CN114195016A - Outrigger automatic leveling system, control method and wheeled crane - Google Patents
Outrigger automatic leveling system, control method and wheeled crane Download PDFInfo
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- CN114195016A CN114195016A CN202111540050.5A CN202111540050A CN114195016A CN 114195016 A CN114195016 A CN 114195016A CN 202111540050 A CN202111540050 A CN 202111540050A CN 114195016 A CN114195016 A CN 114195016A
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- 238000000034 method Methods 0.000 title claims description 23
- 238000001514 detection method Methods 0.000 claims abstract description 9
- 230000001960 triggered effect Effects 0.000 abstract description 4
- 230000008602 contraction Effects 0.000 abstract 1
- 239000003921 oil Substances 0.000 description 91
- 210000001364 upper extremity Anatomy 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000005452 bending Methods 0.000 description 1
- 230000002457 bidirectional effect Effects 0.000 description 1
- 125000004122 cyclic group Chemical group 0.000 description 1
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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
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/20—Control systems or devices for non-electric drives
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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
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/46—Position indicators for suspended loads or for crane elements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
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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
- B66C23/80—Supports, e.g. outriggers, for mobile cranes hydraulically actuated
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/08—Servomotor systems incorporating electrically operated control means
- F15B21/087—Control strategy, e.g. with block diagram
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- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Chemical & Material Sciences (AREA)
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- Fluid Mechanics (AREA)
- General Engineering & Computer Science (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
本发明涉及起重机，为解决现有轮式起重机支腿人工调平难以保证精度的问题；提供一种支腿自动调平系统，其包括四个用于对应控制起重机四支腿垂直油缸伸缩的电比例阀、用于发出调平控制信号的调平按钮、用于检测起重机的车架水平度的电子水平仪、控制器。控制器用于接收电子水平仪所检测的车架水平度信息和支腿自动调平控制信号，并在接收到调平控制信号后依据车架水平状态信息控制各电比例阀使车架水平。在本发明中，通过调平按钮触发支腿自动调平系统后，控制器根据电子水平仪检测结果控制相应的电比例阀，使相应的支腿垂直油缸作伸缩动作，实现起重机支腿自动调平，从而降低轮式起重机支腿调平的操作难度与劳动强度，并且确保调平精度。
The invention relates to a crane, and in order to solve the problem that the manual leveling of the outriggers of the existing wheeled crane is difficult to ensure the accuracy; an automatic outrigger leveling system is provided, which comprises four electric motors for correspondingly controlling the vertical oil cylinder expansion and contraction of the four outriggers of the crane. Proportional valve, leveling button for sending leveling control signal, electronic level for detecting the levelness of the crane's frame, controller. The controller is used for receiving the frame levelness information detected by the electronic level and the automatic leveling control signal of the outriggers, and after receiving the leveling control signal, it controls each electric proportional valve to make the frame level according to the frame level state information. In the present invention, after the outrigger automatic leveling system is triggered by the leveling button, the controller controls the corresponding electric proportional valve according to the detection result of the electronic level, so that the corresponding outrigger vertical oil cylinder performs telescopic action to realize the automatic leveling of the crane outrigger , thereby reducing the operation difficulty and labor intensity of wheel crane outrigger leveling, and ensuring the leveling accuracy.
Description
Technical Field
The invention relates to a crane, in particular to an automatic landing leg leveling system, a control method and a wheeled crane.
Background
The movable support legs are important components of the wheel crane, and bear the gravity and bending moment generated by the crane, a lifting appliance and a lifted object when the crane carries out lifting operation. According to the control mode, the movable supporting legs can be divided into a mechanical poking rod type and an electric control type. The electric control type movable supporting leg generally comprises a horizontal cylinder, a vertical cylinder, a movable supporting leg structural member, a supporting foot plate, a pin shaft, a hydraulic system, a control panel, a controller, a wire harness and the like. The general crane has four legs distributed on two sides of the vehicle body. When the crane is used for hoisting, firstly, the supporting legs are well arranged, and after the horizontal cylinder extends to a position, the vertical cylinder extends out to enable the chassis tire to be separated from the ground without stress, and meanwhile, the vehicle body is kept in a horizontal state.
The main problem of the current crane movable supporting leg is that no matter a mechanical shifting rod type or an electric control type needs to manually observe a vacuole level gauge or an electronic level gauge on a control panel, and the adjustment of the frame level is realized by adjusting the stroke of a vertical cylinder. Therefore, not only is the labor intensity increased, but also the swing mechanism can not normally rotate due to poor horizontal state when the frame is hoisted by an operator because of careless operation. Therefore, how to realize automatic leveling of the movable support leg of the crane is a problem to be solved at present.
Disclosure of Invention
The invention aims to solve the technical problem that the manual leveling of the supporting legs of the conventional wheel crane is difficult to ensure the accuracy, and provides an automatic supporting leg leveling system, a control method and the wheel crane, so that the supporting leg leveling operation difficulty is reduced, and the leveling accuracy is ensured.
The technical scheme for realizing the purpose of the invention is as follows: the utility model provides a landing leg automatic leveling system for wheeled crane, four landing legs are installed to crane frame both sides, and its characterized in that leveling system includes four be used for corresponding the flexible electro proportional valve of four landing leg vertical oil jar of control hoist and:
the leveling button is used for sending a leveling control signal;
the electronic level meter is used for detecting the levelness of the frame of the crane;
and the controller is used for receiving the levelness information of the frame and the automatic leveling control signal of the supporting legs detected by the electronic level meter, and controlling each electric proportional valve to level the frame according to the horizontal state information of the frame after receiving the leveling control signal.
In the invention, after the supporting leg automatic leveling system is triggered by the leveling button, the controller controls the corresponding electro proportional valve according to the detection result of the electronic level meter, so that the corresponding supporting leg vertical oil cylinder makes telescopic action, the supporting leg automatic leveling of the crane is realized, the operation difficulty and labor intensity of the supporting leg leveling of the wheel crane are reduced, and the leveling precision is ensured.
In the supporting leg automatic leveling system, the leveling system further comprises an oil cylinder state detection device which is electrically connected with the controller and used for detecting the stretching state of the vertical oil cylinders of the supporting legs, and the controller controls the electro proportional valves to enable the frame to be horizontal according to the horizontal state information of the frame after all the vertical oil cylinders are in the fully stretched state. Further, the oil cylinder state detection device is a plurality of pressure sensors for detecting the pressure of the large cavity of the corresponding vertical oil cylinder, or the oil cylinder state detection device is a plurality of stroke sensing devices for detecting the telescopic stroke of the corresponding vertical oil cylinder, and the controller is used for presuming that the corresponding vertical oil cylinder is in a fully extended state when the pressure of the large cavity of the oil cylinder is greater than a preset pressure value or when the telescopic stroke of the oil cylinder reaches a preset stroke. And before leveling, the vertical oil cylinder is in a fully extended state, so that wheels of the wheel crane are suspended and do not touch the ground after leveling.
In the above automatic leveling system for the support leg, the leveling system further includes an emergency stop button for sending an emergency stop signal, and the controller closes all of the electro proportional valves when receiving the emergency stop signal. In the process of leveling the supporting legs, if an accident occurs, the automatic leveling can be stopped through the emergency stop button.
The technical scheme for realizing the purpose of the invention is as follows: the supporting leg automatic leveling control method is used for controlling the horizontal leveling of a wheeled crane frame and is characterized by comprising the following steps of:
step S1, the controller receives a leveling control signal sent by a leveling button; the leveling button is triggered by the operator.
And step S2, the controller acquires the frame levelness information sent by the electronic level meter in real time and controls the electro proportional valves corresponding to the vertical oil cylinders of the support legs of the crane according to the frame levelness information to enable the frame to be horizontal.
In the above-mentioned method for controlling automatic leveling of supporting legs, in step S1, the controller detects the state information of the vertical cylinders of each supporting leg through the cylinder state detection device after receiving the leveling control signal sent by the leveling button, and executes step S2 after all the vertical cylinders are in the fully extended state. Further, in step S1, the pressure of each vertical cylinder chamber is detected by a pressure sensor or the telescopic stroke of the vertical cylinder is detected by a stroke sensing device, and when the pressure of the vertical cylinder chamber is greater than a preset pressure value or the telescopic stroke of the vertical cylinder is greater than a preset stroke, it is estimated that the corresponding vertical cylinder is in a fully extended state. When the wheel crane suspends the vehicle by extending the supporting leg, if the vertical oil cylinder continues to extend after the vertical oil cylinder is in a fully extended state, the pressure of a large cavity of the vertical oil cylinder rises to reach the overflow pressure, the preset pressure value is usually set as the overflow pressure of the supporting leg of the crane, and when the pressure of the large cavity of the vertical oil cylinder reaches the preset pressure value, the vertical oil cylinder can be presumed to be in the fully extended state. The state of the vertical oil cylinder can also be determined by detecting the elongation of the vertical oil cylinder through the stroke sensing device.
In the above-mentioned method for controlling the automatic leveling of the support leg, in step S1, when the vertical cylinder is in the fully extended state, the controller is powered off to close the electro proportional valve corresponding to the vertical cylinder.
In the above-described method for controlling automatic leveling of support legs, in step S2, the electro-proportional valve corresponding to the lowest side of the height of the vehicle frame is determined as the non-modulated proportional valve according to the vehicle frame horizontal state information acquired at the earliest time, and the controller keeps closed control over the non-modulated proportional valve when controlling each electro-proportional valve according to the vehicle frame horizontal state information. In the leveling process, the non-dimming proportional valve is kept closed and controlled, and the maximum ground clearance of the frame after leveling can be realized, so that the suspension of wheels of the crane is ensured.
The technical scheme for realizing the purpose of the invention is as follows: a wheeled crane is provided, which is characterized by comprising the support leg automatic leveling system.
Compared with the prior art, the controller controls the corresponding electro proportional valve according to the detection result of the electronic level meter to enable the corresponding supporting leg vertical oil cylinder to stretch and retract, so that the supporting leg of the crane is automatically leveled, the operation difficulty and labor intensity of leveling the supporting leg of the wheel crane are reduced, and the leveling precision is ensured.
Drawings
Fig. 1 is a control block diagram of the leg auto-leveling system of the present invention.
Fig. 2 is a hydraulic control schematic diagram of a vertical cylinder in the leg auto-leveling system of the present invention.
Fig. 3 is a schematic display view of a control panel in the leg auto-leveling system of the present invention.
Fig. 4 is a leveling control flow chart of the support leg automatic leveling control method of the invention.
Fig. 5 is a diagram showing the level of an electronic level in the leg auto-leveling system of the present invention.
Fig. 6 is a second view of the electronic level in the leg auto-leveling system of the present invention.
Part names and serial numbers in the figure:
a supporting leg power-taking enabling button 1, a horizontal oil cylinder icon 2, an opposite side front vertical oil cylinder retraction button 3, a vertical oil cylinder icon 4, an opposite side rear vertical oil cylinder retraction button 6, a four vertical oil cylinder simultaneous retraction button 8, a four vertical oil cylinder full retraction in-place button 9, a leveling button 10, a four vertical oil cylinder simultaneous extension button 11, an opposite side rear vertical oil cylinder extension button 12, a side rear horizontal oil cylinder retraction button 14, a side rear horizontal oil cylinder extension button 15, a side two vertical oil cylinder extension button 16, a side two vertical oil cylinder retraction 17, a side rear vertical oil cylinder extension button 18, a side rear vertical oil cylinder retraction button 19, an emergency stop button 21, a levelness display area 22, a side front vertical oil cylinder retraction button 24, a side front vertical oil cylinder extension button 25, a side two horizontal oil cylinder extension button 26, a side two horizontal oil cylinder retraction button 27, a side front horizontal oil cylinder extension button 28, a side front horizontal oil cylinder retraction button 29, a side rear vertical oil cylinder retraction button 14, a side rear horizontal oil cylinder retraction button 14, a side vertical oil cylinder extension button 15, a side, The control system comprises a side front vertical cylinder extending button 31, a light control button 32, an engine flameout button 33, an engine ignition button 34, an electronic level meter 35, a controller 36, a first electro-proportional valve 41, a second electro-proportional valve 42, a third electro-proportional valve 43, a fourth electro-proportional valve 44, a right front vertical cylinder 51, a right rear vertical cylinder 52, a left front vertical cylinder 53, a left rear vertical cylinder 54, a first sensor 61, a second sensor 62, a third sensor 63 and a fourth sensor 64.
Detailed Description
The following description of the embodiments refers to the accompanying drawings.
The wheeled crane comprises a chassis, and a rotary table is arranged on the chassis. The chassis comprises a frame and supporting legs arranged on two sides of the frame. Two supporting legs are respectively installed on each side of the frame, and the four supporting legs are respectively a right front supporting leg, a right rear supporting leg, a left front supporting leg and a left rear supporting leg. Each supporting leg is provided with a horizontal oil cylinder and a vertical oil cylinder and is used for lifting the frame by horizontally extending and vertically extending the supporting leg so as to suspend the wheels. When the crane is used for hoisting, firstly, the supporting legs are drilled, and after the horizontal oil cylinder extends to a position, the vertical oil cylinder extends out to enable the chassis tire to be separated from the ground without stress, and meanwhile, the frame is kept in a horizontal state. The horizontal state adjustment of the frame is adjusted by the automatic landing leg leveling system, and one-key leveling can be realized.
As shown in fig. 1, the leg auto-leveling system includes a controller, an electronic level 35, a pressure sensor, an electro proportional valve, a leveling button 7, and an emergency stop button 21, among others.
As shown in fig. 1 and 2, four electro proportional valves are electrically connected to the controller 36, and are respectively a first electro proportional valve 41, a second electro proportional valve 42, a third electro proportional valve 43, and a fourth electro proportional valve 44, and correspondingly connected to the right front leg vertical cylinder 51, the right rear leg vertical cylinder 52, the left front leg vertical cylinder 53, and the left rear leg vertical cylinder 54, so as to control the extension and retraction of the corresponding vertical cylinders.
The four pressure sensors are electrically connected with the controller 36, namely a sensor I61, a sensor II 62, a sensor III 63 and a sensor IV 64, and are respectively and correspondingly used for measuring the pressure of the large cavities of the right front supporting leg vertical oil cylinder 51, the right rear supporting leg vertical oil cylinder 52, the left front supporting leg vertical oil cylinder 53 and the left rear supporting leg vertical oil cylinder 54.
As shown in fig. 3, the electronic level 35, the leveling button 7, and the emergency stop button 21 are integrated on the control panel 99. The control panel is arranged on the chassis, and two sides of the chassis are respectively provided with a control panel for convenient control. And a leveling button, an emergency stop button levelness display and other operation buttons and the like are arranged on the control panel, and icon icons comprise a vertical oil cylinder icon, a horizontal oil cylinder icon and the like. Other operating buttons comprise a supporting leg power take-off enabling button 1, an opposite side front vertical cylinder retraction button 3, an opposite side rear vertical cylinder retraction button 6, a four vertical cylinder simultaneous retraction button 8, a four vertical cylinder full retraction in-place button 9, a leveling button 10, a four vertical cylinder simultaneous extension button 11, an opposite side rear vertical cylinder extension button 12, a side rear horizontal cylinder retraction button 14, a side rear horizontal cylinder extension button 15, a side two vertical cylinder extension button 16, a side two vertical cylinder retraction 17, a side rear vertical cylinder extension button 18, a side rear vertical cylinder retraction button 19, an emergency stop button 21, a levelness display area 22, a side front vertical cylinder retraction button 24, a side front vertical cylinder extension button 25, a side two horizontal cylinder extension button 26, a side two horizontal cylinder retraction button 27, a side front horizontal cylinder extension button 28, a side front horizontal cylinder retraction button 29, an opposite side front vertical cylinder extension button 31, a side rear vertical cylinder extension button 15, a side vertical cylinder extension button 25, a side two horizontal cylinder extension button 26, a side two horizontal cylinder retraction button 27, a side front horizontal cylinder extension button 28, a side front horizontal cylinder extension button 29, a side front vertical cylinder extension button 31, a horizontal cylinder extension button, A light control button 32, an engine off button 33, and an engine ignition button 34.
The control panel 99 is electrically connected with the controller 36, so that the electronic level 35, the buttons and other related components integrated on the control panel 99 transmit related signals to the controller 36, and corresponding operation control is realized.
The electronic level 35 is used for detecting the frame levelness of the crane, and the detected frame levelness information is transmitted to the controller 36 and is displayed in the levelness display area 22 on the control panel.
The leveling button 7 is used for sending a supporting leg automatic leveling control signal to the controller 36, triggering the controller to execute a related instruction program, and realizing supporting leg automatic leveling control.
The emergency button 21 is used for sending a stop instruction to the controller in an emergency, stopping the automatically executed leveling action and avoiding accidents.
In this embodiment, an operator can manually operate a button on the control panel to realize the leveling of the support leg, and can also perform one-key leveling through the leveling button 7 after the horizontal oil cylinder of the support leg extends in place, wherein the one-key leveling control method specifically comprises the following steps:
as shown in step S1 in fig. 4, the controller 36 receives the leveling control signal sent by the leveling button 7; an operator touches and presses the leveling button 7 on the control panel 99 to generate a leveling control signal and trigger a one-key automatic leveling function of the crane. Upon receiving the leveling control signal, the controller 36 executes the following steps S11 and S12.
And step S11, controlling the extension of the support oil cylinder. The controller 36 outputs control currents to the electro-proportional valve one 41, the electro-proportional valve two 42, the electro-proportional valve three 43 and the electro-proportional valve four 44, so that the Y1a electromagnet of the electro-proportional valve one 41, the Y2a electromagnet of the electro-proportional valve two 42, the Y3a electromagnet of the electro-proportional valve three 43 and the Y4a electromagnet of the electro-proportional valve four 44 are electrified, each electro-proportional valve is opened in the cylinder extension direction, and the right front support leg vertical cylinder 51, the right rear support leg vertical cylinder 52, the left front support leg vertical cylinder 53 and the left rear support leg vertical cylinder 54 are all extended.
And step S12, judging the fully extended state of the vertical oil cylinder. The controller 36 respectively obtains the pressure of the large cavities of the right front leg vertical oil cylinder 51, the right rear leg vertical oil cylinder 52, the left front leg vertical oil cylinder 53 and the left rear leg vertical oil cylinder 54 through a first sensor 61, a second sensor 62, a third sensor 63 and a fourth sensor 64, and judges whether the vertical oil cylinder is in a fully extended state or not through the pressure of the corresponding vertical oil cylinder large cavity. After the electro proportional valve is opened towards the extending direction of the oil cylinder, pressure oil enters the large cavity corresponding to the vertical oil cylinder, the vertical oil cylinder extends, when the vertical oil cylinder is in a fully extended state and then continues to feed oil to the large cavity of the oil cylinder, the pressure of the large cavity of the oil cylinder is suppressed high, and finally the overflow pressure is reached. And setting the overflow pressure of the vertical oil cylinder as a preset pressure value for judging whether the vertical oil cylinder is in a fully extended state. And when the pressure value detected by a certain pressure sensor is equal to or greater than the preset pressure value P, the vertical oil cylinder corresponding to the pressure sensor is presumed to be in a fully extended state.
After the controller 36 estimates that a certain vertical cylinder is in the fully extended state, the electric proportional valve corresponding to the vertical cylinder is controlled to be powered off, so that the electric proportional valve is in the closed state in the cylinder extension direction. Or after all the vertical oil cylinders are estimated to be in the fully extended state, the controller 36 performs power-off control on all the electro proportional valves, so that all the electro proportional valves are in the closed state in the oil cylinder extension and retraction direction at the same time. After all the electro proportional valves are powered off and closed, the controller executes step S2.
In step S12, the determination of the fully extended state of the vertical cylinder may also be achieved by other means, such as directly detecting the extension stroke of the vertical cylinder through a stroke sensing device, and determining whether the vertical cylinder is in the fully extended state through the extension stroke of each vertical cylinder.
The main purpose of steps S11 and S12 in step S1 is to make each vertical cylinder in a fully extended state, so as to ensure that the vehicle frame has the maximum ground clearance after the vehicle frame is adjusted to be horizontal in step S2, and ensure that the chassis wheels are not stressed from the ground during the hoisting operation of the crane.
The steps S11 and S12 are not essential steps, and may be performed before the operator touches the leveling button. For example, after the horizontal oil cylinder of each supporting leg extends to the right position and before the leveling button 7 is touched, an operator touches and presses a vertical oil cylinder operating button on the control panel 99, the vertical oil cylinders are manually operated and controlled to extend, and the supporting legs jack up the vehicle frame to suspend the tires of the chassis above the ground. In manual operation control, an operator visually observes whether each vertical oil cylinder is in a fully extended state; or according to experience, after the lifting height of the frame is judged to be leveled, the extension of the vertical oil cylinder is stopped when the requirement that the chassis tire is suspended above the ground and is not stressed in the lifting process of the crane is met (at the moment, the vertical oil cylinder is possibly not in a fully extended state), then, when the leveling button 7 is touched and pressed, a leveling control signal is generated, a one-key braking leveling function of the crane is triggered, and the controller executes the step S2.
When the controller 36 executes step S2, the electronic level 35 acquires the levelness information of the vehicle body frame. The frame levelness information detected by the electronic level meter 35 includes relative height information of the frame in eight directions, which are respectively the front side of the frame, the rear side of the frame, the left side of the frame, the right side of the frame, the rear side of the frame, the front side of the right side of the frame, the rear side of the left side of the frame, and the front side of the left side of the frame. The levelness information of the vehicle frame detected by the electronic level meter can only contain relative height information in four directions, wherein the four directions are respectively the right front side of the vehicle frame, the right rear side of the vehicle frame, the right left side of the vehicle frame, the right side of the vehicle frame and the like.
The frame levelness information that electron spirit level 35 detected not only shows in the levelness display area on control panel, still transmits the levelness information for controller 36, and corresponding electric proportional valve is controlled according to the levelness information to controller 36, realizes frame level control.
The controller 36 executes step S2 to control the electro proportional valve to level the vehicle frame as shown in fig. 4. In step S2, step S21, step S22, and step S23 are included.
In step S21, the controller 36 obtains the information of the vehicle frame levelness detected by the electronic level, determines whether the vehicle frame is level according to the information of the vehicle frame levelness, if the vehicle frame is not level, the step S22 is performed, and if the vehicle frame is level, the step S23 is performed.
And step S22, controlling a corresponding electro proportional valve by the controller according to the levelness information, and adjusting the levelness of the frame. For example, when the controller determines that the front side of the vehicle frame is high according to the vehicle frame levelness information, as shown in fig. 5, the controller controls the Y1b electromagnet of the electro-proportional valve one 41 and the Y3b electromagnet of the electro-proportional valve three 43 to be electrified, the electro-proportional valve one 41 and the electro-proportional valve three 43 are opened in the cylinder retraction direction, hydraulic oil enters the small cavities of the right front vertical cylinder 51 and the left front vertical cylinder 53, and pressure oil in the large cavities of the right front vertical cylinder 51 and the left front vertical cylinder 53 respectively flows to an oil tank through the electro-proportional valve one 41 and the electro-proportional valve three 43, so that the retraction of the right front vertical cylinder 51 and the left front vertical cylinder 53 is realized, and the height of the front part of the vehicle frame is reduced.
Correspondingly, when the other direction of the frame is judged to be high, the following conditions are installed to control the corresponding electro proportional valve:
if it is determined that the vehicle frame is directly high on the rear side, the controller 36 controls the electromagnet Y2b of the second electro-proportional valve 42 and the electromagnet Y4b of the fourth electro-proportional valve 44 to be energized.
And if the right rear side of the frame is judged to be high, the controller controls the Y1b electromagnet of the first electro-proportional valve 41, the Y2b electromagnet of the second electro-proportional valve 42 and the Y3b electromagnet of the third electro-proportional valve 43 to be electrified.
If the right front side of the frame is judged to be high, the controller controls the Y1b electromagnet of the electro-proportional valve I41, the Y2b electromagnet of the electro-proportional valve II 42 and the Y4b electromagnet of the electro-proportional valve IV 44 to be electrified.
If the right side of the vehicle frame is judged to be high, the controller controls the Y1b electromagnet of the first electro-proportional valve 41 and the Y2b electromagnet of the second electro-proportional valve 42 to be electrified.
And if the left rear side of the frame is judged to be high, the controller controls the Y2b electromagnet of the electro-proportional valve II 42, the Y3b electromagnet of the electro-proportional valve III 43 and the Y4b electromagnet of the electro-proportional valve IV 44 to be electrified.
If the left front side of the frame is judged to be high, the controller controls the Y1b electromagnet of the electro-proportional valve I41, the Y3b electromagnet of the electro-proportional valve III 43 and the Y4b electromagnet of the electro-proportional valve IV 44 to be electrified.
If the vehicle frame is judged to be high on the left side, the controller controls the Y3b electromagnet of the electro-proportional valve three 43 and the Y4b electromagnet of the electro-proportional valve four 44 to be electrified.
After the electromagnet at the end b of the electro-proportional valve is electrified, the vertical oil cylinder corresponding to the electro-proportional valve retracts, so that the height of the corresponding position of the frame is reduced, and the levelness of the frame is changed.
Step S22 and step S21 are a cyclic process, that is, the controller 36 controls the electro proportional valve to change the levelness of the vehicle frame and also obtains the levelness information of the electronic level, if it is determined that the levelness of the vehicle frame has changed from one direction to another direction according to the newly obtained levelness information of the vehicle frame, the controller controls the corresponding electro proportional valve according to the newly obtained levelness information of the vehicle frame, and the other electro proportional valves are in a power-off bidirectional closing state. After several cycles of step S22 and step S21, the carriage is adjusted to a horizontal state, and the display of the electronic level is shown in fig. 6.
In step S2, the direction in which the height of the vehicle body frame is the highest is determined based on the vehicle body frame levelness information, and the corresponding electro proportional valve is subjected to energization control. In the method, the electric proportional valve controlled to be opened by the controller always corresponds to the direction with the highest frame height, and the electric proportional valve corresponding to the direction with the lowest frame height cannot be opened. Therefore, in step S2, the direction in which the height of the vehicle frame is the lowest is determined from the initial vehicle frame levelness information, and the electro proportional valve corresponding to this direction is not controlled to be opened. For example, when the right front side of the frame is high, only the first electro-proportional valve and the third electro-proportional valve need to be controlled to be opened, so that the right front vertical oil cylinder and the left front vertical oil cylinder retract. The right rear vertical oil cylinder and the left rear vertical oil cylinder do not retract, the two corresponding electro-proportional valves are an electro-proportional valve II and an electro-proportional valve IV respectively, the electro-proportional valve II and the electro-proportional valve IV are non-modulated electro-proportional valves, and the two-way closing state is always kept in the step S2. For example, when the vehicle body frame right front side is high, in step S2, it is necessary to open and control the first electro-proportional valve, the second electro-proportional valve, and the fourth electro-proportional valve without starting control of the third electro-proportional valve, which is an unregulated electro-proportional valve.
The controller controls to open the electro-proportional valve corresponding to the direction with the highest frame height, so that one or two electro-proportional valves can be ensured not to be opened in the horizontal adjustment process of the frame, the vertical oil cylinder corresponding to the electro-proportional valve is always in a fully extended state, and the frame leveled according to the method can ensure that the ground clearance of the frame is the maximum.
After the vehicle frame is adjusted to the horizontal state, the controller executes step S23, all the electro proportional valves are closed bidirectionally, the support leg power take-off enabling switch is automatically closed, and the support leg leveling control operation is ended. The supporting leg is adjusted by the supporting leg automatic leveling system and the leveling control method in the embodiment, the operation is simple and convenient, the operation can be finished by one key, the labor intensity is low, and the leveling precision is high.
Claims (10)
1. The utility model provides a landing leg automatic leveling system for wheeled crane, four landing legs are installed to crane frame both sides, and its characterized in that leveling system includes four be used for corresponding the flexible electro proportional valve of four landing leg vertical oil jar of control hoist and:
the leveling button is used for sending a leveling control signal;
the electronic level meter is used for detecting the levelness of the frame of the crane;
and the controller is used for receiving the levelness information of the frame and the automatic leveling control signal of the supporting legs detected by the electronic level meter, and controlling each electric proportional valve to level the frame according to the horizontal state information of the frame after receiving the leveling control signal.
2. The automatic leveling system for supporting legs as claimed in claim 1, further comprising a cylinder state detection device electrically connected with the controller for detecting the telescopic state of the vertical cylinders of each supporting leg, wherein the controller controls each electro proportional valve to level the vehicle frame according to the horizontal state information of the vehicle frame after all the vertical cylinders are in the fully extended state.
3. The automatic leveling system for supporting legs of claim 2, wherein the cylinder status detecting device is a plurality of pressure sensors for detecting the pressure of the large cavity of the corresponding vertical cylinder, or the cylinder status detecting device is a plurality of stroke sensing devices for detecting the telescopic stroke of the corresponding vertical cylinder, and the controller is configured to estimate that the corresponding vertical cylinder is in the fully extended state when the pressure of the large cavity of the cylinder is greater than a preset pressure value or when the telescopic stroke of the cylinder reaches a preset stroke.
4. The support leg auto-leveling system according to any one of claims 1 to 3, wherein the leveling system further comprises an emergency stop button for sending an emergency stop signal, the controller closing all electro proportional valves upon receipt of the emergency stop signal.
5. An automatic landing leg leveling control method is used for controlling the horizontal leveling of a frame of a wheeled crane and is characterized by comprising the following steps of:
step S1, the controller receives a leveling control signal sent by a leveling button;
and step S2, the controller acquires the frame levelness information sent by the electronic level meter in real time and controls the electro proportional valves corresponding to the vertical oil cylinders of the support legs of the crane according to the frame levelness information to enable the frame to be horizontal.
6. The method as claimed in claim 5, wherein in step S1, the controller detects the status information of the vertical cylinders of the legs via the cylinder status detection device after receiving the leveling control signal from the leveling button, and executes step S2 after all the vertical cylinders are in the fully extended status.
7. The method for controlling automatic leveling of a support leg according to claim 6, wherein in step S1, the pressure of the large chamber of each vertical cylinder is detected by a pressure sensor or the telescopic stroke of the vertical cylinder is detected by a stroke sensing device, and when the pressure of the large chamber of the vertical cylinder is greater than a preset pressure value or the telescopic stroke of the vertical cylinder is greater than a preset stroke, it is estimated that the corresponding vertical cylinder is in a fully extended state.
8. The method of claim 7, wherein in step S1, the controller de-energizes and closes the electro proportional valve corresponding to the vertical cylinder when the vertical cylinder is in the fully extended state.
9. The support leg auto-leveling control method according to any one of claims 5 to 8, wherein in step S2, the electro-proportional valve corresponding to the lowest side of the vehicle frame height is determined as the non-modulated electro-proportional valve according to the earliest acquired vehicle frame horizontal state information, and the controller keeps closed control over the non-modulated electro-proportional valve when controlling each electro-proportional valve according to the vehicle frame horizontal state information.
10. A wheeled crane characterized by having the leg auto-leveling system of any one of claims 1 to 4.
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