CN203054612U - Automatic leveling system - Google Patents
Automatic leveling system Download PDFInfo
- Publication number
- CN203054612U CN203054612U CN 201220723018 CN201220723018U CN203054612U CN 203054612 U CN203054612 U CN 203054612U CN 201220723018 CN201220723018 CN 201220723018 CN 201220723018 U CN201220723018 U CN 201220723018U CN 203054612 U CN203054612 U CN 203054612U
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- China
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- workbench
- leveling
- working platform
- control circuit
- drive unit
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Abstract
The utility model relates to an automatic leveling system including a DSP control circuit, power driving devices, a working platform and a tilt angle sensor. The working platform is equipped with four support legs. Each of the support legs is composed of a group of power driving devices. The tilt angle sensor is installed on the working platform. The power driving devices are composed of DC servo motors, corresponding servo drivers matched with the DC servo motors and position sensors. The DSP control circuit is connected with the power driving devices and controlling the vertical movement of the working platform. The DSP control circuit is connected with the tilt angle sensor and controls the working platform for leveling automatically. A control system is small in size, low in weight and convenient to install. When the isolated-type automatic leveling system is working, influence of carrier vehicle vibration on the working platform is reduced and comparatively high precision is remained.
Description
Technical field
The utility model relates to a kind of self-leveling leveling system that can realize the degree of precision levelling bench.
Background technology
Because when radar, guided missile and laser weapon are worked, require platform to be horizontal, the horizontal accuracy to vehicular platform also proposes very high requirement like this.Horizontal accuracy and be the most important index of weighing the vehicular platform performance with regard to bit time.Automatic horizontal control system can implementation platform fast leveling and remove receipts, the horizontal accuracy height, short with regard to bit time, become the trend of weapon development.
Automatic horizontal control system has fluid pressure type and electromechanical at present, and fluid pressure type leveling system volume is big, maintenance difficult.Supporting form has supported at three point, 4 supports, 6 several schemes such as support.The supported at three point leveling is relatively easy, and shortcoming is that resistance to capsizing is poor, not too is fit to onboard system; 6 leveling are supported reliably, and resistance to capsizing is strong, but has statically indeterminate problem, is easy to generate " empty leg ", and the static indeterminacy number of times is more high, and system is more complicated.It is many that required supporting leg quantity is supported in 6 leveling, the cost height.
At present, most of leveling systems adopt single-chip microcomputer or PLC to carry out automatic leveling control, and single-chip microcomputer can't be realized the leveling algorithm of more complicated, and the PLC volume is big, and algorithm is realized also difficulty.
Adopt of present vehicle-mounted leveling system carried out leveling to whole year car more, and the car body quality is heavy, and the power of motor of supporting leg is big, causes leveling supporting leg volume big.Simultaneously, to the leveling of car load, when system works was powered, the vibration meeting of engine exerted an influence to the leveling platform precision of leveling system.
The utility model content
The utility model adopts the electromechanical automatic horizontal control system, and is easy to maintenance, simple to operate, from reliability and cost consideration, native system has adopted support the leveling method at 4, adopts monolithic DSP to finish the driving of leveling algorithm and leveling supporting leg, volume is little, and the circuit extensibility is strong.
When car carried out leveling to whole year, the vibration of carrying car can influence the horizontal accuracy of leveling platform, exchange the influence of average horizontal accuracy in order to overcome this vibration, the native system structural design is based on split type, isolate carrying car car body and leveling platform, during work, supporting leg rises, drive the leveling platform and break away from car body, effectively prevent mobile generator work be the vibration that produces to the influence of whole leveling system platform precision, when not working, supporting leg descends, the whole leveling platform return load car that falls again, thus realize transportation.
The utility model adopts following technical scheme: a kind of automatic horizontal control system, and it is characterized by described system and comprise DSP control circuit, Power Drive Unit, workbench, obliquity sensor, wherein:
Described workbench is equipped with four supporting legs, and each supporting leg is made up of one group of Power Drive Unit;
Described obliquity sensor is installed on the workbench;
Described Power Drive Unit is made up of servo-driver, the pressure transducer of DC servo-motor and corresponding coupling;
Described DSP control circuit is connected with Power Drive Unit, the lifting of control workbench; Described DSP control circuit is connected with obliquity sensor, and the control workbench carries out automatic leveling.
In technique scheme, described four supporting legs can stretch under the effect of Power Drive Unit.
In technique scheme, workbench is adjusted to automatically near the abswolute level state.
From architectural feature of the present utility model as can be seen, advantage of the present utility model is: form the control core with monolithic DSP and finish the control of leveling precision, operation response control command, and the collection of obliquity sensor signal; Therefore, the control system volume is little, and is in light weight, easy for installation; Isolated leveling platform reduces and carries the car vibration to the influence of platform when work, has kept higher precision.
Description of drawings
The utility model will illustrate by embodiment and with reference to the mode of accompanying drawing, wherein:
Fig. 1 is functional structure chart of the present utility model.
Embodiment
Below in conjunction with accompanying drawing the utility model is described further.
As described in Figure 1, the DSP control circuit adopts the TMS320F28335 chip to do core processor, is responsible for the processing to total system workflow, algorithm; Realize the data acquisition to position transducer simultaneously, control Power Drive Unit work, and accept the signal feedback of Power Drive Unit.
Workbench has four supporting legs, each supporting leg is made up of one group of Power Drive Unit, select for use the servo-driver of DC servo-motor and corresponding coupling as the elevating mechanism of supporting leg, and at elevating mechanism pressure transducer is installed, prevent " empty leg ".
Position transducer all is installed on each supporting leg, forms the closed-loop control to motor, in the feet motion process, by two axial measurement of dip angle of orthogonal vertical, realize the automatic leveling to workbench.
Embodiment one:
When workbench carries out vehicle-mounted work, when the DSP control circuit is started working, the work of control Power Drive Unit, four supporting legs of workbench extend under the effect of motor, and contact with ground, and the fixed support workbench, make workbench and vehicle-mounted the distance that the interval is certain.
Out-of-flatness because of ground, cause workbench not at same surface level, obliquity sensor feeds back to the DSP control circuit according to the data of gathering in real time, dsp chip advanced computing, send control signal, wherein one or two supporting legs motions of control, the time workbench can sentence same surface level at last.
When stopping using workbench, send control command by DSP, control four feets and successively withdraw, workbench is fallen after rise on vehicle-mounted; Convenient transportation.
There is a certain amount of spacing between leveling workbench and vehicle-mounted, avoided directly contacting between face and the face and the mobile generator transfer of vibration that causes, thereby made the leveling system level table not be subjected to vibration effect, thereby reached more high precision.
Disclosed all features in this instructions except mutually exclusive feature, all can make up by any way.
The above only is preferred embodiment of the present utility model; not in order to limit the utility model; all any modifications of within spirit of the present utility model and principle, doing, be equal to and replace and improvement etc., all should be included within the protection domain of the present utility model.
Claims (2)
1. automatic horizontal control system, described system comprises DSP control circuit, Power Drive Unit, workbench, obliquity sensor, it is characterized by:
Described workbench is equipped with four supporting legs, and each supporting leg is made up of one group of Power Drive Unit;
Described obliquity sensor is installed on the workbench;
Described Power Drive Unit is made up of servo-driver, the pressure transducer of DC servo-motor and corresponding coupling;
Described DSP control circuit is connected with Power Drive Unit, the lifting of control workbench; Described DSP control circuit is connected with obliquity sensor, and the control workbench carries out automatic leveling.
2. a kind of automatic horizontal control system according to claim 1 is characterized in that described four supporting legs can stretch under the effect of Power Drive Unit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220723018 CN203054612U (en) | 2012-12-25 | 2012-12-25 | Automatic leveling system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220723018 CN203054612U (en) | 2012-12-25 | 2012-12-25 | Automatic leveling system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203054612U true CN203054612U (en) | 2013-07-10 |
Family
ID=48737545
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220723018 Expired - Lifetime CN203054612U (en) | 2012-12-25 | 2012-12-25 | Automatic leveling system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203054612U (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105436982A (en) * | 2015-11-12 | 2016-03-30 | 武汉大学 | Automatic platform leveling device and method |
| CN105739545A (en) * | 2016-03-30 | 2016-07-06 | 中原工学院 | Automatic leveling device for workbench |
| CN107643683A (en) * | 2017-10-27 | 2018-01-30 | 西安恒达微波技术开发有限公司 | Automatically levelling school north system on equipment vehicular platform based on PID closed-loop controls |
| CN109143916A (en) * | 2017-11-16 | 2019-01-04 | 湖北汉丹机电有限公司 | Adaptive leveling device |
| CN109582044A (en) * | 2018-12-03 | 2019-04-05 | 南京理工大学张家港工程院有限公司 | A kind of adjusting method for leveler of level of intelligence |
| CN109605371A (en) * | 2018-12-17 | 2019-04-12 | 北京卫星制造厂有限公司 | A kind of movable type series-parallel robot process system |
| 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 |
| CN111596609A (en) * | 2020-05-12 | 2020-08-28 | 珠海格力智能装备有限公司 | Control method and device for automatically adjusting machine tool level |
| CN112971340A (en) * | 2021-03-10 | 2021-06-18 | 中国科学院长春光学精密机械与物理研究所 | Automatic leveling platform and leveling method |
-
2012
- 2012-12-25 CN CN 201220723018 patent/CN203054612U/en not_active Expired - Lifetime
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105436982A (en) * | 2015-11-12 | 2016-03-30 | 武汉大学 | Automatic platform leveling device and method |
| CN105436982B (en) * | 2015-11-12 | 2017-06-16 | 武汉大学 | A kind of platform automatic leveling device and method |
| CN105739545A (en) * | 2016-03-30 | 2016-07-06 | 中原工学院 | Automatic leveling device for workbench |
| CN107643683A (en) * | 2017-10-27 | 2018-01-30 | 西安恒达微波技术开发有限公司 | Automatically levelling school north system on equipment vehicular platform based on PID closed-loop controls |
| CN109143916A (en) * | 2017-11-16 | 2019-01-04 | 湖北汉丹机电有限公司 | Adaptive leveling device |
| CN109143916B (en) * | 2017-11-16 | 2023-08-18 | 湖北汉丹机电有限公司 | Self-adaptive horizontal adjusting device |
| CN109582044A (en) * | 2018-12-03 | 2019-04-05 | 南京理工大学张家港工程院有限公司 | A kind of adjusting method for leveler of level of intelligence |
| CN109605371A (en) * | 2018-12-17 | 2019-04-12 | 北京卫星制造厂有限公司 | A kind of movable type series-parallel robot process system |
| CN109605371B (en) * | 2018-12-17 | 2021-02-09 | 北京卫星制造厂有限公司 | Mobile hybrid robot processing integrated system |
| 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 |
| CN111596609A (en) * | 2020-05-12 | 2020-08-28 | 珠海格力智能装备有限公司 | Control method and device for automatically adjusting machine tool level |
| CN112971340A (en) * | 2021-03-10 | 2021-06-18 | 中国科学院长春光学精密机械与物理研究所 | Automatic leveling platform and leveling method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Assignee: SICHUAN JIUZHOU OPTO-ELECTRONICS TECHNOLOGY Co.,Ltd. Assignor: SICHUAN JIUZHOU ELECTRIC GROUP Co.,Ltd. Contract record no.: 2015510000063 Denomination of utility model: Automatic leveling system Granted publication date: 20130710 License type: Exclusive License Record date: 20150605 |
|
| LICC | Enforcement, change and cancellation of record of contracts on the licence for exploitation of a patent or utility model | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20171128 Address after: 621000 Mianyang city of Sichuan Province Branch Chong Park Jiuhua Road No. 6 Patentee after: SICHUAN JIUZHOU PREVENTION AND CONTROL TECHNOLOGY CO.,LTD. Address before: 621000 Mianyang province Sichuan City Jiuhua Road No. 6 Patentee before: SICHUAN JIUZHOU ELECTRIC GROUP Co.,Ltd. |
|
| CX01 | Expiry of patent term | ||
| CX01 | Expiry of patent term |
Granted publication date: 20130710 |