CN102529907A - Method and system for automatic table supporting leg leveling control, and leveling equipment with system for automatic table supporting leg leveling control - Google Patents

Method and system for automatic table supporting leg leveling control, and leveling equipment with system for automatic table supporting leg leveling control Download PDF

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Publication number
CN102529907A
CN102529907A CN2011100959132A CN201110095913A CN102529907A CN 102529907 A CN102529907 A CN 102529907A CN 2011100959132 A CN2011100959132 A CN 2011100959132A CN 201110095913 A CN201110095913 A CN 201110095913A CN 102529907 A CN102529907 A CN 102529907A
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China
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axle
supporting leg
leveling
angle
platform
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CN2011100959132A
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Chinese (zh)
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CN102529907B (en
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熊忆
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长沙中联消防机械有限公司
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Abstract

The invention provides a method and a system for automatic table supporting leg leveling control, and leveling equipment with the system for automatic table supporting leg leveling control. Inclination angles formed by a target plane and two coordinate axes of a parallelogram which is formed by intersection points of supporting legs with a table plane are detected, and retracting speed of the supporting legs is controlled during leveling according to the size of the inclination angles, so that stability and accuracy of the whole leveling process can be guaranteed while quickness in leveling is guaranteed, and table leveling efficiency is greatly improved.

Description

Platform legs automatic leveling control method and system and level device with this system

Technical field

The level device that the present invention relates to platform legs automatic leveling control method, control system and have this control system.

Background technology

In current engineering machinery field, hydraulic efficiency pressure system is widely used in the position and the angle of adjustment machinery.For need be at the work construction machinery and equipment that line stabilization supports that advances such as the platform truck of ascending a height etc.; Hydraulic ram is to be used for supported mechanical and adjust the general selection of position; Before the platform truck of ascending a height carries out work; Prop up hydraulic ram earlier, the leveling chassis can rise platform subsequently and operate then.Carry out work under the stability condition if construction machinery and equipment such as the platform truck of ascending a height can fast speed be entered into, supporting leg leveling process is very important link.

At present; When the platform that is similar to chassis is carried out leveling; Mainly contain two kinds of methods of supporting leg being carried out leveling: a kind of is manual leveling, and the people comes to reconcile successively the flexible of four supporting legs through detect by an unaided eye level indicator or the horizontal situation of observation vehicle body, and this not only requires very high to the operator; And operating process is long, and the leveling effect is also bad; Another kind is automatic leveling; In automatic leveling; Set a benchmark supporting leg; Leveling is carried out at angle of inclination through adjusting between other three supporting legs and the benchmark supporting leg, but the common solenoid directional control valve that adopts is controlled the flexible of supporting leg in the existing automatic leveling, and its leveling process is inadequately steadily with accurate.

Summary of the invention

The purpose of this invention is to provide a kind of platform legs automatic leveling control method and system that can solve problems such as long and leveling of the leveling time that exists in the existing method for automatically leveling is steady inadequately, accurate, and the level device with said control system.

In order to realize this goal of the invention; The invention provides a kind of platform legs automatic leveling control method; Wherein said platform is connected with four supporting legs that are parallel to each other; The intersection point of these four supporting legs and platform plane constitutes four summits of a parallelogram, and this method comprises: two preset coordinates axle X axles on detection platform plane and Y axle are respectively with respect to the angle of inclination A of objective plane xAnd A y, wherein said two preset coordinates axle X axles and Y axle are parallel to two groups of opposite side of the parallelogram that intersection point constituted of said four supporting legs and platform plane, wherein A respectively xAnd A yScope all be more than or equal to-90 the degree and be less than or equal to 90 the degree; According to said angle of inclination A xAnd A yConfirm the stretching speed of each supporting leg; And said each supporting leg is stretched according to determined stretching speed.

The present invention also provides a kind of platform legs automatic levelling control system; Wherein said platform is connected with four supporting legs that are parallel to each other; The intersection point of these four supporting legs and platform plane constitutes four summits of a parallelogram; This control system comprises position-measurement device, is used to measure the position on four summits of said parallelogram; Angle measurement unit, two preset coordinates axle X axles and the Y axle that is used for the detection platform plane are respectively with respect to the angle of inclination A of objective plane xAnd A y, wherein said two preset coordinates axle X axles and Y axle are parallel to two groups of opposite side of the parallelogram that intersection point constituted of said four supporting legs and platform plane, wherein A respectively xAnd A yScope all be more than or equal to-90 the degree and be less than or equal to 90 the degree; Treater is connected to said position-measurement device and said angle measurement unit, and this treater is used for, according to said angle of inclination A xAnd A yConfirm the stretching speed of each supporting leg, and stretch according to said each supporting leg of determined stretching speed control.

The present invention also provides a kind of platform leveling equipment, and this equipment comprises: be connected to four telescopic outriggers of said flat-bed, these four telescopic outriggers are parallel to each other, and the intersection point of these four telescopic outriggers and platform plane constitutes four summits of a parallelogram; Be used for controlling respectively four electro-hydraulic proportional valves of the stretching speed of said four telescopic outriggers; The above automatic levelling control system of platform legs that is provided of the present invention; The treater of this control system is connected to said four electro-hydraulic proportional valves; Be used for to said four electro-hydraulic proportional valve outgoing currents, the stretching speed of said four telescopic outriggers regulated to control said four electro-hydraulic proportional valves.

In platform legs automatic leveling control method provided by the present invention and the control system two coordinate axlees of the formed parallelogram of intersection point of supporting leg and platform plane and the angle of inclination of objective plane are detected; And when leveling, control the stretching speed of supporting leg according to the size at this angle of inclination; Thereby when guaranteeing fast leveling, can also guarantee the steady degree and the accuracy of whole leveling process, improve the efficient of platform leveling greatly.

Other features and advantages of the present invention will partly specify in the specific embodiment subsequently.

Description of drawings

Accompanying drawing is to be used to provide further understanding of the present invention, and constitutes the part of specification sheets, is used to explain the present invention with the following specific embodiment, but is not construed as limiting the invention.In the accompanying drawings:

Figure 1A and Figure 1B show a kind of lateral plan and birds-eye view of exemplary platform structure respectively, and this platform has four supporting legs that are used for leveling;

Fig. 2 shows the diagram of circuit according to the supporting leg automatic leveling control method of one embodiment of the present invention;

Fig. 3 shows the block diagram according to the automatic levelling control system of supporting leg of one embodiment of the present invention; And

Fig. 4 shows the structural representation according to the level device of one embodiment of the present invention.

The specific embodiment

Be elaborated below in conjunction with the accompanying drawing specific embodiments of the invention.Should be understood that the specific embodiment described herein only is used for explanation and explains the present invention, is not limited to the present invention.

In Figure 1A and Figure 1B, show a kind of lateral plan and birds-eye view of exemplary platform structure respectively, this platform structure has platform 110 and four supporting legs 120 that are used for leveling 1, 120 2, 120 3, 120 4

As can be seen from the figure, four supporting legs 120 1, 120 2, 120 3, 120 4All have horizontal component and vertical component, wherein horizontal component links to each other with the sidepiece of platform 110, and vertical component then is used to support ground.In one embodiment of the invention, the horizontal component of said supporting leg can be fixed sturcture.Replacedly, the horizontal component of said supporting leg is the structure that can stretch.In another kind of replacement embodiment of the present invention, said supporting leg can only have vertical component, and this vertical component is directly connected to the bottom of platform 110.No matter the distortion of the platform structure that any platform structure or those skilled in the art can expect more than adopting; Constitute four summits of a parallelogram as long as can guarantee said four supporting legs (or vertical component of supporting leg) and four intersection points on the plane at said platform place; And said four supporting legs are parallel to each other (for the supporting leg with horizontal component and vertical component; As long as its vertical component separately is parallel; We think that these four supporting legs are parallel to each other), just can realize various embodiment of the present invention.This parallelogram is preferably rectangle.

Fig. 2 shows the diagram of circuit according to the supporting leg method for automatically leveling of one embodiment of the present invention.

Method among Fig. 2 is applicable to above various suitable platform structure of mentioning and distortion rationally thereof.Specifically, platform should be connected with four supporting legs that are parallel to each other, and the intersection point of these four supporting legs and platform plane constitutes four summits of a parallelogram.Below with reference to Figure 1A and Figure 1B the method among Fig. 2 is described.

When four supporting legs all with stayed surface (such as ground) when contacting, promptly when platform 110 contact to earth part (such as tire) when separating with stayed surface, just can carry out leveling step involved in the present invention.At this moment, four residing states of supporting leg are their initial conditions separately.Replacedly, can be in the part of contacting to earth of platform 110 with after stayed surface separate, further supporting leg is carried out suitable flexiblely, and think that the supporting leg state of said flexible step after accomplishing is initial condition.

Platform involved in the present invention should be the structure (with reference to the platform among Figure 1A 110) of a three-dimensional; It has certain thickness; It is to adjust to and the parallel state of objective plane (such as horizontal surface) for the surface that flat-bed is used for load-bearing or operate that platform is carried out leveling; Zong and be convenient to carry out follow-up operation, be exactly can think the surface platform plane that this is used for load-bearing or operates.

In step 210, two preset coordinates axle X axles on detection platform plane and Y axle are respectively with respect to the angle of inclination A of objective plane xAnd A y

Said two preset coordinates axle X axles and Y axle are parallel to two groups of opposite side of the parallelogram that intersection point constituted of said four supporting legs (extended line that comprises supporting leg) and platform plane respectively.With reference to Figure 1A and Figure 1B, the above-mentioned parallelogram (not shown) among the figure is by four supporting legs 120 1, 120 2, 120 3, 120 4The formed parallelogram of intersection point on plane at upper surface place of extended line and platform 110 of vertical component, X axle and Y axle are parallel to two groups of opposite side of this parallelogram respectively.

In one embodiment of the invention, said angle of inclination A xAnd A yScope all more than or equal to-90 the degree and be less than or equal to 90 the degree.

In step 220, according to said angle of inclination A xAnd A yConfirm the stretching speed of each supporting leg.

In one embodiment of the invention, the speed of four supporting legs is V 0, V x, V yThree component additions or subtract each other resulting algebraic sum correspond respectively to V 0+ V x+ V y, V 0-V x-V y, V 0+ V x-V yAnd V 0-V x+ V ySet the positive dirction of X axle and Y axle, the supporting leg speed that is positioned at X axle and Y axle positive dirction is V 0+ V x+ V y, the supporting leg speed that is positioned at X axle positive dirction, Y axle negative direction is V 0+ V x-V y, the supporting leg speed that is positioned at X axle negative direction, Y axle positive dirction is V 0-V x+ V y, the supporting leg speed that is positioned at X axle negative direction, Y axle negative direction is V 0-V x-V yObliquity sensor detects car body obliqueness A xAnd A yBe greater than 0 or less than 0.Particularly, when the perk of X axle positive dirction vehicle body, A xGreater than 0, when X axle positive dirction is sunk, A xLess than 0; When the perk of Y axle positive dirction vehicle body, A yGreater than 0, when Y axle positive dirction is sunk, A yLess than 0.

In one embodiment of the invention, adopt PID (ratio, integration, differential) control that the stretching speed of supporting leg is regulated, wherein A x' and A y' be controlling quantity, its be respectively angle on target and current angle of inclination poor, i.e. A x'=A The x target-A x, A y'=A The y target-A y(under the perfect condition, A The x targetAnd A The y targetBe 0, promptly platform 110 does not tilt), V xAnd V yBe the output result, specifically, at different moment t, K wherein Px, T Ix, T Dx, K Py, T Iy, T DyBe predetermined leveling coefficient, D xBe the distance between two supporting legs on the limit that is parallel to the X axle of said parallelogram, D yBe the distance between two supporting legs on the limit that is parallel to the Y axle of said parallelogram, V x(t), V y(t), A x' (t) and A y' (t) be respectively the different V of t constantly x, V y, A x' and A yThe function of ' formation, V 0Be given in advance basic speed, the moment t different satisfies V 0>=| V x' (t) |+V y' (t) |.

In step 230, each supporting leg is stretched according to determined stretching speed.

In one embodiment, can whole leveling process be divided into flat two stages of the gentle accurate adjustment of coarse adjustment, the gentle accurate adjustment of coarse adjustment is divided equally and is not carried out said step 210-230.The K in flat stage of coarse adjustment PxAnd K PyRespectively greater than the accurate adjustment K in flat stage PxAnd K PyThereby, when the flat stage of coarse adjustment is accelerated leveling speed, can realize the stable rapidly of leveling in the flat stage of accurate adjustment.Preferably proportional at the parameter and the relevant parameter in flat stage of accurate adjustment in flat stage of coarse adjustment, this ratio is preferably 2.In the gentle accurate adjustment of coarse adjustment is flat,, just can stretch to supporting leg in case confirmed stretching speed based on detected angle of inclination.Along with stretching of supporting leg, change has taken place in the angle of inclination, at this moment should confirm the stretching speed of each supporting leg once more according to the angle of inclination after changing again, and move once more, carries out step 210-230 so repeatedly.

In a kind of preferred implementation, can set the flat stage of the gentle accurate adjustment of coarse adjustment according to the time, be set at the flat stage of coarse adjustment such as the junior one section schedule time (such as 4 seconds) with leveling,, then gets into the leveling time the flat stage of accurate adjustment when exceeding this schedule time.Replacedly, also can set, put down the stage with A such as working as in coarse adjustment according to angular range xAnd A yAbsolute value then get into the flat stage of accurate adjustment when adjusting within certain angle threshold (such as 3 degree, this angle threshold is second angle threshold).

In one embodiment; Can use PD (ratio, differential) control to replace PID control in the flat stage of coarse adjustment, just and be equal to 0 in the formula of PID control.

In accurate adjustment is flat, carry out step 210-230, up to detected angle of inclination A xAnd A yAbsolute value all be less than or equal to till the predetermined angle threshold (such as 0.3 degree, this angle threshold is first angle threshold), this predetermined angle threshold contrast to the angle threshold (i.e. second angle threshold) in flat stage of definite entering accurate adjustment compare littler.

If after flat through the accurate adjustment of the schedule time (such as 11 seconds), the absolute value at detected angle of inclination | A X0| and/or | A Y0| still greater than said predetermined angle threshold, then at least record still greater than said first angle threshold | A X0| and/or | A Y0|, and said four supporting legs are withdrawn into just liftoff state respectively.

According to what write down | A X0| and/or | A Y0| come correspondingly to adjust predetermined leveling COEFFICIENT K with the relation at the flat beginning of accurate adjustment angle of inclination before PxAnd/or K Py, and according to adjusted said predetermined leveling COEFFICIENT K PxAnd/or K PyAgain carry out leveling according to step 210-230.It has been too fast or slow excessively that the speed that above-mentioned two angles relatively can draw this leveling bar supporting leg is compared other supporting legs; Such as: former X axle angle of inclination be on the occasion of; First leveling rear-inclined angle still greater than behind first angle threshold still be on the occasion of, explain that stretching speed is slower on the X axle.By way of example, if at the fixed time, with the angle of inclination A of X axle xBe adjusted into 1 degree from 2 degree of initial condition, so can be when leveling next time with being scheduled to the leveling COEFFICIENT K PxIncrease 0.5 times, can the leveling success when guaranteeing leveling once more as much as possible.

In one embodiment of the invention, said supporting leg adopts hydraulic ram, and comes the stretching speed of modulated pressure supporting leg through electro-hydraulic proportional valve.In this embodiment, the size of current that is input to electro-hydraulic proportional valve through change changes the stretching speed of hydraulic ram.For performance identical supporting leg and electro-hydraulic proportional valve, can think that their electric current is identical with the ratio k of stretching speed.Therefore, through this ratio k, can obtain to be input to the size of current of the electro-hydraulic proportional valve of each supporting leg from determined stretching speed, thereby realize above-mentioned control process.In fact, can think that the output of PID control is exactly said size of current, only the leveling COEFFICIENT K in the PID control formula PxAnd K PyShould change into kK respectively PxAnd kK Py

Fig. 3 shows the block diagram according to the automatic levelling control system 300 of the supporting leg of another embodiment of the invention; Wherein said platform is connected with four supporting legs that are parallel to each other, and the intersection point of these four supporting legs (extended line that comprises supporting leg) and platform plane constitutes four summits of a parallelogram.

As shown in Figure 3, this control system 300 comprises position-measurement device 310, angle measurement unit 320 and the treater 330 that is connected to said position-measurement device 310 and said angle measurement unit 320.

Said position-measurement device 310 is used to measure the position on four summits of said parallelogram.

Two preset coordinates axle X axles and the Y axle that said angle measurement unit 320 is used for the detection platform plane is respectively with respect to the angle of inclination A of objective plane xAnd A y, wherein said two preset coordinates axle X axles and Y axle are parallel to two groups of opposite side of the parallelogram that intersection point constituted of said four supporting legs and platform plane, wherein A respectively xAnd A yScope all be more than or equal to-90 the degree and be less than or equal to 90 the degree.

Said treater 330 receives said angle of inclination A from the position on said four summits of said position-measurement device 310 receptions from said angle measurement unit 320 xAnd A y, said treater 330 is used for according to said angle of inclination A xAnd A yConfirm the stretching speed of each supporting leg, and stretch according to determined each supporting leg of stretching speed control.

Wherein said treater 330 is provided with: the speed of four supporting legs is V 0, V x, V yThree component additions or subtract each other resulting algebraic sum correspond respectively to V 0+ V x+ V y, V 0-V x-V y, V 0+ V x-V yAnd V 0-V x+ V ySet the positive dirction of X axle and Y axle, the supporting leg speed that is positioned at X axle and Y axle positive dirction is V 0+ V x+ V y, the supporting leg speed that is positioned at X axle positive dirction, Y axle negative direction is V 0+ V x-V y, the supporting leg speed that is positioned at X axle negative direction, Y axle positive dirction is V 0-V x+ V y, the supporting leg speed that is positioned at X axle negative direction, Y axle negative direction is V 0-V x-V yObliquity sensor detects car body obliqueness A xAnd A yBe greater than 0 or less than 0.Particularly, when the perk of X axle positive dirction vehicle body, A xGreater than 0, when X axle positive dirction is sunk, A xLess than 0; When the perk of Y axle positive dirction vehicle body, A yGreater than 0, when Y axle positive dirction is sunk, A yLess than 0.

In one embodiment of the invention, said treater 330 is configured to adopt the stretching speed of PID control and regulation supporting leg, wherein A x' and A y' be controlling quantity, its be respectively angle on target and current angle of inclination poor, i.e. A x'=A The x target-A x, A y'=A The y target-A y(under the perfect condition, A The x targetAnd A The y targetBe 0, promptly platform does not tilt), V xAnd V yBe the output result, specifically, at different moment t, K wherein Px, T Ix, T Dx, K Py, T Iy, T DyBe predetermined leveling coefficient, D xBe the distance between two supporting legs on the limit that is parallel to the X axle of said parallelogram, D yBe the distance between two supporting legs on the limit that is parallel to the Y axle of said parallelogram, V x(t), V y(t), A x' (t) and A y' (t) be respectively the different V of t constantly x, V y, A x' and A yThe function of ' formation, V 0Be given in advance basic speed, the moment t different satisfies V 0>=| V x' (t) |+| V y' (t) |.

In a kind of preferably embodiment of the present invention, said treater 330 is divided into flat two stages of the gentle accurate adjustment of coarse adjustment with whole leveling process, and the gentle accurate adjustment of coarse adjustment is divided equally and do not carried out said step 210-230.The K in flat stage of coarse adjustment PxAnd K PyRespectively greater than the accurate adjustment K in flat stage PxAnd K PyThereby, when the flat stage of coarse adjustment is accelerated leveling speed, can realize the stable rapidly of leveling in the flat stage of accurate adjustment.Preferably proportional at the parameter and the relevant parameter in flat stage of accurate adjustment in flat stage of coarse adjustment, this ratio is preferably 2.In the flat stage of the gentle accurate adjustment of coarse adjustment, in case confirmed stretching speed according to detected angle of inclination, said treater 330 just can stretch to supporting leg.Along with stretching of supporting leg, change has taken place in the angle of inclination, at this moment should confirm the stretching speed of each supporting leg once more according to the angle of inclination after changing again, and move once more.

In a kind of preferred implementation, can set the flat stage of the gentle accurate adjustment of coarse adjustment according to the time, be set at the flat stage of coarse adjustment such as the junior one section schedule time (such as 4 seconds) with leveling,, then gets into the leveling time the flat stage of accurate adjustment when exceeding this schedule time.Replacedly, also can set, put down the stage with A such as working as in coarse adjustment according to angular range xAnd A yAbsolute value then get into the flat stage of accurate adjustment when adjusting within certain angle threshold (such as 3 degree, this angle threshold is second angle threshold).

In one embodiment; Said treater 330 is configured to use PD (ratio, differential) control to replace PID control in the flat stage of coarse adjustment, and just formula neutralization in PID control is equal to 0.

In the flat stage of accurate adjustment, said treater 330 carries out detection angles repeatedly, confirms the step of stretching speed and telescopic outrigger, up to detected angle of inclination A xAnd A yAbsolute value all be less than or equal to till the predetermined angle threshold (such as 0.3 degree, this angle threshold is first angle threshold), this predetermined angle threshold contrast to the angle threshold in flat stage of definite entering accurate adjustment compare littler.

If after flat through the accurate adjustment of the schedule time (such as 11 seconds), the absolute value at detected angle of inclination | A X0| and/or | A Y0| still greater than said predetermined angle threshold, then at least record still greater than said first angle threshold | A X0| and/or | A Y0|, and said four supporting legs are withdrawn into just liftoff state respectively.

Said treater 330 is according to being write down | A X0| and/or | A Y0| come correspondingly to adjust predetermined leveling COEFFICIENT K with the relation at the flat beginning of accurate adjustment angle of inclination before PxAnd/or K Py, and according to adjusted said predetermined leveling COEFFICIENT K PxAnd/or K PyAgain carry out leveling.It has been too fast or slow excessively that the speed that above-mentioned two angles relatively can draw this leveling bar supporting leg is compared other supporting legs; Such as: former X axle angle of inclination be on the occasion of; First leveling rear-inclined angle still greater than behind first angle threshold still be on the occasion of, explain that stretching speed is slower on the X axle.

Fig. 4 shows the structural representation according to the example platforms level device of one embodiment of the present invention.

As shown in Figure 4, this platform leveling equipment comprises four telescopic outriggers 410 1, 410 2, 410 3With 410 4(owing to the reason of view has only marked 410 1With 410 2, down with), be connected respectively to four electro-hydraulic proportional valves 420 of said four telescopic outriggers 1, 420 2, 420 3With 420 4, the automatic levelling control system 300 of platform legs.

Said four telescopic outriggers are connected to said platform, and these four telescopic outriggers are parallel to each other, and the intersection point of itself and platform plane constitutes four summits of a parallelogram.

The structure of the automatic levelling control system 300 of said platform legs is as shown in Figure 3, and the position-measurement device of this control system 300 310 and angle measurement unit 320 are measured the position and the said angle of inclination A on four summits of the parallelogram that the intersection point of said four supporting legs (extended line that comprises supporting leg) and platform plane constitutes respectively xOr A y(among Fig. 4 for easy, not shown annexation), the treater 330 in the control system 300 is connected to said four electro-hydraulic proportional valves.

In the level device of Fig. 4, said supporting leg adopts hydraulic ram, and control system is regulated the stretching speed of said four telescopic outriggers to control said four electro-hydraulic proportional valves to said four electro-hydraulic proportional valve received currents.In this embodiment, the size of current that is input to electro-hydraulic proportional valve through change changes the stretching speed of hydraulic ram.For performance identical supporting leg and electro-hydraulic proportional valve, can think that their electric current is identical with the ratio k of stretching speed.Therefore, through this ratio k, can obtain to be input to the size of current of the electro-hydraulic proportional valve of each supporting leg from determined stretching speed, thereby realize above-mentioned control process.In fact, can think that the output of PID control of said treater 330 is not a stretching speed, but said size of current, only the leveling COEFFICIENT K in the PID control formula PxAnd K PyShould change into kK respectively PxAnd kK Py

In platform legs automatic leveling control method provided by the present invention and the control system two coordinate axlees of the formed parallelogram of intersection point of supporting leg and platform plane and the angle of inclination of objective plane are detected; And when leveling, control the stretching speed of supporting leg according to the size at this angle of inclination; Thereby when guaranteeing fast leveling, can also guarantee the steady degree and the accuracy of whole leveling process, improve the efficient of platform leveling greatly.

More than combine accompanying drawing to describe preferred implementation of the present invention in detail; But; The present invention is not limited to the detail in the above-mentioned embodiment; In technical conceive scope of the present invention, can carry out multiple simple variant to technical scheme of the present invention, these simple variant all belong to protection scope of the present invention.For example, related notion " platform " among the present invention can be expanded and is car chassis, bearing etc., can also be expanded to ascending a height platform truck, carries out leveling through the place, chassis at the platform truck of ascending a height and operates the leveling that realizes high-altitude operation platform.

In addition, also can carry out combination in any between the various embodiment of the present invention, as long as it is without prejudice to thought of the present invention, it should be regarded as the disclosed content of the present invention equally.

Claims (19)

1. platform legs automatic leveling control method; Wherein said platform is connected with four supporting legs that are parallel to each other; The intersection point of these four supporting legs and platform plane constitutes four summits of a parallelogram, and this method comprises, four supporting legs all with condition that ground contacts under:
S1) two of the detection platform plane preset coordinates axle X axles and Y axle are respectively with respect to the angle of inclination A of objective plane xAnd A y, wherein said two preset coordinates axle X axles and Y axle are parallel to two groups of opposite side of the parallelogram that intersection point constituted of said four supporting legs and platform plane, wherein A respectively xAnd A yScope all be more than or equal to-90 the degree and be less than or equal to 90 the degree;
S2) according to said A xAnd A yConfirm the stretching speed of each supporting leg; And
S3) according to determined stretching speed each supporting leg is stretched.
2. according to the method described in the claim 1, this method also comprises:
Carry out one or many step S1-S3 repeatedly, detected A in step S1 xAnd A yAbsolute value | A X0| with | A Y0| all be less than or equal to till first angle threshold.
3. method according to claim 2, the speed of wherein said four supporting legs are V 0, V x, V yThree component additions or subtract each other resulting algebraic sum correspond respectively to V 0+ V x+ V y, V 0-V x-V y, V 0+ V x-V yAnd V 0-V x+ V y, wherein:
At different moment t, K wherein Px, T Ix, T Dx, K Py, T Iy, T DyBe predetermined leveling coefficient, D xBe the distance between two supporting legs on the limit that is parallel to the X axle of said parallelogram, D yBe the distance between two supporting legs on the limit that is parallel to the Y axle of said parallelogram, A x' and A y' be respectively the angle on target and the current angle of inclination A of X axle and Y direction xAnd A yPoor, V x(t), V y(t), A x' (t) and A y' (t) be respectively the different V of t constantly x, V y, A x' and A y' formed function, V 0Be given in advance basic speed, the moment t different satisfies V 0>=| V x' (t) |+| V y' (t) |.
4. method according to claim 3, wherein, set the positive dirction of X axle and Y axle:
When the perk of X axle positive dirction vehicle body, A xGreater than 0, when X axle positive dirction is sunk, A xLess than 0; And
When the perk of Y axle positive dirction vehicle body, A yGreater than 0, when Y axle positive dirction is sunk, A yLess than 0.
5. method according to claim 4, the supporting leg speed that wherein is positioned at X axle and Y axle positive dirction is V 0+ V x+ V y, the supporting leg speed that is positioned at X axle positive dirction, Y axle negative direction is V 0+ V x-V y, the supporting leg speed that is positioned at X axle negative direction, Y axle positive dirction is V 0-V x+ V y, the supporting leg speed that is positioned at X axle negative direction, Y axle negative direction is V 0-V x-V y
6. according to the described method of each claim among the claim 2-5, wherein said leveling method comprises that the gentle accurate adjustment of coarse adjustment puts down two stages, and the gentle accurate adjustment of coarse adjustment is divided equally and do not carried out said step S1, S2 and S3, and the K in flat stage of coarse adjustment PxAnd K PyRespectively greater than the accurate adjustment K in flat stage PxAnd K Py
7. method according to claim 6 wherein is introduced into the flat stage of coarse adjustment, and when putting down the stage with A in coarse adjustment xAnd A yAbsolute value when adjusting within second angle threshold or flat stage of coarse adjustment when surpassing first Preset Time, get into the flat stage of accurate adjustment.
8. method according to claim 7, wherein said first angle threshold is less than said second angle threshold.
9. method according to claim 7, wherein said first Preset Time is 4 seconds.
10. method according to claim 9; Wherein in the flat stage of coarse adjustment, and is equal to 0.
11. method according to claim 6, this method also comprises:
In the flat stage of said accurate adjustment, if carry out repeatedly one or many step S1-S3 through second Preset Time after detected absolute value | A X0| and/or | A Y0| still greater than said first angle threshold, then at least record still greater than said first angle threshold | A X0| and/or | A Y0|, and said four supporting legs are withdrawn into the just liftoff state of supporting leg respectively, otherwise finish leveling.
12. method according to claim 11, wherein said second Preset Time is 11 seconds.
13. method according to claim 11, this method also comprises:
According to what write down | A X0| and/or | A Y0| come correspondingly to adjust predetermined leveling COEFFICIENT K with the flat relation that begins preceding angle of inclination of said accurate adjustment PxAnd/or K Py, and according to adjusted said predetermined leveling COEFFICIENT K PxAnd/or K PyAgain carry out leveling according to step S1-S3.
14. method according to claim 1, the size of current that is input to each supporting leg through control is controlled the stretching speed of each supporting leg.
15. the automatic levelling control system of platform legs, wherein said platform is connected with four supporting legs that are parallel to each other, and the intersection point of these four supporting legs and platform plane constitutes four summits of a parallelogram, and this control system comprises:
Position-measurement device is used to measure the position on four summits of said parallelogram;
Angle measurement unit, two preset coordinates axle X axles and the Y axle that is used for the detection platform plane are respectively with respect to the angle of inclination A of objective plane xAnd A y, wherein said two preset coordinates axle X axles and Y axle are parallel to two groups of opposite side of the parallelogram that intersection point constituted of said four supporting legs and platform plane, wherein A respectively xAnd A yScope all be more than or equal to-90 the degree and be less than or equal to 90 the degree;
Treater is connected to said position-measurement device and said angle measurement unit, and this treater is used for, according to said A xAnd A yConfirm the stretching speed of each supporting leg, and stretch according to determined each supporting leg of stretching speed control.
16. system according to claim 15, wherein said treater also is used for:
The speed of said four supporting legs is V 0, V x, V yThree component additions or subtract each other resulting algebraic sum correspond respectively to V 0+ V x+ V y, V 0-V x-V y, V 0+ V x-V yAnd V 0-V x+ V y, wherein:
At different moment t, K wherein Px, T Ix, T Dx, K Py, T Iy, T DyBe predetermined leveling coefficient, D xBe the distance between two supporting legs on the limit that is parallel to the X axle of said parallelogram, D yBe the distance between two supporting legs on the limit that is parallel to the Y axle of said parallelogram, A x' and A y' be respectively the angle on target and the current angle of inclination A of X axle and Y direction xAnd A yPoor, V x(t), V y(t), A x' (t) and A y' (t) be respectively the different V of t constantly x, V y, A x' and A y' formed function, V 0Be given in advance basic speed, the moment t different satisfies V 0>=| V x' (t) |+| V y' (t) |.
17. system according to claim 16, wherein:
Set the positive dirction of X axle and Y axle, and, when the perk of X axle positive dirction vehicle body, A xGreater than 0, when X axle positive dirction is sunk, A xLess than 0, and when the perk of Y axle positive dirction vehicle body, A yGreater than 0, when Y axle positive dirction is sunk, A yLess than 0; And
The supporting leg speed that is positioned at X axle and Y axle positive dirction is V 0+ V x+ V y, the supporting leg speed that is positioned at X axle positive dirction, Y axle negative direction is V 0+ V x-V y, the supporting leg speed that is positioned at X axle negative direction, Y axle positive dirction is V 0-V x+ V y, the supporting leg speed that is positioned at X axle negative direction, Y axle negative direction is V 0-V x-V y
18. system according to claim 17, wherein said leveling is divided into flat two stages of the gentle accurate adjustment of coarse adjustment, and the gentle accurate adjustment of coarse adjustment is divided equally and do not carried out said step S1, S2 and S3, and the K in flat stage of coarse adjustment PxAnd K PyRespectively greater than the accurate adjustment K in flat stage PxAnd K Py, wherein be introduced into the flat stage of coarse adjustment, and when putting down the stage with A in coarse adjustment xAnd A yAbsolute value when adjusting within second angle threshold or flat stage of coarse adjustment when surpassing first Preset Time, get into the flat stage of accurate adjustment; In the flat stage of said accurate adjustment, if carry out repeatedly one or many step S1-S3 through second Preset Time after detected absolute value | A X0| and/or | A Y0| still greater than said first angle threshold, then at least record still greater than said first angle threshold | A X0| and/or | A Y0|, and said four supporting legs are withdrawn into the just liftoff state of supporting leg respectively, and the predetermined leveling COEFFICIENT K of adjustment PxAnd/or K PyAgain leveling.
19. a platform leveling equipment, this equipment comprises:
Be connected to four telescopic outriggers of said flat-bed, these four telescopic outriggers are parallel to each other, and the intersection point of these four telescopic outriggers and platform plane constitutes four summits of a parallelogram;
Be used for controlling respectively four electro-hydraulic proportional valves of the stretching speed of said four telescopic outriggers;
According to the automatic levelling control system of the described platform legs of each claim among the claim 16-19; The treater of this control system is connected to said four electro-hydraulic proportional valves; Be used for to said four electro-hydraulic proportional valve outgoing currents, the stretching speed of said four telescopic outriggers regulated to control said four electro-hydraulic proportional valves.
CN201110095913.2A 2011-04-15 2011-04-15 Method and system for automatic table supporting leg leveling control, and leveling equipment with system for automatic table supporting leg leveling control CN102529907B (en)

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