CN210402089U - CANopen-based electromechanical vehicle-mounted automatic adjusting platform - Google Patents
CANopen-based electromechanical vehicle-mounted automatic adjusting platform Download PDFInfo
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- CN210402089U CN210402089U CN201921756032.9U CN201921756032U CN210402089U CN 210402089 U CN210402089 U CN 210402089U CN 201921756032 U CN201921756032 U CN 201921756032U CN 210402089 U CN210402089 U CN 210402089U
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Abstract
The utility model belongs to the technical field of a vehicle-mounted platform automatic leveling technique and specifically relates to a platform is transferred in on-vehicle automation of electromechanical type based on CANopen is related to. This electromechanical type vehicle-mounted automatic adjusting platform is based on biax inclinometer and electronic jar actuating mechanism's four landing legs automatic adjusting platform, including vehicle-mounted platform, electronic jar landing leg, power supply unit, control system, wherein vehicle-mounted platform has put the biax inclinometer, is responsible for the inclination value of real-time acquisition platform to feed back to control system, control actuating mechanism motion, the utility model discloses a CANopen bus multiaxis synchronous control to the realization is to vehicle-mounted platform's automation, accurate, quick leveling.
Description
Technical Field
The utility model relates to a vehicle-mounted platform automatic leveling technical field, in particular to platform is transferred to electromechanical formula vehicle-mounted automation based on CANopen.
Background
In recent years, with the development requirement of an automatic leveling technology of a vehicle-mounted platform, a stable and reliable horizontal platform is often required to be rapidly deployed for vehicle-mounted equipment in a field environment. At present, the automatic leveling mode of a vehicle-mounted platform mainly comprises an electro-hydraulic leveling method and an electromechanical leveling method, wherein a system of the electro-hydraulic leveling method is easy to leak hydraulic oil, so that the stability of the platform is poor, the leveling precision is reduced, and the later maintenance cost is high; although the traditional electromechanical leveling method has a simple structure and high stability, the traditional electromechanical leveling method is generally applied to vehicle-mounted platforms with small loads, and meanwhile, the requirements of high maneuverability and high precision of leveling of some current vehicle-mounted platforms are difficult to meet.
SUMMERY OF THE UTILITY MODEL
In order to solve the technical problem, the utility model discloses an electromechanical type vehicle-mounted automatic platform of transferring based on CANopen can realize the high accuracy leveling requirement of heavy load vehicle-mounted platform in the short time in abominable open-air environment, has that system transmission speed is fast, interference immunity is strong, master and slave station can realize simultaneous two-way communication's advantage.
In order to realize the purpose, the utility model discloses a technical scheme is:
an electromechanical vehicle-mounted automatic adjusting platform based on CANopen comprises a vehicle-mounted platform, electric cylinder supporting legs, power supply equipment and a control system, wherein the electric cylinder supporting legs are symmetrically distributed on two sides of the vehicle-mounted platform, a jack plate is fixedly connected with the top of each electric cylinder supporting leg through an arc-shaped locking hoop by a bolt, each electric cylinder supporting leg comprises a manual operating mechanism, an executing mechanism, a speed reducer, a transmission mechanism and a supporting leg, the manual operating mechanisms are arranged on the outer side of the vehicle-mounted platform and can emergently extend or retract the electric cylinder supporting legs in a power-off state, each transmission mechanism comprises a transmission gear, a screw rod, a nut, a sliding column and a guide sleeve, the sliding column and the nut are connected into a whole through keys, the supporting legs are connected with the guide sleeves through ball hinges, the executing mechanism drives the screw rod to rotate through the screw rod under the matching of the transmission gear, so as to drive the sliding column to do vertical, travel limit switch sets up electronic jar landing leg upper portion is connected to control system through the wire, control system includes programmable logic controller, actuating mechanism driver, biax inclinometer, touch screen, operating panel, biax inclinometer settles at on-vehicle platform center, and the unsettled left side that sets up at on-vehicle platform of switch board, programmable logic controller, actuating mechanism driver are all settled at the switch board, the front panel from the top down of switch board has set gradually touch screen, operating panel, actuating mechanism is connected to the actuating mechanism driver to link to each other with power supply unit through the power cord, actuating mechanism driver, touch screen are connected to programmable logic controller to be connected to power supply unit through the power cord.
The power supply equipment comprises a three-phase 380V alternating current main power supply and a 24V direct current switch power supply, wherein the alternating current main power supply is connected with the 24V switch power supply through a lead, and the 24V direct current switch power supply respectively supplies power to the programmable logic controller, the double-shaft inclinometer, the travel limit switch and the touch screen through leads.
The operation panel comprises a power switch, a manual/automatic change-over switch, a one-key leveling key, a one-key withdrawing key and an emergency stop switch and is responsible for controlling the leveling operation of the leveling system, wherein the two keys of the one-key leveling and the one-key withdrawing are interlocked.
The CANopen comprises a master station, slave stations and a CANopen network, wherein the CANopen network communicates by means of a bus, and the master station has the functions of network management and service data client and controls and accesses all the slave stations in the network through the bus.
As a preferred technical scheme of the design, the electric cylinder supporting leg is provided with an upper travel limit switch as safety protection and zero point positioning, and in order to prevent water and damage, a hardware lower travel limit switch of the electric cylinder supporting leg is cancelled and changed into program soft limit protection.
As a preferred technical scheme of the design, the electric cylinder supporting legs are arranged in four points according to a symmetrical rectangle with good stability and strong anti-overturning capacity.
As a preferable technical scheme of the design, the execution mechanism adopts a ZL/MS1302-L2 permanent magnet synchronous servo motor with high precision and low cost.
As a preferred technical scheme of the design, the lead screw in the supporting leg of the electric cylinder is a trapezoidal lead screw with self-locking capability.
As a preferred technical scheme of the design, the actuator driver is a Xenus XTL series digital CANopen driver.
As a preferred technical scheme of the design, the programmable logic controller adopts a desktop DVP-ES2 series with a ModbusCANopen communication interface.
As a preferable technical scheme of the design, the double-shaft inclinometer adopts an ultra-high precision BWH 527 series Modbus double-shaft inclination angle sensor.
As a preferable technical scheme of the design, the touch screen is a DP-107WV advanced network type touch screen.
According to a preferable technical scheme of the design, a CANopen communication protocol is followed among the actuator driver, the programmable logic controller and the double-shaft inclinometer, the programmable logic controller is used as a master station of the CANopen and is communicated with the actuator driver and the double-shaft inclinometer through a bus, and bus multi-shaft synchronous control can be achieved on the system.
Compared with the prior art, the utility model, following beneficial effect has does:
1. the utility model discloses rely on the support of CANopen agreement, field bus servo control adopts the control structure of a owner from more, and two-way communication simultaneously can be realized to master and slave stations, has improved the stability and the reliability of system, makes the system open moreover, is convenient for realize the communication with different firm equipment.
2. The utility model discloses CANopen main website is through adopting programmable logic controller, uses touch screen technology, chooses the biax angular transducer of high accuracy for use, has high leveling precision and stability, and is visual good moreover, and degree of automation is high, has improved on-vehicle transmission platform's maneuvering ability and quick response ability greatly.
Drawings
FIG. 1 is a schematic diagram of a platform configuration;
FIG. 2 is a top plan view of the platform;
FIG. 3 is an enlarged view of the junction of the top of the leg and the jack plate;
FIG. 4 is a partial enlarged view of the power distribution cabinet;
FIG. 5 is an external view of the electric cylinder leg;
FIG. 6 is a cross-sectional view of the electric cylinder leg;
FIG. 7 is a control system operational schematic;
FIG. 8 is a schematic illustration of an angle error leveling method.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1 to 6, an electromechanical vehicle-mounted automatic adjusting platform based on CANopen is characterized in that: the electric cylinder supporting leg structure comprises a vehicle-mounted platform 1, electric cylinder supporting legs 22, power supply equipment 2 and a control system, wherein the electric cylinder supporting legs 22 are symmetrically distributed on two sides of the vehicle-mounted platform 1, a jack plate 4 is fixedly connected with a top 6 of the electric cylinder supporting legs 22 through an arc-shaped locking hoop 5 through bolts, the electric cylinder supporting legs 22 comprise a manual operating mechanism 7, an executing mechanism 8, a speed reducer 9, a transmission mechanism and supporting legs 10, the manual operating mechanism is installed on the outer side of the vehicle-mounted platform 1, the transmission mechanism comprises a transmission gear 11, a screw rod 12, a screw nut 13, a sliding column 14 and a guide sleeve 15, the sliding column 14 and the screw nut 13 are connected into a whole through a key, the supporting legs 10 are connected with the guide sleeve 15 through a ball hinge 16, the executing mechanism 8 drives the screw rod 12 to rotate under the matching of the transmission gear 11 through the speed reducer 9, so as to drive the, the travel limit switch 17 is arranged on the upper portion of an electric cylinder supporting leg 22 and is connected to a control system through a lead, the control system comprises a programmable logic controller, an execution mechanism driver, a double-shaft inclinometer 18, a touch screen 19 and an operation panel 20, the double-shaft inclinometer 18 is arranged at the center of a vehicle-mounted platform 1, a power distribution cabinet 21 is arranged on the left side of the vehicle-mounted platform 1 in a suspended mode, the programmable logic controller and the execution mechanism driver are arranged in the power distribution cabinet 21, a touch screen 19 and the operation panel 20 are sequentially arranged on a front panel of the power distribution cabinet 21 from top to bottom, the execution mechanism 8 is connected to the execution mechanism driver and is connected with a power supply device 2 through a power line, the execution mechanism driver and the touch screen 19 are connected to the programmable logic controller and are connected to the power supply device 2 through power lines, and the operation panel comprises a power, The one-key leveling key, the one-key withdrawing key and the emergency stop switch are responsible for controlling the leveling operation of the leveling system.
The power supply equipment comprises a three-phase 380V alternating current main power supply and a 24V direct current switch power supply, wherein the alternating current main power supply is connected with the 24V switch power supply through a lead, and the 24V direct current switch power supply respectively supplies power to the programmable logic controller, the double-shaft inclinometer, the travel limit switch and the touch screen through leads.
The operation panel 20 includes a power switch, a manual/automatic switch, a one-key leveling key, a one-key retrieving key, and an emergency stop switch, and is responsible for controlling the leveling operation of the leveling system, wherein the two keys for one-key leveling and one-key retrieving are interlocked.
The CANopen comprises a master station, slave stations and a CANopen network, wherein the CANopen network communicates by means of a bus, and the master station has the functions of network management and service data client and controls and accesses all the slave stations in the network through the bus.
As a preferred technical scheme of the design, the electric cylinder supporting leg 22 is provided with the upper travel limit switch 17 as safety protection and zero point positioning, and in order to prevent water and damage, the hardware lower travel limit switch of the electric cylinder supporting leg 22 is cancelled and changed into program soft limit protection.
As a preferred technical scheme of the design, the electric cylinder supporting legs 22 are arranged in four points according to a symmetrical rectangle with good stability and strong anti-overturning capacity.
As a preferable technical scheme of the design, the actuating mechanism 8 is a ZL/MS1302-L2 permanent magnet synchronous servo motor with high precision and low cost.
As a preferred technical scheme of the design, the screw rod 12 is a trapezoidal screw rod with self-locking capacity.
As a preferred technical scheme of the design, the actuator driver is a Xenus XTL series digital CANopen driver.
As a preferred technical scheme of the design, the programmable logic controller adopts a desktop DVP-ES2 series with a ModbusCANopen communication interface.
As a preferred technical scheme of the design, the biaxial inclinometer 18 is an ultrahigh-precision BWH 527 series Modbus biaxial inclination angle sensor.
As a preferable technical scheme of the design, the touch screen 19 is a DP-107WV advanced network type touch screen.
As a preferred technical solution of the present design, a CANopen communication protocol is followed between the actuator driver, the programmable logic controller and the dual-axis inclinometer 18, and the programmable logic controller, as a master station of the CANopen, communicates with the actuator driver and the dual-axis inclinometer 18 through a bus, thereby implementing bus multi-axis synchronous control on the system.
As shown in fig. 7, the programmable logic controller is used as a master station of the CANopen and is responsible for receiving information and sending instructions of the whole CANopen network, the actuator driver and the dual-axis inclinometer 18 are used as slave stations of the CANopen, the actuator driver is responsible for receiving motion control instructions of the master station and sending current signals, motor running states and current positions of the electric cylinders to the master station through a bus, and the master station judges whether the emission platform meets leveling precision requirements or not according to the inclination values of the emission platform acquired by the dual-axis inclinometer 18, so as to control the motion and stop states of the leveling support legs of the electric cylinders.
The utility model discloses an automatic leveling operation has two stages, high-speed no-load operation stage and low-speed heavy burden automatic leveling stage promptly
Two phases were analyzed:
(1) high-speed no-load operation stage: after one-key leveling is started, the control system collects angle signals of the biaxial inclinometer 18, preliminarily determines the speed and displacement of idle-load high-speed operation of each supporting leg before the supporting legs are grounded through analysis and calculation, starts the actuating mechanism 8, enables the electric cylinder supporting legs 22 to extend downwards at the fastest speed, simultaneously starts the programmable logic controller to read the real-time current message of the actuator driver, tests in advance to obtain the grounding current of the electric cylinder supporting legs 22, and compares the grounding current of the electric cylinder supporting legs 22 with the real-time current to judge whether the supporting legs are grounded. After confirming that the electric cylinder supporting legs 22 are all grounded, the system enters a low-speed load automatic leveling stage.
(2) And (3) low-speed load automatic leveling stage: after the system finishes the high-speed no-load operation, a low-speed load automatic leveling stage is started, similarly, the leveling system calculates the relative displacement of the electric cylinder supporting legs 22 to be horizontal according to angle signals fed back by the double-shaft inclinometer 18, the actuating mechanism 8 drives the electric cylinder supporting legs 22 to move at low speed and high torque, the respective relative displacement is completed, namely, the primary leveling is completed, then, the electric cylinder supporting legs 22 extend out of the set compensation stroke at the rated rotating speed simultaneously, so that the vehicle body is completely separated from the ground (taking the tire as the basis for obviously lifting off the ground), in order to prevent the horizontal state of the vehicle-mounted platform from being broken in the lift-off stroke compensation process, after the lift-off stroke compensation is completed, the control system can carry out secondary micro-leveling to ensure the horizontal state of the.
The utility model discloses an angle error leveling method is selected for use in secondary micro-leveling, as shown in FIG. 8, angle error leveling method is through the extension of above-mentioned electronic jar landing leg 22 of actuating mechanism drive or shorten the inclination α, β that make X, Y axle and reduce to zero, thereby realize the platform leveling serial number 1, 2, 3, 4 serial number of electronic jar landing leg 22 when respectively, when inclination α, β are all greater than zero, 1 st electronic jar landing leg 221 is motionless, 2 nd, 3 rd electronic jar landing leg 222, 223 rise simultaneously, until inclination α value reduces to zero, then, 3 rd, 4 electronic jar landing legs 223, 224 rise simultaneously, until inclination β value reduces to zero, at this moment, inclination α, β's value all is zero, foretell vehicle-mounted platform reaches the horizontality.
The foregoing illustrates and describes the principles, general features, and advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that the foregoing embodiments and descriptions are provided only to illustrate the principles of the invention without departing from the spirit and scope of the invention.
Claims (6)
1. The utility model provides an electromechanical type is on-vehicle transfers platform automatically based on CANopen which characterized in that: the electric cylinder supporting leg structure comprises a vehicle-mounted platform (1), electric cylinder supporting legs (22), power supply equipment (2) and a control system, wherein the electric cylinder supporting legs (22) are symmetrically distributed on two sides of the vehicle-mounted platform (1), a jack plate (4) is fixedly connected with a top head (6) of the electric cylinder supporting legs (22) through an arc-shaped locking hoop (5) through bolts, the electric cylinder supporting legs (22) comprise manual operating mechanisms (7), actuating mechanisms (8), speed reducers (9), transmission mechanisms and supporting legs (10), the manual operating mechanisms (7) are installed on the outer side of the vehicle-mounted platform (1), each transmission mechanism comprises a transmission gear (11), a screw rod (12), a nut (13), a sliding column (14) and a guide sleeve (15), the sliding column (14) and the nut (13) are connected into a whole through a key, and the supporting legs (10) are connected with the guide sleeve (15) through ball hinges, the actuating mechanism (8) is driven to pass through the speed reducer (9) and drive the screw rod (12) to rotate under the coordination of the transmission gear (11), so as to drive the sliding column (14) to do vertical linear motion along the axial direction of the screw rod (12), the travel limit switch (17) is arranged on the upper part of the supporting leg (22) of the electric cylinder and is connected to the control system through a lead wire, the control system comprises a programmable logic controller, an actuating mechanism driver, a double-shaft inclinometer (18), a touch screen (19) and an operating panel (20), the double-shaft inclinometer (18) is arranged at the center of the vehicle-mounted platform (1), the power distribution cabinet (21) is arranged at the left side of the vehicle-mounted platform (1) in a suspended mode, the programmable logic controller and the actuating mechanism driver are both arranged in the power distribution cabinet (21), and the touch screen (19) and the operating panel (20) are sequentially, the actuator (8) is connected to the actuator driver and connected with the power supply device (2) through a power line, and the actuator driver and the touch screen (19) are connected to the programmable logic controller and connected to the power supply device (2) through the power line.
2. The CANopen-based electromechanical vehicle-mounted automatic adjusting platform according to claim 1, characterized in that: the electric cylinder has four supporting legs (22).
3. The CANopen-based electromechanical vehicle-mounted automatic adjusting platform according to claim 1, characterized in that: the actuating mechanism (8) is a permanent magnet synchronous servo motor.
4. The CANopen-based electromechanical vehicle-mounted automatic adjusting platform according to claim 1, characterized in that: the screw rod (12) is a trapezoidal screw rod with self-locking capability.
5. The CANopen-based electromechanical vehicle-mounted automatic adjusting platform according to claim 1, characterized in that: and the double-shaft inclinometer (18) adopts a high-precision Modbus double-shaft inclination angle sensor.
6. The CANopen-based electromechanical vehicle-mounted automatic adjusting platform according to claim 1, characterized in that: the actuator driver, the programmable logic controller and the double-shaft inclinometer (18) follow a CANopen communication protocol, and the programmable logic controller is used as a master station of the CANopen and is communicated with the actuator driver and the double-shaft inclinometer (18) through a bus.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921756032.9U CN210402089U (en) | 2019-10-18 | 2019-10-18 | CANopen-based electromechanical vehicle-mounted automatic adjusting platform |
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| CN201921756032.9U CN210402089U (en) | 2019-10-18 | 2019-10-18 | CANopen-based electromechanical vehicle-mounted automatic adjusting platform |
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| CN210402089U true CN210402089U (en) | 2020-04-24 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113325763A (en) * | 2021-05-26 | 2021-08-31 | 湖北三江航天万峰科技发展有限公司 | Rocket automatic straightening device based on CAN bus control |
| CN114771469A (en) * | 2022-03-02 | 2022-07-22 | 珠海城市职业技术学院 | Pump truck balance system and pump truck balance method |
-
2019
- 2019-10-18 CN CN201921756032.9U patent/CN210402089U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113325763A (en) * | 2021-05-26 | 2021-08-31 | 湖北三江航天万峰科技发展有限公司 | Rocket automatic straightening device based on CAN bus control |
| CN114771469A (en) * | 2022-03-02 | 2022-07-22 | 珠海城市职业技术学院 | Pump truck balance system and pump truck balance method |
| CN114771469B (en) * | 2022-03-02 | 2023-10-27 | 珠海城市职业技术学院 | Pump truck balancing system and pump truck balancing method |
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Address after: 310000 rooms 106 and 107, 1f, Yifu science and technology building, East District, China University of metrology, 258 Xueyuan street, Qiantang New District, Hangzhou, Zhejiang Patentee after: Hangzhou Qinhu Technology Co.,Ltd. Address before: Yifu science and technology building, East District, China University of metrology, 258 Xueyuan street, Hangzhou Economic and Technological Development Zone, Zhejiang Province, 310018 Patentee before: Hangzhou Qinhu Intelligent Equipment Co.,Ltd. |
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