CN110515397A - A kind of electromechanical automatic leveling system and leveling method - Google Patents
A kind of electromechanical automatic leveling system and leveling method Download PDFInfo
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- CN110515397A CN110515397A CN201910625178.8A CN201910625178A CN110515397A CN 110515397 A CN110515397 A CN 110515397A CN 201910625178 A CN201910625178 A CN 201910625178A CN 110515397 A CN110515397 A CN 110515397A
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- electric supporting
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- 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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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
- G05D3/20—Control of position or direction using feedback using a digital comparing device
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- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
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Abstract
The present invention relates to technical field of automatic control, more particularly to a kind of electromechanical automatic leveling system and leveling method, leveling system includes control module, control module is connected with no less than 3 the servo-electric supporting leg, double-shaft tilt angle sensor, display screen, buzzer and the controlling terminals that are used to support vehicular platform, and respectively control module, servo-electric supporting leg, double-shaft tilt angle sensor, display screen, buzzer and controlling terminal power supply power module；Control module is also connected with flatness laser measurement module.The advantages of a kind of electromechanical automatic leveling system and leveling method provided by the invention have leveling speed fast, and leveling precision is high, are able to achieve automatic, semi-automatic, manual leveling free switching and easy to operate, and the degree of automation is higher, small volume, high reliablity.
Description
Technical field
The present invention relates to technical field of automatic control, the more particularly, to needs such as special vehicle accurately level environment
, leveling speed is fast, and leveling precision is high, is able to achieve automatic, semi-automatic, manual leveling free switching and easy to operate, has
A kind of electromechanical automatic leveling system and leveling method of higher the degree of automation.
Background technique
Many equipment need to work normally after leveling, including radar vehicle, electric power line pole tower, emergency communication vehicle
, precision optics equipment is installed or is used after many equipment leveling of high-end caravan etc..Existing common have certain load-bearing energy
The leveling system of power is usually to match the leveling system of hydraulic leg and electrolevel (obliquity sensor) or range sensor,
This system generallys use in leveling and first manually manually controls preliminary leveling, then is done further by sensor feedback signal
Secondary leveling is merely able to realize the levelling effect of lower accuracy, is difficult to use under more demanding leveling precision and uses, realize higher
The leveling of precision is current international headache.The leveling system of this structure is due to using hydraulic leg, it is therefore desirable to use
Whole hydraulic system is connected with more pipeline, there is the pollution due to pipeline and its damage to valve group, exists and cause to send out
The safety problem of raw booster, and there is also there is a situation where unload in oil cylinder for storage for a long time；Point that hydraulic leg itself has
Resolution is lower (control accuracy difference), and since volume is larger, is typically fixedly mounted on the vehicle that need to be leveled, in equipment,
Once there is single supporting leg failure, then will lead to whole system cannot use, poor reliability；And when eliminating empty leg, usually
All it is to increase additional switch, such as detect the current location of supporting leg close to switch, increases extra switch to detect empty leg
Situation can only detect the contact position of supporting leg, that is, only eye sees " not empty ", cannot form effective support actually；Inclination angle
Sensor is the inclination conditions that sensor position carrys out other each points of predicting platform, cannot effectively detect to be deleveled platform
Deformation, realize more effective levelling effect, and since the working principle of obliquity sensor causes it in different temperatures
Under precision it is different；In addition such system is mostly wired data transfer, cannot use mobile occasion.
Therefore, to overcome the above deficiency, need that a kind of leveling speed is fast, and leveling precision is high, be able to achieve it is automatic, semi-automatic,
The free switching of manual leveling and easy to operate, the degree of automation with higher, small volume, the electromechanical of high reliablity is certainly
Dynamic leveling system.
Summary of the invention
The present invention is to solve existing vehicle, equipment leveling system leveling low precision, and volume is larger, complicated for operation, right
The problem of operating experience of operator has higher requirements, poor reliability, and offer leveling speed is fast, leveling precision is high, can be in fact
Now automatic, semi-automatic, manual leveling free switching and easy to operate, the degree of automation with higher, small volume, reliably
Property high a kind of electromechanical automatic leveling system and leveling method.
The technical solution adopted by the present invention is that:
A kind of electromechanical automatic leveling system, including control module, the control module are connected with no less than 3 and are used to support
Servo-electric supporting leg, double-shaft tilt angle sensor, display screen, buzzer and the controlling terminal of vehicular platform, and be respectively to control
The power module that module, servo-electric supporting leg, double-shaft tilt angle sensor, display screen, buzzer and controlling terminal are powered；The control
Molding block is also connected with flatness laser measurement module, and the flatness laser measurement module includes Laser emission device assembly and swashs
Optical receiver assembly, the laser pick-off device assembly are connect by wireless data transfer module with control module.
Further, the servo-electric supporting leg includes fixed frame, and the screw-threaded shaft elevator that is arranged on fixed frame is watched
Motor, servo worm type of reduction gearing are taken, is servo motor, servo drive for controlling the servo-driver of servo motor movement
The battery and matched charger and inverter of dynamic device power supply, and the traveling wheel below fixed frame is set；
Load-bearing plate is provided with below the screw-threaded shaft elevator.
Further, the servo-electric supporting leg and double-shaft tilt angle sensor pass through wireless data transfer module and control
Module connection.
Further, the display screen is touching liquid-crystal display screen.
Further, the wireless data transfer module is ZigBee wireless data transfer module.
Further, the control module is PLC and its peripheral circuit.
Further, the controlling terminal is cable controller or wireless controller.
A kind of leveling method of electromechanical automatic leveling system, includes the following steps:
Servo-electric supporting leg is placed into and needs below the equipment that levels by step 1), by double-shaft tilt angle sensor setting to needing to adjust
In the plane of flat equipment, by flatness laser measurement module Laser emission device assembly and laser pick-off device assembly place respectively
On different measuring points to be checked on to equipment plane；Startup power supply switch is control module, servo-electric supporting leg, double-shaft tilt angle
Sensor, display screen, buzzer, controlling terminal and flatness laser measurement module power on；The laser pick-off device assembly is many
In 3；
Step 2, control module read the flatness data that double-shaft tilt angle sensor measures, and whether horizontal equipment are judged, if not
Flat, control module control servo-electric supporting leg quickly reaches extreme lower position below plane；
Step 3), control module read the run-length data of every servo-electric supporting leg, judge the highest point of equipment plane, with
Highest point benchmark calculates every servo of non-highest point according to trigonometric function in conjunction with the data of double-shaft tilt angle sensor
The stroke of Electric support leg, and shown in display screen；If being greater than according to the stroke that the servo-electric supporting leg that need to be adjusted is calculated
The total kilometres of servo-electric supporting leg, system-down are simultaneously shown in display screen, and by buzzer alert, operator judges to need
The servo-electric supporting leg of adjustment, after executing adjustment, control module reads again the flatness data that double-shaft tilt angle sensor measures,
Judge whether equipment is horizontal, reads the run-length data of every servo-electric supporting leg, the highest point of equipment plane is judged, with most
High point benchmark calculates every servo electricity of non-highest point according to trigonometric function in conjunction with the data of double-shaft tilt angle sensor
The run-length data of dynamic supporting leg, and shown in display screen；
The number of strokes of every servo-electric supporting leg of step 4), the non-highest point obtained in step 3) according to control module
According to, corresponding servo-electric supporting leg walking is controlled, after the completion of all servo-electric supporting leg walkings that need to be adjusted, repetition step 2,
The process of step 3), until aobvious according to the height difference that the levelness for the equipment platform for measuring, being calculated is no more than laser pickoff
When demonstration is enclosed, i.e. ,≤80mm carries out next step operation；
The reception signal that step 5), control module are fed back according to laser pick-off device assembly, i.e. Laser emission device assembly and laser connect
The height difference numerical value of the difference measuring point to be checked where device assembly is received, the servo-electric supporting leg for controlling corresponding position is walked again,
Until when Laser emission device assembly and height difference numerical value≤0.3mm of the measuring point Bu Tong to be checked where laser pick-off device assembly, control
Module reads the operation torque of each servo-electric supporting leg, when operation torque is less than the 10% of nominal torque, controls servo electricity
Dynamic supporting leg continues to act, until servo-electric supporting leg operation torque is greater than the 10% of nominal torque, to eliminate " empty leg "；
So far leveling step is completed, is terminated.
Further, the display screen in the step 1) is touching liquid-crystal display screen, and the controlling terminal is to have line traffic control
Device or wireless controller；The working condition of each module is controlled by display screen or controlling terminal.
Further, if the flatness data that control module reads that double-shaft tilt angle sensor measures in the step 2 does not surpass
When crossing the height difference indication range of laser pickoff, i.e. ,≤80mm directly executes the content of step 5).
The beneficial effects of the present invention are: the difference in height that 1. this system directly pass through measurement vehicular platform measures, and shows
Show more intuitively, realizes higher precision and significantly more efficient empty leg detection under various temperature conditions, solve such system
The problem faced；2. going out the deformation of platform by the position detection of increase and mobile laser pickoff, can avoid because vehicle-mounted
Platform deformation and influence leveling precision, when platform deflection is larger can by increase laser pickoff quantity realize, make be
System has stronger scalability；3. realize precision it is higher, the highest obliquity sensor of current composite precision all 0.005 degree with
Under, pair it is 4.36mm in the difference in height of 50m × 50m platform, the leveling difference in height of 0.3mm is realized using this measuring system, i.e.,
The precision difference in height leveled under the rigid platfor of 50m × 50m can reach 0.3mm, 0.00035 ° of angle of leveling be converted into, to leveling
For the high system of required precision, qualitative leap is realized；4. system before is all real by wired mode and controller
Existing data exchange, this system realizes the wireless communication between each receiver and controller, reduces the constraint of line, more just
It is mobile；5. this system is essentially different with laser ranging, this system is the low scattering property using laser, Laser Measuring
Flat system includes laser emitter and laser pickoff, and wherein laser emitter itself has automatic flat-adjustable function, and as mark
Quasi- horizontal plane measures the difference in height between multiple receivers and transmitter, the as difference in height of vehicular platform, after data processing,
The leveling of vehicular platform is realized by actuator；6. each servo-electric supporting leg is exactly an independent small Mechatronic Systems, often
Individual servo motor is configured on a servo-electric supporting leg, ensure that will not influence each other between each servo-electric supporting leg, with
Reach more superior performance, system operation is also more stable；On the other hand compared with hydraulic system, the company of pipeline is eliminated
It connects, has not only reduced the pollution due to pipeline and its damage to valve group, but also eliminate all safety problems as caused by booster, with
And it eliminates and is unloaded in the oil cylinder that storage occurs for a long time；Secondly itself resolution ratio with higher of the servo-electric supporting leg, on-off
Primary to realize that the traveling of servo-electric supporting leg only has 0.01mm, compact volume and convenience is quick, is be easily moved；In addition, servo-electric supporting leg is
Separate type absolute construction, if one of damage, can change the placement position of servo-electric supporting leg when conditions permit
It sets, come leveling (3 points determine a plane) of meeting an urgent need, repairs also particularly convenient；To guarantee the stability after system stops, servo
Motor internal contracting brake, trapezoidal screw and turbine and worm retarder can be self-locking etc. measures, it is suffered after a stop to effectively reduce system
The influence of external force considerably increases safety coefficient in a stationary situation.In addition to this there are also emergency manual system, preventions
The case where equipment can not operate because of non-transformer or power source damage appearance.
Detailed description of the invention
Fig. 1 is a kind of system structure diagram of electromechanical automatic leveling system provided by the invention；
Fig. 2 is the explosive view of servo-electric supporting leg in a kind of electromechanical automatic leveling system provided by the invention；
Fig. 3 is a kind of flow chart of the leveling method of electromechanical automatic leveling system provided by the invention.
In figure: 1, fixed frame；2, servo motor；3, servo worm type of reduction gearing；4, screw-threaded shaft elevator；5, servo is driven
Dynamic device；6, battery；7, charger；8, inverter；9, traveling wheel；10, load-bearing plate.
Specific embodiment
Core of the invention is to provide solenoid valve commutation 4 device of electrodynamic pump for the hydraulic overturning system of truck cap.
The content of the present invention will be further explained with reference to the accompanying drawing:
As shown in Figure 1 and 2, a kind of electromechanical automatic leveling system, including control module, control module be connected with 6 for branch
Servo-electric supporting leg, 1 double-shaft tilt angle sensor, 1 display screen, 1 buzzer and 1 controlling terminal of vehicular platform are supportted,
And respectively control module, servo-electric supporting leg, double-shaft tilt angle sensor, display screen, buzzer and controlling terminal power supply
Power module, servo-electric supporting leg and double-shaft tilt angle sensor pass through wireless data transfer module and connect with control module；Control
Molding block is also connected with flatness laser measurement module, and flatness laser measurement module is including 1 Laser emission device assembly and not
Less than 3 laser pick-off device assemblies, laser pick-off device assembly are connect by wireless data transfer module with control module.
Wherein, servo-electric supporting leg includes fixed frame 1, and screw-threaded shaft elevator 4, servo electricity on fixed frame 1 is arranged in
Machine 2, servo worm type of reduction gearing 3 are servo motor 2, servo drive for controlling the servo-driver 5 of the movement of servo motor 2
The battery 6 and matched charger 7 and inverter 8 that dynamic device 5 is powered, and the row below fixed frame 1 is set
Walk wheel 9, the lower section of screw-threaded shaft elevator 4 be provided with load-bearing plate 10, due to system requirements servo-electric supporting leg have automatically lock,
The function of unlock, therefore band-type brake motor is selected, servo-electric supporting leg passes through ZigBee wireless data transfer module and control module
Connection, is provided with the wireless receiver of ZigBee wireless data transfer module, the nothing on the fixed frame 1 of servo-electric supporting leg
Line receiver is electrically connected with servo-driver 5；Display screen is touching liquid-crystal display screen；Connect laser pick-off device assembly and control mould
The wireless data transfer module of block is ZigBee wireless data transfer module；Control module is PLC and its peripheral circuit；Control is eventually
End is cable controller or wireless controller；It is being connected to each component, corresponding be selected as 220V for the power module of its power supply
/ 380V AC component or chargeable storage.
The selection of major system modules: in the present embodiment, the programmable controller (PLC) as control module selects west
The 1215C DC/DC/DC of the sub- S7-1200 series of door；Double-shaft tilt angle sensor selects brightness lattice sst300；Flatness laser measurement mould
Block select Status Pro company production laser measurement system ProLevel v2, including Laser emission device assembly T330 and swash
Optical receiver assembly R310.
Systematic technical indicator:
1, system power supply: 220V/380V AC
2, design of electrical motor rated power 1.5KW (every servo-electric supporting leg)
3, maximum power is 9Kw when six servo-electric supporting leg simultaneously operations
5, single servo-electric supporting leg design load: 20 t, stroke: 150mm
6, servo-electric supporting leg and master control communication modes: connection rs485 and digital output modul may be selected in profinet(host computer)
7, levelling range: ± 10 °
8, the time: 3 min is leveled
9, system levels precision: 0.01 degree, detecting within the scope of point height difference 0.3mm(3 × 20m)
10, environmental requirement:
Humidity: 5%RH ~ 100%RH(25 DEG C)
Atmospheric loading: 550hPa ~ 1060hPa
Operating temperature: 0 ~ 70 DEG C
With rain-proof, moisture-proof, anti-dust, anticorrosive measure；
11, electric-control system meets GB/T17626.2-1998, GB/T17626.3-1998, GB/T17626.9-1998, GB/
T17626.8-1998 EMC test related standard with measuring technique
12, height above sea level is not higher than 6000m, after wherein motor is higher than 1000m, every increase 100m, and power decline 1.5%
13, electric cabinet integral protection grade IP65, sensor guard grade IP67.
This system also has technical safety measures:
1, anti-power failure system
In use process, when power-off condition occurs, servo-electric supporting leg can stop acting, and effectively locked, thoroughly protect
Card safety.But it in order to avoid servo-electric supporting leg weight lifting does not fall situation when having a power failure, is shaken with manual handle, realizes that power failure is locked
Rotation is withdrawn afterwards；
2, emergency stopping system
System breaks down or needs the case where stopping in emergency, and in line with the principle of safety first, is arranged in equipment and promptly stops
The mushroom head button of vehicle, can emergency control system parking, directly control its total electromechanical source, it is ensured that perfectly safe；
3, anti-descending system
This system is 6 servo-electric supporting legs, and each Electric support leg outfit is the servo motor with internal contracting brake provided function, is guaranteed
It will not be moved in the case of system quiescence.In addition when system is because of prolonged static storage, trapezoidal screw and turbine and worm retarder
Can be self-locking, guarantee the anti-seismic performance of system；
4, intelligent checking system
Caused by much failures are all as using the equipment to have broken down；This system can detect each heavy while booting
Want whether component breaks down, if run in the environment of permission, and prompt and alarm are provided by touch screen, guarantee system
Using being safe and reliable；
5, alarm and prompt
Strength is larger when system is run, and needs operator and those present person's attention high concentration, and system needs to issue when running
Alarm sound, to prompt personnel on the scene to improve attention.
As shown in figure 3, being included the following steps: using the leveling method of electromechanical automatic leveling system as above
Servo-electric supporting leg is placed into and needs below the equipment that levels by step 1), by double-shaft tilt angle sensor setting to needing to adjust
In the plane of flat equipment, by flatness laser measurement module Laser emission device assembly and laser pick-off device assembly place respectively
On different measuring points to be checked on to equipment plane；Startup power supply switch is control module, servo-electric supporting leg, double-shaft tilt angle
Sensor, display screen, buzzer, controlling terminal and flatness laser measurement module power on；The laser pick-off device assembly is many
In 3；Wherein display screen is touching liquid-crystal display screen, and controlling terminal is cable controller or wireless controller；Pass through display screen
Or controlling terminal controls the working condition of each module；
Step 2, control module read the flatness data that double-shaft tilt angle sensor measures, and whether horizontal equipment are judged, if not
Flat, control module control servo-electric supporting leg quickly reaches extreme lower position below plane；Control module reads double-shaft tilt angle sensing
If the flatness data that device measures is no more than the height difference indication range of laser pickoff, i.e. ,≤80mm directly executes step 5
Content；
Step 3), control module read the run-length data of every servo-electric supporting leg, judge the highest point of equipment plane, with
Highest point benchmark calculates every servo of non-highest point according to trigonometric function in conjunction with the data of double-shaft tilt angle sensor
The stroke of Electric support leg, and shown in display screen；If being greater than according to the stroke that the servo-electric supporting leg that need to be adjusted is calculated
The total kilometres of servo-electric supporting leg, system-down are simultaneously shown in display screen, and by buzzer alert, operator judges to need
The servo-electric supporting leg of adjustment, after executing adjustment, control module reads again the flatness data that double-shaft tilt angle sensor measures,
Judge whether equipment is horizontal, reads the run-length data of every servo-electric supporting leg, the highest point of equipment plane is judged, with most
High point benchmark calculates every servo electricity of non-highest point according to trigonometric function in conjunction with the data of double-shaft tilt angle sensor
The run-length data of dynamic supporting leg, and shown in display screen；
The number of strokes of every servo-electric supporting leg of step 4), the non-highest point obtained in step 3) according to control module
According to, corresponding servo-electric supporting leg walking is controlled, after the completion of all servo-electric supporting leg walkings that need to be adjusted, repetition step 2,
The process of step 3), until aobvious according to the height difference that the levelness for the equipment platform for measuring, being calculated is no more than laser pickoff
When demonstration is enclosed, i.e. ,≤80mm carries out next step operation；
The reception signal that step 5), control module are fed back according to laser pick-off device assembly, i.e. Laser emission device assembly and laser connect
The height difference numerical value of the difference measuring point to be checked where device assembly is received, the servo-electric supporting leg for controlling corresponding position is walked again,
Until when Laser emission device assembly and height difference numerical value≤0.3mm of the measuring point Bu Tong to be checked where laser pick-off device assembly, control
Module reads the operation torque of each servo-electric supporting leg, regards as the supporting leg greater than setting value before when the torque of supporting leg and lands
Empty leg is eliminated, setting the value in the present embodiment is the 10% of nominal torque, i.e., when operation torque is less than the 10% of nominal torque
When, it is believed that the servo-electric supporting leg is in " empty leg " state, then controls the servo-electric supporting leg and continue to act, until the servo-electric
Until supporting leg operation torque is greater than the 10% of nominal torque, to eliminate " empty leg "；So far leveling step is completed, is terminated.
Electromechanical automatic leveling system as described above by controller, high-precision dual-axis obliquity sensor of PLC by making
For feedback element, 6 servo motor supporting legs are controlled, first determine whether out state where plane, by controlling 6 servo-electric branch
Leg, coarse mode takes the lead in reaching leveling face, and guarantees that four servo-electric supporting legs effectively support.Fast reaction avoids plane
Continue to tilt;Then other servo-electric supporting legs are calculated by the trigonometric function of fine tuning, with highest servo-electric supporting leg phase
The distance (assuming that plane is rigidity) of difference;Then servo-electric supporting leg is executive component, and servo-electric supporting leg synchronous lifting passes through
The distance that the trigonometric function of plane calculates all lifts and simulates artificial control model using secondary leveling afterwards in place, eliminates flat
Platform deforms the influence to the distance of calculating；Using a kind of above-mentioned electromechanical automatic horizontal control system, can make system reach 0.05 degree with
Interior, the vertical height difference of the platform of 20000mm × 20000mm is within 20mm；It is modified again by flatness laser measurement system,
This system laser mainly includes laser emitter and laser pickoff composition, and the signal that laser pickoff can will receive turns
It is changed to the difference in height numerical value (precision 0.01mm) with transmitter, the display of band number and RS485 communication or bluetooth output.By laser
Transmitter is placed in a test point in plane, laser pickoff is placed on the other measuring point to be checked in plane, then
After sending controller to according to the height difference of several points, allows servo-electric supporting leg to carry out second and walk, make its precision controlling
Within 0.3mm, entire automatic leveling process is completed.If under original state, the flatness of equipment plane connects no more than laser
When receiving the height difference indication range of device (80mm), the process of above-mentioned coarse adjustment is required no, is directly entered accurate adjustment, realizes leveling；It can also
To carry out semi-automatic control, the height difference numerical value of display is input in touch screen, walking servo mechanism is carried out, reaches its tune
Flat purpose.The system levels that speed is fast, and leveling precision is high, is able to achieve automatic, semi-automatic, the free switching of manual leveling and behaviour
Make simply, one-key operation to be operated when automatic, the degree of automation semi-automation mode with higher is easy to operate understandable, manually
It operates highly reliable.Therefore have that integration degree is high, strongly professional, leveling precision is high, and easy to operate easy to learn, load range is wide
(1-60 tons) carry and advantage easy for installation in mobile working.
Claims (10)
1. a kind of electromechanical automatic leveling system, including control module, the control module be connected with no less than 3 for branch
Servo-electric supporting leg, double-shaft tilt angle sensor, display screen, buzzer and the controlling terminal of vehicular platform are supportted, and is respectively to control
The power module that molding block, servo-electric supporting leg, double-shaft tilt angle sensor, display screen, buzzer and controlling terminal are powered；It is special
Sign is: the control module is also connected with flatness laser measurement module, and the flatness laser measurement module includes laser
Emitter assemblies and laser pick-off device assembly, the laser pick-off device assembly are connected by wireless data transfer module and control module
It connects.
2. electromechanical automatic leveling system according to claim 1, it is characterised in that: the servo-electric supporting leg includes solid
Determine rack, screw-threaded shaft elevator, servo motor, servo worm type of reduction gearing on fixed frame are set, for controlling servo
The servo-driver of motor action, be servo motor, servo-driver power battery and matched charger and
Inverter, and the traveling wheel below fixed frame is set；Load-bearing plate is provided with below the screw-threaded shaft elevator.
3. electromechanical automatic leveling system according to claim 1, it is characterised in that: the servo-electric supporting leg and twin shaft
Obliquity sensor passes through wireless data transfer module and connect with control module.
4. electromechanical automatic leveling system according to claim 1, it is characterised in that: the display screen is aobvious for touch LCD
Display screen.
5. electromechanical automatic leveling system according to claim 1, it is characterised in that: the wireless data transfer module is
ZigBee wireless data transfer module.
6. electromechanical automatic leveling system according to claim 1, it is characterised in that: the control module be PLC and its
Peripheral circuit.
7. electromechanical automatic leveling system according to claim 1, it is characterised in that: the controlling terminal is to have line traffic control
Device or wireless controller.
8. a kind of leveling method using the electromechanical automatic leveling system any in claim 1 ~ 7, which is characterized in that
Include the following steps:
Servo-electric supporting leg is placed into and needs below the equipment that levels by step 1), by double-shaft tilt angle sensor setting to needing to adjust
In the plane of flat equipment, by flatness laser measurement module Laser emission device assembly and laser pick-off device assembly place respectively
On different measuring points to be checked on to equipment plane；Startup power supply switch is control module, servo-electric supporting leg, double-shaft tilt angle
Sensor, display screen, buzzer, controlling terminal and flatness laser measurement module power on；The laser pick-off device assembly is many
In 3；
Step 2, control module read the flatness data that double-shaft tilt angle sensor measures, and whether horizontal equipment are judged, if not
Flat, control module control servo-electric supporting leg quickly reaches extreme lower position below plane；
Step 3), control module read the run-length data of every servo-electric supporting leg, judge the highest point of equipment plane, with
Highest point benchmark calculates every servo of non-highest point according to trigonometric function in conjunction with the data of double-shaft tilt angle sensor
The stroke of Electric support leg, and shown in display screen；If being greater than according to the stroke that the servo-electric supporting leg that need to be adjusted is calculated
The total kilometres of servo-electric supporting leg, system-down are simultaneously shown in display screen, and by buzzer alert, operator judges to need
The servo-electric supporting leg of adjustment, after executing adjustment, control module reads again the flatness data that double-shaft tilt angle sensor measures,
Judge whether equipment is horizontal, reads the run-length data of every servo-electric supporting leg, the highest point of equipment plane is judged, with most
High point benchmark calculates every servo electricity of non-highest point according to trigonometric function in conjunction with the data of double-shaft tilt angle sensor
The run-length data of dynamic supporting leg, and shown in display screen；
The number of strokes of every servo-electric supporting leg of step 4), the non-highest point obtained in step 3) according to control module
According to, corresponding servo-electric supporting leg walking is controlled, after the completion of all servo-electric supporting leg walkings that need to be adjusted, repetition step 2,
The process of step 3), until aobvious according to the height difference that the levelness for the equipment platform for measuring, being calculated is no more than laser pickoff
When demonstration is enclosed, i.e. ,≤80mm carries out next step operation；
The reception signal that step 5), control module are fed back according to laser pick-off device assembly, i.e. Laser emission device assembly and laser connect
The height difference numerical value of the difference measuring point to be checked where device assembly is received, the servo-electric supporting leg for controlling corresponding position is walked again,
Until when Laser emission device assembly and height difference numerical value≤0.3mm of the measuring point Bu Tong to be checked where laser pick-off device assembly, control
Module reads the operation torque of each servo-electric supporting leg, when operation torque is less than the 10% of nominal torque, controls servo electricity
Dynamic supporting leg continues to act, until servo-electric supporting leg operation torque is greater than the 10% of nominal torque, to eliminate " empty leg "；
So far leveling step is completed, is terminated.
9. the leveling method of electromechanical automatic leveling system according to claim 8, it is characterised in that: in the step 1)
Display screen be touching liquid-crystal display screen, the controlling terminal be cable controller or wireless controller；Pass through display screen or control
The working condition of each module of terminal control processed.
10. the leveling method of electromechanical automatic leveling system according to claim 8, it is characterised in that: the step 2
If middle control module reads the height difference indication range that the flatness data that double-shaft tilt angle sensor measures is no more than laser pickoff
When, i.e. ,≤80mm directly executes the content of step 5).
Priority Applications (1)
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| CN114413770A (en) * | 2022-01-26 | 2022-04-29 | 昆山三河汇电子机械设备有限公司 | Automatic leveling system measuring equipment |
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