CN106986276A - A kind of supporting leg method for automatically leveling with empty leg identification function - Google Patents
A kind of supporting leg method for automatically leveling with empty leg identification function Download PDFInfo
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- CN106986276A CN106986276A CN201710415940.0A CN201710415940A CN106986276A CN 106986276 A CN106986276 A CN 106986276A CN 201710415940 A CN201710415940 A CN 201710415940A CN 106986276 A CN106986276 A CN 106986276A
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- 238000000034 method Methods 0.000 title claims abstract description 25
- 238000005259 measurement Methods 0.000 claims abstract description 9
- 239000002352 surface water Substances 0.000 claims description 10
- 239000003381 stabilizer Substances 0.000 claims description 9
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 6
- 238000013461 design Methods 0.000 claims description 4
- 238000001514 detection method Methods 0.000 claims description 4
- 230000008859 change Effects 0.000 claims description 3
- 230000005484 gravity Effects 0.000 claims description 3
- 238000011084 recovery Methods 0.000 claims description 2
- 230000000694 effects Effects 0.000 claims 1
- 238000010276 construction Methods 0.000 abstract description 5
- 230000001174 ascending effect Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 241000196324 Embryophyta Species 0.000 description 1
- 240000002853 Nelumbo nucifera Species 0.000 description 1
- 235000006508 Nelumbo nucifera Nutrition 0.000 description 1
- 235000006510 Nelumbo pentapetala Nutrition 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 239000000686 essence Substances 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/62—Constructional features or details
- B66C23/72—Counterweights or supports for balancing lifting couples
- B66C23/78—Supports, e.g. outriggers, for mobile cranes
Abstract
The invention discloses a kind of supporting leg method for automatically leveling with empty leg identification function.Above-mentioned leveling method comprises the following steps：With three and in the automatic horizontal control system of upper supporting leg, a pressure-detecting device is set on each supporting leg disk respectively, for measuring the pressure that each supporting leg is born；Start automatic horizontal control system, stretch out each supporting leg, supporting leg disk pressure-detecting device is started working, system judges whether it meets preset pressure value P according to detected value, if it is, supporting leg is in stress, in the absence of empty leg, stretch out after preset length L and stop again, now supporting leg is in presetting level state, can proceed with automatic leveling；When all supporting legs are in presetting level state, automatic horizontal control system is according to electrolevel measurement result, and telescopic outrigger, realizes the leveling of whole system one by one.Thus, prevent from producing empty leg (indivedual supporting legs are hanging) phenomenon after leveling, it is ensured that safety work.This method is simple in construction, reliable operation, practical.
Description
Technical field
The present invention relates to supporting leg leveling technology field, more particularly to a kind of supporting leg automatic leveling with empty leg identification function
Method.
Background technology
Heavy duty work equipment needs frequent transfer tasks place, and holding level is needed during operation, thus, implement
It is arranged on mostly on removable vehicle, ensures that equipment is in horizontality by a set of leveling system, need are used to meet equipment
Ask.Such as autocrane, Operation Van of ascending a height, the concrete mixer product for civilian use, the military use product such as radar antenna truck are to need
Want the implement of leveling.
The implements such as autocrane, Operation Van of ascending a height, concrete mixer, radar antenna truck have efficiency of construction
The advantages of height, strong adaptability, it is widely used in the fields such as building, water conservancy, electric power, road, mine, harbour and national defence.In recent years
Come, with the quickening of engineering construction speed, also further extensively, the technological improvement to implement levelling device is more next for engineer applied
More it is valued by people.
The equipment such as autocrane, Operation Van of ascending a height, concrete mixer, radar antenna truck are fitted with supporting leg, supporting leg
For ensureing that equipment has enough safety and stabilities at work.In addition, supporting leg can also not increase plant machinery
In the case of width, larger supporting span is provided for complete machine, set so as to be improved on the premise of mechanical mobility is not reduced
Standby resistance to capsizing.
Supporting leg is generally disposed at mobile implement bottom, symmetrically arranges, general number is four.Further to carry
Security during high equipment availability, part mobile device supporting leg number increases to five or six or more quantity supporting legs, that is, exists
The 5th supporting leg is installed in the lower section of the anterior headstock of mobile implement on the basis of existing four supporting legs, in mobile implement
The 6th supporting leg is installed in portion, and the centre of gyration, prevailing quality distributing position install auxiliary leg.During operation, supporting leg stretches, each
Supporting leg gradually rises perpendicular to whole equipment, and mobile implement departs from ground, and whole equipment is supported by supporting leg completely.Pass through
Adjustment landing leg stretching amount is normally referred to as supporting leg leveling to ensure to move process of the implement in horizontality.For ground
The situation of level, supporting leg automatic leveling is relatively simple.But for the ground of out-of-flatness, supporting leg automatic leveling process is relatively complicated,
Often occur the non-stress of indivedual supporting legs after supporting leg leveling (empty leg occur), have a strong impact on the safe handling of equipment.
The method that empty leg is recognized in existing supporting leg leveling system, goes to check empty again after main leveling supporting legs are adjusted mostly
The handling situations of leg, this passive investigation mode can not only influence operating efficiency, it is also possible to because maloperation destruction homophony is put down
Original working condition of supporting leg.Importantly, for four automatic horizontal control systems with upper supporting leg, it is necessary to spend a large amount of
The empty leg of time deleveling.
The content of the invention
In consideration of it, the present invention proposes a kind of supporting leg method for automatically leveling with empty leg identification function.
To reach above-mentioned purpose, the technical proposal of the invention is realized in this way：
The invention provides a kind of supporting leg method for automatically leveling with empty leg identification function, for leveling Work machine,
Especially engineering truck, comprises the following steps：
S1, pressure sensor, or position sensor, or limit switch, or travel switch are installed on each leveling supporting legs disk,
Pressure sensor measurement leveling supporting legs are to supporting the pressure on ground, by size of the supporting leg to contact area of ground, indirectly
Calculate the supporting leg and bear pressure；
S2, determine that leveling supporting legs pressure preset pressure value P, the leveling supporting legs pressure preset P are not more than equipment supporting leg
Maximum working pressure force value；When equipment completely it is liftoff supported by leveling supporting legs when pressure sensor theory detection pressure be P0, with reference to
The specific design parameter of P0, device structure form, distribution of weight, rigidity, intensity etc., it is comprehensive to determine preset pressure value P；
S3, the empty leg of identification, judge whether it meets preset pressure value P, if it is, supporting leg is according to supporting leg disk pressure value
Stress, in the absence of empty leg；If it is not, supporting leg need to be adjusted untill empty leg is eliminated；
S4, control leveling supporting legs, stretch out preset length L, the preset length L, need to be more than leveling supporting legs after carrying because
The height change maximum that the factors such as deformation, gap are caused；
S5, determine benchmark leveling supporting legs, the controller of stabilizer automatic leveling system measures leveling according to electrolevel and set
Standby horizontal plane and the drift angle of surface water plane, and then the leveling branch on the basis of the leveling supporting legs above level device level inclination
Leg；
S6, equipment automatic leveling, controller measure level device datum plane and surface water plane according to electrolevel
Drift angle, two farthest leveling supporting legs of command range benchmark leveling supporting legs stretch, until the drift angle is zero；
S7, check, adjust other leveling supporting legs, being at stress.Controller checks leveling supporting legs and electronic water
Level state, it is ensured that electrolevel is in horizontality, all equal stress of leveling supporting legs, until equipment completes all supporting legs and adjusted
Flat work.
Further, the pressure sensor, for detecting whether leveling supporting legs have born the gravity of equipment；Can letter
Turn to position sensor, limit switch, travel switch etc., by detecting the pressure value of contact surface, indirect judgement supporting leg whether by
Power.Pressure sensor can be arranged on leg body, or on supporting leg disk；Position sensor can be arranged on leg body,
Or on supporting leg disk；Limit switch can be arranged on leg body, or on supporting leg disk.
Further, the supporting leg disk pressure value is the pressure sensor measurement gained on leveling supporting legs.
Further, the leveling supporting legs quantity of the leveling Work machine can be three or more than three.When leveling branch
When leg quantity is three, three are main leveling supporting legs, and it is leveling benchmark supporting leg to select one of them, and another two is regulation branch
Leg；When leveling supporting legs quantity is more than three, selection three is main leveling supporting legs, and it is leveling benchmark supporting leg to select one of them,
Another two is regulation supporting leg；Remaining is auxiliary leveling supporting legs.Wherein, main leveling supporting legs are main stress supporting leg in leveling,
As the main stress point of equipment support, plays a crucial role to leveling；It is Auxiliary support in leveling to aid in leveling supporting legs, is being set
After standby leveling, regulation height is allowed to load but does not influence equipment level.
Further, the electrolevel, is installed on the leveling benchmark face of the leveling Work machine,
Further, the controller is connected with the electrolevel.
Further, the stabilizer automatic leveling system, for leveling Work machine, particularly engineering machinery, its feature
It is, including：Electronic horizon sensor, leveling supporting legs and controller etc..In addition, the stabilizer automatic leveling system, is one-touch
Automatic leveling, while retaining manual mode, to remain to leveling operation or recovery under controller failure state.
Further, the electronic horizon sensor, it is characterised in that for measuring leveling Work machine horizontality,
And by measurement feedback to controller.
Further, the leveling supporting legs, it is characterised in that can be hydraulic leveling supporting leg or electric leveling supporting leg, adjust
Flat supporting leg is made up of two parts of leg body and supporting leg disk.It can be made at leveling Work machine by adjusting oneself height
In horizontality.
Further, the controller, it is characterised in that the leveling supporting legs height for controlling level device, makes equipment
The angle value of datum plane and surface water plane is zero；Including the first control module and the second control module.
Further, first control module, it is characterised in that for receiving the leveling supporting legs pressure preset P
Afterwards, the leveling supporting legs are controlled to raise L again.
Further, second control module, it is characterised in that for determining benchmark leveling supporting legs, control other
The leveling supporting legs of leg stretch out, until equipment datum plane and drift angle folded by surface water plane are zero.
Further, the stabilizer automatic leveling system that the present invention is provided, can control benchmark leveling supporting legs to stretch by controller
Contracting is allowed to carry operating pressure, then controls other leveling supporting legs to carry out leveling with benchmark leveling supporting legs reference plane.The present invention is carried
The stabilizer automatic leveling system of confession has adaptable, simple in construction, reliable operation, can ensure under different conditions each
The equal stress of supporting leg, it is to avoid the leveling repeatedly because of " empty leg " problem；Meanwhile, the leveling method can be applied to have four and four
With the automatic horizontal control system of upper supporting leg, be conducive to improving leveling efficiency, it is ensured that safety work.
Brief description of the drawings
The accompanying drawing for constituting the part of the present invention is used for providing a further understanding of the present invention, schematic reality of the invention
Apply example and its illustrate to be used to explain the present invention, do not constitute inappropriate limitation of the present invention.In the accompanying drawings：
Fig. 1 is leveling method leg body installation pressure biography in the supporting leg method for automatically leveling that the embodiment of the present invention one is provided
The structural representation of sensor；
Installation site is passed on leveling method supporting leg disk in the supporting leg method for automatically leveling that Fig. 2 provides for the embodiment of the present invention two
The structural representation of sensor；
Fig. 3 is the structured flowchart for the supporting leg leveling system that the embodiment of the present invention one is provided.
Description of reference numerals：
The leveling supporting legs mounting interface of 110 leveling supporting legs main body 111
The leveling supporting legs 1 of 112 supporting leg disk 11
The leveling supporting legs 3 of 12 leveling supporting legs 2 13
The 1N leveling supporting legs N of 14 leveling supporting legs 4
The pressure sensor 1 of 20 pressure sensor 201
The pressure sensor 3 of 202 pressure sensor 2 203
The 20N pressure sensors N of 204 pressure sensor 4
The controller of 211 position sensor 3
The control module of 31 first control module 32 second
4 electrolevels
Embodiment
The present invention is further illustrated with reference to embodiment, is not intended to limit the present invention.
It should be noted that in the case where not conflicting, the embodiment in the present invention and the feature in embodiment can phases
Mutually combination.Below in conjunction with the accompanying drawings, each preferred embodiment of the present invention is described further：
The embodiment of the present invention one provides a kind of supporting leg method for automatically leveling with empty leg identification function, for leveling operation
Equipment, is particularly suitable for use in engineering machinery, comprises the following steps：
S1, pressure sensor, or position sensor, or limit switch, or travel switch are installed on each leveling supporting legs disk；
Pressure sensor measurement leveling supporting legs are to supporting the pressure on ground, by size of the supporting leg to contact area of ground, indirectly
Calculate the supporting leg and bear pressure；
S2, determine leveling supporting legs pressure preset pressure value P；The leveling supporting legs pressure preset P is not more than equipment supporting leg
Maximum working pressure force value；When equipment completely it is liftoff supported by leveling supporting legs when pressure sensor theory detection pressure be P0, with reference to
The specific design parameter of P0 values, device structure form, distribution of weight, rigidity, intensity etc., it is comprehensive to determine preset pressure value P；
S3, the empty leg of identification；Judge whether it meets preset pressure value P according to supporting leg disk pressure value, if it is, supporting leg is in
Stress, in the absence of empty leg；If it is not, supporting leg need to be adjusted untill empty leg is eliminated；
S4, control leveling supporting legs, stretch out preset length L；The preset length L, need to be more than leveling supporting legs after carrying because
The height change maximum that the factors such as deformation, gap are caused；
S5, determine benchmark leveling supporting legs；The controller of stabilizer automatic leveling system measures leveling according to electrolevel and set
Standby horizontal plane and the drift angle of surface water plane, and then the leveling branch on the basis of the leveling supporting legs above level device level inclination
Leg；
S6, equipment automatic leveling；Controller measures level device datum plane and surface water plane according to electrolevel
Drift angle, two farthest leveling supporting legs of command range benchmark leveling supporting legs stretch, until the drift angle is zero；
S7, check, adjust other leveling supporting legs, being at stress.Controller checks leveling supporting legs and electronic water
Level state, it is ensured that electrolevel is in horizontality, all equal stress of leveling supporting legs, until equipment completes all supporting legs and adjusted
Flat work.
The supporting leg method for automatically leveling that the present embodiment one is provided sets pressure sensor on leveling supporting legs first, according to shifting
Dynamic level device oeverall quality and gravity centre distribution, calculate every leveling supporting legs theory and bear weight.When equipment is completely liftoff by adjusting
Pressure sensor theory detection pressure is P0 during flat supporting leg support, with reference to P0 values, structure type, the rigidity of mobile level device etc.
Design parameter is set, comprehensive to determine leveling supporting legs pressure preset pressure value P.
After all leveling supporting legs all meet preset pressure value P, all leveling supporting legs raise predetermined length L away from
From for compensating the mistake that the factors such as deformation and place out-of-flatness after the gap between level device part, carrying are introduced
Difference, it is to avoid because above-mentioned reason causes to produce " empty leg " phenomenon after leveling.Parts clearance be likely to be present in 112 supporting leg disks and ground it
Between, between 111 leveling supporting legs main bodys and 112 supporting leg disks, between 111 leveling supporting legs main bodys and equipment body；When structure bears to carry
During lotus, equipment necessarily leads to deformation；Level device expansion place can not possibly have abswolute level ground, there is an out-of-flatness
Degree.Therefore, in summary, predetermined length L should be under regulation use environment, not produce the minimum extension elongation value of " empty leg ".
When the first control module of controller 31 detects the feedback signal of leveling supporting legs pressure sensor 20, (i.e. it is satisfied by pre-
If pressure value P) after, all leveling supporting legs stretch out predetermined length L again.Then the second control module of controller 32 receives electronic horizon
The measurement feedback of instrument 4, determines leveling supporting legs on the basis of a supporting leg in all leveling supporting legs.Keep benchmark leveling supporting legs height
It is constant, the height of another 2 main leveling supporting legs is adjusted, it is zero to make level device datum water level and ground level angle.Then, adjust
Remaining auxiliary leveling supporting legs is saved, the measured value of pressure sensor 20 is met and requires, leveling end-of-job.
The present embodiment two using position sensor alternate embodiment one pressure sensor, with 112 supporting leg disks and ground
Relative position determines whether the leveling supporting legs bear preset pressure value indirectly.Because measurement parameter changes, thus predetermined length L
Need to be adjusted optimization according to actual conditions.
The Position Sensor of embodiment two is relative to pressure sensor in embodiment one, with more simple in construction, reliability
High, good environmental adaptability, the advantages of cheap, but sensitivity is not so good as pressure sensor, may result in predetermined extension elongation L
Can be bigger than normal.Different level devices can select appropriate sensor according to self-demand, realize the identification and leveling of empty leg.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
God is with principle, and any modification, equivalent substitution and improvements made etc. should be included in the scope of the protection.
Claims (10)
1. one kind has empty leg identification function supporting leg method for automatically leveling, for leveling Work machine, particularly engineering machinery, its
It is characterised by, comprises the following steps：
S1, pressure sensor, or position sensor, or limit switch, or travel switch are installed on each leveling supporting legs disk；It is described
Pressure sensor measures pressure of the leveling supporting legs to support ground, by size of the supporting leg to contact area of ground, calculates indirectly
Go out the supporting leg and bear pressure；
S2, determine leveling supporting legs pressure preset pressure value P；It is maximum that the leveling supporting legs pressure preset P is not more than equipment supporting leg
Working pressure；When equipment completely it is liftoff supported by leveling supporting legs when pressure sensor theory detection pressure be P0, with reference to P0 values,
The specific design parameter of device structure form, distribution of weight, rigidity, intensity etc., it is comprehensive to determine preset pressure value P；
S3, the empty leg of identification；Judge whether it meets preset pressure value P according to supporting leg disk pressure value, if it is, supporting leg is in stress
State, in the absence of empty leg；If it is not, supporting leg need to be adjusted untill empty leg is eliminated；
S4, control leveling supporting legs, stretch out preset length L；The preset length L, need to be more than leveling supporting legs after carrying because deformation,
The height change maximum that the factors such as gap are caused；
S5, determine benchmark leveling supporting legs；The controller of stabilizer automatic leveling system measures level device water according to electrolevel
The drift angle of plane and surface water plane, and then the leveling supporting legs on the basis of the leveling supporting legs above level device level inclination；
S6, equipment automatic leveling；Controller measures the inclined of level device datum plane and surface water plane according to electrolevel
Angle, two farthest leveling supporting legs of command range benchmark leveling supporting legs stretch, until the drift angle is zero；
S7, check, adjust other leveling supporting legs, being at stress.Controller checks leveling supporting legs and electrolevel
State, it is ensured that electrolevel is in horizontality, all equal stress of leveling supporting legs, until equipment completes all supporting leg leveling works
Make.
2. there is the supporting leg leveling method of empty leg identification function according to claim 1, it is characterised in that institute in its step S1
The pressure sensor stated, for detecting whether leveling supporting legs have born the gravity of equipment；Position sensor, limit can be reduced to
Bit switch, travel switch etc., by detecting the pressure value of contact surface, indirect judgement supporting leg whether stress.Pressure sensor can be with
It is arranged on leg body, or on supporting leg disk；Position sensor can be arranged on leg body, or on supporting leg disk；It is spacing to open
Pass can be arranged on leg body, or on supporting leg disk.
3. the supporting leg leveling method according to claim 1 with empty leg identification function, it is characterised in that in its step S3
The supporting leg disk pressure value is the pressure sensor measurement gained on leveling supporting legs.
4. the supporting leg leveling method according to claim 1 with empty leg identification function, it is characterised in that leveling working rig
The leveling supporting legs quantity of tool can be three or more than three.When leveling supporting legs quantity is three, three are the flat branch of homophony
Leg, it is leveling benchmark supporting leg to select one of them, and another two is regulation supporting leg；When leveling supporting legs quantity is more than three, selection
Three are main leveling supporting legs, and it is leveling benchmark supporting leg to select one of them, and another two is regulation supporting leg；Remaining is auxiliary leveling
Supporting leg.Wherein, main leveling supporting legs are the main stress point of main stress supporting leg, as equipment support in leveling, and leveling is risen
Key effect；It is Auxiliary support in leveling to aid in leveling supporting legs, after equipment leveling, and regulation height is allowed to load but do not influenceed
Equipment level.
5. the supporting leg leveling method according to claim 1 with empty leg identification function, it is characterised in that in its step S5
Described electrolevel, is installed on the leveling benchmark face of the leveling Work machine.
6. the supporting leg leveling method according to claim 1 with empty leg identification function, it is characterised in that the controller
It is connected with the electrolevel.
7. the supporting leg leveling method according to claim 1 with empty leg identification function, it is characterised in that in its step S5
Described stabilizer automatic leveling system, for leveling Work machine, particularly engineering machinery, it is characterised in that including：Electronic water
Sensor, leveling supporting legs and controller etc..In addition, the stabilizer automatic leveling system, is one-touch automatic leveling, retain simultaneously
Manual mode, to remain to leveling operation or recovery under controller failure state.
8. electronic horizon sensor according to claim 7, it is characterised in that horizontal for measuring leveling Work machine
State, and by measurement feedback to controller.
9. leveling supporting legs according to claim 7, it is characterised in that can be hydraulic leveling supporting leg or electric leveling branch
Leg, leveling supporting legs are made up of two parts of leg body and supporting leg disk.It can make leveling working rig by adjusting oneself height
Tool is in horizontality.
10. controller according to claim 7, it is characterised in that the leveling supporting legs height for controlling level device, makes
The angle value of equipment datum plane and surface water plane is zero；Including the first control module and the second control module.Described
One control module, it is characterised in that for receiving after the leveling supporting legs pressure preset P, controls the leveling supporting legs to rise again
High L.The second described control module, it is characterised in that for determining benchmark leveling supporting legs, control the leveling supporting legs of other supporting legs
Stretch out, until equipment datum plane and drift angle folded by surface water plane are zero.
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| CN108361335A (en) * | 2017-12-18 | 2018-08-03 | 武汉滨湖电子有限责任公司 | A kind of control device of support leg |
| CN112859934A (en) * | 2021-01-18 | 2021-05-28 | 中物智建(武汉)科技有限公司 | Bearing base leveling control method and control system |
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