CN210122152U - Leveling device and tractor - Google Patents
Leveling device and tractor Download PDFInfo
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- CN210122152U CN210122152U CN201921030553.6U CN201921030553U CN210122152U CN 210122152 U CN210122152 U CN 210122152U CN 201921030553 U CN201921030553 U CN 201921030553U CN 210122152 U CN210122152 U CN 210122152U
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Abstract
The application provides a leveling device and a tractor, and relates to the technical field of leveling. The leveling device comprises a support, a carriage body, four lifting mechanisms, an inclination angle sensor and a control system. The carriage body is positioned above the bracket. The carriage body is connected with the bracket through four lifting mechanisms. The tilt angle sensor is connected with the carriage body. The tilt sensor has a first reference direction line and a second reference direction line, and is configured to detect a tilt angle signal of the first reference direction line with respect to a horizontal plane and a tilt angle signal of the second reference direction line with respect to the horizontal plane. The tilt angle sensor is electrically connected with the control system, and the control system responds to the tilt angle sensor and controls the four lifting mechanisms to act so as to enable the carriage body to be positioned at a horizontal position. The first reference direction line is perpendicular to the second reference direction line. The leveling device can level the carriage body from two mutually perpendicular directions, so that the carriage body has better leveling effect and more stable leveling state.
Description
Technical Field
The application relates to the technical field of leveling, in particular to a leveling device and a tractor.
Background
At present, the leveling device of many transportation devices can only level from one direction, and under the condition that some road conditions are complicated, the vehicle body after being adjusted from one direction still can not keep level.
SUMMERY OF THE UTILITY MODEL
The embodiment of the application provides a leveling device and a tractor, and aims to solve the problem that the existing leveling device cannot adapt to complex road conditions.
In a first aspect, an embodiment of the present application provides a leveling device, which includes a bracket, a carriage, four lifting mechanisms, an inclination sensor, and a control system. The carriage body is positioned above the bracket; the carriage body is connected with the bracket through four lifting mechanisms; the tilt angle sensor is connected with the carriage body; the tilt sensor has a first reference direction line and a second reference direction line, and is configured to detect a tilt angle signal of the first reference direction line relative to a horizontal plane and a tilt angle signal of the second reference direction line relative to the horizontal plane; the control system responds to the tilt angle sensor and controls the four lifting mechanisms to act so as to enable the carriage body to be positioned at a horizontal position; the first reference direction line is perpendicular to the second reference direction line.
According to the technical scheme, the inclination angle sensor can measure the inclination angle of the carriage body relative to a horizontal plane in two mutually perpendicular directions, and the control system can respectively control the four lifting mechanisms to act according to angle signals detected by the inclination angle sensor, so that the four lifting mechanisms can be leveled in two directions, the carriage body is located at the horizontal position, the leveling effect of the carriage body is better, and the leveling state is more stable.
In addition, the leveling device of the embodiment of the application also has the following additional technical characteristics:
in some embodiments of the first aspect of the present application, each lift mechanism is ball-hinged with the bracket and the carriage; the carriage body is provided with four hinged points for being hinged with the four lifting mechanisms, and the four hinged points are respectively positioned at four quadrilateral corners.
Among the above-mentioned technical scheme, elevating system and railway carriage or compartment body ball joint, when elevating system drive railway carriage or compartment body removed, the relative elevating system of railway carriage or compartment body can have relative motion space, realization leveling that can be better. The connection points of the four lifting mechanisms and the carriage body are respectively positioned at four corners of the rectangle, so that the four lifting mechanisms can level the carriage body from two directions which are vertical to each other.
In some embodiments of the first aspect of the present application, each of the four lifting mechanisms is a hydraulic cylinder; the leveling device comprises four control valves, and each control valve corresponds to one lifting mechanism; each control valve is used for controlling the corresponding lifting mechanism.
In the technical scheme, each lifting mechanism controls whether to work or not through one control valve, so that the lifting mechanisms can be controlled respectively, and the lifting mechanisms arranged in different directions can level the carriage body from different directions.
In some embodiments of the first aspect of the present application, the leveling device comprises four stop assemblies, one stop assembly for each lifting mechanism, each stop assembly configured to define a lifting range of the lifting mechanism corresponding thereto; every spacing subassembly includes first locating part and second locating part, and every elevating system has the activity body and the fixed body, the activity body with the railway carriage or compartment body ball joint, the fixed body with the support is articulated, and the activity body can relative fixed body extend or shrink, and the activity body relative fixed body extends and can trigger first locating part, and the activity body relative fixed body shrink can trigger the second locating part.
Among the above-mentioned technical scheme, inject elevating system's lift scope through spacing subassembly to can detect elevating system's position signal, make elevating system can carry out reasonable regulation to the railway carriage or compartment body position, be unlikely to appear elevating system because of the damaged problem of overshoot causes elevating system.
In some embodiments of the first aspect of the present application, the control system comprises an a/D conversion circuit, a first processor, and a relay; the first processor is respectively electrically connected with the A/D conversion circuit and the relay, the A/D conversion circuit is used for receiving and processing the inclination angle signal detected by the inclination angle sensor and transmitting the processed inclination angle signal to the first processor, and the first processor is used for transmitting the inclination angle signal to the relay; the relay is used for controlling the action of part or all of the lifting mechanisms.
Among the above-mentioned technical scheme, control system can be used for receiving the inclination angle signal of first reference line and second reference line relative horizontal plane that tilt angle sensor detected through the AD converting circuit to thereby send the instruction for the relay after handling the inclination angle signal through first treater, thereby make the relay carry out corresponding operation and make partial or whole elevating system make corresponding action, this control system degree of automation is high, can save the cost, leveling efficiency and precision are high.
In some embodiments of the first aspect of the present application, the control system includes a signal processing circuit, the signal processing circuit is electrically connected to the four limiting assemblies and the first processor, respectively, and the signal processing circuit is capable of receiving position signals of the four lifting mechanisms detected by the four limiting assemblies and transmitting the position signals to the first processor.
In the technical scheme, the control system is provided with the signal processing circuit for receiving the position signal of the lifting mechanism detected by the limiting assembly, and the relay can perform operation of controlling whether the lifting mechanism acts or not according to the position signal of the lifting mechanism detected by the limiting assembly, so that damage to the lifting mechanism caused by over-adjustment is avoided.
In some embodiments of the first aspect of the present application, the control system includes a second processor electrically connected to the a/D conversion circuit and the first processor, respectively.
According to the technical scheme, the inclination angle signals detected by the inclination angle sensor are processed through the second processor and the first processor, the first processor and the second processor can independently and respectively process different information, and the processing efficiency is high.
In some embodiments of the first aspect of the present application, the number of relays is four, and each relay corresponds to one control valve, and each relay is used for controlling the opening or closing of the corresponding control valve.
In the technical scheme, one relay controls the opening or closing of one control valve, so that each lifting mechanism can be independently controlled, the control mode can enable the lifting mechanisms to be controlled more accurately, and the leveling of the carriage body is more accurate.
In some embodiments of the first aspect of the present application, the control system includes a PID controller disposed between the first processor and the relay.
In the technical scheme, the PID controller is arranged between the first processor and the relay of the control system, so that the control of the control system can be more quickly and stably.
In a second aspect, embodiments of the present application provide a tractor, including a running gear and the leveling device provided in the embodiments of the first aspect, the leveling device is connected to the running gear.
Among the above-mentioned technical scheme, the tractor has the levelling device that can carry out the leveling from two directions, can make this tractor be applicable to more complicated road conditions.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.
Fig. 1 is a schematic view of a first possible structure of a leveling device provided in an embodiment of the present application;
fig. 2 is a schematic diagram of a second possible structure of a leveling device provided in an embodiment of the present application;
FIG. 3 is a schematic diagram of a control system provided by an embodiment of the present application;
FIG. 4 is a schematic diagram of signal transmission;
fig. 5 is a flowchart of an algorithm of a control system according to an embodiment of the present application.
Icon: 100-leveling device; 10-a scaffold; 20-a compartment body; 30-four lifting mechanisms; 31-a first lifting mechanism; 32-a second lifting mechanism; 33-a third lifting mechanism; 34-a fourth lifting mechanism; 40-a tilt sensor; 50-a control system; 51-A/D conversion circuit; 52-a first processor; 53-a relay; 54-signal processing circuitry; 55-a second processor; 56-PID controller; 60-a limit component; 61-a first stop; 62-a second stop; a-a first reference direction line; b-second reference direction line.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the embodiments of the present application, it should be noted that the indication of orientation or positional relationship is based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship which is usually placed when the product of the application is used, or the orientation or positional relationship which is usually understood by those skilled in the art, or the orientation or positional relationship which is usually placed when the product of the application is used, and is only for the convenience of describing the application and simplifying the description, but does not indicate or imply that the indicated device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the application. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.
In the description of the embodiments of the present application, it should also be noted that, unless otherwise explicitly stated or limited, the terms "disposed," "mounted," and "connected" are to be construed broadly, and may for example be fixedly connected, detachably connected, or integrally connected; may be directly connected or indirectly connected through an intermediate. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.
Examples
As shown in fig. 1, the present embodiment provides a leveling device 100, which includes a support frame 10, a carriage 20, four lifting mechanisms 30, a tilt sensor 40, and a control system 50. The carriage body 20 is positioned above the bracket 10; the carriage body 20 is connected with the bracket 10 through four lifting mechanisms 30; the tilt sensor 40 is connected to the carriage 20; the tilt sensor 40 has a first reference direction line a and a second reference direction line B, the tilt sensor 40 being configured to detect a tilt angle signal of the first reference direction line a with respect to a horizontal plane and a tilt angle signal of the second reference direction line B with respect to the horizontal plane; the tilt angle sensor 40 is electrically connected with the control system 50, and the control system 50 responds to the tilt angle sensor 40 and controls the four lifting mechanisms 30 to act so as to enable the carriage body 20 to be positioned at a horizontal position; the first reference direction line A is perpendicular to the second reference direction line B. The tilt angle sensor 40 can measure the tilt angle of the car body 20 relative to the horizontal plane in two mutually perpendicular directions, and the control system 50 can control the four lifting mechanisms 30 to act according to the angle signals detected by the tilt angle sensor 40, so that the four lifting mechanisms 30 can level from two directions, the car body 20 is located at the horizontal position, the leveling effect of the car body 20 is better, and the leveling state is more stable.
In this embodiment, the tilt sensor 40 is a dual-axis tilt sensor 40, which can continuously measure two axes simultaneously and automatically upload the measured angle value. The tilt angle sensor 40 is arranged on the bottom wall of the carriage body 20, the tilt angle sensor 40 is provided with a first reference direction line A and a second reference direction line B, the first reference direction line A and the second reference direction line B are perpendicular to each other, the plane where the first reference direction line A and the second reference direction line B are located is parallel to the plane where the bottom wall of the carriage body 20 is located, when the carriage body 20 is inclined, the plane where the bottom wall of the carriage body 20 is located is also inclined relative to the horizontal plane, the plane where the first reference direction line A and the second reference direction line B are located is also inclined, and the plane where the first reference direction line A and the second reference direction line B are located is adjusted to be parallel to the horizontal plane, namely, the bottom wall of the carriage body 20 is parallel to the horizontal plane.
Wherein, each lifting mechanism is in ball joint with the bracket 10 and the carriage body 20. The lifting mechanism is hinged with the carriage body 20 in a spherical manner, and when the lifting mechanism drives the carriage body 20 to move, the carriage body 20 can have a relative movement space relative to the lifting mechanism, so that leveling can be better realized.
Further, the carriage body 20 is provided with four hinge points for being hinged to the four lifting mechanisms 30, and the four hinge points are respectively located at four corners of the quadrangle. The connection points of the four lifting mechanisms 30 and the car body 20 are respectively located at four corners of the rectangle, so that the four lifting mechanisms 30 can level the car body 20 from two directions perpendicular to each other.
In this embodiment, four hinge points for hinging the four lifting mechanisms 30 on the car body 20 are respectively located at four corners of a quadrilateral, that is, a connecting line of the four hinge points is a quadrilateral, which may be a rectangle or an irregular quadrilateral, and in this embodiment, each hinge point on the car body 20 has a hinge point hinged to the lifting mechanism at a corresponding position on the support 10. The four elevating mechanisms 30 are defined as a first elevating mechanism 31, a second elevating mechanism 32, a third elevating mechanism 33, and a fourth elevating mechanism 34, respectively. In this embodiment, four hinge points on the car 20 are located at four corners of the parallelogram, and the four lifting mechanisms 30 are respectively connected to the four hinge points on the car 20, so that the four lifting mechanisms 30 have two ways to level the car 20: first, the arrangement manner of the four lifting mechanisms 30 and the relative position relationship between the first reference direction line a and the second reference direction line B are as shown in fig. 1, that is, the connecting line between the hinge point of the first lifting mechanism 31 and the car body 20 and the hinge point of the second lifting mechanism 32 and the car body 20, the connecting line between the hinge point of the fourth lifting mechanism 34 and the car body 20, and the connecting line between the hinge point of the first lifting mechanism 31 and the car body 20 and the hinge point of the fourth lifting mechanism 34 and the car body 20, and the connecting line between the hinge point of the second lifting mechanism 32 and the car body 20, and the connecting line between the hinge point of the third lifting mechanism 33 and the car body 20 are both consistent with the second reference direction line B; when the first reference direction line a of the tilt sensor 40 has an included angle with respect to the horizontal plane, the first lifting mechanism 31 and the fourth lifting mechanism 34 are lifted or the second lifting mechanism 32 and the third lifting mechanism 33 are lifted, so that a hinge point of the fourth lifting mechanism 34 and the car body 20 and a hinge point of the third lifting mechanism 33 and the car body 20 are located at the same height, and a hinge point of the first lifting mechanism 31 and the car body 20 and a hinge point of the second lifting mechanism 32 and the car body 20 are located at the same height, the first reference direction line a of the tilt sensor 40 is parallel to the horizontal plane; when the second reference direction line B of the tilt sensor 40 has an included angle with respect to the horizontal plane, the first lifting mechanism 31 and the second lifting mechanism 32 are lifted or the third lifting mechanism 33 and the fourth lifting mechanism 34 are lifted, so that the hinge point of the first lifting mechanism 31 and the car body 20 and the hinge point of the fourth lifting mechanism 34 and the car body 20 are located at the same height, the hinge point of the second lifting mechanism 32 and the car body 20 and the hinge point of the third lifting mechanism 33 and the car body 20 are located at the same height, the second reference direction line B of the tilt sensor 40 is parallel to the horizontal plane, and as can be seen from the geometric principle, two mutually perpendicular straight lines are both parallel to the horizontal plane, and the planes of the two straight lines are also parallel to the horizontal plane, thereby realizing the leveling of the car body 20; secondly, the arrangement mode of the four lifting mechanisms 30 and the relative position relationship between the first reference direction line a and the second reference direction line B are as shown in fig. 2, the connecting line between the hinge points of the first lifting mechanism 31 and the second lifting mechanism 32 and the carriage 20 is consistent with the first reference direction line a, the connecting line between the hinge points of the third lifting mechanism 33 and the fourth lifting mechanism 34 and the carriage 20 is consistent with the second reference direction line B, and when the first reference direction line a of the tilt angle sensor 40 has an included angle with respect to the horizontal plane, the first lifting mechanism 31 or the second lifting mechanism 32 is lifted to make the hinge point between the first lifting mechanism 31 and the carriage 20 and the hinge point between the second lifting mechanism 32 and the carriage 20 at the same height, so that the first reference direction line of the tilt angle sensor 40 is parallel to the horizontal plane; when the second reference direction line B of the tilt sensor 40 forms an included angle with respect to the horizontal plane, the third lifting mechanism 33 or the fourth lifting mechanism 34 is lifted to enable a hinge point of the third lifting mechanism 33 and the car body 20 and a hinge point of the fourth lifting mechanism 34 and the car body 20 to be located at the same height, so that the second reference direction line B of the tilt sensor 40 is parallel to the horizontal plane, and when the first reference direction line a and the second reference direction line B are both parallel to the horizontal plane, the car body 20 is located at the horizontal position. In this embodiment, the first arrangement is adopted.
Optionally, each of the four lifting mechanisms 30 is a hydraulic cylinder; the leveling device 100 comprises four control valves, and each control valve corresponds to one lifting mechanism; each control valve is used for controlling the corresponding lifting mechanism. Whether each lifting mechanism works or not is controlled through one control valve, so that the lifting mechanisms can be controlled respectively, and the lifting mechanisms arranged in different directions can level the carriage body 20 from different directions.
In this embodiment, each lifting mechanism is a hydraulic cylinder, and the leveling device 100 is provided with an oil supply system for driving the hydraulic cylinder to lift. The leveling device 100 includes four control valves, wherein one control valve is disposed in an oil path between each lifting mechanism and the oil supply system, and the control valves can connect or disconnect the oil path between the corresponding lifting mechanism and the oil supply system to control whether the corresponding lifting mechanism works.
Further, the leveling device 100 includes four limit assemblies 60, one limit assembly 60 for each lifting mechanism, each limit assembly 60 being configured to define a lifting range of the corresponding lifting mechanism and to be able to detect a position signal of the corresponding lifting mechanism; each limiting assembly 60 comprises a first limiting member 61 and a second limiting member 62, each lifting mechanism comprises a movable body and a fixed body, the movable body can extend or retract relative to the fixed body, the movable body is opposite to the fixed body, the movable body extends to trigger the first limiting member 61, and the movable body retracts relative to the fixed body to trigger the second limiting member 62. The lifting range of the lifting mechanism is limited by the limiting component 60, and the position signal of the lifting mechanism can be detected, so that the lifting mechanism can reasonably adjust the position of the carriage body 20, and the problem that the lifting mechanism is damaged due to over-adjustment is avoided.
In this embodiment, each lifting mechanism is provided with a limiting assembly 60, each limiting assembly 60 includes a first limiting member 61 and a second limiting member 62, and the first limiting member 61 and the second limiting member 62 are arranged at intervals in the extending and retracting direction of the corresponding lifting mechanism, so as to limit the lifting range of the corresponding lifting mechanism and detect the position signal of the lifting mechanism.
The lifting mechanism is provided with a movable body and a fixed body, the movable body can extend or contract relative to the fixed body, the movable body can extend relative to the fixed body and can relatively start the first limiting clamp, and the movable body can contract relative to the fixed body and can start the second limiting part 62. In this embodiment, the lifting mechanism is a hydraulic cylinder, the movable body of the lifting mechanism is a piston rod of the hydraulic cylinder, and the fixed body is a cylinder body of the lifting mechanism, wherein the movable body is hinged to the carriage 20, and the fixed body is hinged to the bracket 10. Generally, the hydraulic cylinder has a fixed stroke, and the limit assembly 60 limits the movable range of the hydraulic cylinder to avoid damage to the lifting mechanism due to over-adjustment, and it should be noted that the limit range of the limit assembly 60 should be smaller than or equal to the stroke of the hydraulic cylinder. In other embodiments, the leveling device 100 may not be provided with the stop assembly 60.
Further, as shown in fig. 3, the control system 50 includes an a/D conversion circuit 51, a first processor 52, and a relay 53; the first processor 52 is electrically connected with the a/D conversion circuit 51 and the relay 53 respectively, the a/D conversion circuit 51 is used for receiving and processing the tilt angle signal detected by the tilt angle sensor 40 and transmitting the processed tilt angle signal to the first processor 52, and the first processor 52 is used for transmitting the tilt angle signal to the relay 53; the relay 53 is used to control the operation of part or all of the lifting mechanism.
In this embodiment, the tilt sensor 40 detects a tilt angle signal of the first reference direction line a relative to the horizontal plane and a tilt angle signal of the second reference direction line B relative to the horizontal plane, the tilt sensor 40 is in signal connection or electrical connection with an a/D conversion circuit 51 (analog-to-digital converter), and transmits the tilt angle signal to the a/D conversion circuit 51, the a/D conversion circuit 51 converts the tilt angle signal into a digital signal and transmits the digital signal to a first processor 52, the first processor 52 processes the signal and transmits the signal to a relay 53, and the relay 53 sends an operation instruction to the lifting mechanism according to the received signal, so as to operate part or all of the lifting mechanism, and the control system 50 has high automation degree, and high leveling efficiency and accuracy.
Alternatively, referring to fig. 3 and 4, the number of the relays 53 is four, each relay 53 corresponds to one control valve, and each relay 53 is used for controlling the opening or closing of the corresponding control valve. A relay 53 controls the opening or closing of a control valve so that each elevator mechanism can be independently controlled in a manner that allows more accurate control of the elevator mechanism and more accurate leveling of the car 20.
Optionally, the control system 50 includes a second processor 55, and the second processor 55 is electrically connected to the a/D conversion circuit 51 and the first processor 52, respectively. The tilt angle signal detected by the tilt sensor 40 is processed by the second processor 55 and the first processor 52, and the first processor 52 and the second processor 55 can independently and respectively process different information, so that the processing efficiency is high.
In this embodiment, the a/D conversion circuit 51 transmits the tilt angle signal to the second processor 55, the second processor 55 transmits the signal to the first processor 52, the dual processors can independently and respectively process different information, the efficiency is high, and a relatively low-grade processor can be used with the dual processors, which saves the cost, for example, a 32-bit processor can be used with two 8-bit processors with the dual processors, which otherwise would be slow. In this embodiment, the first processor 52 and the second processor 55 both use single-chip microcomputers. In other embodiments, the control system 50 may have only the first processor 52.
Further, the control system 50 includes a signal processing circuit 54, the signal processing circuit 54 is electrically connected to the four limiting assemblies 60 and the first processor 52, and the signal processing circuit 54 is capable of receiving the position signals of the four lifting mechanisms 30 detected by the four limiting assemblies 60 and transmitting the position signals to the first processor 52.
In this embodiment, when the movable body triggers the first limiting member 61 or the second limiting member 62, the first limiting member 61 or the second limiting member 62 can transmit the position signal of the lifting mechanism to the signal processing circuit 54, the signal processing circuit 54 transmits the processed position signal of the lifting mechanism to the first processor 52, the first processor 52 can transmit the signal to the relay 53, and the relay 53 can control the control valve to stop the operation of the corresponding lifting mechanism. When the lifting mechanism triggers the first limiting member 61 or the second limiting member 62, the lifting mechanism stops, wherein the first limiting member 61 and the second limiting member 62 are both limit switches.
Further, the control system 50 includes a PID controller 56 (proportional-integral-derivative controller), and the PID controller 56 is provided between the first processor 52 and the relay 53. A PID controller 56 is provided between the first processor 52 and the relay 53 of the control system 50 so that the control of the control system 50 can be stabilized more quickly. In other embodiments, the PID controller 56 may not be provided.
In the present embodiment, as shown in fig. 5, the control system 50 executes the following algorithm to control the lifting mechanism to achieve the leveling of the car 20:
the tilt sensor 40 detects whether the first reference direction line a and the second reference direction line B are inclined with respect to the horizontal plane; if the first reference direction line a is inclined with respect to the horizontal plane, acquiring a relative positional relationship between the hinge points of the first lifting mechanism 31 and the second lifting mechanism 32 and the car body 20 (with the hinge point at a higher position or the hinge point at a lower position as a reference), if the lifting mechanism to be adjusted is not located at the limit position, performing a fuzzy PID algorithm program through the PID controller 56, controlling the hinge point of the first lifting mechanism 31 and the car body 20 and the hinge point of the second lifting mechanism 32 and the car body 20 to be located at the same height position, and if the lifting mechanism to be adjusted is located at the limit position, alarming; acquiring the relative position relationship between the hinge points of the third lifting mechanism 33 and the fourth lifting mechanism 34 and the carriage body 20 (taking the hinge point at the higher position or the hinge point at the lower position as reference), if the lifting mechanism needing to be adjusted is not at the extreme position, performing a fuzzy PID algorithm program through a PID controller 56, controlling the hinge point of the third lifting mechanism 33 and the carriage body 20 and the hinge point of the fourth lifting mechanism 34 and the carriage body 20 to be at the same height position, and if the lifting mechanism needing to be adjusted is at the extreme position, alarming; if the first reference direction line a is horizontal, whether the second reference direction line B is horizontal relative to the horizontal plane is judged, if the second reference direction line B is inclined relative to the horizontal plane, the relative position relationship between the first lifting mechanism 31 and the hinge point of the fourth lifting mechanism 34 and the carriage body 20 is obtained (with the hinge point at the higher position or the hinge point at the lower position as reference), if the lifting mechanism needing to be adjusted is not at the limit position, a fuzzy PID algorithm program is carried out through a PID controller 56, the hinge point of the first lifting mechanism 31 and the carriage body 20 and the hinge point of the fourth lifting mechanism 34 and the carriage body 20 are controlled to be at the same height position, and if the lifting mechanism needing to be adjusted is at the limit position, an alarm is given; acquiring the relative position relationship between the hinge points of the second lifting mechanism 32 and the third lifting mechanism 33 and the carriage body 20 (taking the hinge point at a higher position or the hinge point at a lower position as reference), if the lifting mechanism to be adjusted is not at the extreme position, performing a fuzzy PID algorithm program through the PID controller 56, controlling the hinge point of the second lifting mechanism 32 and the carriage body 20 and the hinge point of the third lifting mechanism 33 and the carriage body 20 to be at the same height position, and if the lifting mechanism to be adjusted is at the extreme position, alarming; when the first reference direction line a and the second reference direction line B are both parallel to the horizontal plane, the four lifting mechanisms 30 are locked, and thus the leveling process is finished.
The embodiment of the second aspect of the present application provides a tractor, which comprises a walking device and the leveling device 100 provided in the embodiment of the first aspect, wherein the leveling device 100 is connected to the walking device. The tractor having the leveling device 100 capable of leveling from two directions can adapt the tractor to more complicated road conditions. The walking device can drive the leveling device 100 to move along the walking direction, the walking device comprises a driving device and a plurality of rollers, and the driving device can drive all the rollers to rotate so as to enable the tractor to walk.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (10)
1. A leveling device, comprising:
a support;
the carriage body is positioned above the bracket;
the carriage body is connected with the bracket through the four lifting mechanisms;
the tilt angle sensor is connected to the carriage body; the tilt sensor has a first reference direction line and a second reference direction line, the tilt sensor is configured to detect a tilt angle signal of the first reference direction line with respect to a horizontal plane and a tilt angle signal of the second reference direction line with respect to the horizontal plane; and
the control system is electrically connected with the tilt sensor and responds to the tilt sensor and controls the four lifting mechanisms to act so as to enable the carriage body to be positioned at a horizontal position;
wherein the first reference direction line is perpendicular to the second reference direction line.
2. The leveling device of claim 1, wherein each lifting mechanism is spherically hinged with the bracket and the carriage;
the compartment body is provided with four hinged points for being hinged with the four lifting mechanisms, and the four hinged points are respectively positioned at four quadrilateral corners.
3. The leveling device of claim 1, wherein each of the four lifting mechanisms is a hydraulic cylinder;
the leveling device comprises four control valves, and each control valve corresponds to one lifting mechanism; each control valve is used for controlling the corresponding lifting mechanism.
4. The leveling device of claim 3, wherein the leveling device comprises four stop assemblies, one stop assembly for each lifting mechanism, each stop assembly configured to define a lifting range of the lifting mechanism corresponding thereto;
every spacing subassembly includes first locating part and second locating part, and every elevating system has the activity body and the fixed body, the activity body with the railway carriage or compartment body ball joint, the fixed body with the support is articulated, the activity body can be relative the fixed body extends or contracts, the activity body is relative the fixed body extends can trigger first locating part, the activity body is relative the fixed body contracts can trigger the second locating part.
5. The leveling device of claim 4, wherein the control system comprises an A/D conversion circuit, a first processor, and a relay;
the first processor is respectively electrically connected with the A/D conversion circuit and the relay, the A/D conversion circuit is used for receiving and processing the inclination angle signal detected by the inclination angle sensor and transmitting the processed inclination angle signal to the first processor, and the first processor is used for transmitting the inclination angle signal to the relay; the relay is used for controlling and making part or all of the lifting mechanisms act.
6. The leveling device of claim 5, wherein the control system comprises a signal processing circuit, the signal processing circuit is electrically connected with the four limit assemblies and the first processor respectively, and the signal processing circuit can receive the position signals of the four lifting mechanisms detected by the four limit assemblies and transmit the position signals to the first processor.
7. The leveling device of claim 5 or 6, wherein the control system comprises a second processor electrically connected to the A/D conversion circuit and the first processor, respectively.
8. The leveling device according to claim 5, wherein the number of the relays is four, each relay is connected with one control valve, and each relay is used for controlling the opening or closing of the corresponding control valve.
9. The leveling device of claim 5, wherein the control system comprises a PID controller disposed between the first processor and the relay.
10. A tractor comprising a running gear and a levelling device according to any one of claims 1 to 9, the levelling device being connected to the running gear.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921030553.6U CN210122152U (en) | 2019-07-03 | 2019-07-03 | Leveling device and tractor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921030553.6U CN210122152U (en) | 2019-07-03 | 2019-07-03 | Leveling device and tractor |
Publications (1)
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114601344A (en) * | 2022-04-01 | 2022-06-10 | 北京红岸水滴科技发展有限公司 | Cooking apparatus and leveling method |
| CN117885109A (en) * | 2024-02-01 | 2024-04-16 | 江苏科技大学 | Photovoltaic purline intelligent installation equipment and method |
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2019
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114601344A (en) * | 2022-04-01 | 2022-06-10 | 北京红岸水滴科技发展有限公司 | Cooking apparatus and leveling method |
| CN114601344B (en) * | 2022-04-01 | 2023-09-22 | 北京红岸水滴科技发展有限公司 | Cooking device and leveling method |
| CN117885109A (en) * | 2024-02-01 | 2024-04-16 | 江苏科技大学 | Photovoltaic purline intelligent installation equipment and method |
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