Control system and control method for automatic adjustment device of large plate parts

Abstract

The present invention relates to the field of installation and control technology, and in particular to a control system and a control method for an automatic adjustment device for large plate parts, including a general control system and multiple posture adjustment devices, the multiple posture adjustment devices are connected to the large plate parts at the same time, and the multiple position adjustment devices work together to carry and adjust the posture of the large plate parts; each posture adjustment device has several walking modes such as stop, advance, retreat, turn left and turn right, and the controller on each posture adjustment device controls the corresponding posture adjustment device to walk, and the multiple posture adjustment devices work together to drive the large plate parts to move. The present invention has the advantages of easy installation, flexible control, easy adjustment, high degree of automation, high posture adjustment accuracy, high safety, simple and convenient operation, etc.

Description

Technical Field

[0001] The invention relates to the field of installation and control technology, and in particular to a control system and a control method of an automatic adjustment device for large plate parts. Background Art

[0002] In the processes of large-scale building construction, large-scale bridge construction, large-scale track laying, large-scale machinery assembly, etc., large-scale plate parts are the key core components, including concrete slabs, support plates, conveyor plates, track plates, etc. Their molding methods can be divided into concrete casting molding, steel-concrete masonry molding, forging molding, casting molding, etc., and they mainly play the roles of bearing, supporting, positioning, and transportation.

[0003] Due to their heavy weight and large size, large plate parts are difficult to move, transport, install, assemble, and adjust. At present, the main method is to use wire ropes to bundle large plate parts, and then use heavy lifting equipment such as large cranes and crawler cranes to manually lift them to complete the corresponding installation tasks. For example, during the construction of large buildings, the large concrete slabs that are the main load-bearing components are moved and laid by lifting equipment; for another example, during the construction of large bridges, the track plates are still manually lifted by lifting equipment during installation and posture adjustment; for another example, during the mechanical assembly of large transport vehicles, the vehicle support plates are still manually lifted by lifting equipment during movement and precision assembly.

[0004] Large plate parts are manually hoisted using lifting equipment, which has the following main disadvantages:

[0005] (1) Before lifting large plate parts, they must first be tied with wire ropes. If they are too large or have irregular shapes, it will be difficult to tie them. If the tying is not firm, the large plate parts will fall off during the lifting process.

[0006] (2) Large plate parts are manually hoisted using lifting equipment. Whether in the process of installation, movement, assembly, or adjustment, the large plate parts need to be first hoisted by the lifting equipment, then moved, and finally transported to the designated location. This manual hoisting method requires the operator of the lifting equipment to be careful and cautious, and to communicate with multiple supervisors around the large plate parts to avoid damage to components and personal injuries due to misoperation;

[0007] (3) This lifting method cannot meet the requirements of position accuracy, assembly accuracy, and posture adjustment accuracy during the process of precision assembly and posture adjustment due to factors such as the difficulty in operating the lifting equipment, large movement errors, and low efficiency. Therefore, it is difficult to achieve precision assembly and posture adjustment of large plate parts. Summary of the invention

[0008] The present invention aims to solve one of the above technical problems.

[0009] In order to solve one of the above technical problems, the present invention provides a control system for an automatic adjustment device for large plate parts, comprising:

[0010] Total control system;

[0011] Multiple posture adjustment devices, multiple posture adjustment devices are connected to large plate parts at the same time, and multiple position adjustment devices work together to carry and adjust the posture of large plate parts;

[0012] Each of the posture adjustment devices comprises:

[0013] A controller, wherein the controller is electrically or communicatively connected to the overall control system, each controller is provided with a corresponding remote controller, and the controller is signal-connected to the remote controller;

[0014] A vertical Z-axis hydraulic cylinder, the piston rod of which is connected to a large plate-like part;

[0015] A horizontal Y-axis hydraulic cylinder, the piston rod of which is transmission-connected to the vertical Z-axis hydraulic cylinder to drive the vertical Z-axis hydraulic cylinder to move along the Y-axis direction;

[0016] A horizontal X-axis hydraulic cylinder, the piston rod of which is transmission-connected to the horizontal Y-axis hydraulic cylinder to drive the horizontal Y-axis hydraulic cylinder to move along the X-axis direction;

[0017] A base, on which the horizontal X-axis hydraulic cylinder is mounted;

[0018] A left automatic wheel set, the left automatic wheel set is installed below the base, the left automatic wheel set can automatically rotate to drive the position adjustment device to translate, and the left automatic wheel set is electrically connected to the controller;

[0019] A right automatic wheel set, the right automatic wheel set being installed below the base, the right automatic wheel set being able to rotate automatically, so as to drive the position adjustment device to translate together with the left automatic wheel set, and the right automatic wheel set being electrically connected to the controller;

[0020] Each of the posture adjustment devices is equipped with:

[0021] An inclination sensor, which detects the inclination of the three axes X, Y and Z of the posture adjustment device, and the inclination sensor is electrically connected to the controller;

[0022] A left wheel encoder, the left wheel encoder is electrically connected to the left automatic wheel set to detect the rotation speed and the number of rotations of the left automatic wheel set, and the left wheel encoder is electrically connected to the controller;

[0023] A right wheel encoder, the right wheel encoder is electrically connected to the right automatic wheel set to detect the rotation speed and number of rotations of the right automatic wheel set, and the right wheel encoder is electrically connected to the controller;

[0024] Each posture adjustment device has several walking modes, including stop, forward, backward, left turn and right turn. The controller on each posture adjustment device controls the corresponding posture adjustment device to walk, and multiple posture adjustment devices cooperate with each other to drive large plate parts to move; the inclination sensor detects the inclination of the X, Y and Z axes of the posture adjustment device, and adjusts the position of the connection between the posture adjustment device and the large plate parts through the horizontal Y-axis hydraulic cylinder, horizontal X-axis hydraulic cylinder and vertical Z-axis hydraulic cylinder. Multiple posture adjustment devices work together to adjust the posture of large plate parts.

[0025] The control system of the automatic adjustment device for large plate-like parts of the present invention converts the posture changes of large plate-like parts into adjustment displacement values ​​of the vertical Z-axis hydraulic cylinder, horizontal Y-axis hydraulic cylinder and horizontal X-axis hydraulic cylinder of each posture adjustment device, thereby driving the vertical Z-axis hydraulic cylinder, horizontal Y-axis hydraulic cylinder and horizontal X-axis hydraulic cylinder through a closed loop to complete the automatic adjustment of the posture of large plate-like parts, thereby improving the rapidity of posture adjustment and improving installation accuracy.

[0026] In addition, the control system of the automatic adjustment device for large plate parts of the present invention has the advantages of easy installation, flexible operation, easy adjustment, high degree of automation, and high accuracy of posture adjustment. Compared with adjusting the posture of large plate parts by lifting and other methods, the automatic adjustment device for large plate parts of the present invention is highly safe and simple and convenient to operate.

[0027] Furthermore, a displacement sensor 1 is installed on the horizontal X-axis hydraulic cylinder to detect the displacement of the piston rod of the horizontal X-axis hydraulic cylinder, a displacement sensor 2 is installed on the horizontal Y-axis hydraulic cylinder to detect the displacement of the piston rod of the horizontal Y-axis hydraulic cylinder, and a displacement sensor 3 is provided on the vertical Z-axis hydraulic cylinder to detect the displacement of the piston rod of the vertical Z-axis hydraulic cylinder. The displacement sensor 1, displacement sensor 2 and displacement sensor 3 are all electrically connected to the controller.

[0028] Furthermore, the posture adjustment device is also provided with a hydraulic station and a control valve group, the hydraulic station is connected to the control valve group, and the control valve group is respectively connected to the horizontal X-axis hydraulic cylinder, the horizontal Y-axis hydraulic cylinder and the vertical Z-axis hydraulic cylinder to drive the horizontal X-axis hydraulic cylinder, the horizontal Y-axis hydraulic cylinder and the vertical Z-axis hydraulic cylinder to move independently, the hydraulic station and the control valve group are both electrically connected to the controller, the controller controls the hydraulic station to supply oil to the control valve group, and the controller controls the control valve group to control the hydraulic oil to enter or flow out of the horizontal X-axis hydraulic cylinder, the horizontal Y-axis hydraulic cylinder and the vertical Z-axis hydraulic cylinder.

[0029] Further, the hydraulic station comprises:

[0030] tank;

[0031] A hydraulic pump group 1, wherein the hydraulic pump group 1 is connected to an oil tank, and an oil outlet of the hydraulic pump group 1 is connected to an oil inlet of the control valve group to supply oil to the control valve group;

[0032] A second hydraulic pump group, wherein the second hydraulic pump group is connected to the oil tank, and an oil outlet of the second hydraulic pump group is connected to an oil inlet of the control valve group;

[0033] A one-way valve, the one-way valve is arranged at the oil outlet of the hydraulic pump group 1 to allow the hydraulic oil to flow in one direction from the oil outlet of the hydraulic pump group 1 to the control valve group;

[0034] A second one-way valve, the one-way valve is arranged at the oil outlet of the second hydraulic pump group to allow the hydraulic oil to flow in one direction from the oil outlet of the second hydraulic pump group to the control valve group;

[0035] A relief valve, wherein the oil inlet of the relief valve is connected to the oil outlet of the hydraulic pump group 1 and the oil outlet of the hydraulic pump group 2, and the oil outlet of the relief valve is connected to the oil tank;

[0036] The hydraulic pump group 1 and the hydraulic pump group 2 are both electrically connected to the controller. The hydraulic pump group 1 supplies oil to the control valve group to control the piston rod of the horizontal X-axis hydraulic cylinder, the horizontal Y-axis hydraulic cylinder or the vertical Z-axis hydraulic cylinder to move quickly through the control valve group. The hydraulic pump group 2 supplies oil to the control valve group to control the piston rod of the horizontal X-axis hydraulic cylinder, the horizontal Y-axis hydraulic cylinder or the vertical Z-axis hydraulic cylinder to move precisely through the control valve group.

[0037] Further, the control valve group includes:

[0038] Three solenoid reversing valves, the oil inlets of the three solenoid reversing valves are all connected to the oil outlet of the hydraulic station, and the three solenoid reversing valves are respectively a solenoid reversing valve 1, a solenoid reversing valve 2 and a solenoid reversing valve 3;

[0039] Three hydraulic locks, the three hydraulic locks are hydraulic lock one, hydraulic lock two and hydraulic lock three, the hydraulic lock one is connected to the electromagnetic reversing valve one, the hydraulic lock two is connected to the electromagnetic reversing valve two, the hydraulic lock three is connected to the electromagnetic reversing valve three, the hydraulic lock one is connected to the horizontal X-axis hydraulic cylinder, the hydraulic lock two is connected to the horizontal Y-axis hydraulic cylinder, the hydraulic lock three is connected to the vertical Z-axis hydraulic cylinder, the hydraulic lock one can lock the oil in the horizontal X-axis hydraulic cylinder in two oil chambers respectively, the hydraulic lock two can lock the oil in the horizontal Y-axis hydraulic cylinder in two oil chambers respectively, and the hydraulic lock three can lock the oil in the vertical Z-axis hydraulic cylinder in two oil chambers respectively.

[0040] The present invention also provides a control method for a large plate-like part automatic adjustment device, which uses the control system of the large plate-like part automatic adjustment device, and comprises the following steps:

[0041] S1, initialize and check the data of the electrical components and hydraulic components in the system, check whether the input and output parameters of each electrical component and hydraulic component are normal, if not, the control system will alarm, if normal, continue to execute the subsequent steps;

[0042] S2, collecting data from each posture adjustment device. The controller collects data from the inclination sensor, displacement sensor 1, displacement sensor 2, displacement sensor 3, left wheel encoder and right wheel encoder on each posture adjustment device, and transmits the collected data to the overall control system;

[0043] S3, the controller of each posture adjustment device detects the state parameters of each electrical component to perform state parameter judgment and fault diagnosis. If the state parameters of an electrical component are abnormal, the fault is eliminated and the process goes to step S1; if the state parameters of all electrical components are normal, the process goes to the next step;

[0044] S4, automatic / manual mode judgment and control, the main control system includes a main control panel, the main control panel is provided with manual and automatic buttons, the manual and automatic buttons are used to select the manual or automatic state, and the main control system transmits the manual or automatic command to each controller;

[0045] S5, when the command received by the controller is automatic, the controller controls the left automatic wheel set and the right automatic wheel set to rotate automatically, driving the posture adjustment device to move forward, backward, turn left or turn right, and multiple posture adjustment devices coordinate the actions together to move the large plate parts to the target position;

[0046] S6, automatic posture adjustment, each posture adjustment device adjusts the posture of the large plate-like parts at the target position at the same time, the controller receives the data transmitted by the inclination sensor, and transmits the data to the overall control system, the overall control system adjusts the posture of the large plate-like parts according to the data received from all controllers, and adjusts the posture of the large plate-like parts to the target posture through the horizontal Y-axis hydraulic cylinder, the horizontal X-axis hydraulic cylinder and the vertical Z-axis hydraulic cylinder;

[0047] S7, posture judgment: the controller of each posture adjustment device extracts the inclination angle signal of the inclination sensor and feeds it back to the overall control system. The overall control system judges whether the posture adjustment is completed by judging the inclination angle of the connection between the large plate-like parts and the posture adjustment device. If not, it goes to step S64; if it is completed, it goes to step S9;

[0048] S8, when the command received by the controller is manual, it is manually determined whether the posture adjustment device can be driven to move by the left automatic wheel group and the right automatic wheel group. If it can, each person controls a remote controller corresponding to the controller on the posture adjustment device to control the left automatic wheel group and the right automatic wheel group to drive the posture adjustment device to move. Multiple remote controllers simultaneously control multiple posture adjustment devices to move synchronously. If it cannot, the posture adjustment device is manually pushed to move. Multiple posture adjustment devices move simultaneously to move the large plate parts to the target position. After the large plate parts reach the target position, the posture of the large plate parts is manually adjusted. Each person controls a remote controller to adjust the posture of the large plate parts to the target posture by controlling the horizontal Y-axis hydraulic cylinder, the horizontal X-axis hydraulic cylinder and the vertical Z-axis hydraulic cylinder.

[0049] S9, manually remove all posture adjustment devices to complete the installation of large plate parts.

[0050] Further, step S5 includes:

[0051] S51, remote control and display: the controller of each posture adjustment device transmits the data collected from the inclination sensor to the main control console, thereby feeding back the inclination angle of the connection between each posture adjustment device and the large plate-like parts, and then calculating the posture of the large plate-like parts, and displaying it on the display interface of the main control console;

[0052] S52, walking parameter setting: large plate parts can be moved by four, six, or eight posture adjustment devices, the path of each posture adjustment device is planned, and the path corresponding to each posture adjustment device is transmitted to the corresponding controller. The walking motion trajectory of each posture adjustment device from the initial position to the target position can be divided into four walking modes: forward, backward, left turn and right turn. By calculating each section of the moving trajectory, its motion trajectory is decomposed into the walking mode of each posture adjustment device;

[0053] S53, automatic walking drive module: The main control console sets several walking trajectories of each posture adjustment device into a complete operation trajectory, and then sends them to the receiver of each posture adjustment device through wireless signals. Each posture adjustment device starts to synchronously execute its own operation trajectory. Each posture adjustment device moves according to the walking motion process to move large plate parts to the target position.

[0054] Further, in step S53, the specific steps of the walking motion process of each posture adjustment device are as follows:

[0055] S531, automatic walking track setting: set each running track, and then go to the next step;

[0056] S532, the i-th track: first run from the first track, and set i=1, start running, and then go to the next step;

[0057] S533, walking mode selection: there are four walking modes to choose from. If it is a forward mode, enter the forward mode step; if it is a backward mode, enter the backward mode step; if it is a left turn mode, enter the left turn mode step; if it is a right turn mode, enter the right turn mode step;

[0058] S534, determine whether the motion trajectory completed by the current i segments is the last motion trajectory. If the motion trajectory completed by the current i segments is the last motion trajectory, proceed to step S535; if the motion trajectory completed by the current i segments is not the last motion trajectory, start the next motion trajectory, i.e., the i+1 segment motion trajectory, and take the i+1 segment motion trajectory as the current i segment trajectory, and proceed to step S532;

[0059] S535, stop the walking track movement.

[0060] Further, in step S533, the posture adjustment device performs the forward mode steps as follows:

[0061] First set the forward distance x, and then according to the formula Calculate the target number of laps m for the left and right automatic wheelsetsa , d in the formula is the diameter of the driving wheel in the left and right automatic wheel assemblies, and then the actual number of circles of the left automatic wheel assembly m is read through the left wheel encoder b1 The actual number of revolutions of the right automatic wheel m is read through the right wheel encoder b2 , and will be based on the formula Calculate the number of turns after correction (m) b , in the initial state, the number of turns after correction m b Clear to zero, and then detect the number of turns after correction in real time in the follow-up b Then set the target number of laps m for the left and right automatic wheel groups a and the number of turns after correction m b Subtract, and after the neural network-expert PID operation, the output u1 is obtained, which is divided into two outputs. One path is converted into the forward rotation signal of the left automatic wheel group to control the forward rotation of the left automatic wheel group. At the same time, the actual speed n1 of the left automatic wheel group is detected by the left wheel encoder, and the actual speed n2 of the right automatic wheel group is detected by the right wheel encoder. In order to realize the synchronous control of the left automatic wheel group and the right automatic wheel group, n1 and n2 are subtracted and converted into the forward rotation signal of the right automatic wheel group after the neural network-expert PID operation to control the forward rotation of the right automatic wheel group, thereby realizing the synchronous forward rotation control of the left automatic wheel group and the right automatic wheel group, thereby completing the simultaneous driving of the left automatic wheel group and the right automatic wheel group to realize the forward action of the posture adjustment device; then it is judged whether the current trajectory is completed. If the number of laps after correction is m b Equal to the target number of motor revolutions m a , the current trajectory is considered to be completed; if the number of correction circles is m b Less than the motor target number of revolutions m a , it is considered that the current trajectory is not completed and the forward mode is continued;

[0062] The steps of the backward mode of the posture adjustment device are as follows:

[0063] First set the retreat distance x, and then use the formula Calculate the target number of laps m for the left and right automatic wheelsets a , d in the formula is the diameter of the driving wheel in the left and right automatic wheel assemblies, and then the actual number of circles of the left automatic wheel assembly m is read through the left wheel encoder b1 The actual number of revolutions of the right automatic wheel m is read through the right wheel encoder b2 , and will be based on the formula Calculate the number of turns after correction (m) b , in the initial state, the number of turns after correction m b Clear to zero, and then detect the number of turns after correction in real time in the follow-up b Then set the target number of laps m for the left and right automatic wheel groups a and the number of turns after correction m bSubtract, and after the neural network-expert PID operation, the output u1 is obtained, which is divided into two outputs. One path is converted into the reversal signal of the left automatic wheel group to control the reversal of the left automatic wheel group. At the same time, the actual speed n1 of the left automatic wheel group is detected by the left wheel encoder, and the actual speed n2 of the right automatic wheel group is detected by the right wheel encoder. In order to realize the synchronous control of the left automatic wheel group and the right automatic wheel group, n1 and n2 are subtracted and converted into the reversal signal of the right automatic wheel group after the neural network-expert PID operation to control the reversal of the right automatic wheel group, thereby realizing the synchronous reversal control of the left automatic wheel group and the right automatic wheel group, thereby completing the simultaneous driving of the left automatic wheel group and the right automatic wheel group to realize the backward action of the posture adjustment device; then it is judged whether the current trajectory is completed. If the number of laps after correction is m b Equal to the target number of motor revolutions m a , the current trajectory is considered to be completed; if the number of correction circles is m b Less than the motor target number of revolutions m a , it is considered that the current trajectory is not completed and the backward mode is continued;

[0064] The steps of the left turn mode of the posture adjustment device are as follows:

[0065] The controller sends a brake command to the left automatic wheel group, forcing the left automatic wheel group to stop. At the same time, according to the formula Calculate the target number of laps m for the right automatic wheel group a In the formula, I is the distance between the driving wheel in the left automatic wheel group and the driving wheel in the right automatic wheel group, d is the diameter of the driving wheel in the left automatic wheel group and the right automatic wheel group, and then the actual number of circles of the right automatic wheel group is detected in real time by the right wheel encoder m b , in the initial state of left turn, the actual number of circles m b Set it to 0, perform real-time detection in subsequent detection, and then set the target number of circles m a The actual number of revolutions m b After the difference is made, the output value u is obtained after the neural network-expert PID operation, and it is output to the right automatic wheel set, thereby driving the right automatic wheel set to rotate forward until the right automatic wheel set reaches the target number of revolutions m a The actual number of revolutions m b When they are equal, it is judged that the left turn is completed;

[0066] The steps of the right turn mode of the posture adjustment device are as follows:

[0067] The controller sends a brake command to the right automatic wheel group, forcing the right automatic wheel group to stop. At the same time, according to the formula Calculate the target number of laps m for the left automatic wheel group aIn the formula, l is the distance between the driving wheel in the left automatic wheel group and the driving wheel in the right automatic wheel group, d is the diameter of the driving wheel in the left automatic wheel group and the right automatic wheel group, and then the actual number of circles of the left automatic wheel group m is detected in real time by the left wheel encoder b , in the initial state of right turn, the actual number of circles m b Set it to 0, perform real-time detection in subsequent detection, and then set the target number of circles m a The actual number of revolutions m b After the difference is made, the output value u is obtained after the neural network-expert PID operation, and it is output to the left automatic wheel set, thereby driving the left automatic wheel set to rotate forward until the left automatic wheel set reaches the target number of revolutions m a The actual number of revolutions m b If they are equal, it is judged that the right turn is completed.

[0068] Further, step S6 includes the following steps:

[0069] S61, installation position detection: each posture adjustment device detects the inclination angle of the connection between the large plate-like part and the posture adjustment device through an inclination sensor, and transmits the detected data to the overall control system through wireless transmission, and then enters step S62;

[0070] S62, posture conversion and decomposition: after the overall control system detects the inclination angle of the connection between the large plate-like part and the posture adjustment device, it converts and decomposes it into posture adjustment data of each posture adjustment device according to the actual installation situation on site, and then enters step S63;

[0071] S63, calculation of target stroke of hydraulic cylinder of each device: according to the outer dimensions of large plate parts, and the installation position dimensions and inclination angle of each posture adjustment device, the target stroke of hydraulic cylinder of each device on the three axes X, Y and Z is calculated; then, the process goes to step S64;

[0072] S64, posture adjustment: the overall control system sends the calculated target strokes of the horizontal X-axis hydraulic cylinder, the horizontal Y-axis hydraulic cylinder and the vertical Z-axis hydraulic cylinder of each posture adjustment device to the controller of each posture adjustment device via wireless. When the controller of the posture adjustment device receives the target strokes of the horizontal X-axis hydraulic cylinder, the horizontal Y-axis hydraulic cylinder and the vertical Z-axis hydraulic cylinder, in order to ensure control accuracy, the controller adjusts the horizontal X-axis hydraulic cylinder, the horizontal Y-axis hydraulic cylinder and the vertical Z-axis hydraulic cylinder in this order to perform three-axis adjustment control of the automatic adjustment device for large plate parts.

[0073] Further, in step S64, the three-axis adjustment control process of the large plate-like parts automatic adjustment device includes the following steps:

[0074] S641, detect the actual displacement S of the horizontal X-axis hydraulic cylinder through the displacement sensor xa , the target displacement S of the horizontal X-axis hydraulic cylinder xm Actual displacement S xa The error e can be obtained by subtracting x , the error e x After the neural network-expert PID operation, the output u is obtained x1 , and then enter the discrimination mode. There are two types of discrimination modes: when e x When >20%Sxm, the controller sends a control signal to the hydraulic pump group 1, the size of which is u x2 ,u x2 =K1u x1 , K1 is the adjustment coefficient of the main servo motor of the hydraulic pump group 1, K1 can be adjusted according to the actual situation of the horizontal X-axis hydraulic cylinder. At the same time, the controller sends a control signal to the electromagnetic reversing valve 1 to make the electromagnetic reversing valve 1 actuate. The servo motor of the hydraulic pump group 1 adopts a high-power servo motor; when e x ≤20%S xm When the controller sends a control signal to the auxiliary servo motor of hydraulic pump group 2, the magnitude of which is u x 2,u x2 =K2u x1 , K2 is the auxiliary servo motor adjustment coefficient of hydraulic pump group 2, K2 can be adjusted according to the actual situation of the horizontal X-axis hydraulic cylinder. At the same time, the controller sends a control signal to the electromagnetic reversing valve 1 to make the electromagnetic reversing valve 1 move. When the X-axis target displacement S is reached xm When the controller controls the electromagnetic reversing valve to move, the hydraulic lock is switched to the locked state, and the piston rod of the horizontal X-axis hydraulic cylinder stops moving;

[0075] S642, detect the actual displacement S of the horizontal Y-axis hydraulic cylinder through displacement sensor 2 ya , the target displacement S of the horizontal Y-axis hydraulic cylinder ym The actual displacement S ya The error e can be obtained by subtracting y , the error e y After the neural network-expert PID operation, the output u is obtained y1 , and then enter the discrimination mode. There are two discrimination modes: when e y >20%S ym When the controller sends a control signal to the hydraulic pump group 1, the size of which is u y2 ,u y2 =K3u y1, K3 is the adjustment coefficient of the main servo motor of the hydraulic pump group 1. K3 can be adjusted according to the actual situation of the horizontal Y-axis hydraulic cylinder. At the same time, the controller sends a control signal to the electromagnetic reversing valve 2 to activate the electromagnetic reversing valve 2, and the hydraulic oil enters the horizontal Y-axis hydraulic cylinder. The piston rod of the horizontal Y-axis hydraulic cylinder moves quickly. When e y ≤20%S ym When the controller sends a control signal to the auxiliary servo motor in the hydraulic pump group 2, the size of which is u y2 ,u y2 =K4u y1 , K4 is the adjustment coefficient of the auxiliary servo motor in the hydraulic pump group 2. K4 can be adjusted according to the actual situation of the horizontal Y-axis hydraulic cylinder. At the same time, the controller sends a control signal to the electromagnetic reversing valve 2 to activate the electromagnetic reversing valve 2. The hydraulic pressure enters the horizontal Y-axis hydraulic cylinder, and the piston rod of the horizontal Y-axis hydraulic cylinder moves accurately. When the X-axis target displacement S is reached ym , the controller controls the electromagnetic reversing valve 2 to move, the hydraulic lock 2 switches to the locked state, and the piston rod of the horizontal Y-axis hydraulic cylinder stops moving;

[0076] S643, detect the actual displacement S of the vertical Z-axis hydraulic cylinder through displacement sensor 3 za , the target displacement S of the vertical Z-axis hydraulic cylinder zm The actual displacement S za The error e can be obtained by subtracting z , the error e z After the neural network-expert PID operation, the output u is obtained z1 , and then enter the discrimination mode. There are two discrimination modes: when e z >20%S zm When the controller sends a control signal to the main servo motor of hydraulic pump group 1, the size of which is u z2 ,u z2 =K5u z1 , K5 is the adjustment coefficient of the main servo motor of the hydraulic pump group 1. K5 can be adjusted according to the actual situation of the vertical Z-axis hydraulic cylinder. At the same time, the controller sends a control signal to the electromagnetic reversing valve 3 to make the electromagnetic reversing valve 3 actuate, and the hydraulic oil enters the vertical Z-axis hydraulic cylinder, and the piston rod of the vertical Z-axis hydraulic cylinder moves quickly; when e z ≤20%S zm When the controller sends a control signal to the auxiliary servo motor of hydraulic pump group 2, the magnitude of which is u z2 ,u z2 =K6u z1, K6 is the auxiliary servo motor adjustment coefficient of hydraulic pump group 2. K6 can be adjusted according to the actual situation of the vertical Z-axis hydraulic cylinder. At the same time, the controller sends a control signal to the electromagnetic reversing valve 3 to make the electromagnetic reversing valve 3 move. The hydraulic pressure enters the vertical Z-axis hydraulic cylinder, and the piston rod of the vertical Z-axis hydraulic cylinder moves accurately. When the Z-axis target displacement S is reached zm When the controller controls the electromagnetic reversing valve 3 to move, the hydraulic lock 3 switches to the locked state, and the piston rod of the vertical Z-axis hydraulic cylinder stops moving.

[0077] Further, the neural network-expert PID comprises the following steps:

[0078] The error e(k) is stored and converted into parameters, and the current error e(k), the previous error e(k-1) and the previous two errors e(k-2) are stored respectively. Then the output u(k) is calculated by the following formula:

[0079]

[0080]

[0081] w1(k)=w1(k-1)+η I x1 2 (k)u(k);

[0082] w2(k)=w2(k-1)+η P x1(k)x2(k)u(k);

[0083] w3(k)=w3(k-1)+η D x1(k)x3(k)u(k);

[0084] x1(k)=e(k);

[0085] x2(k)=e(k)-e(k-1);

[0086] x3(k)=e(k)-2e(k-1)+e(k-2);

[0087] In the above formula, K H is the neuron scale factor, η I is the learning rate of integration, η P is the product-proportional learning rate, η D is the learning rate of differentiation.

[0088] Adjust K under different working conditions H , ηI, ηP and η D, different control effects can be obtained. Furthermore, in order to obtain a better adjustment effect, the adjustment area is divided according to the error x1(k) and the error change rate x2(k), and K is adjusted according to the divided areas. H , ηI, ηP and η D Four parameter values; the expert system area is divided into four areas: Ⅰ, Ⅱ, Ⅲ and Ⅳ, x11, x 12 , -x 11 , and -x 12 The error setting values ​​can be adjusted according to the actual situation. The regional division principles are as follows:

[0089] Region I: When -x 11 <x1(k)<x 11 When the parameter K H As small as possible, the setting range is 0~0.1; η I As small as possible, the setting range is 0~0.3; ηP and η D are all set to 0; at this time, the output of the neural network-expert PID is u(k)=u(k);

[0090] Region II: When x1(k)<-x 12 Or x1(k)>x 12 When the four adjustment parameters K H ,ηI,η P and η D are all set to 0, the output of the neural network-expert PID is u(k)=u max At this time, u max The maximum value of the input signal of the output object;

[0091] Region III: When x1(k)x2(k)>0, and x 11 <x1(k)<x 12 or -x 12 <x1(k)<x 12 , parameter K H As large as possible, the setting range is 0.6~0.8; ηI is as small as possible, the setting range is 0~0.1; η P As large as possible, the setting range is 0.8~1.0; η D Set to 0; at this time, the output of the neural network-expert PID is u(k)=u(k);

[0092] Region IV: When x1(k)x2(k)<0, and x 11 <x1(k)<x 12 or -x 12 <x1(k)<x 12 , parameter K H Be as moderate as possible, the setting range is 0.4~0.6; ηI As small as possible, the setting range is 0~0.1; η P The setting range is 0; D As small as possible, setting the range to 0-0.1; at this time, the output of the neural network-expert PID is u(k)=u(k).

[0093] The beneficial effects of the present invention are that the control system and control method of the large plate-like parts automatic adjustment device of the present invention have the following advantages:

[0094] 1. For large plate parts and super-large plate parts, the remote controller can be used according to the size, dimensions and other parameter controls of the large plate parts. Four, six, eight or even more posture adjustment devices can be used for coordinated control, and the control method of centralized-distributed control system of total control system-sub-remote controller is adopted, which increases the flexibility of the control system, effectively improves the control efficiency, and enables modular and mass-produced posture adjustment devices.

[0095] 2. In view of the complex and changeable working conditions of large plate parts during walking, transportation, posture adjustment, etc., the automatic adjustment device for large plate parts adopts a manual-automatic integrated control system, which can randomly combine the automatic control system and the manual control system, and switch them reasonably according to the actual working conditions on site, thereby enhancing the flexibility of the control system and improving the installation efficiency of large plate parts.

[0096] 3. In view of the difficulty in transporting large plate parts during the installation process, the present invention adopts an automatic walking mode control system, which can calculate and plan the walking path according to the initial position and target position of the large plate parts, and select the forward mode, backward mode, left turn mode and right turn mode according to the walking path, so as to automatically complete the transportation of large plate parts, improve installation efficiency and reduce labor.

[0097] 4. During the installation process, the posture of large plate parts is prone to changes such as tilt and twist, whether in the horizontal plane or in the vertical plane. The present invention converts the posture changes of large plate parts into adjustment displacement values ​​of the vertical Z-axis hydraulic cylinder, horizontal Y-axis hydraulic cylinder and horizontal X-axis hydraulic cylinder of each posture adjustment device, thereby driving the vertical Z-axis hydraulic cylinder, horizontal Y-axis hydraulic cylinder and horizontal X-axis hydraulic cylinder through a closed loop to complete the automatic adjustment of the posture of large plate parts, thereby improving the rapidity of posture adjustment and improving installation accuracy.

[0098] 5. The present invention adopts a neural network-expert system PID control algorithm in the automatic walking closed-loop control system and the posture adjustment closed-loop control system. According to the division range of errors and error change rates, the neural network algorithm is used to effectively improve the PID parameter adjustment rate, thereby improving the speed and accuracy of the automatic walking closed-loop control system and the posture automatic adjustment closed-loop control system. BRIEF DESCRIPTION OF THE DRAWINGS

[0099] The present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0100] Figure 1 It is a structural schematic diagram of a control system of the automatic adjustment device for large plate parts of the present invention.

[0101] Figure 2 The structure diagram of the posture adjustment device of the present invention is shown in FIG. Figure 1 .

[0102] Figure 3 The structure diagram of the posture adjustment device of the present invention is shown in FIG. Figure 2 .

[0103] Figure 4 It is a schematic diagram of the hydraulic principle of the hydraulic station and the control valve group of the present invention.

[0104] Figure 5 It is a schematic diagram of the hydraulic principle of the control valve group of the present invention.

[0105] Figure 6 It is a flow chart of a control method of an automatic adjustment device for large plate parts in an embodiment of the present invention.

[0106] Figure 7 It is a schematic diagram of the walking motion trajectory during the installation of large plate parts.

[0107] Figure 8 This is a schematic diagram of the process of automatic walking drive.

[0108] Fig. 9 It is a schematic diagram of the control flow of the posture adjustment device moving forward or backward in an embodiment of the present invention.

[0109] Fig.10 It is a schematic diagram of the control flow of the posture adjustment device for turning left in an embodiment of the present invention.

[0110] Fig.11 It is a schematic diagram of the control flow of the posture adjustment device for right turning in an embodiment of the present invention.

[0111] Fig.12 Schematic diagram of the process of automatic posture adjustment.

[0112] Fig.13It is a schematic diagram of the control flow of posture adjustment performed by the posture adjustment device in an embodiment of the present invention.

[0113] Fig.14 It is a schematic diagram of single-axis adjustment of large plate-like parts in a vertical plane in an embodiment of the present invention.

[0114] Fig.15 It is a schematic diagram of adjusting two axes of a large plate-like part in a horizontal plane in an embodiment of the present invention.

[0115] Fig.16 It is a schematic diagram of the neural network-expert PID control principle in an embodiment of the present invention.

[0116] Fig.17 It is a schematic diagram of the area division of the expert system in the embodiment of the present invention.

[0117] In the figure:

[0118] 100. Posture adjustment device; 200. Large plate parts;

[0119] 11. Base; 12. Tilt sensor; 13. Horizontal X-axis hydraulic cylinder; 14. Left automatic wheel set; 15. Horizontal Y-axis hydraulic cylinder; 16. Right automatic wheel set; 17. Vertical Z-axis hydraulic cylinder;

[0120] 19. Hydraulic station; 191. Oil tank; 192. Hydraulic pump group 1; 193. Hydraulic pump group 2; 194. Overflow valve; 195. Check valve 1; 196. Check valve 2;

[0121] 20. Control valve group; 201. Solenoid reversing valve one; 202. Solenoid reversing valve two; 203. Solenoid reversing valve three; 204. Hydraulic lock one; 205. Hydraulic lock two; 206. Hydraulic lock three; 2041. Hydraulic control one-way valve one; 2042. Hydraulic control one-way valve two; 2043. Hydraulic control one-way valve three; 2044. Hydraulic control one-way valve four; 2045. Hydraulic control one-way valve five; 2046. Hydraulic control one-way valve six. DETAILED DESCRIPTION

[0122] Embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0123] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention. In addition, the features defined as "first" and "second" can explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more. In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected" and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, or it can be the internal communication of two elements. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0124] like Figures 1 to 17 As shown, it is the optimal embodiment of the present invention. The present invention provides a control system for an automatic adjustment device for large plate parts, including a general control system and multiple position adjustment devices 100. The multiple position adjustment devices 100 are connected to the large plate parts 200 at the same time, and the multiple position adjustment devices work together to transport and adjust the position of the large plate parts 200; each position adjustment device 100 has several walking modes of stop, forward, backward, left turn and right turn. The controller on each position adjustment device 100 controls the corresponding position adjustment device 100 to walk, and the multiple position adjustment devices 100 cooperate with each other to drive the large plate parts 200 to move.

[0125] Each posture adjustment device 100 includes: a controller, a vertical Z-axis hydraulic cylinder 17, a horizontal Y-axis hydraulic cylinder 15, a horizontal X-axis hydraulic cylinder 13, a base 11, a left automatic wheel group 14 and a right automatic wheel group 16. The controller is electrically connected or communicated with the overall control system. Each controller is correspondingly provided with a remote controller, and the controller is connected with the remote controller signal. A receiver is also provided on the posture adjustment device, and the receiver is used to receive wireless signals transmitted by the remote controller and the overall control system, and transmit the signal to the controller; the piston rod of the vertical Z-axis hydraulic cylinder 17 is connected to the large plate-like part 200; the piston rod of the horizontal Y-axis hydraulic cylinder 15 is transmission-connected to the vertical Z-axis hydraulic cylinder 17 to drive the vertical Z-axis hydraulic cylinder 17 to move along the Y-axis direction; the piston rod of the horizontal X-axis hydraulic cylinder 13 is transmission-connected to the horizontal Y-axis hydraulic cylinder 15, To drive the horizontal Y-axis hydraulic cylinder 15 to move along the X-axis direction; the horizontal X-axis hydraulic cylinder 13 is installed on the base 11; the left automatic wheel group 14 is installed below the base 11, and the left automatic wheel group 14 can automatically rotate to drive the posture adjustment device 100 to translate, and the left automatic wheel group 14 is electrically connected to the controller; the right automatic wheel group 16 is installed below the base 11, and the right automatic wheel group 16 can automatically rotate to drive the posture adjustment device 100 to translate together with the left automatic wheel group 14, and the right automatic wheel group 16 is electrically connected to the controller. Specifically, the left automatic wheel group 14 includes a left driving wheel and a left wheel driving motor, and the left wheel driving motor drives the left driving wheel to rotate, and the left wheel driving motor is electrically connected to the controller. The right automatic wheel group 16 includes a right driving wheel and a right wheel driving motor, and the right wheel driving motor drives the right driving wheel to rotate, and the right wheel driving motor is electrically connected to the controller.

[0126] Each posture adjustment device 100 is equipped with: an inclination sensor 12, a left wheel encoder and a right wheel encoder. The inclination sensor 12 detects the inclination of the X, Y and Z axes of the posture adjustment device 100, and the inclination sensor 12 is electrically connected to the controller; the left wheel encoder is electrically connected to the left automatic wheel group 14 to detect the rotation speed and number of rotations of the left automatic wheel group 14, and the left wheel encoder is electrically connected to the controller; the right wheel encoder is electrically connected to the right automatic wheel group 16 to detect the rotation speed and number of rotations of the right automatic wheel group 16, and the right wheel encoder is electrically connected to the controller; the inclination sensor 12 detects the inclination of the X, Y and Z axes of the posture adjustment device 100, and adjusts the position of the connection between the posture adjustment device 100 and the large plate-like parts 200 through the horizontal Y-axis hydraulic cylinder 15, the horizontal X-axis hydraulic cylinder 13 and the vertical Z-axis hydraulic cylinder 17. Multiple posture adjustment devices 100 work together to adjust the posture of large plate-like parts 200.

[0127] A displacement sensor 1 is installed on the horizontal X-axis hydraulic cylinder 13 to detect the displacement of the piston rod of the horizontal X-axis hydraulic cylinder 13, a displacement sensor 2 is installed on the horizontal Y-axis hydraulic cylinder 15 to detect the displacement of the piston rod of the horizontal Y-axis hydraulic cylinder 15, and a displacement sensor 3 is provided on the vertical Z-axis hydraulic cylinder 17 to detect the displacement of the piston rod of the vertical Z-axis hydraulic cylinder 17. Displacement sensor 1, displacement sensor 2 and displacement sensor 3 are all electrically connected to the controller.

[0128] The posture adjustment device 100 is also provided with a hydraulic station 19 and a control valve group 20. The hydraulic station 19 is connected to the control valve group 20. The control valve group 20 is respectively connected to the horizontal X-axis hydraulic cylinder 13, the horizontal Y-axis hydraulic cylinder 15 and the vertical Z-axis hydraulic cylinder 17 to drive the horizontal X-axis hydraulic cylinder 13, the horizontal Y-axis hydraulic cylinder 15 and the vertical Z-axis hydraulic cylinder 17 to move independently. The hydraulic station 19 and the control valve group 20 are both electrically connected to the controller. The controller controls the hydraulic station 19 to supply oil to the control valve group 20. The controller controls the control valve group 20 to control the hydraulic oil to enter or flow out of the horizontal X-axis hydraulic cylinder 13, the horizontal Y-axis hydraulic cylinder 15 and the vertical Z-axis hydraulic cylinder 17.

[0129] The hydraulic station 19 includes: an oil tank 191, a hydraulic pump group 1 192, a hydraulic pump group 2 193, a one-way valve 195, a one-way valve 2 196 and a relief valve 194. The hydraulic pump group 1 192 is connected to the oil tank 191, and the oil outlet of the hydraulic pump group 1 192 is connected to the oil inlet of the control valve group 20 to supply oil to the control valve group 20; the hydraulic pump group 2 193 is connected to the oil tank 191, and the oil outlet of the hydraulic pump group 2 193 is connected to the oil inlet of the control valve group 20; the one-way valve It is arranged at the oil outlet of hydraulic pump group 192 to enable the hydraulic oil to flow unidirectionally from the oil outlet of hydraulic pump group 192 to the control valve group 20; the one-way valve is arranged at the oil outlet of hydraulic pump group 2 193 to enable the hydraulic oil to flow unidirectionally from the oil outlet of hydraulic pump group 2 193 to the control valve group 20; the oil inlet of the overflow valve 194 is connected to the oil outlet of hydraulic pump group 1 192 and the oil outlet of hydraulic pump group 2 193, and the oil outlet of the overflow valve 194 is connected to the oil tank 191.

[0130] Hydraulic pump group 1 192 and hydraulic pump group 2 193 are both electrically connected to the controller. Hydraulic pump group 1 192 supplies oil to the control valve group 20 to control the piston rod of the horizontal X-axis hydraulic cylinder 13, the horizontal Y-axis hydraulic cylinder 15 or the vertical Z-axis hydraulic cylinder 17 to move quickly through the control valve group 20. Hydraulic pump group 2 193 supplies oil to the control valve group 20 to control the piston rod of the horizontal X-axis hydraulic cylinder 13, the horizontal Y-axis hydraulic cylinder 15 or the vertical Z-axis hydraulic cylinder 17 to move precisely through the control valve group 20.

[0131] Specifically, hydraulic pump group 1 192 includes a main servo motor and a main pump, hydraulic pump group 2 193 includes an auxiliary servo motor and an auxiliary pump, the main servo motor adopts a high-power servo motor of 5-10kW, and the auxiliary servo motor adopts a low-power servo motor of 0.2-0.8kW; the output shaft of the main servo motor is connected to the input shaft of the main pump through a coupling 1, so that the rotation of the main servo motor drives the main pump to rotate, and the mechanical energy of the main servo motor is converted into the hydraulic energy of the main pump; the output shaft of the auxiliary servo motor is connected to the input shaft of the auxiliary pump through a coupling 2, so that the rotation of the auxiliary servo motor drives the auxiliary pump to rotate, and the mechanical energy of the auxiliary servo motor is converted into the hydraulic energy of the auxiliary pump, the oil suction port of the main pump and the oil suction port of the auxiliary pump are connected to the oil tank 191 through hydraulic joints, pipelines, etc., and the oil tank 191 is filled with a certain amount of hydraulic oil, so that the main pump and the auxiliary pump can be driven from the oil The oil inlet of the control valve group 20 and the oil inlet of the relief valve 194 are connected through hydraulic joints and pipelines; the oil outlet of the main pump is connected to the oil inlet of the check valve 195 through hydraulic joints and pipelines; the oil outlet of the auxiliary pump is connected to the oil inlet of the check valve 196 through hydraulic joints, pipelines, etc.; the oil outlet of the check valve 195, the oil outlet of the check valve 196, the oil inlet of the control valve group 20 and the oil inlet of the relief valve 194 are connected through hydraulic joints and pipelines; the oil outlet of the relief valve 194 is connected to the oil tank 191 through hydraulic joints. The compression joint is connected to the pipeline, the hydraulic control valve group 20 includes an oil inlet and an oil return port, the oil inlet of the hydraulic control valve group 20 is connected to the hydraulic pump group 1 192 and the hydraulic pump group 2 193, the oil return port of the hydraulic control valve group 20 is connected to the oil tank 191, and the oil in the oil tank 191 flows to the oil inlet of the hydraulic control valve group 20 through the main pump and the auxiliary pump, and then flows to the solenoid reversing valve 1 201, the solenoid reversing valve 2 202 and the solenoid reversing valve 3 203.

[0132] The control valve group 20 includes: three electromagnetic reversing valves and three hydraulic locks. The oil inlets of the three electromagnetic reversing valves are connected to the oil outlet of the hydraulic station 19. The three electromagnetic reversing valves are electromagnetic reversing valve 1 201, electromagnetic reversing valve 2 202 and electromagnetic reversing valve 3 203; the three hydraulic locks are hydraulic lock 1 204, hydraulic lock 2 205 and hydraulic lock 3 206. The hydraulic lock 1 204 is connected to the electromagnetic reversing valve 1 201, the hydraulic lock 2 205 is connected to the electromagnetic reversing valve 2 202, and the hydraulic lock 3 206 is connected to the electromagnetic reversing valve 1 The hydraulic lock 201 is connected to the horizontal X-axis hydraulic cylinder 13, the hydraulic lock 205 is connected to the horizontal Y-axis hydraulic cylinder 15, and the hydraulic lock 3 206 is connected to the vertical Z-axis hydraulic cylinder 17. The hydraulic lock 204 can lock the oil in the horizontal X-axis hydraulic cylinder 13 in two oil chambers respectively, the hydraulic lock 205 can lock the oil in the horizontal Y-axis hydraulic cylinder 15 in two oil chambers respectively, and the hydraulic lock 3 206 can lock the oil in the vertical Z-axis hydraulic cylinder 17 in two oil chambers respectively.

[0133] Specifically, hydraulic lock 1 204 includes hydraulically controlled one-way valve 1 2041 and hydraulically controlled one-way valve 2 2042, hydraulic lock 2 205 includes hydraulically controlled one-way valve 3 2043 and hydraulically controlled one-way valve 4 2044, and hydraulic lock 3 206 includes hydraulically controlled one-way valve 5 2045 and hydraulically controlled one-way valve 6 2046; the oil inlet of hydraulically controlled one-way valve 1 2041 and the oil inlet of hydraulically controlled one-way valve 2 2042 are both connected to electromagnetic reversing valve 1 201, the oil outlet of hydraulically controlled one-way valve 1 2041 is connected to the rodless cavity of the horizontal X-axis hydraulic cylinder 13, the oil outlet of hydraulically controlled one-way valve 2 2042 is connected to the rod cavity of the horizontal X-axis hydraulic cylinder 13, and the control oil port of hydraulically controlled one-way valve 1 2041 and the control oil port of hydraulically controlled one-way valve 2 2042 are both connected to the oil outlet of electromagnetic reversing valve 1 201.

[0134] The oil inlet of the hydraulically controlled one-way valve three 2043 and the oil inlet of the hydraulically controlled one-way valve four 2044 are both connected to the electromagnetic reversing valve two 202, the oil outlet of the hydraulically controlled one-way valve three 2043 is connected to the rodless chamber of the horizontal Y-axis hydraulic cylinder 15, the oil outlet of the hydraulically controlled one-way valve four 2044 is connected to the rod chamber of the horizontal Y-axis hydraulic cylinder 15, and the control oil port of the hydraulically controlled one-way valve three 2043 and the control oil port of the hydraulically controlled one-way valve four 2044 are both connected to the oil outlet of the electromagnetic reversing valve two 202.

[0135] The oil inlet of the hydraulically controlled one-way valve five 2045 and the oil inlet of the hydraulically controlled one-way valve six 2046 are both connected to the electromagnetic reversing valve three 203, the oil outlet of the hydraulically controlled one-way valve five 2045 is connected to the rodless chamber of the vertical Z-axis hydraulic cylinder 17, the oil outlet of the hydraulically controlled one-way valve six 2046 is connected to the rod chamber of the vertical Z-axis hydraulic cylinder 17, and the control oil port of the hydraulically controlled one-way valve five 2045 and the control oil port of the hydraulically controlled one-way valve six 2046 are both connected to the oil outlet of the electromagnetic reversing valve three 203.

[0136] Solenoid reversing valve 1 201, solenoid reversing valve 2 202 and solenoid reversing valve 3 203 are all three-position four-way Y-type solenoid reversing valves. Solenoid reversing valve 1 201 includes A1 oil port, B1 oil port, P1 oil port and T1 oil port, solenoid reversing valve 2 202 includes A2 oil port, B2 oil port, P2 oil port and T2 oil port, solenoid reversing valve 3 203 includes A3 oil port, B3 oil port, P3 oil port and T3 oil port, T1 oil port, T2 oil port and T3 oil port are all connected with the return oil port of hydraulic station 19, P1 oil port, P2 oil port and P3 oil port are all connected with the oil outlet of hydraulic station 1919.

[0137] The A1 oil port is connected to the oil inlet of the hydraulically controlled one-way valve 2041, the B1 oil port is connected to the oil inlet of the hydraulically controlled one-way valve 2042, the control oil port of the hydraulically controlled one-way valve 2041 is connected to the B1 oil port, and the control oil port of the hydraulically controlled one-way valve 2042 is connected to the A1 oil port.

[0138] The A2 oil port is connected to the oil inlet of the hydraulically controlled one-way valve three 2043, the B2 oil port is connected to the oil inlet of the hydraulically controlled one-way valve four 2044, the control oil port of the hydraulically controlled one-way valve three 2043 is connected to the B2 oil port, and the control oil port of the hydraulically controlled one-way valve four 2044 is connected to the A2 oil port.

[0139] The A3 oil port is connected to the oil inlet of the hydraulically controlled one-way valve five 2045, the B3 oil port is connected to the oil inlet of the hydraulically controlled one-way valve six 2046, the control oil port of the hydraulically controlled one-way valve five 2045 is connected to the B3 oil port, and the control oil port of the hydraulically controlled one-way valve six 2046 is connected to the A3 oil port.

[0140] The hydraulic lock 204 is controlled by the electromagnetic reversing valve 201 to switch between the locked state and the unlocked state. When the hydraulic lock 204 is in the locked state, the hydraulic oil can be locked in the rod chamber and the rodless chamber of the horizontal X-axis hydraulic cylinder 13. When the hydraulic lock 204 is in the unlocked state, the hydraulic oil can enter or flow out of the rod chamber and the rodless chamber of the horizontal X-axis hydraulic cylinder 13. The electromagnetic reversing valve 202 controls the hydraulic lock 205 to switch between the locked state and the unlocked state. The electromagnetic reversing valve 3 203 controls the hydraulic lock 3 206 to switch between the locked state and the unlocked state.

[0141] The present invention also provides a control method for a large plate-like part automatic adjustment device, which uses the control system of the large plate-like part automatic adjustment device, and comprises the following steps:

[0142] S1, initialization: initialize and check the data of the electrical components and hydraulic components in the system, and check whether the input and output parameters of the electrical related components of each posture adjustment device: remote control, receiver, controller, tilt sensor, displacement sensor 1, displacement sensor 2, displacement sensor 3, main servo motor, electromagnetic reversing valve 1, electromagnetic reversing valve 2, electromagnetic reversing valve 3, left wheel drive motor, left wheel encoder, right wheel drive motor and right wheel encoder are normal. If not, do not execute further, and the control system sends an alarm signal; if normal, continue to execute the subsequent steps;

[0143] S2, data collection: data collection is performed on each posture adjustment device. The controller collects data in the controller of each posture adjustment device. The controller of each posture adjustment device collects relevant signals through the remote control, receiver, tilt sensor, displacement sensor 1, displacement sensor 2, displacement sensor 3, left wheel encoder and right wheel encoder, and then the controller of each posture adjustment device transmits corresponding data to the overall control system through wireless transmission, and then proceeds to the next step;

[0144] S3, state parameter judgment and fault diagnosis: The controller of each posture adjustment device detects the state parameters of each electrical component. If the state parameters of a certain electrical component are abnormal, the fault is eliminated and the process goes to step S1; if the state parameters of all electrical components are normal, the process goes to the next step;

[0145] S4, automatic / manual mode judgment and control: the overall control system includes a main control panel, on which manual and automatic buttons are provided, and the manual or automatic state is selected by the manual and automatic buttons. The overall control system transmits the manual or automatic command to each controller, and the controller of each posture adjustment device judges whether it is in automatic mode by detecting the automatic / manual switching button on the main control panel. If it is in automatic mode, it proceeds to step S5; if it is in manual mode, it proceeds to step S6;

[0146] S5, when the command received by the controller is automatic, the controller controls the left automatic wheel set and the right automatic wheel set to rotate automatically, driving the posture adjustment device to move forward, backward, turn left or turn right, and multiple posture adjustment devices coordinate the actions together to move the large plate parts to the target position;

[0147] Specifically, step S5 includes the following steps:

[0148] S51, remote control and display: the controller of each posture adjustment device transmits the data collected from the inclination sensor to the main control console, thereby feeding back the inclination angle of the connection between each posture adjustment device and the large plate-like parts, and then calculating the posture of the large plate-like parts, and displaying it on the display interface of the main control console;

[0149] S52, walking parameter setting: large plate parts can be moved by four, six, or eight posture adjustment devices, the path of each posture adjustment device is planned, and the path corresponding to each posture adjustment device is transmitted to the corresponding controller. The walking motion trajectory of each posture adjustment device from the initial position to the target position can be divided into four walking modes: forward, backward, left turn and right turn. By calculating each section of the moving trajectory, its motion trajectory is decomposed into the walking mode of each posture adjustment device, such as forward, backward, left turn and right turn, and the walking parameters of each posture adjustment device are calculated and set; for example, Figure 7 The figure shows a schematic diagram of the running trajectory of a large plate-like part during the installation process in an embodiment. Four posture adjustment devices are used. It takes two straight lines and one turn to reach the target position from the initial position. Therefore, the forward mode is set to x meters, right turn 90° and forward y meters, and then the walking motion trajectory is decomposed into several walking trajectories of the four posture adjustment devices, so as to complete the walking motion trajectory of the large plate-like part; and then proceed to the next step;

[0150] S53, automatic walking drive module: the main control console sets several walking trajectories of each posture adjustment device into a complete running trajectory, and then sends them to the receiver of each posture adjustment device through wireless signals. Each posture adjustment device starts to synchronously execute its own running trajectory. Each posture adjustment device moves according to the walking motion process. Figure 8 The automatic walking drive module process diagram shown in the figure further illustrates the walking motion process of each posture adjustment device. The specific steps are as follows:

[0151] S531, automatic walking track setting: set each running track, for example, 1. move forward x meters, 2. move forward y meters, 3. turn left 90 degrees, 4. move forward z meters, ..., 10. complete, and then proceed to the next step;

[0152] S532, the i-th track: first run from the first track, and set i=1, start running, and then go to the next step;

[0153] S533, walking mode selection: there are four walking modes to choose from. If it is a forward mode, enter the forward mode step; if it is a backward mode, enter the backward mode step; if it is a left turn mode, enter the left turn mode step; if it is a right turn mode, enter the right turn mode step;

[0154] The steps for the posture adjustment device to perform the forward mode are as follows:

[0155] First set the forward distance x, and then according to the formula Calculate the target number of laps m for the left and right automatic wheelsets a , d in the formula is the diameter of the driving wheel in the left and right automatic wheel assemblies, and then the actual number of circles of the left automatic wheel assembly m is read through the left wheel encoder b1 The actual number of revolutions of the right automatic wheel m is read through the right wheel encoder b2 , and will be based on the formula Calculate the number of turns after correction (m) b , in the initial state, the number of turns after correction m b Clear to zero, and then detect the number of turns after correction in real time in the follow-up b Then set the target number of laps m for the left and right automatic wheel groups a and the number of turns after correction m bSubtract, and after the neural network-expert PID operation, the output u1 is obtained, which is divided into two outputs. One path is converted into the forward rotation signal of the left automatic wheel group to control the forward rotation of the left automatic wheel group. At the same time, the actual speed n1 of the left automatic wheel group is detected by the left wheel encoder, and the actual speed n2 of the right automatic wheel group is detected by the right wheel encoder. In order to realize the synchronous control of the left automatic wheel group and the right automatic wheel group, n1 and n2 are subtracted and converted into the forward rotation signal of the right automatic wheel group after the neural network-expert PID operation to control the forward rotation of the right automatic wheel group, thereby realizing the synchronous forward rotation control of the left automatic wheel group and the right automatic wheel group, thereby completing the simultaneous driving of the left automatic wheel group and the right automatic wheel group to realize the forward action of the posture adjustment device; then it is judged whether the current trajectory is completed. If the number of laps after correction is m b Equal to the target number of motor revolutions m a , the current trajectory is considered to be completed; if the number of correction circles is m b Less than the motor target number of revolutions m a , it is considered that the current trajectory is not completed and the forward mode is continued;

[0156] The steps of the backward mode of the posture adjustment device are as follows:

[0157] First set the retreat distance x, and then use the formula Calculate the target number of laps m for the left and right automatic wheelsets a , d in the formula is the diameter of the driving wheel in the left and right automatic wheel assemblies, and then the actual number of circles of the left automatic wheel assembly m is read through the left wheel encoder b1 The actual number of revolutions of the right automatic wheel m is read through the right wheel encoder b2 , and will be based on the formula Calculate the number of turns after correction (m) b , in the initial state, the number of turns after correction m b Clear to zero, and then detect the number of turns after correction in real time in the follow-up b Then set the target number of laps m for the left and right automatic wheel groups a and the number of turns after correction m b Subtract, and after the neural network-expert PID operation, the output u1 is obtained, which is divided into two outputs. One path is converted into the reversal signal of the left automatic wheel group to control the reversal of the left automatic wheel group. At the same time, the actual speed n1 of the left automatic wheel group is detected by the left wheel encoder, and the actual speed n2 of the right automatic wheel group is detected by the right wheel encoder. In order to realize the synchronous control of the left automatic wheel group and the right automatic wheel group, n1 and n2 are subtracted and converted into the reversal signal of the right automatic wheel group after the neural network-expert PID operation to control the reversal of the right automatic wheel group, thereby realizing the synchronous reversal control of the left automatic wheel group and the right automatic wheel group, thereby completing the simultaneous driving of the left automatic wheel group and the right automatic wheel group to realize the backward action of the posture adjustment device; then it is judged whether the current trajectory is completed. If the number of laps after correction is mb Equal to the target number of motor revolutions m a , the current trajectory is considered to be completed; if the number of correction circles is m b Less than the motor target number of revolutions m a , it is considered that the current trajectory is not completed and the backward mode is continued;

[0158] The steps of the left turn mode of the posture adjustment device are as follows:

[0159] The controller sends a brake command to the left automatic wheel group, forcing the left automatic wheel group to stop. At the same time, according to the formula Calculate the target number of laps m for the right automatic wheel group a In the formula, l is the distance between the driving wheel in the left automatic wheel group and the driving wheel in the right automatic wheel group, d is the diameter of the driving wheel in the left automatic wheel group and the right automatic wheel group, and then the actual number of circles of the right automatic wheel group is detected in real time by the right wheel encoder m b , in the initial state of left turn, the actual number of circles m b Set to 0, perform real-time detection in subsequent detection, and then set the target number of circles m a The actual number of revolutions m b After the difference is made, the output value u is obtained after the neural network-expert PID operation, and it is output to the right automatic wheel set, thereby driving the right automatic wheel set to rotate forward until the right automatic wheel set reaches the target number of revolutions m. a The actual number of revolutions m b When they are equal, it is judged that the left turn is completed;

[0160] The steps of the right turn mode of the posture adjustment device are as follows:

[0161] The controller sends a brake command to the right automatic wheel group, forcing the right automatic wheel group to stop. At the same time, according to the formula Calculate the target number of laps m for the left automatic wheel group a In the formula, l is the distance between the driving wheel in the left automatic wheel group and the driving wheel in the right automatic wheel group, d is the diameter of the driving wheel in the left automatic wheel group and the right automatic wheel group, and then the actual number of circles of the left automatic wheel group m is detected in real time by the left wheel encoder b , in the initial state of right turn, the actual number of circles m b Set it to 0, perform real-time detection in subsequent detection, and then set the target number of circles m a The actual number of revolutions m b After the difference is made, the output value u is obtained after the neural network-expert PID operation, and it is output to the left automatic wheel set, thereby driving the left automatic wheel set to rotate forward until the left automatic wheel set reaches the target number of revolutions m. a The actual number of revolutions m b When they are equal, it is judged that the right turn is completed;

[0162] S534, determine whether the motion trajectory completed by the current i segments is the last motion trajectory. If the motion trajectory completed by the current i segments is the last motion trajectory, proceed to step S535; if the motion trajectory completed by the current i segments is not the last motion trajectory, start the next motion trajectory, i.e., the i+1 segment motion trajectory, and take the i+1 segment motion trajectory as the current i segment trajectory, and proceed to step S532;

[0163] S535, stop the walking track movement;

[0164] S6, automatic posture adjustment. Each posture adjustment device adjusts the posture of large plate parts at the target position at the same time. The controller receives the data transmitted by the inclination sensor and transmits the data to the overall control system. The overall control system adjusts the posture of large plate parts according to the data received from all controllers. The posture of large plate parts is adjusted to the target posture through the horizontal Y-axis hydraulic cylinder, the horizontal X-axis hydraulic cylinder and the vertical Z-axis hydraulic cylinder. Fig.13 The figure is a schematic diagram of the process of automatic posture adjustment, and the automatic posture adjustment process of each posture adjustment device is further described. Specifically, step S6 includes the following steps:

[0165] S61, installation position detection: each posture adjustment device detects the inclination angle of the connection between the large plate-like part and the posture adjustment device through an inclination sensor, and transmits the detected data to the overall control system through wireless transmission, and then enters step S62;

[0166] S62, posture conversion and decomposition: after the overall control system detects the inclination angle of the connection between the large plate-like part and the posture adjustment device, it converts and decomposes it into posture adjustment data of each posture adjustment device according to the actual installation situation on site, and then enters step S63;

[0167] S63, calculation of target stroke of hydraulic cylinder of each device: according to the outer dimensions of large plate parts, and the installation position dimensions and tilt angle of each posture adjustment device, the target stroke of hydraulic cylinder of each device on the three axes of X, Y and Z is calculated, such as Fig.14 The following is a schematic diagram of the single axis adjustment in the vertical plane of large plate parts. Fig.15The figure shows a schematic diagram of the adjustment of two axes in the horizontal plane of large plate parts. Large plate parts are adjusted by four posture adjustment devices. Large plate parts are tilted in the vertical plane, and the tilt angle with the horizontal line is α. The length of the large plate parts is L. The dotted line is the target adjustment position of the large plate parts. The two posture adjustment devices on the left are one group, and the two posture adjustment devices on the right are another group. It can be known through calculation that the two posture adjustment devices on the left do not need to be adjusted, and the connection of the two posture adjustment devices on the right needs to be lifted in the Z axis, and the lifting stroke is αL. Therefore, under this working condition, from Fig.15 The target strokes of the vertical Z-axis hydraulic cylinders of the four posture adjustment devices arranged clockwise from the upper left corner are 0, αL, 0, and αL, respectively, and the target strokes of the other hydraulic cylinders are all 0; Fig.15 , large plate parts are rotated counterclockwise by angle θ in the horizontal direction. The length of large plate parts is L, the width is W, and the dotted line is the target adjustment position of large plate parts. Then, it can be known through calculation that Fig.15 The posture adjustment device in the upper left corner does not need to be adjusted. The target strokes of the horizontal X-axis hydraulic cylinder, the horizontal Y-axis hydraulic cylinder and the vertical Z-axis hydraulic cylinder of the posture adjustment device in the upper left corner are 0, 0 and 0 respectively, the target strokes of the horizontal X-axis hydraulic cylinder, the horizontal Y-axis hydraulic cylinder and the vertical Z-axis hydraulic cylinder in the upper right corner are θL, 0 and 0 respectively, the target strokes of the horizontal X-axis hydraulic cylinder, the horizontal Y-axis hydraulic cylinder and the vertical Z-axis hydraulic cylinder of the posture adjustment device in the lower left corner are 0, θW and 0 respectively, and the target strokes of the horizontal X-axis hydraulic cylinder, the horizontal Y-axis hydraulic cylinder and the vertical Z-axis hydraulic cylinder of the posture adjustment device in the lower right corner are θL, θW and 0 respectively; then, enter step S64;

[0168] S64, posture adjustment: the overall control system sends the calculated target strokes of the horizontal X-axis hydraulic cylinder, the horizontal Y-axis hydraulic cylinder and the vertical Z-axis hydraulic cylinder of each posture adjustment device to the controller of each posture adjustment device via wireless. When the controller of the posture adjustment device receives the target strokes of the horizontal X-axis hydraulic cylinder, the horizontal Y-axis hydraulic cylinder and the vertical Z-axis hydraulic cylinder, in order to ensure control accuracy, the horizontal X-axis hydraulic cylinder, the horizontal Y-axis hydraulic cylinder and the vertical Z-axis hydraulic cylinder are adjusted in order; the three-axis adjustment control process of the automatic adjustment device for large plate parts, the steps are as follows:

[0169] S641, detect the actual displacement S of the horizontal X-axis hydraulic cylinder through the displacement sensor xa , the target displacement S of the horizontal X-axis hydraulic cylinder xm Actual displacement S xa The error e can be obtained by subtracting x , the error e x After the neural network-expert PID operation, the output u is obtained x1 , and then enter the discrimination mode. There are two types of discrimination modes: when ex When >20%Sxm, the controller sends a control signal to the hydraulic pump group 1, the size of which is u x2 ,u x2 =K1u x1 , K1 is the adjustment coefficient of the main servo motor of the hydraulic pump group 1, K1 can be adjusted according to the actual situation of the horizontal X-axis hydraulic cylinder. At the same time, the controller sends a control signal to the electromagnetic reversing valve 1 to make the electromagnetic reversing valve 1 actuate. The servo motor of the hydraulic pump group 1 adopts a high-power servo motor; when e x ≤20%S xm When the controller sends a control signal to the auxiliary servo motor of hydraulic pump group 2, the magnitude of which is u x2 ,u x2 =K2u x1 , K2 is the auxiliary servo motor adjustment coefficient of hydraulic pump group 2, K2 can be adjusted according to the actual situation of the horizontal X-axis hydraulic cylinder. At the same time, the controller sends a control signal to the electromagnetic reversing valve 1 to make the electromagnetic reversing valve 1 move. When the X-axis target displacement S is reached xm When the controller controls the electromagnetic reversing valve to move, the hydraulic lock is switched to the locked state, and the piston rod of the horizontal X-axis hydraulic cylinder stops moving;

[0170] S642, detect the actual displacement S of the horizontal Y-axis hydraulic cylinder through displacement sensor 2 ya , the target displacement S of the horizontal Y-axis hydraulic cylinder ym The actual displacement S ya The error e can be obtained by subtracting y , the error e y After the neural network-expert PID operation, the output u is obtained y1 , and then enter the discrimination mode. There are two discrimination modes: when e y >20%S ym When the controller sends a control signal to the hydraulic pump group 1, the size of which is u y2 ,u y2 =K3u y1 , K3 is the adjustment coefficient of the main servo motor of the hydraulic pump group 1. K3 can be adjusted according to the actual situation of the horizontal Y-axis hydraulic cylinder. At the same time, the controller sends a control signal to the electromagnetic reversing valve 2 to activate the electromagnetic reversing valve 2, and the hydraulic oil enters the horizontal Y-axis hydraulic cylinder. The piston rod of the horizontal Y-axis hydraulic cylinder moves quickly. When e y ≤20%S ym When the controller sends a control signal to the auxiliary servo motor in the hydraulic pump group 2, the size of which is u y2 ,u y2 =K4u y1, K4 is the adjustment coefficient of the auxiliary servo motor in the hydraulic pump group 2. K4 can be adjusted according to the actual situation of the horizontal Y-axis hydraulic cylinder. At the same time, the controller sends a control signal to the electromagnetic reversing valve 2 to activate the electromagnetic reversing valve 2. The hydraulic pressure enters the horizontal Y-axis hydraulic cylinder, and the piston rod of the horizontal Y-axis hydraulic cylinder moves accurately. When the X-axis target displacement S is reached ym , the controller controls the electromagnetic reversing valve 2 to move, the hydraulic lock 2 switches to the locked state, and the piston rod of the horizontal Y-axis hydraulic cylinder stops moving;

[0171] S643, detect the actual displacement S of the vertical Z-axis hydraulic cylinder through displacement sensor 3 za , the target displacement S of the vertical Z-axis hydraulic cylinder zm The actual displacement S za The error e can be obtained by subtracting z , the error e z After the neural network-expert PID operation, the output u is obtained z1 , and then enter the discrimination mode. There are two discrimination modes: when e z >20%S zm When the controller sends a control signal to the main servo motor of hydraulic pump group 1, the size of which is u z 2,u z2 =K5u z1 , K5 is the adjustment coefficient of the main servo motor of the hydraulic pump group 1. K5 can be adjusted according to the actual situation of the vertical Z-axis hydraulic cylinder. At the same time, the controller sends a control signal to the electromagnetic reversing valve 3 to make the electromagnetic reversing valve 3 actuate, and the hydraulic oil enters the vertical Z-axis hydraulic cylinder, and the piston rod of the vertical Z-axis hydraulic cylinder moves quickly; when e z ≤20%S zm When the controller sends a control signal to the auxiliary servo motor of hydraulic pump group 2, the magnitude of which is u z2 ,u z2 =K6u z1 , K6 is the auxiliary servo motor adjustment coefficient of hydraulic pump group 2. K6 can be adjusted according to the actual situation of the vertical Z-axis hydraulic cylinder. At the same time, the controller sends a control signal to the electromagnetic reversing valve 3 to make the electromagnetic reversing valve 3 move. The hydraulic pressure enters the vertical Z-axis hydraulic cylinder, and the piston rod of the vertical Z-axis hydraulic cylinder moves accurately. When the Z-axis target displacement S is reached zm When the controller controls the electromagnetic reversing valve 3 to move, the hydraulic lock 3 switches to the locked state, and the piston rod of the vertical Z-axis hydraulic cylinder stops moving.

[0172] S7, posture judgment: the controller of each posture adjustment device extracts the inclination angle signal of the inclination sensor and feeds it back to the overall control system. The overall control system judges whether the posture adjustment is completed by judging the inclination angle of the connection between the large plate-like parts and the posture adjustment device. If not, it goes to step S64; if it is completed, it goes to step S9;

[0173] S8, when the command received by the controller is manual, it is manually determined whether the left automatic wheel group and the right automatic wheel group can be used to drive the posture adjustment device to move. If so, each person controls a remote controller corresponding to the controller on the posture adjustment device to control the left automatic wheel group and the right automatic wheel group to drive the posture adjustment device to move. Multiple remote controllers simultaneously control multiple posture adjustment devices to move synchronously. If not, the posture adjustment device is manually pushed to move, and multiple posture adjustment devices move simultaneously to move the large plate part to the target position.

[0174] Specifically, step S8 includes the following steps:

[0175] S81, manual remote control mode: when the automatic remote control mode fails or the on-site working conditions are complicated and the manual remote control mode is required, press the manual mode button on the main control console to enter the manual remote control mode, and then go to step S82;

[0176] S82, manual remote control driving: manually determine the target position of large plate parts and determine the driving path. The driving path is still divided into several sections for control. If there are four, six, eight, etc. posture adjustment devices, each person needs to control a remote control of a posture adjustment device. All posture adjustment devices are driven at the same time to complete each driving path, and then enter step S83;

[0177] S83, judging whether the posture adjustable position is reached: manually judging whether the large plate-like parts have reached the target position, and whether the posture can be adjusted by the posture adjustment device to reach the target posture. If the target position is not reached, proceed to step S82; if the target position is reached, proceed to step S84;

[0178] S84, manually adjusting the posture of each posture adjustment device: each person controls a remote controller of the posture adjustment device, and manually presses the operation buttons of the horizontal X-axis hydraulic cylinder, the horizontal Y-axis hydraulic cylinder, and the vertical Z-axis hydraulic cylinder in sequence, so that the horizontal X-axis hydraulic cylinder, the horizontal Y-axis hydraulic cylinder, and the vertical Z-axis hydraulic cylinder reach the target position in sequence, and then enters step S85;

[0179] S85, manually inspecting whether the posture adjustment of the large plate-like parts is completed: manually inspecting around the large plate-like parts to check whether the posture adjustment is completed. If completed, proceed to step S9; if not completed, proceed to step S84;

[0180] S9, manually remove all posture adjustment devices to complete the installation of large plate parts.

[0181] The above neural network-expert PID includes the following steps:

[0182] The error e(k) is stored and converted into parameters, and the current error e(k), the previous error e(k-1) and the previous two errors e(k-2) are stored respectively. Then the output u(k) is calculated by the following formula:

[0183]

[0184]

[0185] w1(k)=w1(k-1)+η I x1 2 (k)u(k);

[0186] w2(k)=w2(k-1)+η P x1(k)x2(k)u(k);

[0187] w3(k)=w3(k-1)+η D x1(k)x3(k)u(k);

[0188] x1(k)=e(k);

[0189] x2(k)=e(k)-e(k-1);

[0190] x3(k)=e(k)-2e(k-1)+e(k-2);

[0191] In the above formula, K H is the neuron scale factor, η I is the learning rate of integration, η P is the product-proportional learning rate, η D is the learning rate of differentiation.

[0192] Adjust K under different working conditions H , η I , η P and η D , different control effects can be obtained. Furthermore, in order to obtain a better adjustment effect, the adjustment area is divided according to the error x1(k) and the error change rate x2(k), and K is adjusted according to the divided areas. H , η I , η P and η D Four parameter values; the expert system area is divided into four areas: Ⅰ, Ⅱ, Ⅲ and Ⅳ, x11 、x 12 , -x 11 , and -x 12 The error setting values ​​can be adjusted according to the actual situation. The regional division principles are as follows:

[0193] Region I: When -x 11 <x1(k)<x 11 When the parameter K H As small as possible, the setting range is 0~0.1; η I As small as possible, the setting range is 0~0.3; η P and η D are all set to 0; at this time, the output of the neural network-expert PID is u(k)=u(k);

[0194] Region II: When x1(k)<-x 12 Or x1(k)>x 12 When the four adjustment parameters K H , η I , η P and η D are all set to 0, the output of the neural network-expert PID is u(k)=u max At this time, u max The maximum value of the input signal of the output object;

[0195] Region III: When x1(k)x2(k)>0, and x 11 <x1(k)<x 12 or -x 12 <x1(k)<x 12 , parameter K H As large as possible, the setting range is 0.6~0.8; η I As small as possible, the setting range is 0~0.1; η P As large as possible, the setting range is 0.8~1.0; η D Set to 0; at this time, the output of the neural network-expert PID is u(k)=u(k);

[0196] Region IV: When x1(k)x2(k)<0, and x 11 <x1(k)<x 12 or -x 12 <x1(k)<x 12 , parameter K H Be as moderate as possible, the setting range is 0.4~0.6; η I As small as possible, the setting range is 0~0.1; η P The setting range is 0; DAs small as possible, setting the range to 0-0.1; at this time, the output of the neural network-expert PID is u(k)=u(k).

[0197] The beneficial effects of the present invention are that the control system and control method of the large plate-like parts automatic adjustment device of the present invention have the following advantages:

[0198] 1. For large plate parts and super-large plate parts, the remote controller can be used according to the size, dimensions and other parameter controls of the large plate parts. Four, six, eight or even more posture adjustment devices can be used for coordinated control, and the control method of centralized-distributed control system of total control system-sub-remote controller is adopted, which increases the flexibility of the control system, effectively improves the control efficiency, and enables modular and mass-produced posture adjustment devices.

[0199] 2. In view of the complex and changeable working conditions of large plate parts during walking, transportation, posture adjustment, etc., the automatic adjustment device for large plate parts adopts a manual-automatic integrated control system, which can randomly combine the automatic control system and the manual control system, and switch them reasonably according to the actual working conditions on site, thereby enhancing the flexibility of the control system and improving the installation efficiency of large plate parts.

[0200] 3. In view of the difficulty in transporting large plate parts during the installation process, the present invention adopts an automatic walking mode control system, which can calculate and plan the walking path according to the initial position and target position of the large plate parts, and select the forward mode, backward mode, left turn mode and right turn mode according to the walking path, so as to automatically complete the transportation of large plate parts, improve installation efficiency and reduce labor.

[0201] 4. During the installation process, the posture of large plate parts is prone to changes such as tilt and twist, whether in the horizontal plane or in the vertical plane. The present invention converts the posture changes of large plate parts into adjustment displacement values ​​of the vertical Z-axis hydraulic cylinder, horizontal Y-axis hydraulic cylinder and horizontal X-axis hydraulic cylinder of each posture adjustment device, thereby driving the vertical Z-axis hydraulic cylinder, horizontal Y-axis hydraulic cylinder and horizontal X-axis hydraulic cylinder through a closed loop to complete the automatic adjustment of the posture of large plate parts, thereby improving the rapidity of posture adjustment and improving installation accuracy.

[0202] 5. The present invention adopts a neural network-expert system PID control algorithm in the automatic walking closed-loop control system and the posture adjustment closed-loop control system. According to the division range of errors and error change rates, the neural network algorithm is used to effectively improve the PID parameter adjustment rate, thereby improving the speed and accuracy of the automatic walking closed-loop control system and the posture automatic adjustment closed-loop control system.

[0203] Based on the above ideal embodiments of the present invention, the relevant staff can make various changes and modifications without departing from the technical concept of the present invention through the above description. The technical scope of the present invention is not limited to the contents of the specification, but must be determined according to the scope of the claims.

Claims

1. A control method for an automatic adjustment device for large plate parts, characterized in that: The control system using the automatic adjustment device for large plate parts includes the following steps: S1, initialize and check the data of the electrical components and hydraulic components in the system, check whether the input and output parameters of each electrical component and hydraulic component are normal, if not, the control system will alarm, if normal, continue to execute the subsequent steps; S2, collecting data from each posture adjustment device. The controller collects data from the inclination sensor, displacement sensor 1, displacement sensor 2, displacement sensor 3, left wheel encoder and right wheel encoder on each posture adjustment device, and transmits the collected data to the overall control system; S3, the controller of each posture adjustment device detects the state parameters of each electrical component to perform state parameter judgment and fault diagnosis. If the state parameters of an electrical component are abnormal, the fault is eliminated and the process goes to step S1; if the state parameters of all electrical components are normal, the process goes to the next step; S4, automatic / manual mode judgment and control, the main control system includes a main control panel, the main control panel is provided with manual and automatic buttons, the manual and automatic buttons are used to select the manual or automatic state, and the main control system transmits the manual or automatic command to each controller; S5, when the command received by the controller is automatic, the controller controls the left automatic wheel set and the right automatic wheel set to rotate automatically, driving the posture adjustment device to move forward, backward, turn left or turn right, and multiple posture adjustment devices coordinate the actions together to move the large plate parts to the target position; The steps for the posture adjustment device to perform the forward mode are as follows: First set the forward distance x, and then according to the formula Calculate the target number of laps m for the left and right automatic wheelsets a , d in the formula is the diameter of the driving wheel in the left and right automatic wheel assemblies, and then the actual number of circles of the left automatic wheel assembly m is read through the left wheel encoder b1 The actual number of revolutions of the right automatic wheel m is read through the right wheel encoder b2 , and will be based on the formula Calculate the number of turns after correction (m) b , in the initial state, the number of turns after correction m b Clear to zero, and then detect the number of turns after correction in real time in the follow-up b Then set the target number of laps m for the left and right automatic wheel groups a and the number of turns after correction m b Subtract, and after the neural network-expert PID operation, the output u1 is obtained, which is divided into two outputs. One path is converted into the forward rotation signal of the left automatic wheel group to control the forward rotation of the left automatic wheel group. At the same time, the actual speed n1 of the left automatic wheel group is detected by the left wheel encoder, and the actual speed n2 of the right automatic wheel group is detected by the right wheel encoder. In order to realize the synchronous control of the left automatic wheel group and the right automatic wheel group, n1 and n2 are subtracted and converted into the forward rotation signal of the right automatic wheel group after the neural network-expert PID operation to control the forward rotation of the right automatic wheel group, thereby realizing the synchronous forward rotation control of the left automatic wheel group and the right automatic wheel group, thereby completing the simultaneous driving of the left automatic wheel group and the right automatic wheel group to realize the forward action of the posture adjustment device; then it is judged whether the current trajectory is completed. If the number of laps after correction is m b Equal to the target number of motor revolutions m a , the current trajectory is considered to be completed; if the number of correction circles is m b Less than the motor target number of revolutions m a , it is considered that the current trajectory is not completed and the forward mode is continued; The steps of the backward mode of the posture adjustment device are as follows: First set the retreat distance x, and then use the formula Calculate the target number of laps m for the left and right automatic wheelsets a , d in the formula is the diameter of the driving wheel in the left and right automatic wheel assemblies, and then the actual number of circles of the left automatic wheel assembly m is read through the left wheel encoder b1 The actual number of revolutions of the right automatic wheel m is read through the right wheel encoder b2 , and will be based on the formula Calculate the number of turns after correction (m) b , in the initial state, the number of turns after correction m b Clear to zero, and then detect the number of turns after correction in real time in the follow-up b Then set the target number of laps m for the left and right automatic wheel groups a and the number of turns after correction m b Subtract, and after the neural network-expert PID operation, the output u1 is obtained, which is divided into two outputs. One path is converted into the reversal signal of the left automatic wheel group to control the reversal of the left automatic wheel group. At the same time, the actual speed n1 of the left automatic wheel group is detected by the left wheel encoder, and the actual speed n2 of the right automatic wheel group is detected by the right wheel encoder. In order to realize the synchronous control of the left automatic wheel group and the right automatic wheel group, n1 and n2 are subtracted and converted into the reversal signal of the right automatic wheel group after the neural network-expert PID operation to control the reversal of the right automatic wheel group, thereby realizing the synchronous reversal control of the left automatic wheel group and the right automatic wheel group, thereby completing the simultaneous driving of the left automatic wheel group and the right automatic wheel group to realize the backward action of the posture adjustment device; then it is judged whether the current trajectory is completed. If the number of laps after correction is m b Equal to the target number of motor revolutions m a , the current trajectory is considered to be completed; if the number of correction circles is m b Less than the motor target number of revolutions m a , it is considered that the current trajectory is not completed and the backward mode is continued; The steps of the left turn mode of the posture adjustment device are as follows: The controller sends a brake command to the left automatic wheel group, forcing the left automatic wheel group to stop. At the same time, according to the formula Calculate the target number of laps m for the right automatic wheel group a In the formula, l is the distance between the driving wheel in the left automatic wheel group and the driving wheel in the right automatic wheel group, d is the diameter of the driving wheel in the left automatic wheel group and the right automatic wheel group, and then the actual number of circles of the right automatic wheel group is detected in real time by the right wheel encoder m b , in the initial state of left turn, the actual number of circles m b Set it to 0, perform real-time detection in subsequent detection, and then set the target number of circles m a The actual number of revolutions m b After the difference is made, the output value u is obtained after the neural network-expert PID operation, and it is output to the right automatic wheel set, thereby driving the right automatic wheel set to rotate forward until the right automatic wheel set reaches the target number of revolutions m a The actual number of revolutions m b When they are equal, it is judged that the left turn is completed; The steps of the right turn mode of the posture adjustment device are as follows: The controller sends a brake command to the right automatic wheel group, forcing the right automatic wheel group to stop. At the same time, according to the formula Calculate the target number of laps m for the left automatic wheel group a In the formula, l is the distance between the driving wheel in the left automatic wheel group and the driving wheel in the right automatic wheel group, d is the diameter of the driving wheel in the left automatic wheel group and the right automatic wheel group, and then the actual number of circles of the left automatic wheel group m is detected in real time by the left wheel encoder b , in the initial state of right turn, the actual number of circles m b Set it to 0, perform real-time detection in subsequent detection, and then set the target number of circles m a The actual number of revolutions m b After the difference is made, the output value u is obtained after the neural network-expert PID operation, and it is output to the left automatic wheel set, thereby driving the left automatic wheel set to rotate forward until the left automatic wheel set reaches the target number of revolutions m a The actual number of revolutions m b When they are equal, it is judged that the right turn is completed; S6, automatic posture adjustment, each posture adjustment device adjusts the posture of the large plate-like parts at the target position at the same time, the controller receives the data transmitted by the inclination sensor, and transmits the data to the overall control system, the overall control system adjusts the posture of the large plate-like parts according to the data received from all controllers, and adjusts the posture of the large plate-like parts to the target posture through the horizontal Y-axis hydraulic cylinder, the horizontal X-axis hydraulic cylinder and the vertical Z-axis hydraulic cylinder; S7, posture judgment: the controller of each posture adjustment device extracts the inclination angle signal of the inclination sensor and feeds it back to the overall control system. The overall control system judges whether the posture adjustment is completed by judging the inclination angle of the connection between the large plate-like parts and the posture adjustment device. If not, it goes to step S64; if it is completed, it goes to step S9; S8, when the command received by the controller is manual, it is manually determined whether the posture adjustment device can be driven to move by the left automatic wheel group and the right automatic wheel group. If it can, each person controls a remote controller corresponding to the controller on the posture adjustment device to control the left automatic wheel group and the right automatic wheel group to drive the posture adjustment device to move. Multiple remote controllers simultaneously control multiple posture adjustment devices to move synchronously. If it cannot, the posture adjustment device is manually pushed to move. Multiple posture adjustment devices move simultaneously to move the large plate parts to the target position. After the large plate parts reach the target position, the posture of the large plate parts is manually adjusted. Each person controls a remote controller to adjust the posture of the large plate parts to the target posture by controlling the horizontal Y-axis hydraulic cylinder, the horizontal X-axis hydraulic cylinder and the vertical Z-axis hydraulic cylinder. S9, manually remove all posture adjustment devices and complete the installation of large plate parts.

2. The control method of the automatic adjustment device for large plate parts according to claim 1, characterized in that: Step S5 includes: S51, remote control and display: the controller of each posture adjustment device transmits the data collected from the inclination sensor to the main control console, thereby feeding back the inclination angle of the connection between each posture adjustment device and the large plate-like parts, and then calculating the posture of the large plate-like parts, and displaying it on the display interface of the main control console; S52, walking parameter setting: large plate parts are moved by four, six, or eight posture adjustment devices, the path of each posture adjustment device is planned, and the path corresponding to each posture adjustment device is transmitted to the corresponding controller. The walking motion trajectory of each posture adjustment device from the initial position to the target position is divided into four walking modes: forward, backward, left turn and right turn. By calculating each section of the moving trajectory, its motion trajectory is decomposed into the walking mode of each posture adjustment device; S53, automatic walking drive module: The main control console sets several walking trajectories of each posture adjustment device into a complete operation trajectory, and then sends them to the receiver of each posture adjustment device through wireless signals. Each posture adjustment device starts to synchronously execute its own operation trajectory. Each posture adjustment device moves according to the walking motion process to move large plate parts to the target position.

3. The control method of the automatic adjustment device for large plate parts according to claim 2, characterized in that: In step S53, the specific steps of the walking motion process of each posture adjustment device are as follows: S531, automatic walking track setting: set each running track, and then go to the next step; S532, the i-th track: first run from the first track, and set i=1, start running, and then go to the next step; S533, walking mode selection: there are four walking modes in total. If it is the forward mode, the forward mode step is entered; if it is the backward mode, the backward mode step is entered; if it is the left turn mode, the left turn mode step is entered; if it is the right turn mode, the right turn mode step is entered; S534, determine whether the motion trajectory completed by the current i segments is the last motion trajectory. If the motion trajectory completed by the current i segments is the last motion trajectory, proceed to step S535; if the motion trajectory completed by the current i segments is not the last motion trajectory, start the next motion trajectory, i.e., the i+1 segment motion trajectory, and take the i+1 segment motion trajectory as the current i segment trajectory, and proceed to step S532; S535, stop the walking track movement.

4. The control method of the automatic adjustment device for large plate parts according to claim 1, characterized in that: Step S6 includes the following steps: S61, installation position detection: each posture adjustment device detects the inclination angle of the connection between the large plate-like part and the posture adjustment device through an inclination sensor, and transmits the detected data to the overall control system through wireless transmission, and then enters step S62; S62, posture conversion and decomposition: after the overall control system detects the inclination angle of the connection between the large plate-like part and the posture adjustment device, it converts and decomposes it into posture adjustment data of each posture adjustment device according to the actual installation situation on site, and then enters step S63; S63, calculation of target stroke of hydraulic cylinder of each device: according to the outer dimensions of large plate parts, and the installation position dimensions and inclination angle of each posture adjustment device, the target stroke of hydraulic cylinder of each device on the three axes X, Y and Z is calculated; then, the process goes to step S64; S64, posture adjustment: the overall control system sends the calculated target strokes of the horizontal X-axis hydraulic cylinder, the horizontal Y-axis hydraulic cylinder and the vertical Z-axis hydraulic cylinder of each posture adjustment device to the controller of each posture adjustment device via wireless. When the controller of the posture adjustment device receives the target strokes of the horizontal X-axis hydraulic cylinder, the horizontal Y-axis hydraulic cylinder and the vertical Z-axis hydraulic cylinder, in order to ensure control accuracy, the controller adjusts the horizontal X-axis hydraulic cylinder, the horizontal Y-axis hydraulic cylinder and the vertical Z-axis hydraulic cylinder in this order to perform three-axis adjustment control of the automatic adjustment device for large plate parts.

5. The control method of the automatic adjustment device for large plate parts according to claim 4, characterized in that: In step S64, the three-axis adjustment control process of the large plate-like parts automatic adjustment device includes the following steps: S641, detect the actual displacement S of the horizontal X-axis hydraulic cylinder through the displacement sensor xa , the target displacement S of the horizontal X-axis hydraulic cylinder xm Actual displacement S xa The error is obtained by subtracting x , the error e x After the neural network-expert PID operation, the output u is obtained x1 , and then enter the discrimination mode. There are two types of discrimination modes: when e x When >20%Sxm, the controller sends a control signal to the hydraulic pump group 1, the size of which is u x2 ,u x2 =K1u x1 , K1 is the adjustment coefficient of the main servo motor of the hydraulic pump group 1, K1 is adjusted according to the actual situation of the horizontal X-axis hydraulic cylinder. At the same time, the controller sends a control signal to the electromagnetic reversing valve 1 to make the electromagnetic reversing valve 1 actuate. The servo motor of the hydraulic pump group 1 adopts a high-power servo motor; when e x ≤20%S xm When the controller sends a control signal to the auxiliary servo motor of hydraulic pump group 2, the magnitude of which is u x2 ,u x2 =K2u x1 , K2 is the auxiliary servo motor adjustment coefficient of hydraulic pump group 2, K2 is adjusted according to the actual situation of the horizontal X-axis hydraulic cylinder. At the same time, the controller sends a control signal to the electromagnetic reversing valve 1 to make the electromagnetic reversing valve 1 move. When the X-axis target displacement S is reached xm When the controller controls the electromagnetic reversing valve to move, the hydraulic lock is switched to the locked state, and the piston rod of the horizontal X-axis hydraulic cylinder stops moving; S642, detect the actual displacement S of the horizontal Y-axis hydraulic cylinder through displacement sensor 2 ya , the target displacement S of the horizontal Y-axis hydraulic cylinder ym The actual displacement S ya The error is obtained by subtracting y , the error e y After the neural network-expert PID operation, the output u is obtained y1 , and then enter the discrimination mode. There are two discrimination modes: when e y >20%S ym When the controller sends a control signal to the hydraulic pump group 1, the size of which is u y2 ,u y2 =K3u y1 , K3 is the adjustment coefficient of the main servo motor of the hydraulic pump group 1. K3 is adjusted according to the actual situation of the horizontal Y-axis hydraulic cylinder. At the same time, the controller sends a control signal to the electromagnetic reversing valve 2 to activate the electromagnetic reversing valve 2, and the hydraulic oil enters the horizontal Y-axis hydraulic cylinder. The piston rod of the horizontal Y-axis hydraulic cylinder moves quickly. When e y ≤20%S ym When the controller sends a control signal to the auxiliary servo motor in the hydraulic pump group 2, the size of which is u y2 ,u y2 =K4u y1 , K4 is the adjustment coefficient of the auxiliary servo motor in the hydraulic pump group 2. K4 is adjusted according to the actual situation of the horizontal Y-axis hydraulic cylinder. At the same time, the controller sends a control signal to the electromagnetic reversing valve 2 to activate the electromagnetic reversing valve 2. The hydraulic pressure enters the horizontal Y-axis hydraulic cylinder, and the piston rod of the horizontal Y-axis hydraulic cylinder moves accurately. When the X-axis target displacement S is reached ym , the controller controls the electromagnetic reversing valve 2 to move, the hydraulic lock 2 switches to the locked state, and the piston rod of the horizontal Y-axis hydraulic cylinder stops moving; S643, detect the actual displacement S of the vertical Z-axis hydraulic cylinder through displacement sensor 3 za , the target displacement S of the vertical Z-axis hydraulic cylinder zm The actual displacement S za The error is obtained by subtracting z , the error e z After the neural network-expert PID operation, the output u is obtained z1 , and then enter the discrimination mode. There are two discrimination modes: when e z >20%S zm When the controller sends a control signal to the main servo motor of hydraulic pump group 1, the size of which is u z2 ,u z2 =K5u z1 , K5 is the adjustment coefficient of the main servo motor of the hydraulic pump group 1. K5 is adjusted according to the actual situation of the vertical Z-axis hydraulic cylinder. At the same time, the controller sends a control signal to the electromagnetic reversing valve 3 to make the electromagnetic reversing valve 3 act, and the hydraulic oil enters the vertical Z-axis hydraulic cylinder. The piston rod of the vertical Z-axis hydraulic cylinder moves quickly; when e z ≤20%S zm When the controller sends a control signal to the auxiliary servo motor of hydraulic pump group 2, the magnitude of which is u z2 ,u z2 =K6u z1 , K6 is the auxiliary servo motor adjustment coefficient of hydraulic pump group 2. K6 is adjusted according to the actual situation of the vertical Z-axis hydraulic cylinder. At the same time, the controller sends a control signal to the electromagnetic reversing valve 3 to make the electromagnetic reversing valve 3 act. The hydraulic pressure enters the vertical Z-axis hydraulic cylinder, and the piston rod of the vertical Z-axis hydraulic cylinder moves accurately. When the Z-axis target displacement S is reached zm When the controller controls the electromagnetic reversing valve 3 to move, the hydraulic lock 3 switches to the locked state, and the piston rod of the vertical Z-axis hydraulic cylinder stops moving.

6. The control method of the automatic adjustment device for large plate parts according to claim 5, characterized in that: The neural network-expert PID comprises the following steps: The error e(k) is stored and converted into parameters, and the current error e(k), the previous error e(k-1) and the previous two errors e(k-2) are stored respectively. Then the output u(k) is calculated by the following formula: w1(k)=w1(k-1)+η I x1 2 (k)u(k); w2(k)=w2(k-1)+η P x1(k)x2(k)u(k); w3(k)=w3(k-1)+η D x1(k)x3(k)u(k); x1(k)=e(k); x2(k)=e(k)-e(k-1); x3(k)=e(k)-2e(k-1)+e(k-2); In the above formula, K H is the neuron scale factor, η I is the learning rate of integration, η P is the product-proportional learning rate, η D is the learning rate of differentiation.

7. The control method of the automatic adjustment device for large plate parts according to claim 1, wherein the control system of the automatic adjustment device for large plate parts comprises: Total control system; A plurality of position adjustment devices (100), wherein the plurality of position adjustment devices (100) are simultaneously connected to the large plate-like parts (200), and the plurality of position adjustment devices work together to carry and adjust the position of the large plate-like parts (200); Each of the posture adjustment devices (100) comprises: A controller, wherein the controller is electrically or communicatively connected to the overall control system, each controller is provided with a corresponding remote controller, and the controller is signal-connected to the remote controller; A vertical Z-axis hydraulic cylinder, the piston rod of which is connected to a large plate-like part (200); A horizontal Y-axis hydraulic cylinder (15), the piston rod of which is in transmission connection with the vertical Z-axis hydraulic cylinder to drive the vertical Z-axis hydraulic cylinder to move along the Y-axis direction; A horizontal X-axis hydraulic cylinder (13), wherein the piston rod of the horizontal X-axis hydraulic cylinder (13) is transmission-connected to the horizontal Y-axis hydraulic cylinder (15) so as to drive the horizontal Y-axis hydraulic cylinder (15) to move along the X-axis direction; A base (11), wherein the horizontal X-axis hydraulic cylinder (13) is mounted on the base (11); A left automatic wheel set (14), the left automatic wheel set (14) being installed below the base (11), the left automatic wheel set (14) being capable of automatically rotating to drive the position adjustment device (100) to translate, and the left automatic wheel set (14) being electrically connected to the controller; a right automatic wheel set (16), the right automatic wheel set (16) being installed below the base (11), the right automatic wheel set (16) being capable of automatically rotating to drive the position adjustment device (100) to translate together with the left automatic wheel set (14), the right automatic wheel set (16) being electrically connected to the controller; Each of the posture adjustment devices (100) is equipped with: An inclination sensor (12), the inclination sensor (12) detecting the inclination of three axes, X, Y and Z, of the posture adjustment device (100), the inclination sensor (12) being electrically connected to the controller; A left wheel encoder, the left wheel encoder is electrically connected to the left automatic wheel set (14) to detect the rotation speed and number of rotations of the left automatic wheel set (14), and the left wheel encoder is electrically connected to the controller; a right wheel encoder, the right wheel encoder being electrically connected to the right automatic wheel set (16) to detect the rotation speed and number of rotations of the right automatic wheel set (16), the right wheel encoder being electrically connected to the controller; Each posture adjustment device (100) has several walking modes, namely, stop, move forward, move backward, turn left and turn right. A controller on each posture adjustment device (100) controls the corresponding posture adjustment device (100) to move. The multiple posture adjustment devices (100) cooperate with each other to drive the large plate-like parts (200) to move. The inclination sensor (12) detects the inclination of the three axes X, Y and Z of the posture adjustment device (100), and adjusts the position of the connection between the posture adjustment device (100) and the large plate-like parts (200) through the horizontal Y-axis hydraulic cylinder (15), the horizontal X-axis hydraulic cylinder (13) and the vertical Z-axis hydraulic cylinder. The multiple posture adjustment devices (100) cooperate to adjust the posture of the large plate-like parts (200).

8. The control method of the automatic adjustment device for large plate parts according to claim 7, characterized in that: The horizontal X-axis hydraulic cylinder (13) is provided with a displacement sensor 1 to detect the displacement of the piston rod of the horizontal X-axis hydraulic cylinder (13); the horizontal Y-axis hydraulic cylinder (15) is provided with a displacement sensor 2 to detect the displacement of the piston rod of the horizontal Y-axis hydraulic cylinder (15); the vertical Z-axis hydraulic cylinder is provided with a displacement sensor 3 to detect the displacement of the piston rod of the vertical Z-axis hydraulic cylinder; the displacement sensor 1, the displacement sensor 2 and the displacement sensor 3 are all electrically connected to the controller.

9. The control method of the automatic adjustment device for large plate parts according to claim 7, characterized in that: The posture adjustment device (100) is also provided with a hydraulic station (19) and a control valve group (20). The hydraulic station (19) is connected to the control valve group (20). The control valve group (20) is respectively connected to the horizontal X-axis hydraulic cylinder (13), the horizontal Y-axis hydraulic cylinder (15) and the vertical Z-axis hydraulic cylinder to drive the horizontal X-axis hydraulic cylinder (13), the horizontal Y-axis hydraulic cylinder (15) and the vertical Z-axis hydraulic cylinder to independently move. The hydraulic station (19) and the control valve group (20) are both electrically connected to a controller. The controller controls the hydraulic station (19) to supply oil to the control valve group (20). The controller controls the control valve group (20) to control the hydraulic oil to enter or flow out of the horizontal X-axis hydraulic cylinder (13), the horizontal Y-axis hydraulic cylinder (15) and the vertical Z-axis hydraulic cylinder.

10. The control method of the automatic adjustment device for large plate parts according to claim 9, characterized in that: The hydraulic station (19) comprises: Fuel tank (191); A hydraulic pump group (192), wherein the hydraulic pump group (192) is connected to an oil tank (191), and an oil outlet of the hydraulic pump group (192) is connected to an oil inlet of the control valve group (20) to supply oil to the control valve group (20); A second hydraulic pump group (193), the second hydraulic pump group (193) being connected to the oil tank (191), and the oil outlet of the second hydraulic pump group (193) being connected to the oil inlet of the control valve group (20); A one-way valve (195), the one-way valve being arranged at the oil outlet of the hydraulic pump group (192) so as to allow the hydraulic oil to flow in one direction from the oil outlet of the hydraulic pump group (192) to the control valve group (20); A second one-way valve (196), the one-way valve being arranged at the oil outlet of the second hydraulic pump group (193) so as to allow the hydraulic oil to flow in one direction from the oil outlet of the second hydraulic pump group (193) to the control valve group (20); A relief valve (194), wherein an oil inlet of the relief valve (194) is connected to an oil outlet of the hydraulic pump group 1 (192) and an oil outlet of the hydraulic pump group 2 (193), and an oil outlet of the relief valve (194) is connected to an oil tank (191); The hydraulic pump group 1 (192) and the hydraulic pump group 2 (193) are both electrically connected to the controller. The hydraulic pump group 1 (192) supplies oil to the control valve group (20) to control the piston rod of the horizontal X-axis hydraulic cylinder (13), the horizontal Y-axis hydraulic cylinder (15) or the vertical Z-axis hydraulic cylinder to move quickly through the control valve group (20). The hydraulic pump group 2 (193) supplies oil to the control valve group (20) to control the piston rod of the horizontal X-axis hydraulic cylinder (13), the horizontal Y-axis hydraulic cylinder (15) or the vertical Z-axis hydraulic cylinder to move accurately through the control valve group (20).

11. The control method of the automatic adjustment device for large plate parts according to claim 10, characterized in that: The control valve group (20) comprises: Three electromagnetic reversing valves, the oil inlets of the three electromagnetic reversing valves are all connected to the oil outlet of the hydraulic station (19), and the three electromagnetic reversing valves are electromagnetic reversing valve 1 (201), electromagnetic reversing valve 2 (202) and electromagnetic reversing valve 3 (203); The three hydraulic locks are hydraulic lock 1 (204), hydraulic lock 2 (205) and hydraulic lock 3 (206), wherein the hydraulic lock 1 (204) is connected to the electromagnetic reversing valve 1 (201), the hydraulic lock 2 (205) is connected to the electromagnetic reversing valve 2 (202), the hydraulic lock 3 (206) is connected to the electromagnetic reversing valve 3 (203), the hydraulic lock 1 (204) is connected to the horizontal X-axis hydraulic cylinder (13), and the hydraulic lock 2 (206) is connected to the electromagnetic reversing valve 3 (203). 05) is connected to the horizontal Y-axis hydraulic cylinder (15), the hydraulic lock three (206) is connected to the vertical Z-axis hydraulic cylinder, the hydraulic lock one (204) can lock the oil in the horizontal X-axis hydraulic cylinder (13) in two oil chambers respectively, the hydraulic lock two (205) can lock the oil in the horizontal Y-axis hydraulic cylinder (15) in two oil chambers respectively, and the hydraulic lock three (206) can lock the oil in the vertical Z-axis hydraulic cylinder in two oil chambers respectively.

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