CN107719711A - A kind of leveling method of four supporting legs transmitting chassis - Google Patents
A kind of leveling method of four supporting legs transmitting chassis Download PDFInfo
- Publication number
- CN107719711A CN107719711A CN201710940653.1A CN201710940653A CN107719711A CN 107719711 A CN107719711 A CN 107719711A CN 201710940653 A CN201710940653 A CN 201710940653A CN 107719711 A CN107719711 A CN 107719711A
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- focus point
- supporting legs
- quadrant
- coordinate system
- leveling
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G5/00—Ground equipment for vehicles, e.g. starting towers, fuelling arrangements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
- B60S9/00—Ground-engaging vehicle fittings for supporting, lifting, or manoeuvring the vehicle, wholly or in part, e.g. built-in jacks
- B60S9/02—Ground-engaging vehicle fittings for supporting, lifting, or manoeuvring the vehicle, wholly or in part, e.g. built-in jacks for only lifting or supporting
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
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- Astronomy & Astrophysics (AREA)
- General Physics & Mathematics (AREA)
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- Aviation & Aerospace Engineering (AREA)
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Abstract
The invention discloses a kind of leveling method of four supporting leg transmitting chassis, the leveling method comprises the following steps, step 1, control car launcher stretches out four supporting legs simultaneously, four supporting legs is reached desired height；Step 2, the position of the focus point of transmitting chassis is obtained, judges to launch the focus point of chassis whether on the origin in the coordinate system established in advance, if it is, performing step 5；If it is not, then perform step 3；Step 3, on coordinate plane, the quadrant residing for focus point is judged；Step 4, the quadrant according to residing for focus point, single supporting leg regulation operation and double supporting leg regulation operations are carried out successively, focus point is on the origin of coordinate system；Step 5, the leveling of four supporting legs transmitting chassis is completed.The present invention is effectively shortened the leveling time of four supporting legs transmitting chassis, and leveling efficiency is remarkably enhanced, so as to provide reliable support for the completion of car launcher task.
Description
Technical field
The present invention relates to special vehicle chassis leveling technology field, specifically for, the present invention sends out for a kind of four supporting legs
Penetrate the leveling method of chassis.
Background technology
At present, the leveling method of four conventional supporting legs transmitting chassis is：Manually hydraulic leveling.But car launcher
The speed that translation work is exchanged in chassis leveling has very high requirement, and conventional leveling method is to adjust each supporting leg one by one, right
The experience dependence of operator is larger, the leveling time is long, leveling efficiency is low etc. often be present.Although also have tried to use certainly
The method of dynamic leveling, but due to the problems such as leveling method is improper, conceptual design is unreasonable, leveling effect is not significantly improved not only
Rate, it can not also ensure leveling precision.
Therefore, for above-mentioned technical problem, how to efficiently reduce the transmitting chassis leveling time, improve car launcher bottom
Disk leveling efficiency, become those skilled in the art's technical problem urgently to be resolved hurrily and the emphasis studied all the time.
The content of the invention
Launch low, leveling time length of leveling efficiency existing for the leveling method of chassis etc. to solve existing four supporting leg to ask
Topic, the present invention innovatively provide a kind of leveling method of four supporting legs transmitting chassis, and the leveling method passes through to chassis center of gravity
The judgement and adjustment of point, and the leveling completed by the way of combining to launching chassis is adjusted using the regulation of single supporting leg and double supporting legs,
So as to avoid the problem of routinely supporting leg is adjusted one by one by experience；Therefore, the present invention effectively reduces the leveling time, improved
Leveling efficiency.
To realize above-mentioned technical purpose, the invention particularly discloses a kind of four supporting leg transmitting chassis leveling method,
The leveling method comprises the following steps,
Step 1, control car launcher to stretch out four supporting legs simultaneously, and four supporting legs is reached desired height；
Step 2, the position of the focus point of transmitting chassis is obtained, whether judges to launch the focus point of chassis in prior
On the origin of the coordinate system of foundation, if it is, performing step 5；If it is not, then perform step 3；Wherein, the coordinate system is built
Stand on car launcher chassis plane, and the x-axis of coordinate system is pointed on the right side of car launcher, y-axis is pointed on front side of car launcher, origin is transmitting
The central point of chassis；
Step 3, on coordinate plane, the quadrant residing for the focus point is judged；Before the quadrant includes left anterior quadrant, the right side
Quadrant, left posterior quadrant and right posterior quadrant；
Step 4, the quadrant according to residing for the focus point, single supporting leg regulation operation and double supporting leg regulation behaviour are carried out successively
Make, the focus point is on the origin of the coordinate system；
Step 5, the leveling of four supporting legs transmitting chassis is completed.
Present invention innovation provides the transmitting chassis that a kind of single, double supporting leg regulation based on focus point change in location combines
Leveling method, the adjusting method thoroughly broken away from the dependence to operator's experience, and the angle from control focus point position is complete
Into the leveling of four supporting legs transmitting chassis, so as to effectively increase leveling speed, reduce the leveling time, task is completed for car launcher
The preparation of abundance is done.
Further, in step 4, if the quadrant residing for the focus point is left anterior quadrant,：
Single leg adjusts operation：Control car launcher to stretch out left front supporting leg, the focus point is in the y-axis of the coordinate system
On；
Both legs adjust operation：Control car launcher stretches out simultaneously or withdraws left back supporting leg and right rear support leg, makes the center of gravity
On origin of the point in the coordinate system.
Further, in step 4, if the quadrant residing for the focus point is right anterior quardrant,：
Single leg adjusts operation：Control car launcher to stretch out right anterior branch leg, the focus point is in the y-axis of the coordinate system
On；
Both legs adjust operation：Control car launcher stretches out simultaneously or withdraws left back supporting leg and right rear support leg, makes the center of gravity
On origin of the point in the coordinate system.
Further, in step 4, if the quadrant residing for the focus point is left posterior quadrant,：
Single leg adjusts operation：Control car launcher to withdraw right anterior branch leg, the focus point is in the y-axis of the coordinate system
On；
Both legs adjust operation：Control car launcher stretches out simultaneously or withdraws left back supporting leg and right rear support leg, makes the center of gravity
On origin of the point in the coordinate system.
Further, in step 4, if the quadrant residing for the focus point is right posterior quadrant,：
Single leg adjusts operation：Control car launcher to withdraw left front supporting leg, the focus point is in the y-axis of the coordinate system
On；
Both legs adjust operation：Control car launcher stretches out simultaneously or withdraws left back supporting leg and right rear support leg, makes the center of gravity
On origin of the point in the coordinate system.
Further, in step 2, the focus point of transmitting chassis is judged using the level meter for being installed on transmitting chassis
Position.
Further, in step 2, the horizontal angle angle value of read level instrument detection, judge to send out using the horizontal angle angle value
Penetrate the position of the focus point of chassis.
Further, in step 1, after four supporting legs stretch out, judge whether four supporting legs reach desired height, such as
Fruit is then to perform step 2；If it is not, then the supporting leg that control is not reaching to desired height continues to stretch out, until reaching expected high
Degree.
Further, in each leveling step, leveling progress msg is shown by man-machine interface.
Beneficial effects of the present invention are：The present invention is effectively shortened the leveling time of four supporting legs transmitting chassis, leveling
Efficiency is remarkably enhanced, so as to provide reliable support for the completion of car launcher task.
Brief description of the drawings
Fig. 1 is the leveling method schematic flow sheet that four supporting legs launch chassis.
Fig. 2 is the coordinate system schematic diagram established on car launcher chassis plane.
Fig. 3 is leveling method schematic flow sheet of the focus point in left anterior quadrant.
Fig. 4 is leveling method schematic flow sheet of the focus point in right anterior quardrant.
Fig. 5 is leveling method schematic flow sheet of the focus point in left posterior quadrant.
Fig. 6 is leveling method schematic flow sheet of the focus point in left posterior quadrant.
Embodiment
The leveling method that with reference to Figure of description four supporting legs of the present invention are launched with chassis carries out detailed explanation
And explanation.
As shown in Figures 1 to 6, the invention discloses a kind of leveling method of four supporting leg transmitting chassis, this method is a kind of
Launch the dynamic leveling method of chassis, specifically, the leveling method comprises the following steps.
Step 1, control car launcher to stretch out four supporting legs simultaneously, and four supporting legs is reached desired height；Specifically, at this
In embodiment, after four supporting legs stretch out, judge whether four supporting legs reach desired height, if it is, performing step 2；Such as
Fruit is no, then controls the supporting leg for being not reaching to desired height to continue to stretch out, and performs height repeatedly and judges, until reaching desired height.
Step 2, after all supporting legs reach desired height, the present invention innovatively obtains the position of the focus point of transmitting chassis
Put；In the present embodiment, the position of the focus point of transmitting chassis is judged using the level meter for being installed on transmitting chassis, such as,
Level meter can be installed on parking stall center or other positions, it may include the level meter of horizontal direction and the level of vertical direction
Instrument.Specifically, the horizontal angle angle value of read level instrument detection, the position of the focus point of transmitting chassis is judged using horizontal angle angle value
Put.Then, whether the focus point for judging to launch chassis is on the origin in the coordinate system established in advance, i.e. simultaneously full
Sufficient X=0 and Y=0, wherein, X, Y are respectively used to represent the abscissa and ordinate of focus point；If it is, the current transmitting of explanation
Chassis for leveling state, without leveling again, performs step 5；If it is not, then performing step 3, leveling is carried out；Such as Fig. 2 institutes
Show, the establishment of coordinate system in the present embodiment is on car launcher chassis plane, and the x-axis of coordinate system is pointed on the right side of car launcher, y-axis refers to
Central point to car launcher front side, origin for transmitting chassis.
Step 3, as shown in Fig. 2 on coordinate plane, the quadrant residing for focus point is judged；It is (right that quadrant includes left anterior quadrant
Answer the second quadrant), right anterior quardrant (corresponding first quartile), left posterior quadrant (corresponding third quadrant) and right posterior quadrant the (the corresponding 4th
Quadrant).
Step 4, the quadrant according to residing for focus point, single supporting leg regulation operation and double supporting leg regulation operations are carried out successively, is made
Focus point is on the origin of coordinate system；Specific leveling control is carried out to the specific quadrant residing for focus point below.
(1) if as shown in figure 3, the quadrant residing for focus point is left anterior quadrant,：
Single leg adjusts operation：Control car launcher to stretch out left front supporting leg, focus point is in the y-axis of coordinate system；That is, X
=0.
Both legs adjust operation：Control car launcher stretches out simultaneously or withdraws left back supporting leg and right rear support leg, makes at focus point
In on the origin of coordinate system, i.e. X=0 and Y=0.
(2) if as shown in figure 4, the quadrant residing for focus point is right anterior quardrant,：
Single leg adjusts operation：Control car launcher to stretch out right anterior branch leg, focus point is in the y-axis of coordinate system；That is, X
=0.
Both legs adjust operation：Control car launcher stretches out simultaneously or withdraws left back supporting leg and right rear support leg, makes at focus point
In on the origin of coordinate system, i.e. X=0 and Y=0.
(3) if as shown in figure 5, the quadrant residing for focus point is left posterior quadrant,：
Single leg adjusts operation：Control car launcher to withdraw right anterior branch leg, focus point is in the y-axis of coordinate system；That is, X
=0.
Both legs adjust operation：Control car launcher stretches out simultaneously or withdraws left back supporting leg and right rear support leg, makes at focus point
In on the origin of coordinate system, i.e. X=0 and Y=0.
(4) if as shown in fig. 6, the quadrant residing for focus point is right posterior quadrant,：
Single leg adjusts operation：Control car launcher to withdraw left front supporting leg, focus point is in the y-axis of coordinate system；That is, X
=0.
Both legs adjust operation：Control car launcher stretches out simultaneously or withdraws left back supporting leg and right rear support leg, makes at focus point
In on the origin of coordinate system, i.e. X=0 and Y=0.
The mode that the present invention innovatively employs single supporting leg regulation, the regulation of double supporting legs combines, compared to traditional supporting leg one by one
Regulation, leveling method of the invention obviously can efficiently reduce the leveling time, improve leveling efficiency.
Step 5, the leveling of four supporting legs transmitting chassis is completed.
In the present embodiment, the interactive software of the leveling control for the supporting leg of chassis four can be developed, is walked in each leveling
In rapid, leveling progress msg is shown by man-machine interface, it is achieved thereby that visualization, procedure design, improve the present invention's
Intelligent level.
In addition, it is necessary to explanation, above-mentioned leveling situation be applied to most of occasion (focus point in four quadrants or
On origin), certainly, if after four supporting legs are stretched out, focus point falls on the y axis just, i.e. focus point abscissa X=0, then directly
Carry out both legs regulation operation, focus point is on the origin of coordinate system.If after four supporting legs are stretched out, focus point is lucky
Fall in x-axis, be then still adjusted according to method disclosed by the invention.
In the description of this specification, reference term " the present embodiment ", " one embodiment ", " some embodiments ", " show
The description of example ", " specific example " or " some examples " etc. mean to combine the specific features of the embodiment or example description, structure,
Material or feature are contained at least one embodiment or example of the present invention.In this manual, above-mentioned term is shown
The statement of meaning property is necessarily directed to identical embodiment or example.Moreover, specific features, structure, material or the spy of description
Point can combine in an appropriate manner in any one or more embodiments or example.In addition, in the case of not conflicting,
Those skilled in the art can be by the different embodiments or example described in this specification and different embodiments or example
Feature is combined and combined.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Any modification, equivalent substitution and simple modifications for being made in content etc., should be included in the scope of the protection.
Claims (9)
- A kind of 1. leveling method of four supporting legs transmitting chassis, it is characterised in that：The leveling method comprises the following steps,Step 1, control car launcher to stretch out four supporting legs simultaneously, and four supporting legs is reached desired height；Step 2, the position of the focus point of transmitting chassis is obtained, judges whether the focus point for launching chassis is established in advance Coordinate system origin on, if it is, perform step 5；If it is not, then perform step 3；Wherein, the establishment of coordinate system exists On car launcher chassis plane, and the x-axis of coordinate system is pointed on the right side of car launcher, y-axis is pointed on front side of car launcher, origin is car launcher bottom The central point of disk；Step 3, on coordinate plane, the quadrant residing for the focus point is judged；The quadrant includes left anterior quadrant, right before-image Limit, left posterior quadrant and right posterior quadrant；Step 4, the quadrant according to residing for the focus point, single supporting leg regulation operation and double supporting leg regulation operations are carried out successively, is made The focus point is on the origin of the coordinate system；Step 5, the leveling of four supporting legs transmitting chassis is completed.
- 2. the leveling method of four supporting legs transmitting chassis according to claim 1, it is characterised in that：In step 4, if institute It is left anterior quadrant to state the quadrant residing for focus point, then：Single leg adjusts operation：Control car launcher to stretch out left front supporting leg, the focus point is in the y-axis of the coordinate system；Both legs adjust operation：Control car launcher stretches out simultaneously or withdraws left back supporting leg and right rear support leg, makes at the focus point In on the origin of the coordinate system.
- 3. the leveling method of four supporting legs transmitting chassis according to claim 1, it is characterised in that：In step 4, if institute It is right anterior quardrant to state the quadrant residing for focus point, then：Single leg adjusts operation：Control car launcher to stretch out right anterior branch leg, the focus point is in the y-axis of the coordinate system；Both legs adjust operation：Control car launcher stretches out simultaneously or withdraws left back supporting leg and right rear support leg, makes at the focus point In on the origin of the coordinate system.
- 4. the leveling method of four supporting legs transmitting chassis according to claim 1, it is characterised in that：In step 4, if institute It is left posterior quadrant to state the quadrant residing for focus point, then：Single leg adjusts operation：Control car launcher to withdraw right anterior branch leg, the focus point is in the y-axis of the coordinate system；Both legs adjust operation：Control car launcher stretches out simultaneously or withdraws left back supporting leg and right rear support leg, makes at the focus point In on the origin of the coordinate system.
- 5. the leveling method of four supporting legs transmitting chassis according to claim 1, it is characterised in that：In step 4, if institute It is right posterior quadrant to state the quadrant residing for focus point, then：Single leg adjusts operation：Control car launcher to withdraw left front supporting leg, the focus point is in the y-axis of the coordinate system；Both legs adjust operation：Control car launcher stretches out simultaneously or withdraws left back supporting leg and right rear support leg, makes at the focus point In on the origin of the coordinate system.
- 6. the leveling method of the four supporting legs transmitting chassis according to any claim in claim 1 to 5, its feature exist In：In step 2, the position of the focus point of transmitting chassis is judged using the level meter for being installed on transmitting chassis.
- 7. the leveling method of four supporting legs transmitting chassis according to claim 6, it is characterised in that：In step 2, water is read The horizontal angle angle value of level detection, the position of the focus point of transmitting chassis is judged using the horizontal angle angle value.
- 8. the leveling method of the four supporting legs transmitting chassis according to any claim in claim 1 to 5, its feature exist In：In step 1, after four supporting legs stretch out, judge whether four supporting legs reach desired height, if it is, performing step Rapid 2；If it is not, then the supporting leg that control is not reaching to desired height continues to stretch out, until reaching desired height.
- 9. the leveling method of the four supporting legs transmitting chassis according to any claim in claim 1 to 5, its feature exist In：In each leveling step, leveling progress msg is shown by man-machine interface.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710940653.1A CN107719711A (en) | 2017-10-11 | 2017-10-11 | A kind of leveling method of four supporting legs transmitting chassis |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710940653.1A CN107719711A (en) | 2017-10-11 | 2017-10-11 | A kind of leveling method of four supporting legs transmitting chassis |
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| Publication Number | Publication Date |
|---|---|
| CN107719711A true CN107719711A (en) | 2018-02-23 |
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|---|---|---|---|
| CN201710940653.1A Pending CN107719711A (en) | 2017-10-11 | 2017-10-11 | A kind of leveling method of four supporting legs transmitting chassis |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111665838A (en) * | 2020-05-21 | 2020-09-15 | 浙江工业大学 | Attitude control method for self-balancing robot to resist continuous external force action |
| CN112537279A (en) * | 2020-12-14 | 2021-03-23 | 安徽博微长安电子有限公司 | Hydraulic leveling supporting leg withdrawing system and withdrawing method for large-tonnage vehicle-carrying platform |
| CN113311877A (en) * | 2021-06-01 | 2021-08-27 | 山东理工大学 | Automatic leveling method for four-leg supporting operation platform |
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| CN102975586A (en) * | 2012-11-01 | 2013-03-20 | 西安电子工程研究所 | Hydraulic four-point leveling method with accuracy less than 1 minute |
| CN105035040A (en) * | 2015-07-07 | 2015-11-11 | 明光浩淼安防科技股份公司 | Automatic leveling method for elevating fire fighting truck chassis |
| CN106926827A (en) * | 2017-04-28 | 2017-07-07 | 三汽车制造有限公司 | A kind of levelling control system of support meanss, method and fire fighting truck |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201071488Y (en) * | 2007-07-19 | 2008-06-11 | 王彪 | Automatic leveling device of bridging working vehicle |
| CN102975586A (en) * | 2012-11-01 | 2013-03-20 | 西安电子工程研究所 | Hydraulic four-point leveling method with accuracy less than 1 minute |
| CN105035040A (en) * | 2015-07-07 | 2015-11-11 | 明光浩淼安防科技股份公司 | Automatic leveling method for elevating fire fighting truck chassis |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111665838A (en) * | 2020-05-21 | 2020-09-15 | 浙江工业大学 | Attitude control method for self-balancing robot to resist continuous external force action |
| CN111665838B (en) * | 2020-05-21 | 2023-08-29 | 浙江工业大学 | Gesture control method for self-balancing robot to resist continuous external force action |
| CN112537279A (en) * | 2020-12-14 | 2021-03-23 | 安徽博微长安电子有限公司 | Hydraulic leveling supporting leg withdrawing system and withdrawing method for large-tonnage vehicle-carrying platform |
| CN113311877A (en) * | 2021-06-01 | 2021-08-27 | 山东理工大学 | Automatic leveling method for four-leg supporting operation platform |
| CN113311877B (en) * | 2021-06-01 | 2022-07-22 | 山东理工大学 | Automatic leveling method of four-leg supporting operation platform |
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Application publication date: 20180223 |