CN115043333A - Method for crawler type mechanical equipment, controller and crawler type mechanical equipment - Google Patents
Method for crawler type mechanical equipment, controller and crawler type mechanical equipment Download PDFInfo
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- CN115043333A CN115043333A CN202210667298.6A CN202210667298A CN115043333A CN 115043333 A CN115043333 A CN 115043333A CN 202210667298 A CN202210667298 A CN 202210667298A CN 115043333 A CN115043333 A CN 115043333A
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- 238000004590 computer program Methods 0.000 description 7
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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
- B66C23/18—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 specially adapted for use in particular purposes
- B66C23/36—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 specially adapted for use in particular purposes mounted on road or rail vehicles; Manually-movable jib-cranes for use in workshops; Floating cranes
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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
- B66C13/16—Applications of indicating, registering, or weighing devices
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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
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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
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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
Technical Field
The application relates to the technical field of engineering machinery, in particular to a method and a controller for crawler-type mechanical equipment and the crawler-type mechanical equipment.
Background
Due to the requirement of road transportation limitation, the crawler assembly can be detached from the whole crawler crane during transportation of the medium-tonnage crawler crane and the large-tonnage crawler crane, and the crawler assembly and a host (comprising a frame, a rotary table and the like) are respectively transported to a construction site and then assembled on site after transportation. During transportation, the lower surface of the frame is placed on the flat car, the four vertical supporting legs uniformly distributed around the frame are in a retraction state, and the supporting plates are independently fixed on the frame or the crawler frame. After the crawler frame is transported to a construction destination, the vertical supporting leg oil cylinder is extended out, and the supporting leg plate is installed on the lower portion of the oil cylinder, so that the main machine can be erected, and then the crawler frame is installed. In the prior art, an operator needs to operate the four handles respectively according to experience, and the extending speeds and the extending lengths of the four vertical supporting legs are adjusted by checking the levelness displayed by the bubble level meter at the front part of the frame until the supporting leg plates are gradually compacted on the ground, so that the main machine is supported and separated from the flat car. The operator respectively controls the extension of each vertical supporting leg oil cylinder through four handles, the extension speed of the supporting legs is influenced by subjective judgment of the operator, and the requirements on the experience of the operator are high. The four handles respectively control the four vertical supporting leg oil cylinders, and the corresponding relation is probably wrong during operation, so that overturning accidents can occur. Moreover, the level of the main machine is mostly displayed by adopting a bubble level meter arranged on the frame, the display precision is low, and the reading is inaccurate. If the ground is inclined or the potholes are uneven, the oil cylinder needs to be adjusted repeatedly to stretch out and draw back, multiple persons need to coordinate to confirm, and the time is long. As a result, the efficiency and accuracy of leveling for tracked machinery in the prior art is low and there is a safety risk.
Disclosure of Invention
An object of the embodiments of the present application is to provide a method for a track-type mechanical apparatus, a controller and a track-type mechanical apparatus, so as to solve the problems of low efficiency and accuracy of leveling of the track-type mechanical apparatus and safety risk in the prior art.
In order to achieve the above object, a first aspect of the present application provides a method for a track-type mechanical apparatus, the track-type mechanical apparatus including a main machine, the main machine including a frame, support legs, and a levelness detecting device, the support legs being disposed at sides of the frame, the levelness detecting device being disposed on the frame, the method including:
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.
In the embodiment of the application, the levelness comprises levelness in a first direction and levelness in a 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 direction includes a second positive direction and a second negative direction.
In an embodiment of the present application, the legs include a first leg, a second leg, a third leg, and a fourth leg. The first supporting leg is located first negative direction and second positive direction, the second supporting leg is located first positive direction and second positive direction, the third supporting leg is located second negative direction and first negative direction, the fourth supporting leg is located first positive direction and second negative direction.
In the embodiment of the present application, in the case where the levelness exceeds the set range, adjusting the extension speed of the leg includes:
in the case where the levelness in the first positive direction exceeds the set range, the first leg and the third leg are controlled to decrease the extension speed, and the second leg and the fourth leg are controlled to pause the extension.
In the embodiment of the present application, in the case where the levelness exceeds the set range, adjusting the extension speed of the leg includes:
and in the case that the levelness of the first negative direction exceeds a set range, controlling the second leg and the fourth leg to reduce the extension speed, and controlling the first leg and the third leg to pause the extension.
In the embodiment of the present application, in the case where the levelness exceeds the set range, adjusting the extension speed of the leg includes:
and in the case that the levelness of the second positive direction exceeds the set range, controlling the third leg and the fourth leg to reduce the extension speed, and controlling the first leg and the second leg to pause the extension.
In the embodiment of the present application, in the case where the levelness exceeds the set range, adjusting the extension speed of the leg includes:
and in the case that the levelness of the second negative direction exceeds a set range, controlling the first leg and the second leg to reduce the extension speed, and controlling the third leg and the fourth leg to pause the extension.
In the embodiment of the application, the extension speed of the support leg 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.
In the embodiment of the application, whether the supporting leg reaches the target position is judged; and controlling the outriggers to stop extending in the case that the outriggers reach the target positions.
A second aspect of the present application provides a controller comprising:
a memory configured to store instructions; and
a processor configured to recall instructions from the memory and upon execution of the instructions enable implementation of a method for a track-type mechanical apparatus according to any of the above.
A third aspect of the present application provides a track type mechanical apparatus comprising:
the main machine comprises a frame, a supporting leg structure and a horizontal detection device, wherein the supporting leg structure is arranged on the side surface of the frame, and the horizontal detection device is arranged on the frame; and
according to the controller, the controller is in communication with the level detection device and the leg structure.
By the technical scheme, the levelness of the frame sent by the level detection device is acquired in real time by controlling the supporting legs to synchronously extend out; and 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.
Additional features and advantages of embodiments of the present application will be described in detail in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the embodiments of the disclosure, but are not intended to limit the embodiments of the disclosure. In the drawings:
FIG. 1 schematically illustrates a schematic structural diagram of a main machine of a track-type mechanical apparatus under a transportation condition according to an embodiment of the present application;
FIG. 2 is a schematic illustration of a track-type mechanical apparatus in an installation mode according to an embodiment of the present disclosure;
FIG. 3 schematically illustrates a flow diagram of a method for a track type mechanical apparatus according to an embodiment of the present application;
FIG. 4 is a schematic diagram illustrating an arrangement of a level detecting device according to an embodiment of the present application;
FIG. 5 schematically illustrates a block diagram of a controller according to an embodiment of the present application;
FIG. 6 schematically illustrates a flow diagram of a method for a track-type mechanical apparatus, according to a particular embodiment of the present application.
Description of the reference numerals
101 frame 102 leg structure
102.1 leg 102.2 control solenoid valve
104 turntable of 103 horizontal detection device
401 a first positive direction 402 a first negative direction
403 a second positive direction 404 a second negative direction
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and specific embodiments of the present invention will be described in detail below with reference to the drawings. It should be understood that the detailed description and specific examples, while indicating embodiments of the invention, are given by way of illustration and explanation only, not limitation. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that if directional indications (such as up, down, left, right, front, and back … …) are referred to in the embodiments of the present application, the directional indications are only used to explain the relative positional relationship between the components, the movement situation, and the like in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indications are changed accordingly.
In addition, if there is a description of "first", "second", etc. in the embodiments of the present application, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the feature. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present application.
FIG. 1 schematically illustrates a schematic structural diagram of a main machine of a track-type mechanical apparatus under a transportation condition according to an embodiment of the present application; FIG. 2 schematically illustrates a schematic structural diagram of a track-type mechanical apparatus in an installation mode according to an embodiment of the application. As shown in fig. 1 and 2, the track-type mechanical apparatus includes a main machine, which may include a frame 101, a leg structure 102, and a level detecting device 103. The supporting leg structure can include a supporting leg 102.1 and a control electromagnetic valve 102.2, the supporting leg 102.1 is arranged on the side face of the frame 101, and the levelness detection device 103 is arranged on the frame 101. The carriage 101 is rigidly connected to the turntable 104 by means of a pivot bearing.
In the embodiment of the application, when the main frame is transported, the lower surface of the frame 101 is placed on the flat car, the four support legs 102.1 uniformly distributed on the periphery of the frame 101 and the control electromagnetic valve 102.2 are in a retraction state, and the support legs are independently fixed on the frame 101 or the track frame.
In the embodiment of the application, the support leg structure can comprise a support leg 102.1 and a control solenoid valve 102.2. The control solenoid valve 102.2 may control the extension speed of the leg 102.1. In an embodiment of the present application, the leg structure may include a plurality of legs, each leg being controlled by a corresponding control solenoid valve. Preferably, the leg 102.1 may be a vertical leg. 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 speed of the corresponding leg 102.1 by adjusting the opening degree of the spool.
In the embodiment of the present application, the level detecting device 103 is disposed on the frame 101. Preferably, the level detecting device 103 may be disposed at a central position of the frame 101. In the embodiment of the present application, the level detecting device 103 may include, but is not limited to, a level device such as a tilt sensor that can detect levelness.
In the embodiment of the present application, the turntable 104 and the frame 101 may be rigidly connected through a pivoting support, so that the levelness of the main machine coincides with the levelness of the frame 101. Thus, the levelness of the main machine can be obtained only by the level detection device 103 arranged on the frame 101.
FIG. 3 schematically illustrates a flow diagram of a method for a track-type mechanical apparatus according to an embodiment of the present application. As shown in fig. 3, embodiments of the present application provide a method for a track-type machine, which is applied to a track-type machine as shown in fig. 1 and 2, the track-type machine including a main machine including a frame, outriggers provided at sides of the frame, and a levelness detection device provided on the frame, and the method may include the following steps.
And 301, controlling the supporting legs to synchronously extend.
In the embodiment of the application, the processor can control the support legs to synchronously extend according to one-key operation. The support leg is one of the main parts of the crane, and is used for increasing the support base of the crane, reducing the tire load and improving the anti-overturning stability of the whole crane, thereby improving the hoisting capacity. The support leg is a supporting device arranged on the underframe of the crane and comprises a fixed part and a movable extending part. The support leg adjusts the extension speed of the support leg by controlling the current value of the electromagnetic valve. The control electromagnetic valve is industrial equipment controlled by electromagnetism, is an automatic basic element for controlling fluid, belongs to an actuator, and is not limited to hydraulic pressure and pneumatic pressure. Used in industrial control systems to regulate the direction, flow, velocity and other parameters of a medium. The control solenoid valve can be matched with different circuits to realize expected control, and the control precision and flexibility can be ensured. Track-type mechanical equipment generally adopts four hydraulic legs during operation. It is important that the control legs provide the maximum possible stability. The support leg stretching in the prior art needs an operator to respectively control the stretching of each vertical support leg oil cylinder through four handles, and the stretching speed of the support leg stretching is influenced by subjective judgment of the operator, so that the requirement on the experience of the operator is high. And the four handles respectively control the four vertical supporting leg oil cylinders, so that the corresponding relation is probably wrong during operation, and overturning accidents are easy to happen. If the ground is inclined or the potholes are uneven, the oil cylinder needs to be adjusted repeatedly to stretch out and draw back, multiple persons need to coordinate to confirm, and the time is long. In the embodiment of the application, after the host is transported to a construction site and the support foot plate is installed, the worker can send a leveling signal through the leveling button, for example, the worker can press the support foot extending button. And when the processor receives the leveling signal, leveling the host according to the leveling signal. The control solenoid valve is electrified, the current value is 100%, the landing leg can be synchronously stretched out, the influence of subjective judgment of an operator is avoided, the operation time is saved, and the labor force is saved.
And step 302, acquiring the levelness of the frame sent by the level detection device in real time.
In the embodiment of the present application, the level detection device may include, but is not limited to, an electronic tilt sensor. Tilt sensors, also known as inclinometers, gradiometers, inclinometers, are often used for horizontal angular change measurement of systems. In the prior art, the levelness display of the host mostly adopts bubble levels mounted on a frame, the display precision of the bubble levels is low, and the reading is inaccurate. And the measurement accuracy of the electronic tilt angle sensor adopted by the application is higher than 0.05 degree. Preferably, the level detection device can be arranged at the center of the frame, and the host levelness is calibrated in two directions through the left-right direction and the front-back direction. The frame and the turntable are rigidly connected through the slewing bearing, so that the levelness of the main machine is consistent with that of the frame. The slewing bearing is a large bearing capable of bearing comprehensive load and simultaneously bearing larger axial and radial loads and overturning moment. Levelness means whether (generally, a horizontal plane, floor or ceiling) the plane is on a horizontal line. In the whole process that the four supporting legs extend out, the levelness of the frame is detected in real time by the level detection device and is also the levelness of the host. The levelness detection device detects levelness in real time. Therefore, the detection precision is higher, the result is more accurate, and the data can be automatically acquired.
And step 303, judging whether the levelness exceeds a set range.
In the embodiment of the present application, the horizontal detection means may include a first direction and a second direction 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 a positive direction, the setting range may be 0 ° to 0.2 °; for the negative direction, the set range may be-0.2 ° to 0 °. Thus, the levelness is controlled within a set range.
And 304, under the condition that the levelness exceeds the set range, adjusting the extending speed of the supporting legs to ensure that the levelness does not exceed the set range.
In the embodiment of the application, under the condition that the levelness is detected to exceed the set range, the processor automatically adjusts the current value of the control electromagnetic valve according to the levelness, so that the extending speed of the supporting leg is adjusted, and the levelness of the main machine is gradually adjusted back to the set range. And under the condition that the levelness is restored to be within the set range, the supporting legs are continuously controlled to synchronously extend.
By the technical scheme, the levelness of the frame sent by the level detection device is acquired in real time by controlling the supporting legs to synchronously extend out; and 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.
Fig. 4 schematically shows an arrangement structure of a level detecting device according to an embodiment of the present application. As shown in fig. 4, in the embodiment of the present application, the levelness includes a levelness in a first direction and a levelness in a second direction, and the first direction and the second direction are perpendicular to each other. Wherein the first direction comprises a first positive direction 401 and a first negative direction 402 and the second direction comprises a second positive direction 403 and a second negative direction 404.
In the embodiment of the present application, the first direction may be an X direction, and the second direction may be a Y direction.
In the present embodiment, the legs may include a first leg a, a second leg B, a third leg C, and a fourth leg D. As shown in fig. 4, the first leg a is located in a first negative direction 402 and a second positive direction 403, the second leg B is located in a first positive direction 401 and a second positive direction 403, the third leg C is located in a second negative direction 404 and a first negative direction 402, and the fourth leg D is located in a first positive direction 401 and a second negative direction 404.
Specifically, the processor may determine whether the levelness exceeds a set range. For example, for a first positive direction, it may be determined whether the levelness is greater than 0.2 °; for the first negative direction, whether the levelness is less than-0.2 degrees can be judged; for the second positive direction, it may be determined whether the levelness is greater than 0.2 °; for the second negative direction, it can be judged whether the levelness is less than-0.2 °. Therefore, after the data are collected, the judgment can be automatically carried out, and the operation time is further saved.
In this embodiment, in step 304, in the case that the levelness exceeds the set range, adjusting the extension speed of the leg may include:
in the case where the levelness in the first positive direction 401 exceeds the set range, the first leg a and the third leg C are controlled to decrease the extension speed, and the second leg B and the fourth leg D are controlled to pause the extension.
Specifically, for the first positive direction, the preset setting range is 0-0.2 °, and when the levelness of the first positive direction 401 is detected to be greater than 0.2 °, the system automatically adjusts the extension speed of the support leg. For example, the cylinder control valve current values of the first leg a and the third leg C may be adjusted to 15%, and the cylinder current values of the second leg B and the fourth leg D may be 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 pause the extension. Therefore, the extension speed of the supporting leg is adjusted by adjusting the current value of the supporting leg control electromagnetic valve, and the levelness of the host is gradually adjusted back to the set range.
In this embodiment, in step 304, in the case that the levelness exceeds the set range, adjusting the extension speed of the leg may further include:
in the case where the levelness in the first negative direction 402 exceeds the set range, the second leg B and the fourth leg D are controlled to reduce the extension speed, and the first leg a and the third leg C are controlled to pause the extension.
Specifically, for the first negative direction, the preset setting range is-0.2-0 degrees, and when the levelness of the first negative direction 402 is detected to be less than-0.2 degrees, the system automatically adjusts the extension speed of the supporting leg. For example, the current values of the control solenoid valves of the second leg B and the fourth leg D may be adjusted to 15%, and the cylinder current values of the first leg a and the third leg C may be adjusted to 0. That is, the second leg B and the fourth leg D decrease the extension speed, and the first leg a and the third leg C pause the extension. Therefore, the extension speed of the supporting leg is adjusted by adjusting the current value of the supporting leg control electromagnetic valve, and the levelness of the host is gradually adjusted back to the set range.
In this embodiment, in step 304, in the case that the levelness exceeds the set range, adjusting the extension speed of the leg may further include:
in the case where the levelness in the second positive direction 403 exceeds the set range, the third leg C and the fourth leg D are controlled to decrease the extension speed, and the first leg a and the second leg B are controlled to pause the extension.
Specifically, for the second positive direction, the preset setting range is 0-0.2 °, and when the levelness of the second positive direction 403 is detected to be greater than 0.2 °, the system automatically adjusts the extension speed of the support leg. For example, the current values of the control solenoid valves of the third leg C and the fourth leg D may be adjusted to 15%, and the current values of the control solenoid valves of the first leg a and the second leg B may be adjusted to 0. That is, the third leg C and the fourth leg D decrease the extension speed, and the first leg a and the second leg B pause the extension. Therefore, the extension speed of the supporting leg is adjusted by adjusting the current value of the supporting leg control electromagnetic valve, and the levelness of the host is gradually adjusted back to the set range.
In this embodiment of the present application, in step 304, in the case that the levelness exceeds the set range, adjusting the extension speed of the leg may further include:
in the case where the levelness in the second negative direction 404 exceeds the set range, the first leg a and the second leg B are controlled to decrease the extension speed, and the third leg C and the fourth leg D are controlled to pause the extension.
Specifically, for the second negative direction, the preset setting range is-0.2 to 0 degrees, and when the levelness of the second negative direction 404 is detected to be less than-0.2 degrees, the system automatically adjusts the extension speed of the support leg. For example, the current values of the control solenoid valves of the first leg a and the second leg B may be adjusted to 15%, and the cylinder current values of the third leg C and the fourth leg D may be adjusted to 0. That is, the first leg a and the second leg B reduce the extension speed, and the third leg C and the fourth leg D pause the extension. Therefore, the extension speed of the supporting leg is adjusted by adjusting the current value of the supporting leg oil cylinder control electromagnetic valve, and the levelness of the host is gradually adjusted back to the set range.
In the embodiment of the application, the extension speed of the support leg 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. The opening degree of the valve core refers to percentage, and in general, the butterfly valve is represented by an angle, 0 degree represents full closing, and 90 degrees represents full opening. In one example, the preset set range is 0.2 °, and the system automatically adjusts the leg extension speed upon detecting that the levelness of the first negative direction 402 is less than-0.2 °. The current values of the oil cylinder control valves of the second supporting leg B and the fourth supporting leg D are adjusted to be 15%, and the current values of the oil cylinders of the first supporting leg A and the third supporting leg C are adjusted to be 0. That is, the second leg B and the fourth leg D decrease the extension speed, and the first leg a and the third leg C pause the extension. The processor automatically adjusts the current value of the supporting leg control electromagnetic valve according to the bidirectional levelness, so that the extending speed of the supporting leg is adjusted, and the levelness of the host machine is gradually adjusted back to the set range.
In an embodiment of the present application, a method for a track type mechanical apparatus further comprises:
judging whether the supporting leg reaches the target position;
and controlling the outriggers to stop extending in the case that the outriggers reach the target positions.
Specifically, the crawler-type mechanical equipment comprises a travelling mechanism, a swing mechanism, a machine body, a crane boom and the like. The walking mechanism is two chain type caterpillar tracks; the rotary mechanism is a turntable arranged on the chassis, so that the machine body can rotate 360 degrees. The lower end of the cargo boom is hinged on the machine body and rotates along with the machine body, two sets of pulley blocks (lifting and amplitude-changing pulley blocks) are arranged at the top end of the cargo boom, the steel wire rope is connected to a winch in the machine body through the pulley blocks at the top end of the cargo boom, and the cargo boom can be manufactured in sections and lengthened.
When the levelness of the main machine does not exceed the set range or is restored to the set range, the current value of the control electromagnetic valve of the support leg is automatically adjusted by the processor to be consistent, so that the inner rod of the oil cylinder is restored to be synchronously extended until the support leg is completely extended, the current value of the control electromagnetic valve is correspondingly adjusted to be 0, the support leg control electromagnetic valve is powered off, the control electromagnetic valve is locked, and the one-key supporting and automatic leveling of the main machine on uneven ground are completed.
Fig. 5 schematically shows a 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:
a memory 510 configured to store instructions; and
a processor 520 configured to recall instructions from the memory and when executing the instructions enable the method for a track-type machine described above.
Specifically, in the embodiment of the present application, the processor 520 may be configured to:
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.
In the embodiment of the application, the levelness comprises levelness in a first direction and levelness in a 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 direction includes a second positive direction and a second negative direction.
In an embodiment of the present application, the legs include a first leg, a second leg, a third leg, and a fourth leg. The first supporting leg is located first negative direction and second positive direction, the second supporting leg is located first positive direction and second positive direction, the third supporting leg is located second negative direction and first negative direction, the fourth supporting leg is located first positive direction and second negative direction.
Further, the processor 520 may be further configured to:
in the case that the levelness exceeds the set range, adjusting the extension speed of the leg includes:
in the case where the levelness in 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 pause the extension.
Further, the processor 520 may be further configured to:
in the case that the levelness exceeds the set range, adjusting the extension speed of the leg includes:
and in the case that the levelness of the first negative direction exceeds a set range, controlling the second leg and the fourth leg to reduce the extension speed, and controlling the first leg and the third leg to pause the extension.
Further, the processor 520 may also be configured to:
in the case that the levelness exceeds the set range, adjusting the extension speed of the leg includes:
and in the case that the levelness of the second positive direction exceeds the set range, controlling the third leg and the fourth leg to reduce the extension speed, and controlling the first leg and the second leg to pause the extension.
Further, the processor 520 may be further configured to:
in the case that the levelness exceeds the set range, adjusting the extension speed of the leg includes:
and in the case that the levelness of the second negative direction exceeds a set range, controlling the first leg and the second leg to reduce the extension speed, and controlling the third leg and the fourth leg to pause the extension.
The extension speed of the supporting 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.
Further, the processor 520 may be further configured to:
judging whether the supporting leg reaches a target position; and controlling the outriggers to stop extending in the case that the outriggers reach the target positions.
By the technical scheme, the levelness of the frame sent by the level detection device is acquired in real time by controlling the supporting legs to synchronously extend out; and 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.
As shown in fig. 1, embodiments of the present invention also provide a track-type mechanical apparatus that may include:
the main machine comprises a frame 101, a supporting 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 controller is in communication with the level detection device and the leg structure.
In the embodiment of the application, the support leg structure can comprise a support leg 102.1 and a control solenoid valve 102.1. The control solenoid valve 102.1 may control the extension speed of the leg 102.1. In an embodiment of the present application, the leg structure may include a plurality of legs, each leg being controlled by a corresponding control solenoid valve. Preferably, the leg 102.1 may be a vertical leg. In one example, the control solenoid valve 102.1 controls the extension speed of the corresponding leg 102.1 by adjusting the current value; in another example, the control solenoid valve 102.1 adjusts the extension speed of the corresponding leg 102.1 by adjusting the opening degree of the spool.
In the embodiment of the present application, the level detecting device 103 is disposed on the frame 101. Preferably, the level detecting device 103 may be disposed at a central position of the frame 101. In the embodiment of the present application, the level detecting device 103 may include, but is not limited to, a level device such as a tilt sensor that can detect levelness.
In the embodiment of the present application, the turntable 104 and the frame 101 may be rigidly connected through a pivoting support, so that the levelness of the main machine coincides with the levelness of the frame 101. Thus, the levelness of the main machine can be obtained only by the level detection device 103 arranged on the frame 101.
By the technical scheme, the levelness of the frame sent by the level detection device is acquired in real time by controlling the supporting legs to synchronously extend out; and 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 levelness is displayed through the level detection device, the processor dynamically adjusts the extending speed of the supporting leg according to the levelness value, the host machine is always kept in a horizontal state in the extending process, the leveling accuracy of the crawler-type mechanical equipment can be effectively improved, and the safety risk is reduced. And the leveling efficiency is improved by completing the extension of the supporting legs through one-key operation.
FIG. 6 schematically illustrates a flow diagram of a method for a track-type mechanical apparatus, according to a particular embodiment of the present application. As shown in fig. 6, in a particular embodiment, the method may include:
s1, pressing a button for 'extending the supporting leg oil cylinder (namely extending the supporting leg)';
s2, electrifying the oil cylinder control valve (namely the control electromagnetic valve) and controlling the current value to be 100 percent;
s3, synchronously extending the vertical support leg oil cylinders (namely synchronously extending the control support legs);
s4, judging whether the levelness of the host meets (-0.2-X-0.2) -Y (-0.2-Y-0.2) -degree;
and S5, when the X is larger than 0.2 degrees, the current value of the cylinder control valve of the first support leg A and the third support leg C is adjusted to be 15 percent, and the current value of the cylinder of the second support leg B and the fourth support leg D is adjusted to be 0. Namely, the first leg A and the third leg C reduce the extension speed, and the second leg B and the fourth leg D pause the extension;
s6, under the condition that X < -0.2 degrees, the current values of the cylinder control valves of the second leg B and the fourth leg D are adjusted to be 15%, and the current values of the cylinders of the first leg A and the third leg C are adjusted to be 0. That is, the second leg B and the fourth leg D decrease the extension speed, and the first leg a and the third leg C pause the extension;
and S7, when Y is larger than 0.2 degrees, the current value of the cylinder control valve of the third leg C and the fourth leg D is adjusted to be 15%, and the current value of the cylinder of the first leg A and the second leg B is adjusted to be 0. That is, the third leg C and the fourth leg D decrease the extension speed, and the first leg a and the second leg B pause the extension;
s8, under the condition that Y < -0.2 degrees, the current values of the cylinder control valves of the first supporting leg A and the second supporting leg B are adjusted to be 15%, and the current values of the cylinders of the third supporting leg C and the fourth supporting leg D are adjusted to be 0. Namely, the first leg A and the second leg B reduce the extension speed, and the third leg C and the fourth leg D pause the extension;
s9, under the condition that the levelness of the host machine meets (-0.2-X-0.2) -Y-0.2-Y, the vertical support oil cylinder continues to extend out;
s10, judging whether the four vertical leg oil cylinders extend in place by the processor;
s11, under the condition that the four vertical leg oil cylinders extend out in place, the processor adjusts the current value of the control valve of the corresponding oil cylinder to be 0; under the condition that the four vertical supporting leg oil cylinders do not extend in place, the vertical supporting leg oil cylinders continue to extend;
and S12, when the current value of the control valve of the corresponding oil cylinder is adjusted to be 0 by the processor, the vertical support leg oil cylinder is stretched out.
By the technical scheme, the levelness of the frame sent by the level detection device is acquired in real time by controlling the supporting legs to synchronously extend out; and 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.
In one example, take the case that the levelness in one direction exceeds the set range:
the preset setting range is 0.2 degrees, and the four support legs are controlled to synchronously extend out. The levelness detection device detects the levelness of the frame in real time, and the processor obtains the levelness of the frame sent by the levelness detection device in real time. The level detection device detects that the level value of the first positive direction of the frame is 0.1 degrees, the level of the second positive direction is 0.3 degrees, namely the level of the second positive direction exceeds a set range. The processor will make automatic adjustments:
the processor adjusts the current values of the control electromagnetic valves of the third supporting leg and the fourth supporting leg to be 15%, the current values of the control electromagnetic valves of the first supporting leg and the second supporting leg are adjusted to be 0, namely the third supporting leg and the fourth supporting leg extend slowly, the first supporting leg and the second supporting leg extend in a pause mode until the system detects that the bidirectional levelness of the host machine is restored within a set range, and the four supporting legs extend out at full speed synchronously again until all the supporting legs extend in place.
In another example, the levelness in two directions exceeds the set range:
the preset setting range is 0.2 degrees, and the four support legs are controlled to synchronously extend out. The levelness detection device detects the levelness of the frame in real time, and the processor obtains the levelness of the frame sent by the levelness detection device in real time. The level detection device detects that the level value of the first positive direction of the frame is 0.3 degrees, the level of the second negative direction of the frame is-0.4 degrees, namely the levels of the first positive direction and the second negative direction exceed the set range. The processor will make automatic adjustments:
aiming at the first positive direction, the levelness is higher: the processor adjusts the current values of the control electromagnetic valves of the first supporting leg and the third supporting leg to be 15%, and adjusts the current values of the control electromagnetic valves of the second supporting leg and the fourth supporting leg to be 0;
aiming at the higher levelness in the second negative direction: the processor adjusts the current values of the control electromagnetic valves of the first supporting leg and the second supporting leg to be 15%, and adjusts the current values of the control electromagnetic valves of the third supporting leg and the fourth supporting leg to be 0;
to sum up, the current value of the control solenoid valve of the first supporting leg is adjusted to be 15% + 30%, the current values of the control solenoid valves of the second supporting leg and the third supporting leg are adjusted to be 15%, and the current value of the control solenoid valve of the fourth supporting leg is adjusted to be 0, until the system detects that the bidirectional levelness of the host is restored within the set range, the four supporting legs are restored to be synchronously extended at full speed again, and until all the supporting legs are extended in place.
By the technical scheme, the levelness of the frame sent by the level detection device is acquired in real time by controlling the supporting legs to synchronously extend out; and 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.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or 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, and the like) 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 application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). The memory is an example of a computer-readable medium.
Computer-readable media, which include both non-transitory and non-transitory, removable and non-removable media, may implement the information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, 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 Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape, magnetic 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. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in the process, method, article, or apparatus that comprises the element.
The above are merely examples of the present application and are not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present 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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| Application Number | Priority Date | Filing Date | Title |
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| CN202210667298.6A CN115043333A (en) | 2022-06-13 | 2022-06-13 | Method for crawler type mechanical equipment, controller and crawler type mechanical equipment |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210667298.6A CN115043333A (en) | 2022-06-13 | 2022-06-13 | Method for crawler type mechanical equipment, controller and crawler type mechanical equipment |
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| CN114195016A (en) * | 2021-12-16 | 2022-03-18 | 安徽柳工起重机有限公司 | Supporting leg automatic leveling system, control method and wheeled crane |
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| CN102079298A (en) * | 2010-12-28 | 2011-06-01 | 三一重工股份有限公司 | Mobile engineering machine and control system of support leg thereof |
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| CN103407895A (en) * | 2013-08-09 | 2013-11-27 | 长沙中联消防机械有限公司 | Automatic landing leg leveling method, equipment and system and engineering machinery |
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