CN101810402A - Real-time automatically leveled table and chair - Google Patents
Real-time automatically leveled table and chair Download PDFInfo
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- CN101810402A CN101810402A CN 201010150231 CN201010150231A CN101810402A CN 101810402 A CN101810402 A CN 101810402A CN 201010150231 CN201010150231 CN 201010150231 CN 201010150231 A CN201010150231 A CN 201010150231A CN 101810402 A CN101810402 A CN 101810402A
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Abstract
The invention provides real-time automatically leveled table and chair. The panel of the table and chair is supported by a central supporting column and two hydraulic cylinders, and the three supporting points are distributed in an isosceles right triangle shape; a two-dimensional tilt sensor is arranged in the center of the panel to provide two-dimensional tilt angles of a workbench plane relative to the horizontal plane in real time, including x-axial signals with symbols and y-axial signals; and PLC acquires a tilt error according to the signals from the two-dimensional tilt sensor and sends proportional analog control signals in real time, controls positive rotation, negative rotation and rotating speed of a servo motor after the PLC is adjusted by a motor driver, and drives two hydraulic cylinders for leveling to make telescopic actions respectively by driving a composite bidirectional gear pump so as to maintain the horizontal state of the panel of the table and chair. If a substrate is constantly in a moving state, the device acquires tilt signals in real time and constantly repeats the leveling process to play a role in real-time leveling. The table and chair is particularly suitable for application in sea wave shaking environment.
Description
Technical field:
The present invention relates to a kind of real-time automatically leveled table and chair of supported at three point, can be used as boats and ships and be applied to belong to the engineering machinery control technology field under the stormy waves environment of ocean with levelling device.
Background technology:
At present, levelling device generally is made up of level monitoring device, controller, workbench, extension type supporting leg.When operating position was in non-standard state, the tilt signals that controller provides according to horizontal detector drew the control signal of supporting leg, drove the supporting leg action, regulated workbench after level, and the fixed support leg length keeps the level of workbench.But existing levelling device only is at the terrestrial environment that has ground as stabilizing base, and majority can only be realized disposable leveling, lacks the real-time levelling function under the dynamic environment, and environment is waved at the sea that can not be suitable for no stabilizing base.
Summary of the invention:
The purpose of this invention is to provide a kind of real-time automatically leveled table and chair, overcome the deficiency that existing levelling device can not wave real-time leveling under the environment at sea, be implemented under the marine stormy waves environment level that keeps tables and chairs of waving with the deck, the level that can be implemented in the land is equally regulated.
Purpose of the present invention realizes by following technical scheme: device comprises two-dimentional obliquity sensor, tables and chairs panel, hydraulic cylinder, programmable logic controller (PLC) (PLC), servomotor and driver, compound double-direction gearpump and fuel tank.The tables and chairs panel is supported by a central support posts and two hydraulic cylinders, and central support posts is supported on the center of tables and chairs panel and plays the main support effect, and two hydraulic cylinders are supported on two angles of tables and chairs panel and play supplemental support and leveling effect; Three strong points are isosceles right triangle and distribute, and the lower end of three support columns is fixed on the pedestal (deck).The central support posts strong point is as the former heart, and the line of the former heart and two other strong point is respectively as x axle and y axle.In the center of tables and chairs panel two-dimentional obliquity sensor is installed, is gathered tables and chairs panel two-dimensional tilting angle with respect to the horizontal plane in real time, comprise x axial rake signal and y axial rake signal.These signals are through data wire input programmable logic controller (PLC) PLC, and the program of PLC inside is handled signal, calculates heeling error and sends the equal proportion analog control signal in real time; Control signal is sent to the input port of motor driver from the PLC output port through data wire, and motor driver is regulated the servomotor that is attached thereto according to the control signal that receives, and comprises the rotating and the rotating speed size of servomotor.Servomotor will turn to rotating speed by shaft coupling and pass to two-way compound gear pump.The oil-out of compound double-direction gearpump is connected with two oil pockets up and down of hydraulic cylinder respectively with oil-in, and when motor was just changeing, the fluid in the fuel tank entered the hydraulic cylinder cavity of resorption through the gear pump oil-out, and hydraulic cylinder rises; During the motor counter-rotating, the oil-out of gear pump and oil-in exchange, and fluid enters the hydraulic cylinder epicoele, and hydraulic cylinder descends.Rotating speed of motor difference, the speed of hydraulic cylinder rising/decline are also different.If the pedestal run-off the straight, two motors have different turning to and rotating speed according to the control signal of PLC, drive the hydraulic cylinder that two leveling use respectively and move separately, make the tables and chairs panel return to level.If pedestal is kept in motion all the time, this device is just gathered the tilt signals of tables and chairs panel in real time and is constantly repeated above-mentioned leveling process, makes the tables and chairs panel remain level, plays the effect of real-time leveling.
The invention has the beneficial effects as follows: the support arrangement and the two leg leveling strategies that have adopted bikini, the motion coupled problem and the empty leg phenomenon of each supporting leg have been avoided, by two-dimentional obliquity sensor, tables and chairs panel two-dimensional tilting angle with respect to the horizontal plane is provided in real time, PLC draws heeling error and sends the equal proportion analog control signal in real time according to the signal from two-dimentional obliquity sensor, the rotating and the rotating speed of control servomotor after the motor driver adjustment, two hydraulic cylinders that the driving leveling is used move respectively keeps the tables and chairs panel to level; The level that also can keep tables and chairs under the environment that pedestal is kept in motion all the time in real time makes operation not be subjected to the interference of external environment, improves operational security.
Description of drawings:
The invention will be further described below in conjunction with drawings and Examples:
Fig. 1 forms structural representation according to real-time automatically leveled table and chair proposed by the invention;
Fig. 2 is the PLC automatic control program block diagram of real-time automatically leveled table and chair.
Among the figure, 1-two dimension obliquity sensor, 2-tables and chairs panel, the 3-spherical plain bearing rod end, 4-hydraulic cylinder, 5-cross joint, the 6-fuel tank, the compound double-direction gearpump of 7-, 8-servomotor, the 9-motor driver, the 10-flange connects, 11-programmable logic controller (PLC) (PLC), 12-central support posts, the 13-pedestal, 14-hydraulic cylinder inbuilt displacement sensor.
The specific embodiment:
Seat with yacht peculiar to vessel is that example is done detailed explanation to the present invention below.The real-time leveling seat upper portion structure of yacht peculiar to vessel is identical with common seat, comprises seat panel, backrest and handrail, just is provided with a self-leveling button on handrail, is used for the automatic levelling function of opening and closing seat.The substructure of seat as shown in Figure 1, main member comprises: a two-dimentional obliquity sensor 1, the hydraulic cylinder 4 of two band inbuilt displacement sensors 14, two cover power units are (by fuel tank 6, two-way compound gear pump 7, servomotor 8 and motor driver 9 constitutes a cover power unit), PLC controller (band analog quantity input and output enlargement module) 11 and central support posts 12.Central support posts 12 upper ends are installed in the center of seat panel bottom surface by cross joint 5, and the lower end connects 10 vertical fixing above deck with flange, the load-bearing of main support seat, and make seat panel have before and after the pitching and two frees degree of vacillating now to the left, now to the right; The upper end of two hydraulic cylinders 4 is installed in respectively by spherical plain bearing rod end 3 on the left and right corner of front end of seat panel bottom surface, the lower end also is connected with the deck by spherical plain bearing rod end, the load-bearing of supplemental support seat, and by the flexible of piston rod the attitude of seat is regulated; On the whole, main support column 12 becomes isosceles right triangle to arrange that the strong point of central support posts 12 is as the summit, right angle and the former heart with 3 strong points that two hydraulic cylinders 4 are formed, and the former heart and two other strong point line are respectively as x axle and y axle.After connecting seat panel in this manner, two rotary freedoms that need are only arranged, avoided toppling and the motion coupled problem of seat panel.Two dimension obliquity sensor 1 is installed in the center of seat panel inside, its x axle that is used to measure and y axle are overlapped with x axle and the y axle that the hydraulic cylinder strong point constitutes, so just, can measure the x axle and the y axle angle of inclination value of seat panel in real time, and be sent in the PLC controller 11 and handle.Lower oil cavitie is connected with A, the B port of two-way combination pump 7 respectively on the hydraulic cylinder 4, when servomotor 8 is just changeing, fluid enters the cavity of resorption of hydraulic cylinder 4 through two-way combination pump B port from fuel tank 6, fluid in the epicoele then is back to fuel tank through two-way combination pump A port, this moment, fluid promoted the piston rod rising, the hydraulic cylinder elongation; When servomotor 8 counter-rotating, oil circuit is also counter to be walked, and fluid promotes piston rod and descends, and hydraulic cylinder shortens; The speed that hydraulic cylinder stretches is by the rotary speed decision of servomotor 8.Motor driver 9 and servomotor 8 be used for drive motors rotating and regulate rotating speed size, the signal controlling that its duty is sent by PLC controller 11.
Under the stormy waves environment, when needing real-time automatically leveled seat, only need press the automatic leveling button on the armrest, PLC controller 11 sends out the analog quantity control signal of equal proportion 0～± 5 for simultaneously two motor drivers 9 according to the real-time two-dimentional dip angle signal that receives, the rotating of the positive and negative corresponding motor of voltage, the big or small corresponding rotating speed of motor speed of voltage, two servomotors 8 are according to the control signal running of installing separately, finally make two hydraulic cylinders make the elongation and the shortening of corresponding speed, steadily regulate seat panel apace to level according to the inclined degree of seat panel.
Shown in Figure 2 is whole self-leveling flow chart.If the deck is in swinging condition all the time, real-time automatically leveled table and chair is just constantly carried out this leveling program repeatedly, remains panel to level, makes the personnel on the tables and chairs not produce the sense of jolting, and article then can the slippage overturning.
Claims (3)
1. real-time automatically leveled table and chair, comprise two-dimentional obliquity sensor, tables and chairs panel, hydraulic cylinder, programmable logic controller (PLC) (PLC) and the power unit of forming by compound double-direction gearpump, fuel tank, servomotor and driver, it is characterized in that: the tables and chairs panel is supported by a central support posts and two hydraulic cylinders, central support posts is supported on the center of tables and chairs panel and plays the main support effect, two hydraulic cylinders are supported on two angles of tables and chairs panel and play supplemental support and leveling effect, and three strong points are isosceles right triangle and distribute; In the center of panel two-dimentional obliquity sensor is installed, table plane two-dimensional tilting angle with respect to the horizontal plane is provided in real time, comprise x axis signal and y axis signal, programmable logic controller (PLC) PLC is electrically connected with two-dimentional obliquity sensor and motor driver, the oil-out of compound double-direction gearpump is connected with two oil pockets up and down of hydraulic cylinder respectively with oil-in, programmable logic controller (PLC) draws heeling error and sends the equal proportion analog control signal in real time according to the signal from two-dimentional obliquity sensor, the following counter-rotating and the rotating speed of control servomotor after the motor driver adjustment, two hydraulic cylinders that the driving leveling is used move respectively keeps the tables and chairs panel to level.
2. real-time automatically leveled table and chair according to claim 1 is characterized in that: be installed in the center of seat panel bottom surface on the central support posts by the cross joint, the lower end is vertically fixed on the base with the flange connection.
3. real-time automatically leveled table and chair according to claim 1 is characterized in that: two hydraulic cylinder upper ends are installed in respectively on the left and right corner of seat panel bottom surface front end by spherical plain bearing rod end, and the lower end also is connected on the base by spherical plain bearing rod end.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010101502312A CN101810402B (en) | 2010-04-15 | 2010-04-15 | Real-time automatically leveled table and chair |
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| Application Number | Priority Date | Filing Date | Title |
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| CN2010101502312A CN101810402B (en) | 2010-04-15 | 2010-04-15 | Real-time automatically leveled table and chair |
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| CN101810402A true CN101810402A (en) | 2010-08-25 |
| CN101810402B CN101810402B (en) | 2011-05-18 |
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| CN2010101502312A Expired - Fee Related CN101810402B (en) | 2010-04-15 | 2010-04-15 | Real-time automatically leveled table and chair |
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Cited By (26)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102456284A (en) * | 2011-11-17 | 2012-05-16 | 浙江向阳花教学器材有限公司 | Spring oscillator device |
| CN103233511A (en) * | 2012-09-12 | 2013-08-07 | 宜昌市天鸿科技有限责任公司 | Mobile house with automatic leveling function |
| CN103358954A (en) * | 2012-04-10 | 2013-10-23 | 斗山工程机械（中国）有限公司 | Seat shock-absorbing device on motor vehicle |
| CN103621379A (en) * | 2013-11-20 | 2014-03-12 | 中国矿业大学 | Sprinkler hydraulic supporting leg automatic leveling device and method |
| CN104229371A (en) * | 2014-09-17 | 2014-12-24 | 江西金虎保险设备集团有限公司 | Movable rack body tilting prevention device of compact rack |
| CN104365193A (en) * | 2014-10-21 | 2015-02-25 | 余洪阳 | Novel land leveling machine |
| CN104365194A (en) * | 2014-10-21 | 2015-02-25 | 余洪阳 | Land leveling machine |
| CN104806860A (en) * | 2014-01-23 | 2015-07-29 | 江南大学 | Three-leg self-adjusting horizontal worktable |
| CN105347268A (en) * | 2015-10-30 | 2016-02-24 | 成都深蓝高新技术发展有限公司 | Orthogonality horizontal adjustment method and device with method |
| CN106006462A (en) * | 2016-05-27 | 2016-10-12 | 江苏省农业科学院 | Multifunctional orchard work platform leveling mechanism |
| CN106235706A (en) * | 2016-07-31 | 2016-12-21 | 合肥柏隆科技发展有限公司 | A kind of stable cupboard board easy to connect |
| CN106264293A (en) * | 2016-08-31 | 2017-01-04 | 浙江高翔工贸有限公司 | A kind of electro-hydraulic lifting toilet lid |
| CN106737455A (en) * | 2016-11-22 | 2017-05-31 | 上海电机学院 | Self-leveling carrying workbench peculiar to vessel |
| CN106877207A (en) * | 2017-04-11 | 2017-06-20 | 洪灵丹 | A kind of anti-swing switch cubicle peculiar to vessel |
| CN107323603A (en) * | 2017-06-13 | 2017-11-07 | 江苏科技大学 | A kind of egg type pressure-resistant housing apparatus of self-balancing benthoscope |
| CN108843005A (en) * | 2018-07-10 | 2018-11-20 | 顾钰锋 | Self-balancing workbench |
| CN108995775A (en) * | 2018-06-11 | 2018-12-14 | 江阴市北海救生设备有限公司 | A kind of closed unmanned boat |
| CN109106068A (en) * | 2018-10-23 | 2019-01-01 | 郑州森之林电子科技有限公司 | A kind of computer desk of desktop levelling |
| CN109508045A (en) * | 2018-12-17 | 2019-03-22 | 中国航空工业集团公司北京航空精密机械研究所 | A kind of sleeve portion based on PLC accurately adjusts control method and device |
| CN109557950A (en) * | 2019-01-17 | 2019-04-02 | 陕西华明普泰医疗设备有限公司 | A kind of 3 d water tank horizontal plane self-level(l)ing device and method |
| CN110406507A (en) * | 2019-08-13 | 2019-11-05 | 武汉瑞鑫隆机械配件加工有限公司 | A kind of automatic horizontal control system of car floor |
| CN111035190A (en) * | 2019-12-31 | 2020-04-21 | 许昌学院 | Science popularization publicity column is used in campus |
| CN111114409A (en) * | 2020-02-19 | 2020-05-08 | 中国第一汽车股份有限公司 | Vehicle table board and control method thereof |
| CN111558501A (en) * | 2020-04-27 | 2020-08-21 | 厦门诺博视科技有限公司 | Intelligence magnetite spreading machine |
| CN113622710A (en) * | 2021-10-12 | 2021-11-09 | 启东市筑城装配式建筑有限公司 | Support system for installing prefabricated building and construction method thereof |
| WO2022257126A1 (en) * | 2021-06-11 | 2022-12-15 | 徐園植 | Furniture legs adaptive to ground environment |
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| US2770914A (en) * | 1954-11-02 | 1956-11-20 | Hooker Samuel Arthur | Hydraulic leveling device |
| US6382109B1 (en) * | 2000-06-14 | 2002-05-07 | Novikoff, Inc. | Self-leveling modular table and method of forming a level modular table |
| CN2762638Y (en) * | 2004-06-25 | 2006-03-08 | 孙萍 | Hand lifting and automatic rotating dinning table |
| CN101260962A (en) * | 2008-04-24 | 2008-09-10 | 上海交通大学 | Moving carrier automatic leveling system |
Cited By (39)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102456284A (en) * | 2011-11-17 | 2012-05-16 | 浙江向阳花教学器材有限公司 | Spring oscillator device |
| CN102456284B (en) * | 2011-11-17 | 2013-06-26 | 浙江向阳花教学器材有限公司 | Spring oscillator device |
| CN103358954A (en) * | 2012-04-10 | 2013-10-23 | 斗山工程机械（中国）有限公司 | Seat shock-absorbing device on motor vehicle |
| CN103358954B (en) * | 2012-04-10 | 2015-12-09 | 斗山工程机械（中国）有限公司 | Seat damping device on self-propelled vehicle |
| CN103233511A (en) * | 2012-09-12 | 2013-08-07 | 宜昌市天鸿科技有限责任公司 | Mobile house with automatic leveling function |
| CN103621379A (en) * | 2013-11-20 | 2014-03-12 | 中国矿业大学 | Sprinkler hydraulic supporting leg automatic leveling device and method |
| CN103621379B (en) * | 2013-11-20 | 2015-09-02 | 中国矿业大学 | A kind of irrigation sprinkler hydraulic leg method for automatically leveling |
| CN104806860A (en) * | 2014-01-23 | 2015-07-29 | 江南大学 | Three-leg self-adjusting horizontal worktable |
| CN104229371A (en) * | 2014-09-17 | 2014-12-24 | 江西金虎保险设备集团有限公司 | Movable rack body tilting prevention device of compact rack |
| CN104365194A (en) * | 2014-10-21 | 2015-02-25 | 余洪阳 | Land leveling machine |
| CN104365193A (en) * | 2014-10-21 | 2015-02-25 | 余洪阳 | Novel land leveling machine |
| CN105347268A (en) * | 2015-10-30 | 2016-02-24 | 成都深蓝高新技术发展有限公司 | Orthogonality horizontal adjustment method and device with method |
| CN106006462A (en) * | 2016-05-27 | 2016-10-12 | 江苏省农业科学院 | Multifunctional orchard work platform leveling mechanism |
| CN106006462B (en) * | 2016-05-27 | 2018-07-06 | 江苏省农业科学院 | Multifunction orchard job platform levelling gear |
| CN106235706A (en) * | 2016-07-31 | 2016-12-21 | 合肥柏隆科技发展有限公司 | A kind of stable cupboard board easy to connect |
| CN106264293A (en) * | 2016-08-31 | 2017-01-04 | 浙江高翔工贸有限公司 | A kind of electro-hydraulic lifting toilet lid |
| CN106737455A (en) * | 2016-11-22 | 2017-05-31 | 上海电机学院 | Self-leveling carrying workbench peculiar to vessel |
| CN106737455B (en) * | 2016-11-22 | 2019-06-14 | 上海电机学院 | Self-leveling carrying workbench peculiar to vessel |
| CN106877207B (en) * | 2017-04-11 | 2018-06-19 | 洪灵丹 | A kind of anti-swing switchgear peculiar to vessel |
| CN106877207A (en) * | 2017-04-11 | 2017-06-20 | 洪灵丹 | A kind of anti-swing switch cubicle peculiar to vessel |
| CN107323603A (en) * | 2017-06-13 | 2017-11-07 | 江苏科技大学 | A kind of egg type pressure-resistant housing apparatus of self-balancing benthoscope |
| CN107323603B (en) * | 2017-06-13 | 2019-01-18 | 江苏科技大学 | A kind of egg type pressure resistance housing apparatus of self-balancing benthoscope |
| CN108995775A (en) * | 2018-06-11 | 2018-12-14 | 江阴市北海救生设备有限公司 | A kind of closed unmanned boat |
| CN108995775B (en) * | 2018-06-11 | 2019-10-25 | 江阴市北海救生设备有限公司 | A kind of closed unmanned boat |
| CN108843005A (en) * | 2018-07-10 | 2018-11-20 | 顾钰锋 | Self-balancing workbench |
| CN108843005B (en) * | 2018-07-10 | 2020-12-22 | 深圳凯鸿欣电子科技有限公司 | Self-balancing workbench |
| CN109106068A (en) * | 2018-10-23 | 2019-01-01 | 郑州森之林电子科技有限公司 | A kind of computer desk of desktop levelling |
| CN109508045A (en) * | 2018-12-17 | 2019-03-22 | 中国航空工业集团公司北京航空精密机械研究所 | A kind of sleeve portion based on PLC accurately adjusts control method and device |
| CN109508045B (en) * | 2018-12-17 | 2021-09-10 | 中国航空工业集团公司北京航空精密机械研究所 | PLC-based sleeve position accurate adjustment control method and device |
| CN109557950A (en) * | 2019-01-17 | 2019-04-02 | 陕西华明普泰医疗设备有限公司 | A kind of 3 d water tank horizontal plane self-level(l)ing device and method |
| CN109557950B (en) * | 2019-01-17 | 2023-09-08 | 陕西华明普泰医疗设备有限公司 | Automatic leveling device and method for horizontal plane of three-dimensional water tank |
| CN110406507A (en) * | 2019-08-13 | 2019-11-05 | 武汉瑞鑫隆机械配件加工有限公司 | A kind of automatic horizontal control system of car floor |
| CN111035190A (en) * | 2019-12-31 | 2020-04-21 | 许昌学院 | Science popularization publicity column is used in campus |
| CN111035190B (en) * | 2019-12-31 | 2021-05-11 | 许昌学院 | Science popularization publicity column is used in campus |
| CN111114409B (en) * | 2020-02-19 | 2021-04-13 | 中国第一汽车股份有限公司 | Vehicle table board and control method thereof |
| CN111114409A (en) * | 2020-02-19 | 2020-05-08 | 中国第一汽车股份有限公司 | Vehicle table board and control method thereof |
| CN111558501A (en) * | 2020-04-27 | 2020-08-21 | 厦门诺博视科技有限公司 | Intelligence magnetite spreading machine |
| WO2022257126A1 (en) * | 2021-06-11 | 2022-12-15 | 徐園植 | Furniture legs adaptive to ground environment |
| CN113622710A (en) * | 2021-10-12 | 2021-11-09 | 启东市筑城装配式建筑有限公司 | Support system for installing prefabricated building and construction method thereof |
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| CN101810402B (en) | 2011-05-18 |
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