CN115043333A - Method, controller, and crawler-type machinery for track-type machinery - Google Patents

Abstract

The application discloses a method for crawler type mechanical equipment, a controller and the crawler type mechanical equipment. Crawler-type mechanical equipment includes the host computer, and the host computer includes frame, landing leg and level detection device, and the landing leg setting is in the side of frame, and level detection device sets up on the frame, and the method includes: controlling the supporting legs to synchronously extend out; acquiring the levelness of the frame sent by the level detection device in real time; judging whether the levelness exceeds a set range; and in the case that the levelness exceeds the set range, adjusting the extending speed of the supporting legs so that the levelness does not exceed the set range. Therefore, the processor dynamically adjusts the extending speed of the supporting legs according to the levelness value sent by the level detection device, so that the leveling accuracy of the crawler-type mechanical equipment can be effectively improved, the safety risk is reduced, and the leveling efficiency of the crawler-type mechanical equipment is also improved.

Description

Method, controller, and crawler-type machinery for a crawler-type machine

technical field

The present application relates to the technical field of construction machinery, and in particular, to a method, a controller, and a crawler-type mechanical device for a crawler-type mechanical device.

Background technique

Due to the requirements of road transportation restrictions, the crawler assembly of medium and large tonnage crawler cranes will be removed from the whole machine during transportation, and transported to the construction site separately from the main engine (including the frame, turntable, etc.), and then assembled on site after delivery. When transporting, the lower surface of the frame is placed on the flatbed truck, the four vertical outriggers evenly distributed around the frame are in a retracted state, and the support plate is separately fixed on the frame or track frame. After transporting to the construction destination, by extending the vertical outrigger cylinder and installing the outrigger plate at the lower part of the cylinder, the main engine can be supported, and then the crawler frame can be installed. In the prior art, the operator is required to operate the four handles respectively based on experience, and adjust the extension speed and extension length of the four vertical legs by checking the level displayed by the bubble level at the front of the frame until the foot plate gradually increases. Compact on the ground to support the main unit off the flatbed. The operator controls the extension of each vertical outrigger cylinder through four handles, and the extension speed of the outrigger is affected by the operator's subjective judgment, which requires a high degree of operator experience. The four handles control the four vertical outrigger cylinders respectively, and the corresponding relationship is likely to be wrong during operation, which may lead to overturning accidents. In addition, the level display of the main engine mostly adopts the bubble level installed on the frame, which has low display accuracy and inaccurate reading. If the ground is inclined or potholes are uneven, it is necessary to repeatedly adjust the expansion and contraction of the oil cylinder, and multiple people need to coordinate and confirm, which takes a long time. Therefore, the leveling efficiency and accuracy of the crawler-type mechanical equipment in the prior art are low, and there is a safety risk.

SUMMARY OF THE INVENTION

The purpose of the embodiments of the present application is to provide a method, a controller, and a crawler-type mechanical device for a crawler-type mechanical device, so as to solve the problem that the leveling efficiency and accuracy of the crawler-type mechanical device in the prior art are low and exist security risk issues.

In order to achieve the above purpose, a first aspect of the present application provides a method for crawler-type mechanical equipment, the crawler-type mechanical equipment includes a main engine, the main engine includes a frame, outriggers and a level detection device, the outriggers are arranged on the side of the frame, The levelness detection device is arranged on the frame, and the method includes:

Control outriggers to extend synchronously;

Obtain the levelness of the frame sent by the level detection device in real time;

Determine whether the levelness exceeds the set range;

When the levelness exceeds the set range, adjust the extension speed of the outriggers so that the levelness does not exceed the set range.

In the embodiment of the present application, the levelness includes the levelness of the first direction and the levelness of the second direction, and the first direction and the second direction are perpendicular to each other; the first direction includes a first positive direction and a first negative direction, and the second The directions include a second positive direction and a second negative direction.

In the embodiment of the present application, the supporting legs include a first supporting leg, a second supporting leg, a third supporting leg and a fourth supporting leg. The first leg is located in the first negative direction and the second positive direction, the second leg is located in the first positive direction and the second positive direction, the third leg is located in the second negative direction and the first negative direction, and the fourth leg is located in the first negative direction and the second positive direction The first positive direction and the second negative direction.

In the embodiment of the present application, when the levelness exceeds the set range, adjusting the extension speed of the outrigger includes:

When the horizontality of the first positive direction exceeds the set range, the first leg and the third leg are controlled to reduce the extension speed, and the second leg and the fourth leg are controlled to suspend the extension.

In the embodiment of the present application, when the levelness exceeds the set range, adjusting the extension speed of the outrigger includes:

When the levelness of the first negative direction exceeds the set range, control the second leg and the fourth leg to reduce the extension speed, and control the first leg and the third leg to suspend the extension.

In the embodiment of the present application, when the levelness exceeds the set range, adjusting the extension speed of the outrigger includes:

When the horizontality of the second positive direction exceeds the set range, the third leg and the fourth leg are controlled to reduce the extension speed, and the first leg and the second leg are controlled to suspend the extension.

In the embodiment of the present application, when the levelness exceeds the set range, adjusting the extension speed of the outrigger includes:

When the horizontality in the second negative direction exceeds the set range, control the first leg and the second leg to reduce the extension speed, and control the third leg and the fourth leg to suspend the extension.

In the embodiment of the present application, the extension speed of the outrigger is controlled by the corresponding control solenoid valve; the control solenoid valve adjusts the extension speed of the outrigger by adjusting the current value or the opening degree of the valve core.

In the embodiment of the present application, it is determined whether the outrigger reaches the target position; when the outrigger reaches the target position, the outrigger is controlled to stop extending.

A second aspect of the present application provides a controller, including:

a memory configured to store the instructions; and

A processor configured to invoke instructions from memory and, when executed, implement a method for a track-type machine according to any of the above.

A third aspect of the present application provides a crawler-type mechanical equipment, comprising:

The main engine includes a frame, an outrigger structure and a level detection device, the outrigger structure is arranged on the side of the frame, and the level detection device is arranged on the frame; and

According to the above controller, communication with the level detection device and the leg structure.

Through the above technical solution, the levelness of the frame sent by the level detection device is acquired in real time by controlling the synchronous extension of the outriggers; it is judged whether the levelness exceeds the set range. When the levelness exceeds the set range, adjust the extension speed of the outriggers so that the levelness does not exceed the set range. In this way, the processor dynamically adjusts the extension speed of the outrigger according to the level value sent by the level detection device, which can effectively improve the leveling accuracy of the crawler-type mechanical equipment, reduce the safety risk, and also improve the crawler-type mechanical equipment. Leveling efficiency.

Other features and advantages of the embodiments of the present application will be described in detail in the detailed description section that follows.

Description of drawings

The accompanying drawings are used to provide further understanding of the embodiments of the present application, and constitute a part of the specification, and are used to explain the embodiments of the present application together with the following specific embodiments, but do not constitute limitations to the embodiments of the present application. In the attached image:

1 schematically shows a schematic structural diagram of a main engine of a crawler-type mechanical equipment under a transport condition according to an embodiment of the present application;

FIG. 2 schematically shows a schematic structural diagram of a crawler-type mechanical equipment under an installation condition according to an embodiment of the present application;

FIG. 3 schematically shows a schematic flowchart of a method for a crawler-type mechanical device according to an embodiment of the present application;

FIG. 4 schematically shows a schematic diagram of the arrangement structure of a level detection device according to an embodiment of the present application;

FIG. 5 schematically shows a structural block diagram of a controller according to an embodiment of the present application;

FIG. 6 schematically shows a flow chart of a method for a crawler type mechanical device according to a specific embodiment of the present application.

Description of reference numerals

101 Frame 102 Outrigger Structure

102.1 Leg 102.2 Control Solenoid Valve

103 Level detection device 104 Turntable

401 First positive direction 402 First negative direction

403 Second positive direction 404 Second negative direction

Detailed ways

In order to make the purposes, technical solutions and advantages of the embodiments of the present application more clear, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. The specific embodiment of the example will be described in detail. It should be understood that the specific implementation manners described herein are only used to illustrate and explain the embodiments of the present invention, and are not used to limit the embodiments of the present invention. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present application.

It should be noted that if there are directional indications (such as up, down, left, right, front, back, etc.) involved in the embodiments of the present application, the directional indications are only used to explain a certain posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication also changes accordingly.

In addition, if there are descriptions related to "first", "second", etc. in the embodiments of the present application, the descriptions of "first", "second", etc. are only for the purpose of description, and should not be construed as indicating or implying Its relative importance or implicitly indicates the number of technical features indicated. Thus, a feature delimited with "first", "second" may expressly or implicitly include at least one of that feature. In addition, the technical solutions between the various embodiments can be combined with each other, but must be based on the realization by those of ordinary skill in the art. When the combination of technical solutions is contradictory or cannot be realized, it should be considered that the combination of such technical solutions does not exist. , is not within the scope of protection claimed in this application.

Fig. 1 schematically shows a schematic structural diagram of a main engine of a crawler-type mechanical equipment under a transport condition according to an embodiment of the present application; Fig. 2 schematically shows a crawler-type mechanical device under an installation condition according to an embodiment of the present application Schematic diagram of the structure of the mechanical equipment. As shown in FIG. 1 and FIG. 2 , the crawler type mechanical equipment includes a main engine, and the main engine may include a frame 101 , a leg structure 102 and a level detection device 103 . The outrigger structure may include an outrigger 102.1 and a control solenoid valve 102.2. The outrigger 102.1 is arranged on the side of the frame 101, and the levelness detection device 103 is arranged on the frame 101. The frame 101 and the turntable 104 are rigidly connected by a slewing bearing.

In the embodiment of the present application, when the main machine is being transported, the lower surface of the frame 101 is placed on the flatbed truck, the four outriggers 102.1 and the control solenoid valve 102.2 evenly distributed around the frame 101 are in a retracted state, and the leg plates are separately fixed to the truck. frame 101 or track frame.

In this embodiment of the present application, the leg structure may include a leg 102.1 and a control solenoid valve 102.2. Controlling the solenoid valve 102.2 can control the extension speed of the legs 102.1. In this embodiment of the present application, the leg structure may include a plurality of legs, each of which is controlled by a corresponding control solenoid valve. Preferably, the legs 102.1 may be vertical legs. In one example, the control solenoid valve 102.2 controls the extension speed of the corresponding leg 102.1 by adjusting the current value; in another example, the control solenoid valve 102.2 adjusts the extension of the corresponding leg 102.1 by adjusting the opening of the valve core speed.

In the embodiment of the present application, the level detection device 103 is disposed on the vehicle frame 101 . Preferably, the level detection device 103 may be disposed at the center of the vehicle frame 101 . In this embodiment of the present application, the level detection device 103 may include, but is not limited to, a level device that can detect levelness, such as an inclination sensor.

In the embodiment of the present application, the turntable 104 and the frame 101 can be rigidly connected by a slewing bearing, so that the levelness of the main engine is consistent with the levelness of the frame 101 . In this way, in the present application, the levelness of the main engine can be obtained only through the level detection device 103 provided on the vehicle frame 101 .

FIG. 3 schematically shows a schematic flowchart of a method for a crawler-type mechanical device according to an embodiment of the present application. As shown in FIG. 3 , an embodiment of the present application provides a method for a crawler-type mechanical device. The method is applied to the crawler-type mechanical device as shown in FIG. 1 and FIG. 2 . The crawler-type mechanical device includes a main engine, and the main engine includes a vehicle. A frame, an outrigger and a level detection device, the outrigger is arranged on the side of the frame, and the levelness detection device is arranged on the frame, and the method may include the following steps.

Step 301 , controlling the outriggers to extend synchronously.

In this embodiment of the present application, the processor may control the legs to extend synchronously according to a one-key operation. The outrigger is one of the main components of the crane. Its function is to increase the supporting base of the crane, reduce the burden on the tires, improve the anti-overturning stability of the whole vehicle, and thus improve the lifting capacity. The outrigger is a supporting device installed on the bottom frame of the crane, including a fixed part and a movable extension part. The outrigger is adjusted by controlling the current value of the solenoid valve to adjust the extension speed of the outrigger. The control solenoid valve is an industrial equipment controlled by electromagnetic, and it is an automatic basic component used to control the fluid. It belongs to the actuator and is not limited to hydraulic and pneumatic. Used in industrial control systems to adjust the direction, flow, speed and other parameters of the medium. The control solenoid valve can be matched with different circuits to achieve the desired control, and the control accuracy and flexibility can be guaranteed. Crawler-type mechanical equipment usually uses four hydraulic outriggers when working. It is very important that the control outriggers provide the greatest possible stability. The outrigger extension in the prior art requires the operator to control the extension of each vertical outrigger cylinder through four handles, and the extension speed is affected by the operator's subjective judgment, and the operator's experience is highly required. In addition, the four handles control the four vertical outrigger cylinders respectively, and the corresponding relationship is likely to be wrong during operation, which is prone to overturning accidents. If the ground is inclined or potholes are uneven, it is necessary to repeatedly adjust the expansion and contraction of the oil cylinder, and multiple people need to coordinate and confirm, which takes a long time. However, in the embodiment of the present application, after the main engine is transported to the construction site and the supporting feet are installed, the staff can send a leveling signal through the leveling button, for example, press the "leg extension" button. When the processor receives the leveling signal, it will level the host according to the leveling signal. When the control solenoid valve is energized and the current value is 100%, the outriggers can be extended synchronously, which is not affected by the operator's subjective judgment, saving operation time and labor.

Step 302: Acquire the levelness of the frame sent by the level detection device in real time.

In this embodiment of the present application, the level detection device may include, but is not limited to, an electronic inclination sensor. Inclination sensors, also known as inclinometers, inclinometers, levels, and inclinometers, are often used to measure changes in the horizontal angle of the system. In the prior art, the levelness display of the main engine mostly adopts a bubble level installed on the frame, and the display precision of the bubble level is low and the reading is inaccurate. However, the measurement accuracy of the electronic inclination sensor used in this application is higher than 0.05 degrees. Preferably, the level detection device can be arranged at the center of the frame, and the two-way calibration of the levelness of the main engine is performed through the left-right direction and the front-rear direction. The frame and the turntable are rigidly connected by a slewing bearing, so the levelness of the main engine is consistent with that of the frame. The slewing bearing is a new type of mechanical parts, which consists of inner and outer rings, rolling elements, etc. The slewing bearing is a large bearing that can withstand comprehensive loads, and can bear large axial and radial loads and overturning moments at the same time. Levelness refers to (generally refers to the horizontal plane, ground or ceiling) whether the plane is on a horizontal line. During the whole process of extending the four outriggers, the level detection device detects the levelness of the frame in real time, which is also the levelness of the host. The level detection device performs levelness detection in real time. In this way, the detection accuracy is higher, the results are more accurate, and the data can be automatically collected.

Step 303, judging whether the levelness exceeds the set range.

In this embodiment of the present application, the horizontal detection device may include a first direction and a second direction that are perpendicular to each other, for example, an X direction and a Y direction. The first direction may include a first positive direction and a first negative direction, and the second direction may include a second positive direction and a second negative direction. The processor may preset a set range, and after acquiring the levelness of the frame sent by the level detection device, the processor compares the levelness with the set range to determine whether the levelness exceeds the set range. For example, for the positive direction, the setting range may be 0° to 0.2°; for the negative direction, the setting range may be -0.2° to 0°. In this way, the levelness can be controlled within the set range.

Step 304 , when the levelness exceeds the set range, adjust the extension speed of the outriggers so that the levelness does not exceed the set range.

In the embodiment of the present application, when it is detected that the levelness exceeds the set range, the processor automatically adjusts the current value of the control solenoid valve according to the levelness, so as to adjust the extension speed of the outriggers, so that the levelness of the host is gradually adjusted. back to the setting range. When the levelness returns to the set range, continue to control the outriggers to extend synchronously.

Through the above technical solution, the levelness of the frame sent by the level detection device is acquired in real time by controlling the synchronous extension of the outriggers; it is judged whether the levelness exceeds the set range. When the levelness exceeds the set range, adjust the extension speed of the outriggers so that the levelness does not exceed the set range. In this way, the processor dynamically adjusts the extension speed of the outrigger according to the level value sent by the level detection device, which can effectively improve the leveling accuracy of the crawler-type mechanical equipment, reduce the safety risk, and also improve the crawler-type mechanical equipment. Leveling efficiency.

FIG. 4 schematically shows a schematic diagram of an arrangement structure of a level detection apparatus according to an embodiment of the present application. As shown in FIG. 4 , in the embodiment of the present application, the levelness includes the levelness of the first direction and the levelness of the second direction, and the first direction and the second direction are perpendicular to each other. The first direction includes a first positive direction 401 and a first negative direction 402 , and the second direction includes a second positive direction 403 and a second negative direction 404 .

In this embodiment of the present application, the first direction may be the X direction, and the second direction may be the Y direction.

In the embodiment of the present application, the supporting legs may include a first supporting leg A, a second supporting leg B, a third supporting leg C, and a fourth supporting leg D. As shown in FIG. 4 , the first leg A is located in the first negative direction 402 and the second positive direction 403 , the second leg B is located in the first positive direction 401 and the second positive direction 403 , and the third leg C is located in the second positive direction 403 . In the negative direction 404 and the first negative direction 402 , the fourth leg D is located in the first positive direction 401 and the second negative direction 404 .

Specifically, the processor can determine whether the level exceeds the set range. For example, for the first positive direction, it can be judged whether the horizontality is greater than 0.2°; for the first negative direction, it can be judged whether the horizontality is less than -0.2°; for the second positive direction, it can be judged whether the horizontality is greater than 0.2°; In the negative direction, it can be judged whether the horizontality is less than -0.2°. In this way, after the data is collected, the judgment processing can be performed automatically, which saves the operation time.

In the embodiment of the present application, in step 304, when the levelness exceeds the set range, adjusting the extension speed of the outrigger may include:

When the level of the first positive direction 401 exceeds the set range, control the first leg A and the third leg C to reduce the extension speed, and control the second leg B and the fourth leg D to suspend the extension .

Specifically, for the first positive direction, the preset setting range is 0°˜0.2°, and when the horizontality of the first positive direction 401 is detected to be greater than 0.2°, the system automatically adjusts the extension speed of the outriggers. For example, the current value of the cylinder control valve of the first leg A and the third leg C can be adjusted to 15%, and the current value of the cylinder of the second leg B and the fourth leg D can be adjusted to 0. That is, the extension speed of the first leg A and the third leg C is reduced, and the extension of the second leg B and the fourth leg D is suspended. Therefore, the extension speed of the outrigger is adjusted by adjusting the current value of the outrigger control solenoid valve, so that the levelness of the host is gradually adjusted back to the set range.

In this embodiment of the present application, in step 304, when the levelness exceeds the set range, adjusting the extension speed of the outrigger may further include:

When the level of the first negative direction 402 exceeds the set range, control the second leg B and the fourth leg D to reduce the extension speed, and control the first leg A and the third leg C to suspend the extension .

Specifically, for the first negative direction, the preset setting range is -0.2° to 0°, and when it is detected that the horizontality of the first negative direction 402 is less than -0.2°, the system automatically adjusts the extension speed of the outrigger. For example, the current value of the control solenoid valve of the second leg B and the fourth leg D can be adjusted to 15%, and the current value of the cylinder of the first leg A and the third leg C can be adjusted to 0. That is, the extension speed of the second leg B and the fourth leg D is reduced, and the extension of the first leg A and the third leg C is suspended. Therefore, the extension speed of the outrigger is adjusted by adjusting the current value of the outrigger control solenoid valve, so that the levelness of the host is gradually adjusted back to the set range.

In this embodiment of the present application, in step 304, when the levelness exceeds the set range, adjusting the extension speed of the outrigger may further include:

When the level of the second positive direction 403 exceeds the set range, control the third leg C and the fourth leg D to reduce the extension speed, and control the first leg A and the second leg B to suspend the extension .

Specifically, for the second positive direction, the preset setting range is 0°˜0.2°, and when the horizontality of the second positive direction 403 is detected to be greater than 0.2°, the system automatically adjusts the extension speed of the outriggers. For example, the control solenoid valve current values of the third leg C and the fourth leg D can be adjusted to 15%, and the control solenoid valve current values of the first leg A and the second leg B can be adjusted to 0. That is, the extension speed of the third leg C and the fourth leg D is reduced, and the extension of the first leg A and the second leg B is suspended. Therefore, the extension speed of the outrigger is adjusted by adjusting the current value of the outrigger control solenoid valve, so that the levelness of the host is gradually adjusted back to the set range.

In this embodiment of the present application, in step 304, when the levelness exceeds the set range, adjusting the extension speed of the outrigger may further include:

When the level of the second negative direction 404 exceeds the set range, control the first leg A and the second leg B to reduce the extension speed, and control the third leg C and the fourth leg D to suspend the extension out.

Specifically, for the second negative direction, the preset setting range is -0.2°～0°. When detecting that the horizontality of the second negative direction 404 is less than -0.2°, the system automatically adjusts the extension speed of the outriggers. For example, the current value of the control solenoid valve of the first leg A and the second leg B can be adjusted to 15%, and the current value of the cylinder of the third leg C and the fourth leg D can be adjusted to 0. That is, the extension speed of the first leg A and the second leg B is reduced, and the extension of the third leg C and the fourth leg D is suspended. Therefore, the extension speed of the outrigger is adjusted by adjusting the current value of the outrigger oil cylinder to control the solenoid valve, so that the levelness of the host is gradually adjusted back to the set range.

In the embodiment of the present application, the extension speed of the outrigger is controlled by the corresponding control solenoid valve; the control solenoid valve adjusts the extension speed of the outrigger by adjusting the current value or the opening degree of the valve core. The opening degree of the valve core refers to the percentage. Generally, the butterfly valve is expressed in angle, 0 degrees means fully closed, and 90 degrees means fully open. In one example, the preset setting range is 0.2°, and when it is detected that the horizontality of the first negative direction 402 is less than -0.2°, the system automatically adjusts the extension speed of the outrigger. Adjust the current value of the cylinder control valve of the second leg B and the fourth leg D to 15%, and adjust the current value of the cylinder of the first leg A and the third leg C to 0. That is, the extension speed of the second leg B and the fourth leg D is reduced, and the extension of the first leg A and the third leg C is suspended. The processor automatically adjusts the current value of the outrigger control solenoid valve according to the bidirectional level, so as to adjust the extension speed of the outrigger, so that the level of the host is gradually adjusted back to the set range.

In the embodiments of the present application, the method for the crawler-type mechanical equipment further includes:

Determine whether the outrigger reaches the target position;

When the outrigger reaches the target position, the outrigger is controlled to stop extending.

Specifically, the crawler-type mechanical equipment is composed of a traveling mechanism, a slewing mechanism, a fuselage and a boom. The traveling mechanism is two chain crawlers; the slewing mechanism is a turntable mounted on the chassis, so that the fuselage can be rotated 360°. The lower end of the boom is hinged on the fuselage and rotates randomly with the body. There are two sets of pulley blocks (lifting and luffing pulley blocks) at the top. The wire rope is connected to the hoist in the fuselage through the pulley block at the top of the boom. The boom can be divided Section production and extension.

When the level of the main engine does not exceed the set range or has returned to the set range, the processor automatically adjusts the current value of the control solenoid valve of the outrigger to restore the same value, thereby restoring the synchronous extension of the rod in the cylinder until the outrigger is fully extended. out, and then correspondingly adjust the current value of the control solenoid valve to 0, so that the outrigger control solenoid valve is de-energized and the control solenoid valve is locked, thereby completing the one-key support and automatic leveling of the host on the uneven ground.

FIG. 5 schematically shows a structural block diagram of a controller according to an embodiment of the present application. As shown in FIG. 5 , an embodiment of the present application provides a controller, which may include:

memory 510 configured to store instructions; and

A processor 520, configured to recall instructions from memory and when executed, can implement the above-described method for a crawler-type machine.

Specifically, in this embodiment of the present application, the processor 520 may be configured to:

Control outriggers to extend synchronously;

Obtain the levelness of the frame sent by the level detection device in real time;

Determine whether the levelness exceeds the set range;

When the levelness exceeds the set range, adjust the extension speed of the outriggers so that the levelness does not exceed the set range.

In the embodiment of the present application, the levelness includes the levelness of the first direction and the levelness of the second direction, and the first direction and the second direction are perpendicular to each other; the first direction includes a first positive direction and a first negative direction, and the second The directions include a second positive direction and a second negative direction.

In the embodiment of the present application, the supporting legs include a first supporting leg, a second supporting leg, a third supporting leg and a fourth supporting leg. The first leg is located in the first negative direction and the second positive direction, the second leg is located in the first positive direction and the second positive direction, the third leg is located in the second negative direction and the first negative direction, and the fourth leg is located in the first negative direction and the second positive direction The first positive direction and the second negative direction.

Further, the processor 520 can also be configured to:

When the levelness exceeds the set range, adjusting the extension speed of the outrigger includes:

When the horizontality of the first positive direction exceeds the set range, the first leg and the third leg are controlled to reduce the extension speed, and the second leg and the fourth leg are controlled to suspend the extension.

Further, the processor 520 can also be configured to:

When the levelness exceeds the set range, adjusting the extension speed of the outrigger includes:

When the levelness of the first negative direction exceeds the set range, control the second leg and the fourth leg to reduce the extension speed, and control the first leg and the third leg to suspend the extension.

Further, the processor 520 can also be configured to:

When the levelness exceeds the set range, adjusting the extension speed of the outrigger includes:

When the horizontality of the second positive direction exceeds the set range, the third leg and the fourth leg are controlled to reduce the extension speed, and the first leg and the second leg are controlled to suspend the extension.

Further, the processor 520 can also be configured to:

When the levelness exceeds the set range, adjusting the extension speed of the outrigger includes:

When the horizontality in the second negative direction exceeds the set range, control the first leg and the second leg to reduce the extension speed, and control the third leg and the fourth leg to suspend the extension.

The extension speed of the outrigger is controlled by the corresponding control solenoid valve; the control solenoid valve adjusts the extension speed of the outrigger by adjusting the current value or the opening degree of the valve core.

Further, the processor 520 can also be configured to:

Determine whether the outrigger reaches the target position; when the outrigger reaches the target position, control the outrigger to stop extending.

Through the above technical solution, the levelness of the frame sent by the level detection device is acquired in real time by controlling the synchronous extension of the outriggers; it is judged whether the levelness exceeds the set range. When the levelness exceeds the set range, adjust the extension speed of the outriggers so that the levelness does not exceed the set range. In this way, the processor dynamically adjusts the extension speed of the outrigger according to the level value sent by the level detection device, which can effectively improve the leveling accuracy of the crawler-type mechanical equipment, reduce the safety risk, and also improve the crawler-type mechanical equipment. Leveling efficiency.

As shown in FIG. 1 , an embodiment of the present invention also provides a crawler-type mechanical device, and the crawler-type mechanical device may include:

The host includes a frame 101, a leg structure 102 and a level detection device 103; the leg structure 102 is arranged on the side of the frame 101; the level detection device 103 is arranged on the frame 101; and

The above-mentioned controller communicates with the level detection device and the outrigger structure.

In this embodiment of the present application, the leg structure may include a leg 102.1 and a control solenoid valve 102.1. Controlling the solenoid valve 102.1 can control the extension speed of the legs 102.1. In this embodiment of the present application, the leg structure may include a plurality of legs, each of which is controlled by a corresponding control solenoid valve. Preferably, the legs 102.1 may be vertical legs. In one example, the control solenoid valve 102.1 controls the extension speed of the corresponding outrigger 102.1 by adjusting the current value; in another example, the control solenoid valve 102.1 adjusts the extension of the corresponding outrigger 102.1 by adjusting the opening of the valve core speed.

In the embodiment of the present application, the level detection device 103 is disposed on the vehicle frame 101 . Preferably, the level detection device 103 may be disposed at the center of the vehicle frame 101 . In this embodiment of the present application, the level detection device 103 may include, but is not limited to, a level device that can detect levelness, such as an inclination sensor.

In the embodiment of the present application, the turntable 104 and the frame 101 can be rigidly connected by a slewing bearing, so that the levelness of the main engine is consistent with the levelness of the frame 101 . In this way, in the present application, the levelness of the main engine can be obtained only through the level detection device 103 provided on the vehicle frame 101 .

Through the above technical solution, the levelness of the frame sent by the level detection device is acquired in real time by controlling the synchronous extension of the outriggers; it is judged whether the levelness exceeds the set range. When the levelness exceeds the set range, adjust the extension speed of the outriggers so that the levelness does not exceed the set range. In this way, the levelness is displayed by the level detection device, and the processor dynamically adjusts the extension speed of the outriggers according to the levelness value, so that the main machine is always in a level state during the extension process, which can effectively improve the leveling of the crawler-type mechanical equipment. Accuracy and reduced security risks. And the outrigger extension is completed by one-key operation, which improves the leveling efficiency.

FIG. 6 schematically shows a flow chart of a method for a crawler type mechanical device according to a specific embodiment of the present application. As shown in Figure 6, in a specific embodiment, the method may include:

S1. Press the button of "outrigger cylinder extension (ie outrigger extension)";

S2. The cylinder control valve (ie, the control solenoid valve) is energized and the current value is 100%;

S3. The vertical outrigger cylinder extends synchronously (that is, the control outrigger extends synchronously);

S4. The processor judges whether the levelness of the host satisfies (-0.2°≤X≤0.2°)&(-0.2°≤Y≤0.2°);

S5. In the case of X>0.2°, the current value of the cylinder control valve of the first leg A and the third leg C is adjusted to 15%, and the current value of the cylinder of the second leg B and the fourth leg D is adjusted to 0. That is, the first leg A and the third leg C reduce the extension speed, and the second leg B and the fourth leg D suspend the extension;

S6. In the case of X<-0.2°, the current value of the cylinder control valve of the second leg B and the fourth leg D is adjusted to 15%, and the current value of the cylinder of the first leg A and the third leg C is adjusted. is 0. That is, the extension speed of the second leg B and the fourth leg D is reduced, and the extension of the first leg A and the third leg C is suspended;

S7. In the case of Y>0.2°, the current value of the cylinder control valve of the third leg C and the fourth leg D is adjusted to 15%, and the current value of the cylinder of the first leg A and the second leg B is adjusted to 0. That is, the extension speed of the third leg C and the fourth leg D is reduced, and the extension of the first leg A and the second leg B is suspended;

S8. In the case of Y<-0.2°, the current value of the cylinder control valve of the first leg A and the second leg B is adjusted to 15%, and the current value of the cylinder of the third leg C and the fourth leg D is adjusted. is 0. That is, the extension speed of the first leg A and the second leg B is reduced, and the extension of the third leg C and the fourth leg D is suspended;

S9. When the horizontality of the main engine satisfies (-0.2°≤X≤0.2°) & (-0.2°≤Y≤0.2°), the vertical outrigger cylinder continues to extend;

S10, the processor judges whether the four vertical outrigger cylinders are all extended in place;

S11. When the four vertical outrigger oil cylinders are all extended in place, the processor adjusts the control valve current value of the corresponding oil cylinder to 0; when the four vertical outrigger oil cylinders are not all extended in place, the vertical outrigger The cylinder continues to extend;

S12. When the processor adjusts the current value of the control valve of the corresponding oil cylinder to 0, the vertical outrigger oil cylinder is extended.

Through the above technical solution, the levelness of the frame sent by the level detection device is acquired in real time by controlling the synchronous extension of the outriggers; it is judged whether the levelness exceeds the set range. When the levelness exceeds the set range, adjust the extension speed of the outriggers so that the levelness does not exceed the set range. In this way, the processor dynamically adjusts the extension speed of the outrigger according to the level value sent by the level detection device, which can effectively improve the leveling accuracy of the crawler-type mechanical equipment, reduce the safety risk, and also improve the crawler-type mechanical equipment. Leveling efficiency.

In an example, take the horizontality of one direction exceeding the set range as an example:

The preset setting range is 0.2°, and the four outriggers are controlled to extend synchronously. The level detection device detects the levelness of the frame in real time, and the processor acquires the levelness of the frame sent by the level detection device in real time. The level detection device detects that the level of the frame in the first positive direction is 0.1°, and the level in the second positive direction is 0.3°, that is, the level in the second positive direction exceeds the set range. The processor will automatically adjust:

The processor adjusts the current value of the control solenoid valve of the third leg and the fourth leg to 15%, the control solenoid valve current value of the first leg and the second leg is adjusted to 0, that is, the third leg and the fourth leg The outriggers extend at a slow speed, and the first and second outriggers suspend extension until the system detects that the two-way level of the host has returned to within the set range, and then the four outriggers resume synchronously extending at full speed until the outriggers All stick out into place.

In another example, take the horizontality of the two directions exceeding the set range as an example:

The preset setting range is 0.2°, and the four outriggers are controlled to extend synchronously. The level detection device detects the levelness of the frame in real time, and the processor acquires the levelness of the frame sent by the level detection device in real time. The level detection device detects that the level of the frame in the first positive direction is 0.3°, and the level in the second negative direction is -0.4°, that is, the level in the first positive direction and the second negative direction exceeds the set range. The processor will automatically adjust:

For the high level of the first positive direction: the processor adjusts the current value of the control solenoid valve of the first leg and the third leg to 15%, and the control solenoid valve current value of the second leg and the fourth leg is adjusted to 0;

For the high level of the second negative direction: the processor adjusts the current value of the control solenoid valve of the first leg and the second leg to 15%, and the control solenoid valve current value of the third leg and the fourth leg is adjusted to 0;

In summary, the current value of the control solenoid valve of the first leg is adjusted to 15%+15%=30%, the current value of the control solenoid valve of the second leg and the third leg is adjusted to 15%, and the control of the fourth leg is adjusted to 15%. The current value of the solenoid valve is adjusted to 0, until the system detects that the two-way level of the host has returned to within the set range, and the four outriggers resume to extend synchronously at full speed until all the outriggers are extended in place.

Through the above technical solution, the levelness of the frame sent by the level detection device is acquired in real time by controlling the synchronous extension of the outriggers; it is judged whether the levelness exceeds the set range. When the levelness exceeds the set range, adjust the extension speed of the outriggers so that the levelness does not exceed the set range. In this way, the processor dynamically adjusts the extension speed of the outrigger according to the level value sent by the level detection device, which can effectively improve the leveling accuracy of the crawler-type mechanical equipment, reduce the safety risk, and also improve the crawler-type mechanical equipment. Leveling efficiency.

As will be appreciated by those skilled in the art, the embodiments of the present application may be provided as a method, a system, or a computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.

The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the present application. It will be understood that each flow and/or block in the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to the processor of a general purpose computer, special purpose computer, embedded processor or other programmable data processing device to produce a machine such that the instructions executed by the processor of the computer or other programmable data processing device produce Means for implementing the functions specified in a flow or flow of a flowchart and/or a block or blocks of a block diagram.

These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory result in an article of manufacture comprising instruction means, the instructions The apparatus implements the functions specified in the flow or flow of the flowcharts and/or the block or blocks of the block diagrams.

These computer program instructions can also be loaded on a computer or other programmable data processing device to cause a series of operational steps to be performed on the computer or other programmable device to produce a computer-implemented process such that The instructions provide steps for implementing the functions specified in the flow or blocks of the flowcharts and/or the block or blocks of the block diagrams.

In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.

Memory may include non-persistent memory in computer readable media, random access memory (RAM) and/or non-volatile memory in the form of, for example, read only memory (ROM) or flash memory (flash RAM). Memory is an example of a computer-readable medium.

Computer-readable media includes both persistent and non-permanent, removable and non-removable media, and storage of information can be implemented by any method or technology. Information may be computer readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read only memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), Flash Memory or other memory technology, Compact Disc Read Only Memory (CD-ROM), Digital Versatile Disc (DVD) or other optical storage, Magnetic tape cartridges, magnetic tape disk storage or other magnetic storage devices or any other non-transmission medium that can be used to store information that can be accessed by a computing device. Computer-readable media, as defined herein, excludes transitory computer-readable media, such as modulated data signals and carrier waves.

It should also be noted that the terms "comprising", "comprising" or any other variation thereof are intended to encompass a non-exclusive inclusion such that a process, method, article or device comprising a series of elements includes not only those elements, but also Other elements not expressly listed, or which are inherent to such a process, method, article of manufacture, or apparatus are also included. Without further limitation, an element qualified by the phrase "comprising a..." does not preclude the presence of additional identical elements in the process, method, article of manufacture or apparatus that includes the element.

The above are merely examples of the present application, and are not intended to limit the present application. Various modifications and variations of this application are possible for those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of this application shall be included within the scope of the claims of this application.

Claims (14)

1. A method for a track-type mechanical apparatus, the track-type mechanical apparatus including a main machine including a frame, outriggers provided at sides of the frame, and level detection devices provided on the frame, the method comprising:

controlling the supporting legs to synchronously extend out;

acquiring the levelness of the frame sent by the level detection device in real time;

judging whether the levelness exceeds a set range;

and in the case that the levelness exceeds the set range, adjusting the extending speed of the supporting leg so that the levelness does not exceed the set range.

2. The method of claim 1, wherein the levelness comprises a levelness in a first direction and a levelness in a second direction, the first direction and the second direction being perpendicular to each other; the first direction includes a first positive direction and a first negative direction, and the second direction includes a second positive direction and a second negative direction.

3. The method of claim 2, wherein the legs include a first leg, a second leg, a third leg, and a fourth leg, the first leg being located in the first negative direction and the second positive direction, the second leg being located in the first positive direction and the second positive direction, the third leg being located in the second negative direction and the first negative direction, the fourth leg being located in the first positive direction and the second negative direction.

4. The method of claim 3, wherein said adjusting the leg extension speed in the event that the levelness exceeds the set range comprises:

and controlling the first leg and the third leg to reduce the extension speed and controlling the second leg and the fourth leg to pause the extension when the levelness of the first positive direction exceeds the set range.

5. The method of claim 3, wherein said adjusting the leg extension speed in the event that the levelness exceeds the set range comprises:

and controlling the second leg and the fourth leg to reduce the extension speed and controlling the first leg and the third leg to suspend extension when the levelness of the first negative direction exceeds the set range.

6. The method of claim 3, wherein said adjusting the leg extension speed in the event that the levelness exceeds the set range comprises:

and controlling the third leg and the fourth leg to reduce the extension speed and controlling the first leg and the second leg to suspend extension when the levelness of the second positive direction exceeds the set range.

7. The method of claim 3, wherein said adjusting the leg extension speed in the event that the levelness exceeds the set range comprises:

and controlling the first leg and the second leg to reduce the extension speed and controlling the third leg and the fourth leg to suspend extension when the levelness of the second negative direction exceeds the set range.

8. The method according to claim 1, characterized in that the extension speed of the legs is controlled by a corresponding control solenoid valve; the control electromagnetic valve adjusts the extension speed of the supporting leg by adjusting the current value or adjusting the opening of the valve core.

9. The method of claim 1, further comprising:

judging whether the supporting leg reaches a target position;

and controlling the outrigger to stop extending when the outrigger reaches the target position.

10. A controller, comprising:

a memory configured to store instructions; and

a processor configured to invoke the instructions from the memory and when executing the instructions to implement the method for a track-type mechanical apparatus of any one of claims 1 to 9.

11. A track-type mechanical apparatus, comprising:

the host comprises a frame, a supporting leg structure and a level detection device, wherein the supporting leg structure is arranged on the side surface of the frame, and the level detection device is arranged on the frame; and

the controller of claim 10 in communication with the level detection device and the leg structure.

12. The track-type mechanical apparatus of claim 11, wherein the outrigger structure includes outriggers and corresponding control solenoids; the control electromagnetic valve adjusts the extension speed of the supporting leg by adjusting the current value or adjusting the opening of the valve core.

13. The track-type mechanical apparatus of claim 11, wherein the level detection device is disposed at a center position of the frame.

14. The tracked mechanical apparatus of claim 11, wherein said main machine further comprises:

and the rotating platform is rigidly connected with the frame through a slewing bearing.

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