CN209356926U - A kind of self-balancing platform suitable for forest land machinery - Google Patents
A kind of self-balancing platform suitable for forest land machinery Download PDFInfo
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- CN209356926U CN209356926U CN201822106695.8U CN201822106695U CN209356926U CN 209356926 U CN209356926 U CN 209356926U CN 201822106695 U CN201822106695 U CN 201822106695U CN 209356926 U CN209356926 U CN 209356926U
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- self
- cylinder
- leveling
- platform
- mounting plate
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Abstract
The utility model relates to a kind of self-balancing platforms suitable for forest land machinery, can provide required operating condition for a kind of forest parameter acquisition devices, belong to forestry machinery field.The platform forms 6 by movement upper mounting plate 1, pedestal 2, electric cylinder 3, servo motor 4, servo-driver 5, gyroscope, control system and control panel.Electric drive leveling platform has many advantages, such as that leveling precision is high, the leveling time is short, safe and reliable and convenient for safeguarding, and electric leveling platform environment adaptability and self-lock ability are strong, it being capable of operating environment in the complicated woods of good reply, horizontal operation face can be provided for data collector, meet its lift height requirement, reduces the extraneous vibration to data collector.Wherein the closed loop design of levelling device makes equipment have very strong operation stability and flexible real-time, it can be achieved that real-time leveling and fixed point leveling, simple and convenient, and obtaining forest parameter for rapid, high volume just has very big advantage.
Description
Technical field
The utility model relates to forestry machinery fields, in particular to a kind of self-balancing type platform.
Background technique
With the arrival of big data era, people are higher and higher for the accuracy requirement of data.With the development of the times,
People increasingly pay attention to the protection and utilization of the protection of natural environment, the especially forest reserves.How to guarantee that the forest reserves can be most
The development for optimizing to serve society has been an important issue.Currently, accurate forest data, Wo Mencai are only possessed
There can be right to speak in terms of forest conservation and the utilization of resources.Existing data acquisition equipment needs to expend a large amount of manpower mostly
Material resources, and the accuracy of data cannot be guaranteed, and to obtain really and accurately data, first have to meet measuring device
Primary condition, and to guarantee the stability of equipment, due to forest land environment height ups and downs, so needing a energy self-balancing
Equipment, to guarantee the work of detection device energy safety and stability.
Summary of the invention
What the utility model was implemented is designed to provide a kind of self-balancing type platform, to improve the above problem.
Self-balancing platform includes movement upper mounting plate, bearing block, electric cylinder, cylinder seat, servo motor, servo-driver, ears
Intersecting semicircles hinge, pedestal, gyroscope, control system and control panel；Wherein, the movement upper mounting plate passes through bearing block and electronic
Cylinder is connected, and electric cylinder is connected by cylinder seat with servo motor, and servo-driver is connected by cylinder seat with servo motor, and cylinder seat passes through
Ears intersecting semicircles hinge is fixed on the base.
Platform is Three Degree Of Freedom self-balancing platform, and onboard, upper mounting plate is motion platform, upper mounting plate for the pedestal installation of platform
It is the installation base surface of detection, bearing block is fixed by screws in the lower end surface of upper mounting plate, and the connection of electric cylinder and bearing block is hinge
It connects.
Electric cylinder is respectively adopted universal joint and bearing block and connect with pedestal, upper mounting plate, and 3 electric cylinders make line in cylinder shaft direction
Property movement, platform realizes three-degree-of-freedom motion by the coordinated movement of various economic factors of 3 electric cylinders, and three electric cylinders and sports cards are in pedestal
On distribution as shown in Figure 1, three electric cylinders and gyroscope are as shown in Figure 2 in the distributing position of upper mounting plate.
The ruling grade and motor vehicle that the maximum leveling angle of self-balancing platform depends primarily on equipment work forest land are most
Big ramp angle takes the maximum ramp angle of motor vehicle when the ruling grade in forest land is greater than the maximum ramp angle of motor vehicle
Maximum leveling angle as self-balancing platform takes woods when the ruling grade in forest land is less than the maximum ramp angle of motor vehicle
Maximum leveling angle of the ruling grade on ground as self-balancing platform.
Platform uses the motionless leveling strategy in highest point: when self-balancing platform reaches forest operation, since forest zone is with a varied topography,
The upper mounting plate of self-balancing platform reads the angle of the platform that gyroscope measures and X-axis, Y-axis, passes through survey not for horizontality
Angle judge three supporting points of platform which belong to highest point, it is highly constant to control the electric cylinder after determining, passes through driving
Other two electric cylinder rises, and when rising to as highest support point height, stops operation, platform is in horizontal at this time
State.
The levelling principle of Three Degree Of Freedom self-balancing platform is to obtain platform inclination angle by gyroscope, will by analog-digital converter
It is converted to digital signal, and digital signal is compared with given value and is calculated the elongation of electric cylinders by motion controller,
Elongation is converted to analog signal by digital analog converter, is passed to servo proportion through electron-amplifier amplification, is watched
Proportioning valve driving electric cylinders movement is taken to realize the leveling of platform.The motion controller of platform is by the signal and given value of gyroscope
Compare, is in fact exactly to obtain the position of each electric cylinder and compared with reference point, so motion controller uses Position Form PID control
Algorithm processed.
The sampling period of motion controller is set as 10ms, guarantees the leveling precision of leveling system.
Tuning is gathered using examination to adjust the ratio of controller, integral and derivative constant item.By motion controller its
His link parameter sets 0, increases until the dynamic response characteristic of system just shakes；In order to avoid the shock range of heavy system,
Integral term parameter do not answer it is excessive, guarantee system stablize under the premise of, by adjusting with come so that system can not only keep good
Active step response and static error can be eliminated, differential term parameter is not required to if expected control effect may be implemented in system at this time
It adjusts, if falling flat, can be gathered by addition differential term and constantly examination to achieve the desired results.
Platform control system uses upper computer and lower computer control model: host computer is supervised to monitor computer for state
Control, signal are received to be assigned with processing, movement instruction；Slave computer is servo motor motion controller, for receiving host computer displacement
Instruction, and quick execution displacement action.
Detailed description of the invention
Fig. 1 is Three Degree Of Freedom self-balancing platform；
Fig. 2 is Three Degree Of Freedom self-balancing platform three-view diagram；
Label declaration；
1-- moves upper mounting plate；
2-- pedestal；
3-- electric cylinder；
4-- servo motor；
5-- servo-driver；
6-- control system and control panel；
7-- bearing block；
8-- cylinder seat；
9-- ears intersecting semicircles hinge；
10-- gyroscope.
Specific embodiment
The utility model is described in further detail combined with specific embodiments below.
The position that electric cylinder 3 is recorded after the booting of Three Degree Of Freedom self-balancing platform, carries out location position, and be set as initially pacifying
All positon.
After having carried out initial position calibration, adjustment device will carry out carry out water to movement upper mounting plate 1 according to locating environment
Heibei provincial opera section.
Adjusting is divided into automatic adjustment and manually adjusts.
When automatic adjustment, the gyroscope 10 for adjusting movement upper mounting plate 1 installation of device can transmit position angle signal
Control system 6.
Control system 6 is to feedback signal (1 displacement Z and pitch angle from 10 pairs of 1 postures of movement upper mounting plate of gyroscope
α, angle of heel β), enter Computing by slave computer computer communication interface, and the instruction of electric cylinder 3 is converted into through D/A
Signal is by SERVO CONTROL, to acquire practical posture of the sampling instant campaign upper mounting plate 1 in space, (1 displacement, 2 turn
Angle).
Resolving by encoder to feedback signal is completed to calculate, and implements digital close through high speed acquisition to computer
Ring control.
Control system 6 controls the coordination simultaneously of electric cylinder 3 and constitutes the transient posture that movement upper mounting plate 1 moves.
The feedback signal of initial signal and system of the control system 6 constantly to gyroscope 10 compares calculation processing, most
Make to move 1 level of upper mounting plate eventually.
Control device can lock movement upper mounting plate 1.
After locking, the position of movement upper mounting plate 1 will no longer change, and remain the position that locking is.
After unlocking, movement upper mounting plate 1 will automatically return to horizontal position.
It is had also been devised on Three Degree Of Freedom self-balancing platform and manually adjusts switch.
Opening manually adjusts, and in the case where no locking, staff can adjust movement upper mounting plate 1 manually
Section.
It manually adjusts and is divided into coarse adjustment and fine tuning.
Coarse adjustment is quickly adjusted for wide-angle.
Fine tuning is used for low-angle fine adjustment.
Adjustment device devises a key reset function.
After Three Degree Of Freedom self-balancing platform power cut-off, staff opens a key reset function.
Three Degree Of Freedom self-balancing platform is restored to initial safe state.
It is restored to initial position by controlling electric cylinder 3, movement upper mounting plate 1 is made to be restored to initial position.
Claims (4)
1. a kind of self-balancing stage apparatus suitable for forest land machinery, it is characterised in that including movement upper mounting plate, bearing block, electronic
Cylinder, cylinder seat, servo motor, servo-driver, ears intersecting semicircles hinge, pedestal, gyroscope, control system and control panel；Its
In, the movement upper mounting plate is connected by bearing block with electric cylinder, and electric cylinder is connected by cylinder seat with servo motor, servo-drive
Device is connected by cylinder seat with servo motor, and cylinder seat is fixed on the base by ears intersecting semicircles hinge.
2. a kind of self-balancing stage apparatus suitable for forest land machinery according to claim 1, it is characterised in that: bearing block
It is fixed by screws in the lower end surface of upper mounting plate, the connection of electric cylinder and bearing block is hinged.
3. a kind of self-balancing stage apparatus suitable for forest land machinery according to claim 1, it is characterised in that: 3 electricity
Dynamic cylinder does linear movement in cylinder shaft direction, and platform realizes three-degree-of-freedom motion by the coordinated movement of various economic factors of 3 electric cylinders.
4. a kind of self-balancing stage apparatus suitable for forest land machinery according to claim 1, it is characterised in that: platform control
System processed uses upper computer and lower computer control model；Host computer is monitoring computer, and slave computer is servo motor motion control
Device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822106695.8U CN209356926U (en) | 2018-12-15 | 2018-12-15 | A kind of self-balancing platform suitable for forest land machinery |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822106695.8U CN209356926U (en) | 2018-12-15 | 2018-12-15 | A kind of self-balancing platform suitable for forest land machinery |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209356926U true CN209356926U (en) | 2019-09-06 |
Family
ID=67784716
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201822106695.8U Expired - Fee Related CN209356926U (en) | 2018-12-15 | 2018-12-15 | A kind of self-balancing platform suitable for forest land machinery |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209356926U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109445450A (en) * | 2018-12-15 | 2019-03-08 | 东北林业大学 | A kind of self-balancing platform suitable for forest land machinery |
-
2018
- 2018-12-15 CN CN201822106695.8U patent/CN209356926U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109445450A (en) * | 2018-12-15 | 2019-03-08 | 东北林业大学 | A kind of self-balancing platform suitable for forest land machinery |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190906 Termination date: 20211215 |