclose a specific assembly mode of the angle sensor and a working machine, and further do not disclose an installation method of the sensor and a central rotation joint on a rotary drilling rig. And the anti-electromagnetic interference ability of the angle sensor and the installation fittings thereof in the patent application is not strong, so that the angle sensor used in the working machine has the problem of instability.

Therefore, there is still a need in the art to provide a new device for detecting the rotation angle of a rotary drilling rig and a method for detecting the rotation angle of the rotary drilling rig in real time to solve the above problems.

Disclosure of Invention

The invention provides a simple and reliable rotation angle detection device and a detection method for solving the problem of real-time detection of the rotation angle of an upper vehicle platform of a rotary drilling rig so as to achieve accurate positioning of the rotation angle of working devices such as a drilling bucket.

Therefore, the invention provides a real-time detection method of the rotation angle of a rotary drilling rig, which comprises the steps of using a rotation angle detection device of the rotary drilling rig, wherein the detection device comprises a rotating part directly or indirectly fixedly arranged on a central rotation joint shell (2) and a fixing part directly or indirectly fixedly arranged on a central rotation joint core body (4), the central rotation joint shell (2) is fixed on an upper vehicle platform (1) of the rotary drilling rig and rotates along with the central rotation joint shell, and the central rotation joint core body (4) is fixed on a lower vehicle of the rotary drilling rig through a lower vehicle mounting flange (3);

the rotating part comprises an angle sensor element, a socket (5) and a sensor fixing joint (6), and is fixedly arranged on the central rotary joint shell (2) through a central rotary joint shell upper end mounting seat (9);

the fixing part comprises a cylindrical magnetic head (7), a fixed copper nut (8) and a support rod (10), and the fixing part is directly or indirectly fixedly arranged on the central rotary joint core body (4);

the sensor fixed joint (6) is an integrated copper structural part and comprises a first external thread (61), a containing hole (62), a mounting hole (63) and a first screwing head (64), wherein the first external thread (61) is arranged at the lower part of the sensor fixed joint (6) and is used for being connected with an internal thread of a mounting seat (9) at the upper end of a central rotary joint shell, the containing hole (62) comprises a central position which is arranged at the radial inner side of the first external thread (61) and is vertically provided with a hole from bottom to top, the containing hole (62) is used for containing the fixed copper nut (8), the mounting hole (63) is arranged at the top of the sensor fixed joint (6) and is provided with a hole from top to bottom, a socket (5) which is used for fixedly mounting an angle sensor element and is made of a high polymer material is arranged in the mounting hole (63), and the socket (5) is used for inserting a plug signal line, and is used for transmitting the angular displacement signal measured by the angle sensor element to a controller through the plug signal wire, and the first screw head (64) is arranged at the radial outer side of the sensor fixing joint (6) and is used for providing a force application position so as to screw the first screw head and the upper end mounting seat (9) of the central swivel joint shell;

the fixed copper nut (8) is an integrated copper structural part and comprises an internal thread hole (81), a magnetic head assembly hole (82), a screwing body (83) and a separating piece (84), wherein the internal thread hole (81) is arranged at the lower part of the fixed copper nut (8) and is a thread counter bore from bottom to top, an external thread II (101) at the top end of the supporting rod (10) is used for being screwed upwards into the internal thread hole (81) to enable the fixed copper nut (8) to be fixedly connected with the supporting rod (10), the magnetic head assembly hole (82) is arranged at the top of the fixed copper nut (8) and is a counter bore in a cylindrical shape from top to bottom for tightly clamping the cylindrical magnetic head (7) therein, the screwing body (83) is arranged at the radial outer side of the fixed copper nut (8) and is used for providing a force application position so as to enable the fixed copper nut (8) to be in threaded connection with the supporting rod (10), the spacer (84) is disposed between the internally threaded hole (81) and the head mounting hole (82) and serves to separate the two holes; the cylindrical magnetic head (7) is an integrated magnet material structural part, and the cylindrical magnetic head (7) provides a magnetic field for an angle sensor element arranged in the sensor fixing joint (6) so as to detect a rotation angle; the lower end of the supporting rod (10) is used for being directly or indirectly fixed on the central rotary joint core body (4);

the angle sensor element in the rotating part cuts magnetic lines generated by a cylindrical magnetic head (7) in the fixed part in the rotation process of the upper vehicle platform (1), the angle sensor element cuts the magnetic lines to generate an angular displacement signal, the angular displacement signal is transmitted to the controller through a plug signal line on the socket (5), the controller calculates and processes the received angular displacement signal to obtain an angle value, and the angle value relative to a zero point is transmitted to the display screen, so that the reciprocating angle in the construction process of the drill pipe and the drilling bucket is displayed and controlled in real time.

In one specific embodiment, the receiving bore (62) is a cylindrical bore and the first threaded head (64) is a hex head.

In a specific embodiment, the screw body (83) is a non-cylindrical body, preferably, the screw body (83) is an outer hexagonal cylinder, and the second screw head (123) is an outer hexagonal head.

In a specific embodiment, a radial clearance of 1-7 mm, preferably 3-5 mm, is arranged between the radial inner side wall of the accommodating hole (62) and the radial outer side wall of the fixed copper nut (8).

In the invention, the radial clearance ensures that the requirement on the coaxiality between the rotating part and the fixed part is not high, for example, the requirement on the coaxiality between the fixed joint (6) of the sensor and the fixed copper nut (8) is not high.

In a specific embodiment, the fixing part further comprises a lower end fixing joint (12) and a nut (13), the lower end of the support rod (10) is provided with a third external thread (102) for penetrating through a through hole (121) of the lower end fixing joint (12) and being in threaded connection with the nut (13) below the lower end fixing joint (12); the lower end fixed joint (12) further comprises a fourth external thread (122) and a second screwing head (123), the fourth external thread (122) is arranged on the upper portion of the lower end fixed joint (12) and is used for being connected with an internal thread of the central rotary joint core body lower end mounting seat (11), and the second screwing head (123) is arranged on the radial outer side of the lower end fixed joint (12) and is used for providing a force application position so as to be screwed with the central rotary joint core body lower end mounting seat (11).

In a specific embodiment, the via hole (121) is a threaded hole.

In a specific implementation mode, the sensor fixing connector (6) further comprises an integrally arranged partition plate (65), the accommodating hole (62) and the mounting hole (63) are both in a counter bore structure, the partition plate (65) is arranged between the accommodating hole (62) and the mounting hole (63), and the thickness of the partition plate (65) is 1-5 mm, preferably 2-4 mm.

In a specific embodiment, a cylindrical counter bore (71) is arranged at the top of the cylindrical magnetic head (7) from top to bottom.

In a specific embodiment, before the rotation angle of the rotary drilling rig is detected in real time, the vertical distance between the top of the cylindrical magnetic head (7) and the angle sensor element can be adjusted by adjusting the threaded connection depth of the second external thread (101) at the top end of the supporting rod (10) screwed into the internal threaded hole (81) upwards.

The invention has at least the following beneficial effects:

1. the rotation angle detection device of the rotary drilling rig is simple in structure, convenient to install and free of occupying space. Because the volume is small, the requirement on installation concentricity is not high, and the reliability of the rotary drilling rig working in a severe environment is higher.

2. In the invention, the sensor fixing joint and the fixing copper nut are both made of copper materials, so that the sensor fixing joint and the fixing copper nut can be prevented from being magnetized. The angle sensor element is embedded inside the copper sensor fixed joint, is of an integrated structure, is small in size and convenient to install, and can protect the sensor element from being collided.

3. According to the rotary angle detection device, the cylindrical magnetic head is embedded in the fixed copper nut, the mounting height of the fixed copper nut is adjustable, the influence of the size precision errors of the supporting rod and other mounting parts on the distance between the cylindrical magnetic head and the angle sensor element can be offset, the distance between the cylindrical magnetic head and the angle sensor element can be accurately adjusted to a design value, and the rotary angle detection device of the rotary drilling rig can be stable in performance.

Drawings

FIG. 1 is a front view of an installation structure of an upper vehicle platform and a lower vehicle of a rotary drilling rig.

Fig. 2 is an upper mounting structure of the rotation angle detecting device (enlarged view at I in fig. 1).

Fig. 3 is a lower mounting structure of the turning angle detecting device (enlarged view at II in fig. 1).

Fig. 4 is a schematic structural diagram of the rotation angle detecting device.

Fig. 5 is a schematic structural diagram of a rotation angle detecting device of another view angle.

Fig. 6 is a schematic sectional view of the rotation angle detecting device.

The sequence numbers in the figures illustrate: the upper vehicle platform 1, the central rotary joint shell 2, the lower vehicle mounting flange 3, the central rotary joint core 4, the socket 5, the sensor fixed joint 6, the first external thread 61, the accommodating hole 62, the mounting hole 63, the first screwing head 64, the partition plate 65, the cylindrical magnetic head 7, the cylindrical counter bore 71, the fixed copper nut 8, the internal thread hole 81, the magnetic head assembly hole 82, the screwing body 83, the partition 84, the central rotary joint shell upper end mounting seat 9, the support rod 10, the second external thread 101, the third external thread 102, the central rotary joint core lower end mounting seat 11, the lower end fixed joint 12, the through hole 121, the fourth external thread 122, the second screwing head 123 and the nut 13.

Detailed Description

The invention will be further explained with reference to the drawings.

As shown in fig. 1, an upper vehicle platform 1 of the rotary drilling rig is connected with a lower vehicle through a rotary support, and high-pressure hydraulic oil acts on a rotary motor to drive a speed reducer so that a gear shaft is meshed with an inner gear ring of a rotary support and drives the upper vehicle to rotate 360 degrees. The center of the boarding platform 1 is provided with a central rotary joint, and the central rotary joint consists of a shell 2 and a core 4; the central rotary joint shell 2 is fixed on the upper vehicle platform 1 through a pull rod, the core body 4 is fixed on the lower vehicle mounting flange 3, and when the shell 2 rotates along with the upper vehicle platform, the shell and the core body 4 fixed on the lower vehicle mounting flange 3 which does not rotate form relative rotation.

As shown in fig. 2, the rotation angle sensor element and the socket 5 are embedded in the upper end of the sensor fixing joint 6 and made into an integral joint, the sensor fixing joint 6 is a hexagonal copper joint which can prevent itself from being magnetized, and an external plug (plug signal line) can be connected in the socket 5 to connect with a controller and output signals; the fixed joint 6 is fixed by screwing the lower-section external thread into the upper end mounting seat 9 of the central swivel joint shell. The cylindrical magnetic head 7 is embedded in the core part of the upper end of the fixed copper nut 8, the fixed copper nut 8 is installed and fixed on the stud of the upper end of the support rod 10, and the fixed copper nut 8 extends upwards into the inner hole of the lower section of the sensor fixed joint 6, keeps a radial gap of 3-5 mm with the inner hole and is basically concentric.

As shown in fig. 3, a stud at the lower end of the support rod 10 is screwed into the lower end fixing joint 12 and tightened by a nut 13; that is, the lower end of the support rod 10 is threaded through the lower end of the lower end fixed joint 12 and then threaded onto the nut 13 located below the lower end fixed joint 12 after the lower end of the support rod 10 passes through the bottom of the lower end fixed joint 12. The upper end of the lower end fixed joint 12 is screwed and fastened with the central rotary joint core body lower end mounting seat 11 through external threads.

As can be seen from the above assembling relationship, the cylindrical magnetic head 7 embedded in the core part of the upper end of the fixed copper nut 8 is fixed to the lower vehicle through the support rod 10 and the lower end mounting seat 11 of the core body of the central rotary joint thereof, and the rotary angle sensor and the socket 5 embedded in the upper end of the sensor fixing joint 6 are fixed to the upper vehicle platform 1 through the upper end mounting seat 9 of the housing of the central rotary joint. When the upper vehicle platform 1 rotates, the rotation angle sensor element and the socket 5 also rotate synchronously, so that relative angular displacement is generated between the rotation angle sensor element and the socket 5, the cylindrical magnetic head generates magnetic lines of force, the angle sensor element cuts the magnetic lines of force to generate an angular displacement signal, the angular displacement signal is transmitted to the controller through a plug signal line on the socket 5, the controller calculates and processes the received angular displacement signal to obtain an angle value, and the angle value relative to a zero point is transmitted to the display screen, so that the reciprocating angle in the construction process of the drill pipe and the drill bucket is displayed and controlled in real time.

In the present invention, the lower fixing joint 12 is made of copper or steel, and other structural members are generally made of steel, unless otherwise specified. In addition, structural components including the cylindrical magnetic head 7 and the rotation angle sensor element of the present invention, which are semiconductor components capable of sensing a magnetic field generated by the cylindrical magnetic head, are commercially available.

In the invention, an upper vehicle platform 1, a central rotary joint shell 2, a lower vehicle mounting flange 3 and a central rotary joint core 4 are structures of a rotary drilling rig, the angle sensor element, a socket 5, a sensor fixing joint 6, a cylindrical magnetic head 7, a fixing copper nut 8, a support rod 10, a lower end fixing joint 12 and a nut 13 are structural components additionally arranged in the detection device, and an upper end mounting seat 9 of the central rotary joint shell and a lower end mounting seat 11 of the central rotary joint core are correspondingly adjusted in structural design according to the sensor fixing joint 6 and the lower end fixing joint 12, so that the two can be matched with the detection device.

The device is installed with a central rotary joint of a rotary drilling rig together, the structure is simple, a rotary angle sensor element is embedded at the upper end of a hexagonal head copper joint (namely a sensor fixed joint), a cylindrical magnetic head is hidden in an inner cavity at the lower end of the copper sensor fixed joint, a vertical gap of 3-5 mm is generally formed between the sensor element and the top end of a cylindrical magnetic head 7, and a partition plate with the thickness of about 3mm is arranged between the sensor element and the top end of the cylindrical magnetic head 7. In addition, a radial gap of 3-5 mm is formed between the inner wall of the containing hole and the outer wall of the fixed copper nut, so that the device has low requirement on coaxiality during installation, is convenient to disassemble and assemble, cannot collide with other mechanical parts, has reliable performance, and can effectively solve the problem of real-time detection and control of the rotation angle of the upper vehicle platform of the rotary drilling rig.

The foregoing is a more detailed description of the invention in connection with specific preferred embodiments and it is not intended that the invention be limited to these specific details. For those skilled in the art to which the invention pertains, several simple deductions and substitutions can be made without departing from the spirit of the invention, and all shall be considered as belonging to the protection scope of the invention.