CN102490700B - Engineering machine and control device and control method of supporting leg of engineering machine - Google Patents
Engineering machine and control device and control method of supporting leg of engineering machine Download PDFInfo
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- CN102490700B CN102490700B CN201110439030.9A CN201110439030A CN102490700B CN 102490700 B CN102490700 B CN 102490700B CN 201110439030 A CN201110439030 A CN 201110439030A CN 102490700 B CN102490700 B CN 102490700B
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Abstract
The invention provides an engineering machine and a control device and a control method of a supporting leg of the engineering machine. The control device includes: a leg stroke detection unit for detecting a movement distance of the leg; the control unit is connected with the supporting leg stroke detection unit and calculates the actual position of the supporting leg according to the movement distance; the legs are in a first position when fully retracted and in a second position when fully extended; the control unit controls the speed of the outrigger to be reduced from the first speed to the second speed when the distance between the actual position and the first position or the second position is less than the set value during the movement of the outrigger to the first position or the second position. The invention enables the support leg to reach the first position or the second position at a lower speed, thereby reducing the impact on the hydraulic system.
Description
Technical field
The present invention relates to concrete equipment field, more specifically, relate to control setup and the control method of a kind of construction machinery and equipment and supporting leg thereof.
Background technology
As shown in Figure 1, the leg section of construction machinery and equipment in prior art (for example concrete pumping equipment) is divided and is comprised underframe 100 ' and be arranged on the supporting leg 101 ' in underframe 100 ', on underframe 100 ', be provided with two motors 102 ', the mouth of each motor 102 ' is provided with drive sprocket 103 ', on underframe 100 ', be also provided with two respectively with above-mentioned two driven sprockets 104 ' that drive sprocket 103 ' is used in conjunction with, two chains 105 ' are respectively on the drive sprocket 103 ' matching and driven sprocket 104 ', supporting leg 101 ' is fixedly attached on chain 105 ' by connecting portion 106 ', therefore, in the time moving under the drive of chain 105 ' at motor 102 ', be connected to the also motion thereupon of supporting leg 101 ' on chain 105 ', thereby realize the flexible of supporting leg.
Fig. 2 shows the hydraulic schematic diagram of motor control.As shown in Figure 2, the high pressure oil of pump 107 ' output enters Multi-way valve with support leg 110 ' by electric proportional reversing valve 109 ', can realize start and stop, the rotating control to motor 102 ' by manual operation Multi-way valve with support leg 110 '.Wherein, Multi-way valve with support leg 110 ' has a lot of sheets, controls respectively multiple cylinder actions, only shows a slice valve body for motor control in Fig. 2.As shown in Figure 2, Multi-way valve with support leg 110 ' is hand change over valve, and share a pressure oil-source (being pump 107 ') with jib multiway valve 108 ', therefore the constant current value that the speed that the current value of the electric proportional reversing valve in jib multiway valve 108 ' is comprehensive multiple cylinder actions is set, the speed of motor 102 ' is constant.Because the extension and contraction control of supporting leg 101 ' is to operate Multi-way valve with support leg 110 ' by artificial mode to realize, the stroke of supporting leg 101 ' can only adopt mechanical positioner to limit, and the kinematic velocity of supporting leg 101 ' is uncontrollable.Therefore, in the time that supporting leg 101 ' moves to range, will produce very large shock, cause mechanical positioner to lose efficacy.
Incorporated by reference to Fig. 1 and Fig. 2, because chain transmission exists pilled-in selvedge and slack list, in the time that chain 105 ' drives supporting leg 101 ', suppose when supporting leg 101 ' stretches out, chain 105 ' be pilled-in selvedge above, be slack list below; So, when supporting leg 101 ' is retracted, chain 105 ' be slack list above, be pilled-in selvedge below.
Carry out the end stage of fore and aft motion at supporting leg, because the speed of motor 102 ' is constant, this can make supporting leg suddenly be changed to quiescence by the state of higher motion speed, thereby causes hydraulic efficiency pressure system to be subject to larger impact.For fear of impact, as shown in Figure 2, prior art has to increase limiting valve 111 ' in hydraulic efficiency pressure system.The impact of hydraulic efficiency pressure system can aggravate the loosening of chain 105 ' and come off, and can the serious life-span that shortens motor 102 '.
Summary of the invention
The present invention aims to provide control setup and the control method of a kind of construction machinery and equipment and supporting leg thereof, has the problem of larger hydraulic efficiency impact to solve supporting leg in prior art at end of travel.
For solving the problems of the technologies described above, according to a first aspect of the invention, provide a kind of control setup of supporting leg of construction machinery and equipment, comprising: supporting leg stroke detection unit, it is for detection of the move distance of supporting leg; Control unit, control unit is connected with supporting leg stroke detection unit, and control unit calculates the actual position of supporting leg according to move distance; Supporting leg is positioned at primary importance while contraction completely, supporting leg is positioned at the second place while stretching out completely; At supporting leg, in the process of primary importance or second place motion, in the time that the distance between actual position and primary importance or the second place is less than setting value, the speed of control unit control supporting leg is reduced to second speed by First Speed.
Further, control setup also comprises flexible direction detecting unit, and control unit is stored the stop position of last supporting leg, and using stop position as current reference position; In the time that flexible direction detecting unit detects that supporting leg carries out stretching motion, actual position is reference position and move distance sum; In the time that flexible direction detecting unit detects that supporting leg carries out contractile motion, actual position is the poor of reference position and move distance.
Further, construction machinery and equipment comprises drive sprocket, driven sprocket and chain, and chain is on drive sprocket and driven sprocket, and supporting leg is connected with chain; Flexible direction detecting unit comprises the first rotation detecting unit and the second rotation detecting unit, and the first rotation detecting unit is arranged on respectively the position relative with drive sprocket or driven sprocket regularly with the second rotation detecting unit; Whenever drive sprocket or driven sprocket rotate a circle, the first rotation detecting unit and the second rotation detecting unit are sent respectively the first rotating and are judged that signal and the second rotating judge signal; Control unit comprises the first time meter and the second time meter, and the first time meter judges that in the first rotating signal starts timing while generation, and judges that in the second rotating signal stops timing while generation, to produce the first clocking value; The second time meter judges that in the second rotating signal starts timing while generation, and judges that in the first rotating signal stops timing while generation, to produce the second clocking value; In the time that the first clocking value is less than the second clocking value, control unit judges that supporting leg is by first direction motion, and in the time that the first clocking value is greater than the second clocking value, control unit judges that supporting leg is by second direction motion, the opposite direction of first direction and second direction.
Further, when supporting leg moves along first direction, carry out stretching motion; Supporting leg carries out contractile motion while moving along second direction.
Further, construction machinery and equipment comprises drive sprocket, driven sprocket and chain, and chain is on drive sprocket and driven sprocket, and supporting leg is connected with chain; Supporting leg stroke detection unit comprises the first sprocket wheel test section, and in the time of an angle of driven sprocket rotation, the first sprocket wheel test section sends a driven sprocket turn signal; Thereby the distance that control unit turns over according to the number of driven sprocket turn signal and step size computation driven sprocket obtains move distance.
Further, the first sprocket wheel test section is approach switch, and step-length is the pitch of chain.
Further, construction machinery and equipment also comprises the motor and the electric proportional valve being connected with motor for driving drive sprocket, and controller is by the rotating speed of the drive current control motor of control electric proportional valve, to control the kinematic velocity of supporting leg.
Further, primary importance, actual position and the second place are converted into the primary importance pitch value corresponding with the pitch of chain, actual position pitch value and second place pitch value by control unit, in the time that actual position pitch value equals primary importance pitch value or second place pitch value, control unit control supporting leg continues operation predetermined time with second speed.
Further, in the time of supporting leg setting in motion, the speed of supporting leg starts to be increased to First Speed by rate of onset.
According to a second aspect of the invention, provide a kind of control method of supporting leg of construction machinery and equipment, supporting leg is positioned at primary importance while contraction completely, and supporting leg is positioned at the second place while stretching out completely; Control method comprises: step 1, the move distance of detection supporting leg; Step 2, according to the actual position of move distance calculating supporting leg; Step 3, at supporting leg, in the process of primary importance or second place motion, in the time that the distance between actual position and primary importance or the second place is less than setting value, the speed of controlling supporting leg is reduced to second speed by First Speed.
Further, step 3 also comprises: store the stop position of last supporting leg, and using stop position as current reference position; The sense of motion that detects supporting leg, in the time detecting that supporting leg carries out stretching motion, actual position is reference position and move distance sum; In the time that flexible direction detecting unit detects that supporting leg carries out contractile motion, actual position is the poor of reference position and move distance.
Further, first and second point are set in the drive sprocket of construction machinery and equipment or the slewing area of driven sprocket, detect respectively drive sprocket or driven sprocket by first turn to second point the first clocking value of process and drive sprocket or driven sprocket by second point turn to first the second clocking value of process; In the time that the first clocking value is less than the second clocking value, supporting leg is carrying out stretching motion; In the time that the first clocking value is greater than the second clocking value, supporting leg is carrying out contractile motion.
Further, step 3 also comprises: the rotation of the driven sprocket of work machine, the pitch turning over according to driven sprocket is calculated move distance.
Further, control method also comprises: step 4, is converted into the primary importance pitch value corresponding with the chain pitch of construction machinery and equipment, actual position pitch value and second place pitch value by primary importance, actual position and the second place; In the time that actual position pitch value equals primary importance pitch value or second place pitch value, control supporting leg and continue operation predetermined time with second speed.
According to a third aspect of the invention we, provide a kind of construction machinery and equipment, comprised supporting leg and for controlling the control setup of supporting leg, this control setup is above-mentioned control setup.
The present invention makes supporting leg arrive at primary importance or the second place with lower speed, thereby, reduce the impact to hydraulic efficiency pressure system.
Accompanying drawing explanation
The accompanying drawing that forms the application's a part is used to provide a further understanding of the present invention, and schematic description and description of the present invention is used for explaining the present invention, does not form inappropriate limitation of the present invention.In the accompanying drawings:
Fig. 1 has schematically shown the schematic diagram of supporting leg of the prior art and drive part thereof;
Fig. 2 has schematically shown the hydraulic schematic diagram of motor control of the prior art;
Fig. 3 has schematically shown structural representation of the present invention;
Fig. 4 has schematically shown the mounting structure schematic diagram of the first sprocket wheel test section and drive sprocket;
Fig. 5 has schematically shown supporting leg and has stretched out the velocity variations schematic diagram of process;
Fig. 6 has schematically shown the velocity variations schematic diagram of supporting leg contraction process;
Fig. 7 has schematically shown the scheme of installation of the first rotation detecting unit, the second rotation detecting unit and signal panels;
Fig. 8 has schematically shown the judgement schematic diagram of landing leg stretching direction; And
Fig. 9 has schematically shown the judgement schematic diagram of another landing leg stretching direction.
Reference numeral in figure: 100, supporting leg; 110, drive sprocket; 120, driven sprocket; 130, chain; 200, flexible direction detecting unit; 210, the first rotation detecting unit; 220, the second rotation detecting unit; 230, signal panels; 310, the first sprocket wheel test section; 320, the second sprocket wheel test section.
The specific embodiment
Below in conjunction with accompanying drawing, embodiments of the invention are elaborated, but the multitude of different ways that the present invention can be defined by the claims and cover is implemented.
As a first aspect of the present invention, provide a kind of control setup of supporting leg of construction machinery and equipment.As shown in Figure 3 and Figure 4, this control setup comprises: supporting leg stroke detection unit, and it is for detection of the move distance of supporting leg 100; Control unit, control unit is connected with supporting leg stroke detection unit, and control unit calculates the actual position of supporting leg 100 according to move distance; Supporting leg 100 is positioned at primary importance while contraction completely, supporting leg 100 is positioned at the second place while stretching out completely; At supporting leg 100, in the process of primary importance or second place motion, in the time that the distance between actual position and primary importance or the second place is less than setting value, the speed of control unit control supporting leg 100 is reduced to second speed V2 by First Speed V1.Especially, construction machinery and equipment comprises drive sprocket 110, driven sprocket 120 and chain 130, and chain 130 is on drive sprocket 110 and driven sprocket 120, and supporting leg 100 is connected with chain 130, certainly, construction machinery and equipment also can adopt other mode of this area to realize the driving to supporting leg 100.Preferably, construction machinery and equipment is concrete pumping equipment and hoisting crane etc.
Please refer to Fig. 5 and Fig. 6, in Fig. 5 and Fig. 6, the longitudinal axis represents the kinematic velocity of supporting leg, and transverse and longitudinal represents the actual position of supporting leg.Wherein, N0 represents primary importance, and N4 represents the second place, and N2 and N3 represent respectively two midways location.In control setup, be provided with a setting value, this setting value is corresponding to the distance between from N2 to N3 in Fig. 5 and Fig. 6.Fig. 5 shows the situation in the time stretching out motion, in the time that supporting leg 100 moves to the position between the N2～N3 in Fig. 5, show that supporting leg 100 has approached the terminal position of motion, therefore, control unit control supporting leg is started to carry out decelerated movement by First Speed V1, until reach second speed V2.Fig. 6 shows the situation in the time of contractile motion, in the time that supporting leg 100 moves to the position between the N2～N1 in Fig. 6, show that supporting leg 100 has approached the terminal position of motion, therefore, control unit control supporting leg is started to carry out decelerated movement by First Speed V1, until reach second speed V2.While arriving at end (being primary importance or the second place) due to supporting leg 100 with lower speed V2, therefore can alleviate the impact to hydraulic efficiency pressure system.Further, as shown in Figure 5 and Figure 6, in the time of supporting leg setting in motion, the speed of supporting leg starts to be increased to First Speed V1 (corresponding to the region between the N0～N1 in Fig. 5 by rate of onset V0, and region between N4～N3 in Fig. 6), then, supporting leg keeps the speed motion of First Speed V1.
In normal circumstances, supporting leg 100 is all crank motion between primary importance in Fig. 5 and Fig. 6 and the second place, but, sometimes supporting leg 100 only needs to move into place a certain midway location place (for example, because the reason supporting leg of operation does not completely stretch and puts in place, or because the reason of the concrete Ministry of worker is only stretched out supporting leg one segment length) between primary importance and the second place.In this case, in the time that needs operate supporting leg again, (for example supporting leg stretched out or retract), need to preserve the last movement position of supporting leg, and a reference value using last movement position as real time position.
For this reason, control setup also comprises flexible direction detecting unit 200, and control unit is stored the stop position of last supporting leg 100, and using stop position as current reference position; In the time that flexible direction detecting unit 200 detects that supporting leg 100 carries out stretching motion, actual position (being the corresponding value of actual position) is reference position (being the corresponding value of reference position) and move distance sum; In the time that flexible direction detecting unit 200 detects that supporting leg 100 carries out contractile motion, actual position (being the corresponding value of actual position) is the poor of reference position (being the corresponding value of reference position) and move distance.
For example, the position that last supporting leg stops is X1, and this value is stored so.Upper when once supporting leg is operated, reference position using X1 as current motion, then to supporting leg 100, the move distance in current round trip detects, then the result judging according to flexible direction detecting unit 200 is take reference position as benchmark, increase or reduce corresponding move distance, thereby obtaining actual position.Specifically, establish primary importance and be 0, the second place is 100, initial position is 40, this round trip to the operating process of supporting leg in, the move distance of supporting leg is 20.In the time that flexible direction detecting unit 200 detects that supporting leg is stretching out motion, actual position is 60 (being that initial position is and move distance sum), and along with supporting leg 100 continues to second place motion, this actual position constantly increases; In the time that flexible direction detecting unit 200 detects that supporting leg is carrying out contractile motion, actual position is 20 (being the poor of initial position and move distance), and along with supporting leg continues primary importance motion, this actual position constantly reduces.
As shown in Figure 7, flexible direction detecting unit 200 comprises the first rotation detecting unit 210 and the second rotation detecting unit 220.The first rotation detecting unit 210 is arranged on respectively the position relative with drive sprocket 110 or driven sprocket 120 regularly with the second rotation detecting unit 220.Whenever drive sprocket 110 or driven sprocket 120 rotate a circle, the first rotation detecting unit 210 and the second rotation detecting unit 220 are sent respectively the first rotating and are judged that signal and the second rotating judge signal.Control unit comprises the first time meter and the second time meter, and the first time meter judges that in the first rotating signal starts timing while generation, and judges that in the second rotating signal stops timing while generation, to produce the first clocking value; The second time meter judges that in the second rotating signal starts timing while generation, and judges that in the first rotating signal stops timing while generation, to produce the second clocking value; In the time that the first clocking value is less than the second clocking value, control unit judges that supporting leg 100 is by first direction motion, and in the time that the first clocking value is greater than the second clocking value, control unit judges that supporting leg 100 is by second direction motion, the opposite direction of first direction and second direction.Further, supporting leg 100 carries out stretching motion while moving along first direction, and supporting leg 100 carries out contractile motion while moving along second direction, and vice versa.
Preferably, as shown in Figure 7, flexible direction detecting unit 200 also comprises signal panels 230, and it is arranged on drive sprocket or driven sprocket, and can synchronously rotate thereupon.On signal panels 230, arrange porose corresponding to the position of the first rotation detecting unit 210 and the second rotation detecting unit 220.When the first rotation detecting unit 210 and the second rotation detecting unit 220 are through with it separately when corresponding hole, the first rotation detecting unit 210 and the second rotation detecting unit 220 produce a low level output signal (i.e. the first rotating judges that signal and the second rotating judge signal).When the first rotation detecting unit 210 and the second rotation detecting unit 220 be not when the position in above-mentioned hole, the first rotation detecting unit 210 and the second rotation detecting unit 220 produce respectively the output signal of a high level, therefore, in the time there is low level output signal, just show that the hole on signal panels passed through the first rotation detecting unit 210 or the second rotation detecting unit 220 again, also just show that drive sprocket revolves to make a circle.
For example: as shown in Figure 8, in the time that the first clocking value T1 is less than the second clocking value T2, control unit judges that supporting leg is carrying out stretching motion.As shown in Figure 9, in the time that the first clocking value T1 is greater than the second clocking value T2, control unit judges that supporting leg is carrying out contractile motion.
In first embodiment.As shown in Figure 3, supporting leg stroke detection unit comprises the first sprocket wheel test section 310, and in the time that driven sprocket 120 rotates an angle, the first sprocket wheel test section 310 sends a driven sprocket turn signal.Thereby the distance that control unit turns over according to the number of driven sprocket turn signal and step size computation driven sprocket 120 obtains move distance.Preferably, the first sprocket wheel test section 310 is approach switchs, and step-length is the pitch of chain 130.Certainly, the first sprocket wheel test section 310 is also not limited to approach switch, can use other sensitive member, for example rotary encoder, now, corresponding length value when step-length equals a pulse of the every generation of rotary encoder.
In second embodiment, as shown in Figure 3, supporting leg stroke detection unit comprises the first sprocket wheel test section 310 and the second sprocket wheel test section 320.In the time that driven sprocket 120 rotates an angle, the first sprocket wheel test section 310 sends a driven sprocket turn signal; In the time that drive sprocket 110 rotates an angle, the second sprocket wheel test section 320 sends a drive sprocket turn signal.To become first driven sprocket turn signal that when motion produces be the first energizing signal to driven sprocket 120 from static, and the first energizing signal trigger control unit starts drive sprocket turn signal to count.Finally, thus the distance that control unit turns over according to the step size computation driven sprocket 120 of the count value of drive sprocket turn signal and drive sprocket turn signal obtains move distance.
In the 3rd embodiment, as shown in Figure 3, supporting leg stroke detection unit comprises the first sprocket wheel test section 310 and the second sprocket wheel test section 320.In the time that driven sprocket 120 rotates an angle, the first sprocket wheel test section 310 sends a driven sprocket turn signal; In the time that drive sprocket 110 rotates an angle, the second sprocket wheel test section sends a drive sprocket turn signal.To become first driven sprocket turn signal that when motion produces be the first energizing signal to driven sprocket 120 from static.Control unit is measured by drive sprocket and is started to turn to the first distance that produces chain process between the first energizing signal, and this distance is because chain exists certain lax causing.Now, the move distance of supporting leg is the poor of the total length that turns over of drive sprocket and this first distance.
Preferably, construction machinery and equipment also comprises the motor and the electric proportional valve being connected with motor for driving drive sprocket 110, and controller is by the rotating speed of the drive current control motor of control electric proportional valve, to control the kinematic velocity of supporting leg.For example, in the time need to increasing the speed of supporting leg, can increase the drive current of electric proportional valve, thereby can make motor accelerate.Otherwise, in the time need to reducing the speed of supporting leg, can reduce the drive current of electric proportional valve, thereby reduce the speed of motor.
Because range is not the integral multiple of chain pitch conventionally, and approach switch can only detect the integer-valued position of chain pitch.Therefore, although the result that approach switch detects has shown that supporting leg is in primary importance and the second place,, in fact not yet reach the state that completely shrinks or completely stretch out.For example, the actual range of supporting leg is 100.5, and primary importance and the second place can only be corresponding to the values of the integral multiple of pitch, and primary importance is 0, the second place is 100.Now, although the actual position of the supporting leg recording by approach switch is to be positioned at 0 or 100 places, in fact also have the distance of 0.5 pitch not cover.
For this reason, primary importance, actual position and the second place are converted into the primary importance pitch value corresponding with the pitch of chain, actual position pitch value and second place pitch value by control unit, in the time that actual position pitch value equals primary importance pitch value or second place pitch value, control unit control supporting leg continues operation predetermined time with second speed.Like this, supporting leg can be covered with second speed V2 the distance of remaining 0.5 pitch, thereby has played the effect of compensation.
As a second aspect of the present invention, provide a kind of control method of supporting leg of construction machinery and equipment.Supporting leg is positioned at primary importance while contraction completely, supporting leg is positioned at the second place while stretching out completely; It is characterized in that, control method comprises:
Step 2, according to the actual position of move distance calculating supporting leg;
Step 3, at supporting leg, in the process of primary importance or second place motion, in the time that the distance between actual position and primary importance or the second place is less than setting value, the speed of controlling supporting leg is reduced to second speed by First Speed.
Like this, can make supporting leg arrive at primary importance or the second place in lower speed, thereby, the impact to hydraulic efficiency pressure system reduced.
Preferably, step 3 also comprises: store the stop position of last supporting leg, and using stop position as current reference position; The sense of motion that detects supporting leg, in the time detecting that supporting leg carries out stretching motion, actual position is reference position and move distance sum; In the time that flexible direction detecting unit 200 detects that supporting leg carries out contractile motion, actual position is the poor of reference position and move distance.
Preferably, this control method also comprises: first and second point are set in the drive sprocket of construction machinery and equipment or the slewing area of driven sprocket, detect respectively drive sprocket or driven sprocket by first turn to second point the first clocking value T1 of process and drive sprocket or driven sprocket by second point turn to first the second clocking value T2 of process; In the time that the first clocking value T1 is less than the second clocking value T2, supporting leg moves along first direction; In the time that the first clocking value T1 is greater than the second clocking value T2, supporting leg moves along second direction, and the opposite direction of first direction and second direction.Further, supporting leg 100 carries out stretching motion while moving along first direction, and supporting leg 100 carries out contractile motion while moving along second direction, and vice versa.Carrying out contractile motion.Therefore, can judge by the method the flexible direction of supporting leg.
Preferably, step 3 also comprises: the rotation of the driven sprocket of work machine, the pitch turning over according to driven sprocket is calculated move distance.
Preferably, control method also comprises: step 4, is converted into the primary importance pitch value corresponding with the chain pitch of construction machinery and equipment, actual position pitch value and second place pitch value by primary importance, actual position and the second place; In the time that actual position pitch value equals primary importance pitch value or second place pitch value, control supporting leg and continue operation predetermined time with second speed.
As a third aspect of the present invention, a kind of construction machinery and equipment is provided, comprise supporting leg and for controlling the control setup of supporting leg, this control setup is the control setup in the various embodiments described above.
These are only the preferred embodiments of the present invention, be not limited to the present invention, for a person skilled in the art, the present invention can have various modifications and variations.Within the spirit and principles in the present invention all, any modification of doing, be equal to replacement, improvement etc., within all should being included in protection scope of the present invention.
Claims (13)
1. a control setup for the supporting leg of construction machinery and equipment, is characterized in that, comprising:
Supporting leg stroke detection unit, it is for detection of the move distance of described supporting leg (100);
Control unit, described control unit is connected with described supporting leg stroke detection unit, and described control unit calculates the actual position of described supporting leg (100) according to described move distance;
Described supporting leg (100) is positioned at primary importance while contraction completely, described supporting leg (100) is positioned at the second place while stretching out completely;
At described supporting leg (100) in the process of described primary importance or described second place motion, in the time that the distance between described actual position and described primary importance or the second place is less than setting value, the speed of supporting leg (100) is reduced to second speed (V2) by First Speed (V1) described in described control unit control;
Described construction machinery and equipment comprises drive sprocket (110), driven sprocket (120) and chain (130), described chain (130) is upper around described drive sprocket (110) and described driven sprocket (120), and described supporting leg (100) is connected with described chain (130);
Described supporting leg stroke detection unit comprises the first sprocket wheel test section (310), and in the time of an angle of described driven sprocket (120) rotation, described the first sprocket wheel test section (310) sends a driven sprocket turn signal;
Described control unit according to driven sprocket (120) described in the number of described driven sprocket turn signal and step size computation thus the distance turning over obtains described move distance.
2. control setup according to claim 1, it is characterized in that, described control setup also comprises flexible direction detecting unit (200), the stop position of the last described supporting leg of described control unit storage (100), and using described stop position as current reference position;
In the time that described flexible direction detecting unit (200) detects that described supporting leg (100) carries out stretching motion, described actual position is described reference position and described move distance sum;
In the time that described flexible direction detecting unit (200) detects that described supporting leg (100) carries out contractile motion, described actual position is the poor of described reference position and described move distance.
3. control setup according to claim 2, is characterized in that,
Described construction machinery and equipment comprises drive sprocket (110), driven sprocket (120) and chain (130), described chain (130) is upper around described drive sprocket (110) and described driven sprocket (120), and described supporting leg (100) is connected with described chain (130);
Described flexible direction detecting unit (200) comprises the first rotation detecting unit (210) and the second rotation detecting unit (220), and described the first rotation detecting unit (210) is arranged on respectively the position relative with described drive sprocket (110) or described driven sprocket (120) regularly with the second rotation detecting unit (220);
Whenever described drive sprocket (110) or described driven sprocket (120) rotate a circle, described the first rotation detecting unit (210) and described the second rotation detecting unit (220) are sent respectively the first rotating and are judged that signal and the second rotating judge signal;
Described control unit comprises the first time meter and the second time meter,
Described the first time meter judges that in described the first rotating signal starts timing while generation, and judges that in described the second rotating signal stops timing while generation, to produce the first clocking value;
Described the second time meter judges that in described the second rotating signal starts timing while generation, and judges that in described the first rotating signal stops timing while generation, to produce the second clocking value;
In the time that described the first clocking value is less than described the second clocking value, described control unit judges that described supporting leg (100) moves by first direction, in the time that described the first clocking value is greater than described the second clocking value, described control unit judges that described supporting leg (100) is by second direction motion, the opposite direction of described first direction and described second direction.
4. control setup according to claim 3, is characterized in that, described supporting leg (100) carries out stretching motion in the time that described first direction moves; Described supporting leg (100) carries out contractile motion in the time that described second direction is moved.
5. control setup according to claim 1, is characterized in that, described the first sprocket wheel test section (310) is approach switch, and described step-length is the pitch of described chain (130).
6. control setup according to claim 1, it is characterized in that, described construction machinery and equipment also comprises the motor and the electric proportional valve being connected with described motor for driving described drive sprocket (110), described control unit is by the rotating speed of motor described in the drive current control of the described electric proportional valve of control, to control the kinematic velocity of described supporting leg.
7. control setup according to claim 5, it is characterized in that, described primary importance, actual position and the second place are converted into the primary importance pitch value corresponding with the pitch of described chain, actual position pitch value and second place pitch value by described control unit, in the time that described actual position pitch value equals described primary importance pitch value or described second place pitch value, supporting leg continues operation predetermined time with described second speed described in described control unit control.
8. control setup according to claim 1, is characterized in that, in the time of described supporting leg setting in motion, the speed of described supporting leg starts to be increased to described First Speed by rate of onset.
9. the control method of the supporting leg of a construction machinery and equipment, described construction machinery and equipment comprises drive sprocket, driven sprocket and chain, described chain is on described drive sprocket and described driven sprocket, described supporting leg is connected with described chain, described supporting leg is positioned at primary importance while contraction completely, described supporting leg is positioned at the second place while stretching out completely; It is characterized in that, described control method comprises:
Step 1, detects the move distance of described supporting leg;
Step 2, calculates the actual position of described supporting leg according to described move distance;
Step 3, at described supporting leg, in the process of described primary importance or second place motion, in the time that the distance between described actual position and described primary importance or the second place is less than setting value, the speed of controlling described supporting leg is reduced to second speed by First Speed;
Described step 3 also comprises:
Detect the rotation of the driven sprocket (120) of described construction machinery and equipment, the pitch turning over according to described driven sprocket (120) is calculated described move distance.
10. control method according to claim 9, is characterized in that, described step 3 also comprises:
Store the stop position of last described supporting leg, and using described stop position as current reference position;
Detect the sense of motion of described supporting leg, in the time detecting that described supporting leg carries out stretching motion, described actual position is described reference position and described move distance sum; In the time detecting that described supporting leg carries out contractile motion, described actual position is the poor of described reference position and described move distance.
11. control methods according to claim 10, it is characterized in that, first and second point are set in the drive sprocket of described construction machinery and equipment or the slewing area of driven sprocket, detect respectively described drive sprocket or driven sprocket by described first turn to described second point first clocking value (T1) of process and described drive sprocket or driven sprocket by described second point turn to described first second clocking value (T2) of process;
In the time that described the first clocking value (T1) is less than described the second clocking value (T2), described supporting leg is carrying out stretching motion; In the time that described the first clocking value (T1) is greater than described the second clocking value (T2), described supporting leg is carrying out contractile motion.
12. control methods according to claim 10, is characterized in that, described control method also comprises:
Step 4, is converted into the primary importance pitch value corresponding with the chain pitch of described construction machinery and equipment, actual position pitch value and second place pitch value by described primary importance, actual position and the second place; In the time that described actual position pitch value equals described primary importance pitch value or described second place pitch value, control described supporting leg and continue operation predetermined time with described second speed.
13. 1 kinds of construction machinery and equipments, comprise supporting leg and for controlling the control setup of described supporting leg, it is characterized in that, described control setup is the control setup described in any one in claim 1-8.
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| CN201110439030.9A CN102490700B (en) | 2011-12-23 | 2011-12-23 | Engineering machine and control device and control method of supporting leg of engineering machine |
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| CN201110439030.9A CN102490700B (en) | 2011-12-23 | 2011-12-23 | Engineering machine and control device and control method of supporting leg of engineering machine |
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| CN102490700B true CN102490700B (en) | 2014-05-21 |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103625441B (en) * | 2013-12-13 | 2016-09-21 | 中联重科股份有限公司 | Control system and control method of support leg |
| NL2018422B1 (en) * | 2017-02-24 | 2018-09-17 | N V Holmatro | Extrication rescue tool |
| CN110481518A (en) * | 2018-05-14 | 2019-11-22 | 北京凌云智能科技有限公司 | Control method, device and the electronic device of auxiliary support wheel |
| CN108723680B (en) * | 2018-08-15 | 2020-02-14 | 宿州市徽腾知识产权咨询有限公司 | Landing leg welding equipment for engineering machinery |
| CN112196865B (en) * | 2020-09-30 | 2023-01-24 | 三一汽车制造有限公司 | Control method for support leg of working machine and working machine |
| CN112977356B (en) * | 2021-03-30 | 2022-07-29 | 三一汽车制造有限公司 | Supporting leg folding and unfolding control method of working vehicle and working vehicle |
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