CN204226986U - Self adaption leveling platform - Google Patents
Self adaption leveling platform Download PDFInfo
- Publication number
- CN204226986U CN204226986U CN201420194907.1U CN201420194907U CN204226986U CN 204226986 U CN204226986 U CN 204226986U CN 201420194907 U CN201420194907 U CN 201420194907U CN 204226986 U CN204226986 U CN 204226986U
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- platform
- direct current
- detection device
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- spindle motor
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Abstract
The technological scheme that the utility model adopts is, self adaption leveling platform, comprises and is arranged on platform lifting mechanism on vehicle body and connected level detection device.Level detection device comprises and is arranged on three-axis gyroscope on platform and three axis accelerometer, and three-axis gyroscope is connected with single-chip microcomputer with three axis accelerometer, and single-chip microcomputer is regulated platform by parametric controller elevator mechanism.The utility model is arranged on vehicle body and arranges platform lifting mechanism and level detection device, can Real-Time Monitoring adjust platform, makes it keep level.Adopt dolly of the present utility model, advancing in road surface that can be complicated in the wild, has higher passing ability and certain obstacle detouring.
Description
Technical field
The utility model belongs to mechanical equipment technical field, relates to a kind of self adaption leveling platform of dolly.
Background technique
For technology such as ground observation, shooting, mappings, along with more and more higher to the requirement of precision, operating conditions more and more simplifies, and is also improved the stability of instrument and required precision.Relevant instrument and equipment being arranged on leveling platform, in robot moving process, keeping plateau levels, to ensure Data Collection and periphery viewing by regulating.But the upper platform carried of seen movable robot can fluctuate with landform usually, can not keep level, bring inconvenience to Data Collection and environmental observation in movement.
Model utility content
The purpose of this utility model is to provide a kind of self adaption leveling platform, and platform can be made in movement to keep level.
The technological scheme that the utility model adopts is, self adaption leveling platform, comprises and is arranged on platform lifting mechanism on vehicle body and connected level detection device; Platform lifting mechanism comprises the three secondary ball screws, spindle motor and the direct current generator that vertically arrange, platform is arranged on three secondary ball screws, spindle motor is connected with two vertical ball-screw-transmissions by drive link, and direct current generator is connected with the 3rd ball screw; Three secondary ball screws are isosceles triangle distribution, three secondary ball screws are respectively installed with a slide block, are connected between platform with three slide blocks respectively by an extension spring; Level detection device comprises and is arranged on three-axis gyroscope on platform and three axis accelerometer, and three-axis gyroscope is connected with single-chip microcomputer with three axis accelerometer, and single-chip microcomputer is connected with spindle motor and direct current generator.
Feature of the present utility model is also:
Three secondary ball screw pairs are connected on vehicle body by bearing, and spindle motor and drive link are in transmission connection, and drive link is connected by the ball-screw-transmission that the bevel gear at two ends is vertical with two, left and right, and direct current generator is connected with the ball-screw-transmission of above.
The utility model has following beneficial effect:
1, the utility model is arranged on vehicle body and arranges platform lifting mechanism and level detection device, can Real-Time Monitoring adjust platform, makes it keep level.
2, adopt dolly of the present utility model, advancing in road surface that can be complicated in the wild, has higher passing ability and certain obstacle detouring.
Accompanying drawing explanation
Fig. 1 is the main body dolly schematic diagram of the utility model dual free dimension linkage structure;
Fig. 2 is the utility model self adaption leveling platform schematic diagram;
Fig. 3 is the left view of Fig. 2;
In figure, 1. vehicle body, 2. bearing, 3. bevel gear, 4. ball screw, 5. ball-screw nut, 6. platform, 7. dunnage, 8. three-axis gyroscope, 9. single-chip microcomputer, 10. three axis accelerometer, 11. transmission shafts, 12. direct current generators, 13. spindle motors, 14. spur gears.
Embodiment
Below in conjunction with the drawings and specific embodiments, the utility model is described in detail.
Self adaption leveling platform, comprises and is arranged on platform lifting mechanism on vehicle body 1 and connected level detection device.
Platform lifting mechanism comprises the three secondary ball screws 4, spindle motor 13 and the direct current generator 12 that vertically arrange, platform 6 is arranged on three secondary ball screws 4, spindle motor 13 is connected with two ball screws 4 by drive link, and direct current generator 12 is connected with the 3rd ball screw 4.
Three secondary ball screw 4 distributions in isosceles triangle, three secondary ball screws 4 are respectively installed with a slide block, are connected between platform 6 with three slide blocks respectively by an extension spring.
Three secondary ball screws 4 are connected on vehicle body 1 by bearing 2, spindle motor 12 and drive link are in transmission connection by spur gear 14, drive link is connected by the ball screw 7 that the bevel gear at two ends is vertical with two, left and right, direct current generator 12 is connected with the ball screw of above 4 by bevel gear, the leveling of implementation platform.
Level detection device comprises and is arranged on three-axis gyroscope 8 on platform 6 and three axis accelerometer 10, three-axis gyroscope 8 is connected with single-chip microcomputer 9 with three axis accelerometer 10, data are read in RAM by three axis accelerometer 10, data are synthesized, changed and is processed in metering-in control system in single-chip microcomputer 9, regulated by spindle motor 13 and direct current generator 12 pairs of platforms 6.
When detecting portion detects that platform 6 loses level, data in ITG-three-axis gyroscope 8 are read in RAM by I2C bus by single-chip microcomputer 9, in single-chip microcomputer, data synthesized and changed and process the rotational angular velocity information obtaining current platform, rotational angular velocity is inputted in metering-in control system as inner ring after PID regulates.Simultaneously, data in three axis accelerometer 10 are read in RAM by I2C bus by single-chip microcomputer 9, in single-chip microcomputer 9, synthesized data, changed and processed the obliquity information obtaining current platform, inclination value is inputted in metering-in control system as outer shroud after PID regulates, platform 6 is regulated, improves stability and the accuracy of platform adjustment.Rectification to platform 6 variable height in leveling process: by recording and calculate the side-play amount of leveling rear platform 6 height in a program to leveling process, and by the adjustment of successive stage, superposition is carried out to leveling demand and height offset and obtains needing regulated quantity and control spindle motor 13 and direct current generator 12 regulates.
When spindle motor 13 and direct current generator 12 receive signal, after platform, two secondary ball screw pairs 4 are driven by spindle motor 13, gear transmission is utilized power to be passed to left and right two secondary ball screws 4, take center as equinoctial point, realize the rising of one end, the simultaneously the other end to decline, like this can implementation platform fast " left and right leveling ", shorten the response time; By the ball screw 6 before direct current generator 12 Direct driver, realize " front and back leveling ".
Through many experiments, the horizontal gradient error of the utility model platform is ± 3 °, and the governing response time is less than 1.2s.
Claims (2)
1. self adaption leveling platform, it is characterized in that: comprise and be arranged on platform lifting mechanism on vehicle body (1) and connected level detection device, described platform lifting mechanism comprises the three secondary ball screws (4) vertically arranged, spindle motor (13) and direct current generator (12), platform (6) is arranged on three secondary ball screws (4), spindle motor (13) is in transmission connection by drive link and two ball screws (4), direct current generator (12) is connected with the 3rd ball screw (4), described three secondary ball screws (4) distribute in isosceles triangle, three secondary ball screws (4) are respectively installed with a slide block, be connected respectively by an extension spring between platform (6) with three slide blocks, described level detection device comprises and is arranged on three-axis gyroscope (8) on platform (6) and three axis accelerometer (10), three-axis gyroscope (8) is connected with single-chip microcomputer (9) with three axis accelerometer (10), described single-chip microcomputer (9) is connected with spindle motor (13) and direct current generator (12).
2. self adaption leveling platform as claimed in claim 1, it is characterized in that: described three secondary ball screws (4) are connected on vehicle body (1) by bearing (2), described spindle motor (13) is connected with drive link, drive link is connected with two, left and right ball screw (4) by the bevel gear at two ends, and described direct current generator (12) is in transmission connection with a ball screw (4) above.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420194907.1U CN204226986U (en) | 2014-04-18 | 2014-04-18 | Self adaption leveling platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420194907.1U CN204226986U (en) | 2014-04-18 | 2014-04-18 | Self adaption leveling platform |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204226986U true CN204226986U (en) | 2015-03-25 |
Family
ID=52925083
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420194907.1U Expired - Fee Related CN204226986U (en) | 2014-04-18 | 2014-04-18 | Self adaption leveling platform |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204226986U (en) |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105423074A (en) * | 2015-12-09 | 2016-03-23 | 武汉科技大学 | Power arm for multi-degree-of-freedom pose adjusting platform |
| CN105858409A (en) * | 2016-05-13 | 2016-08-17 | 东南电梯股份有限公司 | Inclined elevator provided with mechanical and automatic rail changing mechanism leveling device |
| CN106774446A (en) * | 2016-12-14 | 2017-05-31 | 郑州云海信息技术有限公司 | A kind of server level device for adjusting posture and method |
| CN107329499A (en) * | 2017-08-03 | 2017-11-07 | 齐齐哈尔大学 | A kind of device and its control method for being used to realize automatic horizontal |
| CN108354341A (en) * | 2018-02-10 | 2018-08-03 | 安徽唯诗杨信息科技有限公司 | A kind of medicine storage rack that can highly adjust |
| CN108691979A (en) * | 2018-06-20 | 2018-10-23 | 陈浩 | A kind of three screw rod ball leading screw driving devices |
| CN109452757A (en) * | 2018-12-04 | 2019-03-12 | 嘉兴礼海电气科技有限公司 | One kind being based on electric elevatable table anticollision control system and its collision-proof method |
| CN109945047A (en) * | 2019-04-12 | 2019-06-28 | 周家春 | A kind of OLED material production detection platform with storage structures |
| CN110530794A (en) * | 2019-09-24 | 2019-12-03 | 苏州精濑光电有限公司 | A kind of platform turnover device |
| CN111496576A (en) * | 2020-03-19 | 2020-08-07 | 佶致测控技术(苏州)有限公司 | Device of digit control machine tool machine outer work piece preliminary adjustment |
| WO2021017506A1 (en) * | 2019-07-29 | 2021-02-04 | 赫安仕科技（苏州）有限公司 | Quick and convenient thromboelastograph leveling apparatus and leveling method |
| CN114753661A (en) * | 2022-04-26 | 2022-07-15 | 中建八局第二建设有限公司 | Tool and method for lifting laminated slab steel bars |
-
2014
- 2014-04-18 CN CN201420194907.1U patent/CN204226986U/en not_active Expired - Fee Related
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105423074A (en) * | 2015-12-09 | 2016-03-23 | 武汉科技大学 | Power arm for multi-degree-of-freedom pose adjusting platform |
| CN105858409A (en) * | 2016-05-13 | 2016-08-17 | 东南电梯股份有限公司 | Inclined elevator provided with mechanical and automatic rail changing mechanism leveling device |
| CN106774446A (en) * | 2016-12-14 | 2017-05-31 | 郑州云海信息技术有限公司 | A kind of server level device for adjusting posture and method |
| CN107329499A (en) * | 2017-08-03 | 2017-11-07 | 齐齐哈尔大学 | A kind of device and its control method for being used to realize automatic horizontal |
| CN108354341A (en) * | 2018-02-10 | 2018-08-03 | 安徽唯诗杨信息科技有限公司 | A kind of medicine storage rack that can highly adjust |
| CN108691979A (en) * | 2018-06-20 | 2018-10-23 | 陈浩 | A kind of three screw rod ball leading screw driving devices |
| CN109452757A (en) * | 2018-12-04 | 2019-03-12 | 嘉兴礼海电气科技有限公司 | One kind being based on electric elevatable table anticollision control system and its collision-proof method |
| CN109945047A (en) * | 2019-04-12 | 2019-06-28 | 周家春 | A kind of OLED material production detection platform with storage structures |
| WO2021017506A1 (en) * | 2019-07-29 | 2021-02-04 | 赫安仕科技（苏州）有限公司 | Quick and convenient thromboelastograph leveling apparatus and leveling method |
| EP3943796A4 (en) * | 2019-07-29 | 2022-06-01 | Hemoassay Science and Technology (Suzhou) Co., Ltd. | Quick and convenient thromboelastograph leveling apparatus and leveling method |
| CN110530794A (en) * | 2019-09-24 | 2019-12-03 | 苏州精濑光电有限公司 | A kind of platform turnover device |
| CN111496576A (en) * | 2020-03-19 | 2020-08-07 | 佶致测控技术(苏州)有限公司 | Device of digit control machine tool machine outer work piece preliminary adjustment |
| CN114753661A (en) * | 2022-04-26 | 2022-07-15 | 中建八局第二建设有限公司 | Tool and method for lifting laminated slab steel bars |
| CN114753661B (en) * | 2022-04-26 | 2023-09-19 | 中建八局第二建设有限公司 | Superimposed sheet steel bar lifting tool and method |
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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 |
Granted publication date: 20150325 Termination date: 20190418 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |