A method and system for controlling leg extension and retraction

Abstract

The present invention discloses a leg extension and retraction control method and system, which detects the extension and retraction status of the horizontal legs and the vertical legs; according to the detected extension and retraction status of the horizontal legs and the vertical legs, the horizontal legs and the vertical legs are controlled to perform extension and retraction movements, and if the horizontal legs are detected to be extended and retracted, the hydraulic operation push rod mechanism is controlled to push the vertical legs to perform extension and retraction movements; if the vertical legs are detected to be extended and retracted, the hydraulic operation push rod mechanism is controlled to push the horizontal legs to perform extension and retraction movements. The present invention can ensure that the vertical oil cylinder is fully retracted into position in the process of extending or retracting the horizontal oil cylinder, and the phenomenon of the vertical legs colliding with the battery box or the fuel tank will not occur; similarly, the horizontal oil cylinder can be ensured to be fully extended into position in the process of extending or retracting the vertical oil cylinder, and the phenomenon of the vertical legs colliding with the battery box or the fuel tank will not occur; the cost is low and the safety of product operation is greatly improved.

Description

Technical Field

[0001] The invention relates to the technical field of lifting device control, and in particular discloses a leg extension and retraction control method and system. Background Art

[0002] In the lifting system, the outriggers are often deployed to achieve all-round lifting operations. Due to the constraints of the chassis space, the outriggers interfere with each other during the deployment process, which can easily damage the outriggers. In the prior art, the extension and retraction of the horizontal outriggers and the vertical outriggers are achieved by hydraulically operating push rods.

[0003] The operator can operate the extension and retraction of the horizontal cylinder and vertical cylinder of the left and right front outriggers on the left or right side at the same time. However, the movement status of the outriggers on the other side cannot be seen when operating on one side, which may easily cause a vertical collision with the battery box or fuel tank, posing a major safety hazard.

[0004] Therefore, the major potential safety hazard in the existing lifting system is a technical problem that needs to be solved urgently. Summary of the invention

[0005] The present invention provides a leg extension and retraction control method and system, aiming to solve the technical problem of major potential safety hazards in existing lifting systems.

[0006] One aspect of the present invention relates to a leg extension and retraction control method, which is applied to a leg extension and retraction device, wherein the leg extension and retraction device comprises a front leg mechanism of a chassis and a hydraulically operated push rod mechanism, wherein the front leg mechanism of the chassis comprises a front leg, and the front leg is provided with a horizontal leg and a vertical leg, and the leg extension and retraction control method comprises the following steps:

[0007] Check whether the horizontal legs and vertical legs are fully extended or retracted;

[0008] According to the detected extension and retraction status of the horizontal and vertical legs, the horizontal and vertical legs are controlled to perform extension and retraction movements. If it is detected that the horizontal legs are extended and retracted, the hydraulic operation push rod mechanism is controlled to push the vertical legs to perform extension and retraction movements; if it is detected that the vertical legs are extended and retracted, the hydraulic operation push rod mechanism is controlled to push the horizontal legs to perform extension and retraction movements.

[0009] Further, according to the detected extension and retraction status of the horizontal legs and the vertical legs, the horizontal legs and the vertical legs are controlled to perform extension and retraction movements. If it is detected that the horizontal legs are extended and retracted, the hydraulic operation push rod mechanism is controlled to push the vertical legs to perform extension and retraction movements; if it is detected that the vertical legs are extended and retracted, the steps of controlling the hydraulic operation push rod mechanism to push the horizontal legs to perform extension and retraction movements include:

[0010] When the front outrigger is controlled to extend, the horizontal outrigger and the vertical outrigger are controlled to extend in the order of horizontal first and vertical later. If the horizontal outrigger is detected to be extended to the right position, the hydraulic operation push rod mechanism is controlled to push the vertical outrigger to extend.

[0011] When the front outrigger is controlled to retract, the horizontal outrigger and the vertical outrigger are controlled to retract in the order of vertical first and then horizontal. If it is detected that the vertical outrigger is retracted into place, the hydraulic operation push rod mechanism is controlled to push the horizontal outrigger to retract.

[0012] Further, according to the detected extension and retraction status of the horizontal legs and the vertical legs, the horizontal legs and the vertical legs are controlled to perform extension and retraction movements. If it is detected that the horizontal legs are extended and retracted, the hydraulic operation push rod mechanism is controlled to push the vertical legs to perform extension and retraction movements; if it is detected that the vertical legs are extended and retracted, the step of controlling the hydraulic operation push rod mechanism to push the horizontal legs to perform extension and retraction movements also includes:

[0013] The front outrigger is controlled to perform a switching action. If it is detected that the front outrigger is retracted into place, the hydraulic operation push rod mechanism is controlled to push the front outrigger to perform an extending action; if it is detected that the front outrigger is extended into place, the hydraulic operation push rod mechanism is controlled to push the front outrigger to perform a retracting action.

[0014] Furthermore, a horizontal oil cylinder is provided on the horizontal leg, a vertical oil cylinder is provided on the vertical leg, and the hydraulic operation push rod mechanism includes a horizontal oil cylinder telescopic push rod and a vertical oil cylinder telescopic push rod.

[0015] When controlling the front outrigger to extend, the horizontal outrigger and the vertical outrigger are controlled to extend in the order of horizontal first and vertical later. If it is detected that the horizontal outrigger is extended to the right position, the steps of controlling the hydraulic operation push rod mechanism to push the vertical outrigger to extend include:

[0016] When controlling the front outrigger to extend, the horizontal cylinder and the vertical cylinder are controlled to extend in the order of horizontal first and vertical later. If it is detected that the horizontal cylinder is extended to the right position, the telescopic push rod of the vertical cylinder is controlled to push the vertical cylinder to extend.

[0017] When the front outrigger is controlled to retract, the horizontal outrigger and the vertical outrigger are controlled to retract in the order of vertical retraction first and horizontal retraction later. If it is detected that the vertical outrigger is retracted to the right position, the steps of controlling the hydraulic operation push rod mechanism to push the horizontal outrigger to retract include:

[0018] When the front outrigger is controlled to retract, the horizontal cylinder and the vertical cylinder are controlled to retract in the order of vertical retraction first and horizontal retraction later. If it is detected that the vertical cylinder is retracted into place, the telescopic push rod of the horizontal cylinder is controlled to push the horizontal cylinder to retract.

[0019] Further, the hydraulically operated push rod mechanism includes a cylinder switching telescopic push rod, which controls the front outrigger to perform a switching action. If it is detected that the front outrigger is retracted to a certain position, the hydraulically operated push rod mechanism is controlled to push the front outrigger to perform an extension action; if it is detected that the front outrigger is extended to a certain position, the steps of controlling the hydraulically operated push rod mechanism to push the front outrigger to perform a retraction action include:

[0020] The front outrigger is controlled to perform switching action. If it is detected that the front outrigger is retracted into position, the oil cylinder is controlled to switch the telescopic push rod to push the front outrigger to extend, and the horizontal cylinder and the vertical cylinder are controlled to extend in the order of horizontal first and then vertical. If it is detected that the horizontal cylinder is extended into position, the vertical cylinder telescopic push rod is controlled to push the vertical cylinder to extend; if it is detected that the front outrigger is extended into position, the hydraulic operation push rod mechanism is controlled to push the front outrigger to retract, and the horizontal cylinder and the vertical cylinder are controlled to retract in the order of vertical first and then horizontal. If it is detected that the vertical cylinder is retracted into position, the horizontal cylinder telescopic push rod is controlled to push the horizontal cylinder to retract.

[0021] Another aspect of the present invention relates to a leg extension and retraction control system, which is applied to a leg extension and retraction device, wherein the leg extension and retraction device comprises a front leg mechanism of a chassis and a hydraulically operated push rod mechanism, wherein the front leg mechanism of the chassis comprises a front leg, wherein the front leg is provided with a horizontal leg and a vertical leg, and the leg extension and retraction control system comprises:

[0022] A detection module is used to detect whether the horizontal legs and vertical legs are fully extended or retracted;

[0023] The control module is used to control the horizontal legs and the vertical legs to perform telescopic movements according to the detected telescopic and extended positions of the horizontal legs and the vertical legs. If the horizontal legs are detected to be fully extended or retracted, the hydraulic operation push rod mechanism is controlled to push the vertical legs to perform telescopic movements; if the vertical legs are detected to be fully extended or retracted, the hydraulic operation push rod mechanism is controlled to push the horizontal legs to perform telescopic movements.

[0024] Furthermore, the control module includes:

[0025] The first control unit is used to control the front outrigger to extend in the order of horizontal and then vertical, and if it is detected that the horizontal outrigger is fully extended, the hydraulic operation push rod mechanism is controlled to push the vertical outrigger to extend;

[0026] The second control unit is used to control the front outrigger to perform retraction movement, and controls the horizontal outrigger and the vertical outrigger to perform retraction movement in the order of vertical first and then horizontal. If it is detected that the vertical outrigger is retracted into place, the hydraulic operation push rod mechanism is controlled to push the horizontal outrigger to perform retraction movement.

[0027] Furthermore, the control module also includes:

[0028] The switching unit is used to control the front outrigger to perform a switching action. If it is detected that the front outrigger is retracted into place, the hydraulic operation push rod mechanism is controlled to push the front outrigger to perform an extension action; if it is detected that the front outrigger is extended into place, the hydraulic operation push rod mechanism is controlled to push the front outrigger to perform a retraction action.

[0029] Furthermore, a horizontal oil cylinder is provided on the horizontal leg, a vertical oil cylinder is provided on the vertical leg, and the hydraulic operation push rod mechanism includes a horizontal oil cylinder telescopic push rod and a vertical oil cylinder telescopic push rod.

[0030] The first control unit is specifically used to control the front outrigger to extend in the order of horizontal and then vertical extension, and if it is detected that the horizontal cylinder is extended to the right position, the telescopic push rod of the vertical cylinder is controlled to push the vertical cylinder to extend;

[0031] The second control unit is specifically used to control the front outrigger to perform retraction movement, and controls the horizontal cylinder and the vertical cylinder to perform retraction movement in the order of vertical retraction first and horizontal retraction later. If it is detected that the vertical cylinder is retracted into place, the telescopic push rod of the horizontal cylinder is controlled to push the horizontal cylinder to perform retraction movement.

[0032] Furthermore, the hydraulically operated push rod mechanism includes a cylinder switching telescopic push rod,

[0033] The switching unit is specifically used to control the front outrigger to perform a switching action. If it is detected that the front outrigger is retracted into place, the oil cylinder is controlled to switch the telescopic push rod to push the front outrigger to extend, and the horizontal cylinder and the vertical cylinder are controlled to extend in the order of horizontal first and then vertical. If it is detected that the horizontal cylinder is extended into place, the vertical cylinder telescopic push rod is controlled to push the vertical cylinder to extend; if it is detected that the front outrigger is extended into place, the hydraulic operation push rod mechanism is controlled to push the front outrigger to retract, and the horizontal cylinder and the vertical cylinder are controlled to retract in the order of vertical first and then horizontal. If it is detected that the vertical cylinder is retracted into place, the horizontal cylinder telescopic push rod is controlled to push the horizontal cylinder to retract.

[0034] The beneficial effects achieved by the present invention are:

[0035] The present invention provides a leg extension and retraction control method and system, which detects the extension and retraction status of the horizontal legs and the vertical legs; according to the detected extension and retraction status of the horizontal legs and the vertical legs, the horizontal legs and the vertical legs are controlled to perform extension and retraction movements, and if the horizontal legs are detected to be extended and retracted, the hydraulic operation push rod mechanism is controlled to push the vertical legs to perform extension and retraction movements; if the vertical legs are detected to be extended and retracted, the hydraulic operation push rod mechanism is controlled to push the horizontal legs to perform extension and retraction movements. The leg extension and retraction control method and system provided by the present invention can ensure that the vertical cylinder is fully retracted into place during the extension or retraction of the horizontal cylinder, and the phenomenon of the vertical legs colliding with the battery box or the fuel tank will not occur; similarly, it can ensure that the horizontal cylinder is fully extended into place during the extension or retraction of the vertical cylinder, and the phenomenon of the vertical legs colliding with the battery box or the fuel tank will not occur; the cost is low and the safety of product operation is greatly improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 A schematic flow chart of an embodiment of a method for controlling leg extension and retraction provided by the present invention;

[0037] Figure 2 A schematic structural diagram of an embodiment of a chassis front outrigger mechanism in an outrigger extension and retraction control method provided by the present invention;

[0038] Figure 3 A schematic diagram of controlling the horizontal outriggers in the outrigger extension and retraction control method provided by the present invention;

[0039] Figure 4 A schematic diagram of controlling the vertical outriggers in the outrigger extension and retraction control method provided by the present invention;

[0040] Figure 5 A structural schematic diagram of an embodiment of a hydraulically operated push rod mechanism in the outrigger extension and retraction control method provided by the present invention;

[0041] Figure 6 A display schematic diagram of an embodiment of a push rod operation identification display panel in the outrigger extension and retraction control method provided by the present invention;

[0042] Figure 7 The electrical control principle diagram of the outrigger extension and retraction control method provided by the present invention;

[0043] Figure 8 for Figure 1As shown in the figure, according to the detected extension and retraction status of the horizontal legs and the vertical legs, the horizontal legs and the vertical legs are controlled to perform extension and retraction movements. If it is detected that the horizontal legs are extended and retracted in place, the hydraulic operation push rod mechanism is controlled to push the vertical legs to perform extension and retraction movements; if it is detected that the vertical legs are extended and retracted in place, the hydraulic operation push rod mechanism is controlled to push the horizontal legs to perform extension and retraction movements. A detailed flow chart of the first embodiment of the steps;

[0044] Fig. 9 for Figure 1 As shown in the figure, according to the detected extension and retraction status of the horizontal legs and the vertical legs, the horizontal legs and the vertical legs are controlled to perform extension and retraction movements. If it is detected that the horizontal legs are extended and retracted in place, the hydraulic operation push rod mechanism is controlled to push the vertical legs to perform extension and retraction movements; if it is detected that the vertical legs are extended and retracted in place, the hydraulic operation push rod mechanism is controlled to push the horizontal legs to perform extension and retraction movements. A detailed flow chart of the second embodiment of the steps;

[0045] Fig.10 A functional block diagram of an embodiment of an outrigger extension and retraction control system provided by the present invention;

[0046] Fig.11 for Fig.10 Schematic diagram of functional modules of the first embodiment of the control module shown in FIG.

[0047] Fig.12 for Fig.10 Schematic diagram of functional modules of the second embodiment of the control module shown in FIG.

[0048] Description of Figure Numbers:

[0049] 10. Detection module; 20. Control module; 21. First control unit; 22. Second control unit; 23. Switching unit; 100. Front outrigger; 110. Horizontal oil cylinder; 120. Vertical oil cylinder; 200. Battery box; 300. Fuel tank; 400. Horizontal outrigger; 500. Vertical outrigger; 610. First support block; 620. First travel switch; 630. Second support block; 640. Second travel switch; 710. Horizontal oil cylinder telescopic push rod; 720. Vertical oil cylinder telescopic push rod; 730. Oil cylinder switching telescopic push rod; 800. Push rod operation identification display panel. DETAILED DESCRIPTION

[0050] In order to better understand the above technical solution, the above technical solution will be described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0051] like Figures 1 to 7As shown, the first embodiment of the present invention proposes a leg extension control method, which is applied to a leg extension device. The leg extension device includes a chassis front leg mechanism and a hydraulic operation push rod mechanism. The chassis front leg mechanism includes a front leg 100, a battery box 200 and a battery box 300. The front leg 100 is provided with a horizontal leg 400 and a vertical leg 500. The leg extension control method includes the following steps:

[0052] Step S100, detecting whether the horizontal legs and the vertical legs are fully extended or retracted.

[0053] Horizontal outrigger 100 see Figure 3 , weld the first support block 610 on the horizontal leg 100, and install the first travel switch 620 on the chassis. When the horizontal leg 100 is fully extended, the cam of the first travel switch 620 will be supported, and the first and second pins of the first travel switch 620 will be disconnected, and the third and fourth pins will be connected. Figure 3 As shown, a second support block 630 is welded on the vertical leg 500, and a second travel switch 640 is installed on the fixed seat of the vertical leg 500. When the vertical leg 500 is fully retracted into position, the cam of the second travel switch 640 will be blocked, and at this time, the first pin and the second pin of the second travel switch 640 will be disconnected, and the third pin and the fourth pin will be connected.

[0054] Step S200, according to the detected extension and retraction status of the horizontal legs and the vertical legs, control the horizontal legs and the vertical legs to perform extension and retraction movements. If it is detected that the horizontal legs are extended and retracted, control the hydraulic operation push rod mechanism to push the vertical legs to perform extension and retraction movements; if it is detected that the vertical legs are extended and retracted, control the hydraulic operation push rod mechanism to push the horizontal legs to perform extension and retraction movements.

[0055] According to the extension and retraction status of the horizontal leg 100 and the vertical leg 500 detected by the first travel switch 620 and the second travel switch 640, the horizontal leg 100 and the vertical leg 500 are controlled to further perform extension and retraction movements. If it is detected that the horizontal leg 100 is extended and retracted, the hydraulic operation push rod mechanism is controlled to push the vertical leg 500 to perform extension and retraction movements; if it is detected that the vertical leg 500 is extended and retracted, the hydraulic operation push rod mechanism is controlled to push the horizontal leg 100 to perform extension and retraction movements.

[0056] A push rod operation identification display panel 800 is installed next to the hydraulic operation push rod mechanism. Figure 5 and Figure 6 As shown, the operation indicator display panel 800 is used to prompt the operator to perform the correct operation according to the color of the indicator light (the green light is on, the push rod can be operated; the red light is on and the operation is prohibited, and the push rod must be placed in the middle position.)

[0057] Please see Figure 7 , Figure 7 This is the electrical control schematic diagram of the leg extension and retraction control method provided by the present invention. In this embodiment, SW1, SW2, SW3, and SW4 use Schneider ZCMV21D44+ZCE026 travel switches. H1, H3, H5, and H7 use Guizhou Hualian KAN01-RF24 red indicator lights. H2, H4, H6, and H8 use Guizhou Hualian KAN01-GF24 green indicator lights. When the left front vertical cylinder is retracted, the green indicator light H2 lights up, otherwise the red indicator light H1 lights up, and the same applies to the others. In this embodiment, the operator can operate very intuitively. Only when the green light is on can the operation be performed, and when the red light is on, the operation is prohibited, otherwise the vertical leg will collide with the battery box or the fuel tank; whether operating on the left or right side, the indicator light can intuitively know whether there is a risk of interference with the vertical leg on the other side (not within the visual range), thereby improving the safety of product operation.

[0058] Control mechanism: When the horizontal cylinder is extending or retracting, the vertical cylinder must be fully retracted first, otherwise the vertical legs will collide with the battery box or fuel tank; similarly, when the vertical cylinder is extending or retracting, the horizontal cylinder must be fully extended first, otherwise the vertical legs will collide with the battery box or fuel tank.

[0059] Compared with the prior art, the leg extension and retraction control method provided in this embodiment detects the extension and retraction status of the horizontal legs and the vertical legs; according to the detected extension and retraction status of the horizontal legs and the vertical legs, the horizontal legs and the vertical legs are controlled to perform extension and retraction movements. If the horizontal legs are detected to be extended and retracted, the hydraulic operation push rod mechanism is controlled to push the vertical legs to perform extension and retraction movements; if the vertical legs are detected to be extended and retracted, the hydraulic operation push rod mechanism is controlled to push the horizontal legs to perform extension and retraction movements. The leg extension and retraction control method provided in this embodiment can ensure that the vertical cylinder is fully retracted in place during the extension or retraction of the horizontal cylinder, and the phenomenon of the vertical legs colliding with the battery box or the fuel tank will not occur; similarly, it can ensure that the horizontal cylinder is fully extended in place during the extension or retraction of the vertical cylinder, and the phenomenon of the vertical legs colliding with the battery box or the fuel tank will not occur; the cost is low and the safety of product operation is greatly improved.

[0060] Further, see Figure 8 , Figure 8 for Figure 1 The detailed flow chart of step S200 of the first embodiment shown in FIG. 1 is a schematic diagram of the detailed flow chart of the first embodiment. In this embodiment, the leg extension and retraction control method provided by this embodiment includes:

[0061] Step S210, when controlling the front leg to extend, the horizontal leg and the vertical leg are controlled to extend in the order of horizontal first and vertical later. If it is detected that the horizontal leg is extended into place, the hydraulic operation push rod mechanism is controlled to push the vertical leg to extend.

[0062] like Figures 1 to 8 As shown, when the front support leg 100 is controlled to extend, the horizontal cylinder 110 and the vertical cylinder 120 are controlled to extend in the order of horizontal extension first and vertical extension later. If it is detected that the horizontal cylinder 110 is extended to the right position, the vertical cylinder telescopic push rod 720 is controlled to push the vertical cylinder 120 to extend.

[0063] Step S220, when controlling the front legs to retract, the horizontal legs and the vertical legs are controlled to retract in the order of vertical first and then horizontal. If it is detected that the vertical legs are retracted into place, the hydraulic operation push rod mechanism is controlled to push the horizontal legs to retract.

[0064] like Figures 1 to 8 As shown, when the front support leg 110 is controlled to retract, the horizontal cylinder 110 and the vertical cylinder 120 are controlled to retract in the order of vertical first and horizontal later. If it is detected that the vertical cylinder 120 is retracted into place, the horizontal cylinder telescopic push rod 710 is controlled to push the horizontal cylinder 110 to retract.

[0065] Compared with the prior art, the leg extension control method provided in this embodiment controls the horizontal and vertical legs to extend in the order of horizontal extension first and then vertical extension when the front legs are extended. If the horizontal legs are detected to be fully extended, the hydraulic push rod mechanism is controlled to push the vertical legs to extend. When the front legs are controlled to retract, the horizontal and vertical legs are controlled to retract in the order of vertical retraction first and then horizontal retraction. If the vertical legs are detected to be fully retracted, the hydraulic push rod mechanism is controlled to push the horizontal legs to retract. The leg extension control method provided in this embodiment can ensure that the vertical cylinder is fully retracted in place before the horizontal cylinder is extended or retracted, and the vertical legs will not collide with the battery box or the fuel tank. Similarly, the horizontal cylinder can be fully extended in place before the vertical cylinder is extended or retracted, and the vertical legs will not collide with the battery box or the fuel tank. The cost is low and the safety of product operation is greatly improved.

[0066] Preferably, see Fig. 9 , Fig. 9 for Figure 1 The detailed flow chart of step S200 of the second embodiment shown in FIG. 1 is a schematic diagram of a detailed flow chart of the second embodiment. Based on the first embodiment, the leg extension and retraction control method provided in this embodiment further includes:

[0067] Step S230, control the front legs to switch. If it is detected that the front legs are retracted into place, control the hydraulic push rod mechanism to push the front legs to extend; if it is detected that the front legs are extended into place, control the hydraulic push rod mechanism to push the front legs to retract.

[0068] like Figures 1 to 8 As shown, the front outrigger 100 is controlled to perform a switching action. If it is detected that the front outrigger 100 is retracted into place, the oil cylinder switching telescopic push rod 730 is controlled to push the front outrigger 100 to perform an extension action, and the horizontal oil cylinder 110 and the vertical oil cylinder 120 are controlled to perform an extension movement in the order of first horizontal and then vertical extension. If it is detected that the horizontal oil cylinder 110 is extended into place, the vertical oil cylinder telescopic push rod 720 is controlled to push the vertical oil cylinder 120 to perform an extension movement; if it is detected that the front outrigger 100 is extended into place, the hydraulic operation push rod mechanism is controlled to push the front outrigger 100 to perform a retraction action, and the horizontal oil cylinder 110 and the vertical oil cylinder 120 are controlled to perform a retraction movement in the order of first vertical and then horizontal retraction. If it is detected that the vertical oil cylinder 120 is retracted into place, the horizontal oil cylinder telescopic push rod 710 is controlled to push the horizontal oil cylinder 110 to perform a retraction movement.

[0069] Compared with the prior art, the leg extension and retraction control method provided in this embodiment controls the front leg to perform a switching action. If it is detected that the front leg is retracted into place, the hydraulic operation push rod mechanism is controlled to push the front leg to perform an extension action; if it is detected that the front leg is extended into place, the hydraulic operation push rod mechanism is controlled to push the front leg to perform a retraction action. The leg extension and retraction control method provided in this embodiment can ensure that the vertical cylinder is fully retracted into place during the extension or retraction of the horizontal cylinder, and the vertical leg will not collide with the battery box or the fuel tank; similarly, it can ensure that the horizontal cylinder is fully extended into place during the extension or retraction of the vertical cylinder, and the vertical leg will not collide with the battery box or the fuel tank; the cost is low and the safety of product operation is greatly improved.

[0070] Please see Fig.10 , Fig.10The present invention provides a functional block diagram of an embodiment of a leg extension and retraction control system. In this embodiment, the leg extension and retraction control system is applied to a leg extension and retraction device. The leg extension and retraction device includes a chassis front leg mechanism and a hydraulically operated push rod mechanism. The chassis front leg mechanism includes a front leg 100. The front leg 100 is provided with a horizontal leg 400 and a vertical leg 500. The leg extension and retraction control system includes a detection module 10 and a control module 20. The detection module 10 is used to detect whether the horizontal leg and the vertical leg are in the extended and retracted position. The control module 20 is used to control the horizontal leg and the vertical leg to perform extension and retraction movements according to the detected extension and retraction positions of the horizontal leg and the vertical leg. If it is detected that the horizontal leg is extended and retracted in place, the hydraulically operated push rod mechanism is controlled to push the vertical leg to perform extension and retraction movements. If it is detected that the vertical leg is extended and retracted in place, the hydraulically operated push rod mechanism is controlled to push the horizontal leg to perform extension and retraction movements.

[0071] Horizontal outrigger 100 see Figure 3 , weld the first support block 610 on the horizontal leg 100, and install the first travel switch 620 on the chassis. When the horizontal leg 100 is fully extended, the cam of the first travel switch 620 will be supported, and the first and second pins of the first travel switch 620 will be disconnected, and the third and fourth pins will be connected. Figure 3 As shown, a second support block 630 is welded on the vertical leg 500, and a second travel switch 640 is installed on the fixed seat of the vertical leg 500. When the vertical leg 500 is fully retracted into position, the cam of the second travel switch 640 will be blocked, and at this time, the first pin and the second pin of the second travel switch 640 will be disconnected, and the third pin and the fourth pin will be connected.

[0072] According to the extension and retraction status of the horizontal leg 100 and the vertical leg 500 detected by the first travel switch 620 and the second travel switch 640, the horizontal leg 100 and the vertical leg 500 are controlled to further perform extension and retraction movements. If it is detected that the horizontal leg 100 is extended and retracted, the hydraulic operation push rod mechanism is controlled to push the vertical leg 500 to perform extension and retraction movements; if it is detected that the vertical leg 500 is extended and retracted, the hydraulic operation push rod mechanism is controlled to push the horizontal leg 100 to perform extension and retraction movements.

[0073] A push rod operation identification display panel 800 is installed next to the hydraulic operation push rod mechanism. Figure 5 and Figure 6 As shown, the operation indicator display panel 800 is used to prompt the operator to perform the correct operation according to the color of the indicator light (the green light is on, the push rod can be operated; the red light is on and the operation is prohibited, and the push rod must be placed in the middle position.)

[0074] Please see Figure 7 , Figure 7The electrical control principle diagram of the outrigger extension control method provided by the present invention. In this embodiment, SW1, SW2, SW3, and SW4 use Schneider ZCMV21D44+ZCE026 travel switches. H1, H3, H5, and H7 use Guizhou Hualian KAN01-RF24 red indicator lights. H2, H4, H6, and H8 use Guizhou Hualian KAN01-GF24 green indicator lights. When the left front vertical cylinder is retracted to the right, the green indicator light H2 is on, otherwise the red indicator light H1 is on, and the same applies to the others. In this embodiment, the operator can operate very intuitively. Only when the green light is on can the operation be performed, and when the red light is on, the operation is prohibited, otherwise the vertical outrigger will collide with the battery box or the fuel tank; whether operating on the left or right side, the indicator light can be used to intuitively know whether there is a risk of interference with the vertical outrigger on the other side (not within the visual range), thereby improving the safety of product operation. The outrigger extension control system provided by this embodiment has a logical interlocking to ensure the safety of operation; the red and green indicator lights intuitively remind the operator to prevent misoperation; the cost is low, and the control logic is simple and effective.

[0075] Control mechanism: When the horizontal cylinder is extending or retracting, the vertical cylinder must be fully retracted first, otherwise the vertical legs will collide with the battery box or fuel tank; similarly, when the vertical cylinder is extending or retracting, the horizontal cylinder must be fully extended first, otherwise the vertical legs will collide with the battery box or fuel tank.

[0076] Compared with the prior art, the leg extension and retraction control system provided by the present embodiment detects the extension and retraction status of the horizontal legs and the vertical legs; according to the detected extension and retraction status of the horizontal legs and the vertical legs, the horizontal legs and the vertical legs are controlled to perform extension and retraction movements. If the horizontal legs are detected to be extended and retracted, the hydraulic operation push rod mechanism is controlled to push the vertical legs to perform extension and retraction movements; if the vertical legs are detected to be extended and retracted, the hydraulic operation push rod mechanism is controlled to push the horizontal legs to perform extension and retraction movements. The leg extension and retraction control system provided by the present embodiment can ensure that the vertical cylinder is fully retracted in place before the horizontal cylinder is extended or retracted, and the vertical legs will not collide with the battery box or the fuel tank; similarly, it can ensure that the horizontal cylinder is fully extended in place before the vertical cylinder is extended or retracted, and the vertical legs will not collide with the battery box or the fuel tank; the cost is low and the safety of product operation is greatly improved.

[0077] Further, see Fig.11 , Fig.11 for Fig.10, in the functional module diagram of the first embodiment of the control module shown in , in this embodiment, the control module 20 includes a first control unit 21 and a second control unit 22, wherein the first control unit 21 is used to control the front legs to extend, and control the horizontal legs and the vertical legs to extend in the order of first horizontal and then vertical. If it is detected that the horizontal legs are extended to the right, the hydraulic operation push rod mechanism is controlled to push the vertical legs to extend; the second control unit 22 is used to control the front legs to retract, and control the horizontal legs and the vertical legs to retract in the order of first vertical and then horizontal. If it is detected that the vertical legs are retracted to the right, the hydraulic operation push rod mechanism is controlled to push the horizontal legs to retract.

[0078] like Figures 1 to 8 As shown, when the front support leg 100 is controlled to extend, the horizontal cylinder 110 and the vertical cylinder 120 are controlled to extend in the order of horizontal extension first and vertical extension later. If it is detected that the horizontal cylinder 110 is extended to the right position, the vertical cylinder telescopic push rod 720 is controlled to push the vertical cylinder 120 to extend.

[0079] like Figures 1 to 8 As shown, when the front support leg 110 is controlled to retract, the horizontal cylinder 110 and the vertical cylinder 120 are controlled to retract in the order of vertical first and horizontal later. If it is detected that the vertical cylinder 120 is retracted into place, the horizontal cylinder telescopic push rod 710 is controlled to push the horizontal cylinder 110 to retract.

[0080] Compared with the prior art, the leg extension and retraction control system provided in this embodiment controls the horizontal and vertical legs to extend in the order of horizontal extension first and then vertical extension when the front legs are extended. If the horizontal legs are detected to be fully extended, the hydraulic operation push rod mechanism is controlled to push the vertical legs to extend; when the front legs are controlled to retract, the horizontal and vertical legs are controlled to retract in the order of vertical retraction first and then horizontal retraction. If the vertical legs are detected to be fully retracted, the hydraulic operation push rod mechanism is controlled to push the horizontal legs to retract. The leg extension and retraction control system provided in this embodiment can ensure that the vertical cylinder is fully retracted in place before the horizontal cylinder is extended or retracted, and the vertical legs will not collide with the battery box or the fuel tank; similarly, it can ensure that the horizontal cylinder is fully extended in place before the vertical cylinder is extended or retracted, and the vertical legs will not collide with the battery box or the fuel tank; the cost is low and the safety of product operation is greatly improved.

[0081] Further, see Fig.12 , Fig.12 for Fig.10, in the functional module diagram of the second embodiment of the control module shown in , in this embodiment, the control module 20 also includes a switching unit 23, the switching unit 23 is used to control the front legs to perform a switching action, if it is detected that the front legs are retracted into place, the hydraulic operation push rod mechanism is controlled to push the front legs to extend; if it is detected that the front legs are extended into place, the hydraulic operation push rod mechanism is controlled to push the front legs to retract.

[0082] like Figures 1 to 8 As shown, the front outrigger 100 is controlled to perform a switching action. If it is detected that the front outrigger 100 is retracted into place, the oil cylinder switching telescopic push rod 730 is controlled to push the front outrigger 100 to perform an extension action, and the horizontal oil cylinder 110 and the vertical oil cylinder 120 are controlled to perform an extension movement in the order of first horizontal and then vertical extension. If it is detected that the horizontal oil cylinder 110 is extended into place, the vertical oil cylinder telescopic push rod 720 is controlled to push the vertical oil cylinder 120 to perform an extension movement; if it is detected that the front outrigger 100 is extended into place, the hydraulic operation push rod mechanism is controlled to push the front outrigger 100 to perform a retraction action, and the horizontal oil cylinder 110 and the vertical oil cylinder 120 are controlled to perform a retraction movement in the order of first vertical and then horizontal retraction. If it is detected that the vertical oil cylinder 120 is retracted into place, the horizontal oil cylinder telescopic push rod 710 is controlled to push the horizontal oil cylinder 110 to perform a retraction movement.

[0083] Compared with the prior art, the leg extension and retraction control system provided in this embodiment controls the front legs to perform switching actions. If it is detected that the front legs are retracted into place, the hydraulic operation push rod mechanism is controlled to push the front legs to perform extension actions; if it is detected that the front legs are extended into place, the hydraulic operation push rod mechanism is controlled to push the front legs to perform retraction actions. The leg extension and retraction control system provided in this embodiment can ensure that the vertical cylinder is fully retracted into place before the horizontal cylinder is extended or retracted, and the vertical legs will not collide with the battery box or the fuel tank; similarly, it can ensure that the horizontal cylinder is fully extended into place before the vertical cylinder is extended or retracted, and the vertical legs will not collide with the battery box or the fuel tank; the cost is low and the safety of product operation is greatly improved.

[0084] Although preferred embodiments of the present invention have been described, additional changes and modifications may be made to these embodiments by those skilled in the art once the basic inventive concepts are known. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present invention. Obviously, those skilled in the art may make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A method for controlling the extension and retraction of outriggers, characterized in that: Applied to a leg extension and retraction control system and a leg extension and retraction device, the leg extension and retraction device comprises a chassis front leg mechanism and a hydraulic operation push rod mechanism, the chassis front leg mechanism comprises a front leg, and the front leg is provided with a horizontal leg and a vertical leg, the leg extension and retraction control method comprises the following steps: Check whether the horizontal legs and vertical legs are fully extended or retracted; According to the detected extension and retraction status of the horizontal legs and the vertical legs, the horizontal legs and the vertical legs are controlled to perform extension and retraction movements. If it is detected that the horizontal legs are extended and retracted in place, the hydraulic operation push rod mechanism is controlled to push the vertical legs to perform extension and retraction movements; if it is detected that the vertical legs are extended and retracted in place, the hydraulic operation push rod mechanism is controlled to push the horizontal legs to perform extension and retraction movements; The steps of controlling the horizontal legs and the vertical legs to perform telescopic movements according to the detected telescopic and retractable positions of the horizontal legs and the vertical legs, and controlling the hydraulically operated push rod mechanism to push the vertical legs to perform telescopic movements if the horizontal legs are detected to be telescopic and retractable; and controlling the hydraulically operated push rod mechanism to push the horizontal legs to perform telescopic movements if the vertical legs are detected to be telescopic and retractable, include: When controlling the front legs to extend, the horizontal legs and the vertical legs are controlled to extend in the order of horizontal first and vertical later. If it is detected that the horizontal legs are extended to the right position, the hydraulic operation push rod mechanism is controlled to push the vertical legs to extend; When the front legs are controlled to retract, the horizontal legs and the vertical legs are controlled to retract in the order of vertical first and horizontal later. If it is detected that the vertical legs are retracted to the right position, the hydraulically operated push rod mechanism is controlled to push the horizontal legs to retract. The step of controlling the horizontal legs and the vertical legs to perform telescopic movements according to the detected telescopic status of the horizontal legs and the vertical legs, and if it is detected that the horizontal legs are telescopically in place, controlling the hydraulically operated push rod mechanism to push the vertical legs to perform telescopic movements; and if it is detected that the vertical legs are telescopically in place, controlling the hydraulically operated push rod mechanism to push the horizontal legs to perform telescopic movements also includes: Control the front legs to switch, if it is detected that the front legs are retracted into place, control the hydraulic operation push rod mechanism to push the front legs to extend; if it is detected that the front legs are extended into place, control the hydraulic operation push rod mechanism to push the front legs to retract; The outrigger extension and retraction control system comprises: A detection module (10) is used to detect whether the horizontal legs and the vertical legs are fully extended or retracted; A control module (20) is used to control the horizontal legs and the vertical legs to perform telescopic movements according to the detected telescopic positions of the horizontal legs and the vertical legs; if it is detected that the horizontal legs are telescopically positioned, the hydraulic operation push rod mechanism is controlled to push the vertical legs to perform telescopic movements; if it is detected that the vertical legs are telescopically positioned, the hydraulic operation push rod mechanism is controlled to push the horizontal legs to perform telescopic movements; The control module (20) comprises: A first control unit (21) is used to control the horizontal and vertical legs to extend in the order of first horizontal and then vertical when the front legs extend, and if it is detected that the horizontal legs are fully extended, the hydraulic operation push rod mechanism is controlled to push the vertical legs to extend; A second control unit (22) is used to control the horizontal legs and the vertical legs to perform a retracting movement in the order of first vertical and then horizontal when the front legs are retracted, and if it is detected that the vertical legs are retracted to the right position, the hydraulic operation push rod mechanism is controlled to push the horizontal legs to perform a retracting movement; The control module (20) further comprises: A switching unit (23) is used to control the front legs to perform a switching action. If it is detected that the front legs are retracted into place, the hydraulic operation push rod mechanism is controlled to push the front legs to perform an extension action; if it is detected that the front legs are extended into place, the hydraulic operation push rod mechanism is controlled to push the front legs to perform a retraction action.

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