Multipurpose power tipping platform and control method thereof

Abstract

The invention relates to a power tipping device and a control method, in particular to a multipurpose power tipping platform and a control method thereof. The weighing sensor is arranged below the base plate, the axis of the X-axis driver is vertically crossed with the base plate, the axis of the Y-axis driver is parallel to the base plate, the Y-axis driver is connected with the Y-axis gear, the Y-axis gear is meshed with the fan-shaped gear, the fan-shaped gear is arranged on an outer shell of the vertical reversing speed reducer, and the vertical reversing speed reducer is arranged on the outer shell of the vertical reversing speed reducer. A left half shaft and a right half shaft are installed at the two ends of a shell of the vertical speed reducer respectively, the left half shaft and the right half shaft are installed on bearing supporting plates on one sides of the left half shaft and the right half shaft respectively through bearing supporting seats where the left half shaft and the right half shaft are located, an X-axis driver is installed below the vertical reversing speed reducer, a front output shaft and a rear output shaft are installed on the vertical reversing speed reducer, and a tipping table board is installed on the front symmetry shaft seat and the rear symmetry shaft seat. When the plane is inclined instantaneously in a static or running state, and the inclination angle can reach or exceed 50 degrees instantaneously, the unbalance phenomenon generated by the X axis or the Y axis can be corrected in time.

Description

Technical Field

[0001] The present invention relates to a power tipping device and a control method, in particular to a multi-purpose power tipping platform and a control method thereof. Background Art

[0002] In existing industrial equipment, automotive and transportation, construction engineering and geological monitoring, aerospace and unmanned aerial vehicles, consumer electronics and medical fields, etc., whether it is mechanical leveling, safety monitoring, or practical applications such as medical beds or wheelchairs, almost all require rapid and timely adjustment in response to the tilt angle.

[0003] After retrieval, in the text with the publication number CN115126818A on the website, titled: Multi-degree-of-freedom motion platform for anti-tipping heavy loads, the content disclosed therein uses a hard support structure in the middle: support body 11, and on the left and right sides of the support body are hinge-like structures: folding rod group 40 and telescopic cylinder 30; it is applicable to heavy load environments. When the telescopic cylinder fails and the moving platform loses stability and tilts, it prevents the moving platform from tilting further and plays a limiting protection role; from the Figure 5 structure and mechanical force balance structure shown in the attached drawings and drawing 7, it can be seen that the adjustment angle therein does not exceed 30 degrees, or the angle will be smaller in order to adjust the balance. If the angle is too large, there is a possibility of overall overturning in a heavy load environment. Summary of the Invention

[0004] The purpose of the present invention is to provide a multi-purpose power tipping platform and a control method thereof that are suitable for high-speed and large inclination angle states.

[0005] The tipping platform of the present invention adopts the following technical solutions: A multi-purpose power tipping platform includes a base plate, an X-axis driver and a Y-axis driver are respectively installed on the base plate, a weighing sensor is installed below the base plate, the axis of the X-axis driver is vertically cross-set with the base plate, the axis of the Y-axis driver is parallel to the base plate, the Y-axis driver is connected to a Y-axis gear, the Y-axis gear meshes with a sector gear, the sector gear is installed on the outer shell of a vertical reversing speed reducer, both ends of the vertical speed reducer housing are respectively installed with a left half shaft and a right half shaft, the left half shaft and the right half shaft are respectively installed on the bearing support plates on their respective sides through the bearing support seats where they are located, an X-axis driver is installed below the vertical reversing speed reducer, front and rear output shafts are installed on the vertical reversing speed reducer, front and rear fixed shaft seats are respectively installed on the front and rear two output shafts, the front and rear fixed shaft seats are symmetrically arranged, and a tipping table top is installed on the front and rear symmetry shaft seats; a double inclination angle sensor is arranged on the lower surface of the tipping table top.

[0006] Compared with the prior art, when the tipping platform adopting the above technical solution instantaneously tilts from a static or running state, and when the tilt angle can instantaneously reach or exceed 50 degrees, it can simultaneously and timely correct the imbalance phenomenon generated on the X-axis or Y-axis; timely drive the tipping table to rotate back to the initial balance state through the driving device; or: when the working angle needs to be in a tilted state, the tilting function can also be realized through this structure; the structure is simple and can be realized by the structural form of two axes.

[0007] The tipping platform of the present invention adopts the following preferred solutions: Preferred solution one: The left half shaft and the right half shaft are located on the same X axis line, the front output shaft and the rear output shaft are located on the same Y axis line, and the X axis line intersects the Y axis line at a fixed position.

[0008] Preferred solution two: The left half shaft and the right half shaft are respectively installed on the bearing support plates on their respective sides through the bearing seats where they are located: the left bearing support seat and the right bearing support seat.

[0009] Preferred solution three: More than four weighing sensors are arranged below the base plate and are evenly distributed on the lower surface of the base plate.

[0010] Preferred solution four: The double inclination sensor is located directly above the vertical reversing speed reducer.

[0011] Preferred solution five: The double inclination sensor is located directly above the front and rear symmetric center lines of the vertical reversing speed reducer.

[0012] Preferred solution six: The tipping table has a circular or regular polygon structure, and uniformly distributed connecting rods are installed on the outer edge of the tipping platform.

[0013] Preferred solution seven: The vertical reversing speed reducer adopts a worm and worm gear speed reducer, or: the vertical reversing speed reducer adopts a bevel gear structure speed reducer.

[0014] The control method of the tipping platform adopts the following technical solution: A control method for a multi-purpose power tipping platform is carried out in the following order: when the double inclination sensors detect a displacement from a fixed position on the vertical commutator housing, they send signals to control and drive the Y-axis driver and / or the X-axis driver in a timely manner. The tipping table is quickly adjusted to any angle within the tipping platform range through remote electric control instructions, and the angle data fed back by the double inclination sensors is used to correct in a timely manner to meet the requirements of precise dynamic control; through remote electric control instructions, the PID algorithm is used to make the tipping platform approach any curve movement as required.

[0015] The control method adopts the following preferred solutions: According to more than four weighing sensors and the tipping angle of the tipping table, the load size of the load on the tipping platform and the instantaneous position of the load center on the tipping platform are dynamically or statically measured; the Y-axis driver drives the Y-axis gear to rotate, and while the Y-axis gear drives the sector gear to rotate, the vertical reversing speed reducer simultaneously makes a rotating motion around the X-axis under the support of the left bearing support and the right bearing support; at the same time, the X-axis driver drives the left half shaft and the right half shaft to rotate around the Y-axis. Brief Description of the Drawings

[0016] Figure 1 is a schematic structural diagram of the present invention.

[0017] Figure 2 is Figure 1 a side view of

[0018] Figure 3 is Figure 1 a top view (including the connecting rod part) of

[0019] Figure 4 is a schematic diagram of the left and right extreme limit positions in the operating state of the present invention.

[0020] Figure 5 is a schematic diagram of the front extreme limit (or rear extreme limit) position in the operating state of the present invention. Detailed Description of the Invention

[0021] The present invention is described in detail below with reference to the drawings: A multi-purpose power tipping platform, see attached Figure 1 to attached Figure 5The specific structure shown in the figure includes: fixed base 01, tilting table 02, vertical reversing speed reducer 03, X tilting shaft 04, vertical reversing speed reducer half shaft 05, left half shaft 051, right half shaft 052, pedestal bearing 06, left bearing support 061, right bearing support 062, bearing support 07, left bearing support plate 071, right bearing support plate 072, sector gear 08, weighing sensor 09, substrate 10, Y-axis gear 11, X-axis driver 12, Y-axis driver 13, double inclination sensor 14, vertical plate 15, connecting rod 16, X axis line 17, Y axis line 18.

[0022] In this embodiment, refer to the attached Figure 1 to the attached Figure 5 the specific structure shown in it. Among them, an X-axis driver 12 and a Y-axis driver 13 are respectively installed on the substrate 10, a weighing sensor 09 is installed below the substrate 10, the axis of the X-axis driver 12 is vertically and crosswise arranged with the substrate 10, the axis of the Y-axis driver 13 is parallel to the substrate 10, the Y-axis driver 13 is connected to the Y-axis gear, and the Y-axis gear 11 meshes with the sector gear 08.

[0023] The sector gear 08 is installed on the outer shell of the vertical reversing speed reducer 03, and a left half shaft 051 and a right half shaft 052 are respectively installed at both ends of the housing of the vertical reversing speed reducer 03.

[0024] The left half shaft 051 and the right half shaft 052 are respectively installed on the bearing support plates on their respective sides through their respective bearing seats: the left half shaft 051 is installed on the left bearing support plate 071 through the left bearing support 061, and the right half shaft 052 is installed on the right bearing support plate 072 through the right bearing support 062; the structures of the left bearing support plate 071 and the right bearing support plate 072 can be exactly the same, or can be slightly different according to actual installation needs.

[0025] An X-axis driver 12 is installed below the vertical reversing speed reducer 03, and two front and rear output shafts are installed on the vertical reversing speed reducer 03: front output shaft 031, rear output shaft 032; the X-axis driver 12 drives the front output shaft 031 and the rear output shaft 032 to rotate, thereby driving the front fixed shaft seat 011 and the rear fixed shaft seat 012 to move simultaneously. Then, the tilting platform 02 acts synchronously. An interference fit installation structure or a key connection method is adopted between the front output shaft 031 and the front fixed shaft seat 011; similarly, an interference fit installation structure or a key connection method is adopted between the rear output shaft 032 and the rear fixed shaft seat 012.

[0026] The left half shaft 051 and the right half shaft 052 are located on the same X-axis line, the front output shaft 031 and the rear output shaft 032 are located on the same Y-axis line, and the X-axis line intersects the Y-axis line at a fixed position, such as the Figure 3 identified position of point A shown in the attachment.

[0027] A front fixed shaft seat 011 is installed on the front output shaft 031, and a rear fixed shaft seat 012 is installed on the rear output shaft 032. The front fixed shaft seat 011 and the rear fixed shaft seat 012 are symmetrically arranged with the same specifications, and the front fixed shaft seat 011 and the rear fixed shaft seat 012 are connected by a tipping table 2.

[0028] The vertical reversing speed reducer 03 adopts a worm and worm gear speed reducer structure; or a speed reducer with a bevel gear structure can also be used, as long as the speed reducer that changes the output direction structure can be used. Two weighing sensors 09 are symmetrically arranged, respectively located below the substrate 10; the sector angle of the sector gear 08 is less than 180 degrees, and 100 degrees can be used in this embodiment to achieve the purpose.

[0029] A double inclination sensor 14 is arranged on the lower surface of the tipping table 02; the double inclination sensor 14 is located directly above the front and rear symmetry center line of the vertical reversing speed reducer 03.

[0030] The X-axis driver 12 is placed on the lower right side of the vertical reversing speed reducer 03. A Y-axis gear 11 is arranged on one side of the X-axis driver 12. The Y-axis gear 11 is installed on the Y-axis driver 13. The output end of the Y-axis driver 13 is installed on the substrate 10 through a vertical plate 15. The other end of the Y-axis driver can also be installed on the substrate 10 through the square hole on the left shaft support plate 071 or through the installation square hole of the left shaft support plate 071; the expression is not limited to such a structure, as long as it plays a balanced support structure for the Y-axis driver 13.

[0031] The weighing sensors 09 are evenly distributed to better measure and transmit signals to make weighing more accurate; the double inclination sensor 14 is exactly located directly above the A-point identification position, which better explains the importance of the X-axis line 17 intersecting the Y-axis line 18 at a fixed position.

[0032] In order to maintain the balance or relative stability of the device itself and reduce the generation of errors or deviations, through mechanical analysis and calculation, it is known that the Y-axis line 18 is slightly closer to the left position of the left and right symmetry center line of the vertical reversing speed reducer 03. Of course, in actual applications, calculations can also be carried out according to the actual material problems to achieve the purpose of self-balance.

[0033] Briefly describe the actual application and the operation process of this device: 1. Applications in mechanical leveling, for example: used for level calibration of cranes, aerial work platforms, machine tools and other equipment to ensure the stability of the work surface.

[0034] When the dual inclination sensor 14 detects displacement from the fixed position on the housing of the vertical reversing reducer 03, it sends a signal to promptly control and drive the Y-axis driver 13 and / or the X-axis driver 12, and quickly adjusts the tilting table 02 to any angle within the range of the tilting platform through remote electronic control instructions, and promptly corrects the angle data fed back by the dual inclination sensor 14 to meet the requirements of precise dynamic control; through remote electronic control instructions and using the PID algorithm, the tilting platform can be made to move close to any required curve.

[0035] In this embodiment, four weighing sensors 09 are used, and according to the tilting angle of the tilting table 02, the load size of the load carried by the tilting platform and the instantaneous position of the load center on the tilting platform are dynamically or statically measured; the Y-axis driver 13 drives the Y-axis gear 11 to rotate, and the Y-axis gear 11 drives the sector gear 08 to rotate. At the same time, the vertical reversing reducer 03 rotates around the X-axis line 17 under the support of the left bearing support seat 061 and the right bearing support seat 062; at the same time, the X-axis driver 12 drives the left half shaft 051 and the right half shaft 052 to rotate around the Y-axis line.

[0036] Thereby, the tilting table 2 is immediately returned to the initial horizontal position, so that the balance state is maintained in time, and the speed is fast, and the balance state can be restored within about 0.2 seconds.

[0037] 2. Application in tower crane safety monitoring: dual inclination sensor 14 and remote electric control command PLC system transmit inclination data to the control center in real time.

[0038] 3. Application in automatic driving of agricultural machinery: combining GPS with dual tilt sensors14 to achieve precise sowing on slopes, etc.

[0039] In addition to the above three application examples, for example, a mahjong table in a passenger ship sailing on a river or sea will not have the problem of mahjong tiles sliding off due to the instantaneous turbulence of the passenger ship. The same structural principle can be used on a treadmill or some game collider structures, which can be installed or connected by the connecting rods 16 around the tilting table 2. There are also other application examples, such as smart devices, mobile phones, and cameras with automatic screen rotation functions; medical beds and / or wheelchairs: monitoring patient position, preventing pressure sores or falls, etc.; in terms of intelligent robot movements, the control of precise movements such as lifting, lifting, walking, lying, and sitting is also very practical.

[0040] like Figure 4The state correction of the left and right extreme positions shown in the figure is achieved under the control of the X-axis driver 12. Figure 5 The state reset of the front and rear extreme positions in Figure 5 where the rear extreme position is not detailed and is symmetric with the front extreme position in the front and rear directions) is achieved under the control of the Y-axis driver 13; the main signal drive is to send a control signal based on the relative displacement of the double-inclination sensor 14 with respect to the vertical reversing speed reducer 03, and timely control and drive the Y-axis driver 13 or the X-axis driver 12.

[0041] The drivers not specifically listed in the present invention can be servo motors or other commonly used commercially available products. As long as they can be purchased on the market, of course, including remote electric control instruction systems such as electrical circuit structures, etc., as long as they can be directly applied, they will not be described in detail here; the left and right half shafts, front half shaft and rear half shaft mentioned above are only used as a reference example for the directions expressed in the figure, and do not represent or limit the same structure, nor the expression or application of the front, rear or left, right exchange order or direction.

[0042] The embodiments of the present invention are not limited to the specific structures or action processes listed above. Any changes or substantially replaced structures that are beneficial to the above structural innovation concept, as well as applications such as usage scenarios that require ensuring spatial positioning accuracy, are regarded as within the protection scope of the present invention.

Claims

1. A multi-purpose power tilting platform, comprising a base plate, on which an X-axis driver and a Y-axis driver are mounted, respectively, characterized in that: A weighing sensor is installed below the substrate, the axis of the X-axis driver is arranged perpendicularly and crosswise to the substrate, the axis of the Y-axis driver is arranged parallel to the substrate, the Y-axis driver is connected to the Y-axis gear, the Y-axis gear is meshed with the fan gear, the fan gear is installed on the outer shell of the vertical reversing reducer, the left and right half shafts are respectively installed at both ends of the vertical reducer shell, the left and right half shafts are respectively installed on the bearing support plates on their own sides through their own bearing support seats, an X-axis driver is installed below the vertical reversing reducer, the vertical reversing reducer is equipped with front and rear output shafts, the front and rear two output shafts are respectively equipped with front and rear fixed shaft seats, the front and rear fixed shaft seats are symmetrically arranged, and the front and rear symmetrical shaft seats are installed with tilting tables; a double inclination sensor is arranged on the lower surface of the tilting table.

2. The multi-purpose power tilting platform according to claim 1, characterized in that: The left half shaft and the right half shaft are located on the same X-axis line, the front output shaft and the rear output shaft are located on the same Y-axis line, and the X-axis line intersects the Y-axis line at a fixed position.

3. The multi-purpose power tilting platform according to claim 1, characterized in that: The left half shaft and the right half shaft are respectively mounted on the bearing support plates on their respective sides through their respective bearing seats: a left bearing support seat and a right bearing support seat.

4. The multi-purpose power tilting platform according to claim 1, characterized in that: There are more than four weighing sensors under the substrate, and they are evenly distributed on the lower surface of the substrate.

5. The multi-purpose power tilting platform according to claim 1, characterized in that: The dual inclination sensors are located directly above the vertical reversing reducer.

6. The multi-purpose power tilting platform according to claim 5, characterized in that: The dual inclination sensors are located just above the front and rear symmetrical center lines of the vertical reversing reducer.

7. The multi-purpose power tilting platform according to claim 1, characterized in that: The tilting platform is in a circular or regular polygonal structure, and evenly distributed connecting rods are installed on the outer edge of the tilting platform.

8. The multi-purpose power tilting platform according to claim 1, characterized in that: The vertical reversing reducer adopts a worm gear or worm reducer, or: the vertical reversing reducer adopts a bevel gear structure reducer.

9. A control method for a multi-purpose power tipping platform as claimed in any one of claims 1 to 8, characterized in that: Proceed in the following order: When the dual inclination sensor detects displacement from the fixed position on the vertical commutator housing, it sends a signal to promptly control and drive the Y-axis driver and / or the X-axis driver, and quickly adjusts the tilting table to any angle within the tilting platform range through remote electronic control instructions, and promptly corrects according to the angle data fed back by the dual inclination sensor to achieve precise dynamic control requirements; Through remote electronic control instructions and using PID algorithm, the tilting platform can be made to move in any desired curve.

10. The control method of the multi-purpose power tilting platform according to claim 9, characterized in that: According to more than four weighing sensors and the tilting angle of the tilting table, the load size of the load carried by the tilting platform and the instantaneous position of the load center on the tilting platform are measured dynamically or statically; the Y-axis driver drives the Y-axis gear to rotate, and the Y-axis gear drives the fan gear to rotate. At the same time, the vertical reversing reducer rotates around the X-axis under the support of the left bearing support seat and the right bearing support seat; at the same time, the X-axis driver drives the left half shaft and the right half shaft to rotate around the Y-axis.

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