CN111169438B - Leveling method and adjustable platform - Google Patents
Leveling method and adjustable platform Download PDFInfo
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- CN111169438B CN111169438B CN202010061863.5A CN202010061863A CN111169438B CN 111169438 B CN111169438 B CN 111169438B CN 202010061863 A CN202010061863 A CN 202010061863A CN 111169438 B CN111169438 B CN 111169438B
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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
- B60S9/10—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 by fluid pressure
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Abstract
The invention discloses a leveling method of an adjustable platform and the adjustable platform. The adjustable platform comprises a bedplate and a supporting device, wherein the supporting device is used for supporting the bedplate on the ground, the supporting device comprises a plurality of telescopic supporting leg structures with upper ends rotatably connected with the bedplate, and the leveling method comprises the following steps: detecting the inclination angle of the bedplate; detecting the load pressure of each supporting leg structure; and judging whether the bedplate is in a horizontal state or not according to the detection result of the inclination angle, and controlling the extension and contraction of each supporting leg structure according to the detection result of the inclination angle and the detection result of the load pressure to level the bedplate when the bedplate is judged not to be in the horizontal state.
Description
Technical Field
The invention relates to the technical field of bedplate leveling, in particular to a leveling method and an adjustable platform.
Background
In the mechanical field, leveling is often required. For example, when a construction machine such as an excavator works on an uneven ground such as a slope, in order to prevent the machine from tipping over, it is necessary to operate a telescopic cylinder that supports four legs of the whole machine at the time of working, to extend and retract each leg, and to level a body deck of the excavator. For example, some vehicles with liftable suspensions are driven, in order to improve the stability of the vehicle body, when the vehicles encounter uncertain terrains such as slopes, ravines and the like, the suspensions are also subjected to lifting adjustment to level the vehicle body. In the prior art, CN102277891B discloses a leveling device for a walking type engineering machine, which utilizes the detection result of an inclination angle detection device to control the extension and contraction of a left front supporting leg oil cylinder, a right front supporting leg oil cylinder, a left supporting leg oil cylinder, a right supporting leg oil cylinder and a right rear supporting leg oil cylinder so as to reset and level a machine body. CN104571145B discloses a leveling method and a leveling device for a supporting platform, which are used for leveling a launching platform of a four-leg vehicle body in the military field. CN106926827B discloses a leveling control system and method for a supporting device and a fire engine, which discloses leveling a fixed frame by controlling the extension and retraction of a supporting leg having four supporting arms and located at the end of each supporting arm. CN107380140A discloses a vehicle-mounted leveling system based on a double-shaft tilt sensor and a control method, and discloses the whole vehicle leveling of a road transport launch vehicle. In the prior art, a leveling strategy is mostly formulated based on an inclination angle detection result, and the leveling strategy is formulated without considering the load pressure of each supporting leg structure.
Disclosure of Invention
The invention discloses a leveling method of an adjustable platform, the adjustable platform comprises a bedplate and a supporting device, the bedplate is supported on the supporting device, the supporting device comprises a plurality of telescopic supporting leg structures, the upper ends of the telescopic supporting leg structures are rotatably connected with the bedplate, and the leveling method comprises the following steps:
detecting the inclination angle of the bedplate;
detecting the load pressure of each supporting leg structure;
and judging whether the bedplate is in a horizontal state or not according to the detection result of the inclination angle, and controlling the extension and contraction of each supporting leg structure according to the detection result of the inclination angle and the detection result of the load pressure to level the bedplate when the bedplate is judged not to be in the horizontal state.
In some embodiments, when it is determined that the platen is not in the horizontal state, controlling the extension and contraction of each leg structure according to the detection result of the inclination angle and the detection result of the pressure includes:
judging the low side and the high side of the bedplate according to the detection result of the inclination angle;
and judging whether the load pressure of the support leg structure supporting the low side of the bedplate is smaller than respective pressure threshold values according to the detection result of the pressure detection device, controlling the support leg structure supporting the low side to extend and/or controlling the support leg structure supporting the high side to retract when the judgment result is yes, and controlling the support leg structure supporting the high side to retract and limiting the support leg structure supporting the low side to extend when the judgment result is no.
In some embodiments, the first and second mutually perpendicular axes of the deck divide the deck into four portions, a front left side, a front right side, a rear left side, and a rear right side, the plurality of leg structures including a front left leg structure supporting the front left side of the deck, a front right leg structure supporting the front right side of the deck, a rear left leg structure supporting the rear left side of the deck, and a rear right leg structure supporting the rear right side of the deck;
judging whether the bedplate is in a horizontal state according to the detection result of the inclination angle comprises the following steps: detecting an inclination angle X of the first axis relative to the horizontal direction and an inclination angle Y of the second axis relative to the horizontal direction, judging the size between X and a first preset angle-alpha 1 and a first preset angle alpha 2, and judging the size between Y and a third preset angle-beta 1 and a fourth preset angle beta 2, wherein alpha 1 is more than or equal to 0 degrees, alpha 2 is more than or equal to 0 degrees, beta 1 is more than or equal to 0 degrees and beta 2 is more than or equal to 0 degrees, when-alpha 1 is more than or equal to X and less than or equal to alpha 2 degrees, and-beta 1 is more than or equal to Y and less than or equal to beta 2 degrees, judging that the bedplate is in a horizontal state, and judging that the bedplate is not in a horizontal state.
In some embodiments, when it is determined that the platen is not in the horizontal state, determining the low side and the high side of the platen based on the detection result of the inclination angle includes:
when X is less than-alpha 1 and Y is more than or equal to-beta 1 and less than or equal to beta 2, judging that the bedplate is not in a horizontal state, wherein the low side of the bedplate comprises a left rear side and a right rear side, and the high side comprises a left front side and a right front side;
when X is larger than alpha 2 and-beta 1 is larger than or equal to Y and smaller than or equal to beta 2, judging that the bedplate is not in a horizontal state, wherein the low side of the bedplate comprises a left front side and a right front side, and the high side comprises a left rear side and a right rear side;
when the-alpha 1 is more than or equal to the X and less than or equal to the alpha 2 and the Y is less than the-beta 1, the bedplate is judged not to be in a horizontal state, the low side of the bedplate comprises a right front side and a right rear side, and the high side comprises a left front side and a left rear side;
when X is more than or equal to-alpha 1 and less than or equal to alpha 2 and Y is more than or equal to beta 2, judging that the bedplate is not in a horizontal state, wherein the low side of the bedplate comprises a left front side and a left rear side, and the high side comprises a right front side and a right rear side;
when X < -alpha 1 and Y < -beta 1, judging that the bedplate is not in a horizontal state and the low side of the bedplate is a right rear side, wherein the high side of the bedplate comprises a left front side, a left rear side and a right front side;
when X is more than alpha 2 and Y is less than-beta 1, judging that the bedplate is not in a horizontal state, wherein the low side of the bedplate is the right front side, and the high side of the bedplate comprises the right rear side, the left front side and the left rear side;
when X < -alpha 1 and Y > beta, judging that the bedplate is not in a horizontal state, wherein the low side of the bedplate is the left rear side, and the high side of the bedplate comprises the left front side, the right front side and the right rear side; and/or
When X > alpha 2 and Y > beta 2, judging that the bedplate is not in a horizontal state, wherein the low side of the bedplate is the left front side, and the high side of the bedplate comprises a left rear side, a right front side and a right rear side.
In some embodiments, further comprising detecting a telescoping length of each of the leg structures;
when the bedplate is judged not to be in the horizontal state, controlling the extension and contraction of the supporting leg structures according to the detection result of the inclination angle and the detection result of the pressure comprises the following steps:
before controlling the leg structure supporting the low side to extend, judging whether the number of the leg structures of the low side is more than two, if so, judging whether the highest leg structure exists in the plurality of leg structures of the low side according to the detection result of the inclination angle, if so, judging which leg structure is the highest leg structure of the low side, detecting the extension length L1 of the highest leg structure of the low side from the beginning of leveling and the extension length L2 of any other leg structure of the low side except the highest leg structure from the beginning of leveling in the leveling process, controlling the suspended extension of the highest leg structure of the low side when L1-L2 is more than delta x1 and delta x1 is a first displacement difference threshold, and controlling the highest leg structure of the low side to continue to extend when L1-L2 is less than or equal to delta x 1; and/or
Before the leg structure supporting the high side retracts, whether the highest leg structure of the high side exists in the plurality of leg structures of the high side is judged according to the detection result of the inclination angle, if yes, which leg structure is the highest leg structure of the high side is judged, in the leveling process, the retraction length L4 of the highest leg structure of the high side from the beginning of leveling and the retraction length L3 of any leg structure of the high side except the highest leg structure from the beginning of leveling are detected, when the L3-L4 is more than delta x2, delta x2 is a second displacement difference threshold value, any other leg structure is controlled to suspend retraction, and when the L3-L4 is less than or equal to delta x2, any other leg structure is controlled to continue to retract.
In some embodiments of the present invention, the,
before controlling the support leg structure for supporting the low side to stretch out, judging whether the support leg structure for supporting the low side is more than two, if one of the following conditions is met, judging that the support leg structure for supporting the low side is more than two:
x is less than-alpha 1, and-beta 1 is less than or equal to Y is less than or equal to beta 2;
x is more than alpha 2, and-beta 1 is more than or equal to Y is more than or equal to beta 2;
- α 1. ltoreq. X. ltoreq. α 2, and Y < - β 1;
- α 1. ltoreq. X. ltoreq. α 2, and Y > β 2.
In some embodiments of the present invention, the,
determining whether a highest leg structure is present among the plurality of leg structures on the low side, and if so, determining which leg structure is the highest leg structure on the low side comprises:
when X is less than-alpha 1 and Y is more than or equal to-beta 1 and less than or equal to beta 2, if Y is more than 0 degrees, judging that the highest landing leg structure with the low side exists and the right rear landing leg structure is the highest landing leg structure with the low side exists, if Y is less than 0 degrees, judging that the highest landing leg structure with the low side exists and the left rear landing leg structure is the highest landing leg structure with the low side exists and if Y is 0 degrees, judging that the highest landing leg structure with the low side does not exist;
when X is larger than alpha 2 and-beta 1 is not larger than Y and not larger than beta 2, if Y is larger than 0 degrees, judging that the highest support leg structure with the low side exists and the right front support leg structure is the highest support leg structure with the low side exists, if Y is smaller than 0 degrees, judging that the highest support leg structure with the low side exists and the left front support leg structure is the highest support leg structure with the low side exists, and if Y is 0 degrees, judging that the highest support leg structure with the low side does not exist;
when-alpha 1 is more than or equal to X and less than or equal to alpha 2 and Y is less than-beta 1, if X is more than 0 degrees, judging that the highest landing leg structure with a low side exists and the right rear landing leg structure is the highest landing leg structure with a low side exists, if X is less than 0 degrees, judging that the highest landing leg structure with a low side exists and the right front landing leg structure is the highest landing leg structure with a low side exists and if X is 0 degrees, judging that the highest landing leg structure with a low side does not exist; and/or
When-alpha 1 is less than or equal to X is less than or equal to alpha 2 and Y is more than or equal to beta 2, if X is more than 0 degrees, judging that the highest support leg structure with the low side exists and the left rear support leg structure is the highest support leg structure with the low side exists, when X is less than 0 degrees, judging that the highest support leg structure with the low side exists and the left front support leg structure is the highest support leg structure with the low side exists, and if X is 0 degrees, judging that the highest support leg structure with the low side does not exist.
In some embodiments of the present invention, the,
judging whether the highest leg structure of high side exists among a plurality of leg structures of supporting high side, if exist, judging which leg structure is the highest leg structure of high side includes:
when X is less than-alpha 1 and Y is more than or equal to-beta 1 and less than or equal to beta 2, if Y is more than 0 degrees, judging that the highest landing leg structure on the high side exists, and the right front landing leg structure is the highest landing leg structure on the high side, when Y is less than 0 degrees, judging that the highest landing leg structure on the high side exists, and the left front landing leg structure is the highest landing leg structure on the high side, and when Y is 0 degrees, judging that the highest landing leg structure on the high side does not exist;
when X is larger than alpha 2 and-beta 1 is not smaller than Y and not larger than beta 2, if Y is larger than 0 degrees, judging that the highest landing leg structure on the high side exists, and the right rear landing leg structure is the highest landing leg structure on the high side, if Y is smaller than 0 degrees, judging that the highest landing leg structure on the high side exists, and the left rear landing leg structure is the highest landing leg structure on the high side exists, and if Y is 0 degrees, judging that the highest landing leg structure on the high side does not exist;
when X is more than or equal to-alpha 1 and less than or equal to alpha 2 and Y is less than-beta 1, if X is more than 0 degrees, judging that the highest landing leg structure on the high side exists, and if X is less than 0 degrees, judging that the highest landing leg structure on the high side exists, and if X is 0 degrees, judging that the highest landing leg structure on the high side does not exist; and/or
When-alpha 1 is not less than or equal to X and not more than or equal to alpha 2 and Y is more than or equal to beta 2, if X is more than 0 degrees, judging that the highest landing leg structure on the high side exists and the right rear landing leg structure is the highest landing leg structure on the high side, if X is less than 0 degrees, judging that the highest landing leg structure on the high side exists and the right front landing leg structure is the highest landing leg structure on the high side exists and if X is 0 degrees, judging that the highest landing leg structure on the high side does not exist;
when X is less than-alpha 1 and Y is less than-beta 1, judging that the highest supporting leg structure on the high side exists, and the front left supporting leg structure is the highest supporting leg structure on the high side;
when X is more than alpha 2 and Y is less than-beta 1, judging that the highest supporting leg structure on the high side exists, and judging that the left rear supporting leg structure is the highest supporting leg structure on the high side;
when X is less than-alpha 1 and Y is more than beta, judging that the highest landing leg structure on the high side exists and the right front landing leg structure is the highest landing leg structure on the high side; and/or
When X is larger than alpha 2 and Y is larger than beta 2, judging that the highest supporting leg structure of the high side exists and the right rear supporting leg structure is the highest supporting leg structure of the high side.
In some embodiments, further comprising detecting an extension length of each of the leg structures; and judging whether the extension length of each supporting leg structure exceeds the respective extension length threshold value, and stopping the telescopic action of the supporting leg structure or retracting the supporting leg structure when the judgment result of a certain supporting leg structure is yes.
In some embodiments, the support leg structure includes telescopic cylinders for driving the telescopic cylinders to extend and retract, the adjustable platform further includes hydraulic valve groups for correspondingly controlling the telescopic cylinders, and the leveling method further includes:
and when a certain hydraulic valve group is detected to be out of order, stopping the action of the telescopic oil cylinders correspondingly controlled by the hydraulic valve group, and adjusting the other telescopic oil cylinders to level the bedplate.
In a second aspect, the present invention discloses an adjustable platform, comprising:
a platen;
the bedplate is supported on the supporting device, and the supporting device comprises a plurality of telescopic leg structures with the upper ends hinged with the bedplate;
an inclination angle detection device for detecting the inclination angle of the bedplate of the adjustable platform
The pressure detection device is used for detecting the load pressure of each supporting leg structure; and
a controller in signal connection with the tilt angle detection device, the pressure detection device, and each of the leg structures, the controller configured to: and controlling the extension and retraction of each supporting leg structure according to the detection results of the inclination angle detection device and the pressure detection device so as to level the bedplate.
In some embodiments, the first and second mutually perpendicular axes of the deck divide the deck into four portions, a front left side, a front right side, a rear left side, and a rear right side, the plurality of leg structures including a front left leg structure supporting the front left side of the deck, a front right leg structure supporting the front right side of the deck, a rear left leg structure supporting the rear left side of the deck, and a rear right leg structure supporting the rear right side of the deck; the adjustable platform comprises an inclination angle detection device for detecting an inclination angle X of the first axis relative to the horizontal direction and an inclination angle Y of the first axis relative to the horizontal direction.
In some embodiments, the adjustable platform further comprises a displacement detection device for detecting the extension length of each of the leg structures, the displacement detection device being in signal connection with the controller.
In some embodiments, the pressure detection means comprises a pressure sensor provided at the top end of the leg structure; and/or, the landing leg structure is including being used for driving its flexible telescopic cylinder, pressure detection device is including being used for detecting the pressure sensor of the oil pressure size of each telescopic cylinder.
In some embodiments, the adjustable platform is a work machine.
Based on the leveling method provided by the invention, the inclination angle of the bedplate of the adjustable platform and the load pressure of each supporting leg structure are detected, so that the stretching of each supporting leg structure can be controlled according to the inclination angle of the bedplate and the load pressure of the supporting leg structure, and the bedplate of the adjustable platform can be leveled more safely and effectively.
The adjustable platform and the adjustable platform to which the leveling method of the present invention can be applied also have corresponding advantageous effects.
Other features of the present invention and advantages thereof will become apparent from the following detailed description of exemplary embodiments thereof, which proceeds with reference to the accompanying drawings.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
FIG. 1 is a schematic structural diagram of an adjustable platform according to an embodiment of the present invention;
FIG. 2 is a schematic view of the adjustable platform of FIG. 1 with the platens tilted relative to horizontal;
FIG. 3 is a schematic diagram of a control system of an adjustable platform according to another embodiment of the present invention;
fig. 4 is a schematic flow chart illustrating a leveling process of an adjustable platform according to another embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.
Spatially relative terms, such as "above … …," "above … …," "above … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
As shown in fig. 1, the adjustable platform of the present embodiment includes a bedplate supported on a supporting device, and a supporting device including a plurality of telescopic leg structures with upper ends rotatably connected with the bedplate.
The upper ends of the plurality of supporting leg structures can be hinged with the bedplate, the lower ends of the supporting leg structures can be arranged on the base, and the lower ends of the supporting leg structures can be connected with wheels, caterpillar tracks and the like and are supported on the ground through the wheels, the caterpillar tracks and the like. The upper end of the supporting leg structure can also be connected with the bedplate in a relatively rotatable and relatively slidable manner, for example, a chute is arranged on the bedplate, and a spherical protruding part matched with the chute is arranged at the upper end of the supporting leg structure, so that the upper end of the supporting leg structure can rotate relative to the bedplate and can slide relative to the bedplate. The adjustable platform is an excavator and other engineering machinery, and the bedplate can be a machine body bedplate. The adjustable platform can also be a vehicle, and the bedplate can be a vehicle body and the like. The bedplate can be a flat surface table top or a component with an uneven surface, and the bedplate only represents a structure which is borne by the support leg structure and needs to be leveled, and the shape of the bedplate is not limited. The extension and contraction of the supporting leg structure can be driven by an extension and contraction mechanism, for example, the extension and contraction of the supporting leg structure can be driven by the extension and contraction of an extension and contraction oil cylinder. The supporting leg structure can also be driven to stretch out and draw back through a telescopic mechanism such as a screw-nut pair, gear-rack matching and the like. The landing leg structure can set up with telescopic machanism as an organic whole, and the landing leg structure can also set up with telescopic machanism not integrally, for example set to the triangle and connect. For example, the support leg structure can be two sections of slide rails which are matched with each other, the upper end of the slide rail at the upper section is hinged with the bedplate, the lower end of the slide rail at the lower section is supported on the ground, the telescopic mechanism is a telescopic oil cylinder, a cylinder rod of the telescopic oil cylinder is hinged with the bedplate, and a cylinder barrel of the telescopic oil cylinder is hinged with the slide rail at the lower section, so that the support leg structure, the telescopic oil cylinder and the bedplate form triangular connection. Therefore, the bedplate can be driven to lift and/or rotate by the extension and retraction of the supporting leg structures. The shape of the specific bedplate and the arrangement of the leg structures and the connection form with the bedplate and the like can refer to the patent documents in the prior art cited in the background.
The leveling method comprises the following steps: detecting the inclination angle of the bedplate; detecting the load pressure of each supporting leg structure; and judging whether the bedplate is in a horizontal state or not according to the detection result of the inclination angle, and controlling the extension and contraction of each supporting leg structure according to the detection result of the inclination angle and the detection result of the load pressure to level the bedplate when the bedplate is judged not to be in the horizontal state.
The inclination of the table, which is the inclination of the table with respect to the horizontal direction, is detected by an inclination detecting device 20, such as a two-axis inclination detecting sensor. The load pressure of the supporting leg structure reflects how much load the supporting leg structure bears, and in the telescopic process of the supporting leg structure, when the telescopic length of each supporting leg structure is different or the inclination angle of the bedplate is different, the borne load of each supporting leg structure is possibly different, and the load pressure of the supporting leg structure can be detected through a pressure sensor arranged on the supporting leg structure, such as a stress strain gauge and the like. When the supporting leg structure is driven to stretch by the telescopic oil cylinder, the size and the change of the oil pressure of the telescopic oil cylinder can be detected to reflect the size and the change of the load pressure of the supporting leg structure.
When the bedplate is judged not to be in the horizontal state according to the inclination angle detection result of the inclination angle detection device 20, the bedplate can be leveled by extending the supporting leg structure at the lower part of the bedplate, or retracting the supporting leg structure at the higher part of the bedplate, or a combination of the two ways. According to the leveling method, the inclination angle of the bedplate of the adjustable platform and the load pressure of each supporting leg structure are detected, so that the telescopic strategy of each supporting leg structure can be comprehensively judged and controlled according to the inclination angle of the bedplate and the load pressure of the supporting leg structure, and a more appropriate telescopic method for controlling each supporting leg structure can be found more easily to safely and effectively level the bedplate of the adjustable platform.
In some embodiments, when it is determined that the platen is not in the horizontal state, controlling the extension and contraction of each leg structure according to the detection result of the inclination angle and the detection result of the pressure includes: judging the low side and the high side of the bedplate according to the detection result of the inclination angle; and judging whether the load pressure of the support leg structure at the low side of the support bedplate is smaller than the respective pressure threshold value according to the detection result of the pressure detection device, controlling the support leg structure for supporting the low side to extend and/or controlling the support leg structure for supporting the high side to retract when the judgment result is yes, and controlling the support leg structure for supporting the high side to retract and limiting the support leg structure for supporting the low side to extend when the judgment result is no.
The low side and the high side of the table plate mean that when the inclination angle detecting device 20 detects that the table plate is not in the horizontal state, the portion of the table plate that is relatively high is the high side, and the portion that is relatively low is the low side. The pressure threshold refers to the maximum value of the load pressure that each supporting leg structure can bear, and the load pressure thresholds of each supporting leg structure can be set to be the same, or can be set to be different according to the position, structure, distribution and the like of each supporting leg structure. When the load pressure that the landing leg structure bore exceeds its pressure threshold value, the structural strength, rigidity etc. of landing leg structure can suffer destruction, influences safety. When the bedplate is not in a horizontal state, the leveling method of the bedplate can be that the leg structure supporting the low side extends out, or the leg structure supporting the high side retracts, or the combination of the two. When the leg structure supporting the low side is extended, the load pressure of the leg structure becomes large. When the leg structure supporting the high side is retracted, its load pressure is reduced. Therefore, after the bedplate is judged not to be in the horizontal state, the embodiment detects and judges whether the load pressure of the support leg structure at the low side of the support bedplate is smaller than the pressure threshold value thereof, so that when the bedplate is leveled, whether the extension of the support leg structure at the low side of the support bedplate is limited can be judged, the strength of the support leg structure can be protected, and the load pressure of the support leg structure is prevented from exceeding the pressure threshold value thereof. For example, if it is determined that a leg structure of the one or more leg structures supporting the low side exceeds its pressure threshold, the leg structure supporting the low side is limited from extending when leveling, i.e., the leg structure supporting the low side may remain partially or retract and the leg structure supporting the high side retracts to level the deck.
In some embodiments, as shown in figures 1 and 2,
the first and second mutually perpendicular axes 10, 20 of the pallet divide the pallet into four parts, a left front side 1, a right front side 2, a left rear side 3 and a right rear side 4, and the plurality of leg structures includes a left front leg structure 11 supporting the left front side 1 of the pallet, a right front leg structure 21 supporting the right front side 2 of the pallet, a left rear leg structure 31 supporting the left rear side 3 of the pallet and a right rear leg structure 41 supporting the right rear side 4 of the pallet. The first axis 10 and the second axis 20 divide the table into four portions, it being understood that the first axis 10 and the second axis 20 cut the table into the four portions when translated in a direction perpendicular to the common axis of the two. The first axis 10 and the second axis 20 may be two axes extending in a horizontal direction when the adjustable platform is calibrated such that the platens of the adjustable platform are in a horizontal position in a calibrated condition. The platen is in a horizontal state under a calibration condition, namely, the platen is in a most standard horizontal state or an absolute horizontal state according to experience or work requirements.
Judging whether the bedplate is in a horizontal state according to the detection result of the inclination angle comprises the following steps: the inclination angle X of the first axis 10 with respect to the horizontal direction and the inclination angle Y of the second axis 20 with respect to the horizontal direction are detected. As shown in fig. 2, the dual-axis inclination angle detection sensor may detect an inclination angle X of the first axis 10 of the platen with respect to the horizontal direction and an inclination angle Y of the second axis 20 with respect to the horizontal direction. X is greater than 0 °, the first axis 10 is inclined upward with respect to the horizontal, X is less than 0 °, the first axis 10 is inclined downward with respect to the horizontal, X is 0 °, the first axis 10 is horizontal, and Y is the same.
Judging whether the bedplate is in a horizontal state or not, comprising the following steps:
judging the size between X and a first preset angle-alpha 1 and a second preset angle alpha 2, judging the size between Y and a third preset angle-beta 1 and a fourth preset angle beta 2, wherein alpha 1 is more than or equal to 0 degrees, alpha 2 is more than or equal to 0 degrees, beta 1 is more than or equal to 0 degrees, beta 2 is more than or equal to 0 degrees, when-alpha 1 is more than or equal to X and less than or equal to alpha 2 degrees, and-beta 1 is more than or equal to Y and less than or equal to beta 2 degrees, judging that the bedplate is in a horizontal state, and judging that the bedplate is not in the horizontal state by other results. The size of X and the size of Y, i.e., the inclination angles of the platens with respect to the horizontal in both vertical directions, and the preset sizes of α 1, α 2, β 1, β 2 may be selected and determined based on experience and work requirements, and represent angle thresholds at which the platens can be considered to be acceptable when they are substantially horizontal, and at which the platens are slightly inclined with respect to the horizontal in both directions.
When it is judged that the platen is not in the horizontal state, judging the low side of the platen based on the detection result of the inclination angle includes:
when X is less than-alpha 1 and Y is more than or equal to-beta 1 and less than or equal to beta 2, judging that the bedplate is not in a horizontal state, wherein the low side of the bedplate is a rear side, the high side of the bedplate is a front side, the rear side comprises a left rear side 3 and a right rear side 4, and the front side comprises a left front side 1 and a right front side 2;
when X is more than alpha 2 and Y is more than or equal to-beta 1 and less than or equal to beta 2, judging that the bedplate is not in a horizontal state, wherein the low side of the bedplate is a front side, the high side of the bedplate is a rear side, the front side comprises a left front side 1 and a right front side 2, and the rear side comprises a left rear side 3 and a right rear side 4;
when the-alpha 1 is more than or equal to the X and less than or equal to the alpha 2 and the Y is less than the-beta 1, judging that the bedplate is not in a horizontal state, wherein the low side of the bedplate is a right side, the high side of the bedplate is a left side, the right side comprises a right front side 2 and a right rear side 4, and the left side comprises a left front side 1 and a left rear side 3;
when X is more than or equal to-alpha 1 and less than or equal to alpha 2 and Y is more than or equal to beta 2, judging that the bedplate is not in a horizontal state, wherein the low side of the bedplate is a left side, the high side of the bedplate is a right side, the left side comprises a left front side 1 and a left rear side 3, and the right side comprises a right front side 2 and a right rear side 4;
when X < -alpha 1 and Y < -beta 1, judging that the bedplate is not in a horizontal state, wherein the low side of the bedplate is a right rear side 4, and the high side of the bedplate comprises a left front side 1, a left rear side 3 and a right front side 2;
when X is more than alpha 2 and Y is less than-beta 1, judging that the bedplate is not in a horizontal state, wherein the low side of the bedplate is a right front side 2, and the high side of the bedplate comprises a right rear side 4, a left front side 1 and a left rear side 3;
when X < -alpha 1 and Y > beta, judging that the bedplate is not in a horizontal state, wherein the low side of the bedplate is a left rear side 3, and the high side of the bedplate comprises a left front side 1, a right front side 2 and a right rear side 4; and/or
When X > α 2 and Y > β 2, the platen is judged to be not in a horizontal state, and the low side of the platen is the left front side 1, and the high side of the platen includes the left rear side 3, the right front side 2, and the right rear side 4.
In some embodiments, detecting the telescoping length of each leg structure is also included.
When the bedplate is judged not to be in the horizontal state, the step of controlling the extension and contraction of the supporting leg structures according to the detection result of the inclination angle and the detection result of the pressure comprises the following steps:
before controlling the leg structure supporting the low side to extend, judging whether the number of the leg structures of the low side is more than two, if so, judging whether the highest leg structure exists in the plurality of leg structures of the low side according to the detection result of the inclination angle, if so, judging which leg structure is the highest leg structure of the low side, detecting the extension length L1 of the highest leg structure of the low side from the beginning of leveling and the extension length L2 of any other leg structure of the low side except the highest leg structure from the beginning of leveling in the leveling process, controlling the suspended extension of the highest leg structure of the low side when L1-L2 is more than delta x1 and delta x1 is a first displacement difference threshold, and controlling the highest leg structure of the low side to continue to extend when L1-L2 is less than or equal to delta x 1; and/or
Before the leg structure supporting the high side retracts, whether the highest leg structure of the high side exists in the plurality of leg structures of the high side is judged according to the detection result of the inclination angle, if yes, which leg structure is the highest leg structure of the high side is judged, in the leveling process, the retraction length L4 of the highest leg structure of the high side from the beginning of leveling and the retraction length L3 of any leg structure of the high side except the highest leg structure from the beginning of leveling are detected, when the L3-L4 is more than delta x2, delta x2 is a second displacement difference threshold value, any other leg structure is controlled to suspend retraction, and when the L3-L4 is less than or equal to delta x2, any other leg structure is controlled to continue to retract.
The embodiment is beneficial to improving the synchronism among the leg structures which extend out simultaneously or improving the synchronism and balance among the leg structures which retract simultaneously when judging and controlling the plurality of leg structures to extend out simultaneously or the plurality of leg structures to retract simultaneously, so that the leveling process of the bedplate is more stable and softer.
In some embodiments of the present invention, the,
determining whether two or more leg structures supporting the low side extend includes:
when X is less than-alpha 1 and-beta 1 is less than or equal to Y is less than or equal to beta 2, or when X is more than or equal to alpha 2 and-beta 1 is less than or equal to Y is less than or equal to beta 2, or when-alpha 1 is less than or equal to X is less than or equal to alpha 2 and Y is more than or equal to beta 1, judging that the number of the support leg structures supporting the low side is more than two;
in some embodiments, determining whether a highest leg structure of the low side is present among the plurality of leg structures supporting the low side, and if so, determining which leg structure is the highest leg structure of the low side comprises:
when X is less than-alpha 1 and Y is more than or equal to-beta 1 and less than or equal to beta 2, when Y is more than 0 degrees, judging that the highest landing leg structure with the low side exists, and when Y is less than 0 degrees, judging that the highest landing leg structure with the low side exists, and when Y is 0 degrees, judging that the highest landing leg structure with the low side does not exist, wherein the left rear landing leg structure 31 is the highest landing leg structure with the low side;
when X > α 2 and- β 1 ≦ Y ≦ β 2, when Y > 0 °, it is determined that the highest leg structure of the low side exists, the right front leg structure 21 is the highest leg structure of the low side, when Y < 0 °, it is determined that the highest leg structure of the low side exists, the left front leg structure 11 is the highest leg structure of the low side, and when Y ≦ 0 °, it is determined that the highest leg structure of the low side does not exist;
when-alpha 1 is more than or equal to X and less than or equal to alpha 2 and Y is less than-beta 1, when X is more than 0 degrees, judging that the highest landing leg structure with a low side exists, the right rear landing leg structure 41 is the highest landing leg structure with a low side, when X is less than 0 degrees, judging that the highest landing leg structure with a low side exists, and when X is 0 degrees, judging that the highest landing leg structure with a low side does not exist; and/or
When- α 1 is not less than X not more than α 2 and Y is greater than β 2, when X is greater than 0 °, it is determined that the highest leg structure of the low side exists, the rear left leg structure 31 is the highest leg structure of the low side, when X is less than 0 °, it is determined that the highest leg structure of the low side exists, the front left leg structure 11 is the highest leg structure of the low side, and when X is 0 °, it is determined that the highest leg structure of the low side does not exist;
in some embodiments, determining whether there is a highest leg structure of the high side among the plurality of leg structures supporting the high side, and if so, determining which leg structure is the highest leg structure of the high side comprises:
when X is less than-alpha 1 and Y is not less than-beta 1 and not more than beta 2, when Y is more than 0 degrees, judging that the highest landing leg structure on the high side exists, judging that the right front landing leg structure 21 is the highest landing leg structure on the high side, when Y is less than 0 degrees, judging that the highest landing leg structure on the high side exists, judging that the left front landing leg structure 11 is the highest landing leg structure on the high side, and when Y is not more than 0 degrees, judging that the highest landing leg structure on the high side does not exist;
when X is larger than alpha 2 and-beta 1 is not smaller than Y and not larger than beta 2, when Y is larger than 0 degrees, judging that the highest landing leg structure on the high side exists, wherein the right rear landing leg structure 41 is the highest landing leg structure on the high side, when Y is smaller than 0 degrees, judging that the highest landing leg structure on the high side exists, the left rear landing leg structure 31 is the highest landing leg structure on the high side, and when Y is 0 degrees, judging that the highest landing leg structure on the high side does not exist;
when-alpha 1 is more than or equal to X and less than or equal to alpha 2 and Y is less than-beta 1, judging that the highest landing leg structure on the high side exists when X is more than 0 degrees, wherein the left rear landing leg structure 31 is the highest landing leg structure on the high side, judging that the highest landing leg structure on the high side exists when X is less than 0 degrees, the left front landing leg structure 11 is the highest landing leg structure on the high side, and judging that the highest landing leg structure on the high side does not exist when X is 0 degrees; and/or
When- α 1 is not less than or equal to α 2, and Y is greater than β 2, when X is greater than 0 °, it is determined that the highest leg structure on the high side exists, the right rear leg structure 41 is the highest leg structure on the high side, when X is less than 0 °, it is determined that the highest leg structure on the high side exists, the right front leg structure 21 is the highest leg structure on the high side, and when X is 0 °, it is determined that the highest leg structure on the high side does not exist;
when X is less than-alpha 1 and Y is less than-beta 1, judging that the highest supporting leg structure at the high side exists, wherein the left front supporting leg structure 11 is the highest supporting leg structure at the high side;
when X is more than alpha 2 and Y is less than-beta 1, judging that the highest supporting leg structure on the high side exists, wherein the left rear supporting leg structure 31 is the highest supporting leg structure on the high side;
when X is less than-alpha 1 and Y is more than beta, judging that the highest landing leg structure on the high side exists, wherein the right front landing leg structure 21 is the highest landing leg structure on the high side; and/or
When X > α 2 and Y > β 2, it is judged that the highest leg structure of the high side exists, and the right rear leg structure 41 is the highest leg structure of the high side.
In some embodiments, further comprising detecting a telescoping length of each leg structure; and judging whether the extension length of each leg structure (the extension length of the leg structure from the maximum retraction state, namely the difference value between the current length and the minimum length of the leg structure) exceeds the respective extension length threshold value, and stopping the telescopic action of the leg structure or retracting the leg structure when the judgment result of a certain leg structure is yes. The embodiment helps to prevent the extension displacement of each supporting leg structure from exceeding the allowed displacement stroke and damaging each supporting leg structure by detecting and judging the difference between the extension length of each supporting leg structure and the respective extension length threshold value.
In some embodiments, the support leg structure includes telescopic cylinders for driving the telescopic cylinders to extend and retract, the adjustable platform further includes hydraulic valve banks for correspondingly controlling the telescopic cylinders, and the leveling method further includes: and when a certain hydraulic valve group is detected to be out of order, stopping the action of the telescopic oil cylinders correspondingly controlled by the hydraulic valve group, and adjusting the rest telescopic oil cylinders to level the bedplate. Further, the leveling method further includes transmitting fault information such as which telescopic cylinder is stopped to act when the hydraulic valve is broken, and which state the support leg structure where the telescopic cylinder with the current fault is located is in, to a display device such as a display screen for displaying.
Also disclosed in some embodiments is an adjustable platform comprising a platen, a support device, and a control system comprising a tilt angle detection device 30, a pressure detection device, and a controller. The bedplate is supported on the supporting device, and the supporting device comprises a plurality of telescopic supporting leg structures with the upper ends hinged with the bedplate; a controller in signal communication with the tilt detection device 30, the pressure detection device, and each leg structure, the controller configured to: and controlling the extension and contraction of each supporting leg structure according to the detection results of the inclination angle detection device 30 and the pressure detection device so as to level the bedplate.
In some embodiments, the first and second mutually perpendicular axes 10, 20 of the platen divide the platen into four portions, a left front side 1, a right front side 2, a left rear side 3 and a right rear side 4, the plurality of leg structures including a left front leg structure 11 supporting the left front side 1 of the platen, a right front leg structure 21 supporting the right front side 2 of the platen, a left rear leg structure 31 supporting the left rear side 3 of the platen, and a right rear leg structure 41 supporting the right rear side 4 of the platen; the tilt angle detecting means 30 includes a tilt angle detecting means 30 that detects a tilt angle X of the detection platen rotating about the first axis 10 and a tilt angle Y of the detection platen rotating about the second axis 20.
In some embodiments, the control system further comprises a displacement detection device for detecting the extension length of each leg structure, the displacement detection device being in signal connection with the controller.
In some embodiments, the pressure detection means comprises a pressure sensor provided at the top end of the leg structure; and/or the supporting leg structure comprises telescopic oil cylinders for driving the telescopic oil cylinders to stretch and retract, and the pressure detection device comprises pressure sensors for detecting the oil pressure of each telescopic oil cylinder.
In some embodiments, as shown in fig. 3, the control system includes an integrated sensing device, an inclination angle detection device 30 for detecting an inclination angle of a platen of the adjustable platform by the integrated sensing device, a pressure detection device for detecting a load pressure of each leg structure, and a displacement detection device for detecting an extension length of each leg structure, the control system includes a controller in signal connection with the inclination angle detection device 30, the pressure detection device, the displacement detection device, and each leg structure, the controller is in signal connection with the integrated sensing device through a CAN bus, and the controller controls each hydraulic valve group according to a signal of the integrated sensing device, so as to drive the extension and retraction of the respective telescopic cylinders of the front left leg structure 11, the front right leg structure 21, the rear left leg structure 31, and the rear right leg structure 41, and thus drive the extension and retraction of each leg structure to level the adjustable platform.
In some embodiments, the adjustable platform is a work machine.
In some embodiments, a leveling method for an adjustable platform is further disclosed, and a specific leveling process is shown in fig. 4: the inclination angle detection device detects the inclination angle of the bedplate; the inclination angle detection device transmits the obtained detection result to the controller; the pressure detection device detects the load pressure of each supporting leg structure; the controller controls each hydraulic valve group to execute corresponding action according to the detection result of the inclination angle detection device and the detection result of the load pressure of each supporting leg structure, so that each telescopic oil cylinder acts and drives each supporting leg structure to act; the displacement detection device detects the displacement of each supporting leg structure and limits each supporting leg structure to exceed the respective allowed displacement stroke; and when the inclination angle detection device detects that the bedplate is leveled, each supporting leg structure stops acting.
In some embodiments, the Controller described above can be a general purpose Processor, a Programmable Logic Controller (PLC), a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable Logic device, discrete Gate or transistor Logic, discrete hardware components, or any suitable combination thereof for performing the functions described herein.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention and not to limit it; although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art will understand that: modifications to the specific embodiments of the invention or equivalent substitutions for parts of the technical features may be made; without departing from the spirit of the present invention, it is intended to cover all aspects of the invention as defined by the appended claims.
Claims (14)
1. A method of leveling an adjustable platform, the adjustable platform comprising a deck and a support means, the deck supported on the support means, the support means comprising a plurality of telescoping leg structures having upper ends rotatably connected to the deck, the method comprising:
detecting the inclination angle of the bedplate;
detecting the load pressure of each supporting leg structure;
judging whether the bedplate is in a horizontal state or not according to the detection result of the inclination angle, and controlling the extension and contraction of each supporting leg structure according to the detection result of the inclination angle and the detection result of the load pressure to level the bedplate when the bedplate is judged not to be in the horizontal state;
when the bedplate is judged not to be in a horizontal state, the step of controlling the extension and contraction of each supporting leg structure according to the detection result of the inclination angle and the detection result of the pressure comprises the following steps:
judging the low side and the high side of the bedplate according to the detection result of the inclination angle;
and judging whether the load pressure of the support leg structure supporting the low side of the bedplate is smaller than respective pressure threshold values according to the detection result of the pressure detection device, controlling the support leg structure supporting the low side to extend and/or controlling the support leg structure supporting the high side to retract when the judgment result is yes, and controlling the support leg structure supporting the high side to retract and limiting the support leg structure supporting the low side to extend when the judgment result is no.
2. A levelling method according to claim 1, characterized in that the mutually perpendicular first (10) and second (20) axes of the deck divide the deck into four parts, a left front side (1), a right front side (2), a left rear side (3) and a right rear side (4), the plurality of leg structures comprising a left front leg structure (11) supporting the left front side (1) of the deck, a right front leg structure (21) supporting the right front side (2) of the deck, a left rear leg structure (31) supporting the left rear side (3) of the deck and a right rear leg structure (41) supporting the right rear side (4) of the deck;
according to the inclinationThe step of judging whether the bedplate is in a horizontal state or not according to the detection result of the angle comprises the following steps: detecting the inclination angle X of the first axis (10) relative to the horizontal direction and the inclination angle Y of the second axis (20) relative to the horizontal direction, and judging the X and a first preset angle-alpha1And a first preset angle alpha2The magnitude between Y and the third preset angle-beta is judged1And a fourth preset angle beta2In which α is1≥0°，α2≥0°，β1Not less than 0 degree and beta2Not less than 0 DEG, when-alpha1≤X≤α2And is beta1≤Y≤β2And judging that the bedplate is in a horizontal state, and judging that the bedplate is not in the horizontal state by the rest results.
3. The leveling method according to claim 2, wherein when it is judged that the platen is not in the horizontal state, judging the low side and the high side of the platen based on the detection result of the inclination angle includes:
when X < - α1And is beta1≤Y≤β2Judging that the bedplate is not in a horizontal state, wherein the low side of the bedplate comprises a left rear side (3) and a right rear side (4), and the high side comprises a left front side (1) and a right front side (2);
when X > alpha2And is beta1≤Y≤β2Judging that the bedplate is not in a horizontal state, wherein the low side of the bedplate comprises a left front side (1) and a right front side (2), and the high side comprises a left rear side (3) and a right rear side (4);
when is-alpha1≤X≤α2And Y < -beta <1Judging that the bedplate is not in a horizontal state, wherein the low side of the bedplate comprises a right front side (2) and a right rear side (4), and the high side comprises a left front side (1) and a left rear side (3);
when is-alpha1≤X≤α2And Y > beta2Judging that the bedplate is not in a horizontal state, wherein the low side of the bedplate comprises a left front side (1) and a left rear side (3), and the high side comprises a right front side (2) and a right rear side (4);
when X < - α1And Y < -beta <1Judging that the bedplate is not in a horizontal state, andthe low side of the bedplate is a right rear side (4), and the high side of the bedplate comprises a left front side (1), a left rear side (3) and a right front side (2);
when X > alpha2And Y < -beta <1Judging that the bedplate is not in a horizontal state, wherein the low side of the bedplate is a right front side (2), and the high side of the bedplate comprises a right rear side (4), a left front side (1) and a left rear side (3);
when X < - α1And Y & gt beta, judging that the bedplate is not in a horizontal state, wherein the low side of the bedplate is a left rear side (3), and the high side of the bedplate comprises a left front side (1), a right front side (2) and a right rear side (4); and/or
When X > alpha2And Y > beta2And judging that the bedplate is not in a horizontal state, wherein the low side of the bedplate is a left front side (1), and the high side of the bedplate comprises a left rear side (3), a right front side (2) and a right rear side (4).
4. Leveling method according to claim 2, further comprising detecting the telescoping length of each of said leg structures;
when the bedplate is judged not to be in the horizontal state, controlling the extension and contraction of the supporting leg structures according to the detection result of the inclination angle and the detection result of the pressure comprises the following steps:
before controlling the leg structure supporting the low side to extend, judging whether the number of the leg structures of the low side is more than two, if so, judging whether the highest leg structure exists in the plurality of leg structures of the low side according to the detection result of the inclination angle, if so, judging which leg structure is the highest leg structure of the low side, detecting the extension length L1 of the highest leg structure of the low side from the beginning of leveling and the extension length L2 of any other leg structure of the low side except the highest leg structure from the beginning of leveling in the leveling process, controlling the suspended extension of the highest leg structure of the low side when L1-L2 is more than delta x1 and delta x1 is a first displacement difference threshold, and controlling the highest leg structure of the low side to continue to extend when L1-L2 is less than or equal to delta x 1; and/or
Before the leg structure supporting the high side retracts, whether the highest leg structure of the high side exists in the plurality of leg structures of the high side is judged according to the detection result of the inclination angle, if yes, which leg structure is the highest leg structure of the high side is judged, in the leveling process, the retraction length L4 of the highest leg structure of the high side from the beginning of leveling and the retraction length L3 of any leg structure of the high side except the highest leg structure from the beginning of leveling are detected, when the L3-L4 is more than delta x2, delta x2 is a second displacement difference threshold value, any other leg structure is controlled to suspend retraction, and when the L3-L4 is less than or equal to delta x2, any other leg structure is controlled to continue to retract.
5. Leveling method according to claim 4,
before controlling the support leg structure for supporting the low side to stretch out, judging whether the support leg structure for supporting the low side is more than two, if one of the following conditions is met, judging that the support leg structure for supporting the low side is more than two:
X＜-α1and is beta1≤Y≤β2；
X＞α2And is beta1≤Y≤β2；
-α1≤X≤α2And Y < -beta <1；
-α1≤X≤α2And Y > beta2。
6. Leveling method according to claim 5,
determining whether a highest leg structure is present among the plurality of leg structures on the low side, and if so, determining which leg structure is the highest leg structure on the low side comprises:
when X < - α1And is beta1≤Y≤β2If Y is larger than 0 degrees, judging that the highest leg structure with the low side exists and the right rear leg structure (41) is the highest leg structure with the low side, if Y is smaller than 0 degrees, judging that the highest leg structure with the low side exists and the left rear leg structure (31) is the highest leg structure with the low side exists, and if Y is equal to 0 degrees, judging that the highest leg structure with the low side does not exist;
when X > alpha2And is beta1≤Y≤β2If Y is larger than 0 degrees, judging that the highest leg structure of the low side exists and the right front leg structure (21) is the highest leg structure of the low side, if Y is smaller than 0 degrees, judging that the highest leg structure of the low side exists and the left front leg structure (11) is the highest leg structure of the low side exists, and if Y is equal to 0 degrees, judging that the highest leg structure of the low side does not exist;
when is-alpha1≤X≤α2And Y < -beta <1If X is larger than 0 degrees, judging that the highest leg structure with a low side exists and the right rear leg structure (41) is the highest leg structure with the low side, if X is smaller than 0 degrees, judging that the highest leg structure with the low side exists and the right front leg structure (21) is the highest leg structure with the low side exists, and if X is equal to 0 degrees, judging that the highest leg structure with the low side does not exist; and/or
When is-alpha1≤X≤α2And Y > beta2If X > 0 DEG, determining that the highest leg structure of the low side exists and the left rear leg structure (31) is the highest leg structure of the low side, and if X < 0 DEG, determining that the highest leg structure of the low side exists and the left front leg structure (11) is the highest leg structure of the low side, and if X is 0 DEG, determining that the highest leg structure of the low side does not exist.
7. Leveling method according to claim 4,
judging whether the highest leg structure of high side exists among a plurality of leg structures of supporting high side, if exist, judging which leg structure is the highest leg structure of high side includes:
when X < - α1And is beta1≤Y≤β2If Y is larger than 0 degrees, judging that the highest leg structure on the high side exists, and judging that the right front leg structure (21) is the highest leg structure on the high side, and when Y is smaller than 0 degrees, judging that the highest leg structure on the high side exists, and judging that the highest leg structure on the high side does not exist in the left front leg structure (11), and when Y is equal to 0 degrees, judging that the highest leg structure on the high side does not exist;
when X > alpha2And is beta1≤Y≤β2If Y is more than 0 degrees, the highest supporting leg structure of the high side exists, and the right rear supporting leg structure (41) is the high sideIf Y is less than 0 degrees, the highest leg structure on the high side is judged to exist, the left rear leg structure (31) is the highest leg structure on the high side, and if Y is 0 degrees, the highest leg structure on the high side is judged not to exist;
when is-alpha1≤X≤α2And Y < -beta <1If X is greater than 0 degrees, judging that the highest leg structure on the high side exists, and judging that the left rear leg structure (31) is the highest leg structure on the high side, if X is less than 0 degrees, judging that the highest leg structure on the high side exists, and judging that the left front leg structure (11) is the highest leg structure on the high side, and if X is 0 degrees, judging that the highest leg structure on the high side does not exist; and/or
When is-alpha1≤X≤α2And Y > beta2If X is greater than 0 degrees, judging that the highest leg structure on the high side exists, and judging that the right rear leg structure (41) is the highest leg structure on the high side, if X is less than 0 degrees, judging that the highest leg structure on the high side exists, and judging that the right front leg structure (21) is the highest leg structure on the high side, and if X is 0 degrees, judging that the highest leg structure on the high side does not exist;
when X < - α1And Y < -beta <1Judging that the highest leg structure on the high side exists, wherein the front left leg structure (11) is the highest leg structure on the high side;
when X > alpha2And Y < -beta <1Judging that the highest leg structure on the high side exists, wherein the left rear leg structure (31) is the highest leg structure on the high side;
when X < - α1And Y is larger than beta, judging that the highest landing leg structure on the high side exists, and judging that the right front landing leg structure (21) is the highest landing leg structure on the high side; and/or
When X > alpha2And Y > beta2And judging that the highest supporting leg structure on the high side exists, wherein the right rear supporting leg structure (41) is the highest supporting leg structure on the high side.
8. Leveling method according to any one of claims 1-7, further comprising detecting the extension of each of said leg structures; and judging whether the extension length of each supporting leg structure exceeds the respective extension length threshold value, and stopping the telescopic action of the supporting leg structure or retracting the supporting leg structure when the judgment result of a certain supporting leg structure is yes.
9. The leveling method according to any one of claims 1 to 7, wherein the leg structure includes telescopic cylinders for driving the telescopic cylinders to extend and retract, the adjustable platform further includes hydraulic valve groups for controlling the telescopic cylinders, and the leveling method further includes:
and when a certain hydraulic valve group is detected to be out of order, stopping the action of the telescopic oil cylinders correspondingly controlled by the hydraulic valve group, and adjusting the other telescopic oil cylinders to level the bedplate.
10. An adjustable platform based on the leveling method of any one of claims 1 to 9, comprising:
a platen;
the bedplate is supported on the supporting device, and the supporting device comprises a plurality of telescopic leg structures with the upper ends hinged with the bedplate;
a tilt angle detection device (30) for detecting a tilt angle of a platen of the adjustable platform
The pressure detection device is used for detecting the load pressure of each supporting leg structure; and
a controller in signal connection with the tilt angle detection device (30), the pressure detection device, and each of the leg structures, the controller configured to: and controlling the extension and contraction of each supporting leg structure according to the detection results of the inclination angle detection device (30) and the pressure detection device so as to level the bedplate.
11. An adjustable platform according to claim 10, wherein the first and second mutually perpendicular axes (10, 20) of the deck divide the deck into four parts, a left front side (1), a right front side (2), a left rear side (3) and a right rear side (4), the plurality of leg structures comprising a left front leg structure (11) supporting the left front side (1) of the deck, a right front leg structure (21) supporting the right front side (2) of the deck, a left rear leg structure (31) supporting the left rear side (3) of the deck and a right rear leg structure (41) supporting the right rear side (4) of the deck; the adjustable platform comprises an inclination angle detection device (30) for detecting an inclination angle X of the first axis (10) relative to the horizontal direction and an inclination angle Y relative to the horizontal direction.
12. The adjustable platform of claim 11 further comprising displacement sensing means for sensing the extension of each of said leg structures, said displacement sensing means being in signal communication with said controller.
13. An adjustable platform as claimed in claim 12, wherein said pressure sensing means comprises a pressure sensor located at the top end of said leg structure; and/or, the landing leg structure is including being used for driving its flexible telescopic cylinder, pressure detection device is including being used for detecting the pressure sensor of the oil pressure size of each telescopic cylinder.
14. The adjustable platform of claim 13 wherein the adjustable platform is a work machine.
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| CN113321147A (en) * | 2021-05-27 | 2021-08-31 | 中国人民解放军32286部队50分队 | Remote control screw type armored chassis equipment leveling device |
| CN114922014A (en) * | 2022-06-07 | 2022-08-19 | 山河智能装备股份有限公司 | Automatic leveling method of turnout laying and exchanging machine and turnout laying and exchanging machine |
| CN116718981B (en) * | 2023-08-10 | 2023-11-21 | 武汉能钠智能装备技术股份有限公司四川省成都市分公司 | Single-station mobile direction-finding positioning system and method |
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