CN103362885A - Multi-platform multi-cylinder collaborative automatic leveling method - Google Patents
Multi-platform multi-cylinder collaborative automatic leveling method Download PDFInfo
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- CN103362885A CN103362885A CN2013103121501A CN201310312150A CN103362885A CN 103362885 A CN103362885 A CN 103362885A CN 2013103121501 A CN2013103121501 A CN 2013103121501A CN 201310312150 A CN201310312150 A CN 201310312150A CN 103362885 A CN103362885 A CN 103362885A
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Abstract
The invention belongs to the technical field of hydraulic leveling and particularly relates to a multi-platform multi-cylinder collaborative automatic leveling method. A used leveling device is characterized in that four inverted hydraulic cylinders are installed on each platform, the hydraulic cylinders support a balance beam, and an object to be leveled is placed on the balance beam through hinging; the leveling of each platform is controlled by a set of control system, and data transmission and sharing among the control systems of the platforms are realized through buses; double-axle inclination angle sensors are installed on the platforms and are used for the self-leveling of the platforms, the double-axle or single-axle inclination angle sensors are selected on the object to be leveled according to leveling requirements and are used for detecting the inclination angle of the object to be leveled in real time, and a magnetostrictive sensor is installed in each leveling oil cylinder and is used for detecting the travel of the oil cylinder. The leveling method comprises two steps. The multi-platform multi-cylinder collaborative automatic leveling method solves the problem that the platforms are uneven due to foundation or load change and the like during horizontal movement or horizontal rotation of large-load large-span platforms.
Description
Technical field
The invention belongs to the hydraulic leveling technical field, specifically the collaborative method for automatically leveling of a kind of multi-platform multi-cylinder.
Background technique
Among the equipment working procedure such as engineering machinery, its stability is the key factor that is related to construction quality and safety, and the levelness on chassis has the relation of interwoveness with the working stability of engineering machinery, if the chassis is regulated uneven, the accident such as then be easy to cause tumbling occurs, and causes the person and property loss.
In the engineer equipment application process, the hydraulic leveling technology is widely used, and it not only has vital impact to construction quality good, also with working security very important relation is arranged simultaneously.Mostly traditional hydraulic pressure method for automatically leveling is the improvement to manual leveling method, and usage level instrument or dip sensor gather a certain platform inclination data, calculates each cylinder height difference, makes each oil hydraulic cylinder carry out leveling to a certain benchmark.This leveling method can only carry out the leveling of single little load carrying platform, when platform span and carrying capacity are larger, when needed hydraulic power unit and support cylinder quantity are more, uses traditional method just can't realize the leveling requirement of large-tonnage wide span platform.
Summary of the invention
The objective of the invention is in order to solve heavy load, the platform of longspan is moving horizontally or is horizontally rotating the uneven problem of the platform that causes owing to reasons such as ground or load variations in the process, discloses the collaborative method for automatically leveling of a kind of multi-platform multi-cylinder.
The technological scheme that the present invention provides is:
A kind of multi-platform multi-cylinder is worked in coordination with method for automatically leveling, it is characterized in that, the levelling device that adopts is: install 4 on the single platform and be inverted oil hydraulic cylinder, oil hydraulic cylinder balance support beam is placed on the equalizer bar by hinged by the leveling object.
Each platform is by a cover control system control leveling, carries out the transmission of data by bus between each platform control system and shares.
The self-level(l)ing that double-shaft tilt angle sensor is used for platform is installed on the platform, selected twin shaft or single shaft dip sensor to be used for detecting by leveling object angle of inclination in real time by the leveling requirement on the leveling object, magnetostrictive senser is installed for detection of oil cylinder stroke in each leveling cyclinder.
Each hydraulic jack is controlled separately by a proportional direction valve.
Controller detects in real time twin shaft or single shaft dip sensor measured value carries out computing, and the power amplifier module that outputs control signals to proportional direction valve makes the oil hydraulic cylinder action.
Leveling method divides two steps:
The first step is the self-level(l)ing of single platform in balance beam.Double-shaft tilt angle sensor on the platform detect X1 to Y1 to the angle of inclination, physical dimension conversion by equalizer bar obtains four height difference between the oil hydraulic cylinder, judge that according to the complete machine true dip direction selecting one of four cylinders is that reference in-cylinder is motionless, other three oil hydraulic cylinders with self overhang and height difference and carry out PID as desired value and regulate, finally reach the leveling of single platform.Other each platforms all carry out self-level(l)ing.
Second step is Integral levelling.Needed the both direction leveling by the leveling object, then adopt double-shaft tilt angle sensor.By the leveling object at first realize X2 to leveling.When carrying out X2 to leveling, homonymy two platforms (8,9) platform is motionless, according to the height difference that can be recorded each platform by the double-shaft tilt angle sensor of installing on the leveling object, platform (6) and platform (7) approach to the height of platform (8,9) respectively, finally make platform (6) and platform (8) in same level, platform (7) and platform (9) be in same level, namely finished X2 to leveling.In the leveling process, platform (6) with the height difference of platform (6) and platform (8) as actual value, carry out the PID computing as desired value and realize making platform (6) to reach platform (8) highly as 0 take height difference, platform (7) reaches platform (9) highly with same principle.When carrying out the second step Integral levelling, four oil cylinder simultaneous retractable same distance of single support platform.In kind carry out again the leveling of Y2 direction after the leveling of X2 direction, finally realize by the leveling of leveling object.
The present invention adopts modular combination, can be used for single platform, two platforms, even the leveling occasion of the large-tonnage object of multi-platform support.
The invention has the advantages that:
(1) modular arrangements, extensibility is strong, can form single platform, two platform even multi-platform automatic horizontal control system by configuration.
(2) adopt the position closed loop feedback, be subjected to the impact of load variations less, can be applicable to the leveling occasion of varying load.
(3) owing to adopting a plurality of oil hydraulic cylinders to consist of one group of support platform, therefore be specially adapted to the equipment leveling of large-tonnage longspan.
Description of drawings
Fig. 1 is single support platform structural representation.
Fig. 2 is the control system hardware elementary diagram.
Fig. 3 is single support platform control system schematic diagram.
Fig. 4 is single support platform leveling strategy schematic diagram.
Fig. 5 is the Integral levelling schematic diagram.
Description of symbols: the double-shaft tilt angle sensor of installing on the equalizer bar (1), equalizer bar (2), bearing pin (3), leveling cyclinder (4), walking slide block (5).
Embodiment
Levelling device of the present invention, each support platform, is placed on the equalizer bar by hinged by the leveling object to bear partial load by four support cylinder balance support beams.Be single support platform structural representation such as Fig. 1, comprise equalizer bar (2), bearing pin (3), leveling cyclinder (4) and walking slide block (5), double-shaft tilt angle sensor (1) wherein is installed on the equalizer bar, in order to detect the angle of inclination of single support platform, four leveling cyclinders are by the hydraulic power unit fuel feeding.
Each platform is by a cover control system control leveling, carries out the transmission of data by bus between each platform control system and shares.That is: link to each other by telecommunication cable between the controller of each platform, with transmission and shared leveling data to realize the collaborative leveling of multi-platform Multi-cylinder.
Be the control system hardware elementary diagram such as Fig. 2, support platform of each controller control, each support platform is supported by four hydraulic jacks, and each hydraulic jack is controlled separately by a proportional direction valve.Every the inner installation position of oil cylinder displacement sensor is for detection of the oil cylinder overhang.Controller gathers oil hydraulic cylinder displacement transducer value, support platform dip sensor value and is carried out internal arithmetic by leveling object dip sensor value.
Be single support platform control system schematic diagram such as Fig. 3.Double-shaft tilt angle sensor on the platform detect support platform X1 to Y1 to the angle of inclination, physical dimension conversion by equalizer bar obtains four height difference between the oil hydraulic cylinder, judge that according to the complete machine true dip direction selecting one of four cylinders is that reference in-cylinder is motionless, other three oil hydraulic cylinders carry out PID regulation output signal to proportional direction valve with the height difference sum of the current overhang of self oil cylinder and reference in-cylinder as desired value and control single cylinder action, finally reach the leveling of single platform.
Be single support platform leveling strategy schematic diagram such as Fig. 4.
Be the Integral levelling schematic diagram such as Fig. 5.
Leveling method divides two steps:
The first step is the self-level(l)ing of single platform in balance beam.Double-shaft tilt angle sensor on the platform detect X1 to Y1 to the angle of inclination, physical dimension conversion by equalizer bar obtains four height difference between the oil hydraulic cylinder, judge that according to the complete machine true dip direction selecting one of four cylinders is that reference in-cylinder is motionless, other three oil hydraulic cylinders with self overhang and height difference and carry out PID as desired value and regulate, finally reach the leveling of single platform.If adopt a plurality of platforms, then each platform all carries out self-level(l)ing.
Second step is Integral levelling.If only need to by direction leveling of leveling object, then adopt the single shaft dip sensor; If needed the both direction leveling by the leveling object, then adopt double-shaft tilt angle sensor.Take Siping City's platform leveling as example, suppose that 8 platforms are the highest among Fig. 2,6 take second place, and 7 is minimum, and 9 times are low.By the leveling object at first realize X2 to leveling.When carrying out X2 to leveling, homonymy two platforms 8,9 platforms are motionless, according to the height difference that can be recorded each platform by the double-shaft tilt angle sensor of installing on the leveling object, 6 platforms and 7 platforms approach to the height of 8,9 platforms respectively, finally make 6 and 8 in same level, 7 and 9 in same level, namely finished X2 to leveling.In the leveling process, 6 platforms, carry out the PID computing as desired value and realize making 6 platforms to reach 8 podium levels as 0 take height difference as actual value with 6 and 8 height difference, and 7 platforms reach 9 podium levels with same principle.When carrying out the second step Integral levelling, four oil cylinder simultaneous retractable same distance of single support platform.In kind carry out again the leveling of Y2 direction after the leveling of X2 direction, finally realize by the leveling of leveling object.
Claims (1)
1. the collaborative method for automatically leveling of multi-platform multi-cylinder is characterized in that, the levelling device that adopts is: install 4 on the single platform and be inverted oil hydraulic cylinder, oil hydraulic cylinder balance support beam is placed on the equalizer bar by hinged by the leveling object;
Each platform is by a cover control system control leveling, carries out the transmission of data by bus between each platform control system and shares;
The self-level(l)ing that double-shaft tilt angle sensor is used for platform is installed on the platform, selected twin shaft or single shaft dip sensor to be used for detecting by leveling object angle of inclination in real time by the leveling requirement on the leveling object, magnetostrictive senser is installed for detection of oil cylinder stroke in each leveling cyclinder;
Each hydraulic jack is controlled separately by a proportional direction valve;
Controller detects in real time twin shaft or single shaft dip sensor measured value carries out computing, and the power amplifier module that outputs control signals to proportional direction valve makes the oil hydraulic cylinder action;
Leveling method divides two steps:
The first step is the self-level(l)ing of single platform in balance beam: the double-shaft tilt angle sensor on the platform detect X1 to Y1 to the angle of inclination, physical dimension conversion by equalizer bar obtains four height difference between the oil hydraulic cylinder, judge that according to the complete machine true dip direction selecting one of four cylinders is that reference in-cylinder is motionless, other three oil hydraulic cylinders with self overhang and height difference and carry out PID as desired value and regulate, finally reach the leveling of single platform; Other each platforms all carry out self-level(l)ing;
Second step is Integral levelling: needed the both direction leveling by the leveling object, then adopt double-shaft tilt angle sensor; By the leveling object at first realize X2 to leveling, when carrying out X2 to leveling, homonymy two platforms (8,9) platform is motionless, according to the height difference that can be recorded each platform by the double-shaft tilt angle sensor of installing on the leveling object, platform (6) and platform (7) approach to the height of platform (8,9) respectively, finally make platform (6) and platform (8) in same level, platform (7) and platform (9) be in same level, namely finished X2 to leveling; In the leveling process, platform (6) with the height difference of platform (6) and platform (8) as actual value, carry out the PID computing as desired value and realize making platform (6) to reach platform (8) highly as 0 take height difference, platform (7) reaches platform (9) highly with same principle;
When carrying out the second step Integral levelling, four oil cylinder simultaneous retractable same distance of single support platform; In kind carry out again the leveling of Y2 direction after the leveling of X2 direction, finally realize by the leveling of leveling object.
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103591934A (en) * | 2013-10-24 | 2014-02-19 | 燕山大学 | Real-time levelness monitoring system for workbench of 3D (three-dimensional) printer |
| CN104571145A (en) * | 2014-12-18 | 2015-04-29 | 中国航天科工集团第四研究院指挥自动化技术研发与应用中心 | Leveling method and device for supporting platform |
| CN108438262A (en) * | 2018-03-21 | 2018-08-24 | 天津航天机电设备研究所 | One kind being based on six point-supported air floating platform leveling methods |
| CN108981590A (en) * | 2018-06-13 | 2018-12-11 | 中铁隧道集团二处有限公司 | A kind of high-speed rail precast beam positioning system |
| CN110928337A (en) * | 2019-12-03 | 2020-03-27 | 广东冠能电力科技发展有限公司 | Bare conductor insulation coating robot system and lifting control method thereof |
| CN111889544A (en) * | 2020-06-15 | 2020-11-06 | 安徽五洋机床制造有限公司 | Oil quantity adjusting device of oil cylinder of numerical control bending machine |
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| CN102278072A (en) * | 2011-07-12 | 2011-12-14 | 中国地质大学（武汉） | Hydraulic automatic leveling system and leveling method for seabed drilling machine |
| CN102407747A (en) * | 2011-10-09 | 2012-04-11 | 湖北三江航天万山特种车辆有限公司 | Automatic leveling system for vehicle body platform |
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| US4381839A (en) * | 1981-03-02 | 1983-05-03 | Riggers Manufacturing Co. | Gantry having adjustable side supports |
| US4502569A (en) * | 1982-04-21 | 1985-03-05 | G & L Corporation | Transportable heavy-lift apparatus |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103591934A (en) * | 2013-10-24 | 2014-02-19 | 燕山大学 | Real-time levelness monitoring system for workbench of 3D (three-dimensional) printer |
| CN104571145A (en) * | 2014-12-18 | 2015-04-29 | 中国航天科工集团第四研究院指挥自动化技术研发与应用中心 | Leveling method and device for supporting platform |
| CN104571145B (en) * | 2014-12-18 | 2017-10-03 | 中国航天科工集团第四研究院指挥自动化技术研发与应用中心 | The leveling method and device of support platform |
| CN108438262A (en) * | 2018-03-21 | 2018-08-24 | 天津航天机电设备研究所 | One kind being based on six point-supported air floating platform leveling methods |
| CN108981590A (en) * | 2018-06-13 | 2018-12-11 | 中铁隧道集团二处有限公司 | A kind of high-speed rail precast beam positioning system |
| CN108981590B (en) * | 2018-06-13 | 2020-10-23 | 中铁隧道集团二处有限公司 | High-speed railway precast beam positioning system |
| CN110928337A (en) * | 2019-12-03 | 2020-03-27 | 广东冠能电力科技发展有限公司 | Bare conductor insulation coating robot system and lifting control method thereof |
| CN111889544A (en) * | 2020-06-15 | 2020-11-06 | 安徽五洋机床制造有限公司 | Oil quantity adjusting device of oil cylinder of numerical control bending machine |
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