CN117550511A - Method and system for precisely controlling lifting and leveling of heavy-load optical platform through force - Google Patents
Method and system for precisely controlling lifting and leveling of heavy-load optical platform through force Download PDFInfo
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- CN117550511A CN117550511A CN202410042088.7A CN202410042088A CN117550511A CN 117550511 A CN117550511 A CN 117550511A CN 202410042088 A CN202410042088 A CN 202410042088A CN 117550511 A CN117550511 A CN 117550511A
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- 230000003287 optical effect Effects 0.000 title claims abstract description 107
- 238000000034 method Methods 0.000 title claims abstract description 48
- 230000008569 process Effects 0.000 claims description 7
- 238000001514 detection method Methods 0.000 claims description 3
- 238000012360 testing method Methods 0.000 claims description 3
- 230000006872 improvement Effects 0.000 description 7
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- 238000010586 diagram Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
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- 238000006243 chemical reaction Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
- B66F7/10—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported directly by jacks
- B66F7/12—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported directly by jacks by mechanical jacks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
- B66F7/28—Constructional details, e.g. end stops, pivoting supporting members, sliding runners adjustable to load dimensions
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B7/00—Mountings, adjusting means, or light-tight connections, for optical elements
Abstract
The invention provides a method and a system for precisely controlling lifting and leveling of a heavy-duty optical platform by force, and relates to the technical field of leveling. The method comprises the steps of determining the inclination angle target range of a heavy-load optical platform, the number and the positions of leveling support legs, calculating the supporting force target range of the leveling support legs, controlling the leveling support legs to start moving, sensing whether the leveling support legs touch the ground or not through a force sensor, stopping the movement of the leveling support legs which are touched, and continuing to move the leveling support legs which are not touched until all the leveling support legs touch the ground. After lifting in place, the leveling support leg is adjusted according to the real-time inclination angle of the heavy-load optical platform and the real-time supporting force of the leveling support leg, so that the inclination angle and the force are in a target value range, and one-time leveling is completed. Through the mode, the purpose of accurately leveling the heavy-load optical platform can be achieved by adjusting the supporting force of the leveling support leg in real time, and meanwhile, the use efficiency and the precision of the heavy-load optical platform are improved.
Description
Technical Field
The invention relates to the technical field of leveling, in particular to a method and a system for precisely controlling lifting and leveling of a heavy-duty optical platform through force.
Background
Along with the development of the heavy-load optical platform in engineering practical application, in order to meet the precision requirement of the light path in the heavy-load optical platform, the requirement of reducing the deformation of the heavy-load optical platform is also put forward, besides the heavy-load optical platform is built by selecting a material with good rigidity, the deformation of the heavy-load optical platform caused by the influence of external force is reduced, so that the deformation of the heavy-load optical platform can be reduced by precisely controlling the external force received by the heavy-load optical platform, and the light path precision is improved.
Because the heavy-load optical platform is heavy and inconvenient to move, the heavy-load optical platform is often placed on a carrier, and needs to be lifted off the carrier when in use, so that leveling support legs are required to be installed on the heavy-load optical platform to lift and level the heavy-load optical platform, and the external force received by the heavy-load optical platform after lifting is the supporting force of the leveling support legs, so that the deformation of the heavy-load optical platform can be relieved by accurately controlling the supporting force of the leveling support legs. The traditional leveling device obtains the relation between the driving current of the leveling support leg and the supporting force through experiments, so that the supporting force is calculated through the driving current, and the supporting force is not accurately controlled.
In view of the foregoing, there is a need for a method and a method for precisely controlling the supporting force of a leveling leg on a heavy-duty optical platform, so as to solve the above-mentioned problems.
Disclosure of Invention
In view of the above-mentioned drawbacks of the prior art, an object of the present invention is to provide a method and a system for precisely controlling the supporting force of a leveling leg on a heavy-duty optical platform. According to the invention, by installing the force sensor in the leveling supporting leg, the lifting leveling of the heavy-load optical platform is accurately controlled, the deformation condition of the heavy-load optical platform in the working state after lifting is greatly lightened, and the requirement of optical path precision of the optical equipment in the working state is met. The method can acquire real supporting force in real time, and the precision is higher than that of a method for controlling the lifting and leveling of the heavy-duty optical platform by acquiring the driving current conversion supporting force of the leveling support leg; the overload damage of the leveling support leg caused by uneven mass distribution of the heavy-load optical platform, rebound deformation of the carrier and the like can be prevented; for the change of the supporting force of the leveling support leg caused by the self motion of the heavy-load optical platform, ground conditions, long-time placement and the like, the invention can directly perform secondary leveling, and the supporting force of the leveling support leg is adjusted to be within the target value range again, so that the operation is simple and convenient.
In order to achieve the aim of the invention, the invention provides a method for precisely controlling lifting and leveling of a heavy-duty optical platform by force, which comprises the following steps:
determining the inclination angle target range of the heavy-load optical platform, determining the number and the positions of leveling support legs, and calculating the target value range of the supporting force of the leveling support legs when the heavy-load optical platform is in a horizontal state;
controlling the leveling support legs to start to move, sensing whether the leveling support legs touch the ground or not through the force sensor, stopping the movement of the touched leveling support legs, and continuing the movement of the non-touched leveling support legs until all the leveling support legs touch the ground;
lifting is started after all leveling support legs are contacted with the ground, the extending speed and length of the leveling support legs are adjusted by adjusting the rotating speed of a motor of the leveling support legs, and the supporting force of the leveling support legs is adjusted in real time;
after the heavy-load optical platform is lifted in place, the leveling support leg is adjusted according to the real-time inclination angle of the heavy-load optical platform and the real-time supporting force of the leveling support leg, so that the inclination angle and the force are in the target value range, and one-time leveling is completed.
As a further improvement of the present invention, the method further comprises the steps of:
after the primary leveling is finished, if the real-time inclination angle of the heavy-load optical platform or the real-time supporting force of the leveling support leg exceeds the target value range, the leveling support leg does not need to be withdrawn, secondary leveling is directly carried out, the extending length of the leveling support leg is adjusted by adjusting the motor rotation of the leveling support leg, the supporting force of the leveling support leg is adjusted to be within the target value range, and the leveling support leg is withdrawn after the use is finished.
As a further improvement of the present invention, the target value range of the supporting force of the leveling leg is (a) n + -b) N, wherein a n And b is a target value range in which the supporting force of the leveling support leg corresponding to the acceptable deformation of the heavy-load optical platform can be changed.
As a further improvement of the present invention, the target value range of the heavy duty optical bench inclination angle is 0±10'.
As a further improvement of the invention, the method for sensing whether the leveling support leg touches the ground by the force sensor is as follows: and when the force sensor is larger than a first threshold value, judging that the leveling support leg is touched, wherein the first threshold value is a threshold value of the ground touching detection judgment force of the leveling support leg, and the threshold value is determined according to the weight of the heavy-load optical platform.
As a further improvement of the invention, the method for adjusting the supporting force of the leveling support leg in real time by adjusting the rotating speed of the motor of the leveling support leg comprises the following steps: a leveling command is issued by the control box, the command is transmitted to the leveling controller through a signal wire, the leveling controller controls the supporting leg motor of the leveling supporting leg to rotate, when the supporting force of the leveling supporting leg is smaller than a first threshold value, the rotating speed of the adjusting motor is increased, the supporting force is increased, and if the supporting force of the supporting leg is larger than a second threshold value, the rotating speed of the adjusting motor is reduced, and the supporting force is reduced; the second threshold value is the maximum value of the variation range of the supporting force of the leveling supporting leg in the lifting process, and is determined according to multiple tests.
As a further improvement of the invention, the overload protection method comprises the following steps: when the force sensor is larger than a third threshold, the system stops moving and automatically protects, wherein the third threshold is a threshold of overload protection force of the leveling support leg and is determined according to the maximum bearing force of the leveling support leg and the maximum interference force which can be borne by equipment around the leveling system.
The invention also provides a system for precisely controlling lifting and leveling of the heavy-duty optical platform by force, wherein the leveling device comprises a carrier which is arranged on the heavy-duty optical platform and is used for carrying the heavy-duty optical platform, and a leveling device which is used for leveling the heavy-duty optical platform. The leveling device comprises leveling supporting legs and an inclination sensor, wherein the leveling supporting legs are arranged on a heavy-load optical platform, the leveling supporting legs are connected with a leveling controller through signal wires, the leveling controller is connected with an operation box through signal wires, the inclination sensor is connected with the operation box through signal wires, and a force sensor is arranged in the leveling supporting legs.
As a further development of the invention, the force sensor is arranged in a position below the upright, and the bearing gear is arranged above the upright, wherein the upright is used for supporting the entire leveling leg structure.
As a further improvement of the invention, the operation box comprises one-key leveling, secondary leveling and withdrawing functions.
Compared with the prior art, the invention has the beneficial effects that:
1. according to the leveling method provided by the invention, the supporting force of the leveling support leg on the heavy-load optical platform is obtained in real time by utilizing the force sensor, and the supporting force is adjusted in real time by adjusting the rotating speed of the motor of the leveling support leg, so that the high-precision control of the supporting force of the heavy-load optical platform is realized, and the method for directly obtaining the supporting force data is more accurate and efficient. According to different requirements, the accuracy can be improved or reduced along with the accuracy of the selected force sensor. The method can improve the stability and reliability of the heavy-duty optical platform and ensure the high-precision working effect of the heavy-duty optical platform.
2. According to the leveling method provided by the invention, the force in the lifting process of the leveling support leg is controlled in real time through the force sensor, and an overload protection function is applied, so that damage caused by overload of the leveling support leg is prevented, and damage to the platform caused by interference of a heavy-load optical platform and other surrounding equipment is prevented. The method can protect the safety of the heavy-duty optical platform and the leveling system and prolong the service life of the heavy-duty optical platform and the leveling system.
3. The leveling method provided by the invention can directly perform secondary leveling without re-withdrawing and re-lifting, thereby meeting the requirement that the heavy-load optical platform rapidly reenters an ultra-high-precision working state after being in standby for an ultra-long time or under the condition of severe ground conditions. The method can improve the working efficiency and the response speed of the heavy-duty optical platform, and provides a more convenient and efficient solution for practical application.
Drawings
Fig. 1 is a schematic structural diagram of a leveling system for a heavy-duty optical platform according to the present invention.
Fig. 2 is a flowchart of the leveling device in the heavy-duty optical platform leveling system provided by the invention.
FIG. 3 is an internal block diagram of a leveling leg in the heavy duty optical platform leveling system provided by the invention.
Reference numerals
1-a heavy-duty optical platform; 2-leveling the legs; 3-carrier; 4-force sensor; 5-bearing gears; 6-an outer sleeve; 7-upright posts.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.
It should be noted that, in order to avoid obscuring the present invention due to unnecessary details, only structures and/or processing steps closely related to aspects of the present invention are shown in the drawings, and other details not greatly related to the present invention are omitted.
In addition, it should be further noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Referring to fig. 1 and 2 in combination, the present invention provides a method and system for precisely controlling the lifting and leveling of a heavy-duty optical platform by force.
The system for precisely controlling the lifting leveling of the heavy-duty optical platform 1 through force comprises the heavy-duty optical platform 1, a carrier 3 for carrying the heavy-duty optical platform 1 and a leveling device for leveling the heavy-duty optical platform 1. The leveling device comprises leveling supporting legs 2 and an inclination sensor, wherein the leveling supporting legs 2 and the inclination sensor are arranged on the heavy-duty optical platform 1, the leveling supporting legs 2 are connected with a leveling controller through signal wires, the leveling controller is connected with an operation box through the signal wires, and the inclination sensor is connected with the operation box through the signal wires.
Specifically, referring to fig. 3, a force sensor 4 is disposed in the leveling leg 2. The force sensor 4 is arranged at a position below the upright post 7, the bearing gear 5 is arranged above the upright post 7, the bearing gear 5 is driven by a motor, the outer sleeve 6 is arranged at the periphery of the upright post 7, and the upright post 7 is used for supporting the whole leveling support leg 2 structure. So arranged, the internal forces of the leveling support leg 2, such as friction forces between the upright post 7 and the outer sleeve 6, do not affect the value of the force sensor 4.
The operation box comprises a one-key leveling function, a secondary leveling function and a withdrawing function.
Based on the system, the method for precisely controlling the lifting leveling of the heavy-duty optical platform 1 by force provided by the invention comprises the following steps:
s1, determining a target value range of the inclination angle of the heavy-duty optical platform 1, determining the number and the positions of the leveling support legs 2, and calculating the target value range of the supporting force of the leveling support legs 2 when the heavy-duty optical platform 1 is in a horizontal state. Wherein the target value range of the supporting force of the leveling leg 2 is (a) n B) N, wherein N isThe number of leveling legs 2, a n And b is the deviation of the supporting force of the leveling support leg 2 determined according to the deformation amount acceptable by the heavy-load optical platform 1, wherein the supporting force value corresponds to the nth leveling support leg 2 when the deformation of the heavy-load optical platform 1 is minimum. The target value range of the inclination angle of the heavy-duty optical platform 1 is 0+/-10'.
S2, controlling the leveling support legs 2 to start to move, sensing whether the leveling support legs 2 touch the ground or not through the force sensor 4, stopping movement of the leveling support legs 2 touched by the ground, and continuing movement of the leveling support legs 2 not touched by the ground until all the leveling support legs 2 touch the ground. The method for sensing whether the leveling support leg 2 touches the ground by the force sensor 4 comprises the following steps: when the value detected by the force sensor 4 is greater than a first threshold value, the leveling support leg 2 is judged to have touched the ground, wherein the first threshold value is a threshold value of the ground touching detection judgment force of the leveling support leg 2, and the threshold value is determined according to the weight of the heavy-load optical platform 1.
S3, lifting all the leveling support legs 2 together after the leveling support legs 2 are grounded, and adjusting the supporting force of the leveling support legs 2 in real time by adjusting the rotating speed of a motor of the leveling support legs 2. The method for adjusting the supporting force of the leveling support leg 2 in real time by adjusting the motor rotating speed of the leveling support leg 2 comprises the following steps: detecting the supporting force of the leveling support leg 2 through a force sensor 4, if the force sensor 4 detects that the supporting force of the leveling support leg 2 is smaller than a first threshold value, adjusting the rotating speed of a motor to be faster so as to adjust the extending speed and length of the leveling support leg to enable the supporting force to be larger, and if the force sensor 4 detects that the supporting force of the leveling support leg 2 is larger than a second threshold value, adjusting the rotating speed of the motor to be slower so as to enable the supporting force to be smaller; the second threshold value is the maximum value of the variation range of the supporting force of the leveling supporting leg 2 in the lifting process, and is determined according to a test.
Specifically, the real-time supporting force of the leveling support leg 2 is equal to the real-time supporting force of the leveling support leg 2 to the weight of the part above the force sensor 4 in the leveling support leg 2, the target force of a certain leveling support leg 2 is equal to the supporting force of the support leg to the weight of the part above the force sensor 4 of the leveling support leg 2, the supporting force is the supporting force value corresponding to each leveling support leg 2 when the heavy-load optical platform 1 is in a horizontal state and deformation is minimum, and the weight of the part above the force sensor 4 of the leveling support leg can be obtained by weighing when the support leg is not assembled in the earlier stage.
And S4, after the heavy-load optical platform 1 is lifted in place, the leveling support legs 2 are adjusted according to the real-time inclination angle of the heavy-load optical platform 1 and the real-time supporting force of the leveling support legs 2, so that the inclination angle and the supporting force are both in a target value range, and one-time leveling is completed.
Further, when the value detected by the force sensor 4 is greater than the third threshold value, the system stops moving and automatically protects, and the leveling support leg 2 is arranged in such a way that the system can be overloaded. The third threshold is a threshold of overload protection force of the leveling support leg 2, and is determined according to the maximum bearing force of the leveling support leg 2 and the maximum interference force which can be borne by equipment around the leveling system.
Specifically, referring to fig. 2, after the primary leveling is completed, if the real-time inclination angle of the heavy-duty optical platform 1 or the real-time supporting force of the leveling leg 2 exceeds the target value range, the secondary leveling is directly performed without withdrawing the leveling leg 2, the extending length of the leveling leg is adjusted by adjusting the motor rotation of the leveling leg 2, the inclination angle of the heavy-duty optical platform 1 and the supporting force of the leveling leg 2 are adjusted to be within the target value range, and the leveling leg 2 is withdrawn after the use is completed.
The following describes a method for precisely controlling the supporting force of the leveling leg 2 on the heavy-load optical platform 1 according to the present invention with reference to specific embodiments:
example 1
In this example, the weight of the heavy-load optical platform 1 is 14t, the gravity is 137200N, the number of the system leveling legs 2 is 6, and the supporting force values of the 6 leveling legs 2 and the ranges thereof are respectively (39200±500) N, (29400 ±500) N, (19600±500) N and (9800±500) N are determined through calculation.
The leveling process is shown in the figure 2, a one-key leveling instruction is sent out through an operation box, the leveling support legs 2 start to move downwards, when the supporting force of the leveling support legs 2, namely the supporting force value of the force sensor 4 is larger than 9800N, the leveling support legs 2 are judged to be grounded, the leveling support legs 2 stop moving after the ground is touched, after all the leveling support legs 2 are touched, the supporting force values of 6 leveling support legs 2 are detected to be larger than 9800N for one second, then all the 6 legs are judged to be grounded, and the 6 leveling support legs 2 start to lift together;
considering the size of the acceptable force of the leveling support leg 2, the threshold value of overload protection of the leveling support leg 2 is set to 58800N.
The 6 leveling supporting legs 2 lift the height hmm and adjust the supporting force value of each leveling supporting leg 2 in real time. If the supporting force value of the leveling supporting leg 2 is smaller than 9800N, the supporting force value of the motor is adjusted to be higher, if the supporting force value of the leveling supporting leg 2 is larger than 39200N, the supporting force value of the motor is adjusted to be lower, and if the supporting force value of the leveling supporting leg 2 is larger than 58800N, the system stops moving and automatically protects, and at the moment, the overload reason can be checked.
After the heavy-load optical platform 1 is lifted in place, the leveling device firstly adjusts the angle to 0+/-10', and then adjusts the supporting force of each leveling supporting leg 2 to (a) n And (5) self-locking after N is included, and starting the work of the heavy-duty optical platform 1. Wherein (a) n The number N of plus or minus 500) is the number N of the supporting forces (39200 plus or minus 500), N (29400 plus or minus 500), N (19600 plus or minus 500) and N (9800 plus or minus 500) of the 6 leveling legs 2.
After a plurality of times, when the interface alarm angle of the operation box exceeds +/-10 ', a secondary leveling command is sent out through the operation box, the leveling device can adjust the angle to 0 +/-10', and then the supporting force value of each leveling supporting leg 2 is adjusted to (a) n Self-locking after being within +/-500) N; when the supporting force of the leveling support legs 2 exceeds +/-500N in an operation box interface alarming mode, a secondary leveling command is sent out through the operation box, and the leveling device adjusts the supporting force value of each leveling support leg 2 to (a) n Within 500) N.
After the heavy-load optical platform 1 is used, a one-key withdrawing instruction is sent out through the operation box, and the 6 leveling support legs 2 are synchronously withdrawn and the supporting force of each leveling support leg 2 is adjusted in real time.
In summary, the invention provides a method and a system for precisely controlling lifting and leveling of a heavy-duty optical platform 1 by force, the method and the system comprise the steps of calculating the supporting force value of each leveling support leg 2 after determining the number and the positions of each leveling support leg 2, realizing precise control of the leveling support legs 2 through cooperation of an operation box and a leveling controller, controlling the leveling support legs 2 to start to move, sensing whether the leveling support legs 2 touch the ground or not, starting lifting the heavy-duty optical platform 1 after the leveling support legs 2 touch the ground, adjusting the leveling support legs 2 to enable the inclination angle and the force of the heavy-duty optical platform 1 to be in a target value range, performing secondary leveling after a plurality of times, and withdrawing the leveling support legs 2 after use. When overload occurs in the system, the whole system stops moving, so that the aim of overload protection is fulfilled. Through the mode, the purpose of accurately leveling the heavy-load optical platform 1 can be achieved by adjusting the supporting force of the leveling support legs 2 in real time, and meanwhile, the use efficiency and the precision of the heavy-load optical platform 1 are improved.
The above embodiments are only for illustrating the technical solution of the present invention and not for limiting the same, and although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications and equivalents may be made thereto without departing from the spirit and scope of the technical solution of the present invention.
Claims (10)
1. The method for precisely controlling the lifting and leveling of the heavy-duty optical platform by force is characterized by comprising the following steps of:
determining a target value range of the inclination angle of the heavy-load optical platform, determining the number and the positions of the leveling support legs, and calculating the target value range of the supporting force of the leveling support legs when the heavy-load optical platform is in a horizontal state;
controlling the leveling support legs to start to move, sensing whether the leveling support legs touch the ground or not through the force sensor, stopping the movement of the touched leveling support legs, and continuing the movement of the non-touched leveling support legs until all the leveling support legs touch the ground;
lifting is started after all leveling support legs are contacted with the ground, the extending speed and length of the leveling support legs are adjusted by adjusting the rotating speed of a motor of the leveling support legs, and the supporting force of the leveling support legs is adjusted in real time;
after the heavy-load optical platform is lifted in place, the leveling support leg is adjusted according to the real-time inclination angle of the heavy-load optical platform and the real-time supporting force of the leveling support leg, so that the inclination angle and the supporting force are both in the target value range, and one-time leveling is completed.
2. The method for precisely controlling the lifting and leveling of a heavy-duty optical platform by force according to claim 1, further comprising the steps of:
after the primary leveling is finished, if the real-time inclination angle of the heavy-load optical platform or the real-time supporting force of the leveling support leg exceeds the target value range, the leveling support leg does not need to be withdrawn, secondary leveling is directly carried out, the extending length of the leveling support leg is adjusted by adjusting the rotation of a motor of the leveling support leg, the inclination angle of the heavy-load optical platform and the supporting force of the leveling support leg are adjusted to be within the target value range, and the leveling support leg is withdrawn after the use is finished.
3. The method for precisely controlling lifting and leveling of a heavy-duty optical platform by force according to claim 1, wherein the target value range of the supporting force of the leveling leg is (a) n + -b) N, wherein N is the number of leveling legs, a n And b is a supporting force value corresponding to the nth leveling supporting leg when the deformation of the heavy-load optical platform is minimum, and b is a deviation of the supporting force of the leveling supporting leg determined according to the deformation amount acceptable by the heavy-load optical platform.
4. The method for precisely controlling lifting and leveling of a heavy-duty optical platform by force according to claim 1, wherein the target value range of the inclination angle of the heavy-duty optical platform is 0+/-10'.
5. The method for precisely controlling lifting and leveling of a heavy-duty optical platform by force according to claim 1, wherein the method for sensing whether the leveling support leg touches the ground by the force sensor is as follows: and when the value detected by the force sensor is larger than a first threshold value, judging that the leveling support leg is touched, wherein the first threshold value is a threshold value of the ground touching detection judgment force of the leveling support leg, and the threshold value is determined according to the weight of the heavy-load optical platform.
6. The method for precisely controlling lifting and leveling of a heavy-duty optical platform by force according to claim 1, wherein the method for adjusting the supporting force of the leveling support leg in real time by adjusting the rotating speed of a motor of the leveling support leg is as follows: detecting the supporting force of the leveling support leg through a force sensor, if the force sensor detects that the supporting force of the leveling support leg is smaller than a first threshold value, adjusting the rotating speed of a motor to be higher so as to enable the supporting force to be higher, and if the force sensor detects that the supporting force of the leveling support leg is larger than a second threshold value, adjusting the rotating speed of the motor to be lower so as to enable the supporting force to be lower; the second threshold is the maximum value of the variation range of the supporting force of the leveling supporting leg in the lifting process, and is determined according to a test.
7. The method for precisely controlling lifting and leveling of a heavy-duty optical platform by force according to claim 6, wherein when the value detected by the force sensor is larger than a third threshold value, the system stops moving and automatically protects, wherein the third threshold value is a threshold value of overload protection force of the leveling support leg, and is determined according to the maximum bearing force of the leveling support leg and the maximum interference force which can be borne by equipment around the leveling system.
8. A system for precisely controlling lifting and leveling of a heavy-duty optical platform by force, for implementing the method of any one of claims 1 to 7, characterized in that: the device comprises a heavy-load optical platform, a carrier for carrying the heavy-load optical platform and a leveling device for leveling the heavy-load optical platform; the leveling device comprises leveling supporting legs and an inclination sensor, wherein the leveling supporting legs are arranged on a heavy-load optical platform, the leveling supporting legs are connected with a leveling controller through signal wires, the leveling controller is connected with an operation box through signal wires, the inclination sensor is connected with the operation box through signal wires, and a force sensor is arranged in the leveling supporting legs.
9. The system according to claim 8, wherein: the leveling landing leg comprises a stand column serving as a support, the force sensor is arranged at a position below the stand column, and a bearing gear is arranged above the stand column.
10. The system according to claim 8, wherein: the operation box is internally provided with function keys for sending out instructions, and the function keys comprise a primary leveling key, a secondary leveling key and a withdrawal function key.
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| CN202410042088.7A CN117550511A (en) | 2024-01-11 | 2024-01-11 | Method and system for precisely controlling lifting and leveling of heavy-load optical platform through force |
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Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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