An electromechanical support leg recovery control method
A control method and technology of supporting legs, which are applied in the direction of non-electric variable control, torque/mechanical power control, control/regulation system, etc., can solve the problem that the sliding column is easily contaminated with sand, the starting torque becomes larger, and the leg retracting torque is large and other problems, to achieve the effect of eliminating zero drift phenomenon, small return to zero torque, and overcoming the increase of motor torque
Inactive Publication Date: 2020-05-19
WUHAN BINHU ELECTRONICS
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Problems solved by technology
[0003] However, for the leveling system installed on special equipment, the electromechanical support legs still have the following problems. First, the precise counter is used to return to zero, that is, the stroke of the support leg is calculated by the high-speed counter each time. When the stroke of the support leg reaches zero, Complete the system back to zero work, this method has the following problems, for example, after long-term use, the protruding sliding column is easily contaminated with sand, the torque of the legs is too large, and the screw is easy to be scratched after long-term use, so the supporting legs need to be replaced frequently. Adopt accurate counter to return to zero, and the zero return position is fixed, which may easily cause technical problems of large starting torque for a long time
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[0012] Explanation of terms: PLC programmable logic controller, PLC can also be replaced by other control devices, such as single-chip microcomputer, DSP and other chips.
[0013] The present invention will be further described below in conjunction with the accompanying drawings.
[0014] like figure 1 As shown, the supporting leg of the present invention includes a servo motor 1, a driving mechanism 2, a shaft circlip 3, a ball screw assembly 5, a leg body 6, and a sliding column 7, and the servo motor 1 drives the ball screw through the driving mechanism 2 The assembly 5 rotates, thereby driving the sliding column 7 to stretch out or recover, so as to realize the mechanical control of stretching the legs.
[0015] The electromechanical support leg of the present invention uses a servo motor 1 to control the stretching and recovery of the support leg, and the servo driver drives the motor to rotate. The control device calculates the stroke and torque of the support leg by co...
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The invention relates to the field of mechanical control, and especially relates to an electromechanical supporting leg recovery control method. According to the invention, the state of a supporting leg is judged according to two variables such as the torque and the stroke, the torque is taken as a main judgment basis, and zero-returning position of the recovered leg is ensured to be within a reasonable range. In addition, the zero-returning position of a sliding column is randomly determined at each time, and the torque change within a reasonable range can be well recognized by the zero returning process, so that the electromechanical supporting leg is ensured to operate stably for a long term, the failure cycle of the supporting left is reduced, and the reliability of the supporting legis improved. Furthermore, the zero-returning torque is small, so that the impact force between structural components is enabled to be reduced, and the service life of the supporting leg is prolonged.
Description
technical field [0001] The invention relates to the field of mechanical control, in particular to an electromechanical recovery control method for supporting legs. Background technique [0002] Existing leveling systems are generally divided into hydraulic leveling and mechanical leveling. The hydraulic leveling system uses hydraulic outriggers for support, while the mechanical leveling system uses electromechanical support legs. The electromechanical support legs can lock the leveling accuracy for a long time, which is convenient for fine adjustment and other advantages. [0003] However, for the leveling system installed on special equipment, the electromechanical support legs still have the following problems. First, the precise counter is used to return to zero, that is, the stroke of the support leg is calculated by the high-speed counter each time. When the stroke of the support leg reaches zero, Complete the system back to zero work, this method has the following pro...
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IPC IPC(8): G05D17/02
CPCG05D17/02
Inventor 康玉胜张小蔚沈小川何汉忠
Owner WUHAN BINHU ELECTRONICS