CN101260962A - Moving carrier automatic leveling system - Google Patents
Moving carrier automatic leveling system Download PDFInfo
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- CN101260962A CN101260962A CNA2008100365471A CN200810036547A CN101260962A CN 101260962 A CN101260962 A CN 101260962A CN A2008100365471 A CNA2008100365471 A CN A2008100365471A CN 200810036547 A CN200810036547 A CN 200810036547A CN 101260962 A CN101260962 A CN 101260962A
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- supporting leg
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- leveling
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Abstract
The invention relates to a mobile carrier automatic leveling system, belonging to the mechanical-electrical-hydraulic integration technical field, wherein a dual-axis tilt sensor is fixed on a mobile carrier platform; an electric cabinet is fixed on the mobile carrier platform; a pressure sensor is connected with a vertical landing leg; a transverse landing leg is fixed on the mobile carrier platform; the vertical landing leg is connected with the transverse landing leg via a transverse landing leg vertical landing leg connecting member; a bidirectional hydraulic lock is connected between a vertical landing leg electromagnetic valve and the vertical landing leg; the output of a transverse landing leg electromagnetic valve is connected with the input of the transverse landing leg; the output of the dual-axis tilt sensor is connected with the electric cabinet; the output of the pressure sensor is connected with the electric cabinet; and the output of the electric cabinet is connected with the transverse landing leg electromagnetic valve and the vertical landing leg electromagnetic valve. The system enables the leveling of the mobile carrier to achieve speediness, high precision and full automation; meanwhile the system is stable in performance, simple and convenient in operation, strong in universality, comparatively low in cost and capable of meeting the leveling requirements of most mobile carriers.
Description
Technical field
The present invention relates to a kind of system of mechanical-electrical-hydraulic integration technical field, specifically, is a kind of moving carrier automatic leveling system, is used for the horizontal adjustemt of moving carrier.
Background technique
In modern national defense and civilian technology, for the moving carrier that prevents jumbo topples under the not good situation in ground, or, often need the moving carrier of a certain jumbo is accurately adjusted to horizontal position for a working platform stably is provided to jumbo.For example, missile truck, various mobile radar antenna seat coach, heavy duty cranes etc. all must carry out leveling before work, and leveling requires fast, and is accurately, stable.
Traditional artificial leveling adopts range estimation and manual mode to carry out roughly leveling, or takes other supplementary means to carry out the secondary adjustment, and its leveling time is long, precision is low, distortion is big, repeatability is big, stability is not high.And automatic horizontal control system now, adopt ball screw is executive component more, its bearing capacity is little, is not suitable for the moving carrier of heave-load device; And adopt oil hydraulic cylinder is the automatic horizontal control system of executive component, owing to be subjected to factor affecting such as the supporting leg situation that lands difficult is judged, the difficult control of supporting leg speed, hydraulic system stability, make that its leveling precision is not high, speed slowly, Algorithm Convergence is poor, automaticity is lower.
Through prior art patent retrieval is found, Chinese patent application number is: 03274678.4, and denomination of invention is: " automatic plumbing device ".But in the middle of the application of reality, this automatic plumbing device has the following disadvantages: 1. be only applicable to pile pressing machine, application area is too narrow.Four supporting legs of pile pressing machine are operated on guide rail, rather than common ground.And this automatic plumbing device does not have the supporting leg detection that lands, horizontal supporting leg, and vertically therefore function such as supporting leg withdrawal is not suitable for moving carrier.2. need three horizontal detectors at least.This makes data processing slow, and equipment cost is higher, and the input system that too much also makes becomes redundant.
Summary of the invention
The present invention is directed to problems of the prior art, a kind of moving carrier automatic leveling system is provided, make the leveling of moving carrier reach fast highi degree of accuracy, full-automation; This systematic function is stable simultaneously, and is easy and simple to handle, highly versatile, and cost is lower, can satisfy the leveling demand of most of moving carriers.
The present invention is achieved by the following technical solutions, the present invention includes: double-shaft tilt angle sensor, moving carrier platform, hydraulic system, the horizontal vertical supporting leg link of supporting leg, electric control box, pressure transducer.Described hydraulic system comprises: horizontal supporting leg solenoid valve, horizontal supporting leg, vertical supporting leg solenoid valve, bidirectional hydraulic lock, vertical supporting leg, and double-shaft tilt angle sensor is fixed on the moving carrier platform, and electric control box is fixed on the moving carrier platform.Pressure transducer links to each other with vertical supporting leg.Laterally supporting leg is fixed on the moving carrier platform.Vertically supporting leg links to each other with horizontal supporting leg by the vertical supporting leg link of horizontal supporting leg.Bidirectional hydraulic lock is connected between vertical supporting leg solenoid valve and the vertical supporting leg.Laterally the output of supporting leg solenoid valve links to each other with the input of horizontal supporting leg.The output of double-shaft tilt angle sensor links to each other with electric control box.The output of pressure transducer links to each other with electric control box.The output of electric control box is with laterally supporting leg solenoid valve, vertical supporting leg solenoid valve link to each other.
Described electric control box comprises: PLC controller, A/D module, control knob.The switching information of control knob sends to the PLC controller, realizes the automatic drawing back of the switching of automatic leveling and manual leveling, self-leveling beginning and termination, supporting leg.The A/D module receives the information of pressure transducer, double-shaft tilt angle sensor collection, and sends into the PLC controller, the information that the PLC controller receives by comprehensive analysis, and decision leveling strategy, and by the predetermined leveling target of hydraulic system realization.
Described pressure transducer links to each other with the rodless cavity of vertical supporting leg, the pressure condition of the vertical supporting leg A/D module by electric control box is sent to the PLC controller, thereby realize the supervision to the supporting leg moving situation.
Described double-shaft tilt angle sensor in moving carrier platform central authorities, sends to the PLC controller with the angle information of moving carrier platform directions X and Y direction by the A/D module by screw, thereby realizes the supervision to the horizontal situation of moving carrier platform.
Described PLC controller is by the moving situation of the vertical supporting leg of comprehensive analysis and the horizontal condition information of moving carrier platform, the decision control strategy, and by control vertical supporting leg solenoid valve and laterally the supporting leg solenoid valve realize the vertical supporting leg and the horizontal expanding-contracting action of supporting leg, thereby reach the self-leveling predeterminated target of moving carrier platform.
Compared with prior art, the present invention specifically have following some: 1. automaticity height: have that horizontal supporting leg stretches out automatically, vertically supporting leg lands automatically, tire lifts automatically, an automatic leveling of moving carrier platform, vertically supporting leg automatic drawing back, horizontal functions such as supporting leg automatic drawing back.2. leveling efficient height: speed is fast, precision is high.The leveling precision less than 3 ', the leveling time, (be that horizontal supporting leg stretches out automatically, vertically supporting leg landed automatically, and tire lifts automatically, these four processes of the automatic leveling of moving carrier platform always consuming time) less than 2min, the number of times of supporting leg action is less than 6 times in the automatic leveling process of moving carrier platform.3. flexible and convenient operation: leveling also can select manual leveling that single supporting leg is moved automatically, and control knob is few, and is simple to operate.4. security of system is reliable: adopt many wheel circulation risings to regain control and make that the leveling overall process is steady, rock little; The excessive safety control of locking pressurizer, platform angle, supporting leg with vertical supporting leg are crossed stroke and multinomial safety measures such as overload protection, leveling Algorithm Convergence protection control.5. system's versatility height: be applicable to most of moving carriers, be applicable to the hard ground of various situations.6. system hardware is simple, and cost is lower.
Description of drawings
Fig. 1 system architecture schematic representation of the present invention
The fundamental diagram of Fig. 2 hydraulic system of the present invention
Embodiment
Below in conjunction with accompanying drawing embodiments of the invention are elaborated: present embodiment has provided detailed mode of execution and detailed process being to implement under the prerequisite with the technical solution of the present invention, but protection scope of the present invention is not limited to following embodiment.
As shown in Figure 1, present embodiment comprises: double-shaft tilt angle sensor 1, moving carrier platform 2, hydraulic system 3, the horizontal vertical supporting leg link 4 of supporting leg, electric control box 5, pressure transducer 6.
As shown in Figure 2, hydraulic system 3 comprises: horizontal supporting leg solenoid valve 7, horizontal supporting leg 8, vertical supporting leg solenoid valve 9, bidirectional hydraulic lock 10, vertical supporting leg 11.
In moving carrier platform 2 central authorities, electric control box 5 is by bolt or be weldingly fixed on the moving carrier platform 2 by screw for double-shaft tilt angle sensor 1.Pressure transducer 6 links to each other with the rodless cavity of vertical supporting leg 11.Laterally supporting leg 8 is by bolt or be weldingly fixed on the moving carrier platform 2.Vertically supporting leg 11 links to each other with horizontal supporting leg 8 by the vertical supporting leg link 4 of horizontal supporting leg.Bidirectional hydraulic lock 10 is connected between vertical supporting leg solenoid valve 9 and the vertical supporting leg 11 by oil pipe.Laterally the output of supporting leg solenoid valve 7 links to each other with the input of horizontal supporting leg 8.The output of double-shaft tilt angle sensor 1 links to each other with electric control box 5.The output of pressure transducer 6 links to each other with electric control box 5.The output of electric control box 5 is with laterally supporting leg solenoid valve 7, vertical supporting leg solenoid valve 9 link to each other.
Described electric control box 5 comprises: PLC controller, A/D module, control knob.The switching information of control knob sends to the PLC controller, thereby realizes the switching of automatic leveling and manual leveling, self-leveling beginning and termination, and the automatic drawing back of supporting leg.The A/D module receives the information of pressure transducer, double-shaft tilt angle sensor collection, and sends into the PLC controller, the information that the PLC controller receives by comprehensive analysis, and decision leveling strategy, and by the predetermined leveling target of hydraulic system realization.
Described pressure transducer 6 sends to the PLC controller with the pressure condition of vertical supporting leg 11 by the A/D module, thereby realizes the supervision to vertical supporting leg 11 moving situations.
Described double-shaft tilt angle sensor 1 sends to the PLC controller with the directions X and the Y orientation angle information of moving carrier platform 2 by the A/D module, thereby realizes the supervision to moving carrier platform 2 horizontal situations.
Described PLC controller is by the moving situation of the vertical supporting leg 11 of comprehensive analysis and the horizontal condition information of moving carrier platform 2, the decision control strategy, and by the vertical supporting leg solenoid valve 9 of control and the laterally vertical supporting leg 11 of supporting leg solenoid valve 7 realizations and the laterally expanding-contracting action of supporting leg 8, thereby reach moving carrier platform 2 self-leveling predeterminated targets.
Because the needs of leveling strategy, the employed PLC of system must contain square root function and trigonometric function.
Because the sensitivity of double-shaft tilt angle sensor and the resolution of A/D module directly have influence on the precision of leveling, therefore to selecting higher double-shaft tilt angle sensor of sensitivity and the high A/D module of resolution in the higher application of required precision for use, highly sensitive as adopting in 100 millivolts/double-shaft tilt angle sensor of degree and the A/D module more than 12.
Because hydraulic system pressure changes complicated, in order to judge the moving situation of supporting leg exactly according to the data of pressure transducer, the grade of accuracy of the pressure transducer of selecting for use must be higher, is higher than ± 0.25% pressure transducer as adopting grade of accuracy.
Claims (5)
1, a kind of moving carrier automatic leveling system, it is characterized in that, comprise: double-shaft tilt angle sensor, the moving carrier platform, hydraulic system, the horizontal vertical supporting leg link of supporting leg, electric control box, pressure transducer, wherein: described hydraulic system comprises: horizontal supporting leg solenoid valve, horizontal supporting leg, vertical supporting leg solenoid valve, bidirectional hydraulic lock, vertical supporting leg, the Placement of above-mentioned parts is: double-shaft tilt angle sensor is fixed on the moving carrier platform, electric control box is fixed on the moving carrier platform, pressure transducer links to each other with vertical supporting leg, laterally supporting leg is by being fixed on the moving carrier platform, vertically supporting leg links to each other with horizontal supporting leg by the vertical supporting leg link of horizontal supporting leg, bidirectional hydraulic lock is connected between vertical supporting leg solenoid valve and the vertical supporting leg, laterally the output of supporting leg solenoid valve links to each other with the input of horizontal supporting leg, the output of double-shaft tilt angle sensor links to each other with electric control box, the output of pressure transducer links to each other with electric control box, the output of electric control box and horizontal supporting leg solenoid valve, vertically the supporting leg solenoid valve links to each other.
2, moving carrier automatic leveling system according to claim 1, it is characterized in that, described electric control box comprises: PLC controller, A/D module, control knob, the switching information of control knob sends to the PLC controller, the automatic drawing back of now automatic leveling and the switching of manual leveling, self-leveling beginning and termination, supporting leg, the A/D module receives the information of pressure transducer, double-shaft tilt angle sensor collection, and send into the PLC controller, the information that the PLC controller receives by comprehensive analysis, decision leveling strategy, and by the predetermined leveling target of hydraulic system realization.
3, moving carrier automatic leveling system according to claim 1, it is characterized in that, described pressure transducer links to each other with the rodless cavity of vertical supporting leg, the pressure condition of the vertical supporting leg A/D module by electric control box is sent to the PLC controller, thereby realize the supervision to the supporting leg moving situation.
4, moving carrier automatic leveling system according to claim 1, it is characterized in that, described double-shaft tilt angle sensor by screw in moving carrier platform central authorities, the angle information of moving carrier platform directions X and Y direction is sent to the PLC controller by the A/D module, thereby realize supervision the horizontal situation of moving carrier platform.
5, moving carrier automatic leveling system according to claim 1, it is characterized in that, described PLC controller is by the moving situation of the vertical supporting leg of comprehensive analysis and the horizontal condition information of moving carrier platform, the decision control strategy, and by control vertical supporting leg solenoid valve and laterally the supporting leg solenoid valve realize the vertical supporting leg and the horizontal expanding-contracting action of supporting leg, thereby reach the self-leveling predeterminated target of moving carrier platform.
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| CNB2008100365471A CN100564987C (en) | 2008-04-24 | 2008-04-24 | Moving carrier automatic leveling system |
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| CNB2008100365471A CN100564987C (en) | 2008-04-24 | 2008-04-24 | Moving carrier automatic leveling system |
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| CN101260962A true CN101260962A (en) | 2008-09-10 |
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| CNB2008100365471A Expired - Fee Related CN100564987C (en) | 2008-04-24 | 2008-04-24 | Moving carrier automatic leveling system |
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| CN101810402A (en) * | 2010-04-15 | 2010-08-25 | 中国石油大学(华东) | Real-time automatically leveled table and chair |
| CN102174794A (en) * | 2011-03-07 | 2011-09-07 | 江苏科技大学 | Automatic leveling system and method for six-point support bridging platform |
| CN102632872A (en) * | 2012-04-16 | 2012-08-15 | 三一重工股份有限公司 | Outrigger type engineering machinery, outrigger controlling system and outrigger controlling method |
| CN102996110A (en) * | 2012-11-23 | 2013-03-27 | 浙江盾安精工集团有限公司 | Automatic leveling device of full-circle slewing drilling machine |
| CN103072926A (en) * | 2012-12-07 | 2013-05-01 | 中汽商用汽车有限公司(杭州) | High-altitude maintenance platform for mining tunnel |
| CN103588145A (en) * | 2013-11-08 | 2014-02-19 | 杭州爱知工程车辆有限公司 | Frame automatic leveling device and method |
| CN103742768A (en) * | 2013-10-10 | 2014-04-23 | 国家电网公司 | Automatic leveling device for suspension equipment |
| CN103909802A (en) * | 2013-12-24 | 2014-07-09 | 威海广泰空港设备股份有限公司 | Device and method for automatically and horizontally adjusting passenger step platform |
| CN104405293A (en) * | 2014-11-25 | 2015-03-11 | 中国石油天然气集团公司 | Automatic leveling system for hydraulic legs of drilling machine, use method and micro-controller thereof |
| CN104477145A (en) * | 2014-12-01 | 2015-04-01 | 北京机械设备研究所 | Vehicle body leveling method based on PLC control |
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| CN105736906A (en) * | 2016-01-20 | 2016-07-06 | 阿特拉斯科普柯(南京)建筑矿山设备有限公司 | Automatic supporting and leveling method for drill jumbo |
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| CN101810402A (en) * | 2010-04-15 | 2010-08-25 | 中国石油大学(华东) | Real-time automatically leveled table and chair |
| CN102174794A (en) * | 2011-03-07 | 2011-09-07 | 江苏科技大学 | Automatic leveling system and method for six-point support bridging platform |
| CN102174794B (en) * | 2011-03-07 | 2012-08-15 | 江苏科技大学 | Automatic leveling system and method for six-point support bridging platform |
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| CN111779957A (en) * | 2020-07-13 | 2020-10-16 | 高心成 | A angular transducer installing support for industrial grade mechanical equipment |
| CN111779957B (en) * | 2020-07-13 | 2021-11-05 | 高心成 | A angular transducer installing support for industrial grade mechanical equipment |
| CN113441326A (en) * | 2021-06-25 | 2021-09-28 | 中铁十一局集团桥梁有限公司 | Carrying platform capable of automatically adjusting deflection angle |
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