CN202400068U - Six-leg automatic leveling system - Google Patents
Six-leg automatic leveling system Download PDFInfo
- Publication number
- CN202400068U CN202400068U CN2011205718212U CN201120571821U CN202400068U CN 202400068 U CN202400068 U CN 202400068U CN 2011205718212 U CN2011205718212 U CN 2011205718212U CN 201120571821 U CN201120571821 U CN 201120571821U CN 202400068 U CN202400068 U CN 202400068U
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- leveling
- controller
- double
- oil cylinder
- supporting legs
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Abstract
The utility model provides a six-leg automatic leveling system, which comprises a loading platform, a controller, a control panel, a double-shaft horizontal sensor and an angle displacement sensor group and is characterized in that the leveling system comprises six supporting legs with bearing oil cylinder gas springs and an indicating lamp, and the six supporting legs are in parallel arranged below the loading platform in pairs. The angle displacement sensor group includes six angle displacement sensors which are respectively arranged on the six supporting legs, signal output ends of each angle displacement sensor, the double-shaft horizontal sensor and the control panel are respectively connected with a signal input end of the controller, and a signal output end of the controller is respectively connected with a control end of an electromagnetic directional valve for controlling the six bearing oil cylinder gas springs and a signal input end of the indicating lamp. The automatic leveling system is provided with six supporting legs and has good bearing performance. The whole leveling system utilizes the controller to achieve automatic control, and is fast in leveling speed, high in accuracy, has self-protection function and is capable of automatically detecting whether an leveling angle is overlarge.
Description
Technical field
The utility model relates to leveling equipment, specifically is a kind of six leg automatic horizontal control systems.
Background technology
In modern times in national defence and the civilian technology; For the mobile vehicle that prevents heavy wares topples under the not good situation in ground, like missile truck, various mobile radar antenna seat coach; Heavy duty cranes etc. all must carry out leveling before carrying work, and it is quick, accurate, stable that leveling requires.Range estimation and roughly leveling of manual mode are adopted in the conventional artificial leveling, or adopt other supplementary means to carry out secondary adjustment, will grow during its leveling, precision is low, distortion is big, stability is not high; And mainly adopt ball screw or hydraulic actuating cylinder in the existing automatic horizontal control system is actuating unit, and wherein the bearing capacity of ball screw is little, is not suitable for the mobile vehicle of heave-load device; Situation is difficult to be judged and its supporting leg of hydraulic actuating cylinder lands; The difficult control of supporting leg speed, the unstable first-class factor of liquid system makes its leveling precision not high; Speed is slower, and Algorithm Convergence is poor, degree of automation is lower.And existing leveling equipment, generally all be to adopt four point-supported workplatformes, its equilibrium point is less, is inappropriate for large-scale heavier vehicle and machine.
Summary of the invention
The utility model provides according to the deficiency of prior art that a kind of leveling speed is fast, particularity is high, good stability, and six more leg automatic horizontal control systems of equilibrium point.
Said a kind of six leg automatic horizontal control systems comprise load carrying platform, controller, control panel, double-shaft level sensor and angular-motion transducer group; The double-shaft level sensor is fixed on the load carrying platform; It is characterized in that: said leveling system comprises six supporting leg and the indicator lamps that have load-bearing oil cylinder gas spring; Six supporting legs are a pair of in twos; Be set in parallel in the load carrying platform below, said angle displacement sensor group comprises six angle displacement sensors, is separately positioned on each supporting leg; The signal output part of each angle displacement sensor, double-shaft level sensor and control panel is connected with the signal input part of controller respectively, and the signal output part of controller is connected with the control end of the solenoid directional control valve of six load-bearing oil cylinder gas springs and the signal input part of indicator lamp respectively.
Said indicator lamp comprises the excessive indicator lamp of system's leveling indicator lamp and inclination angle.
In the six leg automatic horizontal control systems of the utility model; Because the import and export of the back two leg oil circuits of car body homonymy are connected; When Uneven road, the road surface that exceeds can make tire force big like this, forces oil cylinder to reclaim; And the oil cylinder of the oil that extrudes entering homonymy stretches out it, and unsettled tire is also landed.Avoided the large deformation of car body and jolt, improved the driving situation, passenger feels more comfortable in the car.
The utility model is provided with six supporting legs, and its load carrying behaviour is good.This leveling system adopts the double speed leveling, when high spud angle, carries out fast leveling, can save the leveling time, improves the manoevreability and the viability of product; When small inclination, carry out the low speed leveling, can reduce system inertia and understand influence, guarantee the high precision leveling of system.This leveling system adopts artificial anxious stopping and software high spud angle sudden-stop function, has guaranteed the safety of automatic leveling process.The efficient quick of leveling system, reliable and securely help applying of product.
Description of drawings
Fig. 1 is the illustraton of model of the utility model,
Fig. 2 is the utility model X axis leveling view,
Fig. 3 is the axial leveling view of the utility model Y,
Fig. 4 is the principle of work block diagram of the utility model.
Among the figure: 1-load-bearing oil cylinder gas spring, 2-controller, 3-angle displacement sensor, 4-double-shaft level sensor, 5-solenoid directional control valve, 6-indicator lamp, 7-control panel, 8-low potential source, 9-supporting leg.
The specific embodiment
Below in conjunction with accompanying drawing the utility model is described further.Among Fig. 1,2,3,4; Said a kind of six leg automatic horizontal control systems comprise load carrying platform, controller, control panel, double-shaft level sensor and angular-motion transducer group; The double-shaft level sensor is fixed on the load carrying platform, it is characterized in that: said leveling system comprises that six supporting legs 9 that have load-bearing oil cylinder gas spring 1 are a pair of in twos with 6, six supporting legs 9 of indicator lamp; Be set in parallel in the load carrying platform below; Wherein there are four to be arranged on four jiaos, main its load-bearing effect of four jiaos load-bearing oil cylinder gas spring, two middle load-bearing oil cylinder gas springs are along with wherein two load-bearing spring work.Said angle displacement sensor group comprises six angle displacement sensors 3; Be separately positioned on each supporting leg 9; The signal output part of each angle displacement sensor 3, double-shaft level sensor 4 and control panel 7 is connected with the signal input part of controller 2 respectively, and the signal output part of controller 2 is connected with the control end of the solenoid directional control valve 5 of six load-bearing oil cylinder gas springs 1 and the signal input part of indicator lamp 6 respectively.
Said indicator lamp 6 comprises the excessive indicator lamp of system's leveling indicator lamp and inclination angle.
The utility model also comprises a cover temperature control system, the ambient temperature around can detecting automatically and regulate.
The total system of the utility model adopts low potential source 8; After system's energising, at first Programmable Logic Controller carries out system initialization and self check (function and the algorithm of leveling software automatically), according to automatic leveling algorithm; Update system each several part state; Whether the communication contact between checking system inside and system and the upper computer is normal, and whether checking system each several part state is normal, and whether the testing environment temperature is low excessively etc.After system's detection and initialization were normal, system got into readiness for action, waited for work order.
When double-shaft level sensor 4 detects platform not on same plane, just signal is passed to controller, when system received automatic leveling instruction, system got into automatic leveling state.System gets into automatic leveling instruction, and system's leveling operation algorithm is judged at system testing flat-bed inclination angle.
When the inclination angle of workplatform did not reach accurately (low speed) leveling setting value, system carried out (at a high speed) leveling roughly.The PLC controller is connected according to result of calculation order corresponding solenoid valve forward, and corresponding load-bearing oil cylinder gas spring stretches out at a high speed, carries out system's leveling, simultaneously the real-time testing flat-bed of PLC controller inclination angle.
When the inclination angle of workplatform reached accurately (low speed) leveling setting value, system carried out accurately (low speed) leveling.The PLC controller is connected the corresponding solenoid valve forward, and corresponding load-bearing oil cylinder gas spring low speed stretches out and carries out system's leveling, simultaneously the real-time testing flat-bed of PLC controller inclination angle.
When the inclination angle of workplatform reached setting value, the PLC controller made corresponding electromagnet dead electricity, and cooresponding electro-hydraulic reversing valve is in off condition, and all load-bearing oil cylinder gas spring actions stop, report and demonstration leveling success.
In the leveling process, if detecting the receipts amount of stretching of certain supporting leg that six angle displacement sensors 3 measure, Programmable Logic Controller surpasses setting value, and its solenoid directional control valve of Controlled by Programmable Controller is in off condition, and system quits work, and carries out self protective function.
The information of workplatform horizontality comes from horizon sensor, and the obliquity information of horizon sensor output is two-way (X axle/Y axle) analog signals.The PLC controller becomes digital signal that it is carried out digitalisation through the A/D analog signal conversion that carries, and the result after the digitalisation is carried out the obliquity information that computing can obtain workplatform.
After having confirmed the leveling pattern, next step just needs to consider the leveling algorithm.Actual conditions according to system are seen, can consider two kinds of leveling modes:
1) compute mode.Calculate the vertical drop of low limit of workplatform and flash, this diff-H of the low limit load-bearing oil cylinder gas spring rising of direct control;
2) approach mode.Surveying work flat-bed inclination angle constantly in low limit load-bearing oil cylinder gas spring uphill process, when the inclination angle of workplatform met leveling and requires, load-bearing oil cylinder gas spring stopped action.
Claims (2)
1. leg automatic horizontal control system; Comprise load carrying platform, supporting leg, controller, control panel, double-shaft level sensor and angular-motion transducer group; The double-shaft level sensor is fixed on the load carrying platform; It is characterized in that: said leveling system comprises six supporting leg (9) and the indicator lamps (6) that have load-bearing oil cylinder gas spring (1); Six supporting legs (9) are a pair of in twos; Be set in parallel in the load carrying platform below, said angular-motion transducer group comprises six angular-motion transducers (3), is separately positioned on each supporting leg (9); The signal output part of each angular-motion transducer (3), double-shaft level sensor (4) and control panel (7) is connected with the signal input part of controller (2) respectively, and the signal output part of controller (2) is connected with the control end of the solenoid directional control valve (5) of six load-bearing oil cylinder gas springs (1) and the signal input part of indicator lamp (6) respectively.
2. a kind of six leg automatic horizontal control systems according to claim 1 is characterized in that: said indicator lamp (6) comprises the excessive indicator lamp of system's leveling indicator lamp and inclination angle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011205718212U CN202400068U (en) | 2011-12-31 | 2011-12-31 | Six-leg automatic leveling system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011205718212U CN202400068U (en) | 2011-12-31 | 2011-12-31 | Six-leg automatic leveling system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202400068U true CN202400068U (en) | 2012-08-29 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011205718212U Expired - Fee Related CN202400068U (en) | 2011-12-31 | 2011-12-31 | Six-leg automatic leveling system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202400068U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102996110A (en) * | 2012-11-23 | 2013-03-27 | 浙江盾安精工集团有限公司 | Automatic leveling device of full-circle slewing drilling machine |
| CN103988830A (en) * | 2014-05-21 | 2014-08-20 | 苏州华盛亿达信息科技发展有限公司 | Laser bird repellent device |
| CN104889957A (en) * | 2013-06-25 | 2015-09-09 | 苏州唐氏机械制造有限公司 | Work bench work method |
-
2011
- 2011-12-31 CN CN2011205718212U patent/CN202400068U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102996110A (en) * | 2012-11-23 | 2013-03-27 | 浙江盾安精工集团有限公司 | Automatic leveling device of full-circle slewing drilling machine |
| CN104889957A (en) * | 2013-06-25 | 2015-09-09 | 苏州唐氏机械制造有限公司 | Work bench work method |
| CN103988830A (en) * | 2014-05-21 | 2014-08-20 | 苏州华盛亿达信息科技发展有限公司 | Laser bird repellent device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20120829 Termination date: 20121231 |