CN114321629A

CN114321629A - Base for measuring and automatically leveling mobile platform through motor

Info

Publication number: CN114321629A
Application number: CN202011079658.8A
Authority: CN
Inventors: 林凤涛; 陈孟禹; 庞华飞; 吴涛; 邹亮; 贾喆
Original assignee: East China Jiaotong University
Current assignee: East China Jiaotong University
Priority date: 2020-10-11
Filing date: 2020-10-11
Publication date: 2022-04-12

Abstract

The invention provides a base capable of being used for measuring and automatically leveling a moving platform through a motor, which comprises a bottom supporting platform (1), a leveling platform (2), an angle sensor (3), a motor (4), a thread transmission self-locking device (5) and a tapered roller bearing (6). The base can detect the angular offset of the current plane and is compensated by the motor. The device can dynamically detect the offset of the current plane, adjust the offset in real time, and is controlled by a motor, convenient and fast, and can ensure the precision. The device is suitable for measuring instruments such as theodolites, levels and total stations which can only be used on the premise of being horizontal, and table instruments or mobile test platforms which need to adjust the level in real time, can obviously reduce errors generated by manual adjustment, and improves the efficiency of adjusting the level.

Description

Base for measuring and automatically leveling mobile platform through motor

Technical Field

The invention relates to a base capable of automatically leveling through a motor. The device can be used for measuring instruments such as theodolites, levels and total stations which can only be used on the premise of being horizontal, and table instruments or mobile test platforms which need to adjust the level in real time. The scenes needing level adjustment are quite common, so that a base which is rapid, accurate, capable of being dynamically adjusted and capable of self-locking the level adjustment is very necessary.

Background

The level adjustment methods used at present are mainly divided into two types, one is a method of adjusting the level by three-foot screw, and the other is gradually adjusted to the level by adding a gasket at the bottom of the instrument.

The first leveling method is very common in leveling instruments such as a level, a theodolite, a total station and the like which need leveling. This method requires two steps to adjust the level: firstly, coarse adjustment is carried out, and an instrument for adjusting the level is placed on a relatively horizontal plane as much as possible, so that a circular bubble level instrument on the instrument can be initially positioned in the middle; secondly, fine adjustment, namely, the three foot spirals are continuously and slightly adjusted, so that the bubbles of the columnar level meter can be positioned in the middle finally. The method has very large human factors, long operation experience is needed for adjusting the level, and the efficiency is very low when people with insufficient experience adjust; whether the level is adjusted or not is also obtained by observing the level through human eyes, and the accuracy cannot be guaranteed.

While the second is generally used for bench-top instruments or test platforms, the leveling method relies on the addition of a pad to the bottom of the four feet to gradually try out the situation that eventually levels. The method has low adjustment efficiency, and gradually shims to the level by depending on the experience and feeling of people; the precision of the adjustment cannot be guaranteed; if the instrument or platform is moved, a great deal of manpower and material resources are needed for leveling.

In view of the above reasons, in order to deal with the practical difficulty that the instrument and the equipment cannot be efficiently and accurately adjusted to the horizontal position, a base capable of automatically adjusting the horizontal position through a motor is provided.

Description of the drawings:

FIG. 1: the automatic water adjusting flat base has an integral structure;

FIG. 2 is a drawing: leveling step calculation instruction;

FIG. 3: the working principle of the thread transmission self-locking mechanism.

Disclosure of Invention

The invention provides a base which can be quickly, efficiently and accurately adjusted dynamically and can be automatically locked and automatically leveled by a motor. The method mainly comprises the steps of measuring the angle offset of the current position through an angle sensor, then calculating a compensation value, compensating by two motors located in the X-axis direction and the Y-axis direction, and finally adjusting to be horizontal.

The device comprises (1) a bottom supporting platform, (2) a horizontal adjusting platform, (3) an angle sensor, (4) a motor, (5) a thread transmission self-locking device and (6) a tapered roller bearing. The two sets of the motors (4) and the thread transmission self-locking devices (5) are used for respectively controlling the angle theta offset of the X axis and the Y axis.

[ note: the schematic diagram only shows the X-axis direction, the schematic diagram of the Y-axis direction and the X-axis direction and the adjustment method are completely consistent (2) the middle part of the horizontal adjustment platform is a universal shaft and can freely rotate along the X-axis direction and the Y-axis direction. (3) The angle sensor is installed on the horizontal adjusting platform (2). (4) The motor is arranged on the bottom supporting platform of the (1). (5) The upper end of the thread transmission self-locking device is arranged on the horizontal adjusting platform (2). And (6) the tapered roller bearing is arranged on the supporting platform at the bottom of the bearing (1) and is sleeved on the thread transmission self-locking mechanism (5). The bearing needs to ensure that (5) the shaft of the thread transmission self-locking mechanism can rotate freely.

(as shown in figure one)

Detailed description of the invention

The leveling steps are as follows:

and (5) setting up an automatic water adjusting flat base.

1. The automatic leveling base is placed on a tripod or a platform.

2. The angle sensor measures the angle offset between the X axis and the Y axis of the current plane. [ note: the leveling step only displays the X-axis adjusting step, and the Y-axis adjusting step is completely consistent with the X-axis adjusting step. "C (B)

3. And (4) calculating the number of turns of the motor required to rotate to compensate the X-axis angular offset. The distance L from the center of the bottom supporting platform to the center of the thread transmission mechanism, the thread pitch P, the transmission ratio I and the X-axis angular offset theta measured by the angle sensor are known. Finally, the number of turns T of the motor (as shown in fig. two) can be obtained, and the formula is as follows.

4. The motor rotates to adjust the level. The motor rotates and drives bevel gear 1, bevel gear 1 drives bevel gear 2, shaft 3 links firmly and rotates jointly on bevel gear 2, and the thread end of shaft 3 upper end is connected with the internal thread of sleeve 4, and the corotation of this time shaft 3 or reversal can increase or reduce in the distance of sleeve 4, and the change of this distance can compensate the angle offset of X axle and Y axle consequently. Meanwhile, the motor only bears torque and does not bear thrust, and the motor has a self-locking characteristic because of threaded connection and cannot change level because of weight or vibration (as shown in the third figure).

Claims

1. The invention relates to a base for measuring and automatically leveling a mobile platform through a motor.

2. The device consists of a bottom supporting platform, a horizontal adjusting platform, an angle sensor, a motor, a thread transmission self-locking device and a tapered roller bearing.

3. The leveling step of claim 1, wherein the leveling platform is centered on a gimbal axis that is free to rotate along the X-axis and the Y-axis.

4. The leveling step according to claim 1, wherein the angle sensor is a two-axis sensor for measuring the amount of angular displacement in the X-axis and the Y-axis.

5. The leveling step according to claim 1, wherein the screw drive self-locking device enables the motor to be transversely arranged and only bear torque, and the screw drive has a self-locking characteristic.

6. The leveling step of claim 1 wherein the number of revolutions required to compensate for the rotation of the motor is calculated by a formula.