CN107472210A - Fluid pressure type levelling control system based on mechanical-electrical-hydraulic integration design - Google Patents
Fluid pressure type levelling control system based on mechanical-electrical-hydraulic integration design Download PDFInfo
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- CN107472210A CN107472210A CN201710823829.5A CN201710823829A CN107472210A CN 107472210 A CN107472210 A CN 107472210A CN 201710823829 A CN201710823829 A CN 201710823829A CN 107472210 A CN107472210 A CN 107472210A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
- B60S9/00—Ground-engaging vehicle fittings for supporting, lifting, or manoeuvring the vehicle, wholly or in part, e.g. built-in jacks
- B60S9/02—Ground-engaging vehicle fittings for supporting, lifting, or manoeuvring the vehicle, wholly or in part, e.g. built-in jacks for only lifting or supporting
- B60S9/10—Ground-engaging vehicle fittings for supporting, lifting, or manoeuvring the vehicle, wholly or in part, e.g. built-in jacks for only lifting or supporting by fluid pressure
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
- B60S9/00—Ground-engaging vehicle fittings for supporting, lifting, or manoeuvring the vehicle, wholly or in part, e.g. built-in jacks
- B60S9/02—Ground-engaging vehicle fittings for supporting, lifting, or manoeuvring the vehicle, wholly or in part, e.g. built-in jacks for only lifting or supporting
- B60S9/10—Ground-engaging vehicle fittings for supporting, lifting, or manoeuvring the vehicle, wholly or in part, e.g. built-in jacks for only lifting or supporting by fluid pressure
- B60S9/12—Ground-engaging vehicle fittings for supporting, lifting, or manoeuvring the vehicle, wholly or in part, e.g. built-in jacks for only lifting or supporting by fluid pressure of telescopic type
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Abstract
The invention discloses a kind of fluid pressure type levelling control system based on mechanical-electrical-hydraulic integration design, horizon sensor, human and machine interface unit, the hydraulic system being connected with central processing unit output end, four leveling support legs and the four Auxiliary support legs being connected including central processing unit, with central processing unit input, hydraulic system mainly includes AC servo motor, hydraulic pump, hydraulic manifold block, the hydraulic motor being sequentially connected, and each leveling support leg is connected by a hydraulic motor with hydraulic manifold block.The present invention realizes the control of hydraulic leveling system and power-actuated requirement using the mechanical-electrical-hydraulic integration technology based on PLC controls, pass through the intelligence detection in real time of the level inclination angle to level inclination sensor element, control fluid motor-driven, realize that four support legs link and are adjusted to horizontality, the present invention has the advantages of hydraulic system integrated level is high, stable and reliable in work, fault rate is low, easy maintenance, volume compact, high hydraulic leveling precision.
Description
Technical field
The present invention relates to a kind of fluid pressure type automatic horizontal control system, and it is vehicle-mounted flat to be used for big-and-middle-sized radar truck more particularly to one kind
The fluid pressure type levelling control system based on mechanical-electrical-hydraulic integration design of platform, communication van and various engineering trucks.
Background technology
Vehicular platform, communication van and various engineering trucks generally require to work in the state of fully horizontally.Typically pass through
Four supporting legs are installed on vehicular platform, communication van and various engineering trucks, the strong point of four supporting legs connects to form square
Shape, after platform or vehicle are fixed on into some position, by adjusting each supporting leg, realize the horizontal tune of platform or vehicle
It is whole.The Chinese invention patent of Application No. 201010588391.5 provides a kind of leveling method and electromechanics based on four-point supporting
Formula automatic horizontal control system, it uses the leveling that motor drives four supporting legs to realize vehicle-mounted work platform, the carrying energy of its single leg
Power only has 10 tons, can only be by increasing the driving force of motor, the motor chi now needed if increasing the bearing capacity of single leg
Very little and volume can correspondingly increase, and cost also greatly improves, and system maintenance and maintenance also accordingly become cumbersome.Meanwhile the machine
Diagonal leveling method used by electric-type automatic horizontal control system, level is exchanged for deformation, adjusting at diagonally adjacent 2 points
During balance, the deformation of car body can be produced, it has certain technological deficiency.
Therefore need badly and provide a kind of new automatic leveling controlling system to solve the above problems.
The content of the invention
The technical problems to be solved by the invention are to provide a kind of fluid pressure type leveling control based on mechanical-electrical-hydraulic integration design
System processed, the less problem of bearing capacity of single supporting leg, and can enough avoid merely when can either solve to use electromechanical assembly
Using easy oil leakage, stability during hydraulic means is not high, leveling precision is low, safeguards the problem of cumbersome.
In order to solve the above technical problems, one aspect of the present invention is：One kind is provided and is based on mechanical electronic hydraulic integrated
Change design fluid pressure type levelling control system, including central processing unit, be connected with central processing unit input horizon sensor,
Human and machine interface unit, landing detection switch, the hydraulic system being connected with central processing unit output end, four leveling support legs, liquid
Pressure system mainly includes AC servo motor, hydraulic pump, hydraulic manifold block, the hydraulic motor being sequentially connected, each leveling support
Leg is connected by a hydraulic motor with hydraulic manifold block；
AC servo motor is used to drive hydraulic pump, the power source as hydraulic system；
Hydraulic manifold block is used for the switching for controlling hydraulic system oil circuit, realizes the forward and reverse of hydraulic motor；
Hydraulic motor is used to drive the flexible of leveling support leg, realizes the levelling function of leveling support leg；
Leveling support leg includes base, ball-screw, upper limit detection switch, lower limit detection switch, pulse detection switch, rolling
Ballscrew is placed on base, and pulse detection switch, lower limit detection switch are arranged on the top of ball-screw, upper limit detection switch peace
Mounted in the bottom of ball-screw；
The horizontal degrees of data that central processing unit is used for the instruction inputted according to human and machine interface unit and horizon sensor detects,
Pass through each leveling support leg of HYDRAULIC CONTROL SYSTEM.
In a preferred embodiment of the present invention, the fluid pressure type levelling control system of the mechanical-electrical-hydraulic integration design also wraps
Four Auxiliary support legs are included, each Auxiliary support leg is connected by a hydraulic motor with hydraulic manifold block, Auxiliary support leg
Structure is identical with the structure of leveling support leg.The point type vehicle-mounted hydraulic automatic horizontal control system of structure eight of eight supporters is more
Steadily, resistance to capsizing is strong, and replicates supporting leg and be consistent with leveling support leg structure design, has commutativity.
In a preferred embodiment of the present invention, the ball-screw of leveling support leg and Auxiliary support leg includes nut, spiral shell
Bar and ball, the upper end of screw rod are connected with the output shaft of hydraulic motor, and the upper end both sides of nut are provided with boss, bottom is set
There is spherical end, base is provided with spherical groove, and spherical end is placed in spherical groove；It is arranged with the periphery of the nut of ball-screw
Sleeve, sleeve are connected with the upper end of screw rod by two-direction thrust bearing.
Further, ball-screw is located among sleeve, the spherical end of nut bottom stretch out sleeve lower port it
Outside；Two-direction thrust bearing is sheathed on the outer peripheral face of screw rod upper end, and the outer peripheral face of two-direction thrust bearing covers with lower end and sleeve
Inner peripheral surface is engaged；Pulse detection switch are arranged on the sleeve of nut outside the boss, and ball-screw obtains two for each revolution
Individual pulse signal, the I/O port of central processing unit is delivered to, calculates the flexible actual range of leg that handles and then be supported.
In a preferred embodiment of the present invention, hydraulic manifold block include bidirectional hydraulic lock, 2/2-way solenoid directional control valve,
Overflow valve, the precursor overflow valve being connected with hydraulic pump, two-bit triplet solenoid directional control valve, three-position four-way electromagnetic directional valve, two two
The input of electric change valve is connected with precursor overflow valve, output end is connected with overflow valve, two-bit triplet solenoid directional control valve
The other end is connected with hydraulic motor, and three-position four-way electromagnetic directional valve is connected by bidirectional hydraulic lock with hydraulic motor.Guide's overflow
Valve, overflow valve and 2/2-way solenoid directional control valve form system multi-stage pressure regulating and safety protection function, pass through two in the course of work
The switching of operating pressure is realized in the switching of individual 2/2-way solenoid directional control valve；The maximum pressure of simultaneity factor is true by precursor overflow valve
It is fixed, to protect system not damaged because of hypertonia.Two-bit triplet solenoid directional control valve is used for the locking for realizing motor and unblock work(
Can, when system works, two-bit triplet solenoid directional control valve electromagnet obtains electric, and hydraulic oil flows to hydraulic pressure through two-bit triplet solenoid directional control valve
Motor, realize the unblock of motor；After the completion of work, two-bit triplet solenoid directional control valve electromagnet dead electricity, in hydraulic motor brake
Fluid flows back to fuel tank, motor locking.Three-position four-way electromagnetic directional valve primarily serves the effect of switching oil circuit, realizes hydraulic motor
Forward and reverse.Bidirectional hydraulic lock is used for long-time fastening system after system cut-off, it is ensured that will not be glided in the case of system at rest,
Duplicate protection is formed with hydraulic motor.
In a preferred embodiment of the present invention, hydraulic motor carries brake, for preventing motor under weight effect
Voluntarily gliding, it is necessary to when acting, brake must be opened by internal control oil circuit to oil circuit fuel feeding, hydraulic motor could act,
It is longer for supporting time, the not high locked loop of movement velocity, support leg lock function can be realized.
In a preferred embodiment of the present invention, central processing unit is programmable computer controller, the leveling system
Detect the inclination signal of seat coach sensor in real time using PLC, the operational order of operating personnel is received by man-machine interface, is passed through
Drive four hydraulic leveling supporting legs and four auxiliary support legs, realize single leg elevating movement, the motion of eight supporting leg synchronization liftings with
And automatic leveling motion.
The beneficial effects of the invention are as follows：
(1) present invention uses hydraulic-driven, and the driving force of system is big, and load capacity is strong, the bearing capacity of single supporting leg
Reach 15 tons, it is compact-sized, it is adapted to use on heavy mobile vehicle；
(2) present invention can make hydraulic system using hydraulic motor (band brake, Hall sensor) and bidirectional hydraulic lock
Higher locking precision is obtained, solves the problems, such as that hydraulic means stability is not high, leveling precision is low；
(3) present invention uses 8 supporting constructions, and resistance to capsizing is strong, and system operatio is simple, easy to use, leveling speed
It hurry up, the mobility of vehicular platform can be effectively improved；
(4) present invention realizes the control of hydraulic leveling system and power using the PLC hydraulic systems technology of combination of electric and hydraulic
The requirement of driving, by the intelligence detection in real time of the level inclination angle to level inclination sensor element, control hydraulic motor
Driving, realize that four support legs link and are adjusted to horizontality；
Hydraulic system integrated level is high, and stable and reliable in work, fault rate is low, easy maintenance；Part overload protection ability is strong；Liquid
Press leveling precision high, when the good system of adjustment is operated under different external environment conditions and load state, levelling effect can be kept
High consistency；System architecture is succinct, and integrated level is high, volume compact, and modularization interchangeability is good.
Present invention is mainly applied to big load mobile unit and field work with the hydraulic pressure of large special engineering platform from
In dynamic leveling system, there is high leveling precision, intelligence degree height, speed is fast, bearing capacity is strong, stability is good, transmission efficiency
It is high, suitable for adverse circumstances, easy for operation, mobility is good, easy to maintain the advantages that.
Brief description of the drawings
Fig. 1 is the structure of fluid pressure type levelling control system one preferred embodiment of the present invention based on mechanical-electrical-hydraulic integration design
Block diagram；
Fig. 2 is the theory diagram of the hydraulic system；
Fig. 3 is the cross-sectional view of the leveling support leg；
Fig. 4 is the cross-sectional view of the ball-screw；
Fig. 5 is the flow chart of the leveling method；
Fig. 6 is the coordinate system schematic diagram of the fluid pressure type levelling control system；
Fig. 7 is the control principle drawing of the fluid pressure type levelling control system；
The mark of each part is as follows in accompanying drawing：1st, AC servo motor, 2, hydraulic pump, 3, three-position four-way electromagnetic directional valve,
4th, bidirectional hydraulic lock, 5, hydraulic motor, 6, two-bit triplet solenoid directional control valve, 71, precursor overflow valve, 72, overflow valve, 8, two two
Electric change valve, 9, leveling support leg, 91, base, 911, pressing plate, 912, bottom plate, 92, ball-screw, 921, nut,
9211st, boss, 922, screw rod, 923, ball, 93, upper limit detection switch, 94, lower limit detection switch, 95, pulse detection switch,
96th, sleeve, 961, lower end set, 962, upper end set, 97, spherical end, 98, two-direction thrust bearing, 99, shaft coupling, 90, be oriented to
Key.
Embodiment
Presently preferred embodiments of the present invention is described in detail below in conjunction with the accompanying drawings, so that advantages and features of the invention energy
It is easier to be readily appreciated by one skilled in the art, apparent is clearly defined so as to be made to protection scope of the present invention.
Referring to Fig. 1, the embodiment of the present invention includes：
A kind of fluid pressure type levelling control system based on mechanical-electrical-hydraulic integration design, including central processing unit and centre
Reason device input connected horizon sensor, human and machine interface unit, landing detection switch, it is connected with central processing unit output end
Hydraulic system, four leveling support legs.Horizon sensor, human and machine interface unit are connected by data wire with central processing unit
Connect, horizon sensor is used to detection level degree and inputted to central processing unit, human and machine interface unit that touch-screen can be used, both can be with
, again can be by instruction input for showing the information such as levelness, the electric current of support leg motor, moment of torsion, rotating speed, temperature, failure code
To central processing unit.Landing detection switch is used to detect the whether close landing of leveling support leg.Central processing unit is used for according to people
The instruction of machine boundary element input and the horizontal degrees of data of horizon sensor detection, are supported by each leveling of HYDRAULIC CONTROL SYSTEM
Leg.
Hydraulic system includes hydraulic oil container, the AC servo motor 1 being sequentially connected, hydraulic pump 2, hydraulic manifold block, hydraulic pressure
Motor 5, each leveling support leg 9 are connected by a hydraulic motor 5 with hydraulic manifold block.AC servo motor 1 is used to drive
The mechanical energy of output is converted into the pressure energy of hydraulic fluid by hydraulic pump 2, hydraulic pump 2, and both collectively constitute the dynamic of hydraulic system
Power source；Hydraulic manifold block is used for the switching for controlling hydraulic system oil circuit, realizes the forward and reverse of hydraulic motor 5；Hydraulic motor 5
For driving the flexible of leveling support leg 9, the levelling function of leveling support leg 9 is realized.The hydraulic system uses small size
Engineering hydraulic station, its small volume is taken into full account in design, the requirement compact-sized, function is complete, has possessed complete pressure
Control function, flow control function, leveling support leg synchronization control function and the outdoor functions of waterproof and dustproof used.The system
The power source that is made up of AC servo motor 1 and hydraulic pump 2 provides power, by controlling the working condition of related hydraulic valve,
Fluid is sent to hydraulic motor 5 by fluid pressure line, the driving leveling support leg of hydraulic motor 5 realizes the levelling function of vehicle.
Preferably, the hydraulic pump 2 of the hydraulic system selects PARKER high-pressure gear pumps, by controlling AC servo motor
1 rotating speed carrys out the output flow of controlling pump, and then realizes the change of the speed of leveling support leg 9, and speed when freely declining is
350mm/min, speed during leveling is 100mm/min.Hydraulic motor 5 is using import large torque low speed hydraulic motor and band brake
Device, long-time self-locking can be realized.Hydraulic motor 5 carries brake, for prevent motor weight effect under voluntarily glide, it is necessary to
During action, brake must be opened by internal control oil circuit, hydraulic motor 5 could act, for supporting time to oil circuit fuel feeding
It is longer, the not high locked loop of movement velocity, support leg lock function can be realized.Bidirectional hydraulic lock 4 is by two hydraulically-controlled one-way valves
It is arranged in same valve body, valve element uses cone valve type structure, and good seal performance, leakage is minimum, and oil circuit locking effect is preferable, double
It is used to prevent hydraulic cylinder or motor from voluntarily gliding under weight effect, it is necessary to when acting to hydraulic lock 4, must leads to oil circuit fuel feeding
Crossing internal control oil circuit opening check valve connects oil circuit, and hydraulic motor could act, longer for supporting time, movement velocity
Not high locked loop, support leg lock function can be realized.Bidirectional hydraulic lock 4 locks leveling control for a long time after being used for system cut-off
System processed, it is ensured that will not be glided in the case of system at rest, duplicate protection is formed with the hydraulic motor with brake.
With reference to Fig. 2, the one end of hydraulic pump 2 connection hydraulic oil container, the other end connection hydraulic manifold block of the hydraulic system.Institute
Stating hydraulic manifold block includes bidirectional hydraulic lock 4,2/2-way solenoid directional control valve 8, overflow valve 72, the guide being connected with hydraulic pump 2
Overflow valve 71, two-bit triplet solenoid directional control valve 6, three-position four-way electromagnetic directional valve 3, the input of 2/2-way solenoid directional control valve 8
It is connected with precursor overflow valve 71, output end is connected with overflow valve 72, the other end and hydraulic motor of two-bit triplet solenoid directional control valve 6
5 are connected, and three-position four-way electromagnetic directional valve 3 is connected by bidirectional hydraulic lock 4 with hydraulic motor 5, three-position four-way electromagnetic directional valve 3
Output end, the output end of overflow valve 7 are respectively connected with hydraulic oil container.Precursor overflow valve 71, overflow valve 72 and 2/2-way electromagnetism change
System multi-stage pressure regulating and safety protection function are formed to valve 8, cutting by two 2/2-way solenoid directional control valves 8 in the course of work
Change the switching for realizing operating pressure；The maximum pressure of simultaneity factor is determined by precursor overflow valve 71, to protect system will not be because of pressure
The too high damage of power.Two-bit triplet solenoid directional control valve 6 is used for locking and the unlocking function for realizing motor, when system works, two three
The electromagnet of electric change valve 6 obtains electric, and hydraulic oil flows to hydraulic motor 5 through two-bit triplet solenoid directional control valve 6, realizes the solution of motor
Lock；After the completion of work, the electromagnet dead electricity of two-bit triplet solenoid directional control valve 6, fluid flows back to fuel tank, horse in the brake of hydraulic motor 5
Up to locking.Three-position four-way electromagnetic directional valve 3 primarily serves the effect of switching oil circuit, realizes the forward and reverse of hydraulic motor 5.
After central processing unit sends leveling instruction, motor 1 starts, and drives hydraulic pump 2 to move, while four 3-position 4-ways
The left side electromagnet of solenoid directional control valve 3 obtains electric, and reversal valve is operated in left position, and fluid is through check valve (not shown), 3-position 4-way
Solenoid directional control valve 3, bidirectional hydraulic lock 4 enter hydraulic motor 5, drive hydraulic motor 5 to rotate forward, system enters leveling state, now
The rotating speed of AC servo motor 1 reaches the first rotating speed, and the first rotating speed corresponds to speed (350mm/ when leveling support leg 9 freely declines
Min), hydraulic pump 2 exports larger flow, and hydraulic motor 5 is rotated with higher speed, and leveling support leg 9 quickly lands；When falling
Ground detection switch sends control signal, the rotating speed of AC servo motor 1 is decreased to the second rotating speed, and the second rotating speed corresponds to leveling support
Speed (100mm/min) during leg leveling, the flow of hydraulic pump 2 reduce, and four leveling support legs 9 are started building with relatively low speed band
Make platform rising, into leveling strategy working procedure.When leveling support leg 9 is withdrawn, central processing unit sends signal, control three
The position right side electromagnet of four-way electromagnetic reversing valve 3 obtains electric, is operated in right position, and now hydraulic motor 5 rotates backward, and drives supporting leg to receive
Return.When leveling support leg 9 reaches lower limit detection switch 94, system, which sends signal, is operated in three-position four-way electromagnetic directional valve 3
Middle position, while motor 1 stalls, hydraulic pump 2 is stopped.When by workbench lifting in the air, brake failure, stop do not live work
When making platform, hydraulic motor 5 can rotate in the presence of weight, due to devising bidirectional hydraulic lock 4 in system, therefore can keep
The self-locking state of system, prevents workbench from falling.Preferably, three-position four-way electromagnetic directional valve 3 is from control work(manually
The reversal valve of energy, it can so ensure to keep work in the case of electromagnet damage.When system dead electricity, pass through vehicle self-carrying
Power takeoff takes out power and carrys out motor 1, and then drives hydraulic pump 5 to operate.
Refer to Fig. 3 and Fig. 4, leveling support leg 9 is the executing agency of the system, it include base 91, ball-screw 92,
Upper limit detection switch 93, lower limit detection switch 94, pulse detection switch 95, ball-screw 92 are placed on base 91, and it includes spiral shell
Mother 921, screw rod 922 and ball 923, ball-screw 92 are located among sleeve 96, and sleeve 96, nut 921 and screw rod 922 have phase
Same axis.The upper end of screw rod 922 is connected with the output shaft of hydraulic motor 5, and the upper end both sides of nut 921 are provided with boss
9211st, bottom is provided with spherical end 97, and base 91 is provided with spherical groove, and the spherical end 97 of the bottom of nut 921 stretches out set
Outside the lower port of cylinder 96, spherical end 97 is placed in spherical groove.Base 91 includes bottom plate 911 and pressing plate 912, the He of bottom plate 911
It is fixed together by screw between pressing plate 912, spherical end 97 is fixed in spherical groove by pressing plate 912.Ball
Sleeve 96 is arranged with the periphery of the nut 921 of leading screw 92, the upper end of sleeve 96 and screw rod 922 passes through two-direction thrust bearing 98
It is connected；Two-direction thrust bearing 98 is sheathed on the outer peripheral face of the upper end of screw rod 922, the outer peripheral face of two-direction thrust bearing 98 and lower end
The inner peripheral surface of set 961 and sleeve 96 is engaged, and the load force that screw rod 922 is subject to is delivered to rigid set by two-direction thrust bearing 98
On cylinder 96, thus improve the load-carrying properties of supporting leg.In the lower end of sleeve 96, sleeve 96 passes through feather key 90 and the phase of nut 921
Connection.Lower limit detection switch 94 is arranged on the top of sleeve 96, and upper limit detection switch 93 is arranged on the bottom of sleeve 96.Pulse is examined
Slowdown monitoring switch 95 is arranged on the sleeve 96 in the outside of 921 boss of nut 9211, and ball-screw 92 obtains two pulses for each revolution
Signal, the I/O port of central processing unit is delivered to, calculates the flexible actual range of leg that handles and then be supported.
In a preferred embodiment of the present invention, the fluid pressure type levelling control system based on mechanical-electrical-hydraulic integration design
Also include four Auxiliary support legs, each Auxiliary support leg is connected by a hydraulic motor 5 with hydraulic manifold block, Auxiliary support
The structure of leg is identical with the structure of leveling support leg 9, and Auxiliary support leg has landing detection function.The design of eight supporters
Form that eight point type vehicle-mounted hydraulic automatic horizontal control systems are more steady, and resistance to capsizing is strong, and replicate supporting leg and leveling support leg
Structure design is consistent, and has commutativity.Leveling support leg 9, Auxiliary support leg are fixed on the bionical support arm of seat coach both sides,
Using the structure type of outward flange bolt-connection, it is easy to quickly change and repair, meets maneuverability requirement.Wherein, landing detection
Switch is i.e. installed in the inside of outward flange.Leveling support leg 9, Auxiliary support leg and hydraulic motor 5 are combined into one, single support
Leg maximum output ability is up to 15 tons.
Referring to Fig. 5, the leveling method of the fluid pressure type levelling control system based on mechanical-electrical-hydraulic integration design is being adjusted
Using " chasing after height " leveling, the leveling strategy of " keeping rising " on flat algorithm.The algorithm is independent in X-axis and Y-axis both direction respectively
Leveling, ensure that bi-axial tilt degree is restrained to horizontal level convergence within the most short time, the rapid overall target for reaching leveling, together
When, the leveling strategy can overcome the common process defect of " exchanging level for deformation ", and can be effectively prevented from " empty leg "
Traditional handicraft defect.
Assuming that vehicular platform is pure rigid model, the coordinate system of levelling control system is as shown in Figure 6.Plane X0Y0It is horizontal
Face, plane XY are platform planes, and O, A, B, C are the strong points of 4 supporting legs of platform, and α represents platform with horizontal plane in X0Direction of principal axis
Angle, β represents platform and horizontal plane in Y0The angle of direction of principal axis, L1, L2 are the length and width of mobile vehicle platform.X-axis first
Direction leveling, α>2 points of risings of O, C, α when 0<2 points of risings of A, B when 0, when X-axis angle [alpha] carries out Y-axis tune again when within precision
It is flat, β>2 points of risings of O, A, β when 0<2 points of risings of B, C when 0, when Y-axis angle beta recycles X-axis, Y under judgement when within precision
Direction of principal axis angle accurate adjustment, when α, β meet required precision leveling terminate.
In real work, the system using programmable computer controller PLC as central processing unit, using hydraulic pressure and
PLC builds to design, and with reference to Fig. 7, the operational order of operating personnel is received by human and machine interface unit, PLC is to level inclination biography
The detection in real time of the intelligence of the level inclination angle of sensor, controls hydraulic manifold block, so as to control with the control mode of IO input and output
Hydraulic motor rotating processed, drive screw mandrel to move up and down, realize the elevating movement and automatic leveling motion of eight supporting legs.
The present invention uses hydraulic-driven, and the driving force of system is big, and load capacity is strong, and the bearing capacity of single supporting leg reaches
It is 15 tons, compact-sized, it is adapted to use on heavy mobile vehicle；Using hydraulic pressure horse, 5 (band brake, Hall sensors) and
Bidirectional hydraulic lock 4 can make hydraulic system obtain higher locking precision, solve that hydraulic means stability is not high, leveling precision is low
The problem of；Using 8 supporting constructions, resistance to capsizing is strong, and system operatio is simple, easy to use, and leveling speed is fast, can be effective
Improve the mobility of vehicular platform；
The present invention realizes the control of hydraulic leveling system and power using the mechanical-electrical-hydraulic integration technology based on PLC controls
The requirement of driving, by the intelligence detection in real time of the level inclination angle to level inclination sensor element, control hydraulic motor
Driving, realize that four support legs link and are adjusted to horizontality；Hydraulic system integrated level is high, and stable and reliable in work, fault rate is low, dimension
Shield is easy；Part overload protection ability is strong；Hydraulic leveling precision is high, and the good system of adjustment is operated in different external environment conditions and born
When under load situation, the high consistency of levelling effect can be kept；System architecture is succinct, and integrated level is high, volume compact, and modularization is mutual
It is transsexual good.
Present invention is mainly applied to big load mobile unit and field work with the hydraulic pressure of large special engineering platform from
In dynamic leveling system, there is high leveling precision, intelligence degree height, speed is fast, bearing capacity is strong, stability is good, transmission efficiency
It is high, suitable for adverse circumstances, easy for operation, mobility is good, easy to maintain the advantages that.
Embodiments of the invention are the foregoing is only, are not intended to limit the scope of the invention, it is every to utilize this hair
The equivalent structure or equivalent flow conversion that bright specification and accompanying drawing content are made, or directly or indirectly it is used in other related skills
Art field, is included within the scope of the present invention.
Claims (7)
1. it is a kind of based on mechanical-electrical-hydraulic integration design fluid pressure type levelling control system, it is characterised in that including central processing unit,
Horizon sensor, human and machine interface unit, landing detection switch and the central processing unit being connected with central processing unit input export
The connected hydraulic system in end, four leveling support legs, hydraulic system mainly include AC servo motor, the hydraulic pressure being sequentially connected
Pump, hydraulic manifold block, hydraulic motor, each leveling support leg are connected by a hydraulic motor with hydraulic manifold block；
AC servo motor is used to drive hydraulic pump, and the power source of hydraulic system is collectively constituted with hydraulic pump；
Hydraulic manifold block is used for the switching for controlling hydraulic system oil circuit, realizes the forward and reverse of hydraulic motor；
Hydraulic motor is used to drive the flexible of leveling support leg, realizes the levelling function of leveling support leg；
Leveling support leg includes base, ball-screw, upper limit detection switch, lower limit detection switch, pulse detection switch, ball wire
Thick stick is placed on base, and pulse detection switch, lower limit detection switch are arranged on the top of ball-screw, and upper limit detection switch is arranged on
The bottom of ball-screw；
The horizontal degrees of data that central processing unit is used for the instruction inputted according to human and machine interface unit and horizon sensor detects, passes through
The each leveling support leg of HYDRAULIC CONTROL SYSTEM.
2. the fluid pressure type levelling control system according to claim 1 based on mechanical-electrical-hydraulic integration design, it is characterised in that
Also include four Auxiliary support legs, each Auxiliary support leg is connected by a hydraulic motor with hydraulic manifold block, Auxiliary support
The structure of leg is identical with the structure of leveling support leg.
3. the fluid pressure type levelling control system according to claim 1 or 2 based on mechanical-electrical-hydraulic integration design, its feature exist
Include nut, screw rod and ball in the ball-screw of, leveling support leg and Auxiliary support leg, the upper end of screw rod and hydraulic motor
Output shaft is connected, and the upper end both sides of nut are provided with boss, bottom is provided with spherical end, and base is provided with spherical groove, ball
Shape termination is placed in spherical groove；It is arranged with sleeve on the periphery of the nut of ball-screw, the upper end of sleeve Yu's screw rod passes through double
Axial thrust bearing is connected.
4. the fluid pressure type levelling control system according to claim 3 based on mechanical-electrical-hydraulic integration design, it is characterised in that
Ball-screw is located among sleeve, and the spherical end of nut bottom is stretched out outside the lower port of sleeve；Two-direction thrust bearing set
On the outer peripheral face of screw rod upper end, the outer peripheral face of two-direction thrust bearing is covered with lower end and the inner peripheral surface of sleeve is engaged；Pulse
Detection switch is arranged on the sleeve of nut outside the boss.
5. the fluid pressure type levelling control system according to claim 1 or 2 based on mechanical-electrical-hydraulic integration design, its feature exist
In hydraulic manifold block includes bidirectional hydraulic lock, 2/2-way solenoid directional control valve, overflow valve, the guide's overflow being connected with hydraulic pump
Valve, two-bit triplet solenoid directional control valve, three-position four-way electromagnetic directional valve, input and the guide's overflow of 2/2-way solenoid directional control valve
Valve is connected, output end is connected with overflow valve, and the other end of two-bit triplet solenoid directional control valve is connected with hydraulic motor, 3-position 4-way electricity
Magnetic reversal valve is connected by bidirectional hydraulic lock with hydraulic motor.
6. the fluid pressure type levelling control system according to claim 1 or 2 based on mechanical-electrical-hydraulic integration design, its feature exist
In hydraulic motor carries brake.
7. the fluid pressure type levelling control system according to claim 1 or 2 based on mechanical-electrical-hydraulic integration design, its feature exist
In central processing unit is programmable computer controller.
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| CN110395229A (en) * | 2019-07-29 | 2019-11-01 | 北京航天发射技术研究所 | A kind of leveling support device and leveling method based on remote wireless control |
| CN110985465A (en) * | 2019-10-25 | 2020-04-10 | 安徽博微长安电子有限公司 | Landing detection method for leveling legs |
| CN112537279A (en) * | 2020-12-14 | 2021-03-23 | 安徽博微长安电子有限公司 | Hydraulic leveling supporting leg withdrawing system and withdrawing method for large-tonnage vehicle-carrying platform |
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| CN110985465B (en) * | 2019-10-25 | 2021-12-14 | 安徽博微长安电子有限公司 | Landing detection method for leveling legs |
| CN112537279A (en) * | 2020-12-14 | 2021-03-23 | 安徽博微长安电子有限公司 | Hydraulic leveling supporting leg withdrawing system and withdrawing method for large-tonnage vehicle-carrying platform |
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| CN107472210B (en) | 2023-03-31 |
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