Stabilizing device, engineering vehicle and method for adjusting the stabilizing device

Abstract

The present invention relates to a stabilizer, an engineering vehicle and an adjustment method for a stabilizer, wherein the stabilizer comprises a support frame; a leg assembly, wherein two leg assemblies are symmetrically arranged with respect to the central axis of the support frame; a driving assembly, wherein the driving assembly is connected to the leg assembly and drives the two leg assemblies to open or retract separately or simultaneously; the leg assembly comprises a first leg and a second leg, wherein one end of the first leg is hinged to the support frame, and the other end of the first leg is hinged to the second leg; a pull rod, wherein the pull rod is arranged between the support frame and the second leg, and an adjustment range is provided on the pull rod along the length direction of the pull rod, and the opening angle of the second leg is adjusted within the range of the adjustment range. The stabilizer, the engineering vehicle and the adjustment method for a stabilizer provided in the present application can enable the legs to obtain effective support from the ground when opening, and the legs can be opened smoothly.

Description

Technical Field

[0001] The present invention belongs to the technical field of stabilizers, and in particular, relates to a stabilizer, an engineering vehicle and an adjustment method of the stabilizer. Background Art

[0002] Telescopic forklift is a movable engineering machinery product widely used in aerial operations, cargo handling and other fields in various industries. Telescopic forklift is generally composed of chassis, cab, boom, connecting device and accessories. When working, the accessories perform the corresponding operations, and different accessories can perform different functions.

[0003] When a telescopic forklift is operating, the boom is extended to ensure that a large operating height and width can be obtained. At this time, a stabilizing device is needed to make the vehicle more stable.

[0004] The stabilizer is generally composed of a support structure, an articulated arm and a support foot. When working, the power mechanism is used to extend the articulated arm. When the legs of the stabilizer are fully opened, the support foot contacts the ground, and the ground provides auxiliary support for the legs, so that the vehicle has greater stability. If the legs of the stabilizer are not retracted into place, there may be a risk of interference with other objects during driving.

[0005] The stabilizing device in the prior art has complex ground conditions during use, such as a sloping ground, which makes it impossible for the supporting legs to obtain effective ground support when they touch the ground, and the supporting legs cannot be smoothly opened. Summary of the invention

[0006] In order to solve the above technical problems, the present invention aims to provide a stabilizer, an engineering vehicle and an adjustment method for the stabilizer, which can enable the legs to obtain effective ground support when they are opened and the legs can be opened smoothly.

[0007] The technical solution of the present invention is as follows:

[0008] A stabilization device, the stabilization device comprising: a support frame; a leg assembly, wherein two leg assemblies are symmetrically arranged with respect to the central axis of the support frame; a driving assembly, wherein the driving assembly is connected to the leg assemblies and drives the two leg assemblies to open or retract separately or simultaneously; the leg assembly comprises a first leg and a second leg, wherein one end of the first leg is hinged to the support frame, and the other end of the first leg is hinged to the second leg; a pull rod, wherein the pull rod is arranged between the support frame and the second leg, and an adjustment range is provided on the pull rod along the length direction of the pull rod, and the opening angle of the second leg is adjusted within the range of the adjustment range.

[0009] Preferably, the pull rod is provided with a first long groove having a first end and a second end, and the first long groove forms the adjustment range; the stabilizing device includes a sliding member, and the sliding member is provided on the second leg or the support frame, and correspondingly, one end of the pull rod away from the sliding member is hinged to the support frame or to the second leg, and the sliding member cooperates with the first long groove.

[0010] Preferably, when the sliding member is located at the first end, the leg assembly is in a retracted locking state or an open locking state; when the sliding member is located at the second end, the leg assembly is in an open locking state or a retracted locking state.

[0011] Preferably, the support frame has an extension portion extending downward on both sides thereof; the stabilizing device includes: an angle detection member, which is used to detect a first rotation angle on a rotation pair in an extension direction of one side of the support frame, and the rotation pair is arranged on the leg assembly; a distance detection member, which is used to detect the spacing distance between any two reference bases of relative motion on the leg assembly.

[0012] Preferably, the angle detection member is arranged at the hinge between the first leg and the second leg; the angle detection member includes a block and a limit switch, the block is arranged on the first leg or the second leg, and the limit switch is correspondingly arranged on the second leg or the first leg, when the first leg and the second leg rotate relative to each other, the block touches the toggle member on the limit switch.

[0013] Preferably, the angle detection member is arranged at the hinge between the first leg and the support frame; the angle detection member includes a block and a limit switch, the block is arranged on the first leg or the support frame, and the limit switch is correspondingly arranged on the support frame or the first leg, when the first leg or the support frame rotates relatively, the block touches the toggle member on the limit switch.

[0014] Preferably, the distance detection member comprises a proximity switch, and the proximity switch is arranged on the second leg, and the proximity switch is arranged opposite to one side of the pull rod.

[0015] An engineering vehicle comprises the above-mentioned stabilizing device.

[0016] A method for adjusting a stabilizing device, the method comprising: obtaining a first state value corresponding to the leg assembly when the leg assembly is in an open state; obtaining a second state value corresponding to the leg assembly when the leg assembly is in a retracted state; determining an adjustment area on the pull rod through the first state value and the second state value; constructing a state optimization model for the second leg according to the adjustment area; obtaining a current state and ground conditions corresponding to the second leg, and optimizing an opening angle of the second leg according to the state optimization model for the second leg until the second leg obtains ground support.

[0017] Preferably, constructing the state optimization model of the second leg includes: taking the position of the adjustment area as the first constraint condition, taking the stabilization device not being in the extreme opening state as the second constraint condition, and taking the second leg obtaining a ground support effect as the optimization goal, thereby forming the state optimization model of the second leg.

[0018] Preferably, the first state value includes the first rotation angle of any one of the rotating pairs on the leg assembly, or the first distance value between any two reference datums of relative motion on the leg assembly; the second state value includes the second rotation angle of any one of the rotating pairs on the leg assembly, or the second distance value between any two reference datums of relative motion on the leg assembly; based on the first state value, a first boundary is determined; based on the second state value, a second boundary is determined, and the second boundary and the first boundary form the adjustment area.

[0019] Preferably, after the second leg obtains ground support, the stabilizing device is activated; it is determined whether the leg assembly is fully opened; and when the leg assembly switches from an opened state to a retracted state, it is determined whether the leg assembly is fully retracted.

[0020] The stabilizing device provided by the present invention is adapted to be installed at the bottom of engineering machinery and is used to provide stable bottom support for the engineering machinery, such as a telescopic arm forklift, a telescopic arm lifting equipment, etc. In order to make the stabilizing device have more superior stability performance, it is particularly important whether each leg of the stabilizing device can obtain effective support from the ground when it is opened. In fact, the working environment of engineering machinery is harsh and the ground conditions are uncertain. It is often necessary to make a small range adjustment to the legs so that all the leg components on the stabilizing device can obtain effective support from the ground when they are opened, and then perform the opening action. The stabilizing device provided by the present invention includes a support frame for providing bottom support for engineering machinery, two leg assemblies are symmetrically arranged along the central axis of the support frame, and the opening or contraction of the leg assemblies is driven by a driving assembly. When the leg assembly on the stabilizing device needs to be opened, the second leg is adjusted within the adjustment range by operating the pull rod, so that the second leg can be directly (for example, a support foot is provided, and the support foot and the second leg are an integral structure) or indirectly contacted (for example, the support foot is provided and the second leg is hinged, and the support foot contacts the ground). At this time, the second leg obtains effective support, and then the driving assembly drives the first leg and the second leg to further expand. Therefore, the stabilizing device provided by the present application allows the second leg to adjust the posture of the second leg according to the ground conditions, so as to find a suitable opening position for the stable support, so that the stabilizing device can only perform the opening action when the second leg is in direct or indirect contact. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The accompanying drawings are used to provide an understanding of the present invention and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the present invention, but do not constitute a limitation of the present invention. In the accompanying drawings:

[0022] Figure 1 A schematic diagram of the structure of a stabilizing device provided in an embodiment of the present invention;

[0023] Figure 2 A cross-sectional view of a stabilizing device provided by an embodiment of the present invention;

[0024] Figure 3 A schematic diagram of a stabilizing device provided by an embodiment of the present invention in a completely retracted state;

[0025] Figure 4 A schematic diagram of a stabilizing device provided by an embodiment of the present invention in a completely opened state;

[0026] Figure 5 A schematic diagram of the structure of a pull rod of a stabilizing device provided in an embodiment of the present invention;

[0027] Figure 6 A schematic structural diagram of an angle detection member of a stabilizing device provided in an embodiment of the present invention;

[0028] Figure 7 A schematic structural diagram of a distance detection component of a stabilization device provided by an embodiment of the present invention;

[0029] Figure 8 A logic flow chart of an adjustment method of a stabilizing device provided by an embodiment of the present invention;

[0030] Fig. 9 A logic flow chart of how to determine whether the leg assembly is fully opened or fully retracted after the second leg obtains ground support provided by an embodiment of the present invention;

[0031] Fig.10 A logic flow chart of a method for adjusting whether a stabilizing device is fully opened provided by an embodiment of the present invention;

[0032] Fig.11 A logic flow chart of a method for adjusting whether a stabilizing device is completely retracted provided in an embodiment of the present invention.

[0033] Description of Reference Numerals

[0034] 1. Support frame; 11. Extension part; 2. First leg assembly; 21. Support foot; 22. Second leg; 23. First leg; 3. Second leg assembly; 4. First drive assembly; 5. Second drive assembly; 6. Angle detection member; 61. Block; 62. Limit switch; 7. Distance detection member; 71. Proximity switch; 8. Pull rod; 81. First end; 82. Second end; 9. Sliding member. DETAILED DESCRIPTION

[0035] In order to enable those skilled in the art to better understand the technical solutions in the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work should fall within the scope of protection of the present application.

[0036] In the description of the present invention, it should be understood that the terms "upper" and "lower" and the like indicating directions or positional relationships are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the components or elements referred to must have a specific direction, be constructed and operate in a specific direction, and therefore should not be understood as limiting the present invention.

[0037] Please Figures 1 to 7As shown, the present invention provides a stabilizing device, which includes a support frame 1; a leg assembly, wherein the two leg assemblies are symmetrically arranged with respect to the central axis of the support frame 1; a driving assembly, wherein the driving assembly is connected to the leg assembly, and drives the two leg assemblies to open or contract separately or simultaneously; the leg assembly includes a first leg 23 and a second leg 22, wherein one end of the first leg 23 is hinged to the support frame 1, and the other end of the first leg 23 is hinged to the second leg 22; a pull rod 8, wherein the pull rod 8 is arranged between the support frame 1 and the second leg 22, and an adjustment range is provided on the pull rod 8 along the length direction of the pull rod 8, and the opening angle of the second leg 22 is adjusted within the range of the adjustment range.

[0038] The stabilizing device is adapted to be installed at the bottom of the engineering machinery to provide a stable bottom support for the engineering machinery, such as a telescopic arm forklift, a telescopic arm lifting equipment, etc. In order to make the stabilizing device have a better stability performance, it is particularly important whether each leg of the stabilizing device can obtain effective ground support when it is opened. In fact, the working environment of the engineering machinery is harsh and the ground conditions are uncertain. It is often necessary to make a small range adjustment to the legs to make all the leg assemblies on the stabilizing device obtain effective ground support when they are opened, and then the opening action is performed. The stabilizing device provided by the present invention includes a support frame 1 for providing bottom support for the engineering machinery, two leg assemblies are symmetrically arranged along the central axis of the support frame 1, and the opening or contraction of the leg assemblies is driven by a driving assembly. When the leg assembly is opened to a preset position, if it is found that the ground cannot effectively support the second leg 22 at this time, since the pull rod 8 is arranged between the support frame 1 and the second leg 22, at this time, by pushing the pull rod 8, the second leg 22 can be moved a certain distance along the adjustment area until the second leg 22 can obtain effective ground support. Therefore, the stabilizing device provided in the present application can enable the legs to obtain effective support from the ground when they are spread out, thereby preventing the legs from partially failing to touch the ground and causing rollover or uneven force on the legs.

[0039] Specifically, the pull rod 8 is provided with a first long groove, the first long groove has a first end 81 and a second end 82, and the first long groove forms an adjustment interval; the stabilizing device includes a sliding member 9, the sliding member 9 is provided on the second leg 22 or the support frame 1, and the end of the pull rod 8 away from the sliding member 9 is hinged to the support frame 1 or the second leg 22, and the sliding member 9 cooperates with the first long groove. Figure 2As shown, near the bottom of the first leg 23 and the second leg 22, it is used to limit the moving distance of the first leg 23 and the second leg 22 when they are opened or retracted. Through the setting of the pull rod 8, when the first leg 23 and the second leg 22 are switched from the open state to the retracted state, or from the retracted state to the open state, it can be ensured that the moving distance of a certain fixed position on the first leg 23 is within a certain stroke range, that is, the sliding member 9 always slides in the first long groove. It can be seen that the length of the first long groove is related to the selected position of the sliding member 9. The specific situation can be adaptively improved according to the actual situation. It should be considered that locking the posture of the first leg 23 and the second leg 22 by using this structure should be deemed to fall within the protection scope of this application.

[0040] When the sliding member 9 is located at the first end 81, the leg assembly is in a contracted locking state or an open locking state; when the sliding member 9 is located at the second end 82, the leg assembly is in an open locking state or a contracted locking state. When the sliding member 9 is at the second end 82, the driving end of the driving assembly extends, exerting a downward force on the sliding member 9, so that the sliding member 9 continuously abuts against the second end 82, thereby achieving locking of the leg assembly in the open state. As long as the driving assembly does not contract, the leg assembly maintains the open state; similarly, when the sliding member 9 is at the first end 81, the driving end of the driving assembly contracts, exerting an upward pulling force on the sliding member 9, so that the sliding member 9 continuously abuts against the second end 82. As long as the driving assembly does not extend, the leg assembly maintains the contracted state.

[0041] In the stabilizing device provided by the present invention, the support frame 1 has an extension portion 11 extending downward on both sides thereof; the stabilizing device includes: an angle detection member 6, the angle detection member 6 is used to detect a first rotation angle on a rotating pair in an extension direction of one side of the support frame 1, and the rotating pair is arranged on the leg assembly; a distance detection member 7, which is used to detect the spacing distance between any two reference bases of relative motion on the leg assembly.

[0042] There are downwardly extending extension parts 11 at the lower sides of the support frame 1, and two retractable and expandable leg assemblies are respectively connected to the extension parts 11, and the two leg assemblies are respectively driven by two driving assemblies to expand or retract. The leg assembly includes a first leg assembly 2 and a second leg assembly 3. Usually, the first leg assembly 2 and the second leg assembly 3 need to be able to convert between an open posture and a retracted posture, and it is necessary to have at least one rotation pair on the first leg assembly 2 and the second leg assembly 3. In order to make the first leg assembly 2 and the second leg assembly 3 have better flexibility, even more than two rotation pairs are set. At the same time, the angle detection member 6 is used to detect a first rotation angle on the rotation pair. Once the first rotation angle is detected to reach the opening angle of the first leg assembly 2 and the second leg assembly 3, it means that the first leg assembly 2 and the second leg assembly 3 on the stabilizing device are completely opened. If the detected first rotation angle does not reach the preset value, the driving assembly drives the first leg assembly 2 and the driving assembly drives the second leg assembly 3 to open. At the same time, a distance detection member 7 is used as a reference datum for the relative movement of two legs on the first leg assembly 2 or the second leg assembly 3. The reference datum can be a side surface, or a certain position point, etc. After selection, by detecting the change in the interval distance between the two reference datums, it is determined whether the first leg assembly 2 or the second leg assembly 3 is opened or retracted. It can be seen that the stabilizing device provided by the present application can monitor the opening and retraction of the legs to prevent the legs of the stabilizing device from being incompletely opened and the legs from being retracted inadequately. Among them, the driving component can be a hydraulic cylinder, a pneumatic cylinder, an electric cylinder or other equipment with telescopic function.

[0043] More preferably, when it is necessary to detect whether the first leg assembly 2 and the second leg assembly 3 are completely opened, it is preferred to use the angle detection member 6 to detect whether the first leg assembly 2 and the second leg assembly 3 are completely opened. When the first leg assembly 2 and the second leg assembly 3 are completely opened, the bottom of the first leg assembly 2 and the second leg assembly 3 can be perpendicular to the ground. In addition to being able to achieve that the second leg 22 obtains effective ground support before the leg assembly is opened, it can also determine whether the leg assembly can be completely opened, so that the engineering vehicle is not prone to rollover. The reason for using the angle detection member 6 to detect whether the first leg assembly 2 and the second leg assembly 3 are completely opened is that when the first leg assembly 2 and the second leg assembly 3 go from a retracted state to an open state, the angle between the components forming the rotating pair will be very small. This small angle increases the difficulty of angle detection, and there may be a certain measurement error, and then it is impossible to accurately determine whether there is an incomplete contraction.

[0044] The distance detection member 7 is used to measure the contraction of the first leg assembly 2 and the second leg assembly 3. The distance detection member 7 detects the spacing between the reference datums of relative motion on the first leg assembly 2 and the second leg assembly 3 to determine whether the first leg assembly 2 and the second leg assembly 3 are contracted into place. The main reason is that whether the first leg assembly 2 and the second leg assembly 3 are contracted into place affects the maximum external dimensions of the stabilizing device, and in order to prevent interference with external objects. According to this design concept, the two reference datums of relative motion are preferably the main moving parts on the stabilizing device. The reference datum of relative motion refers to any two relatively moving parts on the first leg assembly 2 when the first leg assembly 2 and the second leg assembly 3 switch from an open state to a contracted state, and the reference datum can be the relatively moving part itself, or a point, line, surface, etc. selected on the relatively moving part, which is not specifically limited here.

[0045] Among them, the leg assembly includes a support foot 21 connected to the second leg 22. The first leg assembly 2 and the second leg assembly 3 are symmetrical with the central axis of the support frame 1, so that the force conditions on both sides of the stabilizing device are the same, which can better ensure its stability. On the other hand, when the first leg assembly 2 and the second leg assembly 3 are in a completely opened state, the support foot 21 contacts the ground, and the ground provides support force to the support foot 21 vertically upward. As for the length, height and other dimensions of the first leg 23, the second leg 22 and the support foot 21, or other inclination angles between the first leg 23, the second leg 22 and the straight surface when opened, and the height of the support frame 1 from the ground when the first leg assembly 2 and the second leg assembly 3 are opened, etc., structural designs can be adaptively designed according to the load-bearing capacity of the stabilizing device and actual needs, which will not be repeated here.

[0046] In addition, the setting position of the angle detection member 6 is diverse. In the first embodiment, the angle detection member 6 is arranged at the hinge of the first leg 23 and the second leg 22; the angle detection member 6 includes a block 61 and a limit switch 62. The block 61 is arranged on the first leg 23 or the second leg 22, and the limit switch 62 is correspondingly arranged on the second leg 22 or the first leg 23. When the first leg 23 and the second leg 22 rotate relative to each other, the block 61 touches the toggle member on the limit switch 62.

[0047] In the second embodiment, the angle detection member is arranged at the hinge between the first leg 23 and the support frame 1, and the angle detection member 6 includes a stopper 61 and a limit switch 62. The stopper 61 is arranged on the first leg 23 or the support frame 1, and the limit switch 62 is correspondingly arranged on the support frame 1 or the first leg 23. When the first leg 23 or the support frame 1 rotates relatively, the stopper 61 touches the toggle member on the limit switch 62.

[0048] The setting of the angle detection member 6 refers to the above-mentioned embodiment. This embodiment takes the first leg assembly 2 and the second leg assembly 3 having at least two legs as an example to explain in detail the inventive concept of the present application. A plurality of rotation pairs are formed in the direction of the first leg assembly 2 and the second leg 22 extending downward from the drilling, for example, between the first leg 23 and the extension portion 11 on the support frame 1, between the first leg 23 and the foot 21, and between the first leg 23 and the second leg 22. An angle detection member 6 can be set at each rotation pair. However, considering the accuracy of the measurement result and the manufacturing cost, etc., it is preferred to set the angle detection member 6 at the hinge between the first leg 23 and the second leg 22, and the angle detection member 6 is used to monitor whether the first leg 23 and the second leg 22 are fully opened. When the first leg assembly 2 and the second leg assembly 3 are opened, the rotation angle range of the rotation pair between the first leg 23 and the second leg 22 is the largest, so that the measurement error of the angle detection member 6 can be reduced, and the judgment of the angle detection member 6 is more accurate.

[0049] The angle detection member 6 includes a block 61 and a limit switch 62; when the angle detection member 6 is arranged at the hinge between the first leg 23 and the second leg 22, the block 61 is arranged on the first leg 23 or the second leg 22, and the limit switch 62 is correspondingly arranged on the second leg 22 or the first leg 23, and when the first leg 23 and the second leg 22 rotate relative to each other, the block 61 touches the toggle member on the limit switch 62; when the angle detection member 6 is arranged at the hinge between the first leg 23 and the support frame 1, the block 61 is arranged on the first leg 23 or the support frame 1, and the limit switch 62 is correspondingly arranged on the support frame 1 or the first leg 23, and when the first leg 23 or the support frame 1 rotate relative to each other, the block 61 touches the toggle member on the limit switch 62.

[0050] The driving assembly includes a first driving assembly 4 and a second driving assembly 5. The first driving assembly 4 is used to drive the first leg assembly 2 to open or retract, and the second driving assembly 5 is used to drive the second leg assembly 3 to open or retract. The angle detection member 6 can be arranged at the revolving pair between the first leg 23 and the second leg 22, or at the hinge between the first leg 23 and the support frame 1. Referring to the previous embodiment, it is preferably arranged between the first leg 23 and the second leg 22. The angle detection member 6 includes a stopper 61 and a limit switch 62. Before the angle detection member 6 is used, the limit switch 62 can be configured. For example, it can be configured so that when the first leg 23 and the second leg 22 are rotated to the extreme position (the first leg assembly 2 and the second leg assembly 3 are in the open state), the stopper 61 contacts the toggle member on the limit switch 62, triggering the limit switch 62 to send a signal that the first leg 23 and the second leg 22 have been opened to the full position, and the drive assembly does not move, applying a downward force to the first leg assembly 2 or the second leg assembly 3. Only when the first drive assembly 4 and the second drive assembly 5 shrink and pull the first leg assembly 2 or the second leg assembly 3, the open postures of the two are destroyed and switched to the contracted state.

[0051] Specifically, the distance detection member 7 includes a proximity switch 71, which is arranged on the second leg 22 and is arranged opposite to one side of the pull rod 8. That is, at this time, the two relatively moving parts on the leg assembly are the first leg 23 and the second leg 22, and one reference datum is the installation point of the proximity switch 71, and the other reference datum is a side surface of the pull rod 8. By detecting the gap distance between the proximity switch 71 and the side surface of the pull rod 8, it is judged whether the first leg assembly 2 and the second leg assembly 3 are retracted to the position.

[0052] The present invention provides an engineering vehicle, including the above-mentioned stabilizing device. For specific embodiments of the engineering vehicle, please refer to the various embodiments of the stabilizing device, which will not be described in detail here.

[0053] Please Figure 8 As shown, the present invention provides an adjustment method for a stabilizing device, the adjustment method comprising:

[0054] S01, obtaining a first state value corresponding to the leg assembly in an open state;

[0055] S02, obtaining a second state value corresponding to the leg assembly in a retracted state of the leg assembly;

[0056] S03, determining the adjustment area on the pull rod 8 according to the first state value and the second state value;

[0057] S04, constructing a state optimization model of the second leg 22 according to the adjustment area;

[0058] S05. Obtain the current state and ground conditions corresponding to the second leg 22, optimize the model according to the state of the second leg 22, and optimize the opening angle of the second leg 22 until the second leg 22 is directly or indirectly supported by the ground.

[0059] First, the state values ​​corresponding to the leg assembly in different states are obtained. The first state value can be the inclination angle value of the first leg 23 or the second leg 22 in the leg assembly when the leg assembly is open, or the parameter value of a fixed position on the first leg 23 and the second leg 22 relative to the ground, or the relative distance value between two fixed reference points on the first leg 23 and the second leg 22. It can be seen that the setting of the first state value is mainly to quantitatively analyze and express the change of the motion state of the leg assembly. Similarly, the second state value can be configured with reference to the setting principle of the first state value. Since the tie rod 8 is connected to the leg assembly, the change of the posture of the leg assembly can directly or indirectly drive the change of the posture of the tie rod 8. Therefore, the adjustment area on the tie rod 8 is determined by the first state value and the second state value. When the tie rod 8 moves within this range, the state optimization model of the second leg 22 can be constructed. Then the current state and ground conditions corresponding to the second leg 22 are obtained, and the opening angle of the second leg 22 is optimized according to the state optimization model of the second leg 22 until the second leg 22 is supported by the ground.

[0060] Among them, constructing the state optimization model of the second leg 22 includes: taking the position of the adjustment area as the first constraint condition, taking the stabilizing device not being in the extreme opening state as the second constraint condition, taking the second leg 22 obtaining the ground support effect as the optimization target, and forming the state optimization model of the second leg 22. The first constraint condition is the position of the adjustment area. Taking the specific structure of the above-mentioned stabilizing device as an example, the adjustment area is the first long slot. Therefore, the state optimization model of the second leg 22 depends on at least two constraints. The first constraint condition is the position of the first long slot. For example, whether the first long slot is close to the end of the first leg 23 articulated support frame 1 or closer to the end of the first leg 23 and the second leg 22 articulated, the optimization effect generated by the optimization model of the second leg 22 will be different. When the first long slot is close to the second leg 22, the distance moved by the sliding member 9 in the adjustment area is different. The second constraint condition is that the stabilizing device is not in the extreme opening state.

[0061] Specifically, the first state value includes the first rotation angle of any rotating pair on the leg assembly, or the first distance value between any two reference datums of relative motion on the leg assembly; the second state value includes the second rotation angle of any rotating pair on the leg assembly, or the second distance value between any two reference datums of relative motion on the leg assembly; based on the first state value, the first boundary is determined; based on the second state value, the second boundary is determined, and the second boundary and the first boundary form the adjustment area.

[0062] Whether the leg assembly is completely opened is determined by detecting the first rotation angle of the rotating pair or the first distance value between any two reference datums of relative motion on the leg assembly; whether the leg assembly is completely retracted is determined by detecting the second rotation angle of the rotating pair or the second distance value between any two reference datums of relative motion on the leg assembly. Preferably, whether the leg assembly is completely opened is determined by detecting the first rotation angle of the rotating pair on the leg assembly, and whether the leg assembly is completely retracted is determined by detecting the second distance value between any two reference datums of relative motion on the leg assembly. For specific technical effects, please refer to the embodiments of the stabilization device, which will not be repeated here. Then, the first boundary is determined according to the first state value, and the second boundary is determined according to the second state value, and then an adjustment area is formed by the first boundary and the second boundary. For example, when the first state value is the first rotation angle on the rotating pair, before the leg assembly is opened, the maximum first rotation angle of the leg assembly that is completely opened will be obtained. In this state, the pull rod 8 connected to the leg assembly and the sliding member 9 that cooperates with the first long groove on the pull rod 8 will move to a fixed position, and then the first boundary is determined by the fixed position. Similarly, the second boundary of the leg assembly in the completely contracted state is determined. It can be understood that the first boundary and the second boundary respectively correspond to the two extreme positions of the movement of the sliding member 9, and this extreme position is related to the specific connection method, installation position and tilt angle of the pull rod 8, but the ultimate goal is to achieve the first boundary and the second boundary, so as to construct an adjustment area that can realize the adjustment of the second leg 22.

[0063] In the embodiments provided by the present invention, please refer to Figures 9 to 11 As shown, after the second leg 22 obtains ground support, the stabilizing device is activated; it is determined whether the leg assembly is fully opened; when the leg assembly switches from the opened state to the retracted state, it is determined whether the leg assembly is fully retracted. The basic core of this application is that the second leg 22 can be adjusted before the leg assembly is opened, and the second leg 22 obtains effective ground support to avoid the phenomenon that the leg assembly cannot be opened. At the same time, when this basic core is realized, after the leg assembly is opened, it is possible to determine whether it is fully opened and whether it is converted from the opened state to the fully retracted state. This is now explained in conjunction with the preferred embodiment:

[0064] Obtaining a first rotation angle of the leg assembly, and determining whether the first rotation angle reaches a preset angle;

[0065] If it is reached, a first signal indicating that the leg assembly is completely opened is output; if it is not reached, the first rotation angle is continuously acquired until the first signal is output;

[0066] Obtaining the interval distance between any two reference datums of relative motion on the outrigger assembly, and determining whether the interval distance reaches a preset distance;

[0067] If reached, a second signal is provided for the leg assembly to retract;

[0068] If it is not reached, the interval distance is continuously acquired until the second signal is output.

[0069] During the operation of the stabilizing device, when the leg assembly opening instruction is received, the revolving pair on the leg assembly rotates. At this time, by detecting the first rotation angle on the revolving pair, it is determined whether the leg assembly has rotated to the right position. The preset angle can be the angle range of the revolving pair, or the maximum angle value of the revolving pair when the leg assembly switches from the contracted state to the open state. The setting of the preset angle can be configured according to the actual situation. Once the first rotation angle is not less than the preset angle, it means that the leg assembly has been completely opened, and the stabilizing device can be safely operated. On the contrary, if the first rotation angle is less than the preset angle, it means that the leg assembly is not completely opened. At this time, the stabilizing device is in an unstable state, and a control signal for the leg assembly to continue to open is output. The first rotation angle is continuously detected and obtained synchronously until the first signal is output, and the stabilizing device can be safely operated. At the same time, the reference datum of any two relatively moving parts is obtained on the leg assembly to detect the interval distance between the reference datums. In fact, when the leg assembly is contracted or opened, there is a change in the posture between the respective relatively moving parts. By measuring the indirect distance of the reference datum on the moving part, it is indirectly known whether the leg assembly is completely contracted to prevent incomplete contraction. If the interval distance reaches a preset distance, where the preset distance is the distance between the two moving parts when they are completely retracted, a second signal is outputted indicating that the outrigger assembly is completely retracted, and the stabilizing device operates safely. Conversely, if the interval distance is less than the preset distance, it means that the outrigger assembly is not completely retracted, and the stabilizing device does not yet have the minimum size. At this time, when the engineering vehicle is driving or in use, the stabilizing device may interfere with or collide with external objects. At this time, the outrigger assembly needs to continue to retract, and the interval distance must be continuously detected synchronously until the second signal is outputted, and the stabilizing device has the minimum size.

[0070] Furthermore, the spacing distance includes a first distance value between any side of the pull rod 8 and a reference datum on the leg assembly, and the pull rod 8 is used to lock the leg assembly in an open or retracted posture; when the first distance value is slightly less than or equal to a preset distance, a second signal is output, wherein the preset distance is the minimum distance value between any side of the pull rod 8 and a reference datum on the leg assembly when the leg assembly is in a completely retracted state; when the first distance value is greater than the preset distance, the driving assembly drives the two leg assemblies to retract respectively, and continues to detect the first distance value until the second signal is output. Please refer to the specific embodiments of the stabilization device, which will not be repeated here, and it also has the technical effect of the stabilization device.

[0071] The embodiments in this specification are described in a progressive manner. Each embodiment focuses on the differences from other embodiments. The same or similar parts between the embodiments can be referenced to each other.

[0072] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A stabilizing device, characterized in that: The stabilizing device comprises: a support frame (1); A leg assembly, wherein two leg assemblies are symmetrically arranged about the central axis of the support frame (1); A driving assembly, the driving assembly is connected to the leg assemblies, and drives the two leg assemblies to open or retract separately or simultaneously; The leg assembly comprises a first leg (23) and a second leg (22), one end of the first leg (23) is hinged to the support frame (1), and the other end of the first leg (23) is hinged to the second leg (22); A pull rod (8), wherein the pull rod (8) is arranged between the support frame (1) and the second leg (22), and the pull rod (8) is provided with an adjustment range along the length direction of the pull rod (8), and the opening angle of the second leg (22) is adjusted within the adjustment range.

2. The stabilizing device according to claim 1, characterized in that: The pull rod (8) is provided with a first long groove, the first long groove has a first end (81) and a second end (82), and the first long groove forms the adjustment range; The stabilizing device comprises a sliding member (9), and the sliding member (9) is arranged on the second leg (22) or the support frame (1). Correspondingly, one end of the pull rod (8) away from the sliding member (9) is hinged to the support frame (1) or to the second leg (22), and the sliding member (9) cooperates with the first long groove.

3. The stabilizing device according to claim 2, characterized in that: When the sliding member (9) is located at the first end (81), the leg assembly is in a retracted locking state or an open locking state; when the sliding member (9) is located at the second end (82), the leg assembly is in an open locking state or a retracted locking state.

4. The stabilizing device according to claim 3, characterized in that: The support frame (1) has elongated portions (11) extending downward on both sides thereof; The stabilizing device comprises: an angle detection member (6), the angle detection member (6) being used to detect a first rotation angle of a rotation pair in an extension direction of one side of the support frame (1), the rotation pair being arranged on the leg assembly; The distance detection member (7) is used to detect the spacing distance between any two reference datums of relative motion on the leg assembly.

5. The stabilizing device according to claim 4, characterized in that: The angle detection member (6) is arranged at the hinge between the first supporting leg (23) and the second supporting leg (22); The angle detection member (6) comprises a stopper (61) and a limit switch (62); the stopper (61) is arranged on the first leg (23) or the second leg (22); the limit switch (62) is correspondingly arranged on the second leg (22) or the first leg (23); when the first leg (23) and the second leg (22) rotate relative to each other, the stopper (61) touches the toggle member on the limit switch (62).

6. The stabilizing device according to claim 4, characterized in that: The angle detection member (6) is arranged at the hinge between the first leg (23) and the support frame (1); The angle detection member (6) comprises a stopper (61) and a limit switch (62); the stopper (61) is arranged on the first leg (23) or the support frame (1); the limit switch (62) is correspondingly arranged on the support frame (1) or the first leg (23); when the first leg (23) or the support frame (1) rotates relative to each other, the stopper (61) touches a toggle member on the limit switch (62).

7. The stabilizing device according to any one of claims 4 to 6, characterized in that: The distance detection member (7) comprises a proximity switch (71), and the proximity switch (71) is arranged on the second supporting leg (22). The proximity switch (71) is arranged opposite to one side of the pull rod (8).

8. An engineering vehicle, characterized in that: A stabilizing device comprising any one of claims 1 to 7.

9. A method for adjusting a stabilizing device, characterized in that: Applied to the stabilizing device according to any one of claims 1 to 7, the adjustment method comprises: Acquire a first state value corresponding to the leg assembly when the leg assembly is in an open state; Acquire a second state value corresponding to the leg assembly when the leg assembly is in a retracted state; Determining an adjustment area on the pull rod (8) by using the first state value and the second state value; Constructing a state optimization model of the second leg (22) according to the adjustment area; The current state and ground conditions corresponding to the second leg (22) are obtained, and the opening angle of the second leg (22) is optimized according to the state optimization model of the second leg (22) until the second leg (22) obtains ground support.

10. The method for adjusting the stabilizing device according to claim 9, characterized in that: Constructing the state optimization model of the second leg (22) comprises: The position of the adjustment area is used as a first constraint condition, the stabilizing device is not in an extreme opening state is used as a second constraint condition, and the ground support effect obtained by the second leg (22) is used as an optimization target to form a state optimization model of the second leg (22).

11. The method for adjusting a stabilizing device according to claim 10, characterized in that: The first state value includes a first rotation angle of any one of the rotation pairs on the leg assembly, or a first distance value between any two reference datums of relative motion on the leg assembly; The second state value includes a second rotation angle of any one of the rotation pairs on the leg assembly, or a second distance value between any two reference datums of relative motion on the leg assembly; Determining a first boundary according to the first state value; A second boundary is determined according to the second state value, and the second boundary and the first boundary form the adjustment area.

12. The method for adjusting a stabilizing device according to claim 9, characterized in that: After the second leg (22) obtains ground support, the stabilizing device is activated; Determine whether the outrigger assembly is fully opened; When the leg assembly switches from the open state to the retracted state, it is determined whether the leg assembly is completely retracted.

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