CN103362885A - Multi-platform multi-cylinder collaborative automatic leveling method - Google Patents

Abstract

The invention belongs to the technical field of hydraulic leveling, in particular to a multi-platform multi-cylinder coordinated automatic leveling method. The leveling device used is: 4 inverted hydraulic cylinders are installed on a single platform, and the hydraulic cylinder supports the balance beam, and the leveled object is placed on the balance beam through hinges; each platform is controlled by a set of control system for leveling, each Data transmission and sharing are carried out between the platform control systems through the bus; a dual-axis inclination sensor is installed on the platform for self-leveling of the platform, and a dual-axis or single-axis inclination sensor is selected for real-time detection on the leveling object according to the leveling requirements For the inclination angle of the object to be leveled, a magnetostrictive sensor is installed in each leveling cylinder to detect the stroke of the cylinder; the leveling method is divided into two steps, and so on. Solve the problem of platform unevenness caused by ground or load changes during horizontal movement or horizontal rotation of large-load and long-span platforms.

Description

Multi-platform multi-cylinder cooperative automatic leveling method

technical field

The invention belongs to the technical field of hydraulic leveling, in particular to a multi-platform multi-cylinder coordinated automatic leveling method.

Background technique

During the working process of construction machinery and other equipment, its stability is a key factor related to construction quality and safety, and the levelness of the chassis has an inseparable relationship with the working stability of construction machinery. If the chassis is not adjusted flat, it is easy to Lead to accidents such as overturning, resulting in personal and property damage.

In the application process of engineering equipment, hydraulic leveling technology is widely used. It not only has a vital impact on the quality of construction, but also has a very important relationship with construction safety. The traditional hydraulic automatic leveling method is mostly an improvement on the manual leveling method. A level or an inclination sensor is used to collect the tilt data of a certain platform, calculate the height difference of each cylinder, and level each hydraulic cylinder to a certain reference. This leveling method can only be used for leveling a single small-load platform. When the platform span and load capacity are large, and the number of hydraulic pump stations and support cylinders required is large, it is impossible to achieve large-tonnage and long-span platforms using traditional methods. leveling requirements.

Contents of the invention

The purpose of the present invention is to solve the problem of platform unevenness caused by ground or load changes during the horizontal movement or horizontal rotation of a large-load and long-span platform, and discloses a multi-platform multi-cylinder cooperative automatic leveling method.

The technical scheme provided by the present invention is:

A multi-platform multi-cylinder coordinated automatic leveling method, characterized in that the leveling device used is: 4 inverted hydraulic cylinders are installed on a single platform, the hydraulic cylinders support the balance beam, and the leveling object is placed on the balance beam through hinges above.

Each platform is controlled and leveled by a set of control systems, and data is transmitted and shared between the control systems of each platform through the bus.

A dual-axis inclination sensor is installed on the platform for self-leveling of the platform. A dual-axis or single-axis inclination sensor is selected on the leveled object according to the leveling requirements to detect the inclination angle of the leveled object in real time. Installed in each leveling cylinder The magnetostrictive sensor is used to detect the cylinder stroke.

Each hydraulic cylinder is individually controlled by a proportional directional valve.

The controller detects the measured value of the dual-axis or single-axis inclination sensor in real time for calculation, and outputs the control signal to the power amplification module of the proportional directional valve to make the hydraulic cylinder act.

The leveling method has two steps:

The first step is the self-leveling of the single platform balance beam. The two-axis inclination sensor on the platform detects the inclination angles in the X1 and Y1 directions, and the height difference between the four hydraulic cylinders is obtained through the conversion of the geometric dimensions of the balance beam. According to the inclination direction of the whole machine, one of the four cylinders is selected as the reference cylinder Without moving, the other three hydraulic cylinders use the sum of their own extension and height difference as the target value to perform PID adjustment, and finally achieve the leveling of a single platform. Every other platform is self-leveling.

The second step is overall leveling. If the object to be leveled needs to be leveled in two directions, a dual-axis inclination sensor is used. The object to be leveled first implements leveling in the X2 direction. When leveling in the X2 direction, the two platforms (8, 9) on the same side do not move, and the height difference between the platforms (6) and (7) can be measured according to the dual-axis inclination sensor installed on the object to be leveled. Respectively approach the heights of the platforms (8, 9), finally make the platform (6) and the platform (8) on the same level, and the platform (7) and the platform (9) on the same level, that is, the leveling of the X2 direction is completed. During the leveling process, the platform (6) uses the height difference between the platform (6) and the platform (8) as the actual value, and uses the height difference as 0 as the target value to perform PID calculation to make the platform (6) reach the platform (8) Height, platform (7) reaches platform (9) height with same principle. During the second step of overall leveling, the four oil cylinders of a single support platform expand and contract at the same distance at the same time. After leveling in the X2 direction, carry out the leveling in the Y2 direction in the same way, and finally realize the leveling of the object to be leveled.

The present invention adopts modular combination, and can be used for leveling occasions of large tonnage objects supported by single platform, double platforms, or even multi-platforms.

The advantages of the present invention are:

(1) Modular configuration, strong scalability, can be configured to form a single-platform, double-platform or even multi-platform automatic leveling system.

(2) The position closed-loop feedback is adopted, which is less affected by load changes and can be applied to leveling occasions with variable loads.

(3) Due to the use of multiple hydraulic cylinders to form a set of support platforms, it is especially suitable for leveling equipment with large tonnage and large span.

Description of drawings

Figure 1 is a schematic diagram of the structure of a single support platform.

Figure 2 is a schematic diagram of the control system hardware.

Figure 3 is a schematic diagram of the control system of a single support platform.

Figure 4 is a schematic diagram of a single support platform leveling strategy.

Figure 5 is a schematic diagram of overall leveling.

Marking description: the dual-axis inclination sensor (1) installed on the balance beam, the balance beam (2), the pin shaft (3), the leveling cylinder (4), and the travel slider (5).

Detailed ways

In the leveling device adopted in the present invention, each support platform is supported by four support oil cylinders to support the balance beam to bear part of the load, and the object to be leveled is placed on the balance beam through hinges. Figure 1 is a schematic diagram of the structure of a single support platform, including a balance beam (2), a pin shaft (3), a leveling cylinder (4) and a walking slider (5), in which a dual-axis inclination sensor (1) is installed on the balance beam, Used to detect the inclination angle of a single support platform, the four leveling cylinders are supplied with oil by the hydraulic pump station.

Each platform is controlled and leveled by a set of control systems, and data is transmitted and shared between the control systems of each platform through the bus. That is: the controllers of each platform are connected by communication cables to transmit and share leveling data to achieve coordinated leveling of multiple platforms and multiple oil cylinders.

Figure 2 is the hardware schematic diagram of the control system, each controller controls a support platform, each support platform is supported by four hydraulic cylinders, and each hydraulic cylinder is independently controlled by a proportional directional valve. Displacement sensors are installed inside each oil cylinder to detect the extension of the oil cylinder. The controller collects the displacement sensor value of the hydraulic cylinder, the inclination sensor value of the support platform and the inclination sensor value of the leveled object for internal calculation.

Figure 3 is a schematic diagram of the control system of a single support platform. The dual-axis inclination sensor on the platform detects the inclination angles of the support platform in the X1 and Y1 directions, and the height difference between the four hydraulic cylinders is obtained through the conversion of the geometric dimensions of the balance beam. According to the inclination direction of the whole machine, one of the four cylinders is selected as The reference cylinder does not move, and the other three hydraulic cylinders use the sum of the current extension of their own cylinders and the height difference of the reference cylinder as the target value to perform PID adjustment and output signals to the proportional directional valve to control the action of a single cylinder, and finally achieve the leveling of a single platform.

Figure 4 is a schematic diagram of a single support platform leveling strategy.

Figure 5 is a schematic diagram of the overall leveling.

The leveling method is divided into two steps:

The first step is the self-leveling of the single platform balance beam. The two-axis inclination sensor on the platform detects the inclination angles in the X1 and Y1 directions, and the height difference between the four hydraulic cylinders is obtained through the conversion of the geometric dimensions of the balance beam. According to the inclination direction of the whole machine, one of the four cylinders is selected as the reference cylinder Without moving, the other three hydraulic cylinders use the sum of their own extension and height difference as the target value to perform PID adjustment, and finally achieve the leveling of a single platform. If multiple platforms are used, each platform is self-leveling.

The second step is overall leveling. If the object to be leveled only needs to be leveled in one direction, a single-axis inclination sensor is used; if the object to be leveled needs to be leveled in two directions, a dual-axis inclination sensor is used. Take the leveling of four platforms as an example, assuming that in Figure 2, platform 8 is the highest, platform 6 is the second, 7 is the lowest, and platform 9 is the lowest. The object to be leveled first implements leveling in the X2 direction. When leveling in the X2 direction, the two platforms 8 and 9 on the same side do not move, and the height difference of each platform can be measured according to the dual-axis inclination sensor installed on the object to be leveled. 6 and 8 are on the same level, and 7 and 9 are on the same level, that is, the leveling in the X2 direction is completed. During the leveling process, platform 6 takes the height difference between 6 and 8 as the actual value, and takes the height difference as 0 as the target value to perform PID calculation to make platform 6 reach the height of platform 8, and platform 7 reaches the height of platform 9 by the same principle. During the second step of overall leveling, the four oil cylinders of a single support platform expand and contract at the same distance at the same time. After leveling in the X2 direction, carry out the leveling in the Y2 direction in the same way, and finally realize the leveling of the object to be leveled.

Claims (1)

1. A multi-platform multi-cylinder coordinated automatic leveling method, characterized in that the leveling device adopted is: 4 inverted hydraulic cylinders are installed on a single platform, and the hydraulic cylinders support the balance beam, and the leveling object is placed on the above the balance beam; Each platform is controlled and leveled by a set of control systems, and data is transmitted and shared between the control systems of each platform through the bus; A dual-axis inclination sensor is installed on the platform for self-leveling of the platform. A dual-axis or single-axis inclination sensor is selected on the leveled object according to the leveling requirements to detect the inclination angle of the leveled object in real time. Installed in each leveling cylinder The magnetostrictive sensor is used to detect the cylinder stroke; Each hydraulic cylinder is individually controlled by a proportional directional valve; The controller detects the measured value of the dual-axis or single-axis inclination sensor in real time for calculation, and outputs the control signal to the power amplification module of the proportional directional valve to make the hydraulic cylinder move; The leveling method has two steps: The first step is the self-leveling of the single-platform balance beam: the dual-axis inclination sensor on the platform detects the inclination angles in the X1 and Y1 directions, and the height difference between the four hydraulic cylinders is obtained by converting the geometric dimensions of the balance beam. To determine the tilt direction of the machine, one of the four cylinders is selected as the reference cylinder and does not move, and the other three hydraulic cylinders use the sum of their own extension and height difference as the target value to perform PID adjustment, and finally achieve the leveling of a single platform; perform self-leveling; The second step is the overall leveling: the object to be leveled needs to be leveled in two directions, and a dual-axis inclination sensor is used; the object to be leveled first realizes the leveling in the X2 direction, and when performing X2 8, 9) The platform does not move, and the height difference of each platform can be measured according to the dual-axis inclination sensor installed on the object to be leveled. The platform (6) and the platform (7) approach the height of the platform (8, 9) respectively, Finally make platform (6) and platform (8) be on the same level, platform (7) and platform (9) are on the same level, promptly finished the leveling of X2 direction; 6) The height difference with the platform (8) is used as the actual value, and the height difference is 0 as the target value to carry out the PID calculation to realize that the platform (6) reaches the height of the platform (8), and the platform (7) reaches the platform (9) with the same principle )high; During the second step of overall leveling, the four oil cylinders of a single support platform expand and contract at the same distance at the same time; after leveling in the X2 direction, perform leveling in the Y2 direction in the same way, and finally achieve the leveling of the leveled object.

Images