CN103625441A - Control system and control method of landing legs - Google Patents
Control system and control method of landing legs Download PDFInfo
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- CN103625441A CN103625441A CN201310684675.8A CN201310684675A CN103625441A CN 103625441 A CN103625441 A CN 103625441A CN 201310684675 A CN201310684675 A CN 201310684675A CN 103625441 A CN103625441 A CN 103625441A
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Abstract
The invention discloses a control system of landing legs. The landing legs at least comprise a fixed landing leg, a movable landing leg, a hydraulic cylinder and a proportional electromagnetic valve, wherein the fixed landing leg and the movable landing leg are mutually nested; the hydraulic cylinder is arranged between the fixed landing leg and the movable landing leg and used for driving the fixed landing leg and the movable landing leg to relatively stretch; the proportional electromagnetic valve is connected with the hydraulic cylinder and used for controlling the stretching speed of the movable landing leg. The control system comprises a sensor system and a controller coupled to the sensor system, wherein the sensor system is used for detecting the relative position of the fixed landing leg and the movable landing leg; the controller is coupled to the proportional electromagnetic valve and used for outputting a corresponding control signal to the proportional electromagnetic valve according to the detected opposite position, so as to control the stretching speed of the movable landing leg. The invention also discloses a control method corresponding to the control system of the landing legs. In the manner, the stretching speed of the movable landing leg relative to the fixed landing leg can be controlled and adjusted according to the relative position of the fixed landing leg and the movable landing leg detected by the sensor system.
Description
Technical field
The present invention relates to mechanical equipment field, particularly relate to a kind of control system and control method of supporting leg.
Background technology
The horizontal support legs oil cylinder that is applied at present engineering mechanical device is controlled the turnover oil of oil cylinder by 3-position 4-way switch electromagnetic valve, and then level of control supporting leg is flexible.Inspection AQL supporting leg is installed on vehicle frame fixed supporting leg and entirely stretches the approach switch of partly stretching, on movable supporting legs, have and entirely stretch the sensor block of partly stretching, when corresponding sensor block overlaps with approach switch position, approach switch lamp is bright, shows that landing leg stretching is to entirely stretching or partly stretch position.
Support oil cylinder turnover oil adopts switch electromagnetic valve to control, can only control the flexible of supporting leg, its flexible speed can not regulate, when partly being reached, supporting leg is easy to break through head, operating mode is partly stretched in difficult realization accurately, has much relations, if lack experience with operator's experience, partly stretch operating mode and hang and carry partly not stretching position, easily initiation potential.
Therefore, need to provide a kind of control system and control method thereof of supporting leg, to address the above problem.
Summary of the invention
The invention provides control system and the control method thereof of supporting leg, the technical matters that can prior art can not control outrigger stretching speed in conjunction with actual operating mode.
For solving the problems of the technologies described above, the technical scheme that the present invention adopts is: the control system that a kind of supporting leg is provided, this supporting leg at least comprises fixed supporting leg and the movable supporting legs of mutually nested setting, be arranged between fixed supporting leg and movable supporting legs and for driving fixed supporting leg flexible hydraulic ram relative to movable supporting legs and being connected with hydraulic ram and for controlling the proportion magnetic valve of movable supporting legs stretching speed, control system comprises sensing system and the controller coupling with sensing system, sensing system is for detection of the relative position of fixed supporting leg and movable supporting legs, controller and proportion magnetic valve couple and control signal to accordingly proportion magnetic valve to control the stretching speed of movable supporting legs for exporting according to the relative position detecting.
Wherein, relative position is corresponding with the extension elongation of movable supporting legs, and sensing system comprises successively primary importance sensing unit, second place sensing unit and the 3rd location sensitive unit for detection of three ascending relative positions of the extension elongation of movable supporting legs.
Wherein, primary importance sensing unit is full reduced location sensitive unit, second place sensing unit is for partly stretching location sensitive unit, the 3rd location sensitive unit is for entirely stretching location sensitive unit, primary importance sensing unit, second place sensing unit and the 3rd location sensitive unit couple with controller respectively, primary importance sensing unit is for sending first signal to controller detecting when movable supporting legs is positioned at full reduced position, second place sensing unit is for being positioned at while partly stretching position and sending secondary signal to controller movable supporting legs being detected, the 3rd location sensitive unit is for being positioned at while entirely stretching position and sending the 3rd signal to controller movable supporting legs being detected.
Wherein, sensing system also comprises for detection of the speed of entirely the stretching switching position sensing unit of entirely stretching the speed of entirely the stretching switching position between Yu Banshen position, position, entirely stretch the contiguous position of entirely stretching of speed switching position, controller with entirely stretch that speed switching position sensing unit couples and to movable supporting legs, be positioned at while entirely stretching speed switching position by the speed of stretching out or retracting of control ratio electromagnetic valve change movable supporting legs entirely stretching speed switching position sensing units sense.
Wherein, sensing system also comprise for detection of entirely stretch the first half between Yu Banshen position, position stretch the first half of speed switching position stretch speed switching position sensing unit and for detection of Yu Banshen position, full reduced position between the second half stretch the second half of speed switching position and stretch speed switching position sensing unit, the first half stretch speed switching position and the second half stretches speed switching position and closes on and partly stretch position, controller and the first half is stretched that speed switching position sensing unit and the second half stretches that speed switching position sensing unit couples and the first half, is stretched speed switching position sensing unit and the second half and stretch speed switching position sensing units sense and to movable supporting legs, be positioned at the first half and stretch speed switching position and the second half and by control ratio electromagnetic valve, change the speed of stretching out or retracting of movable supporting legs while stretching speed switching position.
Wherein, full reduced location sensitive unit comprises full reduced location sensitive piece and full reduced location sensitive switch, full reduced location sensitive piece is arranged on movable supporting legs and one end of stretching out direction of contiguous movable supporting legs arranges, one end setting that full reduced location sensitive switch is arranged on fixed supporting leg and contiguous movable supporting legs stretches out direction is so that movable supporting legs full reduced location sensitive piece and the coincidence of full reduced location sensitive switch when full reduced position, partly stretching location sensitive unit comprises and partly stretches location sensitive piece and partly stretch location sensitive switch, partly stretch location sensitive piece and be arranged on the middle part of movable supporting legs, partly stretch that location sensitive switch is arranged on fixed supporting leg and one end that contiguous movable supporting legs stretches out direction arranges so that movable supporting legs is partly stretched location sensitive piece and partly stretched the coincidence of location sensitive switch when partly stretching position, entirely stretching location sensitive unit comprises and entirely stretches location sensitive piece and entirely stretch location sensitive switch, entirely stretch that location sensitive piece is arranged on movable supporting legs and one end of contiguous movable supporting legs retracted orientation arranges so that movable supporting legs is entirely stretched location sensitive piece when entirely stretching position and entirely stretch the coincidence of location sensitive switch, controller and full reduced location sensitive switch, partly stretch location sensitive switch and entirely stretch location sensitive switch and couple to receive first signal, secondary signal or the 3rd signal.
Wherein, entirely stretching speed switching position sensing unit comprises and entirely stretches speed switching position sensor block and entirely stretch speed switching position inductive switch, entirely stretching speed switching position sensor block is arranged on movable supporting legs and is entirely stretching location sensitive piece and partly stretching vicinity between location sensitive piece and entirely stretch the setting of location sensitive piece, entirely stretch that speed switching position inductive switch is arranged on fixed supporting leg and one end that contiguous movable supporting legs stretches out direction arranges so that movable supporting legs is positioned at and while entirely stretching speed switching position, entirely stretches speed switching position sensor block and entirely stretch the coincidence of speed switching position inductive switch, the first half stretch speed switching position sensing unit comprises that the first half stretch speed switching position sensor block and the first half and stretch speed switching position inductive switch, the first half stretch that speed switching position sensor block is arranged on movable supporting legs and contiguously between location sensitive piece partly stretch the setting of location sensitive piece entirely stretching location sensitive piece and partly stretching, the first half stretch that speed switching position inductive switch is arranged on fixed supporting leg and contiguous movable supporting legs stretches out direction one end arranges the first half stretches speed switching position sensor block and the first half and stretches speed switching position inductive switch and overlap while stretching speed switching position so that movable supporting legs is positioned at the first half, controller respectively with entirely stretch speed switching position inductive switch and the first half and stretch speed switching position inductive switch and couple.
For solving the problems of the technologies described above, another technical solution used in the present invention is: the control method that a kind of supporting leg is provided, this supporting leg at least comprises fixed supporting leg and the movable supporting legs of mutually nested setting, and movable supporting legs relatively fixed supporting leg stretches and is scalable to ,Ban Shen position, full reduced position and entirely stretches position, this control method comprises: when movable supporting legs stretches out in process, whether detected activity supporting leg is positioned at full reduced position; If be positioned at, entirely stretch position, whether detected activity supporting leg is in extending out to the pattern of partly stretching position; If in extending out to the pattern of partly stretching position, movable supporting legs detected and be positioned at the speed of stretching out of the second half supporting legs of switching activity while stretching speed switching position; Arrive stretching out of the supporting leg of stopping action while partly stretching position movable supporting legs being detected.
Wherein, if be positioned at, entirely stretch position, whether detected activity supporting leg also comprises after the step in extending out to the pattern of partly stretching position: if not in extending out to the pattern of partly stretching position, whether detected activity supporting leg is in extending out to the pattern of entirely stretching position; If in extending out to the pattern of entirely stretching position, movable supporting legs detected and be positioned at the speed of stretching out of switching activity supporting leg while entirely stretching speed switching position; Arrive and to stop stretching out of supporting leg while entirely stretching position movable supporting legs being detected.
Wherein, when movable supporting legs stretches out in process, the step whether detected activity supporting leg is positioned at full reduced position also comprises afterwards: if be not positioned at full reduced position, whether detected activity supporting leg is positioned at and partly stretches position; If be positioned at, partly stretch position, the detected activity supporting leg pattern of entirely stretching position in extending out to whether; If the pattern of entirely stretching position in extending out to, is detecting movable supporting legs and is being positioned at the speed of stretching out of switching activity supporting leg while entirely stretching speed switching position; Arrive and to stop stretching out of supporting leg while entirely stretching position movable supporting legs being detected.
The invention has the beneficial effects as follows: the situation that is different from prior art, the present invention is coupled and can be controlled the stretching speed of adjusting the relative fixed supporting leg of movable supporting legs according to the relative position of the fixed supporting leg of sensor system senses and movable supporting legs by Set scale electromagnetic valve and sensing system and controller, thereby can avoid too fast fixed supporting leg and the movable supporting legs of causing of stretching speed under various flexible operating modes disconnect or other accidents occur.
Accompanying drawing explanation
Fig. 1 is the principle schematic of the control system of supporting leg of the present invention;
Fig. 2 is the structural representation of supporting leg of the present invention;
Fig. 3 is the schematic diagram of the hydraulic control circuit of supporting leg of the present invention;
Fig. 4 is the distribution schematic diagram of sensing system of the present invention on supporting leg;
Fig. 5 is the diagram of circuit of control method first embodiment of supporting leg of the present invention;
Fig. 6 is the diagram of circuit of control method second embodiment of supporting leg of the present invention;
Fig. 7 is the diagram of circuit of control method the 3rd embodiment of supporting leg of the present invention.
The specific embodiment
Below in conjunction with drawings and Examples, the present invention will be described in detail.
Incorporated by reference to consulting Fig. 1-Fig. 3, Fig. 1 is the principle schematic of the control system of supporting leg of the present invention, and Fig. 2 is the structural representation of supporting leg of the present invention.Fig. 3 is the schematic diagram of the hydraulic control circuit of supporting leg of the present invention.In the present embodiment, supporting leg comprises: fixed supporting leg 10, movable supporting legs 11, hydraulic ram 12, secondary movable supporting legs 13, vertical leg 14 and rope-arranging mechanism 15.
Fixed supporting leg 10 and the mutually nested setting of movable supporting legs 11, particularly, movable supporting legs 11 is nested in fixed supporting leg 10 in the present embodiment, and secondary movable supporting legs 13 is nested in movable supporting legs 12.
Rope-arranging mechanism 15 is for driving secondary movable supporting legs 13 and movable supporting legs 11 synchronization telescopes.
In other embodiments, supporting leg also can comprise three joints, four joint or five joint etc., for example, three joint supporting legs on the basis of the present embodiment, further comprises three grades of movable supporting legs that are nested in secondary movable supporting legs.
As shown in Figure 3, the hydraulic control circuit of supporting leg comprises: hydraulic reservoir 16, Hydraulic Pump 17, by pass valve 18, proportion magnetic valve 19 and hydraulic ram 12.During supporting leg action, left position or the right position of the pressure oil passing ratio electromagnetic valve 19 of Hydraulic Pump 17 enter hydraulic ram 12, control the expanding-contracting action of hydraulic ram 12, by the current signal size of control ratio electromagnetic valve 19, adjusting enters the flow of hydraulic ram 12, and then controls the stretching speed of supporting leg.By pass valve 18 is controlled the pressure in whole loop, plays safety effect.In other embodiments, the quantity of hydraulic ram can be also a plurality of, corresponding a plurality of supporting legs and a plurality of proportion magnetic valve.
Control system comprises sensing system 21 and controller 20.Sensing system 21 is arranged on supporting leg, the relative position for detection of fixed supporting leg 10 with movable supporting legs 11.Controller 20 couples with proportion magnetic valve 19 and controls signal to accordingly proportion magnetic valve 19 to control the stretching speed of movable supporting legs 11 for exporting according to the relative position detecting.
Please further consult Fig. 4, Fig. 4 is the distribution schematic diagram of sensing system of the present invention on supporting leg.Fig. 4 illustrates the birds-eye view of movable supporting legs 11 and the part birds-eye view of fixed supporting leg 10.Fixed supporting leg 10 is corresponding with the extension elongation of movable supporting legs 11 with the relative position of movable supporting legs 11.Sensing system comprises successively primary importance sensing unit, second place sensing unit and the 3rd location sensitive unit for detection of three ascending relative positions of the extension elongation of movable supporting legs.In the present embodiment, primary importance sensing unit is full reduced location sensitive unit, and second place sensing unit is for partly stretching location sensitive unit, the 3rd location sensitive unit for entirely stretching location sensitive unit.Three relative positions are followed successively by: full reduced position 31, partly stretch position 32 and entirely stretch position 33.
Primary importance sensing unit, second place sensing unit and the 3rd location sensitive unit couple with controller 20 respectively.
Primary importance sensing unit is for sending first signal and be coupled to indirectly described in full and be mutually electrically connected by resistance capacitance or other elements to controller 20(detecting when movable supporting legs 11 is positioned at full reduced position, can certainly directly be electrically connected, the object coupling is the transmission for electric signal).
Second place sensing unit is for being positioned at while partly stretching position and sending secondary signal to controller 20 movable supporting legs 11 being detected.
The 3rd location sensitive unit is for being positioned at while entirely stretching position and sending the 3rd signal to controller 20 movable supporting legs 11 being detected.
Sensing system also comprise for detection of entirely stretch position 33 and partly stretch the first half between position 32 stretch the first half of speed switching position 34 stretch speed switching position sensing unit and for detection of full reduced position 31 and partly stretch the second half between position 32 and stretch the second half of speed switching position 36 and stretch speed switching position sensing unit, the first half stretch speed switching position 34 and the second half stretches speed switching position 36 and closes on and partly stretch position 32, controller 20 and the first half is stretched that speed switching position sensing unit and the second half stretches that speed switching position sensing unit couples and the first half, is stretched speed switching position sensing unit and the second half and stretch speed switching position sensing units sense and to movable supporting legs 11, be positioned at the first half and stretch speed switching position 34 and the second half and by control ratio electromagnetic valve 19, change the speed of stretching out or retracting of movable supporting legs while stretching speed switching position 36.
Sensing system also comprises for detection of entirely stretching position 33 and partly stretching the speed of entirely the stretching switching position sensing unit of the speed of entirely the stretching switching position 35 between position 32, entirely stretch the contiguous position 33 of entirely stretching of speed switching position 35, controller 20 with entirely stretch that speed switching position sensing unit couples and to movable supporting legs 11, be positioned at while entirely stretching speed switching position by the speed of stretching out or retracting of control ratio electromagnetic valve 19 change movable supporting legs entirely stretching speed switching position sensing units sense.
In the present embodiment, full reduced location sensitive unit comprises full reduced location sensitive piece 41 and full reduced location sensitive switch 51, full reduced location sensitive piece 41 be arranged on movable supporting legs 11 and one end of stretching out direction of contiguous movable supporting legs 11 (as shown in Figure 4, be close to the right-hand member of movable supporting legs 11) arrange, one end that full reduced location sensitive switch 51 is arranged on fixed supporting leg 10 and contiguous movable supporting legs 11 stretches out direction (as shown in Figure 4, be close to the right-hand member of fixed supporting leg 10) arrange so that movable supporting legs 11 full reduced location sensitive piece 41 and 51 coincidences of full reduced location sensitive switch when full reduced position 31.
Partly stretching location sensitive unit comprises and partly stretches location sensitive piece 42 and partly stretch location sensitive switch 52, partly stretch location sensitive piece 42 and be arranged on the middle part of movable supporting legs 11, partly stretch that location sensitive switch 52 is arranged on fixed supporting leg 10 and one end (as shown in Figure 4, i.e. the right-hand member of contiguous fixed supporting leg 10) that contiguous movable supporting legs stretches out direction arranges so that movable supporting legs 11 is partly stretched location sensitive piece 42 and partly stretched 52 coincidences of location sensitive switch when partly stretching position 32.
Entirely stretching location sensitive unit comprises and entirely stretches location sensitive piece 43 and entirely stretch location sensitive switch 51,52.(it should be noted that, entirely stretching location sensitive switch 51,52 and above-mentioned full reduced location sensitive switch 51 and partly stretching location sensitive switch 52 of the present embodiment is multiplexing, can be cost-saving, in other embodiments, entirely stretch location sensitive switch and also can arrange separately).Entirely stretch that location sensitive piece 43 is arranged on movable supporting legs 11 and one end of contiguous movable supporting legs 11 retracted orientations (as shown in Figure 4, i.e. the left end of contiguous movable supporting legs 10) arranges so that movable supporting legs 11 is entirely stretched location sensitive piece 43 and entirely stretched 51,52 coincidences of location sensitive switch when entirely stretching position 33.
Controller 20 is with full reduced location sensitive switch 51, partly stretch location sensitive switch 52 and entirely stretch location sensitive switch 51,52 and couple to receive first signal, secondary signal or the 3rd signal.Preferably, full reduced location sensitive switch 51, partly stretch location sensitive switch 52 and entirely stretch location sensitive switch 51,52 and include indicator lamp.Movable supporting legs 11 full reduced location sensitive piece 41 and full reduced location sensitive switch 51 when full reduced position 31 overlaps, the indicator lamp of full reduced location sensitive switch 51 bright and send first signal to controller 20 prompting controller 20 movable supporting legs 11 in full reduced position 31; Movable supporting legs 11 is partly stretched location sensitive piece 42 and is partly stretched location sensitive switch 52 and overlaps when partly stretching position 32, partly stretches the indicator lamp of location sensitive switch 52 bright and send secondary signal to controller 20 prompting controller 20 movable supporting legs 11 and partly stretching position 32; Movable supporting legs 11 is entirely stretched location sensitive piece 43 and is entirely stretched location sensitive switch 51,52 and overlaps when entirely stretching position 33, entirely stretches the indicator lamp of location sensitive switch 51,52 bright and send the 3rd signal to controller 20 prompting controller 20 movable supporting legs 11 and entirely stretching position 33.
Entirely stretching speed switching position sensing unit comprises and entirely stretches speed switching position sensor block 44 and entirely stretch speed switching position inductive switch 53, entirely stretching speed switching position sensor block 44 is arranged on movable supporting legs 11 and is entirely stretching location sensitive piece 43 and partly stretching vicinity between location sensitive piece 42 and entirely stretch 43 settings of location sensitive piece, entirely stretch that speed switching position inductive switch 53 is arranged on fixed supporting leg 10 and one end that contiguous movable supporting legs 11 stretches out direction (as shown in Figure 4, the i.e. right-hand member of contiguous fixed supporting leg 10) arrange so that movable supporting legs 11 is positioned at and while entirely stretching speed switching position 35, entirely stretch speed switching position sensor block 44 and entirely stretch 53 coincidences of speed switching position inductive switch.
The first half stretch speed switching position sensing unit comprises that the first half stretch speed switching position sensor block 45 and the first half and stretch speed switching position inductive switch 54,53(it should be noted that, the first half of the present embodiment stretches speed switching position inductive switch 53 and above-mentioned entirely to stretch speed switching position inductive switch 53 multiplexing, can be cost-saving, in other embodiments, the first half stretch speed switching position inductive switch also can arrange separately), the first half stretch that speed switching position sensor block 45 is arranged on movable supporting legs 11 and arrange entirely stretching location sensitive piece 43 and partly stretching the contiguous location sensitive piece 42 of partly stretching between location sensitive piece 42, the first half stretch speed switching position inductive switch 54,53 be arranged on fixed supporting leg 10 and one end that contiguous movable supporting legs 11 stretches out direction (as shown in Figure 4, the i.e. right-hand member of contiguous fixed supporting leg 10) arrange so that movable supporting legs 11 is positioned at the first half and the first half stretch speed switching position sensor block 45 and the first half and stretch speed switching position inductive switch 54 while stretching speed switching position 34,53 overlap.
The second half stretch speed switching position sensing unit comprises that the second half stretch speed switching position sensor block 46 and the second half and stretch speed switching position inductive switch 54(and it should be noted that, the second half of the present embodiment is stretched speed switching position inductive switch 54 and above-mentioned the first half, and to stretch speed switching position inductive switch 54 multiplexing, can be cost-saving, in other embodiments, the second half stretch speed switching position inductive switch and also can arrange separately).The second half stretch speed switching position sensor block 46 and the second half stretches speed switching position sensor block 46 and is arranged on movable supporting legs 11 and at full reduced location sensitive piece 41 and partly stretches the contiguous location sensitive piece 42 of partly stretching between location sensitive piece 42 and arrange, the second half stretch speed switching position inductive switch 54 is arranged on fixed supporting leg 10 and contiguous movable supporting legs 11 stretches out one end (as shown in Figure 4, i.e. the right-hand member of contiguous fixed supporting leg 10) of direction and the second half stretches speed switching position sensor block 46 and the second half and stretch speed switching position inductive switch 54 and overlap while stretching speed switching position 36 so that movable supporting legs 11 is positioned at the second half.
Controller 20 respectively with entirely stretch speed switching position inductive switch 53, the first half stretch speed switching position inductive switch 54,53 and the second half stretch speed switching position inductive switch 54 couples, entirely stretch speed switching position inductive switch 53, the first half stretch speed switching position inductive switch 54,53 and the second half stretch speed switching position inductive switch 54 includes indicator lamp, movable supporting legs 11 is positioned at while entirely stretching speed switching position 35, entirely to stretch speed switching position sensor block 44 and entirely stretch speed switching position inductive switch 53 and overlaps and entirely stretch bright and transmitted signal prompting controller 20 movable supporting legs 11 of the indicator lamp of speed switching position inductive switch 53 and be positioned at and entirely stretch speed switching position 35, movable supporting legs 11 is positioned at the first half and the first half stretches speed switching position sensor block 45 and the first half and stretch speed switching position inductive switch 54 while stretching speed switching position 34,53 overlap, the first half stretch speed switching position inductive switch 54, bright and transmitted signal prompting controller 20 movable supporting legs 11 of 53 indicator lamp are positioned at the first half and stretch speed switching position 34, movable supporting legs 11 is positioned at the second half and the second half stretches speed switching position sensor block 46 and the second half and stretch speed switching position inductive switch 54 and overlap and the second half stretch bright and transmitted signal prompting controller 20 movable supporting legs 11 of the indicator lamp of speed switching position inductive switch 54 and be positioned at the second half and stretch speed switching position 36 while stretching speed switching position 36.Thereby controller 20 corresponding control ratio electromagnetic valve 19 after receiving signal changes the stretching speed of movable supporting legs 11.
Preferably, in the present embodiment, control system also comprises a key operating element, one key operating element arranges separately and is connected with controller 20 or is arranged on controller 20, one key operating element is flexible for one-touch operation supporting leg, for example a key operating element can be button or button module, comprising for control supporting leg extend out to entirely stretch position 33 entirely stretch button, for control supporting leg extend out to partly stretch position 32 partly stretch button, for controlling that supporting leg is retracted to the retract button of full reduced position 31 and for being retracted to the button of partly stretching position 32, certainly also can comprise other button in other embodiments.
Refer to Fig. 5, Fig. 5 is the diagram of circuit of control method first embodiment of supporting leg of the present invention.In the present embodiment, the control method of supporting leg comprises:
Step S11: when movable supporting legs stretches out in process, whether detected activity supporting leg is positioned at full reduced position.
Step S12: entirely stretch position if be positioned at, whether detected activity supporting leg is in extending out to the pattern of partly stretching position.
Step S13: if in extending out to the pattern of partly stretching position, movable supporting legs detected and be positioned at the speed of stretching out of the second half supporting legs of switching activity while stretching speed switching position.
Step S14: arrive stretching out of the supporting leg of stopping action while partly stretching position movable supporting legs being detected.
Refer to Fig. 6, Fig. 6 is the diagram of circuit of control method second embodiment of supporting leg of the present invention.In the present embodiment, the control method of supporting leg comprises:
Step S21: when movable supporting legs stretches out in process, whether detected activity supporting leg is positioned at full reduced position.
In step S21, if so, carry out following steps:
Step S22: whether detected activity supporting leg is in extending out to the pattern of partly stretching position.
In step S22, if so, carry out following steps:
Step S23: movable supporting legs detected and be positioned at the speed of stretching out of the second half supporting legs of switching activity while stretching speed switching position.
Step S24: arrive stretching out of the supporting leg of stopping action while partly stretching position movable supporting legs being detected.
In step S22, if not, carry out following steps:
Step S25: whether detected activity supporting leg is in extending out to the pattern of entirely stretching position.
In step S25, if so, carry out following steps:
Step S26: movable supporting legs detected and be positioned at the speed of stretching out of switching activity supporting leg while entirely stretching speed switching position;
Step S27: arrive and to stop stretching out of supporting leg while entirely stretching position movable supporting legs being detected.
In step S21, if not, carry out following steps:
Step S28: whether detected activity supporting leg is positioned at is partly stretched position;
In step S28, if so, carry out following steps:
Step S29: whether detected activity supporting leg the pattern of entirely stretching position in extending out to.
In step S29, if so, carry out following steps:
Step S30: movable supporting legs detected and be positioned at the speed of stretching out of switching activity supporting leg while entirely stretching speed switching position;
Step S31: arrive and to stop stretching out of supporting leg while entirely stretching position movable supporting legs being detected.
Refer to Fig. 7, Fig. 7 is the diagram of circuit of control method the 3rd embodiment of supporting leg of the present invention.Control method second embodiment of the invention described above supporting leg is only for supporting leg stretches out control flow, and the present embodiment has further increased the control flow that supporting leg is retracted on the basis of control method second embodiment of the invention described above supporting leg.As shown in Figure 7, Fig. 7 only shows the step with respect to the control method second embodiment increase of supporting leg of the present invention, is specially:
Step S41: in the time of in movable supporting legs retraction process, whether detected activity supporting leg is positioned at is stretched position entirely.
In step S41, if so, carry out following steps:
Step S42: whether detected activity supporting leg is in being retracted to the pattern of partly stretching position.
In step S42, if so, carry out following steps:
Step S43: movable supporting legs detected and be positioned at the retraction speed of the first half supporting legs of switching activity while stretching speed switching position.
Step S44: movable supporting legs detected and arrive the retraction of the supporting leg of stopping action while partly stretching position.
In step S42, if not, carry out following steps:
Step S45: whether detected activity supporting leg is in being retracted to the pattern of full reduced position.
In step S45, if so, carry out following steps:
Step S47: the retraction that stops supporting leg when movable supporting legs arrival is stretched position entirely detected.
In step S41, if not, carry out following steps:
Step S48: whether detected activity supporting leg is positioned at is partly stretched position;
In step S48, if so, carry out following steps:
Step S49: whether detected activity supporting leg the pattern of the full reduced position in being retracted to.
In step S49, if so, carry out following steps:
Step S31: the retraction that stops supporting leg when movable supporting legs arrives full reduced position detected.
For example, ,Ban Shen position, ,Quan Shen position, above-mentioned full reduced position, entirely stretch speed switching position and the first half and stretch the detection of speed switching position and realize by the sensing system in the embodiment of the control system of above-mentioned supporting leg, thereby by detecting relative position control ratio electromagnetic valve control rate, switch also and can be realized by the embodiment of the control system of above-mentioned supporting leg, do not repeating herein.
For example, be retracted to full reduced position pattern, be retracted to the pattern of partly stretching position, extend out to the pattern of entirely stretching position, extend out to the pattern of partly stretching position and can be completed by a key operating element.
Technical characterictic that it should be noted that above each embodiment can rearrange and be combined to form new embodiment, is not enumerating herein.
The present invention is coupled and can be controlled the stretching speed of adjusting the relative fixed supporting leg of movable supporting legs according to the relative position of the fixed supporting leg of sensor system senses and movable supporting legs by Set scale electromagnetic valve and sensing system and controller, thereby stretching speed is too fast to be caused fixed supporting leg and movable supporting legs to disconnect or other accidents occur can avoid under various flexible operating modes, the present invention is easier by a key operating element is set makes entirely stretching, partly stretching of supporting leg and be retracted to the operations such as full reduced position in addition.
The foregoing is only embodiments of the present invention; not thereby limit the scope of the claims of the present invention; every equivalent structure or conversion of equivalent flow process that utilizes specification sheets of the present invention and accompanying drawing content to do; or be directly or indirectly used in other relevant technical fields, be all in like manner included in scope of patent protection of the present invention.
Claims (10)
1. the control system of a supporting leg, it is characterized in that, described supporting leg at least comprises fixed supporting leg (10) and the movable supporting legs (11) of mutually nested setting, be arranged between described fixed supporting leg (10) and described movable supporting legs (11) and for driving described fixed supporting leg (10) flexible hydraulic ram relative to described movable supporting legs (11) (12) and being connected with described hydraulic ram (12) and for controlling the proportion magnetic valve (19) of described movable supporting legs (11) stretching speed, described control system comprises sensing system (21) and the controller (20) coupling with described sensing system (21), described sensing system (21) is the relative position with described movable supporting legs (11) for detection of described fixed supporting leg (10), described controller (20) couples with described proportion magnetic valve (19) and controls signal to accordingly described proportion magnetic valve (19) to control the stretching speed of described movable supporting legs (11) for the described relative position output according to detection.
2. control system according to claim 1, it is characterized in that, described relative position is corresponding with the extension elongation of described movable supporting legs (11), and described sensing system (21) comprises successively primary importance sensing unit, second place sensing unit and the 3rd location sensitive unit for detection of three ascending described relative positions of the extension elongation of described movable supporting legs (11).
3. control system according to claim 2, it is characterized in that, described primary importance sensing unit is full reduced location sensitive unit, described second place sensing unit is for partly stretching location sensitive unit, described the 3rd location sensitive unit is for entirely stretching location sensitive unit, described primary importance sensing unit, described second place sensing unit and described the 3rd location sensitive unit couple with described controller (20) respectively, described primary importance sensing unit is for sending first signal to described controller (20) detecting when described movable supporting legs (11) is positioned at full reduced position (31), described second place sensing unit is for being positioned at while partly stretching position (32) and sending secondary signal to described controller (20) described movable supporting legs (11) being detected, described the 3rd location sensitive unit is for being positioned at while entirely stretching position (33) and sending the 3rd signal to described controller (20) described movable supporting legs (11) being detected.
4. control system according to claim 3, it is characterized in that, described sensing system (21) also comprises for detection of described position (33) and the described speed of entirely the stretching switching position sensing unit of partly stretching the speed of entirely the stretching switching position (35) between position (32) entirely stretched, the described contiguous described position (33) of entirely stretching of speed switching position (35) of entirely stretching, described controller (20) is entirely stretched that speed switching position sensing unit couples and to described movable supporting legs (11), is positioned at the described speed of stretching out or retracting that changes described movable supporting legs while entirely stretching speed switching position (35) by the described proportion magnetic valve of control (19) in the described speed switching position sensing units sense of entirely stretching with described.
5. according to the control system described in claim 3 or 4, it is characterized in that, described sensing system (21) also comprise for detection of described entirely stretch position (33) and described partly stretch the first half between position (32) stretch the first half of speed switching position (34) stretch speed switching position sensing unit and for detection of described full reduced position (31) and describedly partly stretch the second half between position (32) and stretch the second half of speed switching position (36) and stretch speed switching position sensing unit, described the first half stretch speed switching position (34) and described the second half stretches speed switching position (36) and closes on the described position (32) of partly stretching, described controller (20) and described the first half is stretched that speed switching position sensing unit and described the second half stretches that speed switching position sensing unit couples and described the first half, is stretched speed switching position sensing unit and the second half and stretch speed switching position sensing units sense and to described movable supporting legs (11), be positioned at described the first half and stretch speed switching position (34) and described the second half and by the described proportion magnetic valve of control (19), change the speed of stretching out or retracting of described movable supporting legs while stretching speed switching position (36).
6. control system according to claim 5, it is characterized in that, described full reduced location sensitive unit comprises full reduced location sensitive piece (41) and full reduced location sensitive switch (51), one end of stretching out direction that described full reduced location sensitive piece (41) is arranged on the upper and contiguous described movable supporting legs of described movable supporting legs (11) (11) arranges, described full reduced location sensitive switch (51) be arranged on that one end that the upper and contiguous described movable supporting legs of described fixed supporting leg (10) (11) stretches out direction arranges so that described movable supporting legs (11) when full reduced position (31) described in full reduced location sensitive piece (41) and described full reduced location sensitive switch (51) coincidence, the described location sensitive unit of partly stretching comprises and partly stretches location sensitive piece (42) and partly stretch location sensitive switch (52), describedly partly stretch the middle part that location sensitive piece (42) is arranged on described movable supporting legs (11), describedly partly stretch that location sensitive switch (52) is arranged on that one end that the upper and contiguous described movable supporting legs of described fixed supporting leg (10) (11) stretches out direction arranges so that described movable supporting legs (11) is partly stretched location sensitive piece (42) described in when partly stretching position (32) and describedly partly stretched location sensitive switch (52) coincidence, the described location sensitive unit of entirely stretching comprises and entirely stretches location sensitive piece (43) and entirely stretch location sensitive switch (51,52), describedly entirely stretch that one end that location sensitive piece (43) is arranged on upper and contiguous described movable supporting legs (11) retracted orientation of described movable supporting legs (11) arranges so that described movable supporting legs (11) is entirely stretched location sensitive piece (43) and entirely stretches location sensitive switch (51 described in when entirely stretching position (33), 52) overlap, described controller (20) and described full reduced location sensitive switch (51), described location sensitive switch (52) and the described location sensitive switch (51 of entirely stretching partly stretched, 52) couple to receive described first signal, described secondary signal or described the 3rd signal.
7. control system according to claim 6, it is characterized in that, the described speed switching position sensing unit of entirely stretching comprises and entirely stretches speed switching position sensor block and entirely stretch speed switching position inductive switch, describedly entirely stretch speed switching position sensor block to be arranged on described movable supporting legs (11) upper and be positioned at the described location sensitive piece (43) of entirely stretching and contiguous describedly between location sensitive piece (42) entirely stretch location sensitive piece (43) setting with described partly stretching, describedly entirely stretch that speed switching position inductive switch is arranged on that one end that the upper and contiguous described movable supporting legs of described fixed supporting leg (10) (11) stretches out direction arranges so that described movable supporting legs (11) is positioned at and describedly entirely stretches speed switching position sensor block described in while entirely stretching speed switching position (35) and the described speed switching position inductive switch of entirely stretching overlaps, described the first half stretch speed switching position sensing unit comprises that the first half stretch speed switching position sensor block (45) and the first half and stretch speed switching position inductive switch (54,53), described the first half stretch speed switching position sensor block (45), and to be arranged on described movable supporting legs (11) upper and be positioned at the described location sensitive piece (43) of entirely stretching and contiguous describedly between location sensitive piece (42) partly stretch location sensitive piece (42) setting with described partly stretching, described the first half stretch speed switching position inductive switch (54,53) being arranged on that one end that the upper and contiguous described movable supporting legs of described fixed supporting leg (10) (11) stretches out direction arranges the first half stretches speed switching position sensor block (45) and described the first half and stretches speed switching position inductive switch (54 described in while stretching speed switching position (34) so that described movable supporting legs (11) is positioned at described the first half, 53) overlap, described controller (20) is stretched speed switching position inductive switch (54 with the described speed switching position inductive switch and described the first half of entirely stretching respectively, 53) couple.
8. the control method of a supporting leg, described supporting leg at least comprises fixed supporting leg and the movable supporting legs of mutually nested setting, and described movable supporting legs can stretch and be scalable to ,Ban Shen position, full reduced position and entirely stretch position by relatively described fixed supporting leg, it is characterized in that, described control method comprises:
In the time of in described movable supporting legs stretches out process, detect described movable supporting legs and whether be positioned at described full reduced position;
If be positioned at the described position of entirely stretching, whether detect described movable supporting legs in extending out to described pattern of partly stretching position;
If in extending out to described pattern of partly stretching position, be positioned at the second half speed of stretching out of switching described movable supporting legs while stretching speed switching position described movable supporting legs being detected;
Arrive described the stretching out of described movable supporting legs that stop while partly stretching position described movable supporting legs being detected.
9. whether control method according to claim 8, is characterized in that, is positioned at the described position of entirely stretching if described, detect described movable supporting legs and after the step in extending out to described pattern of partly stretching position, also comprise:
If not in extending out to described pattern of partly stretching position, whether detect described movable supporting legs in extending out to described pattern of entirely stretching position;
If in extending out to described pattern of entirely stretching position, be positioned at the speed of stretching out of switching described movable supporting legs while entirely stretching speed switching position described movable supporting legs being detected;
Arrive described the stretching out of described supporting leg that stop while entirely stretching position described movable supporting legs being detected.
10. control method according to claim 9, is characterized in that, described in described movable supporting legs stretches out process time, also comprises after detecting the step whether described movable supporting legs be positioned at described full reduced position:
If be not positioned at described full reduced position, detect described movable supporting legs and whether be positioned at the described position of partly stretching;
If be positioned at the described position of partly stretching, detect the whether described pattern of entirely stretching position in extending out to of described movable supporting legs;
If the described pattern of entirely stretching position in extending out to, is positioned at the speed of stretching out of switching described movable supporting legs while entirely stretching speed switching position movable supporting legs being detected;
Arrive described the stretching out of described supporting leg that stop while entirely stretching position described movable supporting legs being detected.
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