CN103640557B - Swing supporting leg mounting structure, control device, system, control method and engineering machinery - Google Patents
Swing supporting leg mounting structure, control device, system, control method and engineering machinery Download PDFInfo
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- CN103640557B CN103640557B CN201310645694.XA CN201310645694A CN103640557B CN 103640557 B CN103640557 B CN 103640557B CN 201310645694 A CN201310645694 A CN 201310645694A CN 103640557 B CN103640557 B CN 103640557B
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- 238000000034 method Methods 0.000 title claims abstract description 27
- 238000010276 construction Methods 0.000 claims description 70
- 125000006850 spacer group Chemical group 0.000 claims description 3
- 239000003921 oil Substances 0.000 description 43
- 230000005484 gravity Effects 0.000 description 7
- 230000002457 bidirectional effect Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 239000010720 hydraulic oil Substances 0.000 description 3
- 230000007547 defect Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 239000004744 fabric Substances 0.000 description 2
- 231100000681 Certain safety factor Toxicity 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
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Abstract
Discloses a swing supporting leg mounting structure, which comprises a swing supporting leg, a machine body and a telescopic driving device, wherein one end of the swing supporting leg is hinged with the machine body, the telescopic driving device is hinged with the swing supporting leg and the machine body, wherein the telescopic driving device comprises a first driving cylinder (3) and a second driving cylinder (4), one of the first driving cylinder (3) and the second driving cylinder (4) is hinged with the machine body, the other one is hinged with the swinging support leg, wherein when the first driving cylinder (3) and the second driving cylinder (4) are completely retracted, the swing supporting leg is in a retracted position, and when the first driving cylinder (3) and the second driving cylinder (4) are completely extended, the swing supporting leg is in an extended position, and one of the first driving cylinder (3) and the second driving cylinder (4) is completely extended, and the other one is in a completely retracted state, and the swinging support leg is in a position of rotating a first angle from the machine body. In addition, the hydraulic control device, the control system, the engineering machinery and the swing support leg matching control method are further disclosed.
Description
Technical field
The present invention relates to a kind of oscillating support leg mounting structure, in addition, the invention still further relates to a kind of hydraulic control device, control system, construction machinery and equipment and oscillating support leg and coordinate control method.
Background technology
The construction machinery and equipments such as concrete pump truck need adopt bracing or strutting arrangement to realize support during work usually, to strengthen stability during work, avoid working load excessive and cause toppling.Each two pairs of supporting legs before and after bracing or strutting arrangement generally comprises, each supporting leg all has packs up and supports two kinds of positions.When moving, need to pack up supporting leg; During construction, need to launch supporting leg, realize supporting.
In prior art, leg-support engineering machinery is divided into two classes according to position residing when packing up: a class is swing type outrigger, and stowed position is in vehicle body side; Another kind is telescopic leg, and stowed position is in chassis.Two kinds of supporting leg modes respectively have merits and faults, and swing type outrigger energy rapid deployment carries out work, but its scantling of structure characteristic limits by Active workings, can not at narrow site construction; Telescopic leg affects by its oad, complex structure, and the weight of getting off must be made very heavy.In conjunction with the merits and faults of above-mentioned two kinds of supporting legs, existing construction machinery and equipment, the supporting leg form swung adopt front stretching as concrete pump truck after.A kind of swing type outrigger control setup of the prior art is shown in Fig. 1, comprise Multi-way valve with support leg and hydraulic ram 1, the piston rod of this hydraulic ram 1 and cylinder body be used for respectively with pump truck underframe and oscillating support leg hinged, and be articulated with described pump truck underframe due to one end of oscillating support leg, so hydraulic ram 1 can drive oscillating support leg to regain and launch.The defect that this swing type outrigger control setup exists is: in the occasion that many working spaces are narrow and small, do not allow supporting leg to do wide swing, at this moment supporting leg cannot launch completely, if carry out the expanded angle of subjective judgement supporting leg with operator, easily causes and tumbles.
Given this, be necessary the oscillating support leg mounting structure that a kind of novel construction machinery and equipment is provided, to overcome or to alleviate above-mentioned defect.
Summary of the invention
First object of the present invention is to provide a kind of oscillating support leg mounting structure of safe and reliable construction machinery and equipment.
Second object of the present invention is to provide a kind of hydraulic control device of construction machinery and equipment.
3rd object of the present invention is to provide a kind of control system of construction machinery and equipment.
4th object of the present invention is to provide a kind of construction machinery and equipment.
5th object of the present invention is to provide a kind of cooperation control method of oscillating support leg.
To achieve these goals, the invention provides a kind of oscillating support leg mounting structure of construction machinery and equipment, comprise oscillating support leg, body and retractable driving device, one end of described oscillating support leg is articulated with described body, described retractable driving device is articulated with described oscillating support leg and described body, at least move between retrieving position and expanded position so that described oscillating support leg can be driven, wherein, described retractable driving device comprises the first driving cylinder and the second driving cylinder that are connected to each other, one in described first driving cylinder and the second driving cylinder and described body hinged, another one and described oscillating support leg hinged, wherein, when described first driving cylinder and the second driving cylinder are retracted completely, described oscillating support leg is in described retrieving position, when described first driving cylinder and the second driving cylinder stretch out completely, described oscillating support leg is in expanded position, under one in described first driving cylinder and the second driving cylinder is stretched out completely, another one is in the state of retracting completely, described oscillating support leg is in the position turning to the first angle from described body.
Preferably, the piston rod of described first driving cylinder is articulated with described body, and the piston rod of described second driving cylinder is articulated with described oscillating support leg, and the cylinder body of described first driving cylinder and described second driving cylinder is formed as one by spacer portion, and mutually coaxial.
Preferably, the cylinder body of described first driving cylinder and described second driving cylinder is arranged in parallel.
In addition, present invention also offers a kind of hydraulic control device of the oscillating support leg mounting structure for the construction machinery and equipment described in technique scheme, wherein, this hydraulic control device comprises the first working oil path and the second working oil path that are connected with oil sources, described first working oil path and described second working oil path connect the rodless cavity of the first driving cylinder of described oscillating support leg mounting structure and the rod chamber of the second driving cylinder respectively, and the rod chamber of described first driving cylinder is connected to described second working oil path, the rodless cavity of described second driving cylinder is operationally communicated with described first working oil path or disconnects.
Preferably, the rodless cavity of described second driving cylinder is connected with described first working oil path by on-off control valve.
In addition, present invention also offers a kind of control system of construction machinery and equipment, wherein, comprise controller, angle sensor, obliquity sensor and according to the hydraulic control device described in technique scheme, described angle sensor is for detecting the pivot angle of the oscillating support leg of described construction machinery and equipment, described obliquity sensor is for detecting the large arm inclination angle of described construction machinery and equipment, and described angle sensor and described obliquity sensor are electrically connected to described controller.
In addition, present invention also offers a kind of construction machinery and equipment, comprise frame, described frame is provided with large arm, wherein, described construction machinery and equipment comprises the oscillating support leg mounting structure according to the construction machinery and equipment described in technique scheme, and the oscillating support leg mounting structure of this project machinery is by controlling according to the control system of the construction machinery and equipment described in technique scheme.
In addition, present invention also offers a kind of cooperation control method of oscillating support leg, described oscillating support leg is articulated with on the body of construction machinery and equipment, wherein, this control method comprises: step a: oscillating support leg is rotated to expanded position, and detect this oscillating support leg relative to the pivot angle of oscillating support leg when being in retrieving position, and make the large arm upward movement of construction machinery and equipment, and detect the inclination angle of this large arm; Step b: as described pivot angle>=the first angle θ
0and the safe angle of inclination beta of described angle of inclination beta>=large arm
0time, described oscillating support leg is supported on ground to support described construction machinery and equipment and to lock described large arm.
Preferably, retractable driving device is provided with between the body of described oscillating support leg and described construction machinery and equipment, this retractable driving device comprises the first driving cylinder and the second driving cylinder that are connected to each other, one in described first driving cylinder and the second driving cylinder and described construction machinery and equipment hinged, another one and described oscillating support leg hinged, wherein, when described first driving cylinder and the second driving cylinder are retracted completely, described oscillating support leg is in described retrieving position, when described first driving cylinder and the second driving cylinder stretch out completely, described oscillating support leg is in described expanded position, and the one in described first driving cylinder and the second driving cylinder is stretched out completely, under another one is in the state of retracting completely, described oscillating support leg is in the midway location rotating described first angle from described retrieving position, this control method comprises: in step a, the one controlled in described first driving cylinder and the second driving cylinder is stretched out completely, another one is retracted completely, thus described oscillating support leg is in turn to described first angle θ from described retrieving position
0position.
Pass through technique scheme, because the one in the first driving cylinder and the second driving cylinder is stretched out completely, under another one is in the state of retracting completely, described oscillating support leg is in the position of rotating the first angle from described body, the range of the one that is in the first driving cylinder and the second driving cylinder is corresponding with this first angle, so the object (such as construction machinery and equipment) that can support according to this oscillating support leg determine minimum safe angle that oscillating support leg launches (namely when oscillating support leg be expanded to be more than or equal to this minimum safe angle time, the object that this oscillating support leg supports can not be tumbled), thus the size of the one in the first driving cylinder and the second driving cylinder is designed according to this security standpoint, just can ensure that the object that oscillating support leg supports can not be tumbled when the one in the first driving cylinder and the second driving cylinder is stretched out make oscillating support leg be in little holding state completely, improve to simple possible the safe reliability of this oscillating support leg mounting structure.
Other features and advantages of the present invention are described in detail in detailed description of the invention part subsequently.
Accompanying drawing explanation
Accompanying drawing is used to provide a further understanding of the present invention, and forms a part for specification sheets, is used from explanation the present invention, but is not construed as limiting the invention with detailed description of the invention one below.In the accompanying drawings:
Fig. 1 is the simplified schematic diagram of a kind of oscillating type oscillating support leg control setup of the prior art.
Fig. 2 is the simplified schematic diagram of a part for oscillating support leg mounting structure according to the embodiment of the present invention.
Fig. 3 is the schematic diagram of circuit of oscillating support leg control method according to the embodiment of the present invention.
Description of reference numerals
1 hydraulic ram 3 first driving cylinder
4 second driving cylinder 5 bidirectional hydraulic locks
6 on-off control valve 7 first working oil path
8 second working oil path 10 working oil path
Detailed description of the invention
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is described in detail.Should be understood that, detailed description of the invention described herein, only for instruction and explanation of the present invention, is not limited to the present invention.
See Fig. 2, according to a first aspect of the invention, a kind of oscillating support leg mounting structure is provided, this oscillating support leg mounting structure comprises oscillating support leg, body and retractable driving device, one end of oscillating support leg is articulated with body, retractable driving device is articulated with between oscillating support leg and body, at least moves between retrieving position and expanded position can drive oscillating support leg.Particularly, retractable driving device comprises the first driving cylinder 3 and the second driving cylinder 4 being one another in series and connecting, and preferably, the first driving cylinder 3 and the second driving cylinder 4 are contacted.One in first driving cylinder 3 and the second driving cylinder 4 and body hinged, another one and oscillating support leg hinged, wherein, when the first driving cylinder 3 and the second driving cylinder 4 are retracted completely, oscillating support leg is in retrieving position; When first driving cylinder 3 and the second driving cylinder 4 stretch out completely, oscillating support leg is in expanded position; Under one in first driving cylinder 3 and the second driving cylinder 4 is stretched out completely, another one is in the state of retracting completely, oscillating support leg is in the position of rotating the first angle from body.
As mentioned above, because the one in the first driving cylinder 3 and the second driving cylinder 4 is stretched out completely, under another one is in the state of retracting completely, described oscillating support leg is in the position of rotating the first angle from body, the range of the one that is in the first driving cylinder 3 and the second driving cylinder 4 is corresponding with this first angle, so the object (such as construction machinery and equipment) that can support according to this oscillating support leg determine minimum safe angle that oscillating support leg launches (namely when oscillating support leg be expanded to be more than or equal to this minimum safe angle time, the object that this oscillating support leg supports can not be tumbled), thus the size of the one in the first driving cylinder 3 and the second driving cylinder 4 is designed according to this security standpoint, just can ensure that the object that oscillating support leg supports can not be tumbled when the one in the first driving cylinder 3 and the second driving cylinder 4 is stretched out make oscillating support leg be in little holding state completely, improve to simple possible the safe reliability of this oscillating support leg mounting structure.
Wherein, according to an embodiment of the invention, the piston rod of the first driving cylinder 3 can be articulated with body, and the piston rod of the second driving cylinder 4 can be articulated with oscillating support leg, the cylinder body of the first driving cylinder 3 and the second driving cylinder 4 is formed as one by spacer portion, and mutually coaxial.Preferably, the first driving cylinder 3 and the respective piston rod of the second driving cylinder 4 can oppositely stretch out.According to another implementation of the invention, the cylinder body of the first driving cylinder 3 and the second driving cylinder 4 can be arranged in parallel.
It should be noted that, disclosed two kinds of embodiments only for exemplary purposes above, do not limit the present invention, other versions of driving cylinder are all fine, as long as can realize the object for making oscillating support leg mounting structure safe and reliable of the present invention.
Wherein, the first driving cylinder 3 and the second driving cylinder 4 are not particularly limited, such as, can be hydraulic actuating cylinder.
Second aspect of the present invention provides a kind of hydraulic control device for controlling above-mentioned oscillating support leg, wherein, this hydraulic control device comprises the first working oil path 7 and the second working oil path 8 be connected with oil sources, first working oil path 7 and the second working oil path 8 connect the rodless cavity of the first driving cylinder 3 of oscillating support leg mounting structure and the rod chamber of the second driving cylinder 4 respectively, and the rodless cavity that the rod chamber of the first driving cylinder 3 is connected to the second working oil path 8, second driving cylinder 4 is operationally communicated with the first working oil path 7 or disconnects.Particularly, be connected with in the 3rd working oil path the 10, three working oil path 10 between the rodless cavity of the second driving cylinder 4 and the first working oil path 7 and be provided with on-off control valve 6.When on-off control valve 6 being switched to, the first working oil path 7 is communicated with the rodless cavity of the second driving cylinder 4, and when the first working oil path 7 and the second working oil path 8 are respectively as oil return circuit and oil-feed oil circuit, along with hydraulic oil enters the rod chamber of the first driving cylinder 3 and the rod chamber of the second driving cylinder 4 by the second working oil path 8, the piston rod in the first driving cylinder 3 is made to retract relative to this first driving cylinder 3 and the piston rod in the second driving cylinder 4 is retracted relative to this second driving cylinder 4, and the hydraulic oil in the rodless cavity of the first driving cylinder 3 is flowed out by the first working oil path 7, hydraulic oil in the rodless cavity of the second driving cylinder 4 is flowed out by the firstth working oil path 7, to realize oil return, thus the retraction completely of the first driving cylinder 3 and the second driving cylinder 4 can be realized, oscillating support leg is made to be in retracted state.
And after the retraction completely of the first driving cylinder 3 and the second driving cylinder 4, when on-off control valve 6 is switched to the rodless cavity of the first working oil path 7 and the second driving cylinder 4 is disconnected and the first working oil path 7 and the second working oil path 8 as oil-feed oil circuit and oil return circuit time, can be implemented in the second driving cylinder 4 when retracting completely, first driving cylinder 3 stretches out completely, makes oscillating support leg be in little holding state.
In like manner, when on-off control valve 6 is switched to the first working oil path 7 is communicated with the rodless cavity of the second driving cylinder 4 and the first working oil path 7 and the second working oil path 8 as oil-feed oil circuit and oil return circuit time, stretching out completely of the first driving cylinder 3 and the second driving cylinder 4 can be realized, make oscillating support leg be in full holding state.
In order to make oil circuit more stable, between the first working oil path 7 and the second working oil path 8, bidirectional hydraulic lock 5 can be provided with.Because bidirectional hydraulic lock 5 is conventional techniques means well known in the art, no longer its concrete structure is repeated here.
According to a third aspect of the present invention, provide a kind of control system of construction machinery and equipment, wherein, the control system of this project machinery comprises controller, angle sensor, obliquity sensor and the hydraulic control device according to the construction machinery and equipment described in technique scheme, angle sensor is for detecting the pivot angle of the oscillating support leg of described construction machinery and equipment, described obliquity sensor is for detecting the large arm inclination angle of described construction machinery and equipment, and described angle sensor and obliquity sensor are electrically connected to described controller.Like this, this control system can the pivot angle of wobble detection supporting leg and the inclination angle of large arm in real time, thus is controlled the work of oscillating support leg safely by the pivot angle of oscillating support leg and the inclination angle situation of large arm.Wherein said large arm is normally defined jib direct coupled with construction machinery and equipment body, and well known, described large arm inclination angle is defined as the angle between large arm and horizontal surface.
According to a fourth aspect of the present invention, provide a kind of construction machinery and equipment, comprise frame, this frame is provided with large arm, wherein, this project machinery comprises according to the oscillating support leg mounting structure described in technical scheme, and this oscillating support leg mounting structure is by controlling according to the control system described in technique scheme.This project machinery is not particularly limited, such as, can be concrete pump truck etc.Wherein said large arm is normally defined jib direct coupled with construction machinery and equipment body, and well known, described large arm inclination angle is defined as the angle between large arm and horizontal surface.
According to a fifth aspect of the present invention, provide a kind of cooperation control method of oscillating support leg, described oscillating support leg is articulated with on the body of construction machinery and equipment, wherein, this control method comprises: step a: oscillating support leg is rotated to expanded position, and detect this oscillating support leg relative to the pivot angle of oscillating support leg when being in retrieving position, and make the large arm upward movement of construction machinery and equipment, and detect the inclination angle of this large arm; Step b: as described pivot angle>=the first angle θ
0and the safe angle of inclination beta of described angle of inclination beta>=large arm
0time, described oscillating support leg is supported on ground to support described construction machinery and equipment and to lock described large arm.After step b, other jibs except large arm can be activated, make construction machinery and equipment carry out cloth operation.In addition, oscillating support leg also can be made to be in expanded position, and then to make construction machinery and equipment carry out cloth operation.
Here, in step a, described first angle θ
0angle of inclination beta safe with large arm
0between there is corresponding relation, this corresponding relation can be determined in the following way: (1) makes large arm be in the safe angle of inclination beta of large arm
0, make other jib except large arm of construction machinery and equipment be in horizontality, and calculate the areal coordinates determining current now overall engineering machine; (2) according to the metancenter coordinate of the coordinate computational engineering machinery complete machine of center of gravity; (3) according to the border, safe operation face of safety factor and metancenter coordinate determination construction machinery and equipment; (4) according to the safe operation face feature modeling first angle θ of construction machinery and equipment
0.
In the described mode determining above-mentioned corresponding relation, the computing formula of the areal coordinates (Xc, Yc) of overall engineering machine is: Xc=(Gb × Xb+Gt × Xt)/Gtotal, Yc=(Gb × Yb+Gt × Yt)/Gtotal; The computing formula of the metancenter coordinate (Xs, Ys) of overall engineering machine is: Xs=Gt × Xt/Gtotal, Ys=Gt × Yt/Gtotal.(the jib gravity of construction machinery and equipment described in Gb=, the gravity of getting off of construction machinery and equipment described in Gt=, overall engineering machine gravity described in Gtotal=, (Xb, Yb) be the areal coordinates of the jib of described construction machinery and equipment, the areal coordinates of getting off that (Xt, Yt) is described construction machinery and equipment)
And it should be noted that, operation border refers to when construction machinery and equipment comprises four oscillating support legs, and connect the border of the determined quadrangle of distal point of four oscillating support legs, that is, the position of oscillating support leg is corresponding with operation border.Border, safe operation face is determined operation border after the center of gravity considering the metancenter of certain safety factor, overall engineering machine, overall engineering machine.And wherein, the center of gravity of minimum value/overall engineering machine of the spacing of the center of gravity of safety factor=border, safe operation face and overall engineering machine and the spacing of the metancenter of overall engineering machine.Like this, owing to can draw the metancenter coordinate of safety factor and overall engineering machine from above process, therefore can be tested by Work condition analogue, according to the border, safe operation face of safety factor and metancenter coordinate determination construction machinery and equipment, and the pivot angle of oscillating support leg when corresponding to this border, safe operation face is the first angle θ
0, this first angle θ
0can be detected by angle sensor and draw.Be understandable that, determine the first angle θ
0angle of inclination beta safe with large arm
0between corresponding relation method be obviously not limited thereto, such as can also be undertaken by work simulation experiment etc., and no matter adopt which kind of method, it all will fall into protection scope of the present invention.
In addition, retractable driving device is provided with between oscillating support leg and the body of construction machinery and equipment, this retractable driving device can comprise the first driving cylinder 3 and the second driving cylinder 4 be connected to each other, one in first driving cylinder 3 and the second driving cylinder 4 and construction machinery and equipment hinged, another one and oscillating support leg hinged, wherein, when first driving cylinder 3 and the second driving cylinder 4 are retracted completely, oscillating support leg is in retrieving position, when first driving cylinder 3 and the second driving cylinder 4 stretch out completely, oscillating support leg is in expanded position, and the one in the first driving cylinder 3 and the second driving cylinder 4 is stretched out completely, under another one is in the state of retracting completely, oscillating support leg is in and rotates the first angle θ from retrieving position
0midway location, and above-mentioned control method can also comprise: in step a, the one controlled in the first driving cylinder 3 and the second driving cylinder 4 is stretched out completely, another one is retracted completely, thus oscillating support leg is in rotate the first angle θ from retrieving position
0midway location.This setting in fact adopting the first angle corresponding with driving cylinder range, can make to simple possible oscillating support leg turn to the first angle θ from retrieving position
0midway location.
In addition, can by the pivot angle of angle sensor wobble detection supporting leg; And the inclination angle of large arm is detected by large arm obliquity sensor.When not doing other and illustrating, in step a, the safe angle of inclination beta of large arm
0be defined as lower angle: be in the first angle θ at oscillating support leg
0and time under the state of propping works machinery, be unlikely to the inclination minimum of the large arm that construction machinery and equipment is tumbled.
To sum up, due to the range of any one in the first driving cylinder and the second driving cylinder and the first angle θ of oscillating support leg
0between there is corresponding relation, when oscillating support leg cannot all be launched by the restriction of ground condition by construction machinery and equipment, under the one controlled in the first driving cylinder of oscillating support leg and the second driving cylinder is stretched out completely, another one is in the state of retracting completely, oscillating support leg is made to be in little holding state, so both can the requirement of condition contentedly, in turn ensure that construction machinery and equipment is unlikely to tumble under little holding state.Meanwhile, in the process controlling driving cylinder, without the need to the pendulum angle of operator subjective judgement oscillating support leg, substantially increase the accuracy of operation, further increase the safety of construction machinery and equipment.
Below the preferred embodiment of the present invention is described in detail by reference to the accompanying drawings; but; the present invention is not limited to the detail in above-mentioned embodiment; within the scope of technical conceive of the present invention; can carry out multiple simple variant to technical scheme of the present invention, these simple variant all belong to protection scope of the present invention.
It should be noted that in addition, each the concrete technical characteristic described in above-mentioned detailed description of the invention, in reconcilable situation, can be combined by any suitable mode.In order to avoid unnecessary repetition, the present invention illustrates no longer separately to various possible array mode.
In addition, also can carry out combination in any between various different embodiment of the present invention, as long as it is without prejudice to thought of the present invention, it should be considered as content disclosed in this invention equally.
Claims (9)
1. the oscillating support leg mounting structure of a construction machinery and equipment, comprise oscillating support leg, body and retractable driving device, one end of described oscillating support leg is articulated with described body, described retractable driving device is articulated with described oscillating support leg and described body, at least move between retrieving position and expanded position so that described oscillating support leg can be driven, it is characterized in that, described retractable driving device comprises the first driving cylinder (3) and the second driving cylinder (4) that are connected to each other, one in described first driving cylinder (3) and the second driving cylinder (4) and described body hinged, another one and described oscillating support leg hinged, wherein,
When described first driving cylinder (3) and the second driving cylinder (4) are retracted completely, described oscillating support leg is in described retrieving position;
When described first driving cylinder (3) and the second driving cylinder (4) stretch out completely, described oscillating support leg is in expanded position;
Under one in described first driving cylinder (3) and the second driving cylinder (4) is stretched out completely, another one is in the state of retracting completely, described oscillating support leg is in the position turning to the first angle from described body.
2. the oscillating support leg mounting structure of construction machinery and equipment according to claim 1, it is characterized in that, the piston rod of described first driving cylinder (3) is articulated with described body, the piston rod of described second driving cylinder (4) is articulated with described oscillating support leg, the cylinder body of described first driving cylinder (3) and described second driving cylinder (4) is formed as one by spacer portion, and mutually coaxial.
3. the oscillating support leg mounting structure of construction machinery and equipment according to claim 1, is characterized in that, the cylinder body of described first driving cylinder (3) and described second driving cylinder (4) is arranged in parallel.
4. the hydraulic control device for the oscillating support leg mounting structure of the construction machinery and equipment in claims 1 to 3 described in any one, wherein, this hydraulic control device comprises the first working oil path (7) and the second working oil path (8) that are connected with oil sources, described first working oil path (7) and described second working oil path (8) connect the rodless cavity of first driving cylinder (3) of described oscillating support leg mounting structure and the rod chamber of the second driving cylinder (4) respectively, and the rod chamber of described first driving cylinder (3) is connected to described second working oil path (8), the rodless cavity of described second driving cylinder (4) is operationally communicated with described first working oil path (7) or disconnects.
5. hydraulic control device according to claim 4, is characterized in that, the rodless cavity of described second driving cylinder (4) is connected with described first working oil path (7) by on-off control valve (6).
6. the control system of a construction machinery and equipment, it is characterized in that, comprise controller, angle sensor, obliquity sensor and the hydraulic control device according to claim 4 or 5, described angle sensor is for detecting the pivot angle of the oscillating support leg of described construction machinery and equipment, described obliquity sensor is for detecting the large arm inclination angle of described construction machinery and equipment, and described angle sensor and described obliquity sensor are electrically connected to described controller.
7. a construction machinery and equipment, comprise frame, described frame is provided with large arm, it is characterized in that, described construction machinery and equipment comprises the oscillating support leg mounting structure of construction machinery and equipment as claimed in any of claims 1 to 3, and the oscillating support leg mounting structure of this project machinery is controlled by the control system of construction machinery and equipment according to claim 6.
8. a cooperation control method for oscillating support leg, described oscillating support leg is articulated with on the body of construction machinery and equipment, and wherein, this control method comprises:
Step (a): oscillating support leg is rotated to expanded position, and detect this oscillating support leg relative to the pivot angle of oscillating support leg when being in retrieving position, and make the large arm upward movement of construction machinery and equipment, and detect the inclination angle of this large arm;
Step (b): as described pivot angle>=the first angle (θ
0) and the safe inclination angle (β of described inclination angle (β)>=large arm
0) time, described oscillating support leg is supported on ground to support described construction machinery and equipment and to lock described large arm.
9. control method according to claim 8, it is characterized in that, retractable driving device is provided with between the body of described oscillating support leg and described construction machinery and equipment, this retractable driving device comprises the first driving cylinder (3) and the second driving cylinder (4) that are connected to each other, one in described first driving cylinder (3) and the second driving cylinder (4) and described construction machinery and equipment hinged, another one and described oscillating support leg hinged, wherein, when described first driving cylinder (3) and the second driving cylinder (4) are retracted completely, described oscillating support leg is in described retrieving position, when described first driving cylinder (3) and the second driving cylinder (4) stretch out completely, described oscillating support leg is in described expanded position, and the one in described first driving cylinder (3) and the second driving cylinder (4) is stretched out completely, under another one is in the state of retracting completely, described oscillating support leg is in and rotates described first angle (θ from described retrieving position
0) midway location, this control method comprises:
In step (a), the one controlled in described first driving cylinder (3) and the second driving cylinder (4) is stretched out completely, another one is retracted completely, thus described oscillating support leg is in turn to described first angle (θ from described retrieving position
0) position.
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| CN201310645694.XA CN103640557B (en) | 2013-12-04 | 2013-12-04 | Swing supporting leg mounting structure, control device, system, control method and engineering machinery |
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| CN201310645694.XA CN103640557B (en) | 2013-12-04 | 2013-12-04 | Swing supporting leg mounting structure, control device, system, control method and engineering machinery |
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| CN103640557B true CN103640557B (en) | 2016-03-02 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103671314B (en) * | 2013-12-04 | 2015-12-30 | 中联重科股份有限公司 | Swing supporting leg mounting structure, control device, system, control method and engineering machinery |
| CN111895958B (en) * | 2020-07-24 | 2022-11-18 | 三一汽车制造有限公司 | Support leg device and working machine |
| CN112537279B (en) * | 2020-12-14 | 2022-12-16 | 安徽博微长安电子有限公司 | Hydraulic leveling supporting leg withdrawing system and withdrawing method for large-tonnage vehicle-carrying platform |
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| CN103640557A (en) | 2014-03-19 |
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