Automatic leveling device and method based on servo motor system and lead screw mechanism

Abstract

The invention provides an automatic leveling device and method based on a servo motor system and a lead screw mechanism. A middle base is rotationally mounted at the top of a fixed base through symmetrically-arranged bottom layer hinge assemblies; first connecting rod lifting assemblies are symmetrically arranged on the opening sides of the middle base and the fixed base, and the first connecting rod lifting assemblies are connected with the output end of a first servo motor driving module fixed to the fixed base; a workbench is rotationally mounted at the top of the middle base through symmetrically arranged top-layer hinge assemblies; second connecting rod lifting assemblies are symmetrically arranged on the opening sides of the workbench and the middle base, and the second connecting rod lifting assemblies are connected with the output end of a second servo motor driving module fixed to the middle base. The leveling device achieves full-automatic leveling of target equipment based on a servo motor system, a high-precision lead screw mechanism, a digital tilt angle sensor and a matched automatic control system, and high leveling precision and efficiency can be achieved.

Description

Technical Field

[0001] The present invention relates to the field of sliding bearings, and in particular to a sliding bearing capable of adapting to an eccentric load condition and made of a polymer composite material, and a forming process thereof. Background Art

[0002] In the fields of industrial production and mechanical processing, leveling of processing and manufacturing equipment is a commonly used key technology. Traditional leveling methods rely on manual inspection and manual adjustment, which places high demands on operators. The leveling process is time-consuming and labor-intensive, and the leveling accuracy is low. It cannot meet the needs of high-precision production and processing scenarios, and has an adverse impact on industrial production efficiency and quality. In recent years, with the rapid development of servo motor technology and automation control technology, new solutions have been provided for leveling technology. The servo motor system has the advantages of fast response speed, high control accuracy, large load capacity, and simple maintenance. Applying this system to the field of equipment leveling is beneficial to solving the problems of low efficiency and difficulty in ensuring accuracy of traditional methods. Summary of the Invention

[0003] In order to solve the above technical problems, the present invention designs an automatic leveling device and method based on a servo motor system and a screw mechanism. This leveling device is based on a servo motor system, a high-precision screw mechanism, a digital inclination sensor and a matching automatic control system to achieve fully automatic leveling of the target equipment, which can achieve high leveling accuracy and efficiency and has high versatility.

[0004] In order to achieve the above-mentioned technical features, the purpose of the present invention is achieved as follows: an automatic leveling device based on a servo motor system and a screw mechanism, comprising a fixed base, the top of the fixed base is rotatably installed with an intermediate base through a symmetrically arranged bottom hinge assembly; the intermediate base and the opening side of the fixed base are symmetrically provided with a first connecting rod lifting assembly for driving the intermediate base to rotate, the first connecting rod lifting assembly is connected to the output end of the first servo motor drive module fixed on the fixed base; the top of the intermediate base is rotatably installed with a workbench through a symmetrically arranged top hinge assembly; and the two groups of top hinge assemblies and the bottom hinge assemblies are arranged on adjacent sides; the workbench and the opening side of the intermediate base are symmetrically provided with a second connecting rod lifting assembly for driving the workbench to rotate, the second connecting rod lifting assembly is connected to the output end of the second servo motor drive module fixed on the intermediate base.

[0005] Preferably, the middle of the fixed base, the middle base and the workbench are respectively processed with rectangular material-reducing holes to form a rectangular frame structure.

[0006] Preferably, a bottom bolt hole is processed on the fixed base, and the position where the bottom bolt hole is located is fixedly connected to the installation base through a locking bolt.

[0007] Preferably, a plurality of hanging rings are fixed to the top of the workbench, and a plurality of mounting grooves are processed on one of the opposite sides of the top of the workbench, and top bolt holes are processed inside the mounting grooves.

[0008] Preferably, the bottom hinge assembly includes a first hinge seat fixed on the top of the fixed base, a second hinge seat is hinged to the first hinge seat through a first pin shaft, and the second hinge seat is invertedly installed on the bottom end of the middle base.

[0009] Preferably, the first connecting rod lifting assembly includes a first slide rail fixed parallel to the fixed base, a first slider is slidably installed on the first slide rail, a first slide seat is fixed on the top of the first slide seat, a first ear plate is provided at one end of the head of the first slide seat, the head of the first ear plate is hinged to the first connecting rod through a second pin shaft, the other end of the first connecting rod is hingedly connected to the third hinge seat through a third pin shaft, the third hinge seat is inverted and fixed to the bottom end of the intermediate base by a first locking bolt, and the first slide seat is connected to the output end of the first servo motor drive module.

[0010] Preferably, the first servo motor drive module includes a first servo motor, the output shaft of the first servo motor is connected to the first screw module, the first screw module is fixed to the top of the fixed base through the first fixed seat, the end of the first telescopic rod of the first screw module is connected to the first connecting plate, and the first connecting plate is fixed to the top of the first slide.

[0011] Preferably, the top hinge assembly includes a fourth hinge seat fixed on the top of the middle base, a fifth hinge seat is hinged to the fourth hinge seat through a fourth pin shaft, and the fifth hinge seat is invertedly installed at the bottom end of the workbench.

[0012] Preferably, the second connecting rod lifting assembly includes a second slide rail fixed parallel to the middle base, a second slider is slidably installed on the second slide rail, a second slide seat is fixed on the top of the second slider, a second ear plate is provided at one end of the head of the second slide seat, the head of the second ear plate is hinged to the second connecting rod through a fifth pin shaft, the other end of the second connecting rod is hingedly connected to the fifth articulated seat through a sixth pin shaft, the fifth articulated seat is inverted and fixed to the bottom end of the workbench by a second locking bolt, and the second slide seat is connected to the output end of the second servo motor drive module.

[0013] Preferably, the second servo motor drive module includes a second servo motor, the output shaft of the second servo motor is connected to the second screw module, the second screw module is fixed to the top of the middle base through a second fixed seat, the second telescopic rod end of the second screw module is connected to the second connecting plate, and the second connecting plate is fixed to the top of the second slide.

[0014] Preferably, it also includes a control system, which includes an inclination sensor for detecting the inclination of the object to be leveled, the inclination sensor is connected to the signal input end of the controller through a signal line, and the signal output end of the controller is respectively connected to the first servo motor drive module and the second servo motor drive module.

[0015] Preferably, in another aspect, the present invention provides a leveling method for an automatic leveling device based on a servo motor system and a screw mechanism, comprising the following steps: Step 1, system initialization: 1) Hardware initialization: When starting the system, first initialize the inclination sensor, servo motor drive module, and controller hardware devices; ensure that all hardware devices are in normal working condition, the sampling frequency and range parameters of the inclination sensor are set, and the initial position of the servo motor drive module is reset to zero; 2) Parameter setting: According to the actual leveling requirements, set the proportional coefficient P and differential coefficient D in the PD algorithm; at the same time, set the leveling accuracy threshold. When the inclination error is less than the threshold, the system is considered to have reached the leveling state; Step 2, tilt measurement: 1) Real-time data acquisition: The inclination sensor measures the inclination of the object being leveled in real time at a set sampling frequency, obtaining the inclination values in the X-axis and Y-axis directions respectively. The collected inclination data is filtered to eliminate noise interference and improve data accuracy. 2) Inclination calculation: Calculate the deviation between the actual inclination of the object being leveled at the current moment and the target horizontal inclination, and obtain the inclination deviation in the X-axis and Y-axis directions respectively; Step 3, PD algorithm control: 1) Proportional control: The proportional control amount is obtained by multiplying the inclination angle deviation in the X-axis and Y-axis directions by the proportional coefficient P. This control amount reflects the direct impact of the current inclination angle error on the adjustment range of the actuator; 2) Differential control: Calculate the rate of change of the tilt angle deviation between the current moment and the previous moment, multiply it by the differential coefficient D, and obtain the differential control amount. The differential control amount is used to predict the trend of the tilt angle change, adjust the actuator in advance, and suppress overshoot; 3) Control quantity synthesis: The proportional control quantity and the differential control quantity are added to obtain the final control quantity, which is used to drive the servo motor module for leveling operation; Step 4, actuator action: 1) Driving actuator: Controls the direction and speed of the servo motor drive module based on the synthesized control quantity. Specifically, if the control quantity is positive, the servo motor drive module is driven upward; if the control quantity is negative, the servo motor drive module is driven downward. 2) Motion feedback: The servo motor drive module provides real-time feedback of its position information during the motion process. The controller uses this feedback information to determine whether the servo motor drive module is adjusted as expected. Step 5: Leveling judgment and loop control: 1) Leveling judgment: After the servo motor drives the module, the inclination of the object being leveled is measured again by the inclination sensor to determine whether the inclination is within the set leveling accuracy threshold; 2) Loop control: If the tilt angle is still outside the threshold range, the above steps of tilt angle measurement, PD algorithm control, and actuator action are repeated; if the tilt angle is within the threshold range, the system enters a stable state and leveling is completed; Step 6: System stop and protection: 1) Stop condition: When the object to be leveled reaches the leveled state and remains stable for a period of time, or the number of actions of the servo motor drive module reaches the preset maximum value, the system stops the leveling operation; 2) Protection mechanism: During the leveling process, if an abnormal load on the servo motor drive module or an abnormal inclination sensor failure is detected, the servo motor drive module will be stopped immediately and an alarm will be triggered to protect the system safety.

[0016] The present invention has the following beneficial effects: 1. The present invention realizes high-efficiency and high-precision leveling effect through real-time detection and automatic adjustment of the control system, and can be applied to scenarios requiring higher-precision operations.

[0017] 2. By adopting the above-mentioned rectangular material-reducing holes, the weight of the entire leveling device can be effectively reduced, saving materials.

[0018] 3. The above-mentioned lifting ring facilitates the subsequent lifting and moving of the entire leveling device, thereby facilitating the adjustment of its installation position.

[0019] 4. The first servo motor drive module can be used to provide power for leveling.

[0020] 5. The first connecting rod lifting assembly can be used to adjust the level of the intermediate base in one direction during the leveling process, and the use of a connecting rod mechanism improves the adjustment accuracy.

[0021] 6. The second connecting rod lifting assembly can be used to adjust the level of the workbench in another direction during the leveling process, and the use of a connecting rod mechanism improves the adjustment accuracy.

[0022] 7. The second servo motor drive module can be used to provide power for leveling.

[0023] 8. The above control system can receive the feedback signal from the digital inclination sensor and generate control instructions according to the preset control algorithm to control the servo motor to rotate the corresponding angle to adjust the workbench to a horizontal position. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0025] Figure 1 This is a three-dimensional diagram from the first perspective of the present invention.

[0026] Figure 2 This is a three-dimensional diagram from the second perspective of the present invention.

[0027] Figure 3 It is the front view of the present invention.

[0028] Figure 4 It is a top view of the present invention.

[0029] Figure 5 It is the right view of the present invention.

[0030] Figure 6 It is a rear view of the present invention.

[0031] Figure 7 It is a left view of the present invention.

[0032] In the figure: fixed base 1, rectangular material reduction hole 2, bottom bolt hole 3, first locking bolt 4, third hinge seat 5, third pin 6, first connecting rod 7, first slide rail 8, second pin 9, first ear plate 10, first slide seat 11, first slider 12, first connecting plate 13, first telescopic rod 14, first screw module 15, first fixed seat 16, intermediate base 17, workbench 18, first hinge seat 19, first pin 20, second hinge seat 21, bottom hinge assembly 22, top hinge Component 23, fourth articulated seat 24, fourth pin 25, fifth articulated seat 26, second screw module 27, second fixed seat 28, second telescopic rod 29, second connecting plate 30, second slider 31, second slide seat 32, second ear plate 33, fifth pin 34, second slide rail 35, second connecting rod 36, sixth pin 37, fifth articulated seat 38, second locking bolt 39, lifting ring 40, mounting groove 41, top bolt hole 42, first servo motor 43, second servo motor 44. DETAILED DESCRIPTION

[0033] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field are within the scope of protection of the present invention.

[0034] Example 1: See also Figure 1 - 7. An automatic leveling device based on a servo motor system and a lead screw mechanism comprises a fixed base 1, with an intermediate base 17 rotatably mounted on the top of the fixed base 1 via symmetrically arranged bottom hinge assemblies 22. First link lifting assemblies, symmetrically arranged between the intermediate base 17 and the open side of the fixed base 1, are used to drive the rotation of the intermediate base 17. The first link lifting assemblies are connected to the output of a first servo motor drive module fixed to the fixed base 1. A worktable 18 is rotatably mounted on the top of the intermediate base 17 via symmetrically arranged top hinge assemblies 23. The two sets of top hinge assemblies 23 are arranged adjacent to the bottom hinge assemblies 22. Second link lifting assemblies, symmetrically arranged between the worktable 18 and the open side of the intermediate base 17, are used to drive the rotation of the worktable 18. The second link lifting assemblies are connected to the output of a second servo motor drive module fixed to the intermediate base 17. This leveling device, based on a servo motor system, a high-precision lead screw mechanism, a digital inclination sensor, and a supporting automatic control system, achieves fully automatic leveling of the target equipment, achieving high leveling accuracy and efficiency and possessing high versatility.

[0035] By adopting the above-mentioned specific automatic leveling device, the workbench 18 is located at the top layer of the device and is used to install the target leveling equipment. One end of the workbench 18 is hinged to one end of the intermediate base 17 through two sets of top-level hinge assemblies 23, and the other end is connected to the other end of the intermediate base 17 through two sets of second-link lifting assemblies. The workbench 18 can be driven by the two sets of second-link lifting assemblies to rotate axially along the top-level hinge assembly 23. The intermediate base 17 is located in the middle layer of the device. One end of the workbench 18 is hinged to one end of the fixed base 1 through two sets of top-level hinge assemblies 23, and the other end is connected to the other end of the fixed base 1 through two sets of second-link lifting assemblies. Similarly, the intermediate base 17 can be driven by the two sets of second-link lifting assemblies to rotate axially along the bottom-level hinge assembly 22. The fixed base 1 is located at the bottom layer of the device and is used for fixed installation of the entire device. In summary, the workbench 18 and the intermediate base 17 can rotate independently in orthogonal directions to achieve two-way leveling of the horizontal plane of the target leveling equipment.

[0036] Furthermore, rectangular cutout holes 2 are machined in the center of the fixed base 1, intermediate base 17, and workbench 18, forming a rectangular frame structure. The use of these rectangular cutout holes 2 effectively reduces the weight of the entire leveling device, saving material. Furthermore, the rectangular frame structure facilitates installation while ensuring levelness during installation.

[0037] Furthermore, a bottom bolt hole 3 is machined on the fixed base 1, and the location of the bottom bolt hole 3 is fixedly connected to the installation base by a locking bolt. Through the above structure, it is ensured that the fixed base 1 is reliably fixed and installed during the subsequent arrangement and installation process.

[0038] Furthermore, the top of the workbench 18 is secured with multiple lifting rings 40, and a plurality of mounting slots 41 are machined on opposite sides of the top of the workbench 18. The mounting slots 41 are machined within top bolt holes 42. These lifting rings 40 facilitate subsequent lifting and movement of the entire leveling device, thereby facilitating adjustment of its installation position. The mounting slots 41 facilitate subsequent positioning of equipment mounted on the top.

[0039] Furthermore, the bottom hinge assembly 22 includes a first hinge seat 19 fixed to the top of the fixed base 1. A second hinge seat 21 is hingedly connected to the first hinge seat 19 via a first pin 20. The second hinge seat 21 is invertedly mounted on the bottom end of the intermediate base 17. The bottom hinge assembly 22 ensures that the intermediate base 17 can rotate, thereby achieving horizontal adjustment in one direction.

[0040] Furthermore, the first connecting rod lifting assembly includes a first slide rail 8 fixed parallel to the fixed base 1. A first slider 12 is slidably mounted on the first slide rail 8. A first slide seat 11 is fixed to the top of the first slider 12. A first lug 10 is provided at one end of the head of the first slide seat 11. The head of the first lug 10 is hinged to the first connecting rod 7 via a second pin 9. The other end of the first connecting rod 7 is hingedly connected to the third hinge seat 5 via a third pin 6. The third hinge seat 5 is invertedly fixed to the bottom end of the intermediate base 17 via a first locking bolt 4. The first slide seat 11 is connected to the output end of the first servo motor drive module. The above-mentioned first connecting rod lifting assembly can be used to adjust the horizontal direction of the intermediate base 17 in one direction during the leveling process. The use of a connecting rod mechanism improves the adjustment accuracy. Specifically, during the adjustment process, by driving the first slider 12, the first connecting rod 7 is driven by the first slider 12. The rotation of the first connecting rod 7 drives the third hinge seat 5, which in turn drives the intermediate base 17 to achieve rotational adjustment, thereby achieving the leveling effect.

[0041] Furthermore, the first servo motor drive module includes a first servo motor 43, the output shaft of the first servo motor 43 is connected to the first screw module 15, the first screw module 15 is fixed to the top of the fixed base 1 through the first fixing seat 16, the end of the first telescopic rod 14 of the first screw module 15 is connected to the first connecting plate 13, and the first connecting plate 13 is fixed to the top of the first slide 11. The above-mentioned first servo motor drive module can be used to provide power for leveling. During operation, the first screw module 15 is driven by the first servo motor 43, and the first telescopic rod 14 of the first screw module 15 is used to drive the first slide 11 to slide, and then the first slide 11 drives the first connecting rod lifting assembly.

[0042] Furthermore, the top hinge assembly 23 includes a fourth hinge seat 24 fixed to the top of the intermediate base 17. A fifth hinge seat 26 is hingedly connected to the fourth hinge seat 24 via a fourth pin 25. The fifth hinge seat 26 is invertedly mounted on the bottom end of the workbench 18. The top hinge assembly 23 ensures that the workbench 18 can rotate, thereby achieving leveling in the other direction.

[0043] Furthermore, the second connecting rod lifting assembly includes a second slide rail 35 fixed parallel to the intermediate base 17, a second slider 31 is slidably mounted on the second slide rail 35, a second slide seat 32 is fixed to the top of the second slide seat 31, a second ear plate 33 is provided at one end of the head of the second slide seat 32, the head of the second ear plate 33 is hinged to a second connecting rod 36 via a fifth pin 34, the other end of the second connecting rod 36 is hinged to a fifth hinge seat 38 via a sixth pin 37, the fifth hinge seat 38 is inverted and fixed to the bottom end of the workbench 18 via a second locking bolt 39, and the second slide seat 32 is connected to the output end of the second servo motor drive module. The above-mentioned second connecting rod lifting assembly can be used to adjust the horizontal level of the workbench 18 in another direction during the leveling process, and the use of a connecting rod mechanism improves the adjustment accuracy. During the specific adjustment process, the second slider 31 is driven, the second connecting rod 36 is driven by the second slider 31, the fifth articulated seat 38 is driven by the rotation of the second connecting rod 36, and the workbench 18 is driven by the fifth articulated seat 38 to achieve rotation adjustment, thereby achieving the leveling effect.

[0044] Furthermore, the second servo motor drive module includes a second servo motor 44, the output shaft of which is connected to the second screw module 27. The second screw module 27 is fixed to the top of the intermediate base 17 via a second fixing seat 28. The end of the second telescopic rod 29 of the second screw module 27 is connected to the second connecting plate 30, and the second connecting plate 30 is fixed to the top of the second slide 32. The above-mentioned second servo motor drive module can be used to provide power for leveling. During operation, the second servo motor 44 drives the second screw module 27, and the second telescopic rod 29 of the second screw module 27 drives the second slide 32 to slide, and then the second slide 32 drives the second connecting rod lifting assembly.

[0045] Furthermore, the system includes a control system comprising a tilt sensor for detecting the tilt of the object being leveled. The tilt sensor is connected to a signal input of a controller via a signal line, and a signal output of the controller is connected to a first servo motor drive module and a second servo motor drive module, respectively. The control system receives feedback signals from the digital tilt sensor and generates control instructions based on a preset control algorithm to control the servo motor to rotate a corresponding angle to adjust the worktable to a horizontal position.

[0046] Example 2: A leveling method for an automatic leveling device based on a servo motor system and a lead screw mechanism, comprising the following steps: Step 1, system initialization: 1) Hardware initialization: When starting the system, first initialize the inclination sensor, servo motor drive module, and controller hardware devices; ensure that all hardware devices are in normal working condition, the sampling frequency and range parameters of the inclination sensor are set, and the initial position of the servo motor drive module is reset to zero; 2) Parameter setting: According to the actual leveling requirements, set the proportional coefficient P and differential coefficient D in the PD algorithm; at the same time, set the leveling accuracy threshold. When the inclination error is less than the threshold, the system is considered to have reached the leveling state; The proportional coefficient determines the control variable's response to the error, while the differential coefficient is used to suppress the rate of change of the error. A leveling accuracy threshold is also set; when the inclination error is less than this threshold, the system is considered to have reached a leveled state.

[0047] Step 2, tilt measurement: 1) Real-time data acquisition: The inclination sensor measures the inclination of the object being leveled in real time at a set sampling frequency, obtaining the inclination values in the X-axis and Y-axis directions respectively. The collected inclination data is filtered to eliminate noise interference and improve data accuracy. 2) Inclination calculation: Calculate the deviation between the actual inclination of the object being leveled at the current moment and the target horizontal inclination (usually 0 degrees), and obtain the inclination deviation in the X-axis and Y-axis directions respectively; Step 3, PD algorithm control: 1) Proportional control: The proportional control amount is obtained by multiplying the inclination angle deviation in the X-axis and Y-axis directions by the proportional coefficient P. This control amount reflects the direct impact of the current inclination angle error on the adjustment range of the actuator; 2) Differential control: Calculate the rate of change of the tilt angle deviation between the current moment and the previous moment, multiply it by the differential coefficient D, and obtain the differential control amount. The differential control amount is used to predict the trend of the tilt angle change, adjust the actuator in advance, and suppress overshoot; 3) Control quantity synthesis: The proportional control quantity and the differential control quantity are added to obtain the final control quantity, which is used to drive the servo motor module for leveling operation; Step 4, actuator action: 1) Driving actuator: Controls the direction and speed of the servo motor drive module based on the synthesized control quantity. Specifically, if the control quantity is positive, the servo motor drive module is driven upward; if the control quantity is negative, the servo motor drive module is driven downward. 2) Motion feedback: The servo motor drive module provides real-time feedback of its position information during the motion process. The controller uses this feedback information to determine whether the servo motor drive module is adjusted as expected. Step 5: Leveling judgment and loop control: 1) Leveling judgment: After the servo motor drives the module, the inclination of the object being leveled is measured again by the inclination sensor to determine whether the inclination is within the set leveling accuracy threshold; 2) Loop control: If the tilt angle is still outside the threshold range, the above steps of tilt angle measurement, PD algorithm control, and actuator action are repeated; if the tilt angle is within the threshold range, the system enters a stable state and leveling is completed; Step 6: System stop and protection: 1) Stop condition: When the object to be leveled reaches the leveled state and remains stable for a period of time, or the number of actions of the servo motor drive module reaches the preset maximum value, the system stops the leveling operation; 2) Protection mechanism: During the leveling process, if an abnormal load on the servo motor drive module or an abnormal inclination sensor failure is detected, the servo motor drive module will be stopped immediately and an alarm will be triggered to protect the system safety.

[0048] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be obvious to those skilled in the art. The general principles defined in the present invention can be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown in the present invention, but will conform to the widest scope consistent with the principles and novel features disclosed in the present invention.

Claims

1. An automatic leveling device based on a servo motor system and a screw mechanism, characterized in that: It includes a fixed base, on the top of which an intermediate base is rotatably installed through a symmetrically arranged bottom hinge assembly; the intermediate base and the open side of the fixed base are symmetrically provided with a first connecting rod lifting assembly for driving the intermediate base to rotate, and the first connecting rod lifting assembly is connected to the output end of the first servo motor drive module fixed on the fixed base; the top of the intermediate base is rotatably installed with a workbench through a symmetrically arranged top hinge assembly; and the two groups of top hinge assemblies and the bottom hinge assembly are arranged on adjacent sides; the workbench and the open side of the intermediate base are symmetrically provided with a second connecting rod lifting assembly for driving the workbench to rotate, and the second connecting rod lifting assembly is connected to the output end of the second servo motor drive module fixed on the intermediate base.

2. The automatic leveling device based on a servo motor system and a screw mechanism according to claim 1, characterized in that: The middle of the fixed base, the middle base and the workbench are respectively processed with rectangular material reduction holes to form a rectangular frame structure.

3. The automatic leveling device based on a servo motor system and a screw mechanism according to claim 2, characterized in that: A bottom bolt hole is processed on the fixed base, and the position where the bottom bolt hole is located is fixedly connected to the installation foundation through a locking bolt.

4. The automatic leveling device based on a servo motor system and a screw mechanism according to claim 2, characterized in that: A plurality of lifting rings are fixed on the top of the workbench, and a plurality of mounting grooves are processed on one of the opposite sides of the top of the workbench, and top bolt holes are processed inside the mounting grooves.

5. The automatic leveling device based on a servo motor system and a screw mechanism according to claim 1, characterized in that: The bottom hinge assembly includes a first hinge seat fixed on the top of the fixed base, a second hinge seat is hinged on the first hinge seat through a first pin shaft, and the second hinge seat is invertedly installed on the bottom end of the middle base.

6. The automatic leveling device based on a servo motor system and a screw mechanism according to claim 1, characterized in that: The first connecting rod lifting assembly includes a first slide rail fixed parallel to the fixed base, a first slider is slidably installed on the first slide rail, a first slide seat is fixed on the top of the first slide seat, a first ear plate is provided at one end of the head of the first slide seat, the head of the first ear plate is hinged to the first connecting rod through a second pin shaft, the other end of the first connecting rod is hingedly connected to the third hinge seat through a third pin shaft, the third hinge seat is inverted and fixed to the bottom end of the intermediate base by a first locking bolt, and the first slide seat is connected to the output end of the first servo motor drive module.

7. The automatic leveling device based on a servo motor system and a screw mechanism according to claim 6, characterized in that: The first servo motor drive module includes a first servo motor, the output shaft of the first servo motor is connected to the first screw module, the first screw module is fixed to the top of the fixed base through the first fixed seat, the end of the first telescopic rod of the first screw module is connected to the first connecting plate, and the first connecting plate is fixed to the top of the first slide.

8. The automatic leveling device based on a servo motor system and a screw mechanism according to claim 1, characterized in that: The top hinge assembly includes a fourth hinge seat fixed on the top of the middle base, a fifth hinge seat is hinged on the fourth hinge seat through a fourth pin shaft, and the fifth hinge seat is invertedly installed at the bottom end of the workbench.

9. The automatic leveling device based on a servo motor system and a screw mechanism according to claim 1, characterized in that: The second connecting rod lifting assembly includes a second slide rail fixed parallel to the middle base, a second slider is slidably installed on the second slide rail, a second slide seat is fixed on the top of the second slider, a second ear plate is provided at one end of the head of the second slide seat, the head of the second ear plate is hinged to the second connecting rod through a fifth pin shaft, the other end of the second connecting rod is hingedly connected to the fifth articulated seat through a sixth pin shaft, the fifth articulated seat is inverted and fixed to the bottom end of the workbench by a second locking bolt, and the second slide seat is connected to the output end of the second servo motor drive module.

10. The automatic leveling device based on a servo motor system and a screw mechanism according to claim 9, characterized in that: The second servo motor drive module includes a second servo motor, the output shaft of the second servo motor is connected to the second screw module, the second screw module is fixed to the top of the middle base through the second fixed seat, the second telescopic rod end of the second screw module is connected to the second connecting plate, and the second connecting plate is fixed to the top of the second slide.

11. The automatic leveling device based on a servo motor system and a screw mechanism according to claim 1, characterized in that: It also includes a control system, which includes an inclination sensor for detecting the inclination of the object to be leveled. The inclination sensor is connected to the signal input end of the controller through a signal line, and the signal output end of the controller is respectively connected to the first servo motor drive module and the second servo motor drive module.

12. A leveling method for an automatic leveling device based on a servo motor system and a screw mechanism according to any one of claims 1 to 11, characterized in that: The following steps are involved: Step 1, system initialization: 1) Hardware initialization: When starting the system, first initialize the inclination sensor, servo motor drive module, and controller hardware devices; Ensure that all hardware devices are in normal working condition, the sampling frequency and range parameters of the inclination sensor are set, and the initial position of the servo motor drive module is reset to zero; 2) Parameter setting: According to the actual leveling requirements, set the proportional coefficient P and differential coefficient D in the PD algorithm; at the same time, set the leveling accuracy threshold. When the inclination error is less than the threshold, the system is considered to have reached the leveling state; Step 2, tilt measurement: 1) Real-time data acquisition: The inclination sensor measures the inclination of the object being leveled in real time at a set sampling frequency, obtaining the inclination values in the X-axis and Y-axis directions respectively. The collected inclination data is filtered to eliminate noise interference and improve data accuracy. 2) Inclination calculation: Calculate the deviation between the actual inclination of the object being leveled at the current moment and the target horizontal inclination, and obtain the inclination deviation in the X-axis and Y-axis directions respectively; Step 3, PD algorithm control: 1) Proportional control: The proportional control amount is obtained by multiplying the inclination angle deviation in the X-axis and Y-axis directions by the proportional coefficient P. This control amount reflects the direct impact of the current inclination angle error on the adjustment range of the actuator; 2) Differential control: Calculate the rate of change of the tilt angle deviation between the current moment and the previous moment, multiply it by the differential coefficient D, and obtain the differential control amount. The differential control amount is used to predict the trend of the tilt angle change, adjust the actuator in advance, and suppress overshoot; 3) Control quantity synthesis: The proportional control quantity and the differential control quantity are added to obtain the final control quantity, which is used to drive the servo motor module for leveling operation; Step 4, actuator action: 1) Driving actuator: Controls the direction and speed of the servo motor drive module based on the synthesized control quantity. Specifically, if the control quantity is positive, the servo motor drive module is driven upward; if the control quantity is negative, the servo motor drive module is driven downward. 2) Motion feedback: The servo motor drive module provides real-time feedback of its position information during the motion process. The controller uses this feedback information to determine whether the servo motor drive module is adjusted as expected. Step 5: Leveling judgment and loop control: 1) Leveling judgment: After the servo motor drives the module, the inclination of the object being leveled is measured again by the inclination sensor to determine whether the inclination is within the set leveling accuracy threshold; 2) Loop control: If the tilt angle is still outside the threshold range, the above steps of tilt angle measurement, PD algorithm control, and actuator action are repeated; if the tilt angle is within the threshold range, the system enters a stable state and leveling is completed; Step 6: System stop and protection: 1) Stop condition: When the object to be leveled reaches the leveled state and remains stable for a period of time, or the number of actions of the servo motor drive module reaches the preset maximum value, the system stops the leveling operation; 2) Protection mechanism: During the leveling process, if an abnormal load on the servo motor drive module or an abnormal inclination sensor failure is detected, the servo motor drive module will be stopped immediately and an alarm will be triggered to protect the system safety.

Images