The invention provides a lifting lodging mechanism and a control method thereof. The lifting lodging mechanism comprises a vertical lifting mechanism body and a two-degree-of-freedom lodging leveling mechanism body, wherein the vertical lifting mechanism further comprises a lifting servo motor, a lifting servo driver, a high-precision mechanical tail end encoder, a proximity switch and a lifting master controller; the two-degree-of-freedom lodging leveling mechanism further comprises a high-precision azimuth servo motor, a high-precision pitching servo motor, a pin locking motor, an inclinometer, an azimuth servo driver, a pitching servo driver and a lodging master controller; and an algorithm part comprises a two-degree-of-freedom lodging optimal path leveling algorithm and an algorithm implementation process. By adopting the lifting lodging mechanism provided by the invention, bearing equipment is lifted vertically, rotates from -182 degrees to 182 degrees, and rotates in a manner of pitching from -91 degrees to 33 degrees; meanwhile, the problem that the horizontal precision requirement of an upper bearing surface cannot be met due to the inclination of the lower bearing equipment and a lifting rod is solved through the leveling algorithm. The lifting lodging mechanism provided by the invention is compact in structure, reliable, efficient in algorithm and capable of achieving azimuth pitching rotation movement of bearing equipment, lifting of a bearing surface as well as accurate, rapid and dynamic leveling.

    本发明提供了一种升降倒伏机构及其控制方法,机构包含以下两大构件:垂直升降机构体、两自由度倒伏调平机构体。垂直升降机构还包含以下几个装置:升降伺服电机、升降伺服驱动器、高精度机械末端编码器、接近开关、升降主控器。两自由度倒伏调平机构还包含以下几个装置:高精度方位伺服电机、高精度俯仰伺服电机、锁销电机、倾角仪、方位伺服驱动器、俯仰伺服驱动器、倒伏主控器。算法部分包括:两自由度倒伏最优路径调平算法以及算法实现流程。本发明实现了承载设备的垂直升降、方位[‑182°‑182°]旋转、俯仰[‑91°‑+33°]旋转,同时通过调平算法克服了由于下部承载设备、升降杆倾斜导致无法满足上部承载面水平精度要求的问题。本发明结构紧凑、设备可靠、算法高效,能够实现承载设备的方位俯仰旋转运动、以及承载面的升降和精准快速动态调平。


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    Title :

    Lifting lodging mechanism and control method thereof


    Additional title:

    一种升降倒伏机构及其控制方法


    Contributors:
    GAN XINHUI (author) / FAN PU (author) / SONG LIANG (author) / WAN TAO (author) / GUO HE (author) / ZHAO CHANGCHAO (author) / WU DEHUA (author) / WANG LEI (author) / SHI CHENGUANG (author) / YANG SUWEN (author)

    Publication date :

    2021-07-27


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B66C Krane , CRANES / B66F HOISTING, LIFTING, HAULING, OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD , Hub-, Verhol- oder Schubvorrichtungen, soweit nicht anderweitig vorgesehen, z.B. Vorrichtungen mit unmittelbarer Krafteinwirkung auf die Last



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