WO2014048034A1

WO2014048034A1 - Leg control system and engineering machine

Info

Publication number: WO2014048034A1
Application number: PCT/CN2012/086094
Authority: WO
Inventors: 易小刚; 谭凌群; 钟辉平
Original assignee: 湖南三一智能控制设备有限公司; 三一重工股份有限公司
Priority date: 2012-09-28
Filing date: 2012-12-07
Publication date: 2014-04-03
Also published as: EP2902860A4; CN102880145A; EP2902860A1; US20150252552A1; CN102880145B

Abstract

A leg control system is provided which comprises a command transmitting unit (1), leg controllers (2) and electromagnetic valves (3) for controlling actions of a plurality of legs (4). The command transmitting unit (1) is used for transmitting a leg control command; and the leg controllers (2) simultaneously transmit action instructions to the electromagnetic valves (3) of the legs (4) according to the received leg control command transmitted from the command transmitting unit (1); and the electromagnetic valves (3) are reversed according to the control instructions so as to control the actions of the legs. Correspondingly, an engineering machine is provided. According to the technical solution of the leg control system, the legs can be controlled simultaneously, and the problems like uneven stress induced by single leg control are avoided.

Description

Leg Control System and Construction Machinery This application claims priority to Chinese Patent Application No. 201210370775.9, entitled "Leg Control System and Construction Machinery", filed on September 28, 2012, the entire contents of which are filed on September 28, 2012. This application is incorporated by reference. Technical field

The present invention relates to the field of leg control technology, and more particularly to a leg control system and a construction machine provided with the leg control system. Background technique

At present, the legs of construction machinery are mostly in the following structural forms: rear swing legs, X legs, front swing legs, folding legs, curved legs, and the like. When unfolding the legs, it is necessary to manually operate the multi-way valve rocker of the legs to control the plurality of legs to expand the support to form a square or trapezoid for weight support of the construction machinery to prevent overturning. However, when the legs are unfolded by the related technology, since each leg can only be controlled separately, when the operating leg is operated, the two sides of the construction machine cannot be propped up at the same time, which easily causes the inclination of the construction machine, and the legs Uneven forces, even leading to tipping.

Therefore, a new leg control technique is needed to address the uneven forces that may occur when controlling a single leg. Summary of the invention

The present invention is directed to the above problems, and proposes a new leg control system and engineering machine, which can realize synchronous control of multiple legs, and solves the problem of uneven force and force when each leg is separately controlled.

In view of this, the present invention provides a leg control system including a command transmitting unit and a support a leg controller and a solenoid valve for controlling the action of the leg, wherein: the command transmitting unit is configured to issue a leg control command; the leg controller is configured to receive the leg from the command transmitting unit The control command simultaneously sends an action command to the solenoid valve corresponding to the plurality of legs; the solenoid valve performs a commutation according to the action command to control the actions of the plurality of legs.

In this technical solution, by simultaneously controlling a plurality of legs, the working efficiency can be improved on the one hand, and on the other hand, the plurality of legs can be brought into contact with the ground at the same time to support the construction machine, so that the force is more uniform. Avoid the tilting or even tipping of the construction machine due to the support of a single leg.

In the above technical solution, preferably, the solenoid valve includes a lift solenoid valve disposed on the extension and retraction path of the leg and/or a lift solenoid valve disposed on the lift circuit of the leg; the leg control command includes And displaying a control command and/or a lifting control command, wherein the leg controller sends a corresponding spreading instruction to the display solenoid valve, when the receiving control command is received, the leg controller In the case where the lift control command is received, a corresponding lift command is sent to the lift solenoid valve.

In this technical solution, the operation of the leg comprises two parts, one part is to extend the leg from the initial position of the back of the construction machine, and is placed directly above the target position, and the other part is from each leg. The end extends downward from the other section and comes into contact with the ground for support. The actions of these two parts can be controlled separately or simultaneously, saving construction time.

In any one of the above aspects, preferably, the solenoid valve is a proportional solenoid valve; the leg control command includes a leg movement speed for adjusting a displacement of a spool of the proportional solenoid valve; The leg controller adjusts a spool displacement amount of the proportional solenoid valve according to the leg movement speed to control a movement speed of the leg.

In this technical solution, by using a proportional solenoid valve, the position of the spool can be controlled, and thus the speed of movement of the legs can be affected to adapt to different working conditions.

In any one of the above technical solutions, preferably, the command sending unit is a remote control device. The remote control device and the leg controller are connected by wire or wirelessly.

In the technical solution, the wired connection is adopted, which is beneficial to improve the stability of signal transmission; the wireless connection method is beneficial to further away from the construction machine without being limited by the length of the cable, etc., thereby avoiding the leg The operator is hit during the exercise to improve the safety of the operation.

In any one of the above aspects, preferably, the remote control device is provided with a command receiving device, and the command receiving device generates the leg control command after sensing a preset operation action.

In this technical solution, the command receiving device herein may be any one or more of various forms such as a physical button, a joystick, a voice receiving and recognizing device, an image capturing and recognizing device, a touch screen, a keyboard, etc., in order to facilitate the user's command. Input.

In any one of the above aspects, preferably, the command receiving device includes a plurality of buttons, each button corresponding to a plurality of legs; and when an operation action for the designated button is sensed, generating a corresponding leg control command; The leg control command includes leg information, and the leg controller determines a corresponding solenoid valve according to the leg information to control a plurality of legs corresponding to the designated button.

In the technical solution, a plurality of buttons are set on the remote control device, and corresponding functions are preset for each button, for example, a button corresponds to the unfolding of the two legs on the left side of the construction machine, when the user presses the button After the button, the two legs on the left will be expanded. By identifying the transmitted leg control commands, different function buttons are distinguished and the corresponding legs are accurately controlled.

In any of the above aspects, preferably, the command receiving device includes two buttons, each button corresponding to a plurality of legs on the same side.

In this technical solution, the legs are divided into two groups by different positions of the mounting legs, which are convenient for adapting to different working conditions.

In any one of the above technical solutions, preferably, the plurality of buttons simultaneously sense an operation When done, generate a leg control command for all legs.

In this technical solution, each button can control a plurality of legs, such as legs on one side, and when a plurality of buttons are operated simultaneously, all the legs can be controlled to achieve synchronous operation.

According to still another aspect of the present invention, there is also provided a construction machine comprising the leg control system of any of the above technical solutions.

In the above technical solution, preferably, the construction machine includes a boom device and a plurality of legs; the command sending unit is a boom remote controller, and the boom remote controller is provided with a switching device when the switching When the device is in the first status position, the boom remote controller sends a boom control command to the boom device according to the sensed operation, and when the switching device is in the second state position, the boom remote control The device transmits the leg control command to the corresponding plurality of legs according to the sensed operational action.

In the technical solution, the control of the boom or the leg can be realized on the same remote control device, and the integration of multiple functions can be realized, and the multifunctional multiplexing can be realized without changing the existing device, thereby saving Design and development costs.

Through the above technical solution, multiple legs can be simultaneously controlled, and the uneven force that may occur when controlling a single leg can be avoided. DRAWINGS

1 is a schematic structural view of a leg control system according to an embodiment of the present invention; FIG. 2 is a side view of the embodiment shown in FIG. 1;

Figure 3 shows a schematic view of a remote control device in accordance with an embodiment of the present invention;

FIG. 4 shows a schematic diagram of signal transmission in accordance with an embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION In order to more clearly understand the above objects, features and advantages of the present invention, The invention and its preferred embodiments are described in further detail. It should be noted that, in the case of no conflict, the features in the embodiments and the embodiments of the present application may be combined with each other.

Embodiments of the present invention will now be described with reference to the accompanying drawings.

Referring to Figure 1, a leg control system in accordance with an embodiment of the present invention is illustrated. The leg control system includes a command transmitting unit, a leg controller, and a solenoid valve for controlling the action of the leg, wherein: the command transmitting unit is coupled to the leg controller and configured to issue a leg control command Giving the leg controller; the leg controller being coupled to the solenoid valve and configured to issue an action command in response to the received leg control command; the solenoid valve being coupled to the controlled leg And configured to perform a commutation according to the motion command to synchronously control the motion of the legs.

For example, as shown in FIG. 1, in a leg control system according to an embodiment of the present invention, the leg control system includes a command transmitting unit 1, a leg controller 2, and a function for controlling the movement of the leg 4. a solenoid valve 3, wherein: the command transmitting unit 1 is for issuing a leg control command; the leg controller 2 simultaneously supplies a solenoid valve corresponding to the plurality of legs 4 according to the received leg control command from the command transmitting unit 1. 3. The operation command is transmitted; the solenoid valve 3 is reversed according to the operation command to control the synchronous operation of the plurality of legs 4.

In this technical solution, by simultaneously controlling the plurality of legs 4, the working efficiency can be improved on the one hand, and on the other hand, the plurality of legs 4 can be brought into contact with the ground at the same time to support the construction machine, so that the force is applied. More evenly hooked, to avoid the tilting or even tipping of the construction machinery due to the support of the single leg 4 to the ground.

It should be noted that, in each of the above embodiments, the leg control command includes a spread control command and/or a lift control command; and the action command includes a spread instruction and/or corresponding to the leg control command. Lifting instructions.

For example, in the above technical solution, the solenoid valve 3 includes a lift solenoid valve disposed on the retracting path of the leg 4 and/or a lift solenoid valve disposed on the lift circuit of the leg; the leg control command includes the spread control Command and / or lifting control command, the leg controller 2 receives the display control In the case of the command, the corresponding spread command is sent to the lift solenoid valve, and the leg controller 2 sends a corresponding lift command to the lift solenoid valve when receiving the lift control command.

In this technical solution, the operation of the leg 4 includes two parts, one part is to extend the leg 4 from the initial position of the back of the construction machine, and is placed directly above the target position, and the other part is from each branch. The end of the leg 4 extends downwardly from the other section and comes into contact with the ground for support. In this embodiment, the actions of the two parts can be controlled separately or simultaneously, thereby saving construction time.

The operation of the leg 4 will be described below with reference to Figs. 1 and 2.

1 is a top plan view showing the structure of a construction machine, in which the legs 4 include a first leg 41, a second leg 42, a third leg 43, and a fourth leg 44. In the related art, only the action of each leg can be separately controlled. Further, each leg 4 corresponds to at least two control handles, for example, the two control handles include: Unfold, retract the handle, and raise and lower the handle.

If the control method in the related art is adopted, each leg cannot complete the indicated action at the same time. For example, here, the four legs in FIG. 1 can be exemplified, and the first leg 41, the second leg 42 and the fourth leg have completed the unfolding action, and the third leg 43 is still in the initial retracted state. As shown in FIG. 2, the leg 4 includes a horizontal portion 4a and a vertical portion 4b, wherein, on the one hand, the horizontal portion 4a needs to be moved in the horizontal direction to complete the unfolding action, and on the other hand, the original contraction is performed. The vertical portion 4b in the horizontal portion 4a is extended in the vertical direction until support is provided to the ground.

In any of the above aspects, the solenoid valve 3 is a proportional solenoid valve. Wherein, the leg control command includes a leg movement speed for adjusting a displacement amount of a spool of the proportional solenoid valve. For example: The leg controller 2 adjusts the displacement of the spool of the proportional solenoid valve according to the speed of the leg movement to control the movement speed of the leg 4.

In this technical solution, by using a proportional solenoid valve, the position of the spool can be made Control, and in turn affect the speed of movement of the legs 4 to suit different operating conditions.

In any of the above aspects, the command transmitting unit 1 may include a command receiving device and a command transmitting device. The command receiving device receives an action indication input by the outside world, and generates a leg control command according to the action instruction, and the command sending device sends the generated leg control command to the control target, such as the branch Leg controller. In this embodiment, the action indication may be triggered by a preset operation action.

Preferably, in the above embodiment, the command transmitting unit 1 may be a remote control device, and the remote control device and the leg controller 2 are connected by wire or wirelessly. For example: the command sending unit includes a remote control device and a remote control receiver, and the remote control device and the remote control receiver may be connected by wire or wirelessly, and the remote control receiver and the leg controller may be wired or wireless. Way to connect.

It should be noted that, in the technical solution, the wired connection is adopted, which is beneficial to improving the stability of signal transmission; and the wireless connection method is beneficial to further away from the engineering machine without being limited by the length of the cable or the like. Thereby, it is avoided that the operator is hit during the movement of the leg 4, and the safety of the operation is improved.

Further, as shown in the remote control device 10 of Fig. 3, the remote control device 10 is provided with a command receiving device, and the command receiving device is configured to generate the leg control command based on the received action instruction. For example, the command receiving device senses an action indication and generates a leg control command based on the action indication. In this embodiment, the action indication may be a preset operation action.

For example, in the technical solution, the command receiving device herein may be any one or more of various forms such as a physical button, a joystick, a voice receiving and recognizing device, an image capturing and recognizing device, a touch screen, a keyboard, etc., to facilitate the user. Command input.

In the above embodiment, the command receiving device includes an action indicating input device, each action indicating input device corresponding to at least two leg settings, and configured to generate a corresponding leg control command according to the input action instruction. Wherein, the leg control command includes a determination and a Control the legs to correspond to the leg information of the solenoid valve.

For example: Here, a button that can be placed on the command receiving device is input as an action indication device. In any of the above technical solutions, the command receiving device includes a plurality of buttons 102, each button 102 corresponding to a plurality of legs; when an operation action for the designated button 102 is sensed, a corresponding leg control command is generated; The control command includes leg information, and the leg controller 2 determines the corresponding solenoid valve 3 based on the leg information to control the plurality of legs 4 corresponding to the designated button 102.

In this technical solution, a plurality of buttons 102 are disposed on the remote control device 10, and corresponding functions are preset for each button 102, such as a button 102 corresponding to the third leg 43 of the construction machine shown in FIG. When the fourth leg 44 is unfolded, when the user presses the button 102, the two legs are deployed. The identification of the transmitted leg control commands is made to distinguish between different function buttons and to ensure accurate control of the respective legs 4.

Preferably, in the above embodiments, the command receiving device includes two action indicating input devices, and the action indicating input device is disposed corresponding to the legs on the same side.

For example: Here, the action indicating input device takes a button as an example. In any of the above technical solutions, the command receiving device includes two buttons, each button corresponding to a plurality of legs 4 on the same side.

In this technical solution, the legs 4 are divided into two groups by the position of the mounting legs 4, which is convenient for adapting to different working conditions.

In any of the above aspects, when a plurality of buttons 102 simultaneously sense an operation action, a leg control command for all the legs 4 is generated.

In this technical solution, each button 102 can respectively control a plurality of legs 4, such as the legs 4 on one side, and when the plurality of buttons 102 are operated simultaneously, all the legs 4 can be controlled, thereby realizing Synchronous operation.

According to still another aspect of the present invention, there is also provided a construction machine comprising the leg control system as described in any of the above aspects.

In the above embodiment, the construction machine includes a boom device and a plurality of legs. Among them, The command transmitting unit is coupled to the boom device, and the command transmitting unit is provided with switching means for performing switching control between the boom device and the leg controller.

For example: the construction machine includes a boom device and a plurality of legs, such as two legs, three legs, and four legs; the command sending unit is a boom remote controller, and the function button 102 is disposed on the boom remote controller. A switching device 104 as shown in FIG. 3 may also be provided. When the switching device 104 is in the first state position, the boom remote controller sends a boom control command to the boom device according to the sensed operation, when the switching device 104 When in the second state position, the boom remote control transmits a leg control command to the corresponding plurality of legs 4 in accordance with the sensed operational action.

In this technical solution, the control of the boom or the leg 4 can be realized on the same remote control device 10, and the integration of multiple functions can be realized, and the multifunctional multiplexing can be realized without changing the existing device. , saving design and development costs.

As shown in Figure 4, when the leg control is performed, the signal transmission process is as follows:

The user controls the legs 4 of the construction machine via the remote control unit 10, wherein the remote control unit 10 is wirelessly connected to the construction machine. The remote control device 10 transmits a remote control signal to the remote control receiver 20 provided on the construction machine under the control of the user. Further, the remote control signal here may be an infrared signal, a Bluetooth signal, a wireless local area network signal, or the like.

The remote control receiver 20 forwards the received remote control signal to the leg controller 2, and the remote control signal includes a leg control command, and the leg controller 2 analyzes the leg control command to determine that the control is required. The object and the operation mode, for example, need to make the two legs 4 on the left side expand at the same time.

Each leg is controlled by the solenoid valve 3, and the leg controller 2 is connected to all the solenoid valves 3. When the remote control signal is received, a corresponding action command is generated and sent to the leg 4 that needs to be controlled. Corresponding solenoid valve 3.

Further, the solenoid valve 3 herein may be a proportional solenoid valve, and the remote control signal sent by the remote control device 10 may include a speed signal, so that the motion command issued by the leg controller 2 is A corresponding speed command may also be included to control the valve opening by adjusting the displacement of the spool of the proportional solenoid valve, and finally to control the speed of movement of the leg 4.

In summary, in the technical solution of the present invention, since the wireless remote control mode is adopted, the legs are not hit by the operator when the action is performed, and the safety of the operation is improved; meanwhile, by the plurality of legs Synchronous control can improve work efficiency and avoid the loss of balance of construction machinery due to single leg support, and even dumping accidents.

The above is only the preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes can be made to the present invention. Any modifications, equivalent substitutions, improvements, etc. within the spirit and scope of the invention are intended to be included within the scope of the invention.

Industrial applicability

The leg control system provided by the invention and the engineering machine provided with the leg control system can synchronously control a plurality of legs, can improve work efficiency, and avoid unbalanced construction machinery due to single leg support Even a tipping accident occurred. Moreover, due to the use of the wireless remote control method, the legs are not hit by the operator when the action is performed, and the safety of the operation is improved. Therefore, the present invention has industrial applicability.

Claims

Claim

A leg control system, comprising: a command transmitting unit, a leg controller, and a solenoid valve for controlling the movement of the leg, wherein:

The command sending unit is coupled to the leg controller and configured to issue a leg control command to the leg controller;

The leg controller is coupled to the solenoid valve and configured to issue an action command according to the received leg control command;

The solenoid valve is coupled to the controlled leg and is configured to reverse direction in accordance with the motion command to synchronously control the motion of the legs.

2. The leg control system according to claim 1, wherein the solenoid valve comprises a lift solenoid valve disposed on a retracting path of the leg and/or a lift electromagnetic device disposed on the lift circuit of the leg Valve

The leg control command includes a spread control command and/or a lift control command. Correspondingly, the action command includes a spread command and/or a lift command.

3. The leg control system according to claim 2, wherein

The solenoid valve is a proportional solenoid valve;

Wherein, the leg control command includes a leg movement speed for adjusting a displacement of a spool of the proportional solenoid valve.

The leg control system according to any one of claims 1 to 3, wherein the command transmitting unit comprises a remote control device and a remote control receiver, and the remote control device and the remote control receiver are wired or wirelessly Connected, the remote control receiver and the leg controller are connected by wire or wirelessly.

5. The leg control system according to claim 4, wherein the remote control device is provided with a command receiving device, and the command receiving device is configured to generate the leg control command according to the received action instruction. .

6. The leg control system according to claim 5, wherein the command receiving device includes an action indicating input device, each action indicating input device corresponding to at least two leg settings, and configured to be input according to The action indication generates a corresponding leg control command;

Wherein, the leg control command includes leg information for determining a solenoid valve corresponding to the controlled leg.

7. The leg control system according to claim 6, wherein the command receiving means includes two action indicating input means, the action indicating that the input means is disposed corresponding to the legs on the same side.

A construction machine characterized in that a leg control system according to any one of claims 1 to 7 is provided.

9. The construction machine according to claim 8, wherein the construction machine comprises a boom device and a plurality of legs;

The command transmitting unit is connected to the boom device, and the command transmitting unit is provided with switching means for performing switching control between the boom device and the leg.

The construction machine according to claim 9, wherein the command transmitting unit is a boom remote controller, and the boom remote controller is provided with a switching device; when the switching device is in a first state position The boom remote controller transmits a boom control command to the boom device according to the sensed operation, and when the switching device is in the second state position, the boom remote control The device transmits the leg control command to the corresponding plurality of legs according to the sensed operational action.