Method and system for leveling chassis of vehicle

Abstract

The invention relates to the field of automatic control on mining equipment, and in particular relates to a method and a system for leveling a chassis of a vehicle. The method for leveling the chassis of the vehicle comprises a stretching process, a punning process, a leveling process and a lifting process which are executed in sequence. In the leveling process, a main leveling hydraulic oil cylinder and an auxiliary leveling hydraulic oil cylinder are determined according to an inclination angle detected by a level sensor, the main leveling hydraulic oil cylinder is actively regulated to be lifted, and meanwhile, the auxiliary leveling hydraulic oil cylinder is passively compensated to pun the ground. According to the method and the system, the technical problems that the chassis of the vehicle is low in leveling accuracy and the phenomenon of weak legs is easily caused in the prior art are solved.

Description

technical field [0001] The invention relates to the field of automatic control of mining equipment, in particular to a method and system for leveling a vehicle chassis. Background technique [0002] For mining equipment, especially trolleys with underground wheeled articulated chassis, the level alignment of the vehicle chassis is manually adjusted before operation. The specific method is, refer to figure 1 , the operator first stretches the two telescopic oil cylinders at the front of the vehicle chassis, and then manually operates the lifting of each hydraulic cylinder corresponding to each leg. During the lifting process, according to the tilt angle displayed by the level meter installed on the vehicle chassis , constantly adjust the corresponding hydraulic cylinder to complete the leveling of the body until the hydraulic cylinder reaches the required height. This method is troublesome and time-consuming, and the leveling accuracy is also low. [0003] Most of the leve...

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Problems solved by technology

[0006] In order to solve the technical problems in the prior art that the leveling accuracy of the vehicle chassis is low and the phenomenon of virtual legs is prone to occur, the present invention provides a leveling method for the vehicle chassis, which includes a leveling process, and the leveling process includes: Preset two coordinate axes X-axis and Y-axis perpendicular to each other on the reference plane, detect the X-axis inclination angle a and the Y-axis inclination angle b of the vehicle chassis relative to the reference plane, when |a|≤θ is not satisfied And when the condition of |b|≤θ, perform the following steps, wherein θ is a predetermined angle: S1. Determine the leg corresponding to the lowest part of the body according to the values ​​of a and b and based on the preset comparison table, and use the The hydraulic cylinder corresponding to the outrigger is determined as the main adjustment hydraulic cylinder, and the hydraulic cylinder corresponding to other outriggers is determined as the auxiliary adjustment hydraulic cylinder; S2. Supplement oil to the rodless chamber of the main adjustment hydraulic cylinder so that the main adjustment hydraulic cylinder The oil cylinder is raised, and during the raising of the main adjustment hydraulic cylinder, if the oil pressure in the rodless chamber of the auxiliary adjustment hydraulic cylinder is less than the first predetermined pressure, oil is added to the rodless chamber of the auxiliary adjustment hydraulic cylinder Until the oil pressure in the rodless chamber of the auxiliary adjustment hydraulic cylinder rises to the first predetermined pressure; S3. Repeat S1-S2 until the detected values ​​of a and b satisfy |a|≤θ and |b| ≤θ

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