CN107352250A - Self-leveling type belt self-movable foot end and belt self-movable foot end self-leveling method - Google Patents
Self-leveling type belt self-movable foot end and belt self-movable foot end self-leveling method Download PDFInfo
- Publication number
- CN107352250A CN107352250A CN201710544081.5A CN201710544081A CN107352250A CN 107352250 A CN107352250 A CN 107352250A CN 201710544081 A CN201710544081 A CN 201710544081A CN 107352250 A CN107352250 A CN 107352250A
- Authority
- CN
- China
- Prior art keywords
- supporting leg
- self
- leveling
- foot end
- angle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 15
- 238000001514 detection method Methods 0.000 claims abstract description 51
- 238000006073 displacement reaction Methods 0.000 claims description 21
- 230000009977 dual effect Effects 0.000 claims description 21
- 230000000052 comparative effect Effects 0.000 claims description 7
- 238000004904 shortening Methods 0.000 claims description 3
- 238000007689 inspection Methods 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 4
- 239000003921 oil Substances 0.000 description 4
- 230000003028 elevating effect Effects 0.000 description 3
- 239000012530 fluid Substances 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000033001 locomotion Effects 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 239000010720 hydraulic oil Substances 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/52—Devices for transferring articles or materials between conveyors i.e. discharging or feeding devices
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Buildings Adapted To Withstand Abnormal External Influences (AREA)
Abstract
A kind of self-leveling type belt self-movable foot end,Including self-movable foot end,Leveling cyclinder,And it is arranged on self-levelling systems on self-movable foot end,Self-movable foot end includes four supporting legs,Four leveling cyclinders are fixedly installed on four supporting legs,Self-levelling systems include intrinsic safety controller,Angle balance detection module,Angle balance detection module is arranged on a supporting leg of self-movable foot end,Angle balance detection module and four leveling cyclinders are connected with intrinsic safety controller respectively,Intrinsic safety controller controls corresponding leveling cyclinder on each supporting leg to stretch according to each supporting leg of angle balance detection module detection with installing the angle of the supporting leg of the angle balance detection module with respect to the horizontal plane,And then realize the leveling of self-movable foot end,In the present invention,Due to tunnel ground relief,With reference to tunnel actual conditions,Adjust the height of each supporting leg respectively using angle balance detection module,And then ensure that self-movable foot end is in horizontality in real time,The present invention also proposes a kind of belt self-movable foot end self-leveling method.
Description
Technical field
The present invention relates to self-movable foot end leveling technology field, more particularly to a kind of self-leveling type belt self-movable foot end and belt
Self-movable foot end self-leveling method.
Background technology
Belt self-movable foot end is the visual plant of downhole crossheading elevating conveyor and belt conveyor overlap joint.The event of belt self-movable foot end
Barrier and its convenience of operation directly affect the smoothness and high efficiency of underground transportation.
Existing self-movable foot end equipment is manually operated by 8 pack valves, and self-movable foot end follows elevating conveyor often movement once or a step,
Downhole operations personnel need 8 pack valves of manual regulation to come to the leveling of self-movable foot end underground once, and cumbersome and difficulty is higher, its
Hydraulic cylinder is controlled by the hand-operated valve of parallel connection, and fluid pressure line is more, while fluid pressure line is easily damaged during equipment is run,
This will also result in potential safety hazard.
The content of the invention
It is necessary to propose a kind of self-leveling type belt self-movable foot end with automatic flat-adjustable function.
It there is a need to and propose a kind of belt self-movable foot end self-leveling method.
A kind of self-leveling type belt self-movable foot end, including self-movable foot end, leveling cyclinder and it is arranged on self-regulated on self-movable foot end
Flat system, self-movable foot end include four supporting legs, and four leveling cyclinders are fixedly installed on four supporting legs, and leveling cyclinder includes cylinder barrel
And piston rod, cylinder barrel are fixedly connected with self-movable foot end, piston rod is connected with supporting leg, to pass through the flexible drive supporting leg of piston rod
Elongation and shortening, self-levelling systems include intrinsic safety controller, angle balance detection module, and angle balance detection module is arranged on from telephone-moving
On one supporting leg of tail, angle balance detection module and four leveling cyclinders are connected with intrinsic safety controller respectively, angle balance detection mould
Block is used to detect each supporting leg with installing the real-time angle of the supporting leg of the angle balance detection module with respect to the horizontal plane, and by described in
Real-time angle is supplied to intrinsic safety controller, and intrinsic safety controller is used to control corresponding tune on each supporting leg according to the angle in real time
Flat oil cylinder stretches, and then realizes the leveling of self-movable foot end.
A kind of method of self-leveling type belt self-movable foot end leveling belt self-movable foot end described in utilization, including following step
Suddenly：
Self-levelling systems are installed：Four leveling cyclinders are installed respectively on four supporting legs of self-movable foot end, pacified on a supporting leg
Self-levelling systems are filled, wherein, leveling system includes intrinsic safety controller, angle balance detection module；
Self-level(l)ing：Using angle balance detection module detect each supporting leg with install the supporting leg of the angle balance detection module relative to
The real-time angle of horizontal plane, and the angle information detected is sent to intrinsic safety controller, intrinsic safety controller and pressed from both sides described in real time
Angle controls corresponding leveling cyclinder on each supporting leg to stretch compared with 0 ° of angle, and according to comparative result, so that angle diminishes in real time
In the range of the allowable error of the angle balance detection module to be prestored in intrinsic safety controller, and then realize the leveling of self-movable foot end.
In the present invention, due to tunnel ground relief, with reference to tunnel actual conditions, distinguished using angle balance detection module
The height of each supporting leg is adjusted, and then ensures that self-movable foot end is in horizontality in real time.
Brief description of the drawings
Fig. 1 is the schematic diagram of the self-leveling type belt self-movable foot end.
Fig. 2 is the scheme of installation of the inbuilt displacement sensor of the benchmark supporting leg.
Fig. 3 is the connection diagram of the leveling cyclinder of four supporting legs in the self-leveling type belt self-movable foot end.
Fig. 4 is schematic diagram when horizontal angle and longitudinal angle are detected using dual axis inclinometer.
Fig. 5 is the functional block diagram of self-leveling type belt self-movable foot end.
Fig. 6 is the workflow for the method for utilizing described self-leveling type belt self-movable foot end leveling belt self-movable foot end
Figure.
In figure：Self-movable foot end 10, benchmark supporting leg 11, horizontal supporting leg 12, longitudinal supporting leg 13, diagonal supporting leg 14, leveling oil
Cylinder 20, intrinsic safety controller 30, angle balance detection module 40, inbuilt displacement sensor 50, level meter 60, magnetic valve 70.
Embodiment
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below by embodiment it is required use it is attached
Figure is briefly described, it should be apparent that, drawings in the following description are some embodiments of the present invention, common for this area
For technical staff, on the premise of not paying creative work, other accompanying drawings can also be obtained according to these accompanying drawings.
Referring to Fig. 1 to Fig. 3, the embodiments of the invention provide a kind of self-leveling type belt self-movable foot end, including self-movable foot end
10th, leveling cyclinder 20 and self-levelling systems on self-movable foot end 10 are arranged on, self-movable foot end 10 includes four supporting legs, in four branch
Four leveling cyclinders 20 are fixedly installed on leg, leveling cyclinder 20 includes cylinder barrel and piston rod, and cylinder barrel is fixed with self-movable foot end 10 to be connected
Connect, piston rod is connected with supporting leg, to include intrinsic safety by the elongation and shortening of the flexible drive supporting leg of piston rod, self-levelling systems
Controller 30, angle balance detection module 40, angle balance detection module 40 are arranged on a supporting leg of self-movable foot end 10, angle balance
Detection module 40 and four leveling cyclinders 20 are connected with intrinsic safety controller 30 respectively, and angle balance detection module is used to detect each supporting leg
This is supplied to installing the real-time angle of the supporting leg of the angle balance detection module with respect to the horizontal plane, and by the angle in real time
Pacify controller, intrinsic safety controller 30 is used for each supporting leg according to the detection of angle balance detection module 40 with installing the angle balance detection
The real-time angle of the supporting leg of module 40 with respect to the horizontal plane controls corresponding leveling cyclinder 20 on each supporting leg flexible, and then realizes
The leveling of self-movable foot end 10.
Further, the angle balance detection module 40 is dual axis inclinometer, and a supporting leg for installing the dual axis inclinometer is
Benchmark supporting leg 11, adjacent with benchmark supporting leg 11 supporting leg are horizontal supporting leg 12, another branch adjacent with benchmark supporting leg 11
Leg is longitudinal supporting leg 13, and the 4th supporting leg set with benchmark supporting leg 11 in diagonal is diagonal supporting leg 14, benchmark branch
Leg 11, horizontal supporting leg 12, longitudinal supporting leg 13 and diagonal supporting leg 14 are located at four vertex of self-movable foot end 10 respectively, and twin shaft inclines
Angle instrument detects the real-time horizontal angle and longitudinal supporting leg 13 between horizontal supporting leg 12 and benchmark supporting leg 11 with respect to the horizontal plane respectively
Real-time longitudinal angle between benchmark supporting leg 11 with respect to the horizontal plane, and will horizontal angle information and real-time longitudinal angle in real time
Information is sent to intrinsic safety controller 30, and intrinsic safety controller 30 is distinguished according to real-time horizontal angle information and real-time longitudinal angle information
Adjustment is arranged on the leveling cyclinder 20 on horizontal supporting leg 12, the leveling cyclinder 20 on longitudinal supporting leg 13 and installed in diagonal
Leveling cyclinder 20 on line supporting leg 14, so that horizontal angle and real-time longitudinal angle become as low as in the range of allowable error in real time, enter
And realize the leveling of self-movable foot end 10.
In a kind of preferably embodiment, dual axis inclinometer first detects cross dip, detects vertical inclination angle, intrinsic safety control afterwards
Device 30 processed first receives the real-time cross dip electric signal, and intrinsic safety controller 30 controls the leveling cyclinder 20 of horizontal supporting leg 12 and diagonal
The leveling cyclinder 20 of line supporting leg 14, to adjust the angle of horizontal supporting leg 12 and benchmark supporting leg 11, that is, adjust cross dip and diminish, extremely
Cross dip becomes as low as in the range of allowable error, and now side leveling has been completed；Then, dual axis inclinometer detection longitudinal direction is inclined
Angle, intrinsic safety controller 30 receive the real-time vertical inclination angle electric signal, and intrinsic safety controller 30 controls the leveling cyclinder of longitudinal supporting leg 13
20 and the leveling cyclinder 20 of diagonal supporting leg 14, to adjust the angle of longitudinal supporting leg 13 and benchmark supporting leg 11, i.e. adjustment longitudinal direction is inclined
Angle diminishes, and becomes to vertical inclination angle as low as in the range of allowable error, and now fore-and-aft leveling has been completed, and now self-movable foot end 10 has been
Leveling is completed, in horizontality.
Such as Fig. 4, illustrate using dual axis inclinometer detection self-movable foot end 10 whether in level, figure, planeabcdFor
Horizontal plane, i.e. absolute horizon, planeaefgFor 10 platform of self-movable foot end the fact plane, specific angle controls leveling process
For：
Belt self-movable foot end 10 is moved once or after a step, and the platform of belt self-movable foot end 10 reaches initial manual leveling state,
Now instrument dual axis inclinometer positionaPoint is horizontal plane datum mark, carries out side leveling first, dual axis inclinometer detection is laterally
Inclination angleγ, i.e., horizontal angle, whenγ<0（Or γ>0）When, benchmark supporting leg 11 and longitudinal supporting leg 13 are all motionless, intrinsic safety controller 30
The leveling cyclinder 20 of horizontal supporting leg 12 and the leveling cyclinder 20 of diagonal supporting leg 14 is controlled to extend（Or shrink）, so thatagWith transverse direction
Horizontal lineadOverlap, specifically, the distance that horizontal supporting leg 12 stretches out or shunk is |ag|·sin|γ|, adjust to cross dip |γ|<Δ, wherein,ΔFor the precision of dual axis inclinometer, i.e. leveling precision, horizontality laterally now is in, side leveling is complete
Into.
Then fore-and-aft leveling, dual axis inclinometer detection vertical inclination angle are carried outβ, i.e. longitudinal angle, whenβ<0（Orβ>0）When, base
Quasi- supporting leg 11 and horizontal supporting leg 12 are all motionless, and intrinsic safety type controller controls the leveling cyclinder 20 and diagonal supporting leg of longitudinal supporting leg 13
14 leveling cyclinder 20 extends（Or shrink）, so thataeWith vertical equity lineabOverlap, specifically, longitudinal supporting leg 13 stretches out or received
The distance of contracting is |ae|·sin|β|, adjust to vertical inclination angle |β|<Δ, now longitudinal to be in horizontality, fore-and-aft leveling is complete
Into horizontal and vertical to be in horizontality, the platform of belt self-movable foot end 10 is in horizontality.
Wherein,γ<Where 0 as horizontal supporting leg 12 highly below horizontal plane,γ>0 is height where horizontal supporting leg 12
Spend above water,βSimilarly.
In the model, planeaefgFor belt 10 platform of self-movable foot end the fact plane, so planeaefgFor one just
Property plane, adjusting γ angles or during β angles, it is necessary to which adjusting two supporting legs simultaneously could complete, this avoid rigid plane
Torsional deformation can not be implemented.
Further, the self-levelling systems also include posture memory module, and posture memory module includes four inbuilt displacements
Sensor 50, four inbuilt displacement sensors 50 are separately mounted to benchmark supporting leg 11, horizontal supporting leg 12, longitudinal supporting leg 13 and diagonal
The inside of four leveling cyclinders 20 of line supporting leg 14, and then detect the height that each supporting leg stretches out, four inbuilt displacement sensors 50
It is connected respectively with intrinsic safety controller 30, four inbuilt displacement sensors 50 send the real-time height of each supporting leg detected to this
Pacify controller 30, the real-time height of each supporting leg compared with the elemental height to prestore, and is controlled each supporting leg by intrinsic safety controller 30
Height is consistent with the elemental height of each supporting leg in real time.
In this way, elevating conveyor moves forward each time, belt self-movable foot end 10 follows advance, and now each supporting leg is in receives completely
Contracting state, when belt 10 stop motion of self-movable foot end, each supporting leg cylinder stretches out, during stretching, each inbuilt displacement sensing
Device 50 detects the height of each supporting leg in real time, and controller is by the real-time height and the elemental height ratio of each supporting leg to prestore of each supporting leg
Compared with when the real-time height of each supporting leg is consistent with each supporting leg elemental height to prestore, intrinsic safety controller 30 controls each supporting leg to stop
Stretch out, benchmark supporting leg 11, horizontal supporting leg 12, longitudinal supporting leg 13 and diagonal supporting leg 14 enter init state, if height in real time
Difference between the elemental height of each supporting leg is more than error range, and controller continues to control the leveling cyclinder 20 of corresponding supporting leg
Elongation is shunk, and then the supporting leg is stretched out or is shortened, so that height is close to elemental height in real time, is so moved each time
Afterwards, guarantee belt self-movable foot end 10 can rise to identical with the position of original state every time after having advanced, and can so ensure every
The highly stable of rear self-movable foot end 10 is once moved, difference is not too large, while is also prepared for automatic leveling.
But due to tunnel ground relief, even if the height of four supporting legs is consistent with elemental height, it cannot guarantee that
The height of self-movable foot end 10 above four supporting legs is horizontal, so must be carried out further according to dual axis inclinometer further certainly
Dynamic leveling.
So the technical scheme that invention is combined using site error control and angular error control, leveling is accurate, leveling
Speed is fast, the scope that each supporting leg automatically adjusts when reducing 10 each step of self-movable foot end or moving each time, improves operating efficiency.
Further, the self-levelling systems also include manual setup module, and manual setup module includes 60, four, level meter
70, four manipulated keies of magnetic valve, four magnetic valves 70 are connected respectively with the leveling cyclinder 20 of four supporting legs, to pass through magnetic valve 70
Control leveling cyclinder 20 is acted, and four manipulated keies are connected with four magnetic valves 70 respectively, to be controlled respectively by four manipulated keies
The height that four supporting legs stretch out, level meter 60 are arranged on the upper surface of self-movable foot end 10, so that operating personnel are observed from telephone-moving
Whether tail 10 is in horizontality.Certain four magnetic valves 70 can also be connected with intrinsic safety controller 30, and intrinsic safety controller 30 is logical
Control magnetic valve 70 is crossed to control the flexible of leveling cyclinder, and then controls the flexible of supporting leg, i.e., magnetic valve 70 includes automatically controlling
With manual control both of which.
Further, four supporting legs when the level meter 60 detected to be in four inbuilt displacement sensors 50 horizontality
Height send to intrinsic safety controller 30, to form the elemental height of four supporting legs to prestore.So by observing level meter 60
Whether in level, setting elemental height is adjusted manually, is compared to the write-in elemental height number directly out of intrinsic safety controller 30
The mode of value, set is advantageous in that manually, and operating personnel can observe the situation on tunnel ground at any time, with reference to the situation in tunnel
Suitable height value is set, but also elemental height value can be changed at any time according to the situation in tunnel, operation is flexible, user
Just.
Moreover, before self-movable foot end 10 is operated into a tunnel, the manual setting of elemental height is first carried out, according to
On the basis of this elemental height, reduce 10 each step of self-movable foot end or each supporting leg automatically adjusts when moving each time scope, improve
Operating efficiency.
As shown in Figures 3 to 5, intrinsic safety controller 30 controls magnetic valve 70 to act, and hydraulic oil flows into leveling oil by pipeline
Cylinder 20, leveling cyclinder 20 is stretched out or retract action, while inbuilt displacement sensor 50 and dual axis inclinometer or inclination angle pass
Sensor detects displacement and the dip angle signal of leveling cyclinder 20 in real time, feeds back to controller.As illustrated, dual axis inclinometer is positioned over
On the right side of the supporting leg cylinder of 10 platform front end of self-movable foot end one, inclinator is fixed by bolts on inclinator bottom plate, the weldering of inclinator bottom plate
It is connected on platform end face.Inbuilt displacement sensor 50 is built-in, is positioned over inside support oil cylinder, as cylinder rod does reciprocal fortune
It is dynamic.
Referring to Fig. 1 to Fig. 6, the present invention also propose it is a kind of using above-mentioned self-leveling type belt self-movable foot end leveling belt from
The method of telephone-moving tail, comprises the following steps：
Self-levelling systems are installed：Four leveling cyclinders 20 are installed respectively on four supporting legs of self-movable foot end 10, in a supporting leg
Upper installation self-levelling systems；Wherein, leveling system includes intrinsic safety controller 30, angle balance detection module 40；
Self-level(l)ing：It is relative with the supporting leg for installing the angle balance detection module 40 that each supporting leg is detected using angle balance detection module
In the real-time angle of horizontal plane, and the real-time angle information detected is sent to intrinsic safety controller 30, intrinsic safety controller 30 and incited somebody to action
The angle in real time controls corresponding leveling cyclinder 20 on each supporting leg flexible compared with 0 ° of angle, and according to comparative result, so that
Real-time angle becomes in the range of the allowable error of the angle balance detection module as low as to be prestored in intrinsic safety controller, and then realizes from telephone-moving
The leveling of tail 10.
Further, in " self-level(l)ing " step, the angle balance detection module 40 is dual axis inclinometer, and dual axis inclinometer is first
Detect horizontal supporting leg 12 and the real-time horizontal angle of benchmark supporting leg 11 with respect to the horizontal plane, and the real-time horizontal angle that will be detected
Information is sent to intrinsic safety controller, intrinsic safety controller by the horizontal angle in real time compared with 0 ° of angle, and according to comparative result control
The leveling cyclinder 20 made on horizontal supporting leg 12 and diagonal supporting leg 14 is flexible so that horizontal angle becomes as low as angle balance detection in real time
In the range of the allowable error of module, side leveling is realized；
Then, dual axis inclinometer detects longitudinal supporting leg 13 and the real-time longitudinal angle of benchmark supporting leg 11 with respect to the horizontal plane again, and
The real-time longitudinal angle information detected is sent to intrinsic safety controller, intrinsic safety controller is by longitudinal angle and 0 ° of angle in real time
Compare, and control the leveling cyclinder 20 on longitudinal supporting leg 13 and diagonal supporting leg 14 flexible according to comparative result so that be vertical in real time
Become to angle as low as in the range of the allowable error of angle balance detection module, realize fore-and-aft leveling, and then realize self-movable foot end 10
Leveling.
Further, before " self-level(l)ing " step, adjustment memory attitude step is also provided with, the adjustment memory posture is：
Four inbuilt displacement sensors 50 detect benchmark supporting leg 11, horizontal supporting leg 12, longitudinal supporting leg 13 and diagonal supporting leg 14 respectively
Height in real time, and sending to intrinsic safety controller 30, intrinsic safety controller 30 is by the real-time height of each supporting leg and the elemental height to prestore
Compare, and control the real-time height of each supporting leg consistent with the elemental height of each supporting leg.
Further, in " adjustment memory posture " step, the elemental height to be prestored in intrinsic safety controller 30 is manually
The mode of setting is write in intrinsic safety controller 30.
Further, it is described manually set prestore elemental height the step of be：One is installed on the upper surface of self-movable foot end 10
Individual level meter 60, four magnetic valves 70 are installed respectively on four leveling cyclinders 20, also set up the four of four magnetic valves 70 of control
Individual manipulated key；
Operating personnel are acted by operating the leveling cyclinder 20 corresponding to manual key control on supporting leg, while observe level meter 60
It has been shown that, when level meter 60 shows level, now four inbuilt displacement sensors 50 detect the real-time height of four supporting legs, concurrently
Intrinsic safety controller 30 is delivered to, to form the elemental height of four supporting legs to prestore.
Step in present invention method can be sequentially adjusted, merged and deleted according to actual needs.
Module or unit in device of the embodiment of the present invention can be combined, divided and deleted according to actual needs.
Above disclosure is only preferred embodiment of present invention, can not limit the right model of the present invention with this certainly
Enclose, one of ordinary skill in the art will appreciate that all or part of flow of above-described embodiment is realized, and will according to right of the present invention
Made equivalent variations are sought, still falls within and invents covered scope.
Claims (10)
- A kind of 1. self-leveling type belt self-movable foot end, it is characterised in that：Including self-movable foot end, leveling cyclinder and it is arranged on from shifting Self-levelling systems on tail, self-movable foot end include four supporting legs, and four leveling cyclinders, leveling oil are fixedly installed on four supporting legs Cylinder includes cylinder barrel and piston rod, and cylinder barrel is fixedly connected with self-movable foot end, and piston rod is connected with supporting leg, to pass through the flexible of piston rod The elongation and shortening of supporting leg are driven, self-levelling systems include intrinsic safety controller, angle balance detection module, angle balance detection module peace On a supporting leg of self-movable foot end, angle balance detection module and four leveling cyclinders are connected with intrinsic safety controller respectively, angle Balance detection module is used to detect each supporting leg with installing the real-time folder of the supporting leg of the angle balance detection module with respect to the horizontal plane Angle, and the angle in real time is supplied to intrinsic safety controller, intrinsic safety controller is used to control each according to the angle in real time Corresponding leveling cyclinder stretches on leg, and then realizes the leveling of self-movable foot end.
- 2. self-leveling type belt self-movable foot end as claimed in claim 1, it is characterised in that：The angle balance detection module is double Axial rake instrument, supporting leg on the basis of a supporting leg of the dual axis inclinometer is installed, adjacent with benchmark supporting leg supporting leg is laterally Supporting leg, another supporting leg adjacent with benchmark supporting leg are longitudinal supporting leg, are in the 4th of diagonal setting with benchmark supporting leg Supporting leg is diagonal supporting leg, and benchmark supporting leg, horizontal supporting leg, longitudinal supporting leg and diagonal supporting leg are located at four of self-movable foot end respectively Vertex, dual axis inclinometer detect real-time horizontal angle between horizontal supporting leg and benchmark supporting leg with respect to the horizontal plane and vertical respectively To the real-time longitudinal angle between supporting leg and benchmark supporting leg with respect to the horizontal plane, intrinsic safety controller is according to real-time horizontal angle information The leveling cyclinder on horizontal supporting leg, the oil of the leveling on longitudinal supporting leg are adjusted respectively with real-time longitudinal angle information Cylinder and the leveling cyclinder on diagonal supporting leg, so that horizontal angle and real-time longitudinal angle become as low as allowable error in real time In the range of, and then realize the leveling of self-movable foot end.
- 3. self-leveling type belt self-movable foot end as claimed in claim 2, it is characterised in that：The self-levelling systems also include appearance State memory module, posture memory module include four inbuilt displacement sensors, and four inbuilt displacement sensors are respectively to be integrated in The leveling cyclinder of benchmark supporting leg, the leveling cyclinder of horizontal supporting leg, the leveling oil of the leveling cyclinder of longitudinal supporting leg and diagonal supporting leg Inbuilt displacement sensor in cylinder, and then detect the height that each supporting leg stretches out, four inbuilt displacement sensors respectively with intrinsic safety control Device connection processed, four inbuilt displacement sensors send the real-time height of each supporting leg detected to intrinsic safety controller, intrinsic safety control The real-time highly compared with the elemental height to prestore of each supporting leg is controlled the real-time highly first with each supporting leg of each supporting leg by device processed Begin highly consistent.
- 4. self-leveling type belt self-movable foot end as claimed in claim 3, it is characterised in that：The self-levelling systems also include hand Dynamic setup module, manual setup module include level meter, four magnetic valves, four manipulated keies, four magnetic valves and four supporting legs Leveling cyclinder connect respectively, to be acted by solenoid valve control leveling cyclinder, four manipulated keies connect with four magnetic valves respectively Connect, to control the height of four supporting legs stretchings respectively by four manipulated keies, level meter is arranged on the upper surface of self-movable foot end, So that operating personnel observe whether self-movable foot end is in horizontality.
- 5. self-leveling type belt self-movable foot end as claimed in claim 4, it is characterised in that：Four inbuilt displacement sensors will be examined The height of four supporting legs when the level meter measured is in horizontality is sent to intrinsic safety controller, to form four branch to prestore The elemental height of leg.
- 6. a kind of self-leveling type belt self-movable foot end leveling belt self-movable foot end using as described in one of claim 1 to 5 Method, it is characterised in that comprise the following steps：Self-levelling systems are installed：Four leveling cyclinders are installed respectively on four supporting legs of self-movable foot end, pacified on a supporting leg Self-levelling systems are filled, wherein, leveling system includes intrinsic safety controller, angle balance detection module；Self-level(l)ing：Using angle balance detection module detect each supporting leg with install the supporting leg of the angle balance detection module relative to The real-time angle of horizontal plane, and the angle information detected is sent to intrinsic safety controller, intrinsic safety controller and pressed from both sides described in real time Angle controls corresponding leveling cyclinder on each supporting leg to stretch compared with 0 ° of angle, and according to comparative result, so that angle diminishes in real time In the range of the allowable error of the angle balance detection module to be prestored in intrinsic safety controller, and then realize the leveling of self-movable foot end.
- 7. the method for self-leveling type belt self-movable foot end leveling belt self-movable foot end, its feature are utilized as claimed in claim 6 It is：In " self-level(l)ing " step, the angle balance detection module is dual axis inclinometer, and dual axis inclinometer first detects horizontal supporting leg With the real-time horizontal angle of benchmark supporting leg with respect to the horizontal plane, and the real-time horizontal angle information detected is sent to intrinsic safety control The horizontal angle in real time with 0 ° of angle compared with, and is controlled horizontal supporting leg and diagonally by device processed, intrinsic safety controller according to comparative result Leveling cyclinder on line supporting leg stretches so that and horizontal angle becomes as low as in the range of the allowable error of angle balance detection module in real time, Realize side leveling；Then, dual axis inclinometer detects longitudinal supporting leg and the real-time longitudinal angle of benchmark supporting leg with respect to the horizontal plane again, and will inspection The real-time longitudinal angle information measured is sent to intrinsic safety controller, and intrinsic safety controller is by longitudinal angle and 0 ° of angle ratio in real time Compared with, and controlling the leveling cyclinder on longitudinal supporting leg and diagonal supporting leg to stretch according to comparative result so that real-time longitudinal angle becomes As low as in the range of the allowable error of angle balance detection module, fore-and-aft leveling is realized, and then realizes the leveling of self-movable foot end.
- 8. the method for self-leveling type belt self-movable foot end leveling belt self-movable foot end, its feature are utilized as claimed in claim 7 It is：Before " self-level(l)ing " step, adjustment memory attitude step is also provided with, the adjustment memory posture is：Four interior set Displacement sensor detects the real-time height of benchmark supporting leg, horizontal supporting leg, longitudinal supporting leg and diagonal supporting leg respectively, and sends to intrinsic safety The real-time height of each supporting leg compared with the elemental height to prestore, and is controlled the real-time height of each supporting leg by controller, intrinsic safety controller Degree is consistent with the elemental height of each supporting leg.
- 9. the method for self-leveling type belt self-movable foot end leveling belt self-movable foot end, its feature are utilized as claimed in claim 8 It is：In " adjustment memory posture " step, the elemental height to be prestored in intrinsic safety controller is that the mode manually set is write Enter in intrinsic safety controller.
- 10. the method for self-leveling type belt self-movable foot end leveling belt self-movable foot end, its feature are utilized as claimed in claim 9 It is：It is described manually set prestore elemental height the step of be：One level meter is installed on the upper surface of self-movable foot end, four magnetic valves are installed respectively on four leveling cyclinders, also Four manipulated keies of four magnetic valves of control are set；Operating personnel are acted by operating the leveling cyclinder corresponding to manual key control on supporting leg, while observe the aobvious of level meter Show, when level meter is shown it is horizontal when, now four inbuilt displacement sensors detect the real-time height of four supporting legs, and send to this Pacify controller, to form the elemental height of four supporting legs to prestore.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710544081.5A CN107352250A (en) | 2017-07-05 | 2017-07-05 | Self-leveling type belt self-movable foot end and belt self-movable foot end self-leveling method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710544081.5A CN107352250A (en) | 2017-07-05 | 2017-07-05 | Self-leveling type belt self-movable foot end and belt self-movable foot end self-leveling method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107352250A true CN107352250A (en) | 2017-11-17 |
Family
ID=60292154
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710544081.5A Pending CN107352250A (en) | 2017-07-05 | 2017-07-05 | Self-leveling type belt self-movable foot end and belt self-movable foot end self-leveling method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107352250A (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108983803A (en) * | 2018-08-16 | 2018-12-11 | 燕山大学 | The automatic horizontal control system and leveling method of mobile shallow water platform |
| CN110906914A (en) * | 2019-12-12 | 2020-03-24 | 国网山东省电力公司东营供电公司 | Laser level meter suitable for welding of embedded part of transformer substation |
| CN111434594A (en) * | 2019-01-14 | 2020-07-21 | 久益环球地下采矿有限责任公司 | System and method for automatically controlling a lead-in of a beam loader |
| CN111891994A (en) * | 2020-07-16 | 2020-11-06 | 河北农业大学 | Electric control leveling system of orchard operation platform |
| CN113409390A (en) * | 2021-06-08 | 2021-09-17 | 煤炭科学研究总院 | Self-moving tail attitude detection method and device and storage medium |
| CN113441326A (en) * | 2021-06-25 | 2021-09-28 | 中铁十一局集团桥梁有限公司 | Carrying platform capable of automatically adjusting deflection angle |
| CN116022522A (en) * | 2023-03-30 | 2023-04-28 | 山东乐普矿用设备股份有限公司 | Self-moving tail horizontal posture detection device for belt conveyor |
| CN116182038A (en) * | 2023-02-28 | 2023-05-30 | 中国人民解放军93210部队 | Automatic leveling device and leveling method thereof |
| US12017859B2 (en) | 2021-03-17 | 2024-06-25 | Joy Global Underground Mining Llc | Systems and methods for automated control of a beam stageloader bootend |
Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5580095A (en) * | 1993-06-28 | 1996-12-03 | Kabushiki Kaisha Komatsu Seisakusho | Vehicle body levelling device for a working vehicle having outriggers |
| JP2000335892A (en) * | 1999-05-26 | 2000-12-05 | Aichi Corp | Bench levelling adjusting device for work vehicle |
| CN201105321Y (en) * | 2007-10-09 | 2008-08-27 | 张卫东 | Hydraulic automatic leveling system for foundry ladle vehicle |
| CN101391599A (en) * | 2008-10-30 | 2009-03-25 | 三一重工股份有限公司 | Method for leveling leg and automatic leveling apparatus by using said method |
| CN102407747A (en) * | 2011-10-09 | 2012-04-11 | 湖北三江航天万山特种车辆有限公司 | Automatic leveling system for vehicle body platform |
| CN103398035A (en) * | 2013-08-12 | 2013-11-20 | 华电重工股份有限公司 | Multi-platform multi-cylinder-synergy automatic leveling system |
| CN103587894A (en) * | 2013-08-22 | 2014-02-19 | 山西煤矿机械制造有限责任公司 | Intelligent self-propelling belt-conveyor tail and application method thereof |
| CN103587508A (en) * | 2013-10-23 | 2014-02-19 | 三一汽车起重机械有限公司 | Supporting leg leveling method and supporting leg leveling system |
| CN103723134A (en) * | 2012-10-16 | 2014-04-16 | 陕西汽车集团有限责任公司 | Automobile lifting device |
| CN103742765A (en) * | 2013-10-10 | 2014-04-23 | 国家电网公司 | Leveling device for suspension equipment |
| CN104571145A (en) * | 2014-12-18 | 2015-04-29 | 中国航天科工集团第四研究院指挥自动化技术研发与应用中心 | Leveling method and device for supporting platform |
| CN205158019U (en) * | 2015-10-23 | 2016-04-13 | 徐工重庆工程机械有限公司 | Laser leveling machine's landing leg automatic balance control system |
| CN207209320U (en) * | 2017-07-05 | 2018-04-10 | 宁夏天地奔牛实业集团有限公司 | Self-leveling type belt self-movable foot end |
-
2017
- 2017-07-05 CN CN201710544081.5A patent/CN107352250A/en active Pending
Patent Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5580095A (en) * | 1993-06-28 | 1996-12-03 | Kabushiki Kaisha Komatsu Seisakusho | Vehicle body levelling device for a working vehicle having outriggers |
| JP2000335892A (en) * | 1999-05-26 | 2000-12-05 | Aichi Corp | Bench levelling adjusting device for work vehicle |
| CN201105321Y (en) * | 2007-10-09 | 2008-08-27 | 张卫东 | Hydraulic automatic leveling system for foundry ladle vehicle |
| CN101391599A (en) * | 2008-10-30 | 2009-03-25 | 三一重工股份有限公司 | Method for leveling leg and automatic leveling apparatus by using said method |
| CN102407747A (en) * | 2011-10-09 | 2012-04-11 | 湖北三江航天万山特种车辆有限公司 | Automatic leveling system for vehicle body platform |
| CN103723134A (en) * | 2012-10-16 | 2014-04-16 | 陕西汽车集团有限责任公司 | Automobile lifting device |
| CN103398035A (en) * | 2013-08-12 | 2013-11-20 | 华电重工股份有限公司 | Multi-platform multi-cylinder-synergy automatic leveling system |
| CN103587894A (en) * | 2013-08-22 | 2014-02-19 | 山西煤矿机械制造有限责任公司 | Intelligent self-propelling belt-conveyor tail and application method thereof |
| CN103742765A (en) * | 2013-10-10 | 2014-04-23 | 国家电网公司 | Leveling device for suspension equipment |
| CN103587508A (en) * | 2013-10-23 | 2014-02-19 | 三一汽车起重机械有限公司 | Supporting leg leveling method and supporting leg leveling system |
| CN104571145A (en) * | 2014-12-18 | 2015-04-29 | 中国航天科工集团第四研究院指挥自动化技术研发与应用中心 | Leveling method and device for supporting platform |
| CN205158019U (en) * | 2015-10-23 | 2016-04-13 | 徐工重庆工程机械有限公司 | Laser leveling machine's landing leg automatic balance control system |
| CN207209320U (en) * | 2017-07-05 | 2018-04-10 | 宁夏天地奔牛实业集团有限公司 | Self-leveling type belt self-movable foot end |
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108983803A (en) * | 2018-08-16 | 2018-12-11 | 燕山大学 | The automatic horizontal control system and leveling method of mobile shallow water platform |
| GB2586205B (en) * | 2019-01-14 | 2023-08-02 | Joy Global Underground Mining Llc | Systems and methods for automated control of a beam stageloader bootend |
| CN111434594A (en) * | 2019-01-14 | 2020-07-21 | 久益环球地下采矿有限责任公司 | System and method for automatically controlling a lead-in of a beam loader |
| US10968040B2 (en) | 2019-01-14 | 2021-04-06 | Joy Global Underground Mining Llc | Systems and methods for automated control of a beam stageloader bootend |
| RU2755612C2 (en) * | 2019-01-14 | 2021-09-17 | ДЖОЙ ГЛОБАЛ АНДЕРГРАУНД МАЙНИНГ ЭлЭлСи | Systems and methods for automated control of loading end of console reloader |
| CN110906914A (en) * | 2019-12-12 | 2020-03-24 | 国网山东省电力公司东营供电公司 | Laser level meter suitable for welding of embedded part of transformer substation |
| CN111891994A (en) * | 2020-07-16 | 2020-11-06 | 河北农业大学 | Electric control leveling system of orchard operation platform |
| US12017858B2 (en) | 2021-03-17 | 2024-06-25 | Joy Global Underground Mining Llc | Systems and methods for automated control of a beam stageloader bootend |
| US12017859B2 (en) | 2021-03-17 | 2024-06-25 | Joy Global Underground Mining Llc | Systems and methods for automated control of a beam stageloader bootend |
| CN113409390A (en) * | 2021-06-08 | 2021-09-17 | 煤炭科学研究总院 | Self-moving tail attitude detection method and device and storage medium |
| CN113409390B (en) * | 2021-06-08 | 2024-02-09 | 煤炭科学研究总院有限公司 | Self-moving tail gesture detection method and device and storage medium |
| CN113441326A (en) * | 2021-06-25 | 2021-09-28 | 中铁十一局集团桥梁有限公司 | Carrying platform capable of automatically adjusting deflection angle |
| CN116182038A (en) * | 2023-02-28 | 2023-05-30 | 中国人民解放军93210部队 | Automatic leveling device and leveling method thereof |
| CN116022522A (en) * | 2023-03-30 | 2023-04-28 | 山东乐普矿用设备股份有限公司 | Self-moving tail horizontal posture detection device for belt conveyor |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107352250A (en) | Self-leveling type belt self-movable foot end and belt self-movable foot end self-leveling method | |
| CN105714649B (en) | Frame deformation control | |
| CN207209320U (en) | Self-leveling type belt self-movable foot end | |
| US11511942B2 (en) | Conveyor leveling system | |
| CN103217512A (en) | Experimental device with physical landslide model | |
| CN104499485B (en) | One pile for one column fully automatic hydraulic verticality-regulating system and vertical adjustment method | |
| CN102661162A (en) | Coalface straightness control method | |
| CN202834381U (en) | Three-dimensional hyperbolic curve steel pushing pipe rectifying device | |
| EP3674483B1 (en) | Slipform paving machine | |
| US11479309B2 (en) | Plant chassis leveling apparatus, systems and methods | |
| CN107724396B (en) | Automatic paver system with buoyancy adjusting structure and working method thereof | |
| CN107738996A (en) | A kind of compensation device for widening floating crane application and compensation method | |
| CN110045387A (en) | A kind of standing shield hydraulic support attitude intelligent monitoring system and its measurement method | |
| CN109853576A (en) | The rubble base bed flattening elephant trunk system and method intelligently adjusted | |
| CN207553144U (en) | Automatic paver system with detection adjustment structure | |
| CN107724397B (en) | Automatic paver system with detection and adjustment structure and working method thereof | |
| CN113047283B (en) | Intelligent control method and system of inclined pile machine | |
| CN112066936B (en) | Full-length fluctuation state detection system and method for fully-mechanized mining face scraper conveyor | |
| CN210290330U (en) | Vehicle-mounted automatic leveling system | |
| CN205437730U (en) | Three -dimensional heavily loaded coordinated control device of large -scale liquefied natural gas module | |
| CN207567816U (en) | With the automatic paver system for adjusting stabilizer blade | |
| CN207659993U (en) | Automatic paver system with buoyancy adjustment structure | |
| CN207622915U (en) | Ocean nuclear power platform single point mooring system test bay | |
| CN209510753U (en) | For mine mechanism and the automatic horizontal control system of walking arrangement | |
| CN109297829A (en) | A kind of ground intensity detection device and method based on the control of hydraulic cylinder constant force |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20171117 |
|
| RJ01 | Rejection of invention patent application after publication |