CN117533951A - Automatic supporting leg leveling system and virtual leg detection method - Google Patents

Abstract

An automatic supporting leg leveling system and a virtual leg detection method. To crane apparatus. Comprising the following steps: the double-shaft inclination sensor is horizontally arranged at the central position of the frame and is used for calculating the included angle between the frame and the horizontal plane; the pressure sensors are respectively arranged in rodless cavities of the corresponding supporting leg oil cylinders to acquire the pressure born by the supporting legs; the proximity switches are provided with a plurality of proximity switches which are respectively fixedly arranged at the tops of the corresponding support legs and extend into the leg cavities of the support legs; the support legs are provided with pin shafts which are horizontally and fixedly arranged; the cylinder body of the landing leg oil cylinder is connected to the pin shaft in the landing leg cavity and is in clearance fit with the pin shaft. The invention improves the working efficiency of automatic leveling, sets the reference legs, only lifts the other three support legs, does not need to replace the reference legs in the leveling process, and reduces the time of repeated leveling.

Description

Automatic supporting leg leveling system and virtual leg detection method

Technical Field

The invention relates to crane equipment, in particular to an automatic supporting leg leveling system and a virtual leg detection method.

Background

When the engineering machinery is constructed, the gravity center of the engineering machinery usually changes greatly, and a supporting device is required to be arranged on the engineering machinery in order to ensure the stability of the engineering machinery; the supporting device in the prior art comprises a movable supporting arm and supporting legs connected to the ends of the supporting arm, and before construction, the movable supporting arm stretches out and then the supporting legs stretch to support the engineering machinery. The engineering machinery usually needs to work in a horizontal state, the engineering machinery needs to be leveled through the supporting device, meanwhile, in order to balance the stress of each supporting leg, the stability of the engineering machinery is better ensured, and the supporting device needs to be leveled, so that the engineering machinery generally works in the horizontal state.

Currently, in most engineering machinery, such as concrete pump trucks, cranes and fire trucks, the control of the movable support arms and the support legs is completely performed manually, and whether the support device is leveled or not is observed visually. The method has the advantages of troublesome operation, low accuracy and large manual dependence, and delays the construction time, so that the special machinery such as a fire engine is required to be urgent in time, and the delay of the time can influence the optimal time for rescuing lives and property.

When designing supporting leg leveling systems in the current market, the following two modes are generally adopted:

1. double-shaft inclination angle sensor + proximity switch;

when the scheme of the double-shaft inclination angle sensor and the proximity switch is adopted, the controller cannot detect whether the supporting legs are supported to the safety height, and certain potential safety hazards are easily caused to the truck crane tires.

2. A double-shaft inclination angle sensor and a supporting leg oil cylinder pressure sensor;

when the scheme of adding the pressure sensor of the supporting leg oil cylinder by adopting the double-shaft inclination angle sensor is adopted, if the virtual leg condition occurs in the working process of the lorry-mounted crane, the controller cannot immediately detect the virtual leg pressure due to lag time delay of the pressure change of the supporting leg oil cylinder, and the risk of overturning easily occurs.

Disclosure of Invention

Aiming at the problems, the invention provides an automatic supporting leg leveling system and a virtual leg detection method, which are efficient and stable in leveling.

The technical scheme of the invention is as follows:

a support leg auto leveling system comprising:

the double-shaft inclination sensor is horizontally arranged at the central position of the frame and is used for calculating the included angle between the frame and the horizontal plane;

the pressure sensors are respectively arranged in rodless cavities of the corresponding supporting leg oil cylinders to acquire the pressure born by the supporting legs;

the proximity switches are provided with a plurality of proximity switches which are respectively fixedly arranged at the tops of the corresponding support legs and extend into the leg cavities of the support legs; the support legs are provided with pin shafts which are horizontally and fixedly arranged; the cylinder body of the landing leg oil cylinder is connected to the pin shaft in the landing leg cavity and is in clearance fit with the pin shaft.

Specifically, four supporting leg oil cylinders are arranged below the frame;

the pressure sensor and the proximity switch are respectively provided with four pressure sensors and are respectively arranged on the corresponding landing leg oil cylinders.

Specifically, the cylinder body of the landing leg cylinder is provided with a cylinder hole for being connected with the pin shaft;

the diameter of the oil cylinder hole is larger than that of the pin shaft.

Specifically, a plurality of landing leg cylinders are respectively connected with the reversing valve through self-locking hydraulic valves.

A method for detecting a virtual leg of an automatic supporting leg leveling system comprises the following steps:

step S100, powering up the system, and completing initialization and self-checking each sensor by the controller;

step S200, when the system is free from abnormality, after receiving an automatic leveling command, the controller controls the four supporting leg oil cylinders to synchronously descend;

step S210, if the pressure sensor of a certain supporting leg bears pressure and the corresponding proximity switch is not triggered in the process of lowering the oil cylinder of the supporting leg, judging that the proximity switch is abnormal, stopping leveling the system, and displaying fault information by a display screen;

step S300, if the proximity switch detects that a certain supporting leg touches the ground, stopping the supporting leg oil cylinder from descending, and after all the proximity switches detect that the supporting leg touches the ground, completing the pre-supporting work by the system;

step S400, the double-shaft inclination sensor transmits detection data to the controller, and the controller calculates the angle with the highest height from the horizontal plane in four angles of the frame according to the included angle between the frame and the horizontal plane, and takes the supporting leg corresponding to the angle as a reference supporting leg;

step S500, the controller controls the four supporting leg oil cylinders to synchronously descend, and the bearing pressure F of the reference supporting leg is reached _{Base group} Stopping the lowering of all the support legs when the pressure is larger than the system set pressure Fo;

step S600, finishing leveling work through an automatic leveling algorithm.

Specifically, step S100 includes:

step S110, if the self-test is normal, executing step 200;

and step S120, if the sensor self-checking is abnormal, alarming through fault information.

Specifically, the step of the automatic leveling algorithm comprises the following steps:

a, measuring an included angle between a frame and a horizontal plane by a double-shaft inclination sensor; setting an included angle between the front and rear directions of the frame and the horizontal plane as X, and setting an included angle between the left and right directions of the frame and the horizontal plane as Y;

b, comparing the angle of the I X I with the I Y I, preferentially adjusting the included angle with larger deviation from the preset value, adjusting the target amplitude to be half of the original value, comparing the angle of the I X I with the I Y I after the adjustment is finished, continuously adjusting the included angle with larger deviation from the preset value, repeating the process until the angles X and Y are smaller than the leveling preset value, and judging that the leveling is finished when the controller detects that the included angle X in the front-rear direction and the included angle Y in the left-right direction of the frame are smaller than the preset value.

Specifically, after comparing X and Y, the adjustment is performed according to the following conditions:

b1, when X is more than 0, the front part of the frame is low and the rear part is high, and two front legs are supported;

b2, when X is less than 0, the front part of the frame is high and the rear part of the frame is low, and two rear legs are supported;

b3, when Y is more than 0, the frame is low at left and high at right, and two left legs are supported;

and b4, when Y is less than 0, the left side and the right side of the frame are low, and two right legs are supported.

Specifically, the preset deviation range in the step b is as follows:

│X│≤0.4°；

│Y│≤0.4°。

the invention has the beneficial effects that:

1. the working efficiency of automatic leveling is improved, the reference legs are set, only the other three support legs are lifted, the reference legs do not need to be replaced in the leveling process, and the time of repeated leveling is reduced.

2. When the landing leg is leveled, the deviation values of the two angles are compared through a successive approximation method, and only half of the angles in the larger direction of the angle deviation are adjusted each time, so that the situation that after one angle is continuously adjusted to a preset value, the other angle is changed to exceed the preset value, the repeated adjustment is caused, and the leveling time is increased is avoided.

3. Through the pressure detection in the pre-supporting process, the supporting leg can be ensured to be supported to a safe height. When the crane is in the lifting process, the control system judges whether the supporting leg is supported to the ground in real time, if a certain proximity switch signal is detected to be lost (the signal loss is not in the state shown in fig. 3), the supporting leg is judged to be in a virtual leg state, the crane is immediately stopped from moving to a dangerous direction, and an audible and visual alarm signal is sent out.

Drawings

Figure 1 is a schematic diagram of the arrangement structure of the leg cylinder,

figure 2 is a schematic structural diagram of the relation state between the pin shaft and the position of the oil cylinder hole,

figure 3 is a schematic diagram of a second structure of the position relation state of the pin shaft and the cylinder hole,

figure 4 is a schematic diagram of the hydraulic control principle,

fig. 5 is a schematic view of the structure of the front low and rear high (broken line part) of the frame when X >0,

fig. 6 is a schematic view of the front high and rear low structure of the frame when X <0,

fig. 7 is a schematic view of the structure of the frame with lower left and higher right (projected in the tail direction in fig. 4, left side is left and right side is right) when Y >0,

FIG. 8 is a schematic view of the left-high and right-low structure of the frame when Y < 0;

figure 9 is a leveling flow chart of the present invention,

FIG. 10 is a flowchart of the steps of a self-leveling algorithm;

110 is a pressure sensor and 120 is a proximity switch;

210 is a support leg, 220 is a leg cylinder, and 230 is a pin.

Detailed Description

Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the invention.

In the description of the present invention, it should be understood that the directions or positional relationships indicated by the terms "upper", "lower", "left", "right", "vertical", "horizontal", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention. In the description of the present invention, unless otherwise indicated, the meaning of "a plurality" is two or more.

In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.

Embodiments of the present invention are described below with reference to fig. 1-10;

a support leg auto leveling system comprising:

the double-shaft inclination sensor is horizontally arranged at the central position of the frame and is used for calculating the included angle between the frame and the horizontal plane;

the pressure sensor 110 is provided with a plurality of rodless cavities which are respectively arranged in the corresponding supporting leg oil cylinders 220, and detects the pressure value of hydraulic oil in the rodless cavities, so as to acquire the pressure born by the supporting legs 210;

the proximity switch 120 is provided with a plurality of support legs 210, which are respectively fixedly arranged at the top of the corresponding support legs 210 and extend into the leg cavities of the support legs 210; the supporting leg 210 is provided with a pin shaft 230 which is horizontally and fixedly arranged; the cylinder body of the landing leg oil cylinder 220 is connected to a pin shaft 230 in the landing leg cavity and is in clearance fit with the pin shaft 230;

the vertically arranged leg cylinder 220 is connected in the leg cavity through the pin shaft 230, wherein the gap fit is formed between the cylinder hole of the leg cylinder 220 and the shaft, and a gap of 4mm is formed between the cylinder hole and the shaft, when the vertically arranged leg cylinder 220 is in a fully contracted state, the upper surface of the pin shaft 230 is contacted with the upper edge of the cylinder hole due to the gravity of the vertical cylinder, as shown in fig. 2, and at the moment, the signal of the proximity switch 120 is not triggered; when the leg cylinder 220 extends out of the supporting ground, the leg cylinder 220 contacts the lower surface of the pin shaft 230 through the ground reaction force, as shown in fig. 3, the leg cylinder 220 moves upward relative to the leg cavity, and the proximity switch 120 is triggered.

Further defined, four support leg cylinders 220 are arranged below the frame;

the pressure sensor 110 and the proximity switch 120 are respectively provided with four sensors, and are respectively arranged on the corresponding support leg oil cylinders 220. The four leg cylinders 220 are respectively a left front leg cylinder, a right front leg cylinder, a left rear leg cylinder and a right rear leg cylinder in the drawing.

Further defined, the cylinder body of the leg cylinder 220 is provided with a cylinder hole for connecting with the pin 230;

the diameter of the cylinder hole is larger than the diameter of the pin 230.

Further, a plurality of the leg cylinders 220 are respectively connected with a reversing valve (a valve below V1 in the figure) through self-locking hydraulic valves (valves containing C1, C2, V1 and V2 interfaces in the figure).

The self-locking hydraulic valve is used for maintaining pressure, and the reversing valve is used for realizing reversing of an oil way, so that the telescopic function of the supporting leg oil cylinder 220 is controlled; the reversing valve communicates with the tank through a proportional module (including a proportional valve and an unloading valve; for regulating the flow through the leg cylinder 220, thereby controlling the telescoping rate of the leg cylinder 220).

The double-shaft inclination angle sensor, the pressure sensor 110 and the proximity switch 120 are respectively connected with the signal input end of the controller; the associated solenoid valve controlling the support cylinder 220 is connected to the signal output of the controller.

A method for detecting a virtual leg of an automatic supporting leg leveling system comprises the following steps:

step S100, powering up the system, and completing initialization and self-checking each sensor by the controller;

step S200, when the system is abnormal, after receiving an automatic leveling command, the controller controls the four support leg 210 oil cylinders to synchronously descend;

step S210, if the pressure sensor 110 of a certain supporting leg 210 is under pressure and the corresponding proximity switch 120 is not triggered in the process of lowering the oil cylinder of the supporting leg 210, judging that the proximity switch 120 is abnormal, stopping leveling the system, emitting red light and beeping sound through an audible and visual indicator lamp, and displaying fault information through a display screen;

step S300, if the proximity switch 120 detects that a certain supporting leg 210 touches the ground, the oil cylinder of the supporting leg 210 is stopped to be lowered, and after all the proximity switches 120 detect that the supporting leg 210 touches the ground, the system completes the pre-supporting work;

step S400, the double-shaft inclination sensor transmits detection data to the controller, and the controller calculates the angle with the highest relative height from the horizontal plane in four angles of the frame according to the included angle between the frame and the horizontal plane, and takes the supporting leg 210 corresponding to the angle as a reference supporting leg 210;

step S500, the controller controls the cylinders of the four support legs 210 to synchronously descend, and the bearing pressure F of the reference support leg 210 is reached _{Base group} Larger than the systemWhen the pressure Fo is set, the lowering of all the support legs 210 is stopped;

step S600, finishing leveling work through an automatic leveling algorithm.

Further defined, step S100 includes:

step S110, if the self-test is normal, executing step 200;

and step S120, if the sensor self-checking is abnormal, emitting red lights and beeps through the three-color lights and displaying fault information through the display screen to alarm.

Further defined, the auto-leveling algorithm step comprises:

a, measuring an included angle between a frame and a horizontal plane by a double-shaft inclination sensor; setting an included angle between the front and rear directions of the frame and the horizontal plane as X, and setting an included angle between the left and right directions of the frame and the horizontal plane as Y;

b, comparing the value of the first angle with the value of the second angle, preferably adjusting the angle with the larger deviation from the preset value, adjusting the target amplitude to be half of the original value; when X is regulated, the Y with the inclination angle is regulated, and if X is directly regulated to a preset value, the Y regulation is easy to exceed the preset range, so that repeated correction is caused, and the regulation efficiency is reduced. The scheme of half adjustment is adopted, the deviation of X and Y is gradually reduced, and the deviation is adjusted towards the direction of a preset value, so that the problem that the XY adjustment value is repeatedly jumped in the prior art is solved;

when the X-mesh is the target value of the adjustment of the front-rear direction X of the frame, for example, when x=1.6°, y= -0.7 °, the front-rear direction is preferentially adjusted to 0.8 °, the left-right direction is not moved, and then the comparison cycle is performed.

After the adjustment is completed, the angle between the angle I and the angle Y I is compared, the adjustment is continued, the included angle with larger deviation from the preset value is continuously adjusted, the process is repeated until the angles X and Y are smaller than the leveling preset value, the preset value can be set to be +/-0.2 degrees or +/-0.4 degrees according to actual requirements, and when the controller detects that the included angle X between the front and rear directions of the frame and the included angle Y between the left and right directions of the frame are smaller than the preset value, the leveling is judged to be completed.

Further defined, after comparing the X-and Y-values, the adjustment is performed according to the following conditions:

b1, when X is more than 0, the front part of the frame is low and the rear part is high, and two front legs are supported;

b2, when X is less than 0, the front part of the frame is high and the rear part of the frame is low, and two rear legs are supported;

b3, when Y is more than 0, the frame is low at left and high at right, and two left legs are supported;

and b4, when Y is less than 0, the left side and the right side of the frame are low, and two right legs are supported.

9. The method for detecting a false leg in an automatic leveling system for a supporting leg 210 according to claim 7, wherein the preset deviation range in the step b is:

│X│≤0.4°；

│Y│≤0.4°。

the preset value can be set to +/-0.2 degrees or +/-0.4 degrees according to actual requirements, and when the controller detects that the included angle X in the front-rear direction and the included angle Y in the left-right direction of the frame are smaller than the preset value, leveling can be judged to be finished.

For the purposes of this disclosure, the following points are also described:

(1) The drawings of the embodiments disclosed in the present application relate only to the structures related to the embodiments disclosed in the present application, and other structures can refer to common designs;

(2) The embodiments disclosed herein and features of the embodiments may be combined with each other to arrive at new embodiments without conflict;

the above is only a specific embodiment disclosed in the present application, but the protection scope of the present disclosure is not limited thereto, and the protection scope of the present application shall be subject to the protection scope of the claims.

Claims (9)

1. A support leg auto-leveling system, comprising:

the double-shaft inclination sensor is horizontally arranged at the central position of the frame and is used for calculating the included angle between the frame and the horizontal plane;

the pressure sensors are respectively arranged in rodless cavities of the corresponding supporting leg oil cylinders to acquire the pressure born by the supporting legs;

the proximity switches are provided with a plurality of proximity switches which are respectively fixedly arranged at the tops of the corresponding support legs and extend into the leg cavities of the support legs; the support legs are provided with pin shafts which are horizontally and fixedly arranged; the cylinder body of the landing leg oil cylinder is connected to the pin shaft in the landing leg cavity and is in clearance fit with the pin shaft.

2. The automatic supporting leg leveling system according to claim 1, wherein four supporting leg oil cylinders are arranged below the frame;

the pressure sensor and the proximity switch are respectively provided with four pressure sensors and are respectively arranged on the corresponding landing leg oil cylinders.

3. The automatic supporting leg leveling system according to claim 1, wherein the cylinder body of the supporting leg cylinder is provided with a cylinder hole for connecting with a pin shaft;

the diameter of the oil cylinder hole is larger than that of the pin shaft.

4. The automatic supporting leg leveling system according to claim 1, wherein a plurality of the supporting leg cylinders are respectively connected with the reversing valve through self-locking hydraulic valves.

5. A method of detecting a false leg in a support leg automatic leveling system, comprising a support leg automatic leveling system according to any one of claims 1-4, comprising the steps of:

step S100, powering up the system, and completing initialization and self-checking each sensor by the controller;

step S200, when the system is free from abnormality, after receiving an automatic leveling command, the controller controls the four supporting leg oil cylinders to synchronously descend;

step S210, if the pressure sensor of a certain supporting leg bears pressure and the corresponding proximity switch is not triggered in the process of lowering the oil cylinder of the supporting leg, judging that the proximity switch is abnormal, stopping leveling the system, and displaying fault information by a display screen;

step S300, if the proximity switch detects that a certain supporting leg touches the ground, stopping the supporting leg oil cylinder from descending, and after all the proximity switches detect that the supporting leg touches the ground, completing the pre-supporting work by the system;

step S400, the double-shaft inclination sensor transmits detection data to the controller, and the controller calculates the angle with the highest height from the horizontal plane in four angles of the frame according to the included angle between the frame and the horizontal plane, and takes the supporting leg corresponding to the angle as a reference supporting leg;

step S500, the controller controls the four supporting leg oil cylinders to synchronously descend, and the bearing pressure F of the reference supporting leg is reached _{Base group} Stopping the lowering of all the support legs when the pressure is larger than the system set pressure Fo;

step S600, finishing leveling work through an automatic leveling algorithm.

6. The method for detecting a false leg in a supporting leg automatic leveling system according to claim 5, wherein the step S100 includes:

step S110, if the self-test is normal, executing step 200;

and step S120, if the sensor self-checking is abnormal, alarming through fault information.

7. A method of leg deficiency detection in a support leg automatic leveling system according to claim 5, wherein the automatic leveling algorithm step comprises:

a, measuring an included angle between a frame and a horizontal plane by a double-shaft inclination sensor; setting an included angle between the front and rear directions of the frame and the horizontal plane as X, and setting an included angle between the left and right directions of the frame and the horizontal plane as Y;

b, comparing the angle of the I X I with the I Y I, preferentially adjusting the included angle with larger deviation from the preset value, adjusting the target amplitude to be half of the original value, comparing the angle of the I X I with the I Y I after the adjustment is finished, continuously adjusting the included angle with larger deviation from the preset value, repeating the process until the angles X and Y are smaller than the leveling preset value, and judging that the leveling is finished when the controller detects that the included angle X in the front-rear direction and the included angle Y in the left-right direction of the frame are smaller than the preset value.

8. The method of claim 7, wherein the comparison between the l X and the l Y is adjusted according to the following conditions:

b1, when X is more than 0, the front part of the frame is low and the rear part is high, and two front legs are supported;

b2, when X is less than 0, the front part of the frame is high and the rear part of the frame is low, and two rear legs are supported;

b3, when Y is more than 0, the frame is low at left and high at right, and two left legs are supported;

and b4, when Y is less than 0, the left side and the right side of the frame are low, and two right legs are supported.

9. The method for detecting a false leg in a supporting leg automatic leveling system according to claim 7, wherein the preset deviation range in the step b is:

│X│≤0.4°；

│Y│≤0.4°。