The invention discloses a spiral slewing bearing leveling system and method in the technical field of operation vehicles, and the system comprises a spiral slewing bearing, an auxiliary frame and a rotary table connected with the spiral slewing bearing, the spiral slewing bearing comprises an outer upper ring, an inner upper ring rotationally connected with the outer upper ring, an inner lower ring rotationally connected with the inner upper ring and an outer lower ring rotationally connected with the inner lower ring, the outer lower ring is connected with the auxiliary frame, and the angle acquisition module is used for acquiring the inclination angle of the rotary table and acquiring the inclination angle of the rotary table according to the inclination angle of the rotary table. Calculating a total inclination angle of the turntable according to the inclination angle of the turntable; the rotation angle calculation module is used for calculating rotation angle values of an inner lower ring and an inner upper ring according to Rodrigues transformation when the total inclination angle of the rotary table is within a preset allowable leveling range, and calculating a rotation angle value of the rotary table according to the rotation angle values of the inner lower ring and the inner upper ring; and the leveling module is used for completing leveling of the slewing bearing based on the slewing angle value of the inner lower ring, the slewing angle value of the inner upper ring and the slewing angle value of the rotary table. The problems that in the prior art, when an operation vehicle is leveled on an inclined road surface, the angle adjusting range is small, consumed time is long, and the leveling effect is poor due to speed change and shaking when a rotary table runs can be solved.
本发明公开了作业车辆技术领域的一种螺旋回转支承调平系统及方法,系统包括螺旋回转支承、副车架和所述螺旋回转支承连接的转台,所述螺旋回转支承包括外上圈、与所述外上圈转动连接的内上圈、与所述内上圈转动连接的内下圈以及与所述内下圈转动连接的外下圈,所述外下圈与所述副车架连接,还包括:角度采集模块,用于获取转台倾斜角度,根据所述转台倾斜角度计算转台总倾斜角度;回转角度计算模块,用于当所述转台总倾斜角度在预设定的调平允许范围内时,根据罗德里格斯变换计算出内下圈和内上圈的回转角度值,根据所述内下圈和内上圈的回转角度值计算转台的回转角度值;调平模块,用于基于所述内下圈的回转角度值、内上圈的回转角度值和转台的回转角度值完成回转支承调平。能够解决现有技术中作业车辆在倾斜路面上的调平存在调节角度范围小,耗时长,在转台运行时由于速度变化及抖动导致调平效果差的问题。
Spiral slewing bearing leveling system and method
一种螺旋回转支承调平系统及方法
2024-10-08
Patent
Electronic Resource
Chinese
IPC: | 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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