CN102174794A - Automatic leveling system and method for six-point support bridging platform - Google Patents
Automatic leveling system and method for six-point support bridging platform Download PDFInfo
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Abstract
The invention discloses an automatic leveling system and method for a six-point support bridging platform; six supporting legs are respectively provided with a pressure sensor and respectively connected with a hydraulic device; each hydraulic device is connected with the pressure sensor and an electro-hydraulic servo valve; and a controller is respectively connected with an alarm, a double-shaft tilt sensor, each pressure sensor and each electro-hydraulic servo valve. Coarse adjustment is performed firstly, and then fine adjustment is performed; the coarse adjustment comprises the steps of: inputting a sensed pressure signal of each supporting leg to the controller by the corresponding pressure sensor on the supporting leg, if the pressure value of the supporting leg is less than a preset value in the controller, controlling the alarm to emit an alarm by the controller, or else, performing the fine adjustment; and the fine adjustment comprises the steps of: keeping two middle auxiliary supporting legs still, adjusting two forward supporting legs and two backward supporting legs, keeping the highest supporting leg still, firstly leveling an X direction, and then leveling a Y direction. The automatic leveling system and method for the six-point support bridging platform can ensure that the platform can be automatically leveled in an outdoor severe environment, the good leveling precision and speed can be obtained, and strong environmental applicability and safety are provided.
Description
Technical field
The invention belongs to engineering machinery field, relate to a kind of mechanical-electrical-hydraulic integration control system, specifically, is a kind of automatic levelling control system, is used to control 6 leveling of supporting bridge formation job platform car platform.
Background technology
Along with a large amount of utilizations of various vehicular platforms, automatic horizontal control system also more and more comes into one's own.No matter be, the application of automatic horizontal control system is all arranged at military or civil area.For the large-scale heavy duty platform, be subjected to the influence of geographical environment and working platform loading, for preventing the level of toppling and guaranteeing job platform, just must adopt automatic horizontal control system to make the mobile vehicle leveling.And be directed to the big span as the bridge layer, the platform of long spacing, for preventing that platform from toppling and gross distortion, just must adopt 6 or more multiple spot come support platform, thereby the realization leveling.Along with the increase that support is counted, be easy to generate empty leg, " the static indeterminacy number of times " of platform also increases thereupon, and corresponding automatic horizontal control system is complicated more.
Chinese patent application number is 200720169787.X, denomination of invention is: " a kind of bridge layer self-level(l)ing device " mentions a kind of big span, long spacing, adopt the bridge layer self-level(l)ing device of 6 support platforms, but in the middle of practical application, there are following some shortcomings in this self-level(l)ing device: the movable stand that 1, adopts 4 support base jiggerings to add one two fulcrum constitutes 6 support platforms, automatically the leveling process has been divided into two parts leveling respectively, the complexity that this has just increased leveling has prolonged the whole leveling time.2, environmental suitability is poor, can produce the influence of uncertain factors such as the detection of empty leg and surface settlement to the work of whole bridging operation platform when not considering actual use.
Summary of the invention
The present invention is directed to the deficiency that above-mentioned prior art exists, provide a kind of simple to operate, environmental suitability strong and do not have 6 automatic horizontal control systems that support the bridge formation job platforms of potential safety hazard; The present invention also provides these 6 method for automatically leveling that support the bridge formation job platforms simultaneously, effectively control big span, long spacing 6 support the bridge formation job platforms fast, accurately, leveling automatically reliably,
6 of the present invention are supported bridge formation job platform automatic horizontal control system by the following technical solutions: comprise operation chassis platform, two forward direction supporting legs, auxiliary supporting leg in the middle of two, two backs are fixedly arranged on operation chassis platform dual-side respectively to these six supporting legs of supporting leg, operation chassis platform is provided with a double-shaft tilt angle sensor and controller, a pressure sensor respectively is set on each supporting leg and respectively connects a hydraulic means, each hydraulic means respectively connects a pressure sensor and an electrohydraulic servo valve, and controller connects an alarm respectively, a double-shaft tilt angle sensor, each pressure sensor and each electrohydraulic servo valve.
6 of the present invention are supported bridge formation job platform method for automatically leveling by the following technical solutions: be fine setting before this after the coarse adjustment, coarse adjustment may further comprise the steps, A, six hydraulic means output of startup fluid are through corresponding electric hydraulic efficiency servo-valve, controller detects oil pressure and reaches when setting value, six equal releases of hydraulic means and promote corresponding six supporting legs and move downward to landing; B, six electric hydraulic efficiency servo-valves of controller control insert, and six hydraulic means drive operation chassis platform simultaneously and rise; Corresponding pressure sensor is with detected supporting leg pressure signal input controller on C, each described supporting leg, if this supporting leg force value is littler than value default in the controller, then controller is controlled alarm equipment alarm, otherwise, enter fine setting; Fine setting is that auxiliary supporting leg is motionless in the middle of keeping two, regulate two forward direction supporting legs and two backs to supporting leg, comprise that the given leveling precision of having set in operation chassis platform dip angle signal that double-shaft tilt angle sensor is detected and the controller makes comparisons, judge two forward direction supporting legs and the two the highest supporting legs in supporting leg afterwards; Keep this highest supporting leg motionless earlier, controller adopts conventional leveling algorithm to calculate control variables, electrohydraulic servo valve is opened the action of identical aperture control hydraulic means, make earlier with directions X on the regulated quantity unanimity of relevant respective leg on directions X, reach the leveling precision, make again with the Y direction on the regulated quantity unanimity of relevant respective leg on the Y direction, reach the leveling precision.
The present invention can guarantee that support the leveling automatically in the adverse circumstances in the open air of bridge formation job platforms at 6, reaches good leveling precision and speed, has very strong environmental suitability and safety.
Description of drawings
Below in conjunction with the drawings and specific embodiments the present invention is described in further detail:
Fig. 1 is 6 composition diagrams that support bridge formation job platform automatic horizontal control system of the present invention;
Fig. 2 is the control principle figure of Fig. 1 automatic horizontal control system;
Fig. 3 is that the electric/hydraulic pressure of six supporting legs in Fig. 1 automatic horizontal control system connects sketch;
Among the figure: 1. operation chassis platform; 2. double-shaft tilt angle sensor; 3. controller; 4a, 4f. forward direction supporting leg; Auxiliary supporting leg in the middle of 4b, the 4e.; Behind 4c, the 4d. to supporting leg; 5. pressure sensor; 6. electrohydraulic servo valve; 7. alarm; 8. hydraulic means.
The specific embodiment
As shown in Figure 1,6 support bridge formation job platform automatic horizontal control systems of the present invention comprise that operation chassis platform 1, double-shaft tilt angle sensor 2, controller 3, two forward direction supporting leg 4a and 4f, two middle auxiliary supporting leg 4b and 4e, two backs are to compositions such as supporting leg 4c and 4d, pressure sensor 5, electrohydraulic servo valve 6 and alarms 7.Wherein, forward direction supporting leg 4a and 4f, middle auxiliary supporting leg 4b and 4e, back are separately fixed at the dual-side of operation chassis platform 1 to supporting leg 4c and these six supporting legs of 4d.Double-shaft tilt angle sensor 2 and controller 3 all are fixed on the operation chassis platform 1, and double-shaft tilt angle sensor 2 is vertically fixed on the operation chassis platform 1, in order to the directions X of detection operation chassis platform 1 and the inclination angle on the Y direction.A pressure sensor 5 all is set on each supporting leg, and Fig. 1 has only shown and has been arranged on the forward direction supporting leg 4a.
Shown in Fig. 2 and 3, auxiliary supporting leg 4b and 4e, two backs all are hydraulic legs to supporting leg 4c and these six supporting legs of 4d in the middle of two forward direction supporting leg 4a and the 4f, two, each supporting leg connects a hydraulic means 8 respectively, be that the present invention is provided with six hydraulic means 8, six hydraulic means 8 are started by connected hydraulic pump, and the hydraulic means 8 by separately drives corresponding six supporting leg liftings respectively.Six electrohydraulic servo valves 6 connect corresponding six hydraulic means 8 respectively, six pressure sensors 5, double-shaft tilt angle sensor 2, six electrohydraulic servo valves 6 are connected controller 3 respectively with an alarm 7, each hydraulic means 8 respectively connects a pressure sensor 5 and an electrohydraulic servo valve 6, be that pressure sensor 5 is connected between hydraulic means 8 and the controller 3, the pressure of hydraulic means 8 be can detect, thereby the pressure and the moving situation of each supporting leg monitored.Controller 3 inside have the CPU module, and the CPU module connects six electrohydraulic servo valves 6 respectively, and the CPU module is controlled the switching of six electrohydraulic servo valves 6 respectively according to the size of output current.
Automatic horizontal control system of the present invention is divided into two automatic leveling processes of coarse adjustment and fine setting: finely tune after the first coarse adjustment when concrete leveling.After the bridging operation platform truck reaches corresponding operating location and stops, the beginning coarse adjustment is flat, primer fluid press pump at first, produce hydraulic oil, six hydraulic means 8 output fluid are respectively through corresponding six electric hydraulic efficiency servo-valves 6, when controller 3 detects these six hydraulic circuits and reaches the oil pressure of setting, control the 8 equal releases of six hydraulic means, at this moment, promote corresponding forward direction supporting leg 4a and 4f respectively downwards by six hydraulic means 8, middle auxiliary supporting leg 4b and 4e, the back lands this supporting leg, after six supporting legs all land to supporting leg 4c and these six supporting leg motions of 4d fast, the pressure of hydraulic circuit raises, controller 3 is given 6 one signals of electrohydraulic servo valve, and electric hydraulic efficiency servo-valve 6 is inserted, and six hydraulic means 8 rise simultaneously, overcome the platform weight of job platform car, drive platform and rise.Owing to be subjected to the influence of geographical environment, having one or more supporting leg position that reaches capacity in six supporting legs still can not land, at this moment, corresponding pressure sensor 5 detects the pressure of supporting leg separately on each supporting leg, pressure signal is imported controller 3, make comparisons with predefined force value, if littler than predefined force value, then controller 3 control alarms 7 are reported to the police.In addition, select suitable setting, if alarm 7 is not reported to the police, when platform rose to setting height, then operate as normal entered into the flat process of fine setting as far as possible.
The flat process of concrete fine setting has only two forward direction supporting leg 4a, 4f and two backs to participate in to supporting leg 4c, 4d, auxiliary supporting leg 4b, 4e are booster action in the middle of two, auxiliary supporting leg 4b, 4e are motionless in the middle of promptly keeping in twos, thereby four supporting leg 4a, 4c, 4d, 4f before and after regulating then reach leveling.At first the platform dip angle signal that detects according to double-shaft tilt angle sensor 2 is judged the highest supporting leg among four supporting leg 4a, 4c, 4d, the 4f, keep the highest supporting leg motionless then, adopting conventional leveling algorithm to control other three supporting legs by controller 3 draws close to peak, makes the levelness of platform reach the leveling precision.For example: be in third quadrant if double-shaft tilt angle sensor 2 detects two dip angle signals, judge that forward direction supporting leg supporting leg 4a is a peak, then need to regulate the height of back to supporting leg 4c, 4d and another forward direction supporting leg 4f, the flat process of concrete fine setting is as follows:
At first regulate the levelness on the horizontal X direction, keep forward direction supporting leg 4a and 4f motionless, horizontal X direction inclination angle by controller 3 sampling double-shaft tilt angle sensors 2, compare with the given leveling precision of having set in the controller 3, leveling algorithm according to routine calculates control variables then, this control variables is the control signal of electric hydraulic efficiency servo-valve 6, drive the back simultaneously and open identical aperture to the respective electrical hydraulic servo 6 of supporting leg 4c and 4d, 8 actions of control hydraulic means, make accordingly with directions X on relevant back regulated quantity unanimity to supporting leg 4c and this two supporting leg of 4d, on directions X, reach the leveling precision.Regulate the levelness on the vertical Y direction then, keep forward direction supporting leg 4a motionless to supporting leg 4c with the back, by the dip angle signal on the Y direction of controller 3 sampling double-shaft tilt angle sensors 2, compare with the given leveling precision of having set in the controller 3, and then leveling Y direction, leveling algorithm according to routine calculates control variables, it is the control signal of electrohydraulic servo valve 6, drive simultaneously with the Y direction on the back electrohydraulic servo valve 6 on supporting leg 4d and forward direction supporting leg 4f of being correlated with open identical aperture, make its regulated quantity unanimity, 8 actions of control hydraulic means reach the leveling precision on the Y direction.In like manner, if judge that concrete fine setting quadratic method was the same when other five supporting legs except that above-mentioned forward direction supporting leg 4a were peak.
Adopt above fine setting quadratic method, the leveling angular error can occur, promptly " empty leg " phenomenon for avoiding empty leg problem, all is to adopt the method for drawing close to the highest support, and it is motionless that peak keeps, and other supporting legs keep only rising, and draw close to peak.Detect the actual situation of each supporting leg by pressure sensor 5, by with equilibrium state under force value compare, thereby make empty leg become real.When working environment more abominable, the touchdown point surface state is also unpredictable, when load does not stop changing along with its operation operating mode on the bridging operation platform, these methods all can't thoroughly solve empty leg phenomenon, for this reason, the present invention has also adopted the stretching, extension detection method one by one behind fine setting reef knot bundle, the actual situation of testing each supporting leg one by one by controller 3 and double-shaft tilt angle sensor 2, pressure test result according to double-shaft tilt angle sensor 2, promote the supporting leg of this test downwards by controller 3 control hydraulic means 8, the supporting leg that will test down stretches, detect the scope that changes to setting of the directions X of platform and any one direction of Y direction up to double-shaft tilt angle sensor 2 after, by controller 3 control hydraulic means 8 this supporting leg is shunk again, restore to the original state up to double-shaft tilt angle sensor 2.Because middle auxiliary supporting leg 4b and 4e fail to participate in the flat process of above-mentioned automatic fine tuning as supplemental support, make its solid landing by this supporting leg detection method.
After empty leg detected and finishes, six supporting legs were from locking, and then whole leveling process finishes, and loading begins operation on platform on the platform.After this, the platform levelness unavoidably can produce fluctuation, if overproof, alarm 7 is reported to the police, the release of leveling supporting leg, and the above-mentioned flat program of fine setting of repeated priming then, like this, controlling level degree in real time, the horizontal accuracy of guarantee platform.Simultaneously in operation process, for preventing surface settlement, controller 3 is set in the level and the plumbness that detected a double-shaft tilt angle sensor 2 every 30 minutes, promptly detect the supporting leg solid situation that lands, can solve by control automatically in the sedimentation of the stroke range that support to allow, if surpass the stroke range that supports then provide warning.When needs were received supporting leg upward, as long as the control signal that controller 3 input hydraulic pressure devices 8 move upward, electrohydraulic servo valve 6 was oppositely opened, and supporting leg is reclaimed get final product.Because bridge layer general work environment is more abominable, at any time special circumstances such as outage, booster may appear, when special status occurring, six timely self-lockings of supporting leg meeting, support equipment and staff's safety, simultaneously manual control can be set and make hydraulic means 8 releases, supporting leg be reclaimed, so that working vehicle's safe transfer.
Claims (4)
1. one kind 6 are supported bridge formation job platform automatic horizontal control system, comprise operation chassis platform (1), two forward direction supporting leg (4a, 4f), auxiliary supporting leg (4b in the middle of two, 4e), two backs are to supporting leg (4c, 4d) these six supporting legs are fixedly arranged on operation chassis platform (1) dual-side respectively, it is characterized in that: operation chassis platform (1) is provided with a double-shaft tilt angle sensor (2) and controller (3), a pressure sensor (5) respectively is set on each described supporting leg and respectively connects a hydraulic means (8), each hydraulic means (8) respectively connects a pressure sensor (5) and an electrohydraulic servo valve (6), and controller (3) connects an alarm (7) respectively, a double-shaft tilt angle sensor (2), each pressure sensor (5) and each electrohydraulic servo valve (6).
2. one kind 6 are supported bridge formation job platform method for automatically leveling, and it is characterized in that: finely tune after the first coarse adjustment, described coarse adjustment may further comprise the steps:
A, start six hydraulic means (8) output fluid through corresponding electric hydraulic efficiency servo-valve (6), when controller (3) detects oil pressure and reaches setting value, all releases and promote corresponding six supporting legs and move downward of six hydraulic means (8) to landing;
B, controller (3) six electric hydraulic efficiency servo-valves of control (6) insert, and six hydraulic means (8) drive operation chassis platform (1) simultaneously and rise;
Corresponding pressure sensor (5) is with detected supporting leg pressure signal input controller (3) on C, each described supporting leg, if this supporting leg force value is littler than value default in the controller (3), then controller (3) control alarm (7) is reported to the police, otherwise, enter fine setting;
Described fine setting is that auxiliary supporting leg (4b, 4e) is motionless in the middle of keeping two, regulates two forward direction supporting legs (4a, 4f) and two backs to supporting leg (4c, 4d), may further comprise the steps:
The given leveling precision of having set in A, operation chassis platform (1) dip angle signal that double-shaft tilt angle sensor (2) is detected and the controller (3) is made comparisons, and judges two forward direction supporting legs (4a, 4f) and the two the highest supporting legs in supporting leg (4c, 4d) afterwards,
B, elder generation keep this highest supporting leg motionless, controller (3) adopts conventional leveling algorithm to calculate control variables, electrohydraulic servo valve (6) is opened identical aperture control hydraulic means (8) action, make earlier with directions X on the regulated quantity unanimity of relevant respective leg on directions X, reach the leveling precision, make again with the Y direction on the regulated quantity unanimity of relevant respective leg on the Y direction, reach the leveling precision.
3. a kind of 6 according to claim 2 are supported bridge formation job platform method for automatically leveling, it is characterized in that: the pressure of after trim process, testing each supporting leg one by one by controller (3) and double-shaft tilt angle sensor (2), the changing value that detects X and Y direction up to double-shaft tilt angle sensor (2) drives this test supporting leg by controller (3) control hydraulic means (8) again and is retracted to double-shaft tilt angle sensor (2) reinstatement behind setting range.
4. a kind of 6 according to claim 2 are supported bridge formation job platform method for automatically leveling, it is characterized in that: controller (3) detected a double-shaft tilt angle sensor (2) every 30 minutes.
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