CN113441326B - Carrying platform capable of automatically adjusting deflection angle - Google Patents
Carrying platform capable of automatically adjusting deflection angle Download PDFInfo
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- CN113441326B CN113441326B CN202110715882.XA CN202110715882A CN113441326B CN 113441326 B CN113441326 B CN 113441326B CN 202110715882 A CN202110715882 A CN 202110715882A CN 113441326 B CN113441326 B CN 113441326B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B15/00—Details of spraying plant or spraying apparatus not otherwise provided for; Accessories
- B05B15/80—Arrangements in which the spray area is not enclosed, e.g. spray tables
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B15/00—Details of spraying plant or spraying apparatus not otherwise provided for; Accessories
- B05B15/60—Arrangements for mounting, supporting or holding spraying apparatus
- B05B15/62—Arrangements for supporting spraying apparatus, e.g. suction cups
- B05B15/625—Arrangements for supporting spraying apparatus, e.g. suction cups designed to be placed on the ground
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Abstract
The invention discloses a carrying platform capable of automatically adjusting deflection angles, which comprises: the mobile platform comprises a first side and a second side which are oppositely arranged; a bearing part located on the first side; the jack is fixedly connected with the second side and used for supporting the moving platform; the mounting plate is mounted on the mobile platform; the inclination angle sensor is fixed on the mounting plate; the adjusting device is used for installing the mounting plate on the moving platform and adjusting the mounting plate to be parallel to the moving platform; the displacement sensor is connected with the jack; and the controller is electrically connected with the inclination angle sensor and the displacement sensor and is used for controlling the jack to stretch according to the data detected by the inclination angle sensor and the displacement sensor. The carrying platform capable of automatically adjusting the deflection angle can provide a carrying platform capable of automatically adjusting the deflection angle for many times for equipment which has requirements on the deflection angle and needs to change a work place for many times.
Description
Technical Field
The invention relates to the technical field of carrying platform adjustment, in particular to a carrying platform capable of automatically adjusting a deflection angle.
Background
When some equipment works, the deflection angle is required to meet the requirement, the working place is required to be frequently replaced, the deflection angle of the platform carrying the equipment can be kept to meet the requirement when the working place is replaced, and the adjusting difficulty is increased. For example, when the automatic waterproof paint spraying device works, the requirement on the levelness of a platform is high, namely the deflection angle tends to zero, a spraying place is frequently changed, the platform carrying the device needs to be adjusted for many times according to the conditions of the working place, the current common method is adjusted by the naked eye or a level meter through the traditional manpower, the adjustment is troublesome, the difficulty is high, and the leveling time is long.
Disclosure of Invention
The invention mainly aims to provide a carrying platform capable of automatically adjusting a deflection angle, and aims to provide a platform capable of automatically adjusting the deflection angle for a plurality of times for equipment with requirements on the deflection angle.
In order to achieve the above object, the present invention provides a carrying platform capable of automatically adjusting a deflection angle, comprising:
the mobile platform comprises a first side and a second side which are oppositely arranged;
the bearing part is positioned on the first side and used for carrying operation equipment;
the jack is fixedly connected with the second side and used for supporting the moving platform;
a mounting plate mounted to the mobile platform;
the inclination angle sensor is fixed on the mounting plate so as to detect the deflection angle of the mounting plate;
the adjusting device is used for adjustably installing the mounting plate on the mobile platform and adjusting the mounting plate to be parallel to the mobile platform so that the inclination angle sensor detects an initial deflection angle;
the displacement sensor is connected with the jack and used for detecting the distance of the jack in each expansion and contraction process; and
and the controller is electrically connected with the inclination angle sensor and the displacement sensor and used for controlling the jack to stretch and retract according to data detected by the inclination angle sensor and the displacement sensor so as to enable the mobile platform to be in a horizontal state or deflect a preset angle.
Further, the carrying platform capable of automatically adjusting the deflection angle further comprises:
the pressure sensor is arranged on the jack and electrically connected with the controller and used for detecting the stress of the jack, and the controller judges whether the jack is supported on a supporting surface according to the stress of the jack.
Further, the controller is further configured to obtain a deflection angle of the mounting plate detected by the tilt angle sensor after it is determined that the jack is supported on the supporting surface, calculate a deviation of the jack according to a preset formula, and control the jack to extend and retract according to the deviation.
Furthermore, the number of the jacks is multiple, and the controller is further configured to calculate a deviation of each jack according to a preset formula, and control each jack to extend and retract according to the corresponding deviation.
The controller is further configured to select a deviation corresponding to one of the jacks as a reference, calculate a difference between the deviations corresponding to the other jacks relative to the deviations of the jacks, and control the other jacks to extend and retract according to the difference, where the jack whose corresponding deviation is not controlled by the controller is selected as the reference extends and retracts according to the corresponding deviation.
Further, under the condition that each jack needs to be extended continuously according to the corresponding deviation, the deviation with the minimum value is selected by the controller as a reference; and under the condition that at least part of the jacks need to retract according to the corresponding deviation, selecting the deviation with the maximum value in the jacks needing to retract by the controller as a reference.
Further, adjusting device includes the bolt, the mounting panel has seted up hole portion, moving platform and/or hole portion inner wall is equipped with the screw thread on the mounting panel, the bolt through with the cooperation of screw thread with moving platform and/or mounting panel are connected.
Furthermore, the adjusting device further comprises an elastic piece, the elastic piece is sleeved on the bolt, and the elastic piece is installed between the installation plate and the moving platform in a compression mode and exerts a preset pressure on the installation plate and the moving platform.
Further, the adjusting device further comprises a nut, and the nut is matched and connected with the bolt to fix and lock the bolt.
Further, the jack includes a manual adjustment for manually controlling the jack to adjust the deflection of the mobile platform.
The carrying platform capable of automatically adjusting the deflection angle provides a platform capable of automatically adjusting the deflection angle for a plurality of times for equipment with requirements on the deflection angle. The device is not limited by the hardness degree of the ground, can be automatically adjusted for many times, and has wide application scenes.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
FIG. 1 is a schematic structural diagram of a carrying platform with an automatically adjustable deflection angle according to an embodiment of the present invention;
FIG. 2 is an enlarged view of a portion of FIG. 1 at A;
FIG. 3 is a diagram of the relationship between the tilt angle sensor and the coordinates of the jack of the carrying platform for automatically adjusting the tilt angle according to the present invention;
the reference numbers illustrate:
| reference numerals | Name (R) | Reference numerals | Name (R) |
| 1 | |
2 | |
| 21 | |
23 | Bearing platform |
| 3 | Jack | 31 | Piston |
| 4 | |
5 | |
| 6 | |
61 | |
| 63 | |
7 | |
| 8 | |
9 | |
| 10 | |
11 | |
| 12 | Wheel of vehicle |
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without inventive step based on the embodiments of the present invention, are within the scope of protection of the present invention.
It should be noted that all directional indicators (such as up, down, left, right, front, back \8230;) in the embodiments of the present invention are only used to explain the relative positional relationship between the components, the motion situation, etc. in a specific posture (as shown in the attached drawings), and if the specific posture is changed, the directional indicator is changed accordingly.
In the present invention, unless otherwise explicitly stated or limited, the terms "connected", "fixed", and the like are to be understood broadly, for example, "fixed" may be fixedly connected, may be detachably connected, or may be integrated; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood according to specific situations by those of ordinary skill in the art.
In addition, if there is a description of "first", "second", etc. in an embodiment of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, the meaning of "and/or" appearing throughout includes three juxtapositions, exemplified by "A and/or B", including either A or B or both A and B. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.
Referring to fig. 1 and 2, the present invention provides a carrying platform capable of automatically adjusting a deflection angle.
In one embodiment, the carrier platform comprises:
the mobile platform 1 comprises a first side and a second side which are oppositely arranged, and the mobile platform 1 is used for carrying operation equipment;
the jack 3 is fixed on the second side and used for supporting the mobile platform 1;
the mounting plate 4 is mounted on the mobile platform 1;
the inclination angle sensor 5 is fixed on the mounting plate 4 and used for detecting the deflection angle of the mounting plate 4, wherein the deflection angle is an index which comprehensively reflects the size of the rotation inclination angle of the mounting plate 4 around the X axis and the Y axis; and
the adjusting device is used for installing the mounting plate 4 on the moving platform 1 and adjusting that the mounting plate 4 is parallel to the moving platform 1, so that the inclination angle sensor 5 detects an initial deflection angle.
In one embodiment, the initial deflection angle is "0 °", and both the moving platform 1 and the mounting plate 4 are in a horizontal state.
In one embodiment, the adjusting device includes a bolt 6, the bolt 6 includes a head 63 and a screw 61, the head 63 is connected to the screw 61, the mounting plate 4 is provided with an opening for the screw 61 of the bolt 6 to penetrate, the movable platform 1 is provided with a hole, the inner wall of the hole on the movable platform 1 and/or the mounting plate 4 is provided with a thread, and the bolt 6 is connected to the movable platform 1 and/or the mounting plate 4 by matching with the thread.
Referring to fig. 2, in one embodiment, the opening of the mounting plate 4 is a through hole penetrating through the upper and lower surfaces of the mounting plate 4. The mobile platform 1 is provided with an opening, the inner wall of the opening of the mobile platform 1 is provided with threads, the screw 61 is matched with the threads, and the head 63 abuts against the mounting plate 4. The bolt is used for adjusting the level of the mounting plate 4 so as to carry out initialization setting on the tilt angle sensor 5.
In another embodiment, the opening of the movable platform 1 is a through hole penetrating through the upper and lower surfaces of the movable platform 1. The screw 61 passes through a through hole of the moving platform 1 and is connected with the mounting plate 4 through matching with the thread.
The carrying platform further comprises: the bearing part 2 is located on the first side, and the mobile platform 1 bears the operation equipment through the bearing part 2.
In one embodiment, the carrying part 2 comprises a carrying platform 23 and a roller 21, the roller 21 is in rolling connection with the carrying platform 23, the carrying platform 23 is used for carrying the equipment, the roller 21 is used for moving the carrying platform 23, and the carrying part 2 can be controlled to move. In other embodiments, the bearing part 2 may not include the roller 21, and the bearing part 2 is directly placed on or fixed to the mobile platform 1, or the bearing part 2 may also directly form a part of the mobile platform 1, and the upper surface of the bearing part 2 forms a part of the upper surface of the mobile platform 1, or the bearing part 2 may also be connected to the mobile platform 1 by a slide rail slider or the like, and the bearing part 2 moves on the mobile platform 1 by the slide rail slider. Typically, the carrying platform 23 is parallel or coplanar with the moving platform 1.
It should be noted that the position of the tilt sensor 5 is not the same plane as the positions of the bearing part 2 and the mobile platform 1, so as to facilitate the installation and adjustment of the tilt sensor 5, and the tilt sensor 5 after installation can be in a stable state for a long time.
In one embodiment, the distance between the tilt sensor 5 and each of the jacks 3 is the same to facilitate adjustment of the jacks 3. In other embodiments, the distance between the tilt sensor 5 and each jack 3 may be different.
In one embodiment, the mounting plate 4 is located below the mobile platform 1, and the tilt sensor 5 is mounted on a side of the mounting plate 4 facing away from the mobile platform 1, and in other embodiments, the tilt sensor 5 may also be mounted on a side of the mounting plate 4 facing the mobile platform 1.
In this embodiment, the jack 3 is a hydraulic jack, and in other embodiments, the jack 3 may be a mechanical jack.
The jack 3 comprises a control element, a hydraulic system and an outer cylinder, wherein the hydraulic system comprises a piston 31, an oil way and a manual adjusting piece. The piston 31 is movably arranged in the outer cylinder, the piston 31 moves up and down under the action of the oil path to enable the jack 3 to extend and retract, and the moving distance of the piston 31 relative to the outer cylinder of the jack 3 is the extension value of the jack. The control element is used for controlling the oil circuit, so as to control the piston 31 to move up and down, so as to achieve the effect of controlling the jack 3 to stretch, and the manual adjusting piece is used for manually controlling the piston 31 to move up and down, so as to adjust the deflection angle of the movable platform 1.
It should be noted that the oil passage may be located inside the outer cylinder or may be disposed outside the outer cylinder.
It should be noted that one of the oil passages may be shared by several of the jacks 3, for example: one oil passage may be used for one jack 3, two jacks 3 may share one oil passage, three jacks 3 may share one oil passage, and the like.
In one embodiment, the number of the jacks 3 is four, and four jacks 3 are symmetrically arranged on the mobile platform 1 about the X axis and the Y axis to better support the mobile platform 1. Wherein the X axis and the Y axis are perpendicular to each other to form an XY plane, the XY plane is a plane parallel to a horizontal plane, and in one embodiment, the origin of coordinates of the X axis and the Y axis is a center point of a projection of the tilt sensor 5 on the mobile platform 1.
When the carrying platform capable of automatically adjusting the deflection angle is used, the inclination angle sensor 5 needs to be initialized. In one embodiment, the initial deflection angle is "0 °", and the initialization setting step is as follows:
1. placing a level gauge on the bearing part 2, detecting whether the bearing part 2 is in a horizontal state through the level gauge, and when the bearing part 2 is not in the horizontal state, controlling the jack 3 to stretch and contract through the manual adjusting piece until the level gauge displays that the bearing part 2 is in the horizontal state, wherein the mobile platform 1 is in the horizontal state at the moment; and
2. adjusting the bolt 6, and observing the detection result of the tilt angle sensor 5 on the mounting plate 4, so that the rotation tilt angles of the mounting plate 4 around the X and Y axes, which are detected by the tilt angle sensor 5, on the horizontal plane all tend to 0, and when the readings of the rotation tilt angles of the mounting plate 4 around the X and Y axes, which are detected by the tilt angle sensor 5, on the horizontal plane all tend to 0, the tilt angle sensor 5 is in a horizontal state, so as to achieve the purpose of initializing the tilt angle sensor 5, where "0" is the initial deflection angle detected by the tilt angle sensor 5 in this embodiment. It is easy to understand that the mounting plate 4 is in a horizontal state, and the mounting plate 4 is parallel to the bearing part 2 and the moving platform 1.
In this embodiment, after the initial installation of the tilt sensor 5 is completed, the tilt sensor 5, the mounting plate 4 and the mobile platform 1 are parallel to each other, and the subsequent rotation tilt angle of the mounting plate 4 around the X and Y axes detected by the tilt sensor 5 is equal to the rotation tilt angle of the mobile platform 1 around the X and Y axes and the rotation tilt angle of the carrying part 2 around the X and Y axes. The controller 11 can calculate the expansion value of each jack 3 when the bearing part 2 reaches the horizontal state again through the rotation inclination angle of the mounting plate 4 around the X axis and the Y axis detected by the inclination angle sensor 5, even if the use environment changes, the inclination angle sensor 5 does not need to be initialized again, repeated debugging is not needed, and the use is convenient.
In one embodiment, the tilt angle of the carrier part 2 can also be detected directly by the tilt sensor 5.
In one embodiment, the adjusting device further comprises an elastic member 7, and in the present embodiment, the elastic member 7 is a spring. The elastic piece 7 is sleeved on the bolt 6, one end side of the elastic piece 7 abuts against the moving platform 1, and the other end of the elastic piece 7 abuts against the mounting plate 4. Normally, the elastic member 7 is in a compressed state, and provides a predetermined pressure to the movable platform 1 and the mounting plate 4 at both ends, so as to support the mounting plate 4 and the movable platform 1, and thus the mounting plate 4 is spaced from the movable platform 1 by a predetermined distance. The provision of the elastic element 7 facilitates a finer adjustment of the bolt 6 by the installer, and thus a better initial setting of the tilt sensor 5.
In one embodiment, the adjusting device further comprises a nut 8, and the nut 8 is in fit connection with the bolt 6 and used for fixedly locking the bolt 6. It is right after inclination sensor 5 initialization sets up, nut 8 can with bolt 6 firmly fixes, avoids in subsequent working process bolt 6 is not hard up to result in mounting panel 4 with nonparallel between the moving platform 1 needs to be right again inclination sensor 5 carries out initialization sets up the scheduling problem and appears. It will be readily understood that the elastic element 7 now rests with one end against the nut 8 and with the other end against the mounting plate 4.
The number of the bolts 6 is two or more, and in this embodiment, the number of the bolts 6 is four, so as to better adjust the deflection angle of the mounting plate 4. It is easy to understand that the number of the nuts 8 engaged with the bolts 6 at this time is four, and the number of the elastic members 7 is four.
The carrying platform capable of automatically adjusting the deflection angle further comprises:
the displacement sensor 9 is connected with the jack 3 and used for detecting the distance of each expansion and contraction of the jack 3;
and the pressure sensor 10 is arranged on the oil path of the jack 3, and is used for detecting the stress of the jack 3 so as to determine whether the jack 3 is in contact with a supporting surface, so that the carrying platform capable of automatically adjusting the deflection angle is supported more stably. In one embodiment, the support surface is the ground; and
and the controller 11 is electrically connected with the displacement sensor 9, the pressure sensor 10 and the inclination angle sensor 5 to obtain data detected by the displacement sensor 9, the pressure sensor 10 and the inclination angle sensor 5, and calculates the amount of the jack 3 which should be stretched and controls the jack 3 to stretch according to the obtained data so as to enable the mobile platform to be in a horizontal state or deflect a preset angle.
The carrying platform capable of automatically adjusting the deflection angle further comprises wheels 12, wherein the wheels 12 are installed on the second side of the moving platform 1 and used for conveniently transporting the equipment.
In one embodiment, after the leveling, the wheel 12 does not leave the ground, and at this time, the piston 31 is extended to contact the ground and is forced, so that the supporting state of the jack 3 can be better judged according to the change of the pressure value detected by the pressure sensor 10.
In one embodiment, the displacement sensor 9 includes a detection part, a reference part and a main body of the displacement sensor, the reference part is mounted on the outer cylinder, and the detection part of the displacement sensor 9 is mounted on the piston 31 for detecting the moving distance of the piston 31 relative to the reference part, i.e., the expansion value of the jack 3. Meanwhile, the displacement sensor 9 is connected with the controller 11, and uploads the expansion value of the jack 3 to the controller 11, and the controller 11 can judge the expansion condition of the jack 3 through the expansion value of the jack 3. It is easily understood that the main body of the displacement sensor 9 may be mounted on the jack 3, or may not be mounted on the jack 3. The number of the displacement sensors 9 may be matched to the number of the jacks 3, for example, one displacement sensor 9 may be provided on one jack 3, or the number of the displacement sensors 9 may be not matched to the number of the jacks 3, for example, a plurality of the displacement sensors 9 may be provided on one jack 3.
In an embodiment, the pressure sensor 10 is disposed in the oil path, and meanwhile, the pressure sensor 10 is connected to the controller 11, so as to detect pressure value data of the jack 3 and upload the detected pressure value data to the controller 11, and the controller 11 can determine the stress condition of the jack 3 through the pressure value data of the jack 3. It will be readily appreciated that when several of the jacks 3 share one of the oil passages, there may be only one of the pressure sensors 3.
In this embodiment, the four jacks 3 share one oil path, the pressure sensors 10 are disposed on the oil path, the number of the pressure sensors 10 is one, and each jack 3 is provided with one on-off valve controlled by the controller 11 and configured to control the corresponding oil path to extend and retract the corresponding jack 3.
When the on-off valve of a jack 3 is opened, the oil path is communicated with the jack 3 with the opened on-off valve, the pressure sensor 10 can detect the stress condition of the jack 3 with the opened on-off valve, and the controller 11 can control the jack 3 to extend and retract. When the switch valve of one jack 3 is closed, the oil path is disconnected with the jack 3.
The judgment and adjustment of the state of the jack 3 can be realized through the matching of the switch valve, the oil circuit and the pressure sensor 10.
In this embodiment, the pressure sensor 10 has a preset pressure value, which may be set according to actual conditions, for example, the preset pressure value may be set to be greater than the pressure caused by the liquid flowing in the oil path, and smaller than a value detected by the pressure sensor 10 when the jack 3 can support the carrying platform so that the wheel 12 is not supported by the ground. When the pressure value data detected by the pressure sensor 10 reaches the preset pressure value, the controller 11 can judge that the jack 3 is supported and stressed.
In one embodiment, the pressure sensor 10 is directly installed on a contact surface of the jack 3 contacting the supporting surface, and is used for detecting a pressure value received by the jack 3 from the supporting surface, and when the pressure value data detected by the pressure sensor 10 reaches a preset pressure value, it can be determined that the jack 3 is supported and stressed.
It is easy to understand that the number of the pressure sensors 10 may be matched with the number of the jacks 3, for example, one pressure sensor 10 is provided on one jack 3, or a plurality of pressure sensors 10 are provided on one jack 3.
After the initial setting of the tilt sensor 5 is completed, the equipment is carried to the position needing to work by the carrying platform.
At this time, if the device does not have the required yaw angle, the controller 11 may start a process of controlling the carrying platform to start automatic yaw angle adjustment.
In this embodiment, the required deflection angle when the device is in operation is "0 °", and the specific steps of the process of automatically adjusting the deflection angle are as follows:
1. the controller 11 controls the piston 31 to extend by a predetermined value according to the predetermined value related to the distance between the jack 3 and the support surface through the control element, at the same time, the displacement sensor 9 detects the actual extension value of the piston 31, the controller 11 reads the actual extension value of the piston 31 and compares the actual extension value with the predetermined value, and if the actual extension value is different from the predetermined value, the controller 11 continues to control the piston 31 to extend and retract until the actual extension value reaches the predetermined value;
2. the controller 11 controls the piston 31 to continue extending, and obtains the pressure value detected by the pressure sensor 10. When the detected pressure value reaches a preset pressure value, the controller 11 judges that the piston 31 of the jack 3 is supported on the supporting surface, and stops controlling the piston 31 to continue extending outwards, and by this way, the controller 11 determines that all the jacks 3 are supported on the supporting surface;
3. the controller 11 obtains the deflection angle of the mounting plate 4 detected by the tilt angle sensor 5, that is, the rotation angle of the mounting plate 4 around the X and Y axes, and calculates the deviation (Δ Z) of each jack 3 by using a preset formula, where the deviation is the difference between the distance value that the piston 31 should extend and the actual distance value that the piston 31 actually extends when the carrying platform is in the horizontal state, that is, the distance value that the piston 31 should continue to extend;
referring to fig. 3, in an embodiment, when the number of the jacks 3 is 4, the preset formula is as follows, where the center of the projection of the tilt sensor 5 on the mobile platform 1 is taken as an origin, the parameter (X, Y) in the calculation formula is a coordinate value from the center of the projection of each jack 3 on the mobile platform 1 to the origin, and if the rotation angle of the carrying platform about the X axis of the automatic deflection angle is α and the rotation angle about the Y axis is β, the deviation calculation formulas of the 4 jacks 3 are respectively:
ΔZ 1 ＝Y 1 tg(α)-X 1 tg(β)
ΔZ 2 ＝-Y 2 tg(α)-X 2 tg(β)
ΔZ 3 ＝Y 3 tg(α)+X 3 tg(β)
ΔZ 4 ＝-Y 4 tg(α)+X 4 tg (. Beta.); and
4. the controller 11 calculates the deviation according to the above formula, and controls the piston 31 to extend and contract according to the deviation through the control element. Meanwhile, the displacement sensor 9 detects the actual telescopic value of the piston 31, the controller 11 reads the actual outward extending distance value of the piston 31 and compares the actual outward extending distance value with the deviation, and for the jack 3 of which the actual outward extending value does not reach the deviation, the jack 3 is adjusted to continue to extend outward until the outward extending value reaches the corresponding deviation, so that the effect of automatically adjusting the deflection angle of the carrying platform is achieved.
The steps are also applicable to the condition that the required deflection angle of the equipment is not 0 degree when the equipment works, when the required deflection angle of the equipment is not 0 degree, the initial deflection angle detected by the inclination angle sensor 5 is set to be a required value by adjusting the mounting plate 4, and the controller 11 brings the required value into the formula for calculation, so that the carrying platform can be adjusted.
It is noted that in some cases the deviation (Δ Z) has a positive value and a negative value, and when the deviation is positive, the controller 11 controls the jacks 3 to continue to extend to adjust the carrying platform to a desired yaw angle, and when the deviation is negative, the controller 11 controls the jacks 3 to retract to adjust the carrying platform to a desired yaw angle. For example, when the deviation is 1.1mm, the controller 11 will control the jack 3 to extend 1.1mm, and when the deviation is-1.1 mm, the controller 11 will control the jack 3 to retract 1.1mm.
In one embodiment, when all the jacks 3 of the carrying platform are initially in contact with the supporting surface and are under force, the displacement sensor 9 detects the elongation of the jacks 3 with a value A1, the pressure sensor 10 detects the elongation of the jacks 3 with a value B1, when all the jacks 3 of the carrying platform are fully supporting the carrying platform, i.e. the wheels 12 are just not under force, the displacement sensor 9 detects the elongation of the jacks 3 with a value A2, and the pressure sensor 10 detects the elongation of the jacks 3 with a value B2. When the automatic deflection angle adjustment process is performed, when the displacement sensor 9 of the jack 3 detects that the elongation value of the jack 3 is between A1 and A2, and the pressure sensor 10 detects that the elongation value is between B1 and B2, it can be determined that the jack 3 is always in contact with the supporting surface and is stressed, and the wheel 12 does not leave the ground. At this time, the controller 11 controls the jack 3 to extend and contract. If the displacement sensor 9 detects that the elongation value of the jack 3 is not between A1 and A2 and the pressure sensor 10 detects that the elongation value is not between B1 and B2, the controller 11 controls the jack 3 to stop extending and retracting so as to prevent the jack 3 from leaving the ground or prevent the wheels 12 from leaving the ground.
It should be noted that in the process of automatically adjusting the offset angle, in one embodiment, the piston 31 in step 1 is extended rapidly to improve the efficiency of automatically adjusting the offset angle of the carrying platform. The piston 31 in step 2 is extended slowly.
During the process of extending the piston 31, the hydraulic system itself generates a corresponding amount of hydraulic pressure according to the speed of extending the piston 31. In a certain range, the faster the piston 31 extends out, the greater the hydraulic resistance generated by the hydraulic system itself will affect the detection result of the pressure sensor 10 on the stress of the piston 31, and further affect the judgment of the controller 11 on whether the piston 31 has contacted the ground and is stressed. Therefore, in step 2, where the distance between the piston 31 and the ground is small, compared to step 1, the piston 31 is driven to extend slowly to reduce the influence of the pressure generated by the liquid flow inside the hydraulic system on the detection result of the pressure sensor 10, so that the controller 11 can more accurately judge whether the piston 31 is supported and stressed according to the detection result of the pressure sensor 10. The problem of continuous repeated adjustment caused by overlarge stroke of the piston 31 of the jack 3 can be avoided, the leveling speed is increased, and the working efficiency is improved.
Further, the controller 11 is further configured to select a deviation corresponding to one of the jacks 3 as a reference, calculate a difference between the deviations corresponding to the other jacks 3 with respect to the deviations of the jacks 3, and control the other jacks 3 to extend and retract according to the difference, where the jack 3 whose corresponding deviation is selected as the reference is not controlled by the controller 11 to extend and retract according to the corresponding deviation.
In one embodiment, in the step of automatically adjusting the deflection angle of the jack 3, the carrying platform for automatically adjusting the deflection angle is adjusted only by extending the piston 31 of the jack 3, that is, the piston 31 of any jack 3 is not controlled to retract during the adjustment. The method comprises the following steps:
1. and under the condition that each jack 3 needs to continue extending according to the corresponding deviation, selecting the deviation with the minimum value by the controller 11 as a reference, and under the condition that at least part of the jacks 3 need to retract according to the corresponding deviation, selecting the deviation with the maximum value in the jacks 3 needing to retract as a reference by the controller 11.
2. And calculating the difference value of the deviation of other jacks 3 relative to the reference value, wherein the difference value is the distance value that the piston 31 of other jacks 3 should extend. In operation, the extension degree of the piston 31 with the control deviation selected as a reference is not changed, and the pistons 31 of the remaining jacks 3 are controlled to extend according to the calculated difference.
It is easily understood that since the deviation has a positive value or a negative value, when the deviation has a negative value, the absolute value of the deviation is selected as the reference at the maximum. For example, when the deviations of the jacks are-1.1 mm, -1.2mm, 1.1mm, and 1.2mm, respectively, the deviation of-1.2 mm is taken as a reference, and the difference between the deviations of other jacks 3 with respect to the reference is calculated, for example, the difference between the deviation of-1.1 mm and the reference value of-1.2 mm is 1mm, which means that the jack with the deviation of-1.1 mm needs to be extended by 0.1mm.
In this embodiment, the jack 3 with the corresponding deviation as a reference does not need to be adjusted, which can increase the speed and efficiency of leveling, and reduce the operation of the piston 31, which is beneficial to prolonging the service life of the jack 3.
The carrying platform capable of automatically adjusting the deflection angle is suitable for different road conditions, not only can be suitable for hard ground, but also can be suitable for softer ground. When the ground where the carrying platform capable of automatically adjusting the deflection angle sinks or inclines is automatically adjusted, the controller 11 is started, the carrying platform can be automatically adjusted to the required deflection angle again by repeating the automatic deflection angle adjusting step through the controller 11, the operation is simple, the use is convenient, and the efficiency of adjusting the deflection angle is improved.
In the actual process of installation, the tilt sensor 5 is usually installed on the moving platform or the bearing part 2, but since the bearing part 2 needs to be moved frequently, other devices installed on the moving platform 1 interfere with the operation of the tilt sensor 5, and sometimes, it is inconvenient to install a level gauge on the moving platform, so that the bearing part 2 and the mounting plate 4 can be adjusted to be parallel easily by using the cooperation among the moving platform 1, the bearing part 2, the jack 3, the mounting plate 4, the tilt sensor 5 and the adjusting device. In the embodiment of the invention, the parallelism among the mounting plate 4, the bearing part 2 and the moving platform 1 is realized by adjustment, so that the requirement on the processing technical level is not high, and the processing cost and the production time are reduced.
In the embodiment of the present invention, the specific structure of the jack 3 may refer to the prior art, and details are not described herein, the controller 11 may be a computer device, or the controller 11 may be a control chip, the controller 11 controls the multiple jacks 3 supporting the carrying platform to correspondingly extend and retract through data detected by the pressure sensor 10, the displacement sensor 9, and the tilt sensor 5, so as to adjust the level of the bearing portion 4 carried by the carrying platform, and when necessary, only the controller 11 needs to be started, and the controller 11 receives detection data of various sensors and controls the jacks to extend and retract, so that the automatic adjustment of the carrying platform, such as automatic level adjustment, can be achieved, and is convenient and fast, and has high adjustment accuracy.
The invention also provides automatic spraying equipment for the waterproof paint, which comprises the carrying platform capable of automatically adjusting the deflection angle.
When the automatic waterproof paint spraying device works, the deflection angle of the automatic waterproof paint spraying device during operation can be automatically adjusted according to road conditions under the control of the controller 11, and the automatic waterproof paint spraying device can be adjusted for many times.
The carrying platform capable of automatically adjusting the deflection angle is not limited by machining precision and the hardness degree of the ground, can be automatically adjusted for multiple times, and is wide in application scene. The invention has simple structure, simple and convenient operation and good reliability, can carry out real-time regulation and control, effectively improves the construction precision of equipment and has strong practicability and popularization value.
The above description is only an alternative embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (8)
1. A carrying platform for automatically adjusting a yaw angle, comprising:
the mobile platform comprises a first side and a second side which are oppositely arranged;
the bearing part is positioned on the first side and used for carrying operation equipment;
a jack fixedly connected to the second side for supporting the mobile platform, wherein the jack includes a manual adjustment member for manually controlling the jack to adjust the deflection of the mobile platform;
a mounting plate mounted to the mobile platform;
the inclination angle sensor is fixed on the mounting plate so as to detect the deflection angle of the mounting plate, wherein the inclination angle sensor, the bearing part and the mobile platform are not positioned on the same plane;
the adjusting device comprises a bolt, the mounting plate is provided with a hole part, the moving platform is provided with a hole part, the inner wall of the hole part on the moving platform and/or the mounting plate is provided with a thread, the bolt is connected with the moving platform and/or the mounting plate through matching with the thread and is used for adjusting the mounting plate to be parallel to the moving platform so that the inclination angle sensor can detect an initial deflection angle;
the displacement sensor is connected with the jack and used for detecting the distance of the jack in each expansion and contraction process; and
and the controller is electrically connected with the inclination angle sensor and the displacement sensor and used for controlling the jack to stretch and contract according to data detected by the inclination angle sensor and the displacement sensor so as to enable the mobile platform to be in a horizontal state or deflect a preset angle.
2. A self-adjusting yaw carrying platform, according to claim 1, further comprising:
the pressure sensor is arranged on the jack and electrically connected with the controller and used for detecting the stress of the jack, and the controller judges whether the jack is supported on a supporting surface according to the stress of the jack.
3. A carrying platform capable of automatically adjusting a deflection angle as claimed in claim 2, wherein the controller is further configured to obtain the deflection angle of the mounting plate detected by the tilt sensor after determining that the jack is supported on the supporting surface, calculate a deviation of the jack according to a preset formula, and control the jack to extend and retract according to the deviation.
4. A carrier platform for automatically adjusting the yaw angle according to claim 3, wherein the number of the jacks is plural, and the controller is further configured to calculate a deviation of each of the jacks according to a preset formula, and control each of the jacks to be extended and retracted according to the corresponding deviation.
5. A carrying platform capable of automatically adjusting a deflection angle as claimed in claim 4, wherein the controller is further configured to select a deviation corresponding to one of the jacks as a reference, calculate a difference between deviations corresponding to other jacks relative to the deviations of the jacks, and control the other jacks to extend and retract according to the difference, wherein the jack whose corresponding deviation is selected as the reference is not controlled by the controller to extend and retract according to the corresponding deviation.
6. A load platform for automatic adjustment of the yaw angle according to claim 5, characterized in that in case each of the jacks needs to be extended further according to the corresponding deviation, the deviation with the smallest value is selected as a reference by the controller; and under the condition that at least part of the jacks need to retract according to the corresponding deviation, selecting the deviation with the maximum value in the jacks needing to retract by the controller as a reference.
7. A carrying platform for automatically adjusting a deflection angle as recited in claim 1, wherein the adjusting means further comprises an elastic member, the elastic member is sleeved on the bolt, and the elastic member is compressed and installed between the mounting plate and the moving platform to apply a predetermined pressure to the mounting plate and the moving platform.
8. A carrying platform for automatically adjusting the deflection angle as claimed in claim 1, wherein the adjusting means further comprises a nut, the nut is engaged with the bolt to fix and lock the bolt.
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| CN202110715882.XA CN113441326B (en) | 2021-06-25 | 2021-06-25 | Carrying platform capable of automatically adjusting deflection angle |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110715882.XA CN113441326B (en) | 2021-06-25 | 2021-06-25 | Carrying platform capable of automatically adjusting deflection angle |
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| CN113441326B true CN113441326B (en) | 2022-11-22 |
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Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8210399B2 (en) * | 2007-11-27 | 2012-07-03 | Conagra Foods Rdm, Inc. | Spray dispenser |
| CN100564987C (en) * | 2008-04-24 | 2009-12-02 | 上海交通大学 | Moving carrier automatic leveling system |
| CN101891109B (en) * | 2010-07-16 | 2012-01-25 | 北京卫星制造厂 | Two-freedom-degree regulation self-leveling spreader and regulation method |
| CN103995542B (en) * | 2014-05-04 | 2017-02-15 | 江苏大学 | Method for adjusting level device |
| CN105080767A (en) * | 2015-09-07 | 2015-11-25 | 国家电网公司 | Site industrial spraying device for anti-pollution flashover coating in transformer substation |
| CN107352250A (en) * | 2017-07-05 | 2017-11-17 | 宁夏天地奔牛实业集团有限公司 | Self-leveling type belt self-movable foot end and belt self-movable foot end self-leveling method |
| CN111085446B (en) * | 2020-01-03 | 2023-07-18 | 华南理工大学 | Logistics robot with quick response balance and regulation and control method thereof |
| CN111221356A (en) * | 2020-04-21 | 2020-06-02 | 贵州航天天马机电科技有限公司 | Automatic monitoring and adjusting device and method for levelness of transfer erecting rack |
| CN112068479A (en) * | 2020-08-31 | 2020-12-11 | 中国船舶重工集团应急预警与救援装备股份有限公司 | Automatic leveling control system based on servo electric cylinder and tilt sensor |
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