CN109630487B - Automatic leveling system for frame, leveling and safety control method - Google Patents
Automatic leveling system for frame, leveling and safety control method Download PDFInfo
- Publication number
- CN109630487B CN109630487B CN201910010961.3A CN201910010961A CN109630487B CN 109630487 B CN109630487 B CN 109630487B CN 201910010961 A CN201910010961 A CN 201910010961A CN 109630487 B CN109630487 B CN 109630487B
- Authority
- CN
- China
- Prior art keywords
- supporting leg
- leveling
- leg
- judging
- controller
- 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.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 20
- 238000001514 detection method Methods 0.000 claims abstract description 25
- 210000001364 upper extremity Anatomy 0.000 claims description 12
- 230000001105 regulatory effect Effects 0.000 claims description 5
- 230000000630 rising effect Effects 0.000 claims description 2
- 230000000694 effects Effects 0.000 abstract description 3
- 238000011897 real-time detection Methods 0.000 abstract 1
- 230000001276 controlling effect Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000005283 ground state Effects 0.000 description 2
- 230000008602 contraction Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F11/00—Lifting devices specially adapted for particular uses not otherwise provided for
- B66F11/04—Lifting devices specially adapted for particular uses not otherwise provided for for movable platforms or cabins, e.g. on vehicles, permitting workmen to place themselves in any desired position for carrying out required operations
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F17/00—Safety devices, e.g. for limiting or indicating lifting force
- B66F17/006—Safety devices, e.g. for limiting or indicating lifting force for working platforms
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/02—Servomotor systems with programme control derived from a store or timing device; Control devices therefor
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Structural Engineering (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- General Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
The invention discloses an automatic leveling system for a frame, a leveling and safety control method, which comprises a chassis, an auxiliary frame, movable supporting legs, a double-shaft sensor arranged on the auxiliary frame, and an oil pressure sensor arranged on an oil path of an oil cylinder of the supporting legs, wherein the double-shaft sensor is used for detecting the inclination angle of the auxiliary frame in the X, Y-axis direction and transmitting a detection signal to a controller, and the oil pressure sensor is used for detecting the pressure of the oil cylinder of the supporting legs and transmitting the detection signal to the controller. The invention can realize real-time detection of the inclined state of the auxiliary frame, and can realize high-speed extension and low-speed dynamic leveling of the movable supporting leg oil cylinder, thereby realizing quick and accurate leveling; and judge whether the chassis tire leaves the ground, the hydro-cylinder stretches to the head through gathering the oil pressure sensor data, avoid leveling the problem that becomes worse, through setting up the leveling condition of comprehensive judgement, make the frame leveling in acceptable range, or in time report to the police and remind operating personnel to carry out manual adjustment, play the effect of safety control, improve the operation security.
Description
Technical Field
The invention relates to an automatic leveling system and leveling and safety control method for a frame, and belongs to the technical field of leveling control of engineering machinery frames.
Background
An overhead working truck is a vehicle in which a plurality of hydraulic cylinders are controlled by a hydraulic or electric system to realize lifting operation. When the overhead working truck works, in order to ensure safety, the tires are required to leave the ground, and the lower truck frame is ensured to be leveled within a required range. Therefore, the effect of leveling the lower frame affects the stability of the vehicle and the safety of operators in the overhead working truck.
The existing high-altitude operation vehicle frame leveling is mostly manually leveled, the leveling principle is that operators observe the positions of air bubbles of a level meter, and corresponding supporting legs are judged to be adjusted until the frame is adjusted to be a position considered to be horizontal by the operators, and the leveling mode is low in efficiency and low in leveling level precision.
And some vehicle models adopt a frame automatic leveling system. For example, chinese patent application No. 201310550585.X discloses an automatic leveling device and leveling method for a vehicle frame, the automatic leveling device includes a control mechanism and an actuating mechanism, the actuating mechanism includes five electromagnetic directional valves, a horizontal cylinder for controlling the horizontal extension of a supporting leg of the vehicle frame and four vertical cylinders for adjusting the horizontal position of the supporting leg, the control mechanism includes a control chip, a dual-shaft leveling controller, a travel switch and four bottoming switches, the dual-shaft leveling controller, the travel switch, the bottoming switch and the five electromagnetic directional valves are all connected with the control chip, and the dual-shaft leveling controller is arranged on the vehicle frame for obtaining horizontal inclination angle signals of the vehicle frame in the transverse direction and the longitudinal direction. Although the automatic leveling function is provided, the tire is not detected off the ground, the automatic leveling device needs to be manually judged, the leveling efficiency is reduced, meanwhile, the automatic leveling device is not provided with functions of detecting the tilting safety control of the whole vehicle and alarming in time due to the fact that a certain low-side supporting leg is extended in place and other high-side supporting legs are extended continuously, the automatic leveling device mainly depends on the manual judgment, the degree of automation is low, and meanwhile, the potential safety hazard of dumping the severely tilted vehicle exists.
The Chinese patent application number 201510183167.0 discloses a chassis leveling system of a hybrid arm overhead working truck, wherein a vertical oil cylinder and a horizontal oil cylinder are communicated with an oil tank through an eight-connection electromagnetic directional valve, an overflow valve and a speed regulating valve, and a double-shaft inclination sensor is arranged on a subframe; a horizontal in-place detection switch is respectively arranged on the side surface of the auxiliary frame support leg box, a horizontal in-place detection switch is respectively arranged below the auxiliary frame support leg box, a vertical in-place detection switch is respectively arranged on the mounting plate of the vertical oil cylinder, a tire off-ground detection switch is respectively arranged on the mounting plate above the tire, and a vertical ground contact detection switch is respectively arranged at the end part of the horizontal support leg; the eight-linkage electromagnetic reversing valve, the speed regulating valve, the double-shaft inclination angle sensor and the detection switch are connected with the PLC. The chassis leveling is controlled by automatic control instead of manual control, and the chassis is leveled in real time by driving a leveling mechanism through a detection switch, an eight-connection electromagnetic reversing valve, a PLC (programmable logic controller) and the like.
The Chinese patent application number 201310503219.9 discloses a landing leg leveling method and a landing leg leveling system, wherein the method comprises the following steps: s1, controlling a vertical oil cylinder of a reference supporting leg to extend out of a first preset length; the first preset length is not smaller than the length of the extending of the vertical oil cylinder when the tire of the engineering machine is at the minimum safe distance from the ground; the reference supporting leg is the supporting leg with the shortest distance from the ground among the supporting legs; s2, controlling the vertical cylinders of the other support legs to extend out until the top surfaces of the other support legs and the top surface of the reference support leg are positioned on the same horizontal plane. According to the landing leg leveling method, the landing leg closest to the ground is used as a reference landing leg, the vertical oil cylinders of the landing leg extend to a first preset length which is enough to ensure the safety distance between the tire and the ground, then the vertical oil cylinders of other landing legs extend, and the expansion and contraction amount is adjusted according to the position of the reference landing leg serving as a reference surface. Therefore, the situation that the tire is insufficient in ground clearance after leveling is prevented, the probability of repeated leveling is reduced, and the leveling efficiency is improved. However, due to randomness of the working ground, the first preset length for guaranteeing the safety distance between the tire and the ground is a preset fixed value, and the tire is lifted to a certain extent after the oil cylinder is not extended in place, for example, the ground where the supporting legs are located is a deeper pit; the fixed value is adopted to adapt to an uncertain value of the ground clearance, so that the leveling device has no flexibility, and the leveling adaptability and flexibility are reduced; and the high-low speed control is not performed, so that the leveling efficiency or the leveling precision is affected. The safety control is still lacking, and potential safety hazards exist.
Disclosure of Invention
In order to overcome various defects in the prior art, the invention provides an automatic leveling system and a leveling and safety control method for a vehicle frame, which improve the leveling efficiency and leveling precision of the vehicle frame, can avoid potential safety hazards caused by unstable tire stress supporting legs, have leveling safety control and danger reminding functions, and improve the safety coefficient of high-altitude operators.
In order to achieve the aim of the invention, the automatic leveling system of the vehicle frame comprises a chassis, an auxiliary vehicle frame and movable supporting legs, wherein the auxiliary vehicle frame is arranged on the chassis, the movable supporting legs are arranged on the front side and the rear side of the auxiliary vehicle frame, each movable supporting leg is provided with a supporting leg oil cylinder, and the movable supporting legs are driven to stretch through the supporting leg oil cylinders; the auxiliary frame also comprises a double-shaft sensor arranged on the auxiliary frame, an oil pressure sensor arranged on the oil path of the supporting leg oil cylinder, a controller for detecting the inclination angle of the auxiliary frame in the X, Y axial direction and transmitting the detection signal to the auxiliary frame, the oil pressure sensor is used for detecting the pressure of the supporting leg oil cylinders, sending detection signals to the controller, judging the controller after receiving the signals according to a preset logic program, and respectively outputting control signals to the supporting leg oil cylinders, the alarm device and the accelerator of the chassis.
An automatic leveling and safety control method for a frame comprises the following steps:
The first step, the oil pressure sensor detects the pressure of each supporting leg oil cylinder and transmits detection parameters to the controller, the controller performs preliminary judgment according to a preset program, and when P1 or P2 or P3 or P4 is smaller than a P value, the corresponding movable supporting leg is judged to extend; when the instantaneous pressure of P1 or P2 or P3 or P4 is equal to the P value, judging that the corresponding movable supporting leg is extended into place; when P1A1+P2A2+P3A3+P4A4 is smaller than G, then the tire is considered to be incompletely lifted off the ground; when P1A1+P2A2+P3A3+P4A4 is greater than or equal to G, the tire of the wheel is considered to be completely separated from the ground;
Wherein: p1 is the left front leg cylinder pressure, A1 is the left front leg cylinder sectional area, P2 is the left rear leg cylinder pressure, A2 is the left rear leg cylinder sectional area, P3 is the right rear leg cylinder pressure, A3 is the right rear leg cylinder sectional area, P4 is the right front leg cylinder pressure, A4 is the right front leg cylinder sectional area, P is the cylinder overflow pressure, G is the weight of the whole vehicle;
the second step, the controller outputs a signal to the chassis accelerator according to the judgment result of the first step, and when the wheel tires are not completely separated from the ground and the corresponding movable supporting legs can extend, the controller controls the chassis accelerator to operate at a high speed, so that the movable supporting legs extend rapidly, and the working efficiency is improved; when the tires of the wheels are judged to be completely separated from the ground, the controller controls the accelerator of the chassis to run at a low speed, and the auxiliary frame enters a leveling state;
thirdly, detecting the inclined state of the auxiliary frame by the double-shaft sensor and transmitting detection signals to the controller, and leveling the auxiliary frame by the controller according to a preset program:
A plane coordinate system is established forward by taking the vehicle head as the advancing direction of a Y axis, when X is more than 0 and Y is more than 0, the front right side is judged to be higher, and the front left supporting leg, the rear left supporting leg and the rear right supporting leg are regulated;
when X is more than 0 and Y=0, judging that the right side is higher, and adjusting the left front supporting leg and the left rear supporting leg;
when X is more than 0 and Y is less than 0, judging that the right rear side is higher, and adjusting the left front supporting leg, the left rear supporting leg and the right front supporting leg;
when X is smaller than 0 and Y is larger than 0, judging that the left front side is higher, and adjusting the left rear supporting leg, the right rear supporting leg and the right front supporting leg;
when X is less than 0 and Y=0, judging that the left side is higher, and adjusting the right rear supporting leg and the right front supporting leg;
When X is smaller than 0 and Y is smaller than 0, judging that the left rear side is higher, and adjusting the left front supporting leg, the right rear supporting leg and the right front supporting leg;
when X=0 and Y is larger than 0, judging that the front side is higher, and adjusting the left rear supporting leg and the right rear supporting leg;
when X=0 and Y is less than 0, judging that the rear side is higher, and adjusting the left front supporting leg and the right front supporting leg;
And fourthly, detecting the inclination angles of the auxiliary frame in the X and Y directions by the double-shaft sensor, judging the inclination state of the auxiliary frame, confirming the high support leg according to the logic preset by the double-shaft sensor in the previous step, adjusting the action of the corresponding movable support leg by adopting a lifting leveling method, leveling the auxiliary frame to be within a set ideal value range, and ending the leveling.
Because of the randomness of the operation field, the ground is often uneven or hollow, so that the supporting leg oil cylinder in a certain movable supporting leg extends to the head in advance, and therefore, when judging that a certain movable supporting leg extends to the position, the double-shaft sensor detects that the movable supporting leg is a high supporting leg, the double-shaft sensor adjusts other supporting legs based on the movable supporting leg;
When judging that a certain movable supporting leg is stretched in place according to the judgment logic of the first step, judging the inclination angle when the double-shaft sensor detects that the movable supporting leg is a low-side supporting leg, if X and Y are not larger than a set acceptable value, finishing leveling, and if X and Y have a certain value larger than the set acceptable value, sending a signal to an alarm device through a controller to alarm, and reminding to manually adjust.
Further, whether the support legs are adjusted in place or not can be judged according to the detection states of the oil pressure sensors in the oil cylinders of the support legs; or by an externally provided position detection switch.
Preferably, in the fourth step, the desired range of subframe leveling is + -0.4 deg..
Preferably, the acceptable value set for the inclination angle determination is 3 ° when a certain movable leg has been extended into place.
According to the automatic leveling system and the leveling and safety control method for the vehicle frame, disclosed by the invention, the movable supporting legs are adopted to automatically extend out at a high speed and automatically level at a low speed, so that the automatic leveling is performed automatically and quickly, the manual judgment and adjustment are not needed, the control precision is high, and the efficiency is high; the chassis tire and ground state can be automatically judged, all the tire ground-off states can be detected when the chassis tire and ground state works, and potential safety hazards caused by unstable tire stress supporting legs are avoided; the problem that the inclined angle of the auxiliary frame is larger because the existing supporting legs extend to the right in the leveling process and other supporting legs which do not extend to the right are still extended continuously without timely control can be avoided; the landing leg can be adjusted to the optimal state according to the ground condition, and the auxiliary frame can be inclined beyond the limiting alarm function, so that operators are reminded to take corresponding measures, the position of the vehicle is adjusted or the landing leg skid is increased, the leveling effect of the whole vehicle is improved, and the operation safety is ensured.
Drawings
FIG. 1 is a schematic diagram of a leveling system according to the present invention;
FIG. 2 is a schematic block diagram of a leveling system according to the present invention;
FIG. 3 is a schematic diagram of the logic control of the leveling and safety control method of the present invention;
in the figure: 1. a chassis; 2. an auxiliary frame; 3. a movable support leg; 4. a dual-axis sensor; 5. an oil pressure sensor; 6. a controller; 7. a landing leg oil cylinder; 8. and an alarm device.
Detailed Description
The invention is described in detail below with reference to the drawings and the specific embodiments.
The automatic leveling system for the frame comprises a chassis 1, an auxiliary frame 2 and movable support legs 3, wherein the auxiliary frame 2 is arranged on the chassis 1, the movable support legs 3 are arranged on the front side and the rear side of the auxiliary frame 2, each movable support leg 3 is provided with a support leg oil cylinder 7, and the movable support legs 3 are driven to stretch through the support leg oil cylinders 7; the hydraulic control system further comprises a double-shaft sensor 4 arranged on the auxiliary frame 2, an oil pressure sensor 5 arranged on an oil path of the supporting leg oil cylinder 7, wherein the double-shaft sensor 4 is used for detecting the inclination angle of the auxiliary frame 2 in the X, Y axial direction and transmitting detection signals to the controller 6, the oil pressure sensor 5 is used for detecting the pressure of the supporting leg oil cylinder 7 and transmitting the detection signals to the controller 6, and the controller 6 after receiving the signals makes judgment according to a preset logic program and outputs control signals to the supporting leg oil cylinder 7, the alarm device 8 and the accelerator of the chassis 1 respectively.
An automatic leveling and safety control method for a frame comprises the following steps:
The first step, the oil pressure sensor 5 detects the pressure of each supporting leg oil cylinder and transmits detection parameters to the controller 6, the controller 6 performs preliminary judgment according to a preset program, and when P1 or P2 or P3 or P4 is smaller than a P value, the corresponding movable supporting leg is judged to be capable of extending; when the instantaneous pressure of P1 or P2 or P3 or P4 is equal to the P value, judging that the corresponding movable supporting leg is extended into place; when P1A1+P2A2+P3A3+P4A4 is smaller than G, then the tire is considered to be incompletely lifted off the ground; when P1A1+P2A2+P3A3+P4A4 is greater than or equal to G, the tire of the wheel is considered to be completely separated from the ground;
Wherein: p1 is the left front leg cylinder pressure, A1 is the left front leg cylinder sectional area, P2 is the left rear leg cylinder pressure, A2 is the left rear leg cylinder sectional area, P3 is the right rear leg cylinder pressure, A3 is the right rear leg cylinder sectional area, P4 is the right front leg cylinder pressure, A4 is the right front leg cylinder sectional area, P is the cylinder overflow pressure, G is the weight of the whole vehicle;
The second step, the controller 6 outputs a signal to the chassis 1 accelerator according to the judgment result of the first step, when the wheel tires are not completely separated from the ground and the corresponding movable supporting legs 3 can extend, the controller 6 controls the chassis 1 accelerator to operate at a high speed, so that the movable supporting legs extend rapidly, and the working efficiency is improved; when the tires of the wheels are judged to be completely separated from the ground, the controller 6 controls the accelerator of the chassis 1 to run at a low speed, and the auxiliary frame enters a leveling state;
thirdly, the double-shaft sensor 4 detects the inclined state of the auxiliary frame 2 and transmits detection signals to the controller 6, and the controller 6 levels the auxiliary frame 2 according to a preset program:
A plane coordinate system is established forward by taking the vehicle head as the advancing direction of a Y axis, when X is more than 0 and Y is more than 0, the front right side is judged to be higher, and the front left supporting leg, the rear left supporting leg and the rear right supporting leg are regulated;
when X is more than 0 and Y=0, judging that the right side is higher, and adjusting the left front supporting leg and the left rear supporting leg;
when X is more than 0 and Y is less than 0, judging that the right rear side is higher, and adjusting the left front supporting leg, the left rear supporting leg and the right front supporting leg;
when X is smaller than 0 and Y is larger than 0, judging that the left front side is higher, and adjusting the left rear supporting leg, the right rear supporting leg and the right front supporting leg;
when X is less than 0 and Y=0, judging that the left side is higher, and adjusting the right rear supporting leg and the right front supporting leg;
When X is smaller than 0 and Y is smaller than 0, judging that the left rear side is higher, and adjusting the left front supporting leg, the right rear supporting leg and the right front supporting leg;
when X=0 and Y is larger than 0, judging that the front side is higher, and adjusting the left rear supporting leg and the right rear supporting leg;
when X=0 and Y is less than 0, judging that the rear side is higher, and adjusting the left front supporting leg and the right front supporting leg;
and fourthly, detecting the inclination angles of the auxiliary frame 2 in the X and Y directions by the double-shaft sensor 4, judging the inclination state of the auxiliary frame 2, confirming the high support leg according to the logic preset by the double-shaft sensor 4 in the previous step, adjusting the action of the corresponding movable support leg 3 by adopting a rising leveling method, leveling the auxiliary frame 2 to be within a set ideal value range, and ending the leveling.
Because of the randomness of the operation site, the ground is always uneven or hollow, so that the supporting leg oil cylinder 7 in a certain movable supporting leg 3 extends to the head in advance, when judging that a certain movable supporting leg 3 extends to the position, the double-shaft sensor 4 detects that the movable supporting leg 3 is a high supporting leg, and the movable supporting leg 3 is used as a reference for adjusting other supporting legs;
when judging that a certain movable supporting leg 3 is extended to the right according to the judgment logic of the first step, and simultaneously when the double-shaft sensor 4 detects that the movable supporting leg 3 is a low-side supporting leg, judging the inclination angle, if X and Y are not larger than the set acceptable value, finishing leveling, and if X and Y have a certain value larger than the set acceptable value, sending a signal to the alarm device 8 through the controller 6 to alarm to remind the operator to adjust manually.
Further, whether the support legs are adjusted in place or not can be judged according to the detection state of the oil pressure sensor 5 in each support leg oil cylinder 7; or by an externally provided position detection switch.
Preferably, in the fourth step, the desired range of leveling of the subframe 2 is + -0.4 deg..
Preferably, the acceptable value set for the inclination angle determination is 3 ° when a certain movable leg 3 has been extended into place.
In this embodiment, the number of the movable supporting legs is four, and some vehicle types have five or six supporting legs, so that the vehicle type can be judged according to actual conditions.
Claims (3)
1. The automatic leveling and safety control method for the vehicle frame is characterized by comprising the following steps of:
The first step, the oil pressure sensor (5) detects the pressure of each supporting leg oil cylinder and transmits detection parameters to the controller (6), the controller (6) performs preliminary judgment according to a preset program, and when P1 or P2 or P3 or P4 is smaller than a P value, the corresponding movable supporting leg is judged to be capable of extending; when the instantaneous pressure of P1 or P2 or P3 or P4 is equal to the P value, judging that the corresponding movable supporting leg is extended into place; when P1A1+P2A2+P3A3+P4A4 is smaller than G, then the tire is considered to be incompletely lifted off the ground; when P1A1+P2A2+P3A3+P4A4 is greater than or equal to G, the tire of the wheel is considered to be completely separated from the ground;
Wherein: p1 is the left front leg cylinder pressure, A1 is the left front leg cylinder sectional area, P2 is the left rear leg cylinder pressure, A2 is the left rear leg cylinder sectional area, P3 is the right rear leg cylinder pressure, A3 is the right rear leg cylinder sectional area, P4 is the right front leg cylinder pressure, A4 is the right front leg cylinder sectional area, P is the cylinder overflow pressure, G is the weight of the whole vehicle;
The second step, the controller (6) outputs a signal to the accelerator of the chassis (1) according to the judgment result of the first step, and when the fact that the wheel tire is not completely separated from the ground and the corresponding movable supporting leg (3) can extend is judged, the controller (6) controls the accelerator of the chassis (1) to operate at a high speed, so that the movable supporting leg extends rapidly, and the working efficiency is improved; when the tires of the wheels are judged to be completely separated from the ground, the controller (6) controls the accelerator of the chassis (1) to run at a low speed, and the auxiliary frame enters a leveling state;
Thirdly, the double-shaft sensor (4) detects the inclined state of the auxiliary frame (2) and transmits detection signals to the controller (6), and the controller (6) levels the auxiliary frame (2) according to a preset program:
A plane coordinate system is established forward by taking the vehicle head as the advancing direction of a Y axis, when X is more than 0 and Y is more than 0, the front right side is judged to be higher, and the front left supporting leg, the rear left supporting leg and the rear right supporting leg are regulated;
when X is more than 0 and Y=0, judging that the right side is higher, and adjusting the left front supporting leg and the left rear supporting leg;
when X is more than 0 and Y is less than 0, judging that the right rear side is higher, and adjusting the left front supporting leg, the left rear supporting leg and the right front supporting leg;
when X is smaller than 0 and Y is larger than 0, judging that the left front side is higher, and adjusting the left rear supporting leg, the right rear supporting leg and the right front supporting leg;
when X is less than 0 and Y=0, judging that the left side is higher, and adjusting the right rear supporting leg and the right front supporting leg;
When X is smaller than 0 and Y is smaller than 0, judging that the left rear side is higher, and adjusting the left front supporting leg, the right rear supporting leg and the right front supporting leg;
when X=0 and Y is larger than 0, judging that the front side is higher, and adjusting the left rear supporting leg and the right rear supporting leg;
when X=0 and Y is less than 0, judging that the rear side is higher, and adjusting the left front supporting leg and the right front supporting leg;
Fourthly, detecting the inclination angles of the auxiliary frame (2) in the X and Y directions by the double-shaft sensor (4), judging the inclination state of the auxiliary frame (2), confirming a high supporting leg according to the logic preset by the double-shaft sensor (4) in the previous step, adjusting the action of the corresponding movable supporting leg (3) by adopting a rising leveling method, leveling the auxiliary frame (2) to be within a set ideal value range, wherein the ideal value range is +/-0.4 degrees, and finishing the leveling;
When judging that a certain movable supporting leg (3) is stretched in place and detecting that the movable supporting leg (3) is a high supporting leg by a double-shaft sensor (4), adjusting other supporting legs by taking the movable supporting leg (3) as a reference;
when judging that a certain movable supporting leg (3) is stretched in place according to the judgment logic of the first step, and simultaneously, when the double-shaft sensor (4) detects that the movable supporting leg (3) is a low-side supporting leg, judging the inclination angle, if X and Y are not larger than set acceptable values, finishing leveling, and if X and Y have a certain value larger than the set acceptable value, sending a signal to the alarm device (8) through the controller (6) to alarm to remind the user to adjust manually.
2. The automatic leveling and safety control method for a vehicle frame according to claim 1, wherein whether the leg is adjusted in place can be determined based on the detection state of the oil pressure sensor (5) in each leg cylinder (7); or by an externally provided position detection switch.
3. The method for automatic leveling and safety control of a vehicle frame according to claim 1 or 2, characterized in that the acceptable value set for the inclination angle determination is 3 ° when a certain movable leg (3) has been extended into place.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910010961.3A CN109630487B (en) | 2019-01-07 | 2019-01-07 | Automatic leveling system for frame, leveling and safety control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910010961.3A CN109630487B (en) | 2019-01-07 | 2019-01-07 | Automatic leveling system for frame, leveling and safety control method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109630487A CN109630487A (en) | 2019-04-16 |
| CN109630487B true CN109630487B (en) | 2024-05-28 |
Family
ID=66057979
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910010961.3A Active CN109630487B (en) | 2019-01-07 | 2019-01-07 | Automatic leveling system for frame, leveling and safety control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109630487B (en) |
Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110467119B (en) * | 2019-07-11 | 2021-05-25 | 中联重科股份有限公司 | Vertical support leg unfolding control method and system and crane |
| CN112627531A (en) * | 2019-10-09 | 2021-04-09 | 青岛九合重工机械有限公司 | Novel pump truck automatic balance system |
| 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 |
| CN111267792B (en) * | 2020-03-12 | 2022-03-04 | 三一汽车制造有限公司 | Leveling method of vehicle and vehicle |
| CN113190049A (en) * | 2021-03-30 | 2021-07-30 | 北京机械设备研究所 | Platform leveling control system and method based on double-level sensor |
| CN113294412B (en) * | 2021-05-18 | 2024-07-09 | 山西航天清华装备有限责任公司 | Intelligent leveling system and method for engineering vehicle with hydraulic support legs |
| CN113336098A (en) * | 2021-05-28 | 2021-09-03 | 上海华兴数字科技有限公司 | Automatic frame leveling system and overhead working truck |
| CN114922014A (en) * | 2022-06-07 | 2022-08-19 | 山河智能装备股份有限公司 | Automatic leveling method of turnout laying and exchanging machine and turnout laying and exchanging machine |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2004359464A (en) * | 2003-05-15 | 2004-12-24 | Aichi Corp | Safety device of vehicle for high lift work |
| CN101683843A (en) * | 2008-09-28 | 2010-03-31 | 徐州重型机械有限公司 | Ground jack operating control device of wheel type engineering machinery chassis |
| CN101734576A (en) * | 2009-12-29 | 2010-06-16 | 中国人民解放军总后勤部建筑工程研究所 | All-terrain high-speed telescopic arm forklift truck |
| CN102277891A (en) * | 2011-05-19 | 2011-12-14 | 徐工集团工程机械股份有限公司科技分公司 | Walking engineering machinery and leveling device thereof |
| CN104842968A (en) * | 2015-04-17 | 2015-08-19 | 徐州徐工随车起重机有限公司 | Chassis leveling system for mixture arm high-altitude operation vehicle |
| WO2016037559A1 (en) * | 2014-09-10 | 2016-03-17 | 山东鲁能智能技术有限公司 | Charged water-flushing robot system and method for substation |
| CN107380140A (en) * | 2017-06-28 | 2017-11-24 | 湖北航天技术研究院总体设计所 | A kind of vehicle-mounted leveling system and control method based on double-shaft tilt angle sensor |
| CN209654332U (en) * | 2019-01-07 | 2019-11-19 | 徐州海伦哲特种车辆有限公司 | A kind of vehicle frame automatic horizontal control system |
-
2019
- 2019-01-07 CN CN201910010961.3A patent/CN109630487B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2004359464A (en) * | 2003-05-15 | 2004-12-24 | Aichi Corp | Safety device of vehicle for high lift work |
| CN101683843A (en) * | 2008-09-28 | 2010-03-31 | 徐州重型机械有限公司 | Ground jack operating control device of wheel type engineering machinery chassis |
| CN101734576A (en) * | 2009-12-29 | 2010-06-16 | 中国人民解放军总后勤部建筑工程研究所 | All-terrain high-speed telescopic arm forklift truck |
| CN102277891A (en) * | 2011-05-19 | 2011-12-14 | 徐工集团工程机械股份有限公司科技分公司 | Walking engineering machinery and leveling device thereof |
| WO2016037559A1 (en) * | 2014-09-10 | 2016-03-17 | 山东鲁能智能技术有限公司 | Charged water-flushing robot system and method for substation |
| CN104842968A (en) * | 2015-04-17 | 2015-08-19 | 徐州徐工随车起重机有限公司 | Chassis leveling system for mixture arm high-altitude operation vehicle |
| CN107380140A (en) * | 2017-06-28 | 2017-11-24 | 湖北航天技术研究院总体设计所 | A kind of vehicle-mounted leveling system and control method based on double-shaft tilt angle sensor |
| CN209654332U (en) * | 2019-01-07 | 2019-11-19 | 徐州海伦哲特种车辆有限公司 | A kind of vehicle frame automatic horizontal control system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109630487A (en) | 2019-04-16 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109630487B (en) | Automatic leveling system for frame, leveling and safety control method | |
| US9963841B2 (en) | Construction machine, particularly road milling machine, and method for compensating for ground unevenness for such a construction machine | |
| US9956842B2 (en) | System and method for controlling stability of milling machines | |
| JP2006517165A (en) | Method and apparatus for adjusting wheel camber | |
| CN103991351B (en) | Hydraulic flat car load carrying platform four-point supporting leveling system and its implementation | |
| CN101263264A (en) | Automotive construction engine and lifting column for a construction engine | |
| CN101891119B (en) | Automatic correction method for tyred container door type crane | |
| CN110056026B (en) | Blade control system, land leveler and control method thereof | |
| US8757729B2 (en) | Automatic rear leg control for cold planers | |
| AU2015215954A1 (en) | Automotive milling machine, as well as method for discharging milled material | |
| US11479309B2 (en) | Plant chassis leveling apparatus, systems and methods | |
| CN103342121A (en) | Oil field drilling machine, supporting leg leveling system thereof and supporting leg leveling method | |
| CN110258711B (en) | Automatic shovel loading triggering method and shovel loading control method for loader | |
| CN102139612B (en) | Vehicle as well as method and device for leveling hydro-pneumatic suspension of same | |
| WO2019021123A1 (en) | A levelling system for work machines | |
| CN201335984Y (en) | Self-leveling device for cargo stage of full-hydraulic power car | |
| CN209654332U (en) | A kind of vehicle frame automatic horizontal control system | |
| CN110042733B (en) | Attitude control method and control system for screed of paver | |
| CN105736906A (en) | Automatic supporting and leveling method for drill jumbo | |
| CN111824082A (en) | Automatic control method and system for transfer of self-propelled sugarcane transfer vehicle | |
| CN103612549A (en) | Wheeled crane suspension adjusting control system, method and device and wheeled crane | |
| JPH07137614A (en) | Vehicle body horizontally setting device of working vehicle with outrigger | |
| CN209293085U (en) | It is a kind of suitable for meticulous process when can quick levelling Measurement of Bulldozer | |
| CN112744301A (en) | Auxiliary system for slope operation of working machine and working machine | |
| CA2594191A1 (en) | Method and apparatus for controlling ride height and leveling of a vehicle having air suspension |
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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |