CN113586558A - Control method and control device for synchronous movement of jacking platform - Google Patents
Control method and control device for synchronous movement of jacking platform Download PDFInfo
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- 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
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- 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
- F15B11/22—Synchronisation of the movement of two or more servomotors
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Abstract
The invention provides a control method and a control device for synchronous movement of a jacking platform, which comprise the following steps: acquiring a jacking signal of a jacking platform, wherein the jacking platform is provided with a plurality of jacking support arms; constructing a synchronous signal based on a plurality of jacking support arms, wherein the synchronous signal is activated by the jacking signals in sequence; under the guidance of the synchronous signal, the jacking support arms are driven to synchronously lift; the jacking support arm is connected with a platform and drives the platform to lift; monitoring the degree of tilt of the platform; and adjusting the corresponding lifting of the jacking support arm based on the inclination degree of the platform so as to maintain the flatness of the platform.
Description
Technical Field
The invention relates to the technical field of jacking platforms, in particular to a control method and a control device for synchronous movement of a jacking platform.
Background
Along with the development of science and technology, construction platform also adopts the hydro-cylinder to go up and down gradually, and wherein, construction platform carries out the jacking by a plurality of hydro-cylinders, and construction platform squints easily at the jacking in-process, leads to construction platform relative slope, influences construction platform's use.
Disclosure of Invention
The invention aims to provide a control method and a control device for synchronous movement of a jacking platform.
In order to solve the technical problems, the invention adopts the following technical scheme:
according to one aspect of the invention, the invention provides a control method for synchronous movement of a jacking platform, which comprises the following steps: acquiring a jacking signal of a jacking platform, wherein the jacking platform is provided with a plurality of jacking support arms; constructing a synchronous signal based on a plurality of jacking support arms, wherein the synchronous signal is activated by the jacking signals in sequence; under the guidance of the synchronous signal, the jacking support arms are driven to synchronously lift; the jacking support arm is connected with a platform and drives the platform to lift; monitoring the degree of tilt of the platform; and adjusting the corresponding lifting of the jacking support arm based on the inclination degree of the platform so as to maintain the flatness of the platform.
According to an aspect of the present disclosure, there is provided a control device for synchronously moving a jacking platform, including: the jacking system comprises an acquisition module, a jacking module and a control module, wherein the acquisition module is used for acquiring jacking signals of a jacking platform, and the jacking platform is provided with a plurality of jacking support arms; the construction module is used for constructing a synchronous signal based on a plurality of jacking support arms, and the synchronous signal is activated by the jacking signals in sequence; the guide module is used for promoting the plurality of jacking support arms to synchronously lift under the guide of the synchronous signals; the jacking support arm is connected with a platform and drives the platform to lift; the monitoring module is used for monitoring the inclination degree of the platform; and the adjusting module is used for adjusting the corresponding lifting of the jacking support arm based on the inclination degree of the platform so as to maintain the flatness of the platform.
According to an aspect of the present disclosure, there is provided a computer-readable storage medium storing computer program instructions which, when executed by a computer, cause the computer to perform the method according to the above.
According to an aspect of the present disclosure, there is provided an electronic apparatus including: a processor; a memory having computer readable instructions stored thereon which, when executed by the processor, implement the method described above.
According to the technical scheme, the embodiment of the invention at least has the following advantages and positive effects:
in the control method for synchronously moving the jacking platform, a jacking signal of the jacking platform is acquired, and the jacking platform is provided with a plurality of jacking support arms; constructing a synchronous signal based on a plurality of jacking support arms, wherein the synchronous signal is activated by the jacking signals in sequence; under the guidance of the synchronous signal, the jacking support arms are driven to synchronously lift; the jacking support arm is connected with a platform and drives the platform to lift; monitoring the degree of tilt of the platform; based on the inclination adjustment of platform corresponds the lift of jacking support arm is in order to maintain the roughness of platform realizes the synchronous lift of jacking support arm, and to the inclination of platform carries out adaptability adjustment, in order to guarantee the roughness and the lift stability of platform.
Drawings
Fig. 1 is a flowchart illustrating a control method of an integral jacking platform according to an exemplary embodiment.
FIG. 2 is a block diagram illustrating control of an integral jacking platform, according to an exemplary embodiment.
FIG. 3 is a hardware diagram illustrating an electronic device according to an example embodiment.
FIG. 4 is a computer readable storage medium illustrating a method of controlling an integral jacking platform, according to an exemplary embodiment.
Detailed Description
Exemplary embodiments that embody features and advantages of the invention are described in detail below in the specification. It is to be understood that the invention is capable of other embodiments and that various changes in form and details may be made therein without departing from the scope of the invention and the description and drawings are to be regarded as illustrative in nature and not as restrictive.
Along with the development of science and technology, construction platform also adopts the hydro-cylinder to go up and down gradually, and wherein, construction platform carries out the jacking by a plurality of hydro-cylinders, and construction platform squints easily at the jacking in-process, leads to construction platform relative slope, influences construction platform's use.
According to an embodiment of the present disclosure, there is provided a method for controlling an integral jacking platform, as shown in fig. 1, the method for controlling the integral jacking platform includes:
step S110, acquiring a jacking signal of a jacking platform, wherein the jacking platform is provided with a plurality of jacking support arms;
step S120, constructing a synchronous signal based on a plurality of jacking support arms, wherein the synchronous signal is activated by the jacking signals in sequence;
step S130, under the guidance of the synchronous signal, a plurality of jacking support arms are prompted to lift synchronously; the jacking support arm is connected with a platform and drives the platform to lift;
step S140, monitoring the inclination degree of the platform;
and S150, adjusting the corresponding lifting of the jacking support arm based on the inclination degree of the platform so as to maintain the flatness of the platform.
In the control method for synchronously moving the jacking platform, a jacking signal of the jacking platform is acquired, and the jacking platform is provided with a plurality of jacking support arms; constructing a synchronous signal based on a plurality of jacking support arms, wherein the synchronous signal is activated by the jacking signals in sequence; under the guidance of the synchronous signal, the jacking support arms are driven to synchronously lift; the jacking support arm is connected with a platform and drives the platform to lift; monitoring the degree of tilt of the platform; based on the inclination adjustment of platform corresponds the lift of jacking support arm is in order to maintain the roughness of platform realizes the synchronous lift of jacking support arm, and to the inclination of platform carries out adaptability adjustment, in order to guarantee the roughness and the lift stability of platform.
These steps are described in detail below.
In step S110, a jacking signal of a jacking platform is obtained, the jacking platform being provided with a plurality of jacking arms;
the method comprises the following specific steps: the jacking platform is connected with a first induction end, and the first induction end is in a standby state in a daily state; outputting the jacking signal towards the first sensing end; the first sensing end receives the jacking signal and analyzes the jacking amount of the jacking signal; simultaneously activating a plurality of jacking support arms based on the jacking signals, wherein the jacking support arms are adjusted to be at the same height before receiving the jacking signals; and regulating and controlling synchronous jacking of the jacking support arms based on the jacking amount.
Wherein, based on jacking signal activates simultaneously a plurality ofly the jacking support arm, so that it is a plurality of jacking support arm goes up and down in step, and, it is a plurality of jacking support arm adjusts to same height before receiving jacking signal. The jacking accuracy of the jacking support arms is improved.
In step S120, a synchronization signal is constructed based on the plurality of jacking arms, and the synchronization signal is sequentially activated by the jacking signals.
The method comprises the following specific steps: the jacking support arms are provided with control ends, and each control end is controlled by the first induction end; the control ends are in communication connection with each other when the first induction end is activated, and a synchronous jacking system is formed; outputting the synchronous signal in the synchronous jacking system, and integrally controlling a plurality of jacking support arms; the synchronization signal is activated by the jacking signal in turn.
The control ends are in communication connection with each other when the first induction end is activated, form a synchronous jacking system, intensively output synchronous signals outwards based on the synchronous jacking system, and integrally control the plurality of jacking support arms.
In step S130, a plurality of jacking arms are caused to lift synchronously under the guidance of the synchronization signal; the jacking support arm is connected with a platform and drives the platform to lift.
In step S140, the degree of inclination of the platform is monitored.
The method comprises the following specific steps: angle sensors are arranged on the periphery of the platform; determining a degree of tilt of the platform based on the signals of the angle sensors; if the inclination degree of the platform reaches a preset degree, regulating and controlling the lifting amount of each jacking support arm; and acquiring a corresponding adjustment strategy based on the inclination degree of the platform, and gradually adjusting each jacking support arm according to the adjustment strategy so as to reduce the adjustment amount of the platform.
And acquiring a corresponding adjustment strategy based on the inclination degree of the platform so as to adjust the lifting amount of each jacking support arm by adopting different schemes, and ensuring the lower adjustment amount and levelness of the platform.
In addition, the control method for the synchronous movement of the jacking platform further comprises the following steps: monitoring the lifting amount of each jacking support arm; if the lifting amount of the jacking support arm is not uniform, determining the jacking support arm with the highest lifting amount and the jacking support arm with the lowest lifting amount; suspending the jacking of the jacking support arm with the highest lifting amount, and transferring the power of the jacking support arm with the highest lifting amount to the jacking support arm with the lowest lifting amount, so that the jacking support arm with the lowest lifting amount is gradually lifted upwards; when the jacking support arm with the lowest lifting amount is flush with other jacking support arms, triggering other jacking support arms to lift along with the lifting of the jacking support arm with the lowest lifting amount; treat the minimum lift volume the jacking support arm with other the highest lift volume of jacking support arm parallel and level during the jacking support arm, then activate the highest lift volume the operating condition of jacking support arm, so that each the jacking support arm goes up and down in step.
Still, the control method for the synchronous movement of the jacking platform further comprises: monitoring the working state of the jacking support arm; determining a state value of the jacking support arm based on the oil inlet efficiency of the jacking support arm; and performing superposition processing on the state values of the jacking support arms, and gradually debugging the states of the jacking support arms to keep the jacking support arms to operate at the same state value so as to ensure the lifting and troubleshooting of the jacking platform.
According to the technical scheme, the embodiment of the invention at least has the following advantages and positive effects:
in the control method for synchronously moving the jacking platform, a jacking signal of the jacking platform is acquired, and the jacking platform is provided with a plurality of jacking support arms; constructing a synchronous signal based on a plurality of jacking support arms, wherein the synchronous signal is activated by the jacking signals in sequence; under the guidance of the synchronous signal, the jacking support arms are driven to synchronously lift; the jacking support arm is connected with a platform and drives the platform to lift; monitoring the degree of tilt of the platform; based on the inclination adjustment of platform corresponds the lift of jacking support arm is in order to maintain the roughness of platform realizes the synchronous lift of jacking support arm, and to the inclination of platform carries out adaptability adjustment, in order to guarantee the roughness and the lift stability of platform.
The above detailed description is specific to possible embodiments of the present invention, and the embodiments are not intended to limit the scope of the present invention, and all equivalent implementations or modifications that do not depart from the scope of the present invention are intended to be included within the scope of the present invention.
As shown in fig. 2, in one embodiment, the control device 200 of the integral jacking platform further comprises:
the acquiring module 210 is configured to acquire a jacking signal of a jacking platform, where the jacking platform is provided with a plurality of jacking support arms;
a building module 220, configured to build a synchronization signal based on a plurality of jacking arms, where the synchronization signal is sequentially activated by the jacking signals;
a guiding module 230, configured to cause the plurality of jacking arms to lift synchronously under the guidance of the synchronization signal; the jacking support arm is connected with a platform and drives the platform to lift;
a monitoring module 240 for monitoring the degree of tilt of the platform;
and an adjusting module 250, configured to adjust the lifting of the corresponding jacking arm based on the inclination degree of the platform, so as to maintain the flatness of the platform.
An electronic device 40 according to this embodiment of the present invention is described below with reference to fig. 3. The electronic device 40 shown in fig. 3 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiment of the present invention.
As shown in fig. 3, electronic device 40 is embodied in the form of a general purpose computing device. The components of electronic device 40 may include, but are not limited to: the at least one processing unit 41, the at least one memory unit 42, and a bus 43 connecting the various system components (including the memory unit 42 and the processing unit 41).
Wherein the storage unit stores program code executable by the processing unit 41 to cause the processing unit 41 to perform the steps according to various exemplary embodiments of the present invention described in the section "example methods" above in this specification.
The storage unit 42 may include readable media in the form of volatile memory units, such as a random access memory unit (RAM)421 and/or a cache memory unit 422, and may further include a read only memory unit (ROM) 423.
The storage unit 42 may also include a program/utility 424 having a set (at least one) of program modules 425, such program modules 425 including, but not limited to: an operating system, one or more application programs, other program modules, and program data, each of which, or some combination thereof, may comprise an implementation of a network environment.
The electronic device 40 may also communicate with one or more external devices (e.g., keyboard, pointing device, bluetooth device, etc.), with one or more devices that enable a user to interact with the electronic device 40, and/or with any devices (e.g., router, modem, etc.) that enable the electronic device 40 to communicate with one or more other computing devices. Such communication may be through an input/output (I/O) interface 45. Also, the electronic device 40 may communicate with one or more networks (e.g., a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network, such as the Internet) via the network adapter 46. As shown in FIG. 3, the network adapter 46 communicates with the other modules of the electronic device 40 via the bus 43. It should be appreciated that although not shown in FIG. 3, other hardware and/or software modules may be used in conjunction with electronic device 40, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, among others.
Through the above description of the embodiments, those skilled in the art will readily understand that the exemplary embodiments described herein may be implemented by software, or by software in combination with necessary hardware. Therefore, the technical solution according to the embodiments of the present disclosure may be embodied in the form of a software product, which may be stored in a non-volatile storage medium (which may be a CD-ROM, a usb disk, a removable hard disk, etc.) or on a network, and includes several instructions to enable a computing device (which may be a personal computer, a server, a terminal device, or a network device, etc.) to execute the method according to the embodiments of the present disclosure.
There is also provided, in accordance with an embodiment of the present disclosure, a computer-readable storage medium having stored thereon a program product capable of implementing the above-described method of the present specification. In some possible embodiments, aspects of the invention may also be implemented in the form of a program product comprising program code means for causing a terminal device to carry out the steps according to various exemplary embodiments of the invention described in the above section "exemplary methods" of the present description, when said program product is run on the terminal device.
Referring to fig. 4, a program product 50 for implementing the above method according to an embodiment of the present invention is described, which may employ a portable compact disc read only memory (CD-ROM) and include program code, and may be run on a terminal device, such as a personal computer. However, the program product of the present invention is not limited in this regard and, in the present document, a readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
The program product may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium include: an electrical connection having one or more wires, a portable disk, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
A computer readable signal medium may include a propagated data signal with readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A readable signal medium may also be any readable medium that is not a readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device and partly on a remote computing device, or entirely on the remote computing device or server. In the case of a remote computing device, the remote computing device may be connected to the user computing device through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computing device (e.g., through the internet using an internet service provider).
Furthermore, the above-described figures are merely schematic illustrations of processes involved in methods according to exemplary embodiments of the invention, and are not intended to be limiting. It will be readily understood that the processes shown in the above figures are not intended to indicate or limit the chronological order of the processes. In addition, it is also readily understood that these processes may be performed synchronously or asynchronously, e.g., in multiple modules.
It will be understood that the invention is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the invention is only limited by the appended claims.
Claims (9)
1. A control method for synchronous movement of a jacking platform is characterized by comprising the following steps:
acquiring a jacking signal of a jacking platform, wherein the jacking platform is provided with a plurality of jacking support arms;
constructing a synchronous signal based on a plurality of jacking support arms, wherein the synchronous signal is activated by the jacking signals in sequence;
under the guidance of the synchronous signal, the jacking support arms are driven to synchronously lift; the jacking support arm is connected with a platform and drives the platform to lift;
monitoring the degree of tilt of the platform;
and adjusting the corresponding lifting of the jacking support arm based on the inclination degree of the platform so as to maintain the flatness of the platform.
2. The method for controlling the synchronous movement of the jacking platform according to claim 1, wherein the step of obtaining the jacking signal of the jacking platform, which is provided with a plurality of jacking arms, comprises the steps of:
the jacking platform is connected with a first induction end, and the first induction end is in a standby state in a daily state;
outputting the jacking signal towards the first sensing end;
the first sensing end receives the jacking signal and analyzes the jacking amount of the jacking signal;
simultaneously activating a plurality of jacking support arms based on the jacking signals, wherein the jacking support arms are adjusted to be at the same height before receiving the jacking signals;
and regulating and controlling synchronous jacking of the jacking support arms based on the jacking amount.
3. The method for controlling the synchronous movement of the jacking platform as claimed in claim 2, wherein the step of constructing a synchronization signal based on the plurality of jacking arms, the synchronization signal being sequentially activated by the jacking signals comprises:
the jacking support arms are provided with control ends, and each control end is controlled by the first induction end;
the control ends are in communication connection with each other when the first induction end is activated, and a synchronous jacking system is formed;
outputting the synchronous signal in the synchronous jacking system, and integrally controlling a plurality of jacking support arms; the synchronization signal is activated by the jacking signal in turn.
4. The method for controlling the synchronous movement of the jacking platform as claimed in claim 1, further comprising:
monitoring the lifting amount of each jacking support arm;
if the lifting amount of the jacking support arm is not uniform, determining the jacking support arm with the highest lifting amount and the jacking support arm with the lowest lifting amount;
suspending the jacking of the jacking support arm with the highest lifting amount, and transferring the power of the jacking support arm with the highest lifting amount to the jacking support arm with the lowest lifting amount, so that the jacking support arm with the lowest lifting amount is gradually lifted upwards;
when the jacking support arm with the lowest lifting amount is flush with other jacking support arms, triggering other jacking support arms to lift along with the lifting of the jacking support arm with the lowest lifting amount;
treat the minimum lift volume the jacking support arm with other the highest lift volume of jacking support arm parallel and level during the jacking support arm, then activate the highest lift volume the operating condition of jacking support arm, so that each the jacking support arm goes up and down in step.
5. The method of controlling synchronous movement of a jacking platform as claimed in claim 1, wherein said monitoring the degree of inclination of said platform comprises:
angle sensors are arranged on the periphery of the platform;
determining a degree of tilt of the platform based on the signals of the angle sensors;
if the inclination degree of the platform reaches a preset degree, regulating and controlling the lifting amount of each jacking support arm;
and acquiring a corresponding adjustment strategy based on the inclination degree of the platform, and gradually adjusting each jacking support arm according to the adjustment strategy so as to reduce the adjustment amount of the platform.
6. The method for controlling the synchronous movement of the jacking platform as claimed in claim 1, further comprising:
monitoring the working state of the jacking support arm;
determining a state value of the jacking support arm based on the oil inlet efficiency of the jacking support arm;
and performing superposition processing on the state values of the jacking support arms, and gradually debugging the state of the jacking support arms to keep the jacking support arms to operate at the same state value.
7. The utility model provides a jacking platform synchronous movement's controlling means which characterized in that includes:
the jacking system comprises an acquisition module, a jacking module and a control module, wherein the acquisition module is used for acquiring jacking signals of a jacking platform, and the jacking platform is provided with a plurality of jacking support arms;
the construction module is used for constructing a synchronous signal based on a plurality of jacking support arms, and the synchronous signal is activated by the jacking signals in sequence;
the guide module is used for promoting the plurality of jacking support arms to synchronously lift under the guide of the synchronous signals; the jacking support arm is connected with a platform and drives the platform to lift;
the monitoring module is used for monitoring the inclination degree of the platform;
and the adjusting module is used for adjusting the corresponding lifting of the jacking support arm based on the inclination degree of the platform so as to maintain the flatness of the platform.
8. A computer-readable storage medium, characterized in that it stores computer program instructions which, when executed by a computer, cause the computer to perform the method according to any one of claims 1 to 6.
9. An electronic device, comprising:
a processor;
a memory having stored thereon computer readable instructions which, when executed by the processor, implement the method of any of claims 1 to 6.
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| CN109516403A (en) * | 2019-01-15 | 2019-03-26 | 长沙中联恒通机械有限公司 | A kind of synchronous jacking device and its control method |
| CN109973471A (en) * | 2019-04-11 | 2019-07-05 | 南通大学 | A kind of more fulcrum synchronisation control means of large size hoistable platform and control system |
| CN112049830A (en) * | 2020-09-14 | 2020-12-08 | 深圳市卓越工业化智能建造开发有限公司 | Synchronous lifting system for construction machinery and construction equipment |
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