CN114475534A - Leveling method for semi-rigid support of special vehicle - Google Patents
Leveling method for semi-rigid support of special vehicle Download PDFInfo
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- CN114475534A CN114475534A CN202210179807.0A CN202210179807A CN114475534A CN 114475534 A CN114475534 A CN 114475534A CN 202210179807 A CN202210179807 A CN 202210179807A CN 114475534 A CN114475534 A CN 114475534A
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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
- B60S9/14—Ground-engaging vehicle fittings for supporting, lifting, or manoeuvring the vehicle, wholly or in part, e.g. built-in jacks for both lifting and manoeuvring
- B60S9/205—Power driven manoeuvring fittings, e.g. reciprocably driven steppers or rotatably driven cams
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Abstract
The invention discloses a leveling method of a semi-rigid support of a special vehicle, which is applied to leveling a bearing underframe of the special vehicle, wherein the lower end of the bearing underframe is provided with two symmetrical semi-rigid support legs, and an inclinometer is arranged on the bearing underframe, and the leveling method comprises the following steps: acquiring a preset optimal pressure value T, controlling each semi-rigid supporting leg to move towards the ground direction, and acquiring a pressure value on each semi-rigid supporting leg; if the pressure value on the semi-rigid supporting leg is greater than or equal to the optimal pressure value T, stopping the movement of the semi-rigid supporting leg and acquiring the monitoring data of the inclinometer; and judging whether secondary leveling is needed or not according to the monitoring data, if so, performing secondary leveling, and otherwise, ending the leveling process. The invention can realize automatic leveling, has high leveling precision, monitors the data of the inclinometer in real time, corrects and levels, and can ensure that the bearing underframe is always in a horizontal state.
Description
Technical Field
The invention belongs to the field of special vehicle leveling, and particularly relates to a leveling method for a semi-rigid support of a special vehicle.
Background
The semi-rigid support leg has the main advantages that: the control is convenient, the stability is good, the bearing capacity is strong, the leveling method is simple, the leveling speed is high, the leveling precision is high, the safety and the reliability are realized, and the buffering force after the emission can be offset. Therefore, special vehicles often adopt semi-rigid supporting legs to support a bearing underframe and level. In the prior art, a manual operation mode is often adopted to adjust the semi-rigid supporting leg so as to realize the leveling of the bearing underframe. However, the manual operation mode is easy to cause the problem of inaccurate leveling.
Disclosure of Invention
Aiming at the defects in the prior art, the leveling method for the semi-rigid support of the special vehicle provided by the invention solves the problem of inaccurate leveling in the prior art.
In order to achieve the purpose of the invention, the invention adopts the technical scheme that: the utility model provides a leveling method of special type vehicle semi-rigid support, is applied to the bearing chassis leveling of special type vehicle, bearing chassis lower extreme is provided with two symmetrical semi-rigid supporting legs, be provided with the inclinometer on the bearing chassis, includes:
acquiring a preset optimal pressure value T, controlling each semi-rigid supporting leg to move towards the ground direction, and acquiring a pressure value on each semi-rigid supporting leg;
for any semi-rigid supporting leg, if the pressure value on the semi-rigid supporting leg is greater than or equal to the optimal pressure value T, stopping the movement of the semi-rigid supporting leg, and acquiring monitoring data of an inclinometer;
and judging whether secondary leveling is needed or not according to the monitoring data, if so, carrying out secondary leveling, and otherwise, ending the leveling process.
Further, semi-rigid supporting leg includes electric lift cylinder and the servo motor who provides lift power for electric lift cylinder.
Further, the pressure values on the semi-rigid support leg are:
wherein, Delta T represents the pressure value on the semi-rigid supporting leg, U represents the voltage of the servo motor, I represents the current of the servo motor,
representing the power factor and n the speed of the servo motor.
Further, the determining whether secondary leveling is needed according to the monitoring data includes:
and judging whether the monitoring data is larger than a preset leveling threshold value, if so, performing secondary leveling, and otherwise, finishing the leveling process.
Further, the preset leveling threshold is 0.03 °.
Further, the secondary leveling comprises:
A. acquiring a leveling height according to the monitoring data;
B. according to the monitoring data, height comparison results of the two symmetrical semi-rigid supporting legs are obtained, and the height comparison results show that one semi-rigid supporting leg is higher or lower than the other semi-rigid supporting leg;
C. according to the height comparison result, the semi-rigid supporting legs with lower relative positions are controlled to be lifted and leveled;
D. and B, acquiring the monitoring data of the inclinometer again, and judging whether the acquired monitoring data is less than or equal to a preset leveling threshold value or not, if so, finishing secondary leveling, and otherwise, repeating the steps A to D.
Further, the leveling height is:
ΔH＝L*Sin(|β|*π/180)
where Δ H represents the leveling height, L represents the distance between two symmetrical semi-rigid support legs, β represents the inclinometer monitoring data, and π represents the circumference ratio.
Further, the semi-rigid supporting leg further comprises a servo motor encoder.
Further, still include after the secondary leveling:
E. acquiring data of a servo motor encoder, wherein the first displacement distance of one semi-rigid supporting leg is H1, and the second displacement distance of the other semi-rigid supporting leg is H2;
F. and C, acquiring real-time monitoring data of the inclinometer, judging whether the real-time monitoring data is larger than a preset leveling threshold value, if so, acquiring a third displacement distance H3 of one semi-rigid supporting leg and a fourth displacement distance H4 of the other semi-rigid supporting leg, and performing leveling correction according to the third displacement distance H3 and the fourth displacement distance H4, otherwise, repeating the step F.
Further, the leveling correction includes:
and judging whether the third displacement distance H3 is greater than or equal to the first displacement distance H1 or the fourth displacement distance H4 is greater than or equal to the second displacement distance H2, if so, acquiring a corrected leveling height, controlling the semi-rigid supporting leg with a higher relative position to descend and correct the leveling height, and otherwise, acquiring a corrected leveling height, and controlling the semi-rigid supporting leg with a lower relative position to ascend and correct the leveling height.
The invention has the beneficial effects that:
(1) the invention provides a leveling method of a semi-rigid support of a special vehicle, which can realize automatic leveling and has high leveling precision.
(2) The invention adopts an electric control mode to level, and the leveling time is short.
(3) The invention monitors the data of the inclinometer in real time, corrects and levels the data, and can ensure that the bearing underframe is always in a horizontal state.
(4) The invention can keep the height of the leveled semi-rigid supporting leg within a range, thereby avoiding the situation of rising more and more.
Drawings
Fig. 1 is a flowchart of a leveling method for a semi-rigid support of a special vehicle according to an embodiment of the present application.
Fig. 2 is a structural schematic diagram of a leveling device of a special vehicle semi-rigid support according to an embodiment of the application.
Fig. 3 is a structural schematic diagram of a leveling device for a special vehicle semi-rigid support according to an embodiment of the application.
Wherein, 21-motion module, 22-monitoring module, 23-leveling module, 31-memory, 32-processor, 33-bus.
With the above figures, there are shown specific embodiments of the present application, which will be described in more detail below. These drawings and written description are not intended to limit the scope of the inventive concepts in any manner, but rather to illustrate the inventive concepts to those skilled in the art by reference to specific embodiments.
Detailed Description
The following description of the embodiments of the present invention is provided to facilitate the understanding of the present invention by those skilled in the art, but it should be understood that the present invention is not limited to the scope of the embodiments, and it will be apparent to those skilled in the art that various changes may be made without departing from the spirit and scope of the invention as defined and defined in the appended claims, and all matters produced by the invention using the inventive concept are protected.
Embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
Example 2
As shown in fig. 1, a leveling method for a semi-rigid support of a special vehicle is applied to leveling a bearing underframe of the special vehicle, wherein two symmetrical semi-rigid support legs are arranged at the lower end of the bearing underframe, and an inclinometer is arranged on the bearing underframe, and the leveling method comprises the following steps:
s11, acquiring a preset optimal pressure value T, controlling each semi-rigid supporting leg to move towards the ground direction, and acquiring a pressure value on each semi-rigid supporting leg;
s12, for any semi-rigid supporting leg, if the pressure value on the semi-rigid supporting leg is greater than or equal to the optimal pressure value T, stopping the movement of the semi-rigid supporting leg, and acquiring the monitoring data of the inclinometer;
and S13, judging whether secondary leveling is needed or not according to the monitoring data, if so, performing secondary leveling, and if not, ending the leveling process.
After the special vehicle reaches the designated position, the semi-rigid supporting leg needs to be placed on the ground, so that whether the vehicle needs to stop or not is judged according to the pressure value on the semi-rigid supporting leg, when the pressure value reaches the optimal pressure value T, the touchdown motion of the semi-rigid supporting leg is completed, then whether the inclination condition exists or not can be judged through the inclinometer, and when the inclination exists, secondary leveling is carried out.
The optimal pressure value T can be a preset threshold value, or can be a T value when the vehicle has an axis vibration comprehensive minimum value at X, Y, Z when a rocket projectile is launched, and the T value at the axis vibration comprehensive minimum value can be obtained through simulation.
In one possible embodiment, the semi-rigid support leg includes an electric lift cylinder and a servo motor for providing lifting power to the electric lift cylinder.
In one possible embodiment, the pressure values on the semi-rigid support leg are:
wherein, Delta T represents the pressure value on the semi-rigid supporting leg, U represents the voltage of the servo motor, I represents the current of the servo motor,
representing the power factor and n the speed of the servo motor.
Alternatively to this, the first and second parts may,
may be 0.85.
In a possible implementation manner, the determining whether secondary leveling is required according to the monitoring data includes:
and judging whether the monitoring data is larger than a preset leveling threshold value, if so, performing secondary leveling, and otherwise, finishing the leveling process.
In one possible embodiment, the preset leveling threshold value is 0.03 °.
When the monitoring data of the inclinometer is more than 0.03 degrees, the inclination is proved to exist, so that secondary leveling can be carried out to enable the bearing underframe to be in a horizontal state.
In one possible embodiment, the secondary leveling comprises:
A. acquiring a leveling height according to the monitoring data;
B. according to the monitoring data, height comparison results of the two symmetrical semi-rigid supporting legs are obtained, and the height comparison results show that one semi-rigid supporting leg is higher or lower than the other semi-rigid supporting leg;
C. according to the height comparison result, the semi-rigid supporting legs with lower relative positions are controlled to be lifted and leveled;
D. and B, acquiring the monitoring data of the inclinometer again, and judging whether the acquired monitoring data is less than or equal to a preset leveling threshold value or not, if so, finishing secondary leveling, and otherwise, repeating the steps A to D.
In one possible embodiment, the leveling height is:
ΔH＝L*Sin(|β|*π/180)
where Δ H represents the leveling height, L represents the distance between two symmetrical semi-rigid support legs, β represents the inclinometer monitoring data, and π represents the circumference ratio.
In one possible embodiment, the semi-rigid support leg further comprises a servo motor encoder.
In a possible embodiment, after the secondary leveling, the method further includes:
E. acquiring data of a servo motor encoder, wherein the first displacement distance of one semi-rigid supporting leg is H1, and the second displacement distance of the other semi-rigid supporting leg is H2;
F. and C, acquiring real-time monitoring data of the inclinometer, judging whether the real-time monitoring data is larger than a preset leveling threshold value, if so, acquiring a third displacement distance H3 of one semi-rigid supporting leg and a fourth displacement distance H4 of the other semi-rigid supporting leg, and performing leveling correction according to the third displacement distance H3 and the fourth displacement distance H4, otherwise, repeating the step F.
In the use process of the special vehicle, the situation that the bearing underframe inclines can occur, so that whether the bearing underframe inclines or not can be monitored in real time through an inclinometer, and if the bearing underframe inclines, leveling correction is carried out to enable the bearing underframe to be always kept horizontal, wherein the horizontal refers to that the inclination of the bearing underframe does not exceed 0.03 degrees.
In one possible embodiment, the leveling correction includes:
and judging whether the third displacement distance H3 is greater than or equal to the first displacement distance H1 or the fourth displacement distance H4 is greater than or equal to the second displacement distance H2, if so, acquiring a corrected leveling height, controlling the semi-rigid support leg with a higher relative position to descend to correct the leveling height, and otherwise, acquiring a corrected leveling height, and controlling the semi-rigid support leg with a lower relative position to ascend to correct the leveling height.
The displacement distance of the two semi-rigid supporting legs after the first leveling is taken as a reference, and the secondary leveling is realized by adopting the method, so that the length of the semi-rigid supporting legs after multiple leveling is always in a certain range, and the situation that the height is increased more and more can not occur.
Optionally, obtaining a corrected leveling height, and controlling the semi-rigid support leg with a higher relative position to descend to correct the leveling height, includes:
G. and acquiring a corrected leveling height according to the real-time monitoring data of the inclinometer, wherein the acquisition formula of the corrected leveling height is the same as the acquisition formula of the leveling height, and the details are not repeated here.
H. Acquiring a semi-rigid supporting leg with a higher relative position in the two symmetrical semi-rigid supporting legs according to real-time monitoring data of the inclinometer;
I. and controlling the semi-rigid supporting leg with the higher relative position to descend to correct the leveling height.
Optionally, the leveling height is corrected by taking the leveling height, and the semi-rigid support leg with the lower relative position is controlled to be lifted to correct the leveling height, and the leveling height correcting method includes:
J. and acquiring a corrected leveling height according to real-time monitoring data of the inclinometer, wherein an acquisition formula of the corrected leveling height is the same as an acquisition formula of the leveling height, and the details are not repeated here.
K. Acquiring a semi-rigid supporting leg with a lower relative position in the two symmetrical semi-rigid supporting legs according to real-time monitoring data of the inclinometer;
and L, controlling the semi-rigid supporting leg with the lower relative position to lift and correct the leveling height.
The invention provides a leveling method of a semi-rigid support of a special vehicle, which can realize automatic leveling and has high leveling precision. The invention adopts an electric control mode to level, and the leveling time is short.
The invention monitors the data of the inclinometer in real time, corrects and levels the data, and can ensure that the bearing underframe is always in a horizontal state. The invention can keep the height of the leveled semi-rigid supporting leg within a range, and avoid the situation of rising more and more.
Example 2
As shown in fig. 2, this embodiment provides a levelling device that special type vehicle semi-rigid supported, is applied to special type vehicle's bearing chassis leveling, bearing chassis lower extreme is provided with the semi-rigid supporting leg of two symmetries, be provided with the inclinometer on the bearing chassis, the semi-rigid supporting leg includes the electric lift jar and provides the servo motor of lift power for the electric lift jar, the semi-rigid supporting leg still includes the servo motor encoder.
The device comprises a motion module 21, a monitoring module 22 and a leveling module 23.
The movement module 21 is used for acquiring a preset optimal pressure value T, controlling each semi-rigid supporting leg to move towards the ground direction and acquiring a pressure value on the semi-rigid supporting leg;
the monitoring module 22 is configured to, for any one semi-rigid support leg, stop the movement of the semi-rigid support leg and obtain monitoring data of the inclinometer if a pressure value on the semi-rigid support leg is greater than or equal to an optimal pressure value T;
and the leveling module 23 is used for judging whether secondary leveling is needed or not according to the monitoring data, if so, carrying out secondary leveling, and if not, ending the leveling process.
In this embodiment, the pressure values on the semi-rigid support leg are:
wherein, Delta T represents the pressure value on the semi-rigid supporting leg, U represents the voltage of the servo motor, I represents the current of the servo motor,
representing the power factor and n the speed of the servo motor.
In this embodiment, the determining whether secondary leveling is needed according to the monitoring data includes:
and judging whether the monitoring data is larger than a preset leveling threshold value, if so, performing secondary leveling, and otherwise, finishing the leveling process.
In the present embodiment, the preset leveling threshold is 0.03 °.
In this embodiment, the secondary leveling includes:
A. acquiring a leveling height according to the monitoring data;
B. according to the monitoring data, height comparison results of the two symmetrical semi-rigid supporting legs are obtained, and the height comparison results show that one semi-rigid supporting leg is higher or lower than the other semi-rigid supporting leg;
C. according to the height comparison result, the semi-rigid supporting legs with lower relative positions are controlled to be lifted and leveled;
D. and B, acquiring the monitoring data of the inclinometer again, and judging whether the acquired monitoring data is less than or equal to a preset leveling threshold value or not, if so, finishing secondary leveling, and otherwise, repeating the steps A to D.
The leveling height is as follows:
ΔH＝L*Sin(|β|*π/180)
where Δ H represents the leveling height, L represents the distance between two symmetrical semi-rigid support legs, β represents the inclinometer monitoring data, and π represents the circumference ratio.
Optionally, the method further includes, after the secondary leveling:
E. acquiring data of a servo motor encoder, wherein the first displacement distance of one semi-rigid supporting leg is H1, and the second displacement distance of the other semi-rigid supporting leg is H2;
F. and C, acquiring real-time monitoring data of the inclinometer, judging whether the real-time monitoring data is larger than a preset leveling threshold value, if so, acquiring a third displacement distance H3 of one semi-rigid supporting leg and a fourth displacement distance H4 of the other semi-rigid supporting leg, and performing leveling correction according to the third displacement distance H3 and the fourth displacement distance H4, otherwise, repeating the step F.
The leveling correction includes:
and judging whether the third displacement distance H3 is greater than or equal to the first displacement distance H1 or the fourth displacement distance H4 is greater than or equal to the second displacement distance H2, if so, acquiring a corrected leveling height, controlling the semi-rigid supporting leg with a higher relative position to descend and correct the leveling height, and otherwise, acquiring a corrected leveling height, and controlling the semi-rigid supporting leg with a lower relative position to ascend and correct the leveling height.
The leveling device for the semi-rigid support of the special vehicle provided by the embodiment can implement the technical scheme described in embodiment 1, and the implementation principle and the beneficial effects are similar, and are not described again here.
Example 3
As shown in FIG. 3, the invention provides a leveling device for a semi-rigid support of a special vehicle, which comprises a memory 31 and a processor 32, wherein the memory 31 and the processor 32 are connected with each other through a bus 33;
the memory 31 stores computer-executable instructions;
the processor 32 executes computer-executable instructions stored in the memory to cause the processor to perform a method of leveling a semi-rigid support of a specialty vehicle as described in embodiment 1.
Example 4
The embodiment provides a computer-readable storage medium, wherein computer-executable instructions are stored in the computer-readable storage medium, and when the computer-executable instructions are executed by a processor, the computer-readable storage medium is used for implementing the leveling method for the semi-rigid support of the special vehicle, which is described in embodiment 1.
Example 5
Embodiments of the present application may further provide a computer program product, which includes a computer program, and the computer program, when executed by a processor, implements the leveling method for the semi-rigid support of the special vehicle described in embodiment 1.
Other embodiments of the present application will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the application and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains.
It will be understood that the present application is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the application is limited only by the appended claims.
Claims (10)
1. The utility model provides a leveling method of special type vehicle semi-rigid support, is applied to the bearing chassis leveling of special type vehicle, bearing chassis lower extreme is provided with two symmetrical semi-rigid supporting legs, be provided with the inclinometer on the bearing chassis, its characterized in that includes:
acquiring a preset optimal pressure value T, controlling each semi-rigid supporting leg to move towards the ground direction, and acquiring a pressure value on each semi-rigid supporting leg;
for any semi-rigid supporting leg, if the pressure value on the semi-rigid supporting leg is greater than or equal to the optimal pressure value T, stopping the movement of the semi-rigid supporting leg, and acquiring monitoring data of an inclinometer;
and judging whether secondary leveling is needed or not according to the monitoring data, if so, carrying out secondary leveling, and otherwise, ending the leveling process.
2. The method for leveling semi-rigid support of special vehicle as claimed in claim 1, wherein the semi-rigid support leg comprises an electric lifting cylinder and a servo motor for providing lifting power for the electric lifting cylinder.
3. The method for leveling the semi-rigid support of the special vehicle as claimed in claim 2, wherein the pressure values on the semi-rigid support leg are as follows:
wherein, Delta T represents the pressure value on the semi-rigid supporting leg, U represents the voltage of the servo motor, I represents the current of the servo motor,
representing the power factor and n the speed of the servo motor.
4. The leveling method for the semi-rigid support of the special vehicle as claimed in claim 1, wherein the step of judging whether secondary leveling is required according to the monitoring data comprises the following steps:
and judging whether the monitoring data is larger than a preset leveling threshold value, if so, performing secondary leveling, and otherwise, finishing the leveling process.
5. The method for leveling a semi-rigid support of a specialty vehicle as recited in claim 4, wherein said predetermined leveling threshold is 0.03 °.
6. The method for leveling a semi-rigid support of a specialty vehicle as recited in claim 4, wherein said secondary leveling comprises:
A. acquiring a leveling height according to the monitoring data;
B. according to the monitoring data, height comparison results of the two symmetrical semi-rigid supporting legs are obtained, and the height comparison results show that one semi-rigid supporting leg is higher or lower than the other semi-rigid supporting leg;
C. according to the height comparison result, the semi-rigid supporting legs with lower relative positions are controlled to be lifted and leveled;
D. and B, acquiring the monitoring data of the inclinometer again, and judging whether the acquired monitoring data is less than or equal to a preset leveling threshold value or not, if so, finishing secondary leveling, and otherwise, repeating the steps A to D.
7. The method for leveling a semi-rigid support of a specialty vehicle as recited in claim 6, wherein said leveling height is:
ΔH＝L*Sin(|β|*π/180)
where Δ H represents the leveling height, L represents the distance between two symmetrical semi-rigid support legs, β represents the inclinometer monitoring data, and π represents the circumference ratio.
8. The method for leveling a semi-rigid support of a specialty vehicle as recited in claim 7, wherein said semi-rigid support leg further comprises a servo motor encoder.
9. The method for leveling a semi-rigid support of a specialty vehicle as recited in claim 8, further comprising, after said secondary leveling:
E. acquiring data of a servo motor encoder, wherein the first displacement distance of one semi-rigid supporting leg is H1, and the second displacement distance of the other semi-rigid supporting leg is H2;
F. and C, acquiring real-time monitoring data of the inclinometer, judging whether the real-time monitoring data is greater than a preset leveling threshold value or not, if so, acquiring a third displacement distance H3 of one semi-rigid supporting leg and a fourth displacement distance H4 of the other semi-rigid supporting leg, and carrying out leveling correction according to the third displacement distance H3 and the fourth displacement distance H4, otherwise, repeating the step F.
10. The method for leveling a semi-rigid support of a specialty vehicle as recited in claim 9, wherein said leveling corrections comprise:
and judging whether the third displacement distance H3 is greater than or equal to the first displacement distance H1 or the fourth displacement distance H4 is greater than or equal to the second displacement distance H2, if so, acquiring a corrected leveling height, controlling the semi-rigid supporting leg with a higher relative position to descend and correct the leveling height, and otherwise, acquiring a corrected leveling height, and controlling the semi-rigid supporting leg with a lower relative position to ascend and correct the leveling height.
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| CN202210179807.0A CN114475534A (en) | 2022-02-25 | 2022-02-25 | Leveling method for semi-rigid support of special vehicle |
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| US5580095A (en) * | 1993-06-28 | 1996-12-03 | Kabushiki Kaisha Komatsu Seisakusho | Vehicle body levelling device for a working vehicle having outriggers |
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