An automatic leveling work platform and its automatic leveling method

Abstract

The present application provides an automatic leveling working platform and an automatic leveling method thereof, comprising: a workbench surface, a leveling platform surface, a base, a height adjusting mechanism, a levelness adjusting mechanism and a control device; the workbench surface is supported on the leveling platform surface; the leveling platform surface is supported on the base through the height adjusting mechanism and the levelness adjusting mechanism; the control device controls the height adjusting mechanism to adjust the height of the leveling platform surface relative to the base, and controls the levelness adjusting mechanism to adjust the levelness of the leveling platform surface according to the data information related to the levelness feedback by the levelness adjusting mechanism. By controlling the levelness adjusting mechanism to automatically level the levelness of the leveling platform surface and using any three of the four levelness adjusting mechanisms to cooperate with each other for levelness adjustment, the levelness of the leveling platform surface is leveled from multiple degrees of freedom, improving the leveling accuracy; adjusting the height and levelness of the leveling platform surface expands the application range of the leveling working platform.

Description

Technical Field

[0001] The present invention relates to the technical field of leveling equipment, and particularly relates to an automatic leveling workbench and an automatic leveling method thereof. Background Art

[0002] A leveling workbench is a leveling equipment. A reference test bench is placed on the leveling workbench, and the test bench moves on the leveling workbench to ensure good levelness at each working station of the test bench. The leveling workbench is widely used in the field of precision machinery assembly and adjustment, and plays an important role in improving the installation accuracy of the whole machine system.

[0003] Currently, the working mode of the leveling workbench is as follows: when the reference test bench moves to each working position, the leveling of the workbench is processed by manually adjusting the set screws and fixing screws of the workbench.

[0004] Since the current leveling workbench mainly performs six-degree-of-freedom adjustment, during the six-degree-of-freedom adjustment process, due to manual control, only one degree of freedom can be adjusted at a time. However, in the actual process, mechanical designs rarely perform mechanical control on the six degrees of freedom separately. When adjusting, changing one degree of freedom will cause the corresponding values of another or several coupled degrees of freedom to change. This greatly increases the difficulty and accuracy of adjustment, reduces work efficiency, and it is difficult to control the adjustment margin and coordinate control of each working position, which is not conducive to improving the overall assembly and adjustment accuracy. Summary of the Invention

[0005] Aiming at the problems of low automation degree, great difficulty in leveling work, and low leveling accuracy of the existing leveling workbench, the present application provides an automatic leveling workbench and an automatic leveling method thereof. Since the leveling mechanism is controlled by a control device to achieve automatic leveling, the automation degree of the leveling work is improved, and multi-degree-of-freedom adjustment is performed, improving the leveling accuracy. At the same time, the height and levelness of the workbench are comprehensively adjusted through the height adjustment mechanism and the levelness adjustment mechanism, further expanding the application range of the leveling workbench.

[0006] The technical solution provided by the present invention is as follows:

[0007] The present invention provides an automatic leveling workbench, including: a workbench surface, a leveling platform surface, a base, a height adjustment mechanism, a levelness adjustment mechanism, and a control device;

[0008] The workbench surface is supported on the leveling platform surface;

[0009] The leveling platform surface is supported on the base through the height adjustment mechanism and the levelness adjustment mechanism;

[0010] The control device controls the height adjustment mechanism to adjust the height of the adjustment platform surface relative to the base, and controls the level adjustment mechanism to adjust the levelness of the adjustment platform surface according to the data information related to the levelness feedback by the level adjustment mechanism.

[0011] Further preferably, the level adjustment mechanism includes: a first level adjustment mechanism, a second level adjustment mechanism, a third level adjustment mechanism, and a fourth level adjustment mechanism;

[0012] The first level adjustment mechanism, the second level adjustment mechanism, the third level adjustment mechanism, and the fourth level adjustment mechanism respectively include: a pneumatic rod, a support rod, and a slider;

[0013] One end of the support rod is fixed to the base, and the other end extends towards the adjustment platform surface;

[0014] The pneumatic rod is slidably arranged at one end of the support rod close to the adjustment platform surface through the slider, and the free end of the pneumatic rod is in contact connection with the adjustment platform surface through a ball head.

[0015] Further preferably, the first horizontal adjustment mechanism, the second horizontal adjustment mechanism, the third horizontal adjustment mechanism, and the fourth horizontal adjustment mechanism are respectively configured with displacement sensors. The displacement sensors are arranged on the slider relative to the pneumatic rod and are used to record the displacement data of the pneumatic rod in contact with the adjustment platform surface under different air pressures.

[0016] Further preferably, a spirit level is further included. The spirit level is arranged in the non-working area of the workbench surface, and the control device is further used to calibrate the levelness of the adjustment platform surface adjusted by the level adjustment mechanism according to the measurement data information feedback by the spirit level.

[0017] Further preferably, the spirit level includes: a housing, a support plate, a piezoelectric ceramic sensor, a contact head, a magnetic field protection body, a first magnet, and a second magnet;

[0018] The magnetic field protection body is in a U-shaped structure. The opening of the U-shaped magnetic field protection body faces downwards and covers the first magnet and the second magnet. The first magnet is arranged on the inner surface of the top of the magnetic field protection body, and the second magnet is arranged on the inner surface of the bottom of the housing relative to the direct lower side of the first magnet;

[0019] The first magnet and the second magnet repel each other magnetically, so that a distance is maintained between the first magnet and the second magnet, and a magnetic buoyancy force is generated between the distances through magnetic repulsion to support the magnetic field protection body;

[0020] The contact heads are symmetrically arranged on both sides of the magnetic field protection body;

[0021] The piezoelectric ceramic sensor is arranged relative to the contact head through the support plate, and the relative arrangement enables the contact head to contact the piezoelectric ceramic sensor in an inclined state.

[0022] Further preferably, the spirit level further includes an anti-movement mechanism, which is cooperatively installed with the magnetic field protection body. The cooperative installation enables the anti-movement mechanism to be separated from the magnetic field protection body during the working state, and enables the anti-movement mechanism to contact the magnetic field protection body during the non-working state to prevent the magnetic field protection body from swinging and sliding.

[0023] Further preferably, the anti-movement mechanism includes a threaded rod and a friction disc. The housing is provided with a threaded groove matching the threaded rod. One end of the threaded rod penetrates through the threaded groove and extends out of the housing, and the other end of the threaded rod is provided with the friction disc;

[0024] During the non-working state, rotate the threaded rod in a preset direction to make the friction disc contact the top of the magnetic field protection body, and during the working state, rotate the threaded rod in a direction opposite to the preset direction to make the friction disc separate from the magnetic field protection body.

[0025] Further preferably, the friction disc includes a disc body and a plurality of friction blocks. The plurality of friction blocks are distributed on the disc body in a preset spiral pattern. The preset spiral pattern is an image designed to prevent the magnetic field protection body from swinging and sliding, and the spiral direction of the preset spiral pattern is used to prevent the magnetic field protection body from swinging and sliding.

[0026] Further preferably, a spiral limiting portion matching the preset spiral pattern is arranged on the outer surface of the top of the magnetic field protection body, so that when the friction disc contacts the outer surface of the top of the magnetic field protection body, the plurality of friction blocks are limited in the spiral limiting portion.

[0027] The present invention also provides an automatic leveling method for an automatic leveling work platform. The automatic leveling work platform includes: a workbench surface, a leveling platform surface, a base, a levelness adjusting mechanism, and a control device. The workbench surface is supported on the leveling platform surface, the leveling platform surface is supported on the base, and the four levelness adjusting mechanisms are arranged in pairs and oppositely between the leveling platform surface and the base to form four support points of the leveling platform surface. The four levelness adjusting mechanisms are respectively pneumatic adjusting mechanisms. The control device adjusts the levelness of the leveling platform surface by controlling the air pressure of the four levelness adjusting mechanisms, and specifically includes the steps:

[0028] S100: Obtain the initial positions of the four levelness adjusting mechanisms;

[0029] S200: Fit the level of the adjustment platform through the initial position, and determine whether the level meets the requirements. If not, level the adjustment platform as follows:

[0030] S300: Set two of the four level adjustment mechanisms as fixed adjustment bodies, and set one of the other two level adjustment mechanisms as a movable adjustment body;

[0031] S400: Determine whether the initial position of the movable adjustment body is between the initial positions of the two fixed adjustment bodies. If not, adjust the position of the movable adjustment body to between the initial positions of the two fixed adjustment bodies;

[0032] S500: Calculate the level between the movable adjustment body and the first fixed adjustment body, and determine whether the level between the movable adjustment body and the first fixed adjustment body meets the requirements. If it meets the requirements, execute step S600. If it does not meet the requirements, execute step S700;

[0033] S600: Calculate the level between the movable adjustment body and the second fixed adjustment body, and determine whether the level between the movable adjustment body and the second fixed adjustment body meets the requirements. If it does not meet the requirements, execute step S800;

[0034] S700: Adjust the air pressure of the movable adjustment body by means of pressure neighborhood search to approximate the position of the movable adjustment body to the position of the first fixed adjustment body until the level between the movable adjustment body and the first fixed adjustment body meets the requirements;

[0035] S800: Set the movable adjustment body as a fixed adjustment body, set the second fixed adjustment body as a new movable adjustment body, and adjust the level between the new movable adjustment body and one of the fixed adjustment bodies according to the adjustment method in step S700 until the level between the new movable adjustment body and the fixed adjustment body meets the requirements;

[0036] S900: After adjusting the levels between the three level adjustment mechanisms to meet the requirements through the above steps S400 - S800, calculate the adjustment amount of the remaining one level adjustment mechanism based on the principle of four points being coplanar, and adjust the remaining one level adjustment mechanism according to the adjustment amount to make the level of the adjustment platform meet the requirements.

[0037] Through the automatic leveling work platform and its automatic leveling method provided by the present invention, at least the following beneficial effects are achieved:

[0038] 1. Automatically level the level of the adjustment platform by controlling the level adjustment mechanism, improving the automation degree of the leveling work of the leveling work platform;

[0039] 2. Any three of the four level adjustment mechanisms cooperate with each other to perform leveling, achieving leveling of the leveling platform surface from multiple degrees of freedom, thereby improving the leveling accuracy.

[0040] 3. The height and level of the leveling platform surface are adjusted by combining the height adjustment mechanism and the level adjustment mechanism, expanding the application range of the leveling work platform.

[0041] 4. A new type of level is used to feedback and measure data information to inspect the level of automatic leveling. Since the new type of level eliminates the friction force of the internal structure of the level through magnetic buoyancy, during the use of the new type of level, the influence of friction force is reduced, the sensitivity of the new type of level is improved, the accuracy of the feedback measurement data is enhanced, and further the effectiveness of the inspection of the level of automatic leveling is improved.

[0042] 5. An anti-movement mechanism is designed in the structure of the new type of level to prevent the internal contact from swinging and sliding in the non-working state. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 It is a schematic diagram of the structure of the automatic leveling workbench;

[0044] Figure 2 It is a schematic diagram of the structure of the level;

[0045] Figure 3 It is a flow chart of the automatic leveling method;

[0046] Figure 4 It is a schematic diagram of the principle of the terminal device. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0047] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the specific embodiments of the present invention will be described below with reference to the accompanying drawings. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings and other embodiments can be obtained.

[0048] The present invention provides an automatic leveling work platform. By designing corresponding height adjustment mechanisms and level adjustment mechanisms, the leveling work platform can automatically adjust its height and level. The basic concept of the present invention will be described in detail below through specific embodiments.

[0049] Example 1:

[0050] This embodiment provides an automatic leveling work platform, which includes a workbench surface 100, a leveling platform surface 200, a base 300, a height adjustment mechanism 400, a levelness adjustment mechanism 500, and a control device. As Figure 1 shown, the workbench surface 100 is supported on the leveling platform surface 200; the leveling platform surface 200 is supported on the base 300 through the height adjustment mechanism 400 and the levelness adjustment mechanism 500; the control device controls the height adjustment mechanism 400 to adjust the height of the leveling platform surface 200 relative to the base 300, and controls the levelness adjustment mechanism 500 to adjust the levelness of the leveling platform surface 200 according to the data information related to the levelness feedback by the levelness adjustment mechanism 500.

[0051] The control device of this embodiment is not shown in Figure 1 . The control device is a control system of the automatic leveling work platform. The control device is electrically connected to the control ends of the height adjustment mechanism 400 and the levelness adjustment mechanism 500. For example, the control device can be a PLC controller, a computer, etc. independent of the automatic leveling work platform. The control device controls the height adjustment mechanism 400 to perform corresponding height adjustment on the leveling platform surface 200 by running the corresponding control program, and controls the levelness adjustment mechanism 500 to perform corresponding levelness adjustment on the leveling platform surface 200 by running the corresponding control program.

[0052] The workbench surface 100 is a working surface. The tooling parts are installed in the working area of the workbench surface 100, and the levelness of the tooling parts is adjusted by adjusting the levelness of the workbench surface 100.

[0053] The workbench surface 100 is fixedly installed on the leveling platform surface 200 through support columns. The workbench surface 100 is a reference surface, and the leveling platform surface 200 is the specific object for adjusting the levelness. Therefore, when the levelness of the leveling platform surface 200 is adjusted subsequently, its essence is to adjust the levelness of the workbench surface 100.

[0054] Furthermore, the workbench surface 100 is fixed to the leveling platform surface 200 by screws and flat head set screws through support columns. The screws and flat head set screws can be used to adjust the parallelism between the workbench surface 100 and the leveling platform surface 200.

[0055] The base 300 is the support base of the entire leveling work platform, and supports the leveling platform surface 200 and the workbench surface 100 through the height adjustment mechanism 400 and the levelness adjustment mechanism 500.

[0056] The height adjustment mechanism 400 is preferably a lead screw. The bottom of the height adjustment mechanism 400 is connected to the base 300 through a ball head contact. The height adjustment mechanism 400 is connected to the adjustment platform surface 200. The control device controls the height adjustment mechanism 400 to adjust the height of the adjustment platform surface 200 relative to the base 300. Moreover, since the bottom of the height adjustment mechanism 400 is in ball head contact with the base 300, interference at the connection can be avoided during height adjustment, preventing deformation between the contacting parts.

[0057] Since the required height of the reference horizontal plane varies for the assembly of different workpieces, therefore, by adjusting the height of the adjustment platform surface 200 through the height adjustment mechanism 400, and then adjusting the height of the workbench surface 100, the automatic leveling work platform provided in this embodiment can adaptively adjust its own height according to the assembly requirements of different workpieces to meet the height requirements of different assembled workpieces and expand its application range.

[0058] The levelness adjustment mechanism 500 includes a first levelness adjustment mechanism 501, a second levelness adjustment mechanism 502, a third levelness adjustment mechanism 503, and a fourth levelness adjustment mechanism 504; as Figure 1 shown, the first levelness adjustment mechanism 501, the second levelness adjustment mechanism 502, the third levelness adjustment mechanism 503, and the fourth levelness adjustment mechanism 504 are disposed in pairs between the adjustment platform surface 200 and the base 300 to form four support points of the adjustment platform surface 200.

[0059] Furthermore, the structures of the first levelness adjustment mechanism 501, the second levelness adjustment mechanism 502, the third levelness adjustment mechanism 503, and the fourth levelness adjustment mechanism 504 are the same. Taking the structure of the first levelness adjustment mechanism 501 as an example, the structure composition and the connection relationship between the structures are described. The structures and the connection relationships between the structures of other levelness adjustment mechanisms refer to those of the first levelness adjustment mechanism.

[0060] As Figure 1 shown, the first levelness adjustment mechanism 501 includes: a pneumatic rod 5011, a support rod 5012, and a slider 5013; one end of the support rod 5012 is fixed to the base 300, and the other end extends towards the adjustment platform surface 200; the pneumatic rod 5011 is slidably disposed on one end of the support rod 5012 near the adjustment platform surface 200 through the slider 5013, and the free end of the pneumatic rod 5011 is connected to the adjustment platform surface 200 through a ball head contact.

[0061] The slider 5013 is fixed to the support rod 5012 by screws. By adjusting the position of the slider 5013 on the support rod 5012, the stroke between the pneumatic rod 5011 and the adjustment platform surface 200 can be further adjusted. For example, when the height of the adjustment platform surface 200 is adjusted by the height adjustment mechanism 400, the stroke between the adjustment platform surface 200 and the pneumatic rod 5011 will necessarily change. At this time, only the position of the slider 5013 on the support rod 5012 needs to be adjusted.

[0062] Therefore, the level adjustment mechanism designed in this embodiment can change its own adjustment stroke according to the height change of the adjustment platform surface 200. At the same time, since the free end of the pneumatic rod 5011 is in spherical contact with the adjustment platform surface 200, interference at the connection can be avoided during the adjustment of the level, and deformation between the contacting parts can be prevented.

[0063] Furthermore, the first level adjustment mechanism 501, the second level adjustment mechanism 502, the third level adjustment mechanism 503, and the fourth level adjustment mechanism 504 are respectively equipped with displacement sensors 600. The displacement sensors 600 are arranged on the slider 5013 relative to the pneumatic rod 5011 and are used to record the displacement data of the pneumatic rod 5011 in contact with the adjustment platform surface 200 under different air pressures, so that the control device adjusts the air pressure of the pneumatic rods of each level adjustment mechanism according to the displacement data of the four level adjustment mechanisms to level the adjustment platform surface 200. The specific leveling method will be described in detail in another embodiment.

[0064] Furthermore, the automatic leveling work platform provided in this embodiment further includes a level meter 700. The level meter 700 is arranged in the non-working area of the workbench surface 100. The level meter 700 is signal-connected to the control device, and the control device is also used to verify the level of the adjustment platform surface 200 adjusted by the level adjustment mechanism 500 according to the measurement data information fed back by the level meter 700.

[0065] Since the existing capacitive level meter has low sensitivity and low measurement accuracy, in this embodiment, a level meter 700 with a new structure is adopted, such as Figure 2 As shown, the level meter 700 includes: a housing 701, a support plate 702, a piezoelectric ceramic sensor 703, a contact 704, a magnetic field protection body 705, a first magnet 706, and a second magnet 707.

[0066] The magnetic field protection body 705 is in a U-shaped structure. The opening of the U-shaped magnetic field protection body 705 faces downward and covers the first magnet 706 and the second magnet 707. The first magnet 706 is arranged on the inner surface of the top of the magnetic field protection body 705, and the second magnet 707 is arranged on the inner surface of the bottom of the housing 701 directly below the first magnet 706.

[0067] The first magnet 706 and the second magnet 707 repel each other magnetically, so that a spacing is maintained between the first magnet 706 and the second magnet 707, and a magnetic buoyancy force is generated between the spacings through magnetic repulsion to support the magnetic field protection body 705.

[0068] The contact heads 704 are symmetrically arranged on both sides of the magnetic field protection body 705; the piezoelectric ceramic sensors 703 are arranged opposite to the contact heads 704 through the support plates 702, and this opposition enables the contact heads 704 to contact the piezoelectric ceramic sensors 703 in an inclined state. The inclination of the workbench surface 100 can be calculated from the data output by the piezoelectric ceramic sensors 703.

[0069] Regarding the spirit level 700 with the novel structure provided in this embodiment, since the spirit level 700 eliminates the friction of the internal structure of the spirit level through the magnetic buoyancy force generated between the first magnet 706 and the second magnet 707, the contact heads 704 slide only under the influence of gravity, improving the sensitivity of the spirit level 700.

[0070] Furthermore, in order to prevent the first magnet 706 from shaking randomly in the non-working state, the spirit level 700 of this embodiment further includes an anti-movement mechanism 708. The anti-movement mechanism 708 is cooperatively installed with the magnetic field protection body 705. This cooperative installation causes the anti-movement mechanism 708 to disengage from the magnetic field protection body 705 in the working state, and in the non-working state, the anti-movement mechanism 708 contacts the magnetic field protection body 705 to prevent the magnetic field protection body 705 from swinging and sliding, thereby preventing the first magnet 706 from shaking randomly.

[0071] Specifically, the anti-movement mechanism 708 includes a threaded rod 7081 and a friction disk 7082. The housing 701 is provided with a threaded groove matching the threaded rod 7081. One end of the threaded rod 7081 penetrates through the threaded groove and extends out of the housing 701, and the other end of the threaded rod 7081 is provided with a friction disk 7082; in the non-working state, the threaded rod 7081 is rotated in a preset direction to make the friction disk 7082 contact the top of the magnetic field protection body 705, and in the working state, the threaded rod 7081 is rotated in the direction opposite to the preset direction to make the friction disk 7082 disengage from the magnetic field protection body 705.

[0072] For example, when the spirit level 700 is working, the threaded rod 7081 is rotated to the right, causing the threaded rod 7081 to move outward from the housing 701 until the friction disk 7082 disengages from the magnetic field protection body 705; when the spirit level 700 is not working, the threaded rod 7081 is rotated to the left, causing the threaded rod 7081 to move inward into the housing 701 until the friction disk 7082 frictionally contacts the top of the magnetic field protection body 705 to prevent the magnetic field protection body 705 from swinging and sliding.

[0073] Further, the friction disk 7082 includes a disk body and a plurality of friction blocks. The plurality of friction blocks are distributed on the disk body in a preset spiral pattern, and the preset spiral pattern is an image designed to prevent the magnetic field protector 705 from swinging and sliding, so as to prevent the magnetic field protector 705 from swinging and sliding through the helix direction of the preset spiral pattern; since different helix directions can prevent different magnetic field protectors 705 from swinging and sliding, therefore, the shape of the preset spiral pattern of the friction blocks can be changed to adapt to different working conditions, that is, by arranging the friction blocks in preset spiral patterns of different shapes to adapt to different working conditions.

[0074] Further, a spiral limiting portion matching the preset spiral pattern is provided on the outer surface of the top of the magnetic field protector 705, so that when the friction disk contacts the outer surface of the top of the magnetic field protector 705, the plurality of friction blocks are limited in the spiral limiting portion. For example, the friction blocks are flexible friction blocks, a part of the friction blocks protrudes from the disk body, and the spiral limiting portion is a limiting groove for accommodating the protruding part of the friction blocks.

[0075] Further, the friction blocks can be made of a mixture of silica small particles and resin, and the friction performance can be improved by changing the ratio and the material of the small particles.

[0076] In this embodiment, an anti-movement mechanism 708 is designed in the structure of the new type of level instrument to prevent the magnetic field protector 705 or the first magnet 706 from swinging randomly in the non-working state of the level instrument 700, and further achieves the effect of preventing the contact head 704 from swinging and sliding.

[0077] The automatic leveling work platform provided by this embodiment has at least the following beneficial effects:

[0078] 1. Automatically level the level of the adjustment platform surface by controlling the level adjustment mechanism, improving the automation degree of the leveling work of the leveling work platform;

[0079] 2. Any three of the four level adjustment mechanisms cooperate with each other to level the level of the adjustment platform surface, realizing the leveling of the level of the adjustment platform surface from multiple degrees of freedom and improving the leveling accuracy;

[0080] 3. Combine the height adjustment mechanism and the level adjustment mechanism to adjust the height and level of the adjustment platform surface, expanding the application range of the leveling work platform;

[0081] 4. The spirit level with a new structure is adopted to feedback measurement data information to inspect the levelness of automatic leveling. Since the friction of the internal structure of the spirit level is eliminated by magnetic buoyancy in this new structure spirit level, the influence of friction is reduced during the use of the new structure spirit level, the sensitivity of the new structure spirit level is improved, the accuracy of the feedback measurement data is enhanced, and further the effectiveness of the inspection of the levelness of automatic leveling is improved.

[0082] 5. An anti-movement mechanism is designed in the structure of the spirit level with a new structure to prevent the internal contact from swinging and sliding when the spirit level is in a non-working state.

[0083] Embodiment 2:

[0084] Based on Embodiment 1, this embodiment provides an automatic leveling method for an automatic leveling work platform. Among them, the automatic leveling work platform includes: a workbench surface, a leveling platform surface, a base, a levelness adjustment mechanism, and a control device. The workbench surface is supported on the leveling platform surface, the leveling platform surface is supported on the base, and four levelness adjustment mechanisms are arranged in pairs between the leveling platform surface and the base to form four support points of the leveling platform surface. The four levelness adjustment mechanisms are respectively pneumatic adjustment mechanisms. The control device adjusts the levelness of the leveling platform surface by controlling the air pressure of the four levelness adjustment mechanisms. For the specific structure of the automatic leveling work platform, please refer to Embodiment 1, and this embodiment will not be elaborated.

[0085] The automatic leveling method provided in this embodiment specifically includes the following steps, and its flowchart is as Figure 3 shown.

[0086] S100: Obtain the initial positions of the four levelness adjustment mechanisms;

[0087] S200: Fit the levelness of the leveling platform surface through the initial positions, and judge whether the levelness meets the requirements. If not, perform the following leveling on the levelness of the leveling platform surface:

[0088] S300: Set two of the four levelness adjustment mechanisms as fixed adjustment bodies, and set one of the other two levelness adjustment mechanisms as a movable adjustment body;

[0089] S400: Judge whether the initial position of the movable adjustment body is between the initial positions of the two fixed adjustment bodies. If not, adjust the position of the movable adjustment body to between the initial positions of the two fixed adjustment bodies;

[0090] S500: Calculate the levelness between the movable adjustment body and the first fixed adjustment body, and judge whether the levelness between the movable adjustment body and the first fixed adjustment body meets the requirements. If it meets the requirements, execute step S600. If it does not meet the requirements, execute step S700;

[0091] S600: Calculate the levelness between the movable regulator and the second fixed regulator, and determine whether the levelness between the movable regulator and the second fixed regulator meets the requirements. If the requirements are not met, execute step S800;

[0092] S700: Adjust the air pressure of the movable regulator by means of pressure neighborhood search to approximate the position of the movable regulator to the position of the first fixed regulator until the levelness between the movable regulator and the first fixed regulator meets the requirements;

[0093] S800: Set the movable regulator as the fixed regulator, set the second fixed regulator as the new movable regulator, and adjust the levelness between the new movable regulator and one of the fixed regulators according to the adjustment method in step S700 until the levelness between the new movable regulator and the fixed regulator meets the requirements;

[0094] S900: After adjusting the levelness between the three levelness adjustment mechanisms to meet the requirements through the above steps S400 - S800, calculate the adjustment amount of the remaining one levelness adjustment mechanism based on the four - point coplanarity principle, and adjust the remaining one levelness adjustment mechanism according to the adjustment amount to make the levelness of the adjustment platform surface meet the requirements.

[0095] The following combines the Figure 1 structure in Embodiment 1 to give an example of the automatic leveling method provided in this embodiment.

[0096] Step 1: Respectively obtain the initial positions of the first levelness adjustment mechanism 501, the second levelness adjustment mechanism 502, the third levelness adjustment mechanism 503, and the fourth levelness adjustment mechanism 504 through displacement sensors: x1, x2, x3, x4;

[0097] Step 2: Fit the levelness of the adjustment platform surface through the initial positions, and determine whether the levelness meets the requirements. If it meets the requirements, end the leveling operation. If it does not meet the requirements, execute the following steps; where this requirement refers to the levelness index required during the assembly of the tooling parts;

[0098] Step 3: Set the second levelness adjustment mechanism 502 and the third levelness adjustment mechanism 502 as fixed and immovable, and set the first levelness adjustment mechanism 501 as movable and adjustable;

[0099] Step 4: Determine whether the initial position of the first levelness adjustment mechanism 501 is between the initial positions of the second levelness adjustment mechanism 502 and the third levelness adjustment mechanism 503. If not, adjust the position of the first levelness adjustment mechanism 501 to between the initial positions of the second levelness adjustment mechanism 502 and the third levelness adjustment mechanism 503;

[0100]

[0101] Step 5: Calculate the levelness between the first levelness adjusting mechanism 501 and the second levelness adjusting mechanism 502, and determine whether the levelness between the first levelness adjusting mechanism 501 and the second levelness adjusting mechanism 502 meets the requirements. If it meets the requirements, execute Step 6; if it does not meet the requirements, execute Step 7;

[0102] Among them, the calculation formula for the levelness between the first levelness adjusting mechanism 501 and the second levelness adjusting mechanism 502 is: L 12 is the distance between the first levelness adjusting mechanism 501 and the second levelness adjusting mechanism 502;

[0103] Step 6: Calculate the levelness between the first levelness adjusting mechanism 501 and the third levelness adjusting mechanism 503, and determine whether the levelness between the first levelness adjusting mechanism 501 and the third levelness adjusting mechanism 503 meets the requirements. If it does not meet the requirements, execute Step 8;

[0104] Among them, the calculation formula for the levelness between the first levelness adjusting mechanism 501 and the third levelness adjusting mechanism 503 is: L 13 is the distance between the first levelness adjusting mechanism 501 and the third levelness adjusting mechanism 502;

[0105] Step 7: Adjust the air pressure of the first levelness adjusting mechanism 501 in the way of pressure neighborhood search, so that the position of the first level adjusting mechanism 501 approaches the position of the second levelness adjusting mechanism 502 until the levelness between the first levelness adjusting mechanism 501 and the second levelness adjusting mechanism 502 meets the requirements;

[0106] Among them, the way of pressure neighborhood search is: P i = P i-1 + ΔP. In this formula, P i is the air pressure adjustment amount at the i-th time, P i-1 is the air pressure adjustment amount at the (i - 1)-th time, and ΔP is the given air pressure increment;

[0107] Step 8: Set the first levelness adjusting mechanism 501 to be fixed, set the third levelness adjusting mechanism 503 to be movable and adjustable, and adjust the levelness between the third levelness adjusting mechanism 503 and the second levelness adjusting mechanism 502 in the adjustment way of Step 7 until the levelness between the third levelness adjusting mechanism 503 and the second levelness adjusting mechanism 502 meets the requirements;

[0108] Step 9: After adjusting the levels between the first level adjusting mechanism 501, the second level adjusting mechanism 502, and the third level adjusting mechanism 503 to meet the requirements through the above Steps 4-8, calculate the adjustment amount of the fourth level adjusting mechanism 504 based on the principle of four points being coplanar, and adjust the fourth level adjusting mechanism 504 according to the adjustment amount to make the level of the adjustment platform surface meet the requirements.

[0109] Embodiment 3:

[0110] Based on Embodiment 2, this embodiment provides a terminal device. The schematic diagram of the terminal device is as Figure 4 shown. The terminal device 800 can be a tablet computer, a notebook computer, or a desktop computer. The terminal device 800 may also be referred to by other names such as a portable terminal, a laptop terminal, a desktop terminal, etc.

[0111] Generally, the terminal device 800 includes a processor 8001 and a memory 8002. The processor 8001 may include one or more processing cores, such as a 4-core processor, an 8-core processor, etc. The processor 8001 may be implemented in at least one hardware form of DSP (Digital Signal Processing), FPGA (Field-Programmable Gate Array), or PLA (Programmable Logic Array). The processor 8001 may also include a main processor and a coprocessor. The main processor is a processor used to process data in the wake state, also known as the CPU (Central Processing Unit); the coprocessor is a low-power processor used to process data in the standby state.

[0112] In some embodiments, the processor 8001 may be integrated with a GPU (Graphics Processing Unit), and the GPU is responsible for rendering and drawing the content to be displayed on the display screen. In some embodiments, the processor 8001 may also include an AI (Artificial Intelligence) processor, and the AI processor is used to process computational operations related to machine learning.

[0113] The memory 8002 may include one or more computer-readable storage media, which may be non-transitory. The memory 8002 may further include high-speed random access memory, as well as non-volatile memory, such as one or more magnetic disk storage devices, flash storage devices. In some embodiments, the non-transitory computer-readable storage media in the memory 8002 is used to store at least one instruction, at least one program, a code set, or an instruction set, and the at least one instruction, at least one program, a code set, or an instruction set is used to be executed by the processor 8001 to implement the automatic leveling method provided in Embodiment 2 of the present application.

[0114] In some embodiments, the terminal device 800 may further optionally include: a peripheral device interface 8003 and at least one peripheral device. The processor 8001, the memory 8002, and the peripheral device interface 8003 may be connected through a bus or signal lines. Each peripheral device may be connected to the peripheral device interface 8003 through a bus, signal lines, or a circuit board. Specifically, the peripheral devices include at least one of a radio frequency circuit 8004, a touch display screen 8005, a camera 8006, an audio circuit 8007, a positioning component 8008, and a power supply 8009.

[0115] The present invention also provides a computer-readable storage medium, which may be a non-volatile computer-readable storage medium or a volatile computer-readable storage medium. Instructions are stored in the computer-readable storage medium, and when the instructions are run on a computer, the computer is caused to execute the method in Embodiment 2.

[0116] The above uses specific examples to elaborate on the present invention, which is only for helping to understand the present invention and is not used to limit the present invention. For those skilled in the art of the present invention, according to the idea of the present invention, several simple deductions, deformations, or substitutions can also be made.

Claims

1. An automatic leveling working platform, characterized in that, Comprising: A workbench surface, an adjustment platform surface, a base, a height adjustment mechanism, a levelness adjustment mechanism, a level gauge, and a control device; The workbench surface is supported on the adjustment platform surface; The adjustment platform surface is supported on the base through the height adjustment mechanism and the levelness adjustment mechanism; The control device controls the height adjustment mechanism to adjust the height of the adjustment platform surface relative to the base, and controls the levelness adjustment mechanism to adjust the levelness of the adjustment platform surface according to the data information related to levelness feedback by the levelness adjustment mechanism; The level gauge is arranged in the non-working area of the workbench surface, and the control device is further used to calibrate the levelness of the adjustment platform surface adjusted by the levelness adjustment mechanism according to the measurement data information feedback by the level gauge; The level gauge includes: a contact head, a magnetic field protection body, a first magnet, a second magnet, an anti-movement mechanism, and a piezoelectric ceramic sensor; The first magnet is arranged on the inner surface of the top of the magnetic field protection body, the second magnet is arranged below the first magnet, and the first magnet and the second magnet repel each other magnetically, so that a distance is maintained between the first magnet and the second magnet, and a magnetic buoyancy force is generated between the distances to support the magnetic field protection body; The contact heads are symmetrically arranged on both sides of the magnetic field protection body; The piezoelectric ceramic sensor is arranged opposite to the contact head, and the opposite arrangement enables the contact head to contact the piezoelectric ceramic sensor in an inclined state; The anti-movement mechanism is cooperatively installed with the magnetic field protection body, and the cooperative installation enables the anti-movement mechanism to be separated from the magnetic field protection body in the working state, and in the non-working state, the anti-movement mechanism contacts the magnetic field protection body to prevent the magnetic field protection body from swinging and sliding.

2. The automatic leveling work platform according to claim 1, wherein, The levelness adjustment mechanism includes: a first levelness adjustment mechanism, a second levelness adjustment mechanism, a third levelness adjustment mechanism, and a fourth levelness adjustment mechanism; The first levelness adjustment mechanism, the second levelness adjustment mechanism, the third levelness adjustment mechanism, and the fourth levelness adjustment mechanism respectively include: a pneumatic rod, a support rod, and a slider; One end of the support rod is fixed to the base, and the other end extends towards the adjustment platform surface; The pneumatic rod is slidably arranged at one end of the support rod close to the adjustment platform surface through the slider, and the free end of the pneumatic rod is in contact connection with the adjustment platform surface through a ball head.

3. The automatic leveling work platform according to claim 2, characterized in that, The first levelness adjustment mechanism, the second levelness adjustment mechanism, the third levelness adjustment mechanism, and the fourth levelness adjustment mechanism are respectively configured with displacement sensors, and the displacement sensors are arranged on the sliders opposite to the pneumatic rods and are used to record the displacement data of the pneumatic rods in contact with the adjustment platform surface under different air pressures.

4. The automatic leveling working platform according to claim 1, characterized in that, The level gauge further includes: a housing and a support plate; The magnetic field protection body has a U-shaped structure, the opening of the U-shaped magnetic field protection body faces downwards and covers the first magnet and the second magnet, the first magnet is arranged on the inner surface of the top of the magnetic field protection body, and the second magnet is arranged on the inner surface of the bottom of the housing directly below the first magnet; The piezoelectric ceramic sensor is disposed relative to the contact via the support plate, and the relative position enables the contact to contact the piezoelectric ceramic sensor in an inclined state.

5. The automatic leveling work platform according to claim 4, characterized in that, The anti-movement mechanism includes a threaded rod and a friction disc. The housing is provided with a threaded groove matching the threaded rod. One end of the threaded rod penetrates through the threaded groove and extends out of the housing, and the other end of the threaded rod is provided with the friction disc. In a non-working state, rotate the threaded rod in a preset direction to make the friction disc contact the top of the magnetic field protection body, and in a working state, rotate the threaded rod in a direction opposite to the preset direction to make the friction disc disengage from the magnetic field protection body.

6. The automatic leveling work platform according to claim 5, wherein The friction disc includes a disc body and a plurality of friction blocks. The plurality of friction blocks are distributed on the disc body in a preset spiral pattern. The preset spiral pattern is an image designed to prevent the magnetic field protection body from swinging and sliding, and the swinging and sliding of the magnetic field protection body are prevented by the spiral direction of the preset spiral pattern.

7. The automatic leveling work platform according to claim 6, characterized in that, A spiral limiting portion matching the preset spiral pattern is provided on the outer surface of the top of the magnetic field protection body, so that when the friction disc contacts the outer surface of the top of the magnetic field protection body, the plurality of friction blocks are limited in the spiral limiting portion.

8. An automatic leveling method for an automatic leveling work platform, characterized in that, The automatic leveling work platform includes: a workbench surface, a leveling platform surface, a base, a levelness adjusting mechanism, and a control device. The workbench surface is supported on the leveling platform surface, the leveling platform surface is supported on the base, and the four levelness adjusting mechanisms are arranged in pairs between the leveling platform surface and the base to form four support points of the leveling platform surface. The four levelness adjusting mechanisms are respectively pneumatic adjusting mechanisms. The control device adjusts the levelness of the leveling platform surface by controlling the air pressure of the four levelness adjusting mechanisms, specifically including the steps: S100: Obtain the initial positions of the four levelness adjusting mechanisms. S200: Fit the levelness of the leveling platform surface through the initial positions, and judge whether the levelness meets the requirements. If not, level the levelness of the leveling platform surface as follows: S300: Set two of the four levelness adjusting mechanisms as fixed adjusting bodies, and set one of the other two levelness adjusting mechanisms as a movable adjusting body. S400: Judge whether the initial position of the movable adjusting body is between the initial positions of the two fixed adjusting bodies. If not, adjust the position of the movable adjusting body to between the initial positions of the two fixed adjusting bodies. S500: Calculate the levelness between the movable adjusting body and the first fixed adjusting body, and judge whether the levelness between the movable adjusting body and the first fixed adjusting body meets the requirements. If it meets the requirements, execute step S600. If it does not meet the requirements, execute step S700. S600: Calculate the levelness between the movable adjusting body and the second fixed adjusting body, and judge whether the levelness between the movable adjusting body and the second fixed adjusting body meets the requirements. If it does not meet the requirements, execute step S800. S700: Adjust the air pressure of the movable adjusting body by means of pressure neighborhood search to approximate the position of the movable adjusting body to that of the first fixed adjusting body until the levelness between the movable adjusting body and the first fixed adjusting body meets the requirements; S800: Set the movable adjusting body as a fixed adjusting body, set the second fixed adjusting body as a new movable adjusting body, and adjust the levelness between the new movable adjusting body and one of the fixed adjusting bodies according to the adjustment method in step S700 until the levelness between the new movable adjusting body and the fixed adjusting body meets the requirements; S900: After adjusting the levelness between the three levelness adjusting mechanisms to meet the requirements through the above steps S400 - S800, calculate the adjustment amount of the remaining one levelness adjusting mechanism based on the principle of four points being coplanar, and adjust the remaining one levelness adjusting mechanism according to the adjustment amount to make the levelness of the adjustment platform surface meet the requirements.

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