Load detection method, control method, device and engineering machinery of support device

Abstract

The present invention discloses a load detection method, control method, device and engineering machinery of a support device, which relates to the technical field of engineering machinery control. The load detection method comprises: detecting the elongation of the oil cylinder; obtaining the force arm of the oil cylinder thrust to the first hinge point according to the elongation of the oil cylinder, wherein the first hinge point is the hinge point of the bending arm and the swing arm; obtaining the force arm of the support force of the support device to the first hinge point according to the elongation of the oil cylinder; obtaining the thrust of the oil cylinder; according to the moment balance of the first hinge point, combining the force arm of the support force of the support device to the first hinge point, the force arm of the oil cylinder thrust to the first hinge point and the oil cylinder thrust, obtaining the support force of the support device. Based on the actually measured elongation of the oil cylinder, the real-time load of the support device is obtained, and there is no need to use a force sensor to detect the load of the support mechanism, thereby ensuring the accuracy of the load detection of the support device.

Description

Technical Field

[0001] The present invention relates to the technical field of engineering machinery control, and in particular to a load detection method, a control method, a device and an engineering machinery for a supporting device. Background Art

[0002] With the progress of economy and the development of society, the requirements for construction equipment in prefabricated and assembled building construction, railway construction, viaduct beam erection, etc. are also increasing. Lifting equipment has become an indispensable engineering machinery for large construction sites due to its excellent ability to lift vertically and carry heavy objects horizontally. It needs to operate on a support device with limited load-bearing capacity. In order to ensure the construction safety of the lifting equipment, it is necessary to ensure that the load of the support device does not exceed the range of safe construction requirements, so it is necessary to accurately detect the load of the support device.

[0003] At present, the support device is a part of the suspension assembly of the lifting equipment, and is hinged to the swing arm in the suspension assembly, and the swing arm is hinged to the bending arm and the hydraulic cylinder respectively. In the prior art, a force sensor is usually used to directly measure the load of the support device. However, when the hydraulic cylinder is fully extended or fully retracted, the pressure value of the rodless chamber of the cylinder will increase sharply, and at this time, the force sensor can no longer accurately detect the load of the support device. Summary of the invention

[0004] The technical problem to be solved by the present invention is how to improve the accuracy of load detection of the supporting device.

[0005] In order to solve the above technical problems, in the first aspect, a load detection method of a supporting device is proposed, comprising:

[0006] Detect the elongation of the cylinder;

[0007] According to the elongation of the oil cylinder, a force arm of the oil cylinder thrust on the first hinge point is obtained, wherein the first hinge point is the hinge point of the bending arm and the swing arm;

[0008] According to the elongation of the oil cylinder, a lever arm of the supporting force of the supporting device on the first hinge point is obtained;

[0009] Get the cylinder thrust;

[0010] According to the moment balance of the first hinge point, the support force of the support device is obtained by combining the arm of the support force of the support device on the first hinge point, the arm of the cylinder thrust on the first hinge point and the cylinder thrust;

[0011] The load of the supporting device is generated according to the supporting force of the supporting device.

[0012] Optionally, obtaining the lever arm of the cylinder thrust on the first hinge point according to the elongation of the cylinder comprises the following first formula:

[0013]

[0014]

[0015] L AB =M+ΔL

[0016] Among them, L A Refers to the length of the bending arm, L B Refers to the length of the swing arm, L AB Refers to the maximum length of the cylinder side, L HB Refers to the direction of the force arm of the cylinder thrust on the first hinge point and L AB The intersection of and the distance between the second hinge point, the second hinge point refers to the hinge point between the lower earring of the cylinder and the swing arm, h refers to the force arm of the cylinder thrust on the first hinge point, ΔL is the elongation of the cylinder, and M is the length of the cylinder when it is not extended.

[0017] Optionally, obtaining the force arm of the supporting force of the supporting device on the first hinge point according to the elongation of the oil cylinder comprises the following second formula:

[0018]

[0019]

[0020]

[0021] Among them, L refers to the force arm of the supporting force of the supporting device on the first hinge point, a1 is the angle between the bending arm and the force arm direction of the cylinder thrust on the first hinge point, a2 is the angle between the swing arm and the force arm direction of the cylinder thrust on the first hinge point, and θ is the angle between the bending arm and the vertical line of the force arm direction of the supporting force of the supporting device on the first hinge point.

[0022] Optionally, the moment balance of the first hinge point, combined with the arm of the support force of the support device on the first hinge point, the arm of the cylinder thrust on the first hinge point and the cylinder thrust, to obtain the support force of the support device includes the following third formula:

[0023]

[0024] Wherein, F refers to the supporting force of the supporting device, F B It refers to the thrust of the cylinder, and g is the gravitational acceleration constant.

[0025] Optionally, the length of the bending arm and the length of the swing arm are obtained by solving a hinge point position optimization selection model, and the hinge point position optimization selection model includes:

[0026] The objective function is:

[0027]

[0028] The constraints that are satisfied are:

[0029] h AC (α(m), β(n)) = L A (i0)sinα(m)-L C (k0)sinβ(n)

[0030]

[0031]

[0032]

[0033] L1≤L AB (α(m), β(n))≤L2

[0034] The value range of the model solution is:

[0035]

[0036]

[0037]

[0038]

[0039]

[0040] Among them, L A (i) is the length of the bending arm, L B (j) is the length of the swing arm, L C (k) is the length from the hinge point of the support device and the swing arm to the first hinge point, α(m) is the angle between the force arm direction of the support force of the support device to the first hinge point and the bending arm, β(n) is the angle between the force arm direction of the support force of the support device to the first hinge point and the swing arm, L AB (α(m), β(n)) is the side length of the cylinder, h AC (α(m), β(n)) is the vertical distance from the hinge point between the bending arm and the cylinder side to the hinge point between the supporting device and the swing arm, and H1, H2, L1, L2, L3, L4, L5, μ1, μ2, I, J, K, M, and N are preset constants.

[0041] In order to solve the above technical problems, in the second aspect, a control method is also proposed, including:

[0042] Determine the real-time load of the support device according to the load detection method as described above;

[0043] Acquire a set load range, and compare the real-time load with the set load range;

[0044] When the real-time load is higher than the set load range, the balancing cylinder is controlled to return oil until the real-time load of the supporting device reaches the set load range.

[0045] Optionally, it also includes:

[0046] Detecting the extension of the oil cylinder, and judging whether the oil cylinder is fully extended or fully retracted according to the extension of the oil cylinder;

[0047] If the oil cylinder is neither fully extended nor fully retracted, the step of determining the real-time load of the supporting device according to the load detection method as described above is performed;

[0048] If the oil cylinder is fully extended or fully retracted, the active support load adjustment mode is entered to allow manual adjustment of the load of the support device.

[0049] In order to solve the above technical problems, in the third aspect, a load detection control device is also proposed, including a computer-readable storage medium storing a computer program and a processor. When the computer program is read and executed by the processor, the load detection method of the supporting device as described above or the control method as described above is implemented.

[0050] Optionally, the load detection control device also includes a pull rod type linear displacement sensor.

[0051] In order to solve the above technical problems, in a fourth aspect, a construction machinery is also proposed, comprising the load detection control device as described above.

[0052] One of the above technical solutions has the following beneficial effects:

[0053] By detecting the elongation of the oil cylinder, the arm of the cylinder thrust on the first hinge point and the arm of the support force of the support device on the first hinge point are obtained based on the elongation of the oil cylinder, and then the load of the support device is obtained based on the moment balance of the first hinge point. It is possible to obtain the real-time load of the support device based on the actually measured elongation of the oil cylinder, without the need to use a force sensor to detect the load of the support mechanism, thereby ensuring the accuracy of the load detection of the support device, so as to facilitate the subsequent control of the load of the support device and ensure that the load of the support structure does not exceed the range required for safe construction.

[0054] The beneficial effects of other technical solutions in the above technical solutions will be described in detail in the subsequent specific implementation methods. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] Figure 1 It is a schematic diagram of the structure and simplified node model of the suspension assembly;

[0056] Figure 2 It is a schematic diagram of a flow chart of a load detection method of a supporting device according to an embodiment of the present invention;

[0057] Figure 3 It is a schematic diagram of the geometric and mechanical model of the suspension assembly according to an embodiment of the present invention;

[0058] Figure 4 It is a schematic diagram of the geometric model of the suspension assembly according to an embodiment of the present invention;

[0059] Figure 5 Schematic diagram of a control method process according to an embodiment of the present invention. DETAILED DESCRIPTION

[0060] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0061] In order to facilitate understanding of the embodiments of the present invention, Figure 1 A suspension assembly structure applicable to the embodiment of the present invention is briefly described. Figure 1 The figure is a schematic diagram of the structure and simplified node model of the suspension assembly. The structural diagram of the suspension assembly shows the three hinge points between the bending arm, the swing arm and the oil cylinder, as well as the hinge point between the support device and the swing arm. Specifically, point O is the hinge point between the bending arm and the swing arm, point A is the hinge point between the upper earring of the oil cylinder and the bending arm, point B is the hinge point between the lower earring of the oil cylinder and the swing arm, and point C is the hinge point between the support device and the swing arm.

[0062] Figure 2 FIG. 1 is a schematic diagram of an embodiment of a load detection method for a supporting device of the present invention. Figure 2 , the load detection method of the support device includes:

[0063] Step S100, detecting the extension of the oil cylinder.

[0064] The elongation of the cylinder can be detected by arranging a displacement sensor on the cylinder.

[0065] Step S200, obtaining a force arm of the cylinder thrust on a first hinge point according to the elongation of the cylinder, wherein the first hinge point is a hinge point between a bending arm and a swing arm.

[0066] Figure 3 It is a schematic diagram of the geometric and mechanical model of the suspension assembly. Figure 1 and Figure 3 Point O in .

[0067] Alternatively, if Figure 3 , the lever arm of the cylinder thrust on the first hinge point is obtained according to the elongation of the cylinder, including the following first formula:

[0068]

[0069]

[0070] L AB =M+ΔL

[0071] Among them, L A Refers to the length of the bending arm, L B Refers to the length of the swing arm, L AB Refers to the maximum length of the cylinder side, L HB Refers to the direction of the force arm of the cylinder thrust on the first hinge point and L AB The intersection point (i.e. Figure 3 The distance between the H point in the figure and the second hinge point, the second hinge point refers to the hinge point between the lower earring of the cylinder and the swing arm (i.e. Figure 3 ), h refers to the force arm of the cylinder thrust on the first hinge point, ΔL is the elongation of the cylinder, and M is the length of the cylinder when it is not extended.

[0072] Step S300: obtaining a lever arm of the supporting force of the supporting device on the first hinge point according to the elongation of the oil cylinder.

[0073] Specifically, the length of the swing arm and the angle formed by the swing arm and the force arm direction of the support force of the support device to the first hinge point are obtained, wherein the angle is calculated based on the elongation of the oil cylinder; according to the cosine theorem, the length and angle of the swing arm are combined to generate the force arm of the support force of the support device to the first hinge point. The calculation formula is as follows: The second formula:

[0074]

[0075]

[0076]

[0077] Among them, Figure 3 and 4, L refers to the arm of force of the support device to the first hinge point, a1 is the angle between the bending arm and the arm direction of the cylinder thrust to the first hinge point, a2 is the angle between the swing arm and the arm direction of the cylinder thrust to the first hinge point, θ is the angle between the bending arm and the vertical line of the arm direction of the support device support force to the first hinge point. Figure 3 , β=|α1+α2-90°+θ|.

[0078] Step S400, obtaining the cylinder thrust.

[0079] Obtain the pressure of the cylinder rod chamber, the pressure of the cylinder rodless chamber, the cylinder oil diameter and the cylinder rod diameter, and use the following formula to calculate the cylinder thrust:

[0080]

[0081] Among them, F B It refers to the thrust of the cylinder, P1 refers to the pressure of the cylinder rod chamber, d1 refers to the cylinder oil diameter, P2 refers to the pressure of the cylinder rodless chamber, and d2 refers to the cylinder rod diameter.

[0082] Step S500, obtaining the supporting force of the supporting device according to the moment balance of the first hinge point, combining the arm of the supporting force of the supporting device on the first hinge point, the arm of the cylinder thrust on the first hinge point and the cylinder thrust.

[0083] According to the moment balance of the first hinge point, it can be obtained that: the arm of the support force of the support device on the first hinge point×the support force of the support device=the arm of the cylinder thrust on the first hinge point×the cylinder thrust.

[0084] Further, the moment balance of the first hinge point, combined with the arm of the support force of the support device on the first hinge point, the arm of the cylinder thrust on the first hinge point and the cylinder thrust, to obtain the support force of the support device includes the following third formula:

[0085]

[0086] Wherein, F refers to the supporting force of the supporting device, F B It refers to the thrust of the cylinder, and g is the gravitational acceleration constant.

[0087] Step S600: generating a load of the supporting device according to the supporting force of the supporting device.

[0088] The pressure on the support device is measured by mass units (such as tons), that is, the load of the support device. Since the support force of the support device is equal to the gravity G, G = mg, we can get m = G / g, where g is the gravity constant and m is the mass in kg. It can be seen that the load of the support device is:

[0089]

[0090] This is the pressure value corresponding to one balancing cylinder. In some embodiments, one balancing cylinder corresponds to two legs / tires, that is, a single support device corresponds to two legs / tires. The pressure value of a single leg / tire is:

[0091] By detecting the elongation of the oil cylinder, the arm of the cylinder thrust on the first hinge point and the arm of the support force of the support device on the first hinge point are obtained based on the elongation of the oil cylinder, and then the load of the support device is obtained based on the moment balance of the first hinge point. It is possible to obtain the real-time load of the support device based on the actually measured elongation of the oil cylinder, without the need to use a force sensor to detect the load of the support mechanism, thereby ensuring the accuracy of the load detection of the support device, so as to facilitate the subsequent control of the load of the support device and ensure that the load of the support structure does not exceed the range required for safe construction.

[0092] Optionally, the length of the bending arm and the length of the swing arm are obtained by solving a hinge point position optimization selection model, and the hinge point position optimization selection model includes:

[0093] The objective function is:

[0094]

[0095] The constraints that are satisfied are:

[0096] h AC (α(m), β(n)) = L A (i0)sinα(m)-L C (k0)sinβ(n)

[0097]

[0098]

[0099]

[0100] L1≤L AB (α(m), β(n))≤L2

[0101] The value range of the model solution is:

[0102]

[0103]

[0104]

[0105]

[0106]

[0107] Among them, L A (i) is the length of the bending arm, L B (j) is the length of the swing arm, L C (k) is the length from the hinge point of the support device and the swing arm to the first hinge point, α(m) is the angle between the force arm direction of the support force of the support device to the first hinge point and the bending arm, β(n) is the angle between the force arm direction of the support force of the support device to the first hinge point and the swing arm, L AB (α(m), β(n)) is the side length of the cylinder, h AC (α(m), β(n)) is the vertical distance from the hinge point between the bending arm and the cylinder side to the hinge point between the supporting device and the swing arm, and H1, H2, L1, L2, L3, L4, L5, μ1, μ2, I, J, K, M, and N are preset constants.

[0108] Optionally, H1=1305; H2=970; L1 is the length of the cylinder when it is not extended, and L2 is the estimated maximum length of the cylinder; L3=1200; L4=950; L5=470; μ1=65°; μ2=-45°; I=30, J=30, K=30, M=20, N=75.

[0109] Among them, refer to Figure 3 and Figure 4 According to the force of the swing arm, the moment balance at point O is:

[0110] ∑M=FL-F B h=0

[0111]

[0112] Among them, F B is the cylinder thrust, F is the supporting force of the supporting device, L is the lever arm of the supporting force of the supporting device to the first hinge point, and h is the lever arm of the cylinder thrust to the first hinge point.

[0113] L=L C cosβ

[0114]

[0115]

[0116] Available,

[0117]

[0118] Based on the above analysis, the optimal selection problem of the hinge position of the suspension assembly can be described as:

[0119] f B →Optimum[L A (i), L B (j), L C (k), α(m), β(n)]

[0120] Where: L A (i), L B (j), L C (k), α(m), β(n) represent the parameters used to describe the target L A , L B , L C , sub-objective functions of α, β.

[0121] In order to facilitate the solution of the model, L A (i), L B (j), L C The sub-objective functions of (k), α(m), and β(n) are discretized reasonably, so the hinge point location optimization selection model is established as follows:

[0122] There exists a set of hinge point location selection schemes (i.e., the range of model solutions mentioned above) X = [L A (i), L B (j), L C (k), α(m), β(n)],

[0123] Find the optimal solution X * =[L A (i) * , L B (j) * , L C (k) * , α(m) * , β(n) * ].

[0124] The optimization design model of the three hinge positions of the suspension assembly is solved by combining VB visual language programming to obtain the length of the bending arm, the length of the swing arm, and the length from the hinge point of the support device and the swing arm to the first hinge point. The corresponding suspension assembly is designed according to the length, and the load detection method of the support device described in an embodiment of the present invention is used to detect the load of the suspension assembly. Among them, in the actual construction process, α and α change with the elongation of the cylinder, so it is necessary to combine the elongation of the cylinder. According to the actual requirements of the allowable bearing capacity of the support device, with the minimum force on the suspension hydraulic cylinder in the suspension assembly as the goal and the space size as the constraint, a mathematical model is established to solve the three hinges between the bending arm, the swing arm, and the cylinder, and the optimal relative position of the hinge connecting the swing arm and the support device (such as the axle), forming a systematic calculation scheme. While realizing the optimization design of the suspension assembly, data preparation and data support are performed for the subsequent support device load calculation, thereby forming a systematic solution and improving reliability.

[0125] In one embodiment of the present invention, the control method includes:

[0126] Determine the real-time load of the support device according to the load detection method described above; obtain the set load range, and compare the real-time load with the set load range; when the real-time load is higher than the set load range, control the return oil of the balancing cylinder until the real-time load of the support device reaches the set load range. Here, the proportional amplifier can directly control the return oil of the balancing cylinder to achieve pressure relief; when the real-time load is lower than the set load range, control the oil inlet of the balancing cylinder to increase the load of the balancing cylinder to the set load range. Specifically, the controller controls the proportional amplifier to output a current of appropriate size, controls the oil inlet of the balancing cylinder, and increases the load of the balancing cylinder to the set load range. At the same time, the output current of the proportional amplifier is appropriately set so that the oil inlet and return of the balancing cylinder reach a dynamic balance, so that the adjustment range of the equipment support load is smaller. Repeat the above control method until the support loads of the outriggers are all within the set load range, thereby achieving control of the outrigger load.

[0127] By using the load detection method of the support device based on the embodiment of the present invention, the real-time load of the support device is determined and compared with the set load range. When the real-time load is higher than the set load range, the balancing cylinder is controlled to return oil until the real-time load of the support device reaches the set load range, thereby realizing automatic adjustment of the load of the support device so that it is always within the safe load-bearing range, solving the safety hazard of the support structure due to the limited load-bearing capacity during the construction process, and being able to effectively and quickly respond to the change of the support load, ensuring the safety of construction and improving construction efficiency.

[0128] In an alternative embodiment, if Figure 5 , the control method further includes:

[0129] The extension of the oil cylinder is detected, and whether the oil cylinder is fully extended or fully retracted is determined according to the extension of the oil cylinder. The detected extension of the oil cylinder can be compared with the maximum extension of the oil cylinder. If the former is equal to the latter, it is determined that the oil cylinder is fully extended, and if the former is less than the latter, it is determined that the oil cylinder is not fully extended.

[0130] If the oil cylinder is neither fully extended nor fully retracted, the adaptive pressure balancing load distribution mode is entered, and the step of determining the real-time load of the support device according to the load detection method as described above is specifically performed. Wherein, when the oil cylinder is not fully extended, the step of determining the real-time load of the support device according to the load detection method as described above and the subsequent steps are performed to adaptively adjust the load of the support device.

[0131] If the cylinder is fully extended or fully retracted, the active support load adjustment mode is entered to allow manual control of the extension and retraction of the balancing cylinder to adjust the load of the support device. In the active support load adjustment mode, the operator manually selects the corresponding support device to control the extension and retraction of the balancing cylinder to adjust the support load.

[0132] By setting the adaptive pressure-balanced load distribution mode and the active adjustment support load mode, the appropriate control mode is automatically determined according to the extension state of the cylinder, and the reliability of use is high.

[0133] In one embodiment, the control method further includes:

[0134] After the mode selection instruction is detected, the selected control mode is obtained, and the support load control is performed in the selected control mode, wherein the control mode is one of an adaptive pressure balanced load distribution mode and an active support load adjustment mode.

[0135] By setting two control modes, the active support load adjustment mode can adjust the support load of the equipment when the adaptive pressure balanced load distribution mode fails. When one control mode fails, the other control mode can be used to ensure the safety and normal operation of the equipment.

[0136] In one embodiment of the present invention, the load detection device of the support device includes a computer-readable storage medium storing a computer program and a processor. When the computer program is read and executed by the processor, the load detection method of the support device described above or the control method described above is implemented. The load detection device of the support device of the present invention has the same beneficial effects as the load detection method of the support device or the control method described above relative to the prior art, and will not be described in detail here.

[0137] Optionally, the load detection control device also includes a pull rod type linear displacement sensor.

[0138] Specifically, the fixed end of the pull rod type linear displacement sensor is installed on the cylinder barrel, and the pull rod end of the sensor is installed on the tail end of the piston rod (attached Figure 1 The sensor is installed in the AB direction and horizontally with the extension direction of the hydraulic cylinder. When the cylinder is extended or retracted, the sensor rod will move, thereby measuring the extension and retraction of the cylinder in real time.

[0139] By setting up a pull rod type linear displacement sensor, the rigid pull rod structure prevents inaccurate data due to accidental touch and collision. The cylinder length detection is reliable, convenient and stable, and the equipment has a wide applicable working range.

[0140] Optionally, the load detection control device further comprises a proportional amplifier, which is adapted to the hydraulic proportional control valve and is used to accurately control the oil inlet and oil return of the balancing oil cylinder.

[0141] In one embodiment of the present invention, the engineering machinery includes the load detection control device as described above, and the beneficial effects thereof relative to the prior art are consistent with those of the load detection device of the supporting device, which will not be described in detail here.

[0142] The reader should understand that in the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "examples", "specific examples" or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine different embodiments or examples described in this specification and the features of different embodiments or examples without contradiction.

[0143] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A load detection method for a supporting device, characterized in that: include: Detect the elongation of the cylinder; According to the elongation of the oil cylinder, a force arm of the oil cylinder thrust on the first hinge point is obtained, wherein the first hinge point is the hinge point of the bending arm and the swing arm; According to the elongation of the oil cylinder, a lever arm of the supporting force of the supporting device on the first hinge point is obtained; Get the cylinder thrust; According to the moment balance of the first hinge point, the support force of the support device is obtained by combining the arm of the support force of the support device on the first hinge point, the arm of the cylinder thrust on the first hinge point and the cylinder thrust; generating a load of the supporting device according to the supporting force of the supporting device; The method of obtaining the force arm of the cylinder thrust on the first hinge point according to the elongation of the cylinder includes the following first formula: in, L A refers to the length of the curved arm, L B refers to the length of the swing arm, L AB Refers to the maximum length of the cylinder side. L HB Refers to the direction of the force arm of the cylinder thrust on the first hinge point and L AB The distance between the intersection of the cylinder and the second hinge point, the second hinge point refers to the hinge point between the lower earring of the cylinder and the swing arm, h Refers to the force arm of the cylinder thrust on the first hinge point, △L is the extension of the cylinder, M It is the length of the cylinder when it is not extended; The method for obtaining the force arm of the supporting force of the supporting device on the first hinge point according to the elongation of the oil cylinder includes the following second formula: in, L It refers to the arm of force of the supporting device to the first hinge point, α1 is the angle between the bending arm and the force arm direction of the cylinder thrust to the first hinge point, α2 is the angle between the swing arm and the force arm direction of the cylinder thrust to the first hinge point, θ is the angle between the curved arm and the perpendicular line of the force arm direction of the supporting force of the supporting device to the first hinge point; The moment balance of the first hinge point, combined with the arm of the support force of the support device on the first hinge point, the arm of the cylinder thrust on the first hinge point and the cylinder thrust, to obtain the support force of the support device includes the following third formula: in, F refers to the supporting force of the supporting device, F B Refers to the thrust of the cylinder.

2. The load detection method of the supporting device according to claim 1, characterized in that: The length of the bending arm and the length of the swing arm are obtained by solving a hinge point position optimization selection model, and the hinge point position optimization selection model includes: The objective function is: The constraints that are satisfied are: The value range of the model solution is: in, L A （i） is the length of the bending arm, L B （j） is the length of the swing arm, L C （k） is the length from the hinge point between the support device and the swing arm to the first hinge point, α（m） is the angle between the force arm direction of the supporting force of the supporting device on the first hinge point and the bending arm, β（n） is the angle between the force arm direction of the supporting force of the supporting device on the first hinge point and the swing arm, L AB (α(m), β(n)) is the side length of the cylinder, h AC (α(m), β(n)) is the vertical distance from the hinge point between the bending arm and the cylinder side to the hinge point between the supporting device and the swing arm, H 1. H 2. L 1. L 2. L 3. L 4. L 5. μ 1. μ 2. I, J, K, M, N are preset constants.

3. A control method, characterized in that: include: Determine the real-time load of the support device according to the load detection method according to any one of claims 1 to 2; Acquire a set load range, and compare the real-time load with the set load range; When the real-time load is higher than the set load range, the balancing cylinder is controlled to return oil until the real-time load of the supporting device reaches the set load range.

4. The control method according to claim 3, characterized in that: Also includes: Detecting the extension of the oil cylinder, and judging whether the oil cylinder is fully extended or fully retracted according to the extension of the oil cylinder; If the cylinder is neither fully extended nor fully retracted, the step of determining the real-time load of the supporting device according to the load detection method according to any one of claims 1 to 2 is performed; If the oil cylinder is fully extended or fully retracted, the active support load adjustment mode is entered to allow manual adjustment of the load of the support device.

5. A load detection control device, characterized in that: It comprises a computer-readable storage medium storing a computer program and a processor, wherein when the computer program is read and executed by the processor, the load detection method for the supporting device according to any one of claims 1 to 2 or the control method according to claim 3 or 4 is implemented.

6. The load detection control device according to claim 5, characterized in that: The load detection control device also includes a pull rod type linear displacement sensor.

7. An engineering machine, characterized in that: Comprising the load detection control device as described in claim 5 or 6.

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