CN102331791A - Leveling device for work platform of launch vehicle - Google Patents
Leveling device for work platform of launch vehicle Download PDFInfo
- Publication number
- CN102331791A CN102331791A CN201110139875A CN201110139875A CN102331791A CN 102331791 A CN102331791 A CN 102331791A CN 201110139875 A CN201110139875 A CN 201110139875A CN 201110139875 A CN201110139875 A CN 201110139875A CN 102331791 A CN102331791 A CN 102331791A
- Authority
- CN
- China
- Prior art keywords
- oil cylinder
- pressure transducer
- right support
- left branch
- leg cylinder
- Prior art date
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Links
- QSHDDOUJBYECFT-UHFFFAOYSA-N mercury Chemical compound [Hg] QSHDDOUJBYECFT-UHFFFAOYSA-N 0.000 claims abstract description 23
- 229910052753 mercury Inorganic materials 0.000 claims abstract description 23
- 230000005484 gravity Effects 0.000 abstract description 3
- 238000000034 method Methods 0.000 abstract description 3
- 238000001514 detection method Methods 0.000 abstract 2
- 239000003921 oil Substances 0.000 description 40
- 238000005516 engineering process Methods 0.000 description 2
- 239000012530 fluid Substances 0.000 description 2
- 239000007788 liquid Substances 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 239000010720 hydraulic oil Substances 0.000 description 1
- 238000007493 shaping process Methods 0.000 description 1
- 230000002463 transducing effect Effects 0.000 description 1
Images
Landscapes
- Fluid-Pressure Circuits (AREA)
- Body Structure For Vehicles (AREA)
Abstract
The invention discloses a leveling device for a work platform of a launch vehicle, comprising a host machine, an ECU (Electronic Control Unit), an Ultronics control system, a front left leg cylinder, a front right leg cylinder, a back left leg cylinder and a back right leg cylinder, wherein the leveling device for the work platform of the launch vehicle further comprises an inclination detection device fixed on the work platform via a threaded rod; a cross-shaped mercury tank is arranged in the inclination detection device; a pit is arranged in the center of the mercury tank; mercury is filled in the pit; and four pressure sensors respectively corresponding to the front left leg cylinder, the front right leg cylinder, the back left leg cylinder and the back right leg cylinder are respectively installed on the mercury tank and respectively connected with the ECU via signal lines. The leveling device for the work platform of the launch vehicle has the capabilities of fulfilling a level control process mainly by measuring the gravity change of the mercury and well fulfilling automatic level control, and has the advantages of large driving force and strong load capacity due to the adoption of hydraulic drive.
Description
Technical field
The present invention relates to a kind of car launcher job platform levelling device.
Background technology
At present, the leveling system in engineering field mainly is divided into two big types: manual leveling system and automatic horizontal control system.Automatic horizontal control system can be divided into two big types according to the topworks that adopts is different again: electromechanical automatic horizontal control system and fluid pressure type automatic horizontal control system.The manual leveling system mainly adopts range estimation and manual mode to carry out roughly leveling, or adopts other supplementary means to carry out the secondary adjustment, and the leveling time is long, and precision is low, and distortion is big, and repeatability is big, and stability is not high; The electromechanical automatic horizontal control system adopts the topworks of ball screw as leveling more; And be used in combination speed reduction unit, photoelectric encoder, servomotor etc. and form a supporting legs support; But the load-bearing capacity of ball screw is not strong; The driving force of system is less, therefore is not suitable for heavy mobile vehicle, only is applicable to the mobile vehicle that load is lighter; The fluid pressure type automatic horizontal control system mainly with hydraulic cylinder as topworks, adopt hydraulic-driven, driving force is big, load capacity is strong, but the speed displacement of its hydraulic cylinder feedback relative complex realizes that control automatically is difficult.
Summary of the invention
It is big to the purpose of this invention is to provide a kind of driving force, and load capacity is strong, and the leveling time is short, be out of shape for a short time, and repeatability is little, stable high car launcher job platform levelling device.
The objective of the invention is to realize: a kind of car launcher job platform levelling device through following technical scheme; Comprise main frame, ECU, Ultronics control system, preceding left branch leg oil cylinder, preceding right support oil cylinder, back left branch leg oil cylinder, the right support oil cylinder in back; The degree of tilt pick-up unit; Said main frame is connected with ECU, Ultronics control system respectively through data line; Said Ultronics control system is connected with ECU through data line; Said Ultronics control system is connected with preceding left branch leg oil cylinder, preceding right support oil cylinder, back left branch leg oil cylinder, the right support oil cylinder in back respectively through oil circuit; On left branch leg oil cylinder, preceding right support oil cylinder, back left branch leg oil cylinder, the right support oil cylinder inwall in back the pressure transducer (not shown in figure 1) is housed respectively before said; All pressure transducers are respectively through the signal wire (not shown in figure 1) that is connected with ECU; Said tilt detecting device is fixed on the job platform through screw rod; Be provided with the cruciform mercury cell in the said degree of tilt pick-up unit; Said mercury cell center is provided with pit; Mercury is housed in the pit; Be equipped with respectively and preceding left branch leg oil cylinder, preceding right support oil cylinder, back left branch leg oil cylinder, the back corresponding pressure transducer of right support oil cylinder
, pressure transducer
, pressure transducer
and pressure transducer
said mercury cell end, and said pressure transducer
, pressure transducer
, pressure transducer
He pressure transducer
are connected Yu ECU through signal wire respectively.
Said main frame is a microcomputer.
Said ECU is an electronic control unit, claims " car running computer ", " vehicle-mounted computer " etc. again.Say it is the automobile microcomputerized controller from purposes at present, also be the automobile single-chip microcomputer.It is the same with common single-chip microcomputer, is made up of large scale integrated circuits such as microprocessor (CPU), storer (ROM, RAM), input/output interface (I/O), analog to digital converter (A/D) and shaping, drivings.The function of ECU is to carry out computing, processing, judgement according to the information that the program of its internal memory and data are taken into account various sensors inputs to air mass flow, output order then, and the electric impulse signal that certain width is provided to fuel injector is with the control distributive value.ECU is made up of microcomputer, input, output and control circuit etc.
The Ultronics control system is a hydraulic control system, and in its unique double spool control technology, every plate valve has two spools to its key at multiple directional control valve; Be equivalent to a three-position four-way valve is become the combination of two 3-position-3-way valves, two spools both can be controlled separately, also can be carried out to control according to steering logic; And two actuator ports all have pressure transducer; Each spool is position sensor all, can control the pressure or the flow of two-way hydraulic oil respectively through the closed-loop control to transducing signal, has very high control accuracy; Multiple directional control valve can obtain various controlling schemes through different combinations, to satisfy the needs of system.
The present invention mainly realizes the leveling process through the variation of measuring mercury gravity, and this system adopts hydraulic-driven, and driving force is big, and load capacity is strong, can realize automatic leveling process preferably.
Description of drawings
Fig. 1 is an embodiment of the invention structured flowchart;
Fig. 2 is a degree of tilt pick-up unit structural drawing shown in Figure 1.
Embodiment
Below in conjunction with accompanying drawing and embodiment the present invention is described further.
With reference to accompanying drawing; Present embodiment comprises main frame 2, ECU3, Ultronics control system 1, preceding left branch leg oil cylinder 4, preceding right support oil cylinder 5, back left branch leg oil cylinder 6, the right support oil cylinder 7 in back; Also be provided with a degree of tilt pick-up unit; Said main frame 2 is connected with ECU3, Ultronics control system 1 respectively through data line; Said Ultronics control system 1 is connected with ECU3 through data line; Said Ultronics control system 1 is connected with preceding left branch leg oil cylinder 4, preceding right support oil cylinder 5, back left branch leg oil cylinder 6, the right support oil cylinder 7 in back respectively through oil circuit; On left branch leg oil cylinder 4, preceding right support oil cylinder 5, back left branch leg oil cylinder 6, right support oil cylinder 7 inwalls in back the pressure transducer (not shown in figure 1) is housed respectively before said; All pressure transducers are respectively through the signal wire (not shown in figure 1) that is connected with ECU3; Said degree of tilt pick-up unit 10 is fixed on the job platform 16 through screw rod 15; Be provided with cruciform mercury cell 8 in the said degree of tilt pick-up unit 10; Said mercury cell 8 centers are provided with pit 9; In the pit 9 mercury is housed; Be equipped with respectively and preceding left branch leg oil cylinder 4, preceding right support oil cylinder 5, back left branch leg oil cylinder 6, the right support oil cylinder 7 corresponding pressure transducers in back
11, pressure transducer
12, pressure transducer
13 and pressure transducer
14 said mercury cell 8 ends, and said pressure transducer
11, pressure transducer
12, pressure transducer
13 He pressure transducer
14 are connected Yu ECU3 through signal wire respectively.
During work; If job platform 16 is in heeling condition, then the liquid mercury in the mercury cell 8 center pits 9 will flow to lower mercury cell 8 ends, because the gravity of mercury self; Can make the pressure transducer pressure of this end become big; Pressure signal passes to ECU3 through signal wire and converts digital signal to and be presented on the operation panel, and the staff sends the instruction of job platform being carried out leveling through main frame 2 to Ultronics control system 1, left branch leg oil cylinder 4 before Ultronics control system 1 drives, preceding right support oil cylinder 5, the right support oil cylinder 7 of back left branch leg oil cylinder 6 or back; Make the big corresponding oil cylinder piston of pressure stretch out a segment length; Make the liquid mercury of this end slowly flow to middle pit, equal pressure shows that illustrative system had been in horizontality when numerical value was tending towards the horizontal pressure force displayed value.Generally less pressure display value is not adjusted, because the withdrawal of oil cylinder supporting leg might make tire land, this is not fill to be permitted.
Claims (1)
1. car launcher job platform levelling device; Comprise main frame, ECU, Ultronics control system, preceding left branch leg oil cylinder, preceding right support oil cylinder, back left branch leg oil cylinder, the right support oil cylinder in back; It is characterized in that; Also be provided with a degree of tilt pick-up unit; Said main frame is connected with ECU, Ultronics control system respectively through data line; Said Ultronics control system is connected with ECU through data line; Said Ultronics control system is connected with preceding left branch leg oil cylinder, preceding right support oil cylinder, back left branch leg oil cylinder, the right support oil cylinder in back respectively through oil circuit; On left branch leg oil cylinder, preceding right support oil cylinder, back left branch leg oil cylinder, the right support oil cylinder inwall in back pressure transducer is housed respectively before said; All pressure transducers are connected with ECU through signal wire respectively; Said degree of tilt pick-up unit is fixed on the job platform through screw rod; Be provided with the cruciform mercury cell in the said degree of tilt pick-up unit; Said mercury cell center is provided with pit; Mercury is housed in the pit; Be equipped with respectively and preceding left branch leg oil cylinder, preceding right support oil cylinder, back left branch leg oil cylinder, the back corresponding pressure transducer of right support oil cylinder
, pressure transducer
, pressure transducer
and pressure transducer
said mercury cell end, and said pressure transducer
, pressure transducer
, pressure transducer
He pressure transducer
are connected Yu ECU through signal wire respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110139875.6A CN102331791B (en) | 2011-05-27 | 2011-05-27 | Leveling device for work platform of launch vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110139875.6A CN102331791B (en) | 2011-05-27 | 2011-05-27 | Leveling device for work platform of launch vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102331791A true CN102331791A (en) | 2012-01-25 |
| CN102331791B CN102331791B (en) | 2014-02-12 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201110139875.6A Expired - Fee Related CN102331791B (en) | 2011-05-27 | 2011-05-27 | Leveling device for work platform of launch vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102331791B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106125600A (en) * | 2016-06-29 | 2016-11-16 | 贵州航天天马机电科技有限公司 | The quickly fixed high leveling of a kind of transmitting station and empty lower limb automatic detection and control system |
| CN107744840A (en) * | 2017-11-02 | 2018-03-02 | 浙江大学 | A kind of adaptive damping experiment porch of boat-carrying and its control method |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2134992Y (en) * | 1992-09-17 | 1993-06-02 | 北京经济学院 | Automatic leveling device of crane |
| JP2001153651A (en) * | 1999-11-25 | 2001-06-08 | Tokio Tanaka | Level |
| US6305163B1 (en) * | 1998-05-28 | 2001-10-23 | Plustech Oy | Method for adjusting supply pressure |
| CN101391599A (en) * | 2008-10-30 | 2009-03-25 | 三一重工股份有限公司 | Method for leveling leg and automatic leveling apparatus by using said method |
| CN201463884U (en) * | 2009-07-15 | 2010-05-12 | 包顶峰 | Piezoelectric type electronic gradienter |
| CN201697627U (en) * | 2010-05-18 | 2011-01-05 | 西安交通大学 | Level meter for quickly measuring inclined angle of object |
| CN101995885A (en) * | 2009-08-18 | 2011-03-30 | 上海派芬自动控制技术有限公司 | Chassis leveling system and method |
| CN202153316U (en) * | 2011-05-27 | 2012-02-29 | 陈海波 | Launch vehicle work platform leveling device |
-
2011
- 2011-05-27 CN CN201110139875.6A patent/CN102331791B/en not_active Expired - Fee Related
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2134992Y (en) * | 1992-09-17 | 1993-06-02 | 北京经济学院 | Automatic leveling device of crane |
| US6305163B1 (en) * | 1998-05-28 | 2001-10-23 | Plustech Oy | Method for adjusting supply pressure |
| JP2001153651A (en) * | 1999-11-25 | 2001-06-08 | Tokio Tanaka | Level |
| CN101391599A (en) * | 2008-10-30 | 2009-03-25 | 三一重工股份有限公司 | Method for leveling leg and automatic leveling apparatus by using said method |
| CN201463884U (en) * | 2009-07-15 | 2010-05-12 | 包顶峰 | Piezoelectric type electronic gradienter |
| CN101995885A (en) * | 2009-08-18 | 2011-03-30 | 上海派芬自动控制技术有限公司 | Chassis leveling system and method |
| CN201697627U (en) * | 2010-05-18 | 2011-01-05 | 西安交通大学 | Level meter for quickly measuring inclined angle of object |
| CN202153316U (en) * | 2011-05-27 | 2012-02-29 | 陈海波 | Launch vehicle work platform leveling device |
Non-Patent Citations (1)
| Title |
|---|
| 李建军: "某火箭炮发射装置平台自动调平系统设计与研究", 《中国优秀硕士学位论文全文数据库，工程科技II辑》 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106125600A (en) * | 2016-06-29 | 2016-11-16 | 贵州航天天马机电科技有限公司 | The quickly fixed high leveling of a kind of transmitting station and empty lower limb automatic detection and control system |
| CN107744840A (en) * | 2017-11-02 | 2018-03-02 | 浙江大学 | A kind of adaptive damping experiment porch of boat-carrying and its control method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102331791B (en) | 2014-02-12 |
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Owner name: KUNSHAN AEROSPACE INTELLIGENT TECHNOLOGY CO., LTD. Free format text: FORMER OWNER: CHEN HAIBO Effective date: 20120601 |
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Effective date of registration: 20120601 Address after: High tech Zone Kunshan Dengyun road Suzhou 215312 Jiangsu province No. 268 Applicant after: Kunshan Aerospace Intelligent Technology Co., Ltd. Address before: 410100, two romantic street, 325 Xingsha Avenue, Changsha County, Hunan, Changsha, 39 Applicant before: Chen Haibo |
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