CN103693572B - A kind of method and system of levelness of the platform for adjusting engineering mechanical device - Google Patents
A kind of method and system of levelness of the platform for adjusting engineering mechanical device Download PDFInfo
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- CN103693572B CN103693572B CN201310681091.5A CN201310681091A CN103693572B CN 103693572 B CN103693572 B CN 103693572B CN 201310681091 A CN201310681091 A CN 201310681091A CN 103693572 B CN103693572 B CN 103693572B
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Abstract
The invention discloses a kind of method and system of levelness of the platform for adjusting engineering mechanical device.A kind of method of levelness of the platform for adjusting engineering mechanical device, described engineering mechanical device comprises M the supporting leg for supporting described platform, described M be more than or equal to 2 integer, described method comprises: the levelness detecting described platform, obtains the first levelness testing result; According to described first levelness testing result, judge whether described platform is positioned at a horizontal surface, obtain the first judged result; When the described first described platform in judged result surface is not positioned at described horizontal surface, determine that a supporting leg in a described M supporting leg is benchmark supporting leg; M-1 the supporting leg of calculating except described benchmark supporting leg and M-1 height difference of described benchmark supporting leg; According to a described M-1 height difference, and then control the flexible of a described M-1 supporting leg, be positioned at described horizontal surface to make described platform.
Description
Technical field
The present invention relates to domain engineering mechanical equipment technical field, particularly relating to a kind of method and system of levelness of the platform for adjusting engineering mechanical device.
Background technology
Construction machinery and equipment, if the machinery such as concrete pump truck, aerial platform, lorry-mounted crane is before work, after all needing first to be supported by supporting leg, then carries out construction operation.
The mode of existing adjustment is as follows: when described construction machinery and equipment enters workyard, stop travelling, manually regulate the supporting leg of described construction machinery and equipment, to be detected by an unaided eye level indicator or observe vehicle body level condition and adjust the flexible of four supporting legs successively by people, when observations shows described vehicle body level, terminate adjustment, fixing described supporting leg, to construct.
In use find: above by eye-level instrument or observation vehicle body level condition, supporting leg described in manual regulation, cause the operating time of needs long, and the effect of leveling is bad.
Summary of the invention
The application provides a kind of method and system of levelness of the platform for adjusting engineering mechanical device, solve in prior art by eye-level instrument or observation vehicle body level condition, supporting leg described in manual regulation, causes the operating time of needs long, and the technical matters that the effect of leveling is bad.
The application's first aspect provides a kind of method of levelness of the platform for adjusting engineering mechanical device, and described engineering mechanical device comprises M the supporting leg for supporting described platform, described M be more than or equal to 2 integer, described method comprises:
Detect the levelness of described platform, obtain the first levelness testing result;
According to described first levelness testing result, judge whether described platform is positioned at a horizontal surface, obtain the first judged result;
When the described first described platform in judged result surface is not positioned at described horizontal surface, determine that a supporting leg in a described M supporting leg is benchmark supporting leg;
M-1 the supporting leg of calculating except described benchmark supporting leg and M-1 height difference of described benchmark supporting leg;
According to a described M-1 height difference, and then control the flexible of a described M-1 supporting leg, be positioned at described horizontal surface to make described platform.
Preferably, M-1 the supporting leg of described calculating except described benchmark supporting leg and M-1 height difference of described benchmark supporting leg, specifically comprise:
Detect first end and the angle theta between the second end that described benchmark supporting leg is connected with described platform and a horizontal surface that each supporting leg of a described M-1 supporting leg is connected with described platform, obtain M-1 angle theta;
According to a described M-1 angle theta, calculate and obtain a described M-1 height difference.
Preferably, described according to a described M-1 angle theta, calculate and obtain a described M-1 height difference, be specially:
According to a described M-1 angle theta, by Δ L=L+X × tan θ, calculate and obtain described M-1 height difference Δ L, wherein, described L is the setting value that M supporting leg of setting needs to stretch simultaneously, and described X is the respective distance value between a described M-1 supporting leg and described benchmark supporting leg.
Preferably, the described supporting leg determined in a described M supporting leg is benchmark supporting leg, is specially:
Determine that the highest supporting leg in a described M supporting leg or minimum supporting leg are benchmark supporting leg.
Preferably, in the levelness of the described platform of described detection, before obtaining a levelness testing result, described method also comprises:
Control a described M supporting leg and extend a setting value L.
Preferably, according to a described M-1 height difference, and then control the flexible of a described M-1 supporting leg, be specially:
According to a described M-1 height difference, the corresponding opening controlling the M-1 proportion magnetic valve be connected with a described M-1 supporting leg respectively, thus corresponding M-1 the support leg hydraulic system controlling to be connected with a described M-1 proportion magnetic valve respectively, and then control the flexible of a described M-1 supporting leg.
Preferably, described according to a described M-1 height difference, and then control the flexible of a described M-1 supporting leg, to make after described platform is positioned at described horizontal surface, described method also comprises:
Detect the levelness of described platform, obtain the second levelness testing result;
According to described second levelness testing result, judge whether platform is positioned at described horizontal surface, obtain the second judged result;
When described second judged result shows that described platform is positioned at described horizontal surface, show not need the described levelness to described platform to adjust.
The application provides on the other hand a kind of system of levelness of the platform for adjusting engineering mechanical device, and described engineering mechanical device comprises M the supporting leg for supporting described platform, described M be more than or equal to 2 integer, described system comprises:
Detecting unit, for detecting the levelness of described platform, obtains levelness testing result;
Judging unit, for according to described levelness testing result, judges whether described platform is positioned at a horizontal surface, obtains judged result;
Determining unit, for when the described platform in described judged result surface is not positioned at described horizontal surface, determines that a supporting leg in a described M supporting leg is benchmark supporting leg;
Calculating unit, for calculating M-1 height difference of M-1 supporting leg except described benchmark supporting leg and described benchmark supporting leg;
Control unit, for according to a described M-1 height difference, and then controls the flexible of a described M-1 supporting leg, is positioned at described horizontal surface to make described platform.
Preferably, described calculating unit comprises:
Sub-determining unit, for determining the reference plane at the first end of each supporting leg of a described M-1 supporting leg and the second end place corresponding with first end on described benchmark supporting leg;
Sub-detecting unit, the angle theta between the connection lead of the 4th end relative with the second end on the 3rd end relative with first end on each supporting leg detecting a described M-1 supporting leg and described benchmark supporting leg and described reference plane, obtains M-1 angle theta,
Sub-calculating unit, for according to a described M-1 angle theta, calculates and obtains a described M-1 height difference.
Preferably, described sub-calculating unit specifically for: according to a described M-1 angle theta, by Δ L=L+X × tan θ, calculate and obtain described M-1 height difference Δ L, wherein, described L is the setting value that M supporting leg of setting needs to stretch simultaneously, and described X is the respective distance value between a described M-1 supporting leg and described benchmark supporting leg.
Preferably, described determining unit specifically for: determine that the highest supporting leg in a described M supporting leg or minimum supporting leg are benchmark supporting leg.
Preferably, described control unit also extends a setting value L for controlling a described M supporting leg.
Preferably, described control unit specifically for: according to a described M-1 height difference, the corresponding opening controlling the M-1 proportion magnetic valve be connected with a described M-1 supporting leg respectively, and then control stretching speed and the contraction time of a described M-1 supporting leg.
Beneficial effect of the present invention is as follows:
Said method and system are by when the described platform of detection is not in horizontal surface, a supporting leg in selected M supporting leg is benchmark supporting leg, then M-1 height difference of described benchmark supporting leg and other M-1 supporting leg is calculated, according to a described M-1 height difference, adjust the flexible of a described M-1 supporting leg, thus adjust the levelness of described platform, described platform is made to be positioned at described horizontal surface, thus realize the levelness of platform described in quick adjustment, solve in prior art by eye-level instrument or observation vehicle body level condition, supporting leg described in manual regulation, cause the operating time of needs long, and the technical matters that the effect of leveling is bad, reach and reduce the operating time of adjustment required for described supporting leg, and promote the technique effect of levelling effect.
By setting M proportion magnetic valve and described M the supporting leg hydraulic ram being connected a described M supporting leg and a described M proportion magnetic valve respectively, thus can accurately control the flexible of a described M-1 supporting leg according to a described M-1 height difference.
By adjustment M supporting leg length after, again reduce the levelness of described platform, with guarantee described platform can in described horizontal surface time just start construction operation, guarantee construction operation degree of safety.
Accompanying drawing explanation
Accompanying drawing is used to provide further understanding of the present application, and forms a part for specification sheets, is used from explanation the application, but does not form the restriction to the application with detailed description of the invention one below, in the accompanying drawings:
Fig. 1 is the diagram of circuit of the method for the levelness of a kind of platform for adjusting engineering mechanical device of the application first better embodiment;
Fig. 2 is the structural representation of engineering mechanical device in Fig. 1;
Fig. 3 is the structural representation of the system of the levelness of a kind of platform for adjusting engineering mechanical device of the application second better embodiment.
Detailed description of the invention
Be described in detail below in conjunction with the detailed description of the invention of accompanying drawing to the application.Should be understood that, detailed description of the invention described herein, only for instruction and explanation of the application, is not limited to the application.
The application provides a kind of method of levelness of the platform for adjusting engineering mechanical device, solve in prior art by eye-level instrument or observation vehicle body level condition, supporting leg described in manual regulation, cause the operating time of needs long, and the technical matters that the effect of leveling is bad, reach and reduce the operating time of adjustment required for described supporting leg, and promote the technique effect of levelling effect.
Technical scheme in the embodiment of the present application is for solving the problems of the technologies described above, and general thought is as follows:
For adjusting a method for the levelness of the platform of engineering mechanical device, described engineering mechanical device comprises M the supporting leg for supporting described platform, described M be more than or equal to 2 integer, described method comprises:
Detect the levelness of described platform, obtain the first levelness testing result;
According to described first levelness testing result, judge whether described platform is positioned at a horizontal surface, obtain the first judged result;
When the described first described platform in judged result surface is not positioned at described horizontal surface, determine that a supporting leg in a described M supporting leg is benchmark supporting leg;
M-1 the supporting leg of calculating except described benchmark supporting leg and M-1 height difference of described benchmark supporting leg;
According to a described M-1 height difference, and then control the flexible of a described M-1 supporting leg, be positioned at described horizontal surface to make described platform.
For adjusting a system for the levelness of the platform of engineering mechanical device, described engineering mechanical device comprises M the supporting leg for supporting described platform, described M be more than or equal to 2 integer, described system comprises:
Detecting unit, for detecting the levelness of described platform, obtains levelness testing result;
Judging unit, for according to described levelness testing result, judges whether described platform is positioned at a horizontal surface, obtains judged result;
Determining unit, for when the described platform in described judged result surface is not positioned at described horizontal surface, determines that a supporting leg in a described M supporting leg is benchmark supporting leg;
Calculating unit, for calculating M-1 height difference of M-1 supporting leg except described benchmark supporting leg and described benchmark supporting leg;
Control unit, for according to a described M-1 height difference, and then controls the flexible of a described M-1 supporting leg, is positioned at described horizontal surface to make described platform.
Said method and system are by when the described platform of detection is not in horizontal surface, a supporting leg in selected M supporting leg is benchmark supporting leg, then M-1 height difference of described benchmark supporting leg and other M-1 supporting leg is calculated, according to a described M-1 height difference, adjust the flexible of a described M-1 supporting leg, thus adjust the levelness of described platform, described platform is made to be positioned at described horizontal surface, thus realize the levelness of platform described in quick adjustment, solve in prior art by eye-level instrument or observation vehicle body level condition, supporting leg described in manual regulation, cause the operating time of needs long, and the technical matters that the effect of leveling is bad, reach and reduce the operating time of adjustment required for described supporting leg, and promote the technique effect of levelling effect.
In order to better understand technique scheme, below in conjunction with Figure of description and concrete embodiment, technique scheme is described in detail.
As shown in Figure 1, be the diagram of circuit of the method 100 of the levelness of a kind of platform for adjusting engineering mechanical device 200 of the application first better embodiment.Understand the method for the ease of those skilled in the art, first engineering mechanical device 200 is simply introduced.Described engineering mechanical device 200 can be any equipment with supporting leg.
Particularly, as shown in Figure 2, described engineering mechanical device 200 comprises platform 21, a M supporting leg 22, oil pump 23, a M proportion magnetic valve 24 and M supporting leg hydraulic ram 25.A described M supporting leg 22 is for supporting described platform 21, and a described M proportion magnetic valve 24 is connected with described oil pump 23, and described M supporting leg hydraulic ram 25 connects a described M supporting leg 22 and a described M proportion magnetic valve 24 respectively.
During use, described fluid flows out via described oil pump 23, enter described proportion magnetic valve 24, the fluid amount entering described M supporting leg hydraulic ram 25 is controlled respectively by the openings of sizes of a described M proportion magnetic valve 24, described M supporting leg hydraulic ram 25 according to described fluid amount, thus drives a described M landing leg stretching.
Described M be more than or equal to 2 integer, in the present embodiment, described M is 4, and that is, described engineering mechanical device 200 comprises four supporting legs, 22, four proportion magnetic valves 24 and four supporting leg hydraulic rams 25.
Below start the method 100 of the levelness introducing a kind of platform for adjusting engineering mechanical device 200 that the application provides.Described method 100 comprises the following steps:
Step 110: the levelness detecting described platform 21, obtains the first levelness testing result.Particularly, when detecting, the check implements such as level indicator, weight sensor, gyroscope can be adopted to carry out the detection of the levelness of platform 21, obtain a testing result, enter next step.
Step 120: according to described first levelness testing result, judges whether described platform 21 is positioned at a horizontal surface, obtains the first judged result.Particularly, according to the testing result of step 110, judge that described platform 21 is all levels, judged result comprises two kinds: one is that described platform 21 is positioned at a horizontal surface, then directly jump out the method, and this project mechanical equipment 200 can be adopted to carry out constructing operation; Another kind is that platform 21 is out-of-level, and namely platform 21 tilts, and therefore, need to regulate platform 21, concrete regulative mode is shown in subsequent step.Described judged result be described platform 21 out-of-level time, enter following steps.
Step 130: when the described first described platform 21 in judged result surface is not positioned at described horizontal surface, determine that the supporting leg 22 in a described M supporting leg 22 is benchmark supporting leg.Described judged result be described platform 21 out-of-level time, just there is the operation of this step.Particularly, described judged result be described platform 21 out-of-level time, then carry out the determination of benchmark supporting leg, that is, find out a supporting leg 22 as with reference to supporting leg at M supporting leg 22, other supporting legs 22 regulate with reference to the height with reference to supporting leg.
In a specific embodiment, benchmark supporting leg can select the arbitrary supporting leg in a described M supporting leg 22, preferably, for the ease of regulating, the highest supporting leg in a described M supporting leg or minimum supporting leg can be selected to be benchmark supporting leg, so that when regulating, M-1 the supporting leg controlled except described benchmark supporting leg is flexible toward same direction.
Step 140: M-1 the height difference calculating M-1 supporting leg except described benchmark supporting leg 22 and described benchmark supporting leg.After determining benchmark supporting leg, start to calculate M-1 the height difference stating M-1 supporting leg outside benchmark supporting leg and described benchmark supporting leg, specifically can adopt the mode of the height difference directly measuring supporting leg or be calculated M-1 the height difference stating M-1 supporting leg outside benchmark supporting leg and described benchmark supporting leg by mode conversions such as angles.
Step 150: according to a described M-1 height difference, and then control the flexible of a described M-1 supporting leg 22, be positioned at described horizontal surface to make described platform 21.
Said method 100 is by when the described platform 21 of detection is not in horizontal surface, a supporting leg 22 in selected M supporting leg 22 is benchmark supporting leg, then M-1 height difference of described benchmark supporting leg and other M-1 supporting leg is calculated, according to a described M-1 height difference, adjust the flexible of a described M-1 supporting leg, thus adjust the levelness of described platform 21, described platform 21 is made to be positioned at described horizontal surface, thus realize the levelness of platform 21 described in quick adjustment, solve in prior art by eye-level instrument or observation vehicle body level condition, supporting leg described in manual regulation, cause the operating time of needs long, and the technical matters that the effect of leveling is bad, reach and reduce the operating time of adjustment required for described supporting leg, and promote the technique effect of levelling effect.
In a specific embodiment, the mode of the height difference of Calculation Basis supporting leg and a described M-1 supporting leg 22 can be: the height of gauge reference target supporting leg, measure the height of a described M-1 supporting leg 22 again, respectively the height difference of Calculation Basis supporting leg and a described M-1 supporting leg 22; Or, adopt angular transition account form, specific as follows:
In described step 140, M-1 the supporting leg 22 of described calculating except described benchmark supporting leg and M-1 height difference of described benchmark supporting leg, specifically comprise the following steps:
Detect first end and the angle theta between the second end that described benchmark supporting leg is connected with described platform 21 and a horizontal surface that each supporting leg 22 of a described M-1 supporting leg 22 is connected with described platform 21, obtain M-1 angle theta;
According to a described M-1 angle theta, calculate and obtain a described M-1 height difference.
Further, described according to a described M-1 angle theta, calculate and obtain a described M-1 height difference, be specially:
According to a described M-1 angle theta, by Δ L=L+X × tan θ, calculate and obtain described M-1 height difference Δ L, wherein, described L is the setting value that M supporting leg of setting needs to stretch simultaneously, and described X is the respective distance value between a described M-1 supporting leg and described benchmark supporting leg.
As: as described in M-1 supporting leg 22 the first supporting leg with as described in the first end that is connected of platform 21 with as described on benchmark supporting leg with as described in angle theta between the second end of being connected of platform 21 and a horizontal surface be 45 degree, distance value between first supporting leg of a described M-1 supporting leg 22 and described benchmark supporting leg is 20, the first end that second supporting leg is connected with described platform 21 is 0 degree with the angle theta between the second end that described benchmark supporting leg is connected with described platform 21 and a horizontal surface, distance value between described second supporting leg and described benchmark supporting leg is 35, in addition, set M supporting leg needs the setting value L stretched to be 30 simultaneously.Then, described benchmark supporting leg needs the length of extending to be 30, and described first supporting leg needs the length of extending to be 50, and described second supporting leg needs the length of extending to be 30.
Need the setting value L stretched to be 0 if set M supporting leg, then, described benchmark supporting leg needs the length of extending to be 0 simultaneously, and described first supporting leg needs the length of extending to be 20, and described second supporting leg needs the length of extending to be 0.
In a specific embodiment, can adopt as aforesaid way, when controlling described M-1 landing leg stretching, control a described M supporting leg 22 to stretch setting value L simultaneously, in other embodiments, also in the levelness of the described platform of described detection, before obtaining a levelness testing result, following step can be increased in the process: control a described M supporting leg and extend a setting value L.The concrete size of L can set as required.
Particularly, described M supporting leg hydraulic ram 25 and M proportion magnetic valve 24 is comprised at described engineering mechanical device 200, when described M supporting leg hydraulic ram 25 connects a described M supporting leg 22 and described M proportion magnetic valve 24 respectively, described according to a described M-1 height difference, and then control the flexible of a described M-1 supporting leg, be specially:
According to a described M-1 height difference, the corresponding opening controlling the M-1 proportion magnetic valve 24 be connected with a described M-1 supporting leg respectively, thus corresponding M-1 the support leg hydraulic system 25 controlling to be connected with a described M-1 proportion magnetic valve respectively, and then control the flexible of a described M-1 supporting leg 22.
By setting M proportion magnetic valve 24 and described M the supporting leg hydraulic ram 25 being connected a described M supporting leg 22 and a described M proportion magnetic valve 24 respectively, thus can accurately control the flexible of a described M-1 supporting leg 22 according to a described M-1 height difference.
Particularly, in order to adjust the levelness of described platform 21 more accurately, described according to a described M-1 height difference, and then control the flexible of a described M-1 supporting leg, to make after described platform is positioned at described horizontal surface, described method 100 is further comprising the steps of:
Step 160, detects the levelness of described platform 21, obtains the second levelness testing result;
Step 170, according to described second levelness testing result, judges whether platform 21 is positioned at described horizontal surface, obtains the second judged result;
Step 180, when described second judged result shows that described platform 21 is positioned at described horizontal surface, shows not need the described levelness to described platform 21 to adjust.
If when described second judged result shows that described platform 21 is not positioned at described horizontal surface, then perform step 130, step 140 and step 150 again, until when described testing result shows that described platform 21 is positioned at described horizontal surface
By adjustment M supporting leg 22 length after, again reduce the levelness of described platform 21, with guarantee described platform 21 can in described horizontal surface time just start construction operation, guarantee construction operation degree of safety.
Said method 100 is by when the described platform 21 of detection is not in horizontal surface, a supporting leg 22 in selected M supporting leg 22 is benchmark supporting leg, then M-1 height difference of described benchmark supporting leg and other M-1 supporting leg is calculated, according to a described M-1 height difference, adjust the flexible of a described M-1 supporting leg, thus adjust the levelness of described platform 21, described platform 21 is made to be positioned at described horizontal surface, thus realize the levelness of platform 21 described in quick adjustment, solve in prior art by eye-level instrument or observation vehicle body level condition, supporting leg described in manual regulation, cause the operating time of needs long, and the technical matters that the effect of leveling is bad, reach and reduce the operating time of adjustment required for described supporting leg, and promote the technique effect of levelling effect.
By setting M proportion magnetic valve 24 and described M the supporting leg hydraulic ram 25 being connected a described M supporting leg 22 and a described M proportion magnetic valve 24 respectively, thus can accurately control the flexible of a described M-1 supporting leg 22 according to a described M-1 height difference.
By adjustment M supporting leg 22 length after, again reduce the levelness of described platform 21, with guarantee described platform 21 can in described horizontal surface time just start construction operation, guarantee construction operation degree of safety.
Based on same inventive concept, present invention also provides a kind of system 300 of levelness of the platform for adjusting engineering mechanical device, as shown in Figure 3, be the structural representation of the system 300 of the levelness of a kind of platform for adjusting engineering mechanical device 200 of the application second better embodiment.Described engineering mechanical device 200 comprises M the supporting leg 22 for supporting described platform, described M be more than or equal to 2 integer, described system 300 comprises:
Detecting unit 310, for detecting the levelness of described platform, obtains levelness testing result;
Judging unit 320, for according to described levelness testing result, judges whether described platform is positioned at a horizontal surface, obtains judged result;
Determining unit 330, for when the described platform in described judged result surface is not positioned at described horizontal surface, determines that a supporting leg in a described M supporting leg is benchmark supporting leg;
Calculating unit 340, for calculating M-1 height difference of M-1 supporting leg except described benchmark supporting leg and described benchmark supporting leg;
Control unit 350, for according to a described M-1 height difference, and then controls the flexible of a described M-1 supporting leg, is positioned at described horizontal surface to make described platform.
Particularly, described calculating unit 340 comprises:
Sub-determining unit 341, for determining the reference plane at the first end of each supporting leg of a described M-1 supporting leg and the second end place corresponding with first end on described benchmark supporting leg;
Sub-detecting unit 342, the angle theta between the connection lead of the 4th end relative with the second end on the 3rd end relative with first end on each supporting leg detecting a described M-1 supporting leg and described benchmark supporting leg and described reference plane, obtains M-1 angle theta,
Sub-calculating unit 343, for according to a described M-1 angle theta, calculates and obtains a described M-1 height difference.
Particularly, described sub-calculating unit 343 specifically for: according to a described M-1 angle theta, pass through, calculate and obtain described M-1 height difference Δ L, wherein, described L is the setting value that M supporting leg of setting needs to stretch simultaneously, and described X is the respective distance value between a described M-1 supporting leg and described benchmark supporting leg.
Particularly, described determining unit 330 specifically for: determine that the highest supporting leg in a described M supporting leg or minimum supporting leg are benchmark supporting leg.
Particularly, described control unit 350 also extends a setting value L for controlling a described M supporting leg.
Particularly, described control unit 350 specifically for: according to a described M-1 height difference, the corresponding opening controlling the M-1 proportion magnetic valve be connected with a described M-1 supporting leg respectively, and then control stretching speed and the contraction time of a described M-1 supporting leg.
Said method 100 and system 300 are by when the described platform 21 of detection is not in horizontal surface, a supporting leg 22 in selected M supporting leg 22 is benchmark supporting leg, then M-1 height difference of described benchmark supporting leg and other M-1 supporting leg is calculated, according to a described M-1 height difference, adjust the flexible of a described M-1 supporting leg, thus adjust the levelness of described platform 21, described platform 21 is made to be positioned at described horizontal surface, thus realize the levelness of platform 21 described in quick adjustment, solve in prior art by eye-level instrument or observation vehicle body level condition, supporting leg described in manual regulation, cause the operating time of needs long, and the technical matters that the effect of leveling is bad, reach and reduce the operating time of adjustment required for described supporting leg, and promote the technique effect of levelling effect.
Obviously, those skilled in the art can carry out various change and modification to the present invention and not depart from the spirit and scope of the present invention.Like this, if these amendments of the present invention and modification belong within the scope of the claims in the present invention and equivalent technologies thereof, then the present invention is also intended to comprise these change and modification.
Claims (7)
1., for adjusting a method for the levelness of the platform of engineering mechanical device, described engineering mechanical device comprises M the supporting leg for supporting described platform, described M be more than or equal to 2 integer, it is characterized in that, described method comprises:
Detect the levelness of described platform, obtain the first levelness testing result;
According to described first levelness testing result, judge whether described platform is positioned at a horizontal surface, obtain the first judged result;
When described first judged result shows that described platform is not positioned at described horizontal surface, determine that a supporting leg in a described M supporting leg is benchmark supporting leg;
M-1 the supporting leg of calculating except described benchmark supporting leg and M-1 height difference of described benchmark supporting leg, specifically comprise:
Detect first end and the angle theta between the second end that described benchmark supporting leg is connected with described platform and a horizontal surface that each supporting leg of a described M-1 supporting leg is connected with described platform, obtain M-1 angle theta;
According to a described M-1 angle theta, calculate and obtain a described M-1 height difference; Be specially:
According to a described M-1 angle theta, by Δ L=L+X × tan θ, calculate and obtain described M-1 height difference Δ L, wherein, described L is the setting value that M supporting leg of setting needs to stretch simultaneously, and described X is the respective distance value between a described M-1 supporting leg and described benchmark supporting leg;
According to a described M-1 height difference, and then control the flexible of a described M-1 supporting leg, be positioned at described horizontal surface to make described platform; Wherein, according to a described M-1 height difference, and then control the flexible of a described M-1 supporting leg, be specially:
According to a described M-1 height difference, the corresponding opening controlling M-1 the proportion magnetic valve be connected with a described M-1 supporting leg respectively, thus corresponding M-1 the support leg hydraulic system controlling to be connected with a described M-1 proportion magnetic valve respectively, and then control the flexible of a described M-1 supporting leg.
2. the method for claim 1, is characterized in that, the described supporting leg determined in a described M supporting leg is benchmark supporting leg, is specially:
Determine that the highest supporting leg in a described M supporting leg or minimum supporting leg are benchmark supporting leg.
3. the method for claim 1, is characterized in that, in the levelness of the described platform of described detection, before obtaining the first levelness testing result, described method also comprises:
Control a described M supporting leg and extend a setting value L.
4. the method for claim 1, is characterized in that, described according to a described M-1 height difference, and then controls the flexible of a described M-1 supporting leg, and to make after described platform is positioned at described horizontal surface, described method also comprises:
Detect the levelness of described platform, obtain the second levelness testing result;
According to described second levelness testing result, judge whether platform is positioned at described horizontal surface, obtain the second judged result;
When described second judged result shows that described platform is positioned at described horizontal surface, show not need the described levelness to described platform to adjust.
5., for adjusting a system for the levelness of the platform of engineering mechanical device, described engineering mechanical device comprises M the supporting leg for supporting described platform, described M be more than or equal to 2 integer, it is characterized in that, described system comprises:
Detecting unit, for detecting the levelness of described platform, obtains levelness testing result;
Judging unit, for according to described levelness testing result, judges whether described platform is positioned at a horizontal surface, obtains judged result;
Determining unit, for when described judged result shows that described platform is not positioned at described horizontal surface, determines that a supporting leg in a described M supporting leg is benchmark supporting leg;
Calculating unit, for calculating M-1 height difference of M-1 supporting leg except described benchmark supporting leg and described benchmark supporting leg;
Control unit, for according to a described M-1 height difference, and then control the flexible of a described M-1 supporting leg, described horizontal surface is positioned to make described platform, concrete, according to a described M-1 height difference, the corresponding opening controlling M-1 the proportion magnetic valve be connected with a described M-1 supporting leg respectively, and then control stretching speed and the contraction time of a described M-1 supporting leg; Wherein,
Described calculating unit comprises:
Sub-determining unit, for determining the reference plane at the first end of each supporting leg of a described M-1 supporting leg and the second end place corresponding with first end on described benchmark supporting leg;
Sub-detecting unit, the angle theta between the connection lead of the 4th end relative with the second end on the 3rd end relative with first end on each supporting leg detecting a described M-1 supporting leg and described benchmark supporting leg and described reference plane, obtains M-1 angle theta,
Sub-calculating unit, for according to a described M-1 angle theta, calculates and obtains a described M-1 height difference;
Described sub-calculating unit specifically for: according to a described M-1 angle theta, by Δ L=L+X × tan θ, calculate and obtain described M-1 height difference Δ L, wherein, described L is the setting value that M supporting leg of setting needs to stretch simultaneously, and described X is the respective distance value between a described M-1 supporting leg and described benchmark supporting leg.
6. system as claimed in claim 5, is characterized in that, described determining unit specifically for:
Determine that the highest supporting leg in a described M supporting leg or minimum supporting leg are benchmark supporting leg.
7. system as claimed in claim 5, it is characterized in that, described control unit also extends a setting value L for controlling a described M supporting leg.
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| CN201310681091.5A CN103693572B (en) | 2013-12-12 | 2013-12-12 | A kind of method and system of levelness of the platform for adjusting engineering mechanical device |
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| CN201310681091.5A CN103693572B (en) | 2013-12-12 | 2013-12-12 | A kind of method and system of levelness of the platform for adjusting engineering mechanical device |
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| CN104229649A (en) * | 2014-09-02 | 2014-12-24 | 徐工集团工程机械股份有限公司 | Crawler crane and control system and method for get-off assembly and disassembly |
| CN104495651A (en) * | 2014-12-12 | 2015-04-08 | 中国一冶集团有限公司 | Automatic synchronous bottom oil cylinder jacking and lowering device of crawling crane |
| CN108116987B (en) * | 2017-12-13 | 2020-03-03 | 中联重科股份有限公司 | Supporting leg leveling method and system and engineering machinery |
| CN108773365B (en) * | 2018-05-30 | 2020-01-21 | 江西江铃集团特种专用车有限公司 | Hydraulic automatic leveling system and method suitable for various vehicles |
| CN110375923A (en) * | 2019-08-19 | 2019-10-25 | 成都零启自动化控制技术有限公司 | A kind of automatic horizontal control system and method |
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