Control system, method, processor, and storage medium for a leg

Abstract

The application relates to the field of engineering machinery, in particular to a control system and method for a support leg, a processor and a storage medium. The method comprises the following steps: acquiring the hydraulic oil pressure of a luffing cylinder through an oil pressure sensor; acquiring an initial angle between the luffing cylinder and the horizontal direction, and determining a side load value of the vertical support leg according to the initial angle and the hydraulic oil pressure; in the case that the side load value is less than a first preset threshold, determining a first length of the luffing cylinder according to the initial angle and a target angle, wherein the target angle is a target angle between the luffing cylinder and the horizontal direction when the side load value is zero; controlling the luffing cylinder to contract by the first length, so as to control the vertical support leg to rotate and adjust the side load value to zero. The side load value of the vertical support leg is determined by the oil pressure in the luffing cylinder, and the luffing cylinder is controlled to contract and expand, so that the vertical support leg can rotate relative to the horizontal support leg, thereby offsetting the side load value borne by the vertical support leg, and effectively reducing the risk of cylinder failure.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of engineering machinery, in particular, to a control system, method, processor and storage medium for outriggers. BACKGROUND

[0002] The telescopic outrigger is widely used in the engineering machinery industry, such as the wheel crane, pump truck, aerial working truck, etc. The outrigger type engineering machinery relies on multiple outriggers to support the entire working body during work, which increases the supporting moment and expands the working range. In the non-working state, the outriggers can be stored, which increases the mobility of the engineering machinery. The common outrigger mainly consists of horizontal outriggers and vertical outriggers. The horizontal outriggers are mainly divided into telescopic type and folding type according to the unfolding form. The horizontal outriggers extend the vertical outriggers under the action of the driving mechanism to provide sufficient tilting moment. The vertical outriggers are telescoped back and forth in the vertical direction to support the entire machine body and transmit the load to the ground through the outrigger disc.

[0003] When the vertical outrigger is subjected to side load or side impact, the sealing ring inside the outrigger cylinder will be subjected to severe extrusion and friction with the piston rod, and the wear caused by long-term friction will cause the outrigger cylinder to leak oil, resulting in outrigger failure, extremely high maintenance cost and extremely high safety risk. SUMMARY

[0004] The purpose of the present application is to provide a control system, method, processor and storage medium for outriggers by controlling the outriggers to overcome the side load received by the outriggers.

[0005] To achieve the above purpose, the first aspect of the present application provides a control system for outriggers, the outriggers comprising horizontal outriggers and vertical outriggers hingedly connected to each other, the control system comprising:

[0006] a luffing cylinder, both ends of which are hingedly connected to the horizontal outriggers and the vertical outriggers, the luffing cylinder being used to drive the vertical outriggers to rotate relative to the horizontal outriggers;

[0007] an oil pressure sensor installed in the luffing cylinder, used to monitor the hydraulic oil pressure of the luffing cylinder in real time and send a pressure signal to the control device; and

[0008] a control device electrically connected to the luffing cylinder and the oil pressure sensor, the control device being configured to:

[0009] receive the pressure signal;

[0010] control the telescopic length of the luffing cylinder according to the pressure signal;

[0011] acquire the hydraulic oil pressure of the luffing cylinder through the oil pressure sensor;

[0012] acquire an initial angle between the variable amplitude oil cylinder and the horizontal direction, and determine a side load value of the vertical leg according to the initial angle and the hydraulic oil pressure;

[0013] determine a first length of the variable amplitude oil cylinder according to the initial angle and a target angle in a case that the side load value is less than a first preset threshold, wherein the target angle is a target angle between the variable amplitude oil cylinder and the horizontal direction when the side load value is zero;

[0014] control the variable amplitude oil cylinder to contract the first length, so as to control the vertical leg to rotate and adjust the side load value to zero.

[0015] In the embodiments of the present application, the vertical leg includes a fixed vertical leg and a telescopic vertical leg, the telescopic vertical leg is movably embedded in the fixed vertical leg, and the leg control system further includes a vertical telescopic oil cylinder electrically connected with the control device and used for driving the telescopic vertical leg to telescopically move in the fixed vertical leg; the control device is further configured to control the vertical telescopic oil cylinder to telescopically move during the telescoping of the variable amplitude oil cylinder.

[0016] In the embodiments of the present application, a limiting block is arranged in the fixed vertical leg, the limiting block is arranged in space with the telescopic end of the vertical telescopic oil cylinder, and is used for limiting the telescopic distance of the vertical telescopic oil cylinder.

[0017] In the embodiments of the present application, a hinge lug is mounted on the horizontal leg and the fixed vertical leg, and the two ends of the variable amplitude oil cylinder are respectively hinged with the two hinge lugs.

[0018] Through the above technical solution, the variable amplitude oil cylinder is mounted on the leg, the vertical leg of the leg is driven to rotate relative to the horizontal leg by the variable amplitude oil cylinder, the control device can determine the hydraulic oil pressure of the variable amplitude oil cylinder according to the oil pressure sensor in the variable amplitude oil cylinder, and the telescopic length of the variable amplitude oil cylinder is controlled according to the hydraulic oil pressure, so as to control the rotation of the vertical leg. The vertical leg can reduce the side load pressure by rotating, and when the vertical leg is laterally impacted or collided, the structure of the variable amplitude oil cylinder can provide a buffering effect for the vertical leg.

[0019] The second aspect of the present application provides a control method for a leg, the leg including a horizontal leg and a vertical leg hingedly connected with each other, the leg being mounted with a variable amplitude oil cylinder, the variable amplitude oil cylinder being mounted with an oil pressure sensor, and the control method including:

[0020] acquiring the hydraulic oil pressure of the variable amplitude oil cylinder through the oil pressure sensor;

[0021] acquiring an initial angle between the variable amplitude oil cylinder and the horizontal direction, and determining a side load value of the vertical leg according to the initial angle and the hydraulic oil pressure;

[0022] In a case where the side load value is less than a first preset threshold, a first length of the luffing cylinder is determined according to the initial angle and a target angle, wherein the target angle is a target angle between the luffing cylinder and the horizontal direction when the side load value is zero;

[0023] The luffing cylinder is controlled to contract the first length, so as to control the vertical support leg to rotate and adjust the side load value to zero.

[0024] In the embodiment of the present application, the control method further comprises: in a case where the side load value is greater than a second preset threshold, a second length of the luffing cylinder is determined according to the initial angle and the target angle, wherein the first preset threshold is less than the second preset threshold; the luffing cylinder is controlled to extend the second length, so as to control the vertical support leg to rotate and adjust the side load value to zero.

[0025] In the embodiment of the present application, the control method further comprises: when the luffing cylinder is controlled to contract or extend, the vertical support leg is controlled to perform the telescopic operation until the base contacts the ground.

[0026] In the embodiment of the present application, the luffing cylinder is hinged at two ends with the horizontal support leg and the vertical support leg respectively, and the side load value of the vertical support leg is determined according to the initial angle and the hydraulic oil pressure, which comprises: the cylinder force of the luffing cylinder is determined according to the hydraulic oil pressure; the side load value of the vertical support leg is determined through formula (1), formula (2) and formula (3):

[0027] Formula (1)

[0028] Formula (2)

[0029] Formula (3)

[0030] Wherein, is the cylinder force of the luffing cylinder, is the initial angle between the luffing cylinder and the horizontal direction, is the vertical distance between the hinge point of the luffing cylinder and the horizontal support leg and the center line of the vertical support leg, is the horizontal distance between the hinge point of the luffing cylinder and the vertical support leg and the center line of the vertical support leg, is the horizontal distance between the hinge point of the horizontal support leg and the vertical support leg and the center line of the vertical support leg, M is the mass of the vertical support leg, and g is the acceleration of gravity, is the horizontal distance between the center of gravity of the vertical support leg and the center line of the vertical support leg, is the axial support reaction force of the vertical support leg, is the side load value of the vertical support leg, is the vertical distance between the hinge point of the horizontal support leg and the vertical support leg and the mounting disc of the vertical support leg, a horizontal distance between the hinge point of the horizontal leg and the vertical leg and the center line of the vertical leg, an initial angle between the hinge point force of the hinge between the horizontal leg and the vertical leg and the horizontal direction.

[0031] In the embodiments of the present application, the variable amplitude oil cylinder is hinged at both ends with the horizontal leg and the vertical leg, and the target angle between the variable amplitude oil cylinder and the horizontal direction is determined by formula (4), formula (5) and formula (6):

[0032] Formula (4)

[0033] Formula (5)

[0034] Formula (6)

[0035] wherein, is the cylinder force of the variable amplitude oil cylinder, is the target angle between the variable amplitude oil cylinder and the horizontal direction, is the vertical distance between the hinge point of the variable amplitude oil cylinder and the vertical leg and the hinge point of the variable amplitude oil cylinder and the horizontal leg, is the horizontal distance between the hinge point of the variable amplitude oil cylinder and the vertical leg and the center line of the vertical leg, is the horizontal distance between the hinge point of the horizontal leg and the vertical leg and the center line of the vertical leg, M is the mass of the vertical leg, and g is the acceleration of gravity, is the horizontal distance between the center of gravity of the vertical leg and the center line of the vertical leg, is the axial support reaction force of the vertical leg, is the vertical distance between the hinge point of the horizontal leg and the vertical leg and the mounting disc of the vertical leg, is the hinge point force of the horizontal leg and the vertical leg, is the hinge angle between the hinge point force of the hinge between the horizontal leg and the vertical leg and the horizontal direction.

[0036] The third aspect of the present application provides a processor configured to execute the control method for the leg according to any one of the above.

[0037] The fourth aspect of the present application provides a machine readable storage medium, which stores instructions, and the instructions, when executed by a processor, cause the processor to be configured to execute the control method for the leg according to any one of the above.

[0038] By the technical scheme, the amplitude cylinder hinged to the vertical leg and the horizontal leg at two ends is used to drive the vertical leg, so that the vertical leg can rotate relative to the horizontal leg, the side load value borne by the vertical leg is determined by the oil pressure in the amplitude cylinder and the initial angle between the amplitude cylinder and the horizontal direction, and the extension length of the amplitude cylinder is determined according to the initial angle and the target angle between the amplitude cylinder and the horizontal direction, so as to control the extension of the amplitude cylinder, so that the vertical leg can rotate relative to the horizontal leg, thereby offsetting the side load value borne by the vertical leg, effectively reducing the failure risk of the cylinder and greatly prolonging the service life of the cylinder.

[0039] Other features and advantages of the present application will be described in detail in the following detailed description. BRIEF DESCRIPTION OF DRAWINGS

[0040] The accompanying drawings are included to provide a further understanding of the present application, and constitute a part of the specification, and are used to explain the present application together with the following detailed description, but do not constitute a limitation on the present application. In the drawings:

[0041] Figure 1 A structural diagram of a control system for a leg according to an embodiment of the present application is schematically shown;

[0042] Figure 2 An example diagram of a leg according to an embodiment of the present application is schematically shown;

[0043] Figure 3 A flowchart of a control method for a leg according to an embodiment of the present application is schematically shown;

[0044] Figure 4 An example diagram for determining a side load value according to an embodiment of the present application is schematically shown;

[0045] Figure 5 An example diagram for determining a target angle between an amplitude cylinder and a horizontal direction according to an embodiment of the present application is schematically shown;

[0046] Figure 6 An example diagram of a leg according to an embodiment of the present application is schematically shown;

[0047] Figure 7 An example diagram of a leg application according to an embodiment of the present application is schematically shown;

[0048] Figure 8 An internal structural diagram of a computer device according to an embodiment of the present application is schematically shown.

[0049] Explanation of reference signs

[0050] 1, horizontal leg; 2, vertical leg; 3, luffing cylinder; 4, fixed vertical leg; 5, telescopic vertical leg; 6, vertical telescopic cylinder; 7, frame body; 8, hinge ear; 9, leg disc; 10, first working state of vertical leg; 11, second working state of vertical leg. DETAILED DESCRIPTION

[0051] The specific embodiments of the present application will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are merely intended to explain and illustrate the present application, and are not intended to limit the present application.

[0052] It should be noted that if the present application has a direction indication (such as up, down, left, right, front, back, etc.) in the embodiments, the direction indication is only used to explain the relative position relationship, motion condition, etc. between the components in a certain specific posture (as shown in the drawings), and if the specific posture changes, the direction indication also changes accordingly.

[0053] In addition, if the present application has a description of "first", "second" and the like in the embodiments, the description of "first", "second" and the like is only for description purpose, and cannot be understood as indicating or implying the relative importance of the indicated technical features or implicitly indicating the number of the indicated technical features. Therefore, the features limited by "first", "second" can explicitly or implicitly include at least one of the features. In addition, the technical solutions of each embodiment can be combined with each other, but it must be based on the realization of a person skilled in the art, and when the combination of technical solutions appears contradictory or unachievable, it should be considered that the combination of technical solutions does not exist, nor within the scope of protection claimed by the present application.

[0054] In one embodiment, the leg includes a horizontal leg and a vertical leg hingedly connected to each other, and the control system includes: a luffing cylinder, both ends of which are hingedly connected to the horizontal leg and the vertical leg, respectively, and the luffing cylinder is used to drive the vertical leg to rotate relative to the horizontal leg; an oil pressure sensor, which is installed in the luffing cylinder, is used to monitor the hydraulic oil pressure of the luffing cylinder in real time and send a pressure signal to the control device; and the control device is electrically connected to the luffing cylinder and the oil pressure sensor, and the control device is configured to: receive the pressure signal; and control the extension length of the luffing cylinder according to the pressure signal.

[0055] As shown in FIG. 1, a structural diagram of a control system for a leg according to an embodiment of the present application is schematically shown, and as shown in FIG. 2, the leg includes a horizontal leg 1 and a vertical leg 2 hingedly connected to each other, and the control system includes a luffing cylinder 3, both ends of which are hingedly connected to the horizontal leg 1 and the vertical leg 2, respectively. Figure 1 Figure 1 As shown in FIG. 1, a structural diagram of a control system for a leg according to an embodiment of the present application is schematically shown, and as shown in FIG. 2, the leg includes a horizontal leg 1 and a vertical leg 2 hingedly connected to each other, and the control system includes a luffing cylinder 3, both ends of which are hingedly connected to the horizontal leg 1 and the vertical leg 2, respectively.

[0056] ​The two ends of the variable amplitude oil cylinder 3 are respectively hinged with the horizontal leg 1 and the vertical leg 2, the vertical leg 2 can be driven to rotate relative to the horizontal leg 1 by the variable amplitude oil cylinder 3, an oil pressure sensor can be installed in the variable amplitude oil cylinder 3, the oil pressure sensor can detect the hydraulic oil pressure of the variable amplitude oil cylinder 3 in real time and send a pressure signal to the control device. The control device is electrically connected with the variable amplitude oil cylinder 3 and the oil pressure sensor, the control device can receive the pressure signal sent by the oil pressure sensor, and control the variable amplitude oil cylinder 3 according to the pressure signal, and the length of the variable amplitude oil cylinder 3 is controlled to drive the vertical leg 2 to rotate relative to the horizontal leg 1 by the variable amplitude oil cylinder 3.

[0057] In one embodiment, the vertical leg includes a fixed vertical leg and a telescopic vertical leg, the telescopic vertical leg is movably embedded in the fixed vertical leg, and the leg control system further includes a vertical telescopic oil cylinder electrically connected with the control device and used for driving the telescopic vertical leg to telescopically move in the fixed vertical leg.

[0058] As shown in Figure 2 The vertical leg includes a fixed vertical leg 4 and a telescopic vertical leg 5, and the telescopic vertical leg 5 is movably embedded in the fixed vertical leg 4 and can telescopically move in the fixed vertical leg 4. The leg control system further includes a vertical telescopic oil cylinder 6 electrically connected with the control device and used for driving the telescopic vertical leg 5 to telescopically move in the fixed vertical leg 4. The controller can control the vertical telescopic oil cylinder 5 to telescopically move in the process of controlling the variable amplitude oil cylinder to telescopically move, so that the length of the vertical leg can be correspondingly adjusted according to the adjustment of the variable amplitude oil cylinder.

[0059] In one embodiment, a limiting block is arranged in the fixed vertical leg and is spaced apart from the telescopic end of the vertical telescopic oil cylinder and used for limiting the telescopic distance of the vertical telescopic oil cylinder.

[0060] A limiting block is arranged in the fixed vertical leg and is spaced apart from the telescopic end of the vertical telescopic oil cylinder and used for limiting the telescopic distance of the vertical telescopic oil cylinder. When the control device drives the telescopic vertical leg to telescopically move in the fixed vertical leg by controlling the vertical telescopic oil cylinder, the limiting block in the fixed vertical leg can limit the telescopic distance of the vertical telescopic oil cylinder, so as to limit the telescopic distance of the telescopic vertical leg in the fixed vertical leg.

[0061] In one embodiment, the horizontal leg and the fixed vertical leg are both provided with a hinge lug, and the two ends of the variable amplitude oil cylinder are respectively hinged with the two hinge lugs.

[0062] Hinge ears are installed on the horizontal leg and the fixed vertical leg, and the two ends of the luffing oil cylinder are respectively hinged to the hinge ears installed on the horizontal leg and the hinge ears installed on the vertical leg. Thus, the luffing oil cylinder can be used to drive the vertical leg to rotate relative to the horizontal leg by adjusting the extension length.

[0063] The vertical leg can be driven by the luffing oil cylinder hinged to the vertical leg and the horizontal leg at two ends to rotate relative to the horizontal leg. The control device can determine the hydraulic oil pressure of the luffing oil cylinder according to the oil pressure sensor in the luffing oil cylinder, and control the extension length of the luffing oil cylinder according to the hydraulic oil pressure to control the rotation of the vertical leg. The vertical leg can reduce the lateral load pressure by rotation, and the structure of the luffing oil cylinder can provide a buffering effect for the vertical leg when the vertical leg is laterally impacted or collided. Further, when the luffing oil cylinder drives the vertical leg to rotate, the telescopic vertical oil cylinder in the vertical leg can drive the telescopic vertical leg to extend and retract in the fixed vertical leg, so that the base can be in contact with the ground, thereby ensuring the safety of the leg.

[0064] In one embodiment, as shown in Figure 3 , a flowchart of a control method for the leg is schematically shown, as shown in Figure 3 , a control method for the leg is provided, comprising the following steps:

[0065] Step 301, acquiring the hydraulic oil pressure of the luffing oil cylinder by the oil pressure sensor;

[0066] Step 302, acquiring the initial angle between the luffing oil cylinder and the horizontal direction, and determining the lateral load value of the vertical leg according to the initial angle and the hydraulic oil pressure;

[0067] Step 303, in the case that the lateral load value is less than a first preset threshold, determining a first length of the luffing oil cylinder according to the initial angle and a target angle, wherein the target angle is a target angle between the luffing oil cylinder and the horizontal direction when the lateral load value is zero;

[0068] Step 304, controlling the luffing oil cylinder to contract the first length to control the vertical leg to rotate and adjust the lateral load value to zero.

[0069] The leg, as shown in Figure 1 , comprises a horizontal leg and a vertical leg hinged to each other, and the leg is provided with a luffing oil cylinder. An oil pressure sensor is installed in the luffing oil cylinder.

[0070] The processor can acquire the hydraulic oil pressure of the amplitude cylinder through the oil pressure sensor, and acquire an initial angle between the amplitude cylinder and the horizontal direction, that is, an initial angle of the included angle between the amplitude cylinder and the horizontal direction. The processor can determine the side load value borne by the vertical leg according to the acquired hydraulic oil pressure and the initial angle between the amplitude cylinder and the horizontal direction. In the case where the determined side load value is less than a first preset threshold set by the processor, the processor can determine a first length of the amplitude cylinder according to the initial angle and a target angle, wherein the target angle refers to an angle between the amplitude cylinder and the horizontal direction when the side load value of the vertical leg is 0. The processor can control the amplitude cylinder to contract by the first length to control the vertical leg to rotate relative to the horizontal leg, so as to adjust the side load value of the vertical leg to 0.

[0071] In one embodiment, in the case where the side load value is greater than a second preset threshold, a second length of the amplitude cylinder is determined according to the initial angle and the target angle, wherein the first preset threshold is less than the second preset threshold; the amplitude cylinder is controlled to extend by the second length to control the vertical leg to rotate and adjust the side load value to zero.

[0072] In the case where the processor determines that the side load value of the vertical leg is greater than a second preset threshold set by the processor, the processor can determine a second length of the amplitude cylinder according to the initial angle between the vertical leg and the amplitude cylinder and a target angle, wherein the first preset threshold set by the processor is less than the second preset threshold set by the processor. After the second length of the amplitude cylinder is determined, the processor can control the amplitude cylinder to extend by the second length to control the vertical leg to rotate relative to the horizontal leg to adjust the side load value of the vertical leg to 0.

[0073] In one embodiment, the vertical leg includes a base, and the control method further includes: when the amplitude cylinder is controlled to contract or extend, the vertical leg is controlled to perform a telescopic operation until the base contacts the ground.

[0074] The vertical leg can include a base. When the processor controls the amplitude cylinder to contract or extend, the distance of the vertical leg relative to the ground can change. Therefore, when the processor controls the amplitude cylinder to contract or extend, the processor can control the vertical leg to perform a telescopic operation until the base of the vertical leg contacts the ground, so as to ensure that the vertical leg is always supported on the ground.

[0075] In one embodiment, the amplitude cylinder is hinged at two ends with the horizontal leg and the vertical leg respectively, and determining the side load value of the vertical leg according to the initial angle and the hydraulic oil pressure includes: determining the cylinder force of the amplitude cylinder according to the hydraulic oil pressure; determining the side load value of the vertical leg through formula (1), formula (2) and formula (3):

[0076] Formula (1)

[0077] Formula (2)

[0078] Formula (3)

[0079] wherein, is the cylinder force of the variable amplitude cylinder, is the initial angle between the variable amplitude cylinder and the horizontal direction, is the vertical distance between the hinge point of the variable amplitude cylinder and the horizontal leg and the hinge point of the variable amplitude cylinder and the vertical leg, is the horizontal distance between the hinge point of the variable amplitude cylinder and the vertical leg and the center line of the vertical leg, is the horizontal distance between the hinge point of the horizontal leg and the vertical leg and the center line of the vertical leg, M is the mass of the vertical leg, and g is the acceleration of gravity, is the horizontal distance between the center of gravity of the vertical leg and the center line of the vertical leg, is the axial support reaction force of the vertical leg, is the side load value of the vertical leg, is the vertical distance between the hinge point of the horizontal leg and the vertical leg and the mounting disc of the vertical leg, is the hinge point force of the horizontal leg and the vertical leg, is the initial angle between the hinge point force of the horizontal leg and the vertical leg and the horizontal direction.

[0080] The two ends of the variable amplitude cylinder of the leg are respectively hinged with the horizontal leg and the vertical leg. As shown in Figure 4 , from top to bottom, there are two hinge ears on the left side of the vertical leg, the first hinge ear from top to bottom is the hinge ear for the vertical leg and the variable amplitude cylinder, and the second hinge ear is the hinge ear for the vertical leg and the horizontal leg. The processor can determine the hydraulic oil pressure value of the variable amplitude cylinder through the oil pressure sensor installed in the variable amplitude cylinder, and determine the cylinder force of the variable amplitude cylinder according to the hydraulic oil pressure value . The processor can determine the initial angle between the variable amplitude cylinder and the horizontal direction . The processor can obtain other related parameters of the vertical leg, and determine the side load value of the vertical leg through formula (1), formula (2) and formula (3) . In one embodiment, the two ends of the variable amplitude cylinder are respectively hinged with the horizontal leg and the vertical leg, and the target angle between the variable amplitude cylinder and the horizontal direction is determined through formula (4), formula (5) and formula (6):

[0081] Formula (4)

[0082] Formula (5)

[0083] Equation (6)

[0084] wherein, is the cylinder force of the amplitude cylinder, is the target angle between the amplitude cylinder and the horizontal direction, is the vertical distance between the hinge point of the amplitude cylinder and the horizontal leg and the hinge point of the amplitude cylinder and the vertical leg, is the horizontal distance between the hinge point of the amplitude cylinder and the vertical leg and the center line of the vertical leg, is the horizontal distance between the hinge point of the horizontal leg and the vertical leg and the center line of the vertical leg, M is the mass of the vertical leg, and g is the acceleration of gravity, is the horizontal distance between the center of gravity of the vertical leg and the center line of the vertical leg, is the axial support reaction force of the vertical leg, is the vertical distance between the hinge point of the horizontal leg and the vertical leg and the mounting disc of the vertical leg, is the hinge point force of the horizontal leg and the vertical leg, is the hinge angle between the hinge point force of the horizontal leg and the vertical leg and the horizontal direction.

[0085] As shown in Equation (4), the target angle Figure 5 is the angle between the amplitude cylinder and the horizontal direction when the side load value of the vertical leg is zero, that is, the angle between the amplitude cylinder and the horizontal direction is adjusted to the target angle when the side load value of the vertical leg is zero. The processor can determine the target angle between the amplitude cylinder and the horizontal direction when the side load value of the vertical leg is zero through Equation (4), Equation (5), and Equation (6) after obtaining other related parameters of the vertical leg. .

[0086] The processor can determine the adjustment length of the amplitude cylinder according to the initial angle between the amplitude cylinder and the horizontal direction and the target angle between the amplitude cylinder and the horizontal direction, and adjust the amplitude cylinder according to the side load value of the vertical leg.

[0087] In one embodiment, a processor configured to perform any of the above control methods for a leg is provided.

[0088] As shown in Equation (4), the target angle Figure 6As shown, the outrigger is connected to the frame body 7 of the engineering machinery through a horizontal outrigger 1, the horizontal outrigger 1 and the vertical outrigger 2 are hingedly connected to each other, the horizontal outrigger 1 and the vertical outrigger 2 are both provided with a hinge lug 8, the amplitude cylinder 3 is hingedly connected to the horizontal outrigger 1 and the vertical outrigger 2 through the hinge lug 8, and the amplitude cylinder 3 is used to drive the vertical outrigger 2 to rotate relative to the horizontal outrigger 1. The vertical outrigger 2 includes a fixed vertical outrigger 4 and a telescopic vertical outrigger 5, the telescopic vertical outrigger 5 is movably embedded in the fixed vertical outrigger 4, the telescopic vertical outrigger 5 is driven to move in and out of the fixed vertical outrigger 4 through a vertical telescopic cylinder 6, and the vertical outrigger 2 can further include an outrigger disc 9 used to contact the ground.

[0089] An oil pressure sensor is installed in the amplitude cylinder, and the processor can obtain the hydraulic oil pressure of the amplitude cylinder through the oil pressure sensor. The processor can obtain the initial angle between the amplitude cylinder and the horizontal direction, that is, the initial angle of the included angle between the amplitude cylinder and the horizontal direction. The processor can determine the side load value borne by the vertical outrigger according to the obtained initial angle, the hydraulic oil pressure of the amplitude cylinder, and other related parameters of the vertical outrigger through formula (1), formula (2), and formula (3).

[0090] The processor can adjust the telescopic length of the amplitude cylinder, so that the amplitude cylinder can drive the vertical outrigger to rotate relative to the horizontal outrigger, so as to change the side load value of the vertical outrigger. The processor can determine the telescopic length of the amplitude cylinder to be adjusted according to the initial angle between the amplitude cylinder and the horizontal direction and the target angle between the amplitude cylinder and the horizontal direction, so as to control the telescopic length of the amplitude cylinder, thereby driving the vertical outrigger to rotate relative to the horizontal outrigger. The processor can determine the target angle between the vertical outrigger and the amplitude cylinder when the side load value of the vertical outrigger is zero. The processor can determine the target angle between the vertical outrigger and the amplitude cylinder through formula (4), formula (5), and formula (6).

[0091] In the case that the processor determines that the side load value of the vertical outrigger is less than the first preset threshold set by the processor, the processor can determine the first length of the amplitude cylinder according to the initial angle and the target angle between the amplitude cylinder and the horizontal direction, and control the amplitude cylinder to contract by the first length, so as to control the vertical outrigger to rotate, so as to adjust the side load value of the vertical outrigger to zero. In the case that the processor determines that the side load value of the vertical outrigger is greater than the second preset threshold set by the processor, the processor can determine the second length of the amplitude cylinder according to the initial angle and the target angle between the amplitude cylinder and the horizontal direction, and control the amplitude cylinder to extend by the second length, so as to control the vertical outrigger to rotate, so as to adjust the side load of the vertical outrigger to zero.

[0092] When the processor controls the luffing cylinder to extend or contract, the processor can control the vertical legs to extend or contract. The processor can control the vertical telescopic cylinder to drive the telescopic vertical leg to extend or contract in the fixed vertical leg, so that the leg disc is in contact with the ground. For example, as shown in Figure 7 When the processor controls the luffing cylinder 3 to contract, so that the vertical leg 2 rotates from the vertical leg first working state 10 to the vertical leg second working state 11 relative to the horizontal leg 1, the processor can control the vertical telescopic cylinder to drive the telescopic vertical leg 5 to extend or contract in the fixed vertical leg 4, so that the leg disc 9 is in contact with the ground. A limit block can be arranged in the fixed vertical leg 4, and the limit block is arranged in the extension and contraction end of the vertical telescopic cylinder, so as to limit the extension and contraction distance of the vertical telescopic cylinder. So that the leg disc 9 can be safely supported on the ground.

[0093] Through the above technical solution, the luffing cylinder hinged at the vertical leg and the horizontal leg at both ends is used to drive the vertical leg, so that the vertical leg can rotate relative to the horizontal leg. The side load value borne by the vertical leg is determined by the oil pressure in the luffing cylinder and the initial angle between the luffing cylinder and the horizontal direction. The extension and contraction length of the luffing cylinder is determined according to the initial angle and the target angle between the luffing cylinder and the horizontal direction, so as to control the extension and contraction of the luffing cylinder, so that the vertical leg can rotate relative to the horizontal leg to offset the side load value borne by the vertical leg, effectively reduce the risk of cylinder failure, and greatly improve the service life of the cylinder. At the same time, when the processor adjusts the luffing cylinder, the processor can control the telescopic vertical leg in the fixed vertical leg to extend or contract, so that the vertical leg can adapt to the adjusted angle, thereby expanding the ground angle of the leg and improving the operation flexibility. The luffing cylinder can provide a buffering effect for the vertical leg, so that the impact resistance of the vertical leg to the lateral direction is improved.

[0094] The memory can include a non-persistent memory in a computer readable medium, a random access memory (RAM) and / or a non-volatile memory such as a read-only memory (ROM) or a flash memory (flash RAM), and the memory includes at least one memory chip.

[0095] In one embodiment, a computer device, which can be a server, is provided, and an internal structure diagram of the computer device can be as shown in Figure 8A01, a network interface A02, a memory (not shown in the figure) and a database (not shown in the figure). The processor A01 of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes an internal memory A03 and a non-volatile storage medium A04. The non-volatile storage medium A04 stores an operating system B01, a computer program B02 and a database (not shown in the figure). The internal memory A03 provides an environment for the operating system B01 and the computer program B02 in the non-volatile storage medium A04 to run. The database of the computer device is configured to store relevant data of the construction machine and relevant data input by an operator. The network interface A02 of the computer device is configured to communicate with an external terminal through a network connection. The computer program B02 is configured to be executed by the processor A01 to implement a control method for a support leg.

[0096] Figure 3 A flowchart of the control method for a support leg in the above embodiment is shown. It should be understood that, although Figure 3 the steps in the flowchart are shown in sequence according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified herein, the execution of these steps is not strictly limited in sequence, and these steps can be executed in other sequences. Moreover, Figure 3 at least part of the steps in the flowchart can include multiple sub-steps or multiple stages, which are not necessarily executed at the same time, but can be executed at different times, and the execution sequence of these sub-steps or stages is not necessarily sequential, but can be executed alternately or alternately with at least part of other steps or sub-steps or stages of other steps.

[0097] The embodiment of the present application provides a device, the device includes a processor, a memory and a program stored in the memory and executable on the processor, and the processor executes the program to implement the following steps: acquiring the hydraulic oil pressure of the luffing cylinder through an oil pressure sensor; acquiring an initial angle between the luffing cylinder and the horizontal direction, and determining a side load value of the vertical support leg according to the initial angle and the hydraulic oil pressure; in the case that the side load value is less than a first preset threshold, determining a first length of the luffing cylinder according to the initial angle and a target angle, wherein the target angle is a target angle between the luffing cylinder and the horizontal direction when the side load value is zero; controlling the luffing cylinder to contract the first length, so as to control the vertical support leg to rotate and adjust the side load value to zero.

[0098] In one embodiment, the control method further comprises: in a case where the side load value is greater than a second preset threshold, determining a second length of the luffing cylinder according to the initial angle and the target angle, wherein the first preset threshold is less than the second preset threshold; controlling the luffing cylinder to extend by the second length to control the vertical support leg to rotate and adjust the side load value to zero.

[0099] In one embodiment, the control method further comprises: when controlling the luffing cylinder to contract or extend, controlling the vertical support leg to perform the telescopic operation until the base contacts the ground.

[0100] In one embodiment, the cylinder force of the luffing cylinder is determined according to the hydraulic oil pressure; the luffing cylinder is hinged at two ends with the horizontal support leg and the vertical support leg respectively, and the side load value of the vertical support leg is determined according to the initial angle and the hydraulic oil pressure, comprising: determining the side load value of the vertical support leg through formula (1), formula (2) and formula (3):

[0101] Formula (1)

[0102] Formula (2)

[0103] Formula (3)

[0104] Wherein, is the cylinder force of the luffing cylinder, is the initial angle between the luffing cylinder and the horizontal direction, is the vertical distance between the hinge point of the luffing cylinder and the horizontal support leg and the hinge point of the luffing cylinder and the vertical support leg, is the horizontal distance between the hinge point of the luffing cylinder and the vertical support leg and the center line of the vertical support leg, is the horizontal distance between the hinge point of the horizontal support leg and the vertical support leg and the center line of the vertical support leg, M is the mass of the vertical support leg, and g is the acceleration of gravity, is the horizontal distance between the center of gravity of the vertical support leg and the center line of the vertical support leg, is the axial support reaction force of the vertical support leg, is the side load value of the vertical support leg, is the vertical distance between the hinge point of the horizontal support leg and the vertical support leg and the mounting disc of the vertical support leg, is the hinge point force of the horizontal support leg and the vertical support leg, is the initial angle between the hinge point force of the horizontal support leg and the vertical support leg and the horizontal direction.

[0105] In one embodiment, the luffing cylinder is hinged at two ends with the horizontal support leg and the vertical support leg respectively, and the target angle between the luffing cylinder and the horizontal direction is determined through formula (4), formula (5) and formula (6):

[0106] Equation (4)

[0107] Equation (5)

[0108] Equation (6)

[0109] wherein, is the cylinder force of the amplitude cylinder, is the target angle between the amplitude cylinder and the horizontal direction, is the vertical distance between the hinge point of the amplitude cylinder and the horizontal leg and the hinge point of the amplitude cylinder and the vertical leg, is the horizontal distance between the hinge point of the amplitude cylinder and the vertical leg and the center line of the vertical leg, is the horizontal distance between the hinge point of the horizontal leg and the vertical leg and the center line of the vertical leg, M is the mass of the vertical leg, and g is the gravity acceleration, is the horizontal distance between the center of gravity of the vertical leg and the center line of the vertical leg, is the axial support reaction force of the vertical leg, is the vertical distance between the hinge point of the horizontal leg and the vertical leg and the mounting disc of the vertical leg, is the hinge point force of the horizontal leg and the vertical leg, is the hinge angle of the hinge point force of the horizontal leg and the vertical leg and the horizontal direction.

[0110] Those skilled in the art will appreciate that embodiments of the application can be supplied as a method, a system, or a computer program product. Accordingly, the application can take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the application can take the form of a computer program product on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROMs, optical storage devices, and the like) embodying computer readable program code.

[0111] The application is described with reference to the flowchart and / or block diagram illustrations of the methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each block of the flowchart and / or block diagrams, and combinations of blocks in the flowchart and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart and / or block diagram block or blocks. Figure 1 The flowchart and / or block diagrams can include one or more flowcharts and / or block diagrams that illustrate the functions and / or operations specified in the flowcharts and / or block diagrams and combinations of the flowcharts and / or block diagrams. Figure 1 The flowchart and / or block diagrams can include one or more flowcharts and / or block diagrams that illustrate the functions and / or operations specified in the flowcharts and / or block diagrams and combinations of the flowcharts and / or block diagrams.

[0112] These computer program instructions can also be stored in a computer- readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instructions which implement the Figure 1 function specified in the flow or flows and / or blocks Figure 1 of the block or blocks.

[0113] These computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the Figure 1 function specified in the flow or flows and / or blocks Figure 1 of the block or blocks.

[0114] In one typical configuration, the computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memory.

[0115] The memory can include non-persistent memory and / or volatile memory, such as a random access memory (RAM) including a cache area for the temporary storage of data. The memory can also include non-volatile memory, such as read only memory (ROM), electrically programmable read only memory (EPROM), electrically erasable programmable read only memory (EEPROM), flash memory, or non-volatile random access memory (NVRAM), for the storage of information, such as data files or program

[0116] Computer readable media includes permanent and non-permanent, removable and non-removable media implemented in any method or technology for the storage of information. The information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read only memory (ROM), electrically programmable read only memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital versatile disc (DVD), or other optical storage, magnetic cassettes, magnetic tapes, magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information accessible to a computing device. According to the definition herein, computer readable media does not include transitory media, such as modulated data signals and carrier waves.

[0117] It should also be noted that the terms "comprising", "comprises", "including", "includes" or any other variation thereof are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus. An element proceeded by "comprises a... " does not, without more constraints, exclude the existence of additional identical elements in the process, method, article, or apparatus that comprises the element.

[0118] The above embodiments of the present application are only used to illustrate the technical solutions of the present application, and not intended to limit the present application. Although the present application has been described in detail, it should be understood that those skilled in the art can make various modifications and changes without departing from the spirit and scope of the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the scope of the claims of the present application.

Claims

1. A control system for a support leg, characterized in that, The outriggers include horizontal outriggers and vertical outriggers that are hinged to each other, and the control system includes: The luffing cylinder is hinged at both ends to the horizontal outrigger and the vertical outrigger, respectively, and is used to drive the vertical outrigger to rotate relative to the horizontal outrigger. A hydraulic pressure sensor, installed inside the luffing cylinder, is used to monitor the hydraulic oil pressure of the luffing cylinder in real time and send a pressure signal to the control device; and The control device is electrically connected to the luffing cylinder and the hydraulic pressure sensor, and the control device is configured to: Receive the pressure signal; The extension and retraction length of the variable amplitude cylinder is controlled according to the pressure signal; The hydraulic oil pressure of the luffing cylinder is obtained through the oil pressure sensor; Obtain the initial angle between the variable amplitude cylinder and the horizontal direction, and based on the initial angle... The lateral load value of the vertical outrigger is determined by the degree and the hydraulic oil pressure; When the side load value is less than a first preset threshold, the first length of the luffing cylinder is determined according to the initial angle and the target angle, wherein the target angle is the target angle between the luffing cylinder and the horizontal direction when the side load value is zero; The luffing cylinder is controlled to retract the first length, thereby controlling the vertical outrigger to rotate and adjusting the side load value to zero.

2. The control system for a support leg of claim 1, wherein, The vertical support leg includes a fixed vertical support leg and a telescopic vertical support leg, wherein the telescopic vertical support leg is movably fitted into the fixed vertical support leg. The control system further includes: A vertical telescopic hydraulic cylinder, electrically connected to the control device, is used to drive the telescopic vertical support leg to telescopically extend and retract within the fixed vertical support leg; The control device is further configured to: During the extension and retraction of the variable amplitude hydraulic cylinder, the vertical extension and retraction hydraulic cylinder is controlled to perform the extension and retraction movement.

3. The control system for a support leg of claim 2, wherein, The fixed vertical support leg is provided with a limiting block, which is arranged at intervals with the telescopic end of the vertical telescopic cylinder and is used to limit the telescopic distance of the vertical telescopic cylinder.

4. The control system for a support leg of claim 2, wherein, Both the horizontal outrigger and the fixed vertical outrigger are equipped with hinges, and the two ends of the luffing cylinder are respectively hinged to the two hinges.

5. A control method for a support leg, characterized by, The outriggers include horizontal and vertical outriggers hinged together. Each outrigger is equipped with a luffing cylinder, and a hydraulic pressure sensor is installed inside the luffing cylinder. The control method includes: The hydraulic oil pressure of the luffing cylinder is obtained through the oil pressure sensor; Obtain the initial angle between the luffing cylinder and the horizontal direction, and determine the lateral load value of the vertical outrigger based on the initial angle and the hydraulic oil pressure; When the side load value is less than a first preset threshold, the first length of the luffing cylinder is determined according to the initial angle and the target angle, wherein the target angle is the target angle between the luffing cylinder and the horizontal direction when the side load value is zero; The luffing cylinder is controlled to retract the first length, thereby controlling the vertical outrigger to rotate and adjusting the side load value to zero.

6. The control method for a support leg according to claim 5, characterized by, The control method further includes: When the side load value is greater than the second preset threshold, the second length of the variable amplitude cylinder is determined according to the initial angle and the target angle, wherein the first preset threshold is less than the second preset threshold; controlling the boom cylinder to extend the second length to control the vertical leg to rotate and adjust the side load force value to zero.

7. The control method for a support leg according to claim 5 or 6, the vertical support leg including a base, characterized by, The control method further comprises: controlling the boom cylinder to extend or retract, and controlling the vertical leg to perform telescopic operation until the base contacts the ground.

8. The control method for a support leg according to claim 5, wherein The boom cylinder is hinged at both ends to the horizontal leg and the vertical leg, and determining the side load force value of the vertical leg according to the initial angle and the hydraulic oil pressure comprises: determining the cylinder force of the boom cylinder according to the hydraulic oil pressure; determining the side load force value of the vertical leg through formula (1), formula (2) and formula (3): Equation (1) Formula (2) Equation (3) wherein, F is the cylinder force of the amplitude cylinder, is the initial angle between the amplitude cylinder and the horizontal direction, is the vertical distance between the hinge point of the amplitude cylinder and the horizontal leg and the hinge point of the amplitude cylinder and the vertical leg, is the horizontal distance between the hinge point of the amplitude cylinder and the vertical leg and the center line of the vertical leg, is the horizontal distance between the hinge point of the horizontal leg and the vertical leg and the center line of the vertical leg, M is the mass of the vertical leg, and g is the acceleration of gravity, is the horizontal distance between the center of gravity of the vertical leg and the center line of the vertical leg, is the axial support reaction force of the vertical leg, is the side load force value of the vertical leg, is the vertical distance between the hinge point of the horizontal leg and the vertical leg and the mounting disc of the vertical leg, is the hinge force of the horizontal leg and the vertical leg, is the initial angle between the hinge force of the horizontal leg and the vertical leg and the horizontal direction.

9. The control method for a support leg according to claim 8, characterized by, The boom cylinder is hinged at both ends to the horizontal leg and the vertical leg, and determining the target angle between the boom cylinder and the horizontal direction through formula (4), formula (5) and formula (6): Equation (4) Formula (5) Formula (6) wherein, is the cylinder force of the amplitude cylinder, is the target angle between the amplitude cylinder and the horizontal direction, is the vertical distance between the hinge point of the amplitude cylinder and the horizontal leg and the hinge point of the amplitude cylinder and the vertical leg, is the horizontal distance between the hinge point of the amplitude cylinder and the vertical leg and the center line of the vertical leg, is the horizontal distance between the hinge point of the horizontal leg and the vertical leg and the center line of the vertical leg, M is the mass of the vertical leg, and g is the acceleration of gravity, is the horizontal distance between the center of gravity of the vertical leg and the center line of the vertical leg, is the axial support reaction force of the vertical leg, is the vertical distance between the hinge point of the horizontal leg and the vertical leg and the mounting disc of the vertical leg, is the hinge force of the horizontal leg and the vertical leg, is the hinge angle between the hinge force of the horizontal leg and the vertical leg and the horizontal direction.

10. A processor, comprising: The control method for the leg according to any one of claims 5 to 9 is configured to be executed.

11. A machine-readable storage medium having instructions stored thereon, the instructions comprising: The instruction, when executed by the processor, causes the processor to be configured to execute the control method for the leg according to any one of claims 5 to 9.

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