A posture leveling mechanism and control method

Abstract

This application discloses a posture leveling mechanism and control method. The posture leveling mechanism includes a telescopic member disposed between an upper platform and a lower support. One end of the telescopic member is hinged to the upper platform via a fourth hinge point, and the other end is hinged to the lower support via a third hinge point. A universal joint is disposed between the upper platform and the lower support. The universal joint is hinged to the lower support via a second hinge point and also hinged to the upper platform via a first hinge point. The movable surface of the fourth hinge point is the same as the movable surface of the first hinge point. The movable surfaces of the first and third hinge points are perpendicular to each other. The movable plane of the third hinge point is the same as the movable plane of the second hinge point. In use, the upper platform and the universal joint can move in one plane by extending and retracting the telescopic member proportionally. When the telescopic member extends and retracts by different lengths, the upper platform can move in another plane, thus increasing the adjustment range.

Description

Technical Field

[0001] This application relates to the field of engineering machinery technology, specifically to a position and posture leveling mechanism and control method. Background Technology

[0002] Maneuvering and leveling technology is a core requirement for ensuring the safety and efficiency of engineering equipment operations. In complex terrain or under dynamic loads, aircraft tilt can lead to limited operator visibility (such as increased blind spots), shift in the center of gravity causing overturning risks, and exacerbate mechanical vibration and operator fatigue. Leveling technology, by adjusting the aircraft's position and posture in real time, ensures the equipment's horizontal stability, enhances control precision in dynamic environments, and reduces operator physical burden. It is a key support for equipment to adapt to extreme working conditions and achieve safe and efficient operation.

[0003] Existing excavator leveling mechanisms typically employ a hinge support on one side, with two other hydraulic cylinders directly connected. Leveling of the excavator's upper body in one direction (forward / backward) is achieved through the use of telescopic hydraulic cylinders. This solution only allows for leveling in one direction (forward / backward), which has limitations in its application. Summary of the Invention

[0004] The purpose of this application is to provide a posture leveling mechanism and control method to solve the defects of the existing leveling mechanism in that the adjustment direction or range is limited.

[0005] To achieve the above objectives, this application employs the following technical solution:

[0006] In a first aspect, this application discloses a posture leveling mechanism, comprising: a telescopic member disposed between an upper platform and an lower support, one end of which is hinged to the upper platform via a fourth hinge point, and the other end of which is hinged to the lower support via a third hinge point; a universal joint disposed between the upper platform and the lower support, the universal joint being hinged to the lower support via a second hinge point, and also hinged to the upper platform via a first hinge point; wherein the movable surface of the fourth hinge point is the same as the movable surface of the first hinge point; the movable surface of the first hinge point and the movable surface of the third hinge point are perpendicular to each other; and the movable plane of the third hinge point is the same as the movable plane of the second hinge point.

[0007] In a further embodiment of this application, a plurality of the telescopic components are arranged in a matrix on both sides of the lower vehicle support, and the center of the plane formed by the plurality of telescopic components coincides with the center of the upper vehicle platform in the vertical projection.

[0008] In a further embodiment of this application, the loading platform includes a platform plate, one side of which is provided with a rotary hinge seat and a hydraulic cylinder hinge seat, which are correspondingly hinged to the unloading support and the universal joint.

[0009] In a further embodiment of this application, the universal joint is provided with a cylinder hole, and the telescopic member passes through the corresponding cylinder hole one by one.

[0010] In a further embodiment, the telescopic component is a leveling cylinder, with the large and small chambers of the leveling cylinder connected alternately.

[0011] In a further embodiment of this application, the lines connecting the two second hinge points and the two first hinge points intersect, and the midpoints of the lines connecting the diagonally opposite fourth hinge points lie on the same vertical line.

[0012] In a further embodiment of this application, a tilt sensor is installed on the vehicle platform, and the tilt sensor and the telescopic component are electrically connected to a central controller.

[0013] In a further embodiment of this application, both the loading platform and the universal joint are provided with weight-reducing holes in the middle.

[0014] Secondly, this application also discloses a control method based on a posture leveling mechanism, which includes the following steps: when the level of the upper platform is insufficient, the telescopic component is activated; if both telescopic components are in a stretched state, the output end of the corresponding telescopic component is retracted until the extension value of the telescopic component is reached when the upper platform is level; if both telescopic components are in a compressed state, the output end of the corresponding telescopic component is extended until the extension value of the telescopic component is reached when the upper platform is level; if the two telescopic components are in a state of one being extended and the other being retracted, the corresponding telescopic component is restored to the extension value of the telescopic component when the upper platform is level.

[0015] In a further embodiment of this application, when there are two pairs of telescopic components, and the large and small hydraulic cylinders of the diagonally opposite telescopic components are interconnected, the diagonally opposite telescopic components perform complementary extension and contraction movements.

[0016] The beneficial effects of this application are as follows:

[0017] This application incorporates an improved universal joint. During use, the platform and the universal joint can move in one plane by extending and retracting the telescopic component proportionally. When the telescopic component extends and retracts by different lengths, the platform can move in another plane. By controlling the telescopic component with different amounts of extension and retraction, the platform can be adjusted within a certain spatial range, increasing the adjustment range and providing broader application prospects. This overcomes the limitations of existing technologies in adjustment.

[0018] Two pairs of expansion joints were used, which on the one hand improved the load-bearing capacity of the structure, and on the other hand, allowed the equipment to be used normally if individual expansion joints were damaged, so that it could be repaired when the operation was over, thereby improving the mobility of the mechanism and the emergency performance of the equipment. Attached Figure Description

[0019] Figure 1This is a schematic diagram of the posture leveling mechanism in an embodiment of this application;

[0020] Figure 2 This is a schematic diagram of the loading platform in the embodiments of this application;

[0021] Figure 3 This is a schematic diagram of the universal joint structure in an embodiment of this application;

[0022] Figure 4 This is a schematic diagram of the structure of the undercarriage support in the embodiments of this application;

[0023] Figure 5 This is a schematic diagram of the leveling cylinder in an embodiment of this application;

[0024] Figure 6 This is a top view of the posture leveling mechanism in an embodiment of this application;

[0025] Figure 7 This is a schematic diagram of the adjustment of the posture leveling mechanism in a plane in an embodiment of this application;

[0026] Figure 8 This is a schematic diagram of the adjustment of the posture leveling mechanism in another plane in an embodiment of this application;

[0027] Figure 9 This is a sequence diagram of the control method in the embodiments of this application;

[0028] Figure 10 This is a logic diagram of the control method in the embodiments of this application;

[0029] Figure 11 This is a schematic diagram of the position and orientation leveling mechanism after it has been operated in an embodiment of this application.

[0030] The components are as follows: 1. Upper platform; 2. Universal joint; 3. Lower support; 4. Telescopic component; 5. First hinge point; 6. Second hinge point; 7. Third hinge point; 8. Fourth hinge point; 11. Platform; 12. Rotary hinge seat; 13. Hydraulic cylinder hinge seat; 21. Main body plate; 22. Hydraulic cylinder hole; 23. Center hole; 31. Main structure; 32. Pin seat; 33. Hydraulic cylinder seat; 41. Cylinder barrel; 42. Piston rod; 43. Ball bearing. Detailed Implementation

[0031] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit this application or its application or use.

[0032] This embodiment discloses a posture leveling mechanism, which includes a telescopic member 4 disposed between an upper platform 1 and an lower support 3. One end of the telescopic member 4 is hinged to the upper platform 1 via a fourth hinge point 8, and the other end is hinged to the lower support 3 via a third hinge point 7. A universal joint 2 is disposed between the upper platform 1 and the lower support 3. The universal joint 2 is hinged to the lower support 3 via a second hinge point 6, and the universal joint 2 is also hinged to the upper platform 1 via a first hinge point 5. The movable surface of the fourth hinge point 8 is the same as the movable surface of the first hinge point 5. The movable surface of the first hinge point 5 and the movable surface of the third hinge point 7 are perpendicular to each other. The movable plane of the third hinge point 7 is the same as the movable plane of the second hinge point 6.

[0033] As attached Figure 1 As shown, in some embodiments the pose leveling mechanism is designed as follows.

[0034] The four telescopic components 4 are arranged in a matrix. The lower support 3 is placed horizontally, dividing the telescopic components 4 into two groups. The upper platform 1 is arranged above the lower support 3. The universal joint 2 is placed between the lower support 3 and the upper platform 1. Each telescopic component 4 is hinged to the upper platform 1 and the lower support 3. The universal joint 2 is hinged to the lower support 3 and the upper platform 1. The telescopic components 4 are installed using leveling cylinders. For equipment that does not require a large load-bearing capacity, cylinders or other devices can be used as appropriate.

[0035] As attached Figures 2 to 6 As shown, in this embodiment, the loading platform 1 includes a platform 11, and one side of the platform 11 is provided with a rotating hinge seat 12 and a hydraulic cylinder hinge seat 13.

[0036] In this embodiment, the universal joint 2 includes a main body plate 21, on which four cylinder holes 22 and a central hole 23 are provided. In this embodiment, the undercarriage support 3 includes a main structure 31, on which a pair of pin seats 32 are spaced apart on the top surface and a pair of cylinder seats 33 are provided on the bottom surface, with the ends of the cylinder seats 33 protruding from the edge surface of the main structure 31. The holes designed on the main body plate 21 and the platform 11 reduce the weight of the mechanism. On the other hand, the telescopic parts use cylinders, and these holes facilitate the passage of pipelines such as oil pipes.

[0037] During installation, the piston rod 42 of the leveling cylinder is rotatably connected to the cylinder hinge seat 13 via a pin four, forming the fourth hinge point 8; the cylinder barrel 41 of the leveling cylinder is rotatably connected to the cylinder seat 33 via a pin three, forming the third hinge point 7; the universal joint 2 is rotatably connected to the pin seat 32 via a pin two, forming the second junction point; the universal joint 2 is rotatably connected to the rotating hinge seat 12 of the upper platform 1 via a pin one, forming the first hinge point 5. Ball bearings 43 are installed in the mounting holes of both the cylinder barrel 41 and the piston rod 42.

[0038] As attached Figure 7 and Figure 8 As shown, Figure 7 The image shows the tilt state of the upper platform 1 when the extension and retraction of the hydraulic cylinders on the same side are different. Figure 8 The tilt state of the upper platform 1 is shown when the cylinders on the same side extend and retract synchronously. When the two states are used in combination, the state of the upper platform 1 can be adjusted within a certain space; similar to the movement effect of a ball joint structure.

[0039] Among them, the center lines of pin one and pin two intersect at a point, and this point is on the same plane as the center lines of the four pins.

[0040] In other embodiments, the large and small chambers of the diagonal leveling cylinders are alternately connected. During use, one of the two diagonal cylinders extends while the other shortens accordingly, increasing adjustment efficiency and accuracy. Alternatively, the diagonal cylinders can be controlled to extend and retract synchronously via a solenoid valve. This case uses an alternately connected large and small chamber design for an economical and practical solution.

[0041] In this embodiment, an inclination sensor is installed on the undercarriage support. The inclination sensor and each leveling cylinder are electrically connected to the main controller. The inclination sensor provides feedback on the tilt angle, the main controller calculates and processes the feedback, and issues the extension / retraction amount of the corresponding leveling cylinder.

[0042] Appendix Figures 9 to 11 As shown, this application also provides an embodiment based on the attitude leveling mechanism in the above embodiment, including the following steps: when the upper platform 1 is horizontal, the extension length of the telescopic member 4 is half of the stroke; when the levelness of the upper platform 1 is insufficient, the telescopic member 4 is activated; if both telescopic members 4 are in the extended state, the output end of the corresponding telescopic member 4 is retracted until the extension value of the telescopic member 4 when the upper platform 1 is horizontal is reached; if both telescopic members 4 are in the compressed state, the output end of the corresponding telescopic member 4 is extended until the extension value of the telescopic member 4 when the upper platform 1 is horizontal is reached; if the two telescopic members 4 are in a state of one extended and one retracted, the corresponding telescopic member 4 is restored to the extension value of the telescopic member 4 when the upper platform 1 is horizontal.

[0043] In actual use, the tilt angle along the X-axis is detected by the tilt sensor on the upper platform 1. Inclination angle along the Y-axis Calculate the composite tilt angle of platform 1 ,when The leveling mechanism does not activate when the angle is ≤2°. When the angle is ≥2°, the leveling mechanism is activated. The coordinates of the hinge points connecting each cylinder to the upper platform 1 and the amount of extension are calculated. The calculation process is handled by the central controller. Each cylinder in the mechanism has the same specifications. In the initial state, the cylinder extends half its length. Driving each cylinder will restore its piston rod 42 to its initial length. The piston rod 42 of the diagonally opposite cylinders changes synchronously and complementaryly. In addition, when the mechanism is installed on an engineering vehicle, and the vehicle is parked on an uneven road surface, the extension and retraction of each cylinder is adaptively adjusted to adjust the upper platform to meet the required "level" state.

[0044] Figure 11 The coordinate direction is represented in the diagram. The following is a verification description of the control process of the device. Coordinate system of lower support 3: The origin of the coordinate system is located at the center of the hinge point of lower support 3. X-axis: points in front of lower support 3. Y-axis: the hinge point rotation axis of the lower support, pointing to the left. Z-axis: points above lower support 3.

[0045] Coordinate system for universal joint 2: The origin is located at the center of the lower hinge point of universal joint 2. Y-axis: The axis of rotation of the lower hinge point of universal joint 2, pointing to the left. Z-axis: The common perpendicular line between the axis of rotation of the lower hinge point and the axis of rotation of the upper hinge point of universal joint 2, pointing upwards.

[0046] Coordinate system of loading platform 1: The origin is located at the center of the hinge point of loading platform 1. X-axis: The axis of rotation of the hinge point of loading platform 1, pointing forward. Y-axis: Pointing to the left side of loading platform 1. Z-axis: Pointing upwards from loading platform 1.

[0047] When installing the dual-axis tilt sensor on the vehicle, define the X-axis of the dual-axis tilt sensor as parallel to the X-axis of the coordinate system of the vehicle platform 1, and define the Y-axis of the dual-axis tilt sensor as parallel to the Y-axis of the coordinate system of the vehicle platform 1. The angle between the X-axis output by the dual-axis tilt sensor and the horizontal plane is... The angle between the Y-axis and the horizontal plane Then the unit vector in the Z-axis direction of the vehicle coordinate system is... The coordinates of the lower support in the coordinate system are: Then the angle between the upper vehicle plane and the horizontal plane can be obtained. ; The tilt angle is the position along the X-axis and horizontal direction; The tilt angle is the Y-axis and the horizontal position.

[0048] When the angle is ≤2°, the leveling mechanism does not start; otherwise, the system performs the following calculations.

[0049] All rotation angles follow the right-hand rule.

[0050] α: The angle of forward tilt of universal joint 2 relative to the undercarriage support 3.

[0051] β: Right tilt angle of the upper platform 1 relative to the universal joint 2.

[0052] The rotation axis vector is μ = (μ x ,μ y ,μ z R is the rotation matrix. In the formula, I is the identity matrix, and K is the coefficient matrix related to μ. The transformation matrix from the gimbal coordinate system 2 to the alighting coordinate system 3 is as follows: .

[0053] Transformation matrix from coordinate system 1 of the loading platform to coordinate system 2 of the universal joint: .

[0054] Transformation matrix from coordinate system 1 of the upper platform to coordinate system 3 of the lower support: .

[0055] The vertically downward (same as the direction of gravity) unit vector is After the loading platform 1 is completely level, the coordinates of vector n in the loading platform coordinate system are: .

[0056] The coordinates of vector n in the coordinate system of the lower support 2 are: .

[0057] When installing a dual-axis tilt sensor on the chassis (of an excavator or bulldozer), define the X-axis of the sensor as parallel to the X-axis of the chassis coordinate system, and the Y-axis as parallel to the Y-axis of the chassis coordinate system. The angle between the X-axis output of the dual-axis tilt sensor and the horizontal plane is... The angle between the Y-axis and the horizontal plane Then the unit vector of the direction of gravity. The coordinates in the off-center support coordinate system are: .

[0058] By comparing the coordinate values, α and β can be solved. ; ; ; ; ; .

[0059] The coordinates of points A and B in the chassis coordinate system are respectively and The coordinates of points C and D in the vehicle coordinate system are respectively and Then the cylinder vector in the chassis coordinate system is:

[0060] ;

[0061] ;

[0062] Then the hydraulic cylinder can be further calculated. and length and : ; .

[0063] The initial installation length of both left and right hydraulic cylinders is Then the stroke changes of the two cylinders can be obtained. and : ; .

[0064] The total stroke of the hydraulic cylinder is When both the chassis and the upper vehicle are in a level position, the hydraulic cylinder stroke is at half its stroke, meaning the hydraulic cylinder extends... .

[0065] In the description of this application, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on this application. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, features defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this application, unless otherwise stated, "a plurality of" means two or more.

[0066] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art will understand the specific meaning of the above terms in this application based on the specific circumstances.

Claims

1. A pose leveling mechanism, characterized in that, Comprising a telescopic member (4) arranged between the boarding platform (1) and the alighting support (3), one end of the telescopic member (4) being hinged to the boarding platform (1) through a fourth hinge point (8), and the other end being hinged to the alighting support (3) through a third hinge point (7); a universal joint (2) arranged between the boarding platform (1) and the alighting support (3), the universal joint (2) being hinged to the alighting support (3) through a second hinge point (6), and the universal joint (2) being hinged to the boarding platform (1) through a first hinge point (5); wherein the movement plane of the fourth hinge point (8) is the same as that of the first hinge point (5); the movement planes of the first hinge point (5) and the third hinge point (7) are perpendicular to each other; and the movement plane of the third hinge point (7) is the same as that of the second hinge point (6); the boarding platform (1) comprises a platform plate (11), one side of the platform plate (11) being provided with a rotary hinge seat (12) and a cylinder hinge seat (13), the rotary hinge seat (12) and the cylinder hinge seat (13) being hingedly connected to the telescopic member (4) and the universal joint (2) correspondingly; the universal joint (2) is provided with a cylinder hole (22), and the telescopic member (4) passes through the cylinder hole (22) one by one correspondingly; the lines connecting the two second hinge points (6) and the two first hinge points (5) have an intersection, and the midpoint of the line connecting the opposite fourth hinge points (8) is on the same vertical line.

2. The pose leveling mechanism of claim 1, wherein, a plurality of telescopic members (4) are arranged on both sides of the alighting support (3) in a matrix, and the center of the plane enclosed by the plurality of telescopic members (4) coincides with the center of the boarding platform (1) in vertical projection.

3. The pose leveling mechanism of claim 2, wherein, the telescopic member (4) is a leveling cylinder, and the large cylinder cavity and the small cylinder cavity of the opposite telescopic members (4) are alternately connected.

4. The pose leveling mechanism of claim 1, wherein, an inclination sensor is installed on the boarding platform (1), and the inclination sensor is electrically connected to a general controller.

5. The pose leveling mechanism of claim 1, wherein, weight-reducing holes are arranged in the middle of the boarding platform (1) and the universal joint (2).

6. A control method for a position leveling mechanism according to any one of claims 1 to 5, characterized in that, Comprising when the levelness of the boarding platform (1) does not meet the set levelness threshold, the telescopic member (4) is started; if the two telescopic members (4) on the same side are in the state of being pulled up, the output end of the corresponding telescopic member (4) is retracted until the telescopic member (4) reaches the extension value when the boarding platform (1) is level; if the two telescopic members (4) on the same side are in the state of being compressed, the output end of the corresponding telescopic member (4) is extended until the telescopic member (4) reaches the extension value when the boarding platform (1) is level; if the two telescopic members (4) on the same side are in the state of one being pulled up and the other being compressed, the telescopic member (4) is restored to the extension value when the boarding platform (1) is level.

7. The control method according to claim 6, characterized by the telescopic member (4) is four, the large cylinder cavity and the small cylinder cavity of the opposite telescopic members (4) are alternately connected; after the telescopic member (4) is started, the opposite telescopic members (4) are complementarily moved in the state of being extended and compressed.

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