CN104062975B - Four link type extension levelling control system - Google Patents
Four link type extension levelling control system Download PDFInfo
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- CN104062975B CN104062975B CN201310500950.6A CN201310500950A CN104062975B CN 104062975 B CN104062975 B CN 104062975B CN 201310500950 A CN201310500950 A CN 201310500950A CN 104062975 B CN104062975 B CN 104062975B
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- support leg
- motor
- workbench
- leg
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Abstract
Four link type extension levelling control system, including workbench, four set supporting legs and four set support leg, each set support leg is by two extensible arms, a set of supporting leg is connected with workbench, supporting leg, support leg and workbench constitute parallel four-bar linkage, the end face of described workbench is provided with horizon sensor, proximity switch and control cabinet, it is provided with in control cabinet and horizon sensor, the PLC that proximity switch is connected, control cabinet is provided with the display output device being connected with PLC and RS 485 communications cable, PLC passes through proximity switch, horizon sensor controls the expansion of supporting leg and support leg and removes receipts, and the horizontal accuracy in horizon sensor XY direction is shown on display output device.Each support leg of the present invention is equipped with a supporting leg and can independently carry out launching, removing receipts, can not only effectively protect support leg, and increase the tilting moment of equipment, and stability when making equipment work is further enhanced.
Description
Technical field
The present invention relates to the electromechanical four-point supporting level device of a kind of band extension mechanism, be specially a kind of four link type extension leveling
Control system.
Background technology
Electromechanical automatic leveling system has been applied in trailer-mounted radar equipment at present, for electro-hydraulic automatic horizontal control system,
It has that volume is little, lightweight, reliability is high, stepless speed regulation, accurate leveling, can lock leveling precision for a long time after system power failure
Etc. feature；Additionally having processing, easy to maintenance, adaptive capacity to environment is good, low cost and other advantages.According to practical engineering experience
From the point of view of, electromechanical automatic leveling system support leg is fixedly mounted at workbench side, also needs workbench during installation and removal
Just it is easy for installation and removal after giving rise to certain altitude by modes such as jack.Additionally, due to support leg installation site is flat in work
Platform side, causes the pallet of support leg bottom and the close together of ground, is often susceptible to scrape the phenomenons such as sidewipe collision, outside have impact on
See, time serious, even reduce its service life.
Summary of the invention
It is an object of the invention to provide one can Fast Installation, dismounting, it is possible to effectively protection support leg also increases the four of stabilization of equipment performance
Link-type extension levelling control system.
The technical solution adopted in the present invention is as follows:
Four link type extension levelling control system, including workbench, four set supporting legs and four set support leg, each set support leg is by two
Extensible arm, a set of supporting leg are connected with workbench, and supporting leg, support leg and workbench constitute parallel four-bar linkage, described work
The end face making platform is provided with horizon sensor, proximity switch and control cabinet, is provided with and horizon sensor, close in control cabinet
The PLC that switch is connected, control cabinet is provided with the display output device and the RS-485 communications cable being connected with PLC,
Being equipped with motor in described supporting leg and support leg, described motor is connected with PLC by cable, and PLC is by close to opening
Close, horizon sensor controls the expansion of supporting leg and support leg and removes receipts, and being shown by the horizontal accuracy in horizon sensor XY direction
On display output device.
Further, described supporting leg includes that lead screw pair, motor, supporting leg shell, described motor and lead screw pair are positioned at same level
On, described motor is connected with screw rod by deceleration device, and screw rod is arranged over the first journal stirrup being connected with workbench lower end, institute
The lead screw pair stating screw rod and be arranged in supporting leg shell is connected, and be provided with between lead screw pair with supporting leg shell that lead screw pair is connected first pushes away
Bar, the first push rod end is provided with the rotating shaft support that screw rod connects, and described rotating shaft support is connected with support leg.
Further, described lead screw pair is trapezoidal screw.
Further, described deceleration device is one group of gear being gradually increased to lead screw pair end radius from motor side.
Further, described support leg includes ball-screw, motor and support leg shell, and described motor passes through axle sleeve and ball-screw phase
Even, described axle sleeve is fixed on L-type saddle, is provided with the second journal stirrup being connected with rotating shaft support, extensible arm, L on the left of L-type saddle
Being provided with the case for closing motor and axle sleeve on the right side of type saddle, be provided with support leg shell on the downside of L-type saddle, ball-screw is arranged on
In support leg shell, being additionally provided with the second push rod being connected with ball-screw by ball nut in support leg shell, the second push rod end sets
Having ball hinged supporting, described ball hinged supporting is connected with base by semicircle sole piece thereon, and support leg shell is additionally provided with and extensible arm
The 3rd journal stirrup being connected, the second journal stirrup in support leg, the 3rd journal stirrup respectively by the upper end, side of extensible arm and workbench and under
End is connected.
Further, described horizon sensor is rigidly connected with workbench datum level, and by cable and the motor phase in support leg
Even.
Further, the motor in support leg is with photoelectric encoder.
Compared with prior art, the invention have the benefit that
1, each support leg is equipped with a supporting leg and can independently carry out launching, removing receipts, can not only effectively protect support leg, and
And increasing the tilting moment of equipment, stability when making equipment work is further enhanced.
2, the four-point supporting leveling technology used, principle is simple, and control performance is reliable and stable.
3, avoid the pallet of support leg bottom and the close together of ground to cause often being susceptible to scrape the phenomenons such as sidewipe collision, extend
Its service life.
Accompanying drawing explanation
Fig. 1 is the control principle drawing of the present invention.
Fig. 2 is present invention Facad structure schematic diagram when launching.
Fig. 3 is leg structure schematic diagram of the present invention.
Fig. 4 is support leg structural representation of the present invention.
In figure: 1. supporting leg, 2. extensible arm, 3. support leg, 4. control cabinet, 5. horizon sensor, 6. workbench, 7. motor,
8. reductor, 9. axle, the least gear, 11. axles, 12. middle gears, 13. first journal stirrups, 14. screw rods, 15. gear wheels, 16.
Supporting leg shell, 17. first push rods, 18. rotating shaft supports, 19. second journal stirrups, 20.L type saddle, 21. cases, 22. motors,
23. reductors, 24. axle sleeves, 25. ball-screws, 26. ball nuts, 27. second push rods, 28. support leg shells, 29. ball pivots
Support, 30. bases, 31. the 3rd journal stirrups.
Detailed description of the invention
Below in conjunction with specific embodiment, the present invention is expanded on further.
As shown in figures 1-4, four link type extension levelling control system, including workbench 6, four set supporting leg 1 and four set support leg
3, each set support leg 3 is connected with workbench 6 by two extensible arms 2, a set of supporting legs 1, supporting leg 1, support leg 3 and workbench 6 structure
Parallel four-bar linkage, the end face of described workbench 6 has been become to be provided with horizon sensor 5, proximity switch and control cabinet 4,
Being provided with the PLC being connected with horizon sensor 5, proximity switch in control cabinet 4, control cabinet is provided with and is connected with PLC
Display output device and the RS-485 communications cable, described supporting leg 1 and support leg 3 are equipped with motor, described motor by cable with
PLC is connected, and PLC is controlled the expansion of supporting leg 1 and support leg 3 by proximity switch, horizon sensor 5 and removed
Receive, and the horizontal accuracy in the XY direction of horizon sensor 5 is shown on display output device.
In the present invention, described supporting leg includes lead screw pair, motor 7, supporting leg shell 16, and described motor 7 is positioned at same with lead screw pair
On horizontal plane, described motor 7 is connected with screw rod 14 by deceleration device, and screw rod 14 is arranged over being connected with workbench 6 lower end
First journal stirrup 13, described screw rod 14 is connected with the lead screw pair being arranged in supporting leg shell 16, sets between lead screw pair and supporting leg shell 16
Having the first push rod 17 that lead screw pair is connected, the first push rod 17 end is provided with the rotating shaft support 18 that screw rod 14 connects, described rotating shaft support
18 are connected with support leg 3.Described lead screw pair is trapezoidal screw.Described deceleration device be one group from motor side to lead screw pair end radius by
Cumulative big gear.
In the present invention, described support leg 3 includes that ball-screw 25, motor 22 and support leg shell 28, described motor 22 pass through axle sleeve
24 are connected with ball-screw 25, and described axle sleeve 24 is fixed on L-type saddle 20, be provided with on the left of L-type saddle 20 with rotating shaft support 18,
The second journal stirrup 19 that extensible arm 2 is connected, is provided with the case 21 for closing motor 22 and axle sleeve 24, L-type seat on the right side of L-type saddle 20
Being provided with support leg shell 28 on the downside of block 20, ball-screw 25 is arranged in support leg shell 28, is additionally provided with and passes through ball in support leg shell 28
The second push rod 27 that nut 26 is connected with ball-screw 25, the second push rod 27 end is provided with ball hinged supporting 29, described ball hinged supporting 29
It is connected with base 30 by semicircle sole piece thereon, support leg shell 28 is additionally provided with the 3rd journal stirrup 31 being connected with extensible arm 2,
The second journal stirrup the 19, the 3rd journal stirrup 31 in support leg 3 is connected with the top and bottom, side of workbench 6 by extensible arm 2 respectively.
Described horizon sensor 5 is rigidly connected with workbench 6 datum level, and is connected with the motor 22 in support leg 3 by cable.Support leg
On motor 22 with photoelectric encoder.
The operation principle of the present invention is as follows:
During work, PLC receives the order that supporting leg 1 launches, and drives the motor 7 in supporting leg 1, is launched by four supporting legs 1,
When launching to put in place, enter back into automatic leveling state.
Automatic leveling: the PLC first motor 22 in support leg 3 sends instruction, and then support leg 3 is stretched downwards by motor 22
Go out.When support leg 3 is landed, the driving electric current of motor 22 can increase along with load and increase, and current of electric can be believed by PLC
Number being converted to dtc signal passes to EM235, passes to PLC again after A/D changes.PLC is according to every support leg
The level of torque of 3 judges that it lands state, and after determining that four set support leg 3 land, horizon sensor 5 is by workbench 6 and preferable water
The error of plane is decomposed according to X, Y-direction, and sends into after EM235 changes in PLC, former according to keep rising
First motor 22 curent change after landing according to four set support leg 3 and the information searching peak of horizon sensor 5, keep
High point is motionless, controls other low points to high site convergence.When the horizontal error of X, Y-axis is less than prescribed limit, locking four set
Support leg 3, automatic leveling terminates.
Automatically monitor: each link of the present invention is in operation and can be monitored by PLC, to ensure the safety of system.
PLC just can perform action command under conditions of confirming not have fault, when breaking down in running, and PLC
Meeting and alarm are also shut down.Secondly, according to the torque value size that motor 22 is passed back, PLC can judge whether support leg 3 goes out
Now transship phenomenon, it is to avoid the damage of motor 22.Additionally, PLC is integrated detecting support according to the rotating speed of motor 22
The stroke of leg 3, it is to avoid occurred that stroke phenomenon caused support leg 3 structural failure.
Claims (5)
1. four link type extension levelling control system, including workbench, four set supporting legs and four set support leg, is characterized in that: each casing brace
Leg is connected with workbench by two extensible arms, a set of supporting legs, and supporting leg, support leg and workbench constitute parallel-ordinal shift machine
Structure, the end face of described workbench is provided with horizon sensor, proximity switch and control cabinet, is provided with and passes with level in control cabinet
The PLC that sensor, proximity switch are connected, control cabinet is provided with the display output device and RS-being connected with PLC
485 communications cables, are equipped with motor in described supporting leg and support leg, described motor is connected with PLC by cable, PLC
Controller controls the expansion of supporting leg and support leg by proximity switch, horizon sensor and removes receipts, and by horizon sensor XY side
To horizontal accuracy show display output device on；Described supporting leg includes lead screw pair, motor, supporting leg shell, described motor with
Lead screw pair is positioned in same level, and described motor is connected with screw rod by deceleration device, screw rod be arranged over under workbench
The first journal stirrup that end is connected, described screw rod is connected with the lead screw pair being arranged in supporting leg shell, sets between lead screw pair and supporting leg shell
Having the first push rod that lead screw pair is connected, the first push rod end is provided with the rotating shaft support that screw rod connects, and described rotating shaft support is with support leg phase
Even；Described support leg includes ball-screw, motor and support leg shell, and described motor is connected with ball-screw by axle sleeve, described axle
Set is fixed on L-type saddle, is provided with the second journal stirrup being connected with rotating shaft support, extensible arm on the left of L-type saddle, and L-type saddle is right
Side is provided with the case for closing motor and axle sleeve, is provided with support leg shell on the downside of L-type saddle, and ball-screw is arranged on support leg shell
In, it being additionally provided with the second push rod being connected with ball-screw by ball nut in support leg shell, the second push rod end is provided with ball pivot and props up
Support, described ball hinged supporting is connected with base by semicircle sole piece thereon, and support leg shell is additionally provided with the be connected with extensible arm
Three journal stirrups, the second journal stirrup, the 3rd journal stirrup in support leg are connected with the top and bottom, side of workbench by extensible arm respectively.
Four link type the most according to claim 1 extension levelling control system, is characterized in that: described horizon sensor and work
Faceplate is rigidly connected, and is connected with the motor in support leg by cable.
Four link type the most according to claim 1 and 2 extension levelling control system, it is characterized in that: the motor in support leg with
Photoelectric encoder.
Four link type the most according to claim 1 extension levelling control system, is characterized in that: described lead screw pair is trapezoidal silk
Thick stick.
Four link type the most according to claim 1 extension levelling control system, it is characterized in that: described deceleration device be one group from
The gear that motor side is gradually increased to lead screw pair end radius.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310500950.6A CN104062975B (en) | 2013-10-22 | 2013-10-22 | Four link type extension levelling control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310500950.6A CN104062975B (en) | 2013-10-22 | 2013-10-22 | Four link type extension levelling control system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104062975A CN104062975A (en) | 2014-09-24 |
| CN104062975B true CN104062975B (en) | 2016-08-17 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310500950.6A Expired - Fee Related CN104062975B (en) | 2013-10-22 | 2013-10-22 | Four link type extension levelling control system |
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| CN (1) | CN104062975B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107643683A (en) * | 2017-10-27 | 2018-01-30 | 西安恒达微波技术开发有限公司 | Automatically levelling school north system on equipment vehicular platform based on PID closed-loop controls |
| CN108983223A (en) * | 2018-06-25 | 2018-12-11 | 安徽尼古拉电子科技有限公司 | A kind of full landform pulse radar detection device for carrying hybrid power |
| CN109298397B (en) * | 2018-10-17 | 2024-01-19 | 中国人民解放军32181部队 | Control method of radar device with follow-up function |
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| JP2001144461A (en) * | 1999-11-12 | 2001-05-25 | Hochiki Corp | Attaching structure for enclosure of electrical device |
| CN101551673A (en) * | 2009-03-30 | 2009-10-07 | 零八一电子集团有限公司 | Automatic leveling system of multipoint electric support platform |
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| CN104062975A (en) | 2014-09-24 |
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Granted publication date: 20160817 Termination date: 20211022 |
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