Control method of landing leg of crane and crane

Abstract

The invention provides a control method for supporting legs of a crane and the crane, the control method for the supporting legs of the crane is used for controlling a plurality of supporting legs of the crane, and the control method comprises the steps that the supporting distance Hi from each supporting piece to the ground is obtained; the maximum value of the multiple supporting distances is obtained and set as the maximum distance Hmax, one supporting piece corresponding to the maximum distance Hmax is a calibration supporting piece, and the other supporting pieces are adjusting supporting pieces; setting a preset moving speed Ve of the calibration supporting piece; according to the relation between the supporting distance Hi between each adjusting supporting piece and the ground and the maximum distance Hmax and the preset moving speed Ve, the actual moving speed Vi of each adjusting supporting piece is obtained; and each adjusting supporting piece is controlled to move downwards at the actual moving speed Vi. According to the technical scheme, the problem that the overturning risk of the crane is large when the crane is supported on the inclined plane in the prior art is effectively solved.

Description

Technical Field

[0001] The present invention relates to the technical field of crane control methods, and in particular to a method for controlling a crane leg and the crane. Background Art

[0002] Railway cranes are used for accident rescue and cargo loading and unloading along railway lines. Before they can begin operations, they must deploy their outriggers. Currently, this process requires the coordinated efforts of multiple personnel to ensure the crane body is level and the unloaded bogie is elevated to a certain height above the track surface. This process is time-consuming and requires a high level of coordination and collaboration.

[0003] When a crane is placed on a sloping area, if one outrigger is deployed first, the levelness of the vehicle body will be poor, that is, the vehicle body will tilt, which will lead to a greater risk of the vehicle body overturning, that is, the risk of the crane overturning will be greater. Summary of the Invention

[0004] The main purpose of the present invention is to provide a method for controlling the outriggers of a crane and a crane, so as to solve the problem in the related art that when a crane is supported on an inclined surface, the crane has a high risk of overturning.

[0005] To achieve the above object, according to one aspect of the present invention, a method for controlling a crane's outriggers is provided, for controlling a plurality of crane's outriggers. The method comprises:

[0006] Controlling the multiple legs to be in an outward swing position and making the support member of each leg in an initial position;

[0007] Get the support distance H of each support from the ground i ;

[0008] Get the maximum value among multiple support distances and set it as the maximum distance H max , and the maximum distance H max One corresponding support member is a calibration support member, and the remaining support members are adjustment support members;

[0009] Set the preset moving speed V of the calibration support e ;

[0010] Adjust the support distance H between each support and the ground i With the maximum distance H max The relationship between the preset moving speed V e Get the actual moving speed V of each adjustment support i ;

[0011] Control the calibration support to move at a preset speed V e Move downward and control each adjustment support to move at the actual speed Vi Move downwards;

[0012] Control and calibrate the actual moving distance of the support and the maximum distance H max When they are equal, all supporting parts are controlled to stop moving.

[0013] Furthermore, the actual moving speed V i Satisfies the following formula: Here, the value of i is a positive integer greater than or equal to 2.

[0014] Furthermore, after controlling all the support members to stop moving, the control method further includes: adjusting the tilt state of the crane body, and the step of adjusting the tilt state of the crane body includes:

[0015] Obtain a first inclination angle value and a second inclination angle value of a crane body;

[0016] Obtaining a further movement amount of each support member according to a difference between the first inclination angle value and the first preset inclination angle value and a difference between the second inclination angle value and the second preset inclination angle value;

[0017] Each support member is moved according to the continued movement amount of each support member to adjust the tilt state of the crane body.

[0018] Furthermore, the step of obtaining the further movement amount of each support member according to the difference between the first inclination value and the first preset inclination value and the difference between the second inclination value and the second preset inclination value includes:

[0019] When the first inclination angle value is greater than or equal to the first preset inclination angle value, and / or the second inclination angle value is greater than or equal to the second preset inclination angle value, the continued movement amount of each support member is obtained;

[0020] When the first inclination angle value is less than the first preset inclination angle value and the second inclination angle value is less than the second preset inclination angle value, the continued movement amount of each support member is zero;

[0021] The first tilt angle is the front-to-rear tilt angle of the vehicle body, and the second tilt angle is the left-to-right tilt angle of the vehicle body.

[0022] Furthermore, after the step of moving each support member according to the continued movement amount of each support member, the control method further includes: adjusting the support pressure state of the crane body, and the step of adjusting the support pressure state of the crane body includes:

[0023] Get the initial driving pressure value P of each driving cylinder i ;

[0024] According to the initial driving pressure value P i The difference between the pressure and the preset pressure value is used to obtain the pressure adjustment amount of each driving cylinder;

[0025] Each driving cylinder is controlled according to the pressure adjustment amount of each driving cylinder to adjust the supporting pressure state of the crane car body.

[0026] Further, when at least one of the multiple initial driving pressure values ​​is less than a preset pressure value, a pressure adjustment amount of each driving cylinder is obtained;

[0027] When multiple initial driving pressure values ​​P i When the values ​​of are greater than or equal to the preset pressure value, the pressure adjustment amount of each driving cylinder is zero.

[0028] Furthermore, the step of obtaining the first inclination angle value and the second inclination angle value of the crane body includes:

[0029] The first inclination value and the second inclination value are obtained by measuring a horizontal inclination detection device arranged on the vehicle body.

[0030] Furthermore, the support distance H between each support member and the ground is obtained. i The steps include:

[0031] The distance between each leg and the ground is measured by the distance sensor of each leg to obtain the support distance H i .

[0032] Furthermore, the step of controlling the plurality of legs to be in the outward swing position includes:

[0033] Get the lateral span of the outrigger;

[0034] The movement of the plurality of legs is controlled according to the lateral span of the legs so that the legs are in an outward swing position.

[0035] According to another aspect of the present invention, a crane is provided, which is controlled by the above-mentioned control method. The crane includes: a car body and a plurality of legs, and the plurality of legs are arranged at intervals on the periphery of the car body; each leg includes: a support member, which is movably arranged in a vertical direction; a drive cylinder, which includes a cylinder body and a rod body telescopically arranged in the cylinder body, the cylinder body is connected to the car body, and the rod body is driven and cooperated with the support member; and a distance sensor, which is arranged on the cylinder body.

[0036] When applying the technical solution of the present invention to control the multiple legs of a crane, the multiple legs are first placed in the outward swing position, and the support members of each leg are placed in the initial position, which facilitates the subsequent movement of the support members. Obtain the support distance H of each support member from the ground i , which is convenient for determining the maximum distance between multiple supports and the ground, that is, the maximum distance H max, determine the moving distance of the calibration support, and the support distance H between each adjustment support and the ground i With the maximum distance H max The relationship between the preset moving speed V e , determine the actual moving speed of each adjustment support. Then calibrate the support to be able to move at the preset speed V e Moving downward, each adjustment support can move at an actual speed V i Move downward, that is, so that the support distance H between the support and the ground can be adjusted according to each i By determining the movement speed of each adjustable support member, when the area of ​​the ground on which the crane is located is tilted, the movement speed of each adjustable support member can be adjusted according to its location, making the crane more stable during the support process of the crane's outriggers and reducing the risk of the crane tipping over. The crane of this embodiment can also be deployed on ground with less elevation variation, that is, the crane of this embodiment can be adapted to a wider range of regions, making the crane more adaptable. Therefore, the technical solution of this application effectively solves the problem in related arts that cranes have a high risk of tipping over when supported on an inclined surface. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The accompanying drawings, which constitute part of this application, are intended to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are intended to explain the present invention and do not constitute an undue limitation of the present invention. In the accompanying drawings:

[0038] Figure 1 A schematic flow chart showing an embodiment of a method for controlling a crane leg according to the present invention is shown;

[0039] Figure 2 Shown Figure 1 A flow chart of step S80 of a method for controlling the outriggers of a crane;

[0040] Figure 3 Shown Figure 1 A flow chart of step S90 of a method for controlling the outriggers of a crane;

[0041] Figure 4 Shown Figure 1 A schematic diagram of the overall flow of a method for controlling the outriggers of a crane;

[0042] Figure 5 shows a schematic front view of an embodiment of a crane according to the present invention;

[0043] Figure 6 Shown Figure 4 A schematic top view of a crane;

[0044] Figure 7 Shown Figure 4 A schematic cross-sectional view of a driving cylinder of a crane;

[0045] Figure 8 Shown Figure 4 Schematic diagram of the cross-sectional structure of the crane's leg spreading cylinder;

[0046] Figure 9 Shown Figure 4 Schematic diagram of the relative positions of the crane body and multiple support members.

[0047] The above drawings include the following reference numerals:

[0048] 10. Support leg; 11. Support member; 111. First support member; 112. Second support member; 113. Third support member; 114. Fourth support member; 12. Drive cylinder; 121. Cylinder body; 122. Rod body; 13. Distance sensor; 14. Leg extension cylinder;

[0049] 20. Vehicle body;

[0050] 30. Horizontal inclination detection device;

[0051] 40. Controller. DETAILED DESCRIPTION

[0052] The following will be combined with the accompanying drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, rather than all the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is in no way intended to limit the present invention and its application or use. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0053] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of features, steps, operations, devices, components and / or combinations thereof.

[0054] Unless otherwise specifically stated, the relative arrangement of the parts and steps, numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present invention. At the same time, it should be understood that, for ease of description, the sizes of the various parts shown in the accompanying drawings are not drawn according to actual proportional relationships. The technology, methods and equipment known to those of ordinary skill in the relevant art may not be discussed in detail, but in appropriate cases, the technology, methods and equipment should be considered as a part of the specification. In all examples shown and discussed here, any specific value should be interpreted as being merely exemplary, rather than as a limitation. Therefore, other examples of the exemplary embodiments can have different values. It should be noted that similar numbers and letters represent similar items in the following drawings, and therefore, once an item is defined in an accompanying drawing, it does not need to be further discussed in subsequent drawings.

[0055] like Figure 1 and Figure 4 As shown, the control method of the crane legs of this embodiment is used to control multiple legs 10 of the crane. The control method includes:

[0056] Step S10: controlling the multiple legs 10 to be in an outward swing position, and making the support member 11 of each leg 10 be in an initial position;

[0057] Step S20: Obtain the support distance H between each support member 11 and the ground i ;

[0058] Step S30: Get the maximum value among multiple support distances and set it as the maximum distance H max , and the maximum distance H max A corresponding support member 11 is a calibration support member 11 , and the remaining support members 11 are adjustment support members 11 ;

[0059] Step S40: Setting the preset moving speed V of the calibration support 11 e ;

[0060] Step S50: Adjust the support distance H between each support member 11 and the ground according to i With the maximum distance H max The relationship between the preset moving speed V e Get the actual moving speed V of each adjustment support 11 i ;

[0061] Step S60: Control the calibration support 11 to move at a preset speed V e Move downward, and control each adjustment support 11 to move at an actual speed V i Move downwards;

[0062] Step S70: Control and calibrate the actual moving distance of the support 11 and the maximum distance H max When they are equal, all the support members 11 are controlled to stop moving.

[0063] When controlling the multiple legs 10 of a crane using the technical solution of the present invention, the multiple legs 10 are first placed in an outward swing position, and the support member 11 of each leg 10 is placed in an initial position, which facilitates the subsequent movement of the support member 11. Obtain the support distance H of each support member 11 from the ground i This makes it easier to determine the maximum distance H between the multiple support members 11 and the ground. max , determine the moving distance of the calibration support 11, and adjust the support distance H between each support 11 and the ground according to i With the maximum distance H max The relationship between the preset moving speed V e , determine the actual moving speed of each adjustment support 11. Then calibrate the support 11 to be able to move at the preset speed V e Moving downward, each adjustment support 11 can move at an actual speed V i Move downward, that is, so that the support distance H between the support member 11 and the ground can be adjusted according to each i By determining the movement speed of each adjustable support member 11, when the area of ​​the ground on which the crane is located is tilted, the movement speed of each adjustable support member 11 can be adjusted according to its location, thereby ensuring greater stability during the support process of the crane's outriggers 10 and reducing the risk of the crane tipping over. The crane of this embodiment can also be adapted to be deployed on ground with relatively small elevation variations, that is, the crane of this embodiment can be adapted to a wider range of regions, making the crane more adaptable. Therefore, the technical solution of this application effectively solves the problem in related art of the high risk of crane tipping over when supported on an inclined surface.

[0064] It should be noted that the distances between different support members 11 and the ground are not necessarily the same.

[0065] In this embodiment, the actual moving speed V i Satisfies the following formula:

[0066]

[0067] Here, the value of i is a positive integer greater than or equal to 2.

[0068] Through the above-mentioned setting, the support distance H between the support member 11 and the ground can be adjusted according to each i With H max The relationship between the actual moving speed V of each adjustment support 11 is obtainedi .

[0069] like Figure 1 and Figure 2 As shown, in this embodiment, after step S70: controlling all the support members 11 to stop moving, the control method further includes: step S80: adjusting the tilt state of the crane body 20. Step S80: adjusting the tilt state of the crane body 20 includes:

[0070] Step S81: Acquire a first inclination angle value and a second inclination angle value of the crane body 20;

[0071] Step S82: Obtaining the further movement amount of each support member 11 according to the difference between the first inclination value and the first preset inclination value and the difference between the second inclination value and the second preset inclination value;

[0072] Step S83: moving each support member 11 according to the continued movement amount of each support member 11 to adjust the tilt state of the crane body 20.

[0073] Through the above-mentioned setting, after obtaining the first inclination value and the second inclination value of the vehicle body 20, the continued movement amount of each support member 11 can be determined according to the difference relationship between the first inclination value and the first preset inclination value and according to the relationship between the second inclination value and the second preset inclination value, and then each support member 11 can be moved according to each continued movement amount to achieve adjustment of the tilt state of the vehicle body 20.

[0074] It should be noted that the first preset inclination angle value is 0.5°, and the second preset inclination angle value is 0.5°.

[0075] It should be noted that the continued movement amount is greater than or equal to 0.

[0076] In this embodiment, step S82: obtaining the further movement amount of each support member 11 according to the difference between the first inclination value and the first preset inclination value and the difference between the second inclination value and the second preset inclination value includes:

[0077] Step S821: when the first inclination angle value is greater than or equal to the first preset inclination angle value, and / or the second inclination angle value is greater than or equal to the second preset inclination angle value, obtaining the further movement amount of each support member 11;

[0078] Step S822: when the first inclination angle value is less than the first preset inclination angle value and the second inclination angle value is less than the second preset inclination angle value, the continued movement amount of each support member 11 is zero;

[0079] The first tilt angle value is the front-rear tilt angle of the vehicle body 20 , and the second tilt angle value is the left-right tilt angle of the vehicle body 20 .

[0080] Through the above configuration, only when the first inclination angle value is less than the first preset inclination angle value and the second inclination angle value is less than the second preset inclination angle value, the further movement amount of each support member 11 is 0, that is, the support member 11 no longer moves and the tilt state of the vehicle body 20 meets the requirements. Otherwise, the further movement amount of the support member 11 needs to be obtained so that the support member 11 continues to move. This makes it possible to adjust each support member 11 according to the first inclination angle value and the second inclination angle value to adjust the tilt state of the vehicle body 20.

[0081] Step S821: When the first inclination angle value is greater than or equal to the first preset inclination angle value, and / or the second inclination angle value is greater than or equal to the second preset inclination angle value, the step of obtaining the further movement amount of each support member 11 includes:

[0082] Determining whether the front side of the vehicle body 20 is higher than the rear side of the vehicle body 20 according to the value of the first inclination angle and the value of the second inclination angle;

[0083] When the front side of the vehicle body 20 is higher than the rear side of the vehicle body 20, the amount of further movement of at least one support member 11 located at the rear side of the vehicle body 20 is determined. After the support member 11 moves, the step of adjusting the inclination angle of the vehicle body 20 of the crane is performed. Otherwise, it is determined whether the rear side of the vehicle body 20 is higher than the front side of the vehicle body 20.

[0084] When the rear side of the vehicle body 20 is higher than the front side of the vehicle body 20, at least one support member 11 located at the front side of the vehicle body 20 continues to move. After the support member 11 moves, the step of adjusting the tilt angle of the vehicle body 20 of the crane is performed. Otherwise, it is determined whether the left side of the vehicle body 20 is higher than the right side of the vehicle body 20.

[0085] When the left side of the vehicle body 20 is higher than the right side of the vehicle body 20, the at least one support member 11 located on the right side of the vehicle body 20 continues to move. After the support member 11 moves, the step of adjusting the tilt angle of the vehicle body 20 of the crane is performed. Otherwise, it is determined whether the right side of the vehicle body 20 is higher than the left side of the vehicle body 20.

[0086] When the right side of the vehicle body 20 is higher than the left side of the vehicle body 20, the at least one support member 11 located on the left side of the vehicle body 20 continues to move. After the support member 11 moves, the step of adjusting the tilt angle of the vehicle body 20 of the crane is performed. Otherwise, it is determined whether the left front side of the vehicle body 20 is higher than the right rear side of the vehicle body 20.

[0087] When the left front side of the vehicle body 20 is higher than the right rear side of the vehicle body 20, the at least one support member 11 located at the right rear side of the vehicle body 20 continues to move. After the support member 11 moves, the step of adjusting the tilt angle of the vehicle body 20 of the crane is performed. Otherwise, it is determined whether the left rear side of the vehicle body 20 is higher than the right front side of the vehicle body 20.

[0088] When the left rear side of the vehicle body 20 is higher than the right front side of the vehicle body 20, the at least one support member 11 located at the right rear side of the vehicle body 20 continues to move. After the support member 11 moves, the step of adjusting the tilt angle of the vehicle body 20 of the crane is performed. Otherwise, it is determined whether the right front side of the vehicle body 20 is higher than the left rear side of the vehicle body 20.

[0089] When the right front side of the vehicle body 20 is higher than the left rear side of the vehicle body 20, the at least one support member 11 located on the left rear side of the vehicle body 20 continues to move. After the support member 11 moves, the step of adjusting the tilt angle of the vehicle body 20 of the crane is performed. Otherwise, it is determined that the right rear side of the vehicle body 20 is higher than the left front side of the vehicle body 20.

[0090] When the right rear side of the car body 20 is higher than the left front side of the car body 20, at least one support member 11 located on the left rear side of the car body 20 continues to move. After the support member 11 moves, the step of adjusting the inclination angle of the car body 20 of the crane is performed.

[0091] Through the above-mentioned setting, it is possible to determine the side of the vehicle body 20 with a higher height, and then make targeted adjustments, that is, the support member 11 on the side opposite to the side with a higher height of the vehicle body 20 can continue to move downward. For example: if the front side of the vehicle body 20 is higher, the support member 11 located at the rear side of the vehicle body 20 will continue to move downward, thereby supporting the vehicle body 20 and adjusting the tilt state of the vehicle body 20.

[0092] It should be noted that if Figure 9 As shown, in this embodiment, the support members 11 include four, namely a first support member 111, a second support member 112, a third support member 113, and a fourth support member 114. The first support member 111 is arranged on the right front side of the vehicle body 20, the second support member 112 is arranged on the left front side of the vehicle body 20, the third support member 113 is arranged on the right rear side of the vehicle body 20, and the fourth support member 114 is arranged on the left rear side of the vehicle body 20.

[0093] like Figure 1 and Figure 3 As shown, in this embodiment, after step S83: moving each support member 11 according to the continued movement amount of each support member 11, the control method further includes: step S90: adjusting the support pressure state of the crane car body 20. Step S90: adjusting the support pressure state of the crane car body 20 includes:

[0094] Step S91: Obtain the initial driving pressure value P of each driving cylinder 12 i ;

[0095] Step S92: According to the initial driving pressure value P i The difference between the pressure value and the preset pressure value is used to obtain the pressure adjustment amount of each driving cylinder 12;

[0096] Step S93: Control each driving cylinder 12 according to the pressure adjustment amount of each driving cylinder 12 to adjust the supporting pressure state of the car body 20 of the crane.

[0097] The above arrangement not only allows the vehicle body 20 to achieve an optimal tilt state, but also allows each support member 11 to more closely contact the ground support structure when adjusting the pressure state of the vehicle body 20, thereby enabling the multiple support members 11 to more effectively support the vehicle body 20. The pressure adjustment amount of each drive cylinder 12 is determined by the difference between the initial drive pressure value of the drive cylinder 12 and the preset pressure value. Each drive cylinder 12 can then be controlled based on the pressure adjustment amount. Furthermore, the controller 40 can determine the movement distance of the support member 11 based on the pressure adjustment amount, thereby adjusting the support pressure state of the vehicle body 20.

[0098] It should be noted that the pressure adjustment amount can be 0.

[0099] Step S91: Obtain the initial driving pressure value P of each driving cylinder 12 i The steps include:

[0100] The pressure of each driving cylinder 12 is measured by the pressure sensor on each driving cylinder 12, and then each initial driving pressure value P is obtained. i .

[0101] Through the above arrangement, the pressure in each driving rod can be obtained.

[0102] In this embodiment, step S92: according to the initial driving pressure value P i The step of obtaining the pressure adjustment amount of each driving cylinder 12 based on the difference between the pressure value and the preset pressure value includes:

[0103] Step S921: when at least one of the multiple initial driving pressure values ​​is less than a preset pressure value, obtaining a pressure adjustment value of each driving cylinder 12;

[0104] Step S922: When multiple initial driving pressure values ​​P i When the values ​​of are greater than or equal to the preset pressure value, the pressure adjustment amount of each driving cylinder 12 is zero.

[0105] Through the above settings, the pressure adjustment amount of each support member 11 can be determined according to the relationship between the initial driving pressure value and the preset pressure value. i When the values ​​of are greater than or equal to the preset pressure value, the pressure adjustment amount of each driving cylinder 12 is 0, that is, all the supporting members 11 no longer move.

[0106] Step S921: When at least one of the multiple initial driving pressure values ​​is less than the preset pressure value, the step of obtaining the pressure adjustment amount of each driving cylinder 12 includes:

[0107] It is determined in turn whether the initial pressure value of each driving cylinder 12 is less than the preset pressure value. When it is determined for the first time that the initial driving pressure value of a driving cylinder 12 is less than the preset pressure value, the pressure adjustment amount of the driving cylinder 12 is determined, and the pressure adjustment amounts of the remaining driving cylinders 12 are all zero.

[0108] Through the above settings, the initial pressure value of each driving cylinder 12 can be compared with the preset pressure value, and then the pressure adjustment amount of each driving cylinder 12 can be determined according to the relationship between the initial pressure value of each driving cylinder 12 and the preset pressure value.

[0109] Step S93: The step of controlling each driving cylinder 12 according to the pressure adjustment amount of each driving cylinder 12 includes:

[0110] Step S931: Obtain the moving distance of each support member 11 according to the pressure adjustment amount of each driving cylinder 12, and control the driving cylinder 12 to drive the support member 11 corresponding to the driving cylinder 12 to move downward.

[0111] Through the above-mentioned setting, the moving distance of each support member 11 can be obtained according to the pressure adjustment amount of the driving cylinder 12, and then the support member 11 can move downward under the drive of the driving cylinder 12, so as to finally achieve that the initial driving pressure value of each driving cylinder 12 is greater than or equal to the preset pressure value.

[0112] It should be noted that the preset pressure value is 4 MPa.

[0113] In this embodiment, step S81: obtaining the first inclination value and the second inclination value of the crane body 20 includes:

[0114] Step S811 : obtaining a first inclination value and a second inclination value through measurement by the horizontal inclination detection device 30 provided on the vehicle body 20 .

[0115] Through the above configuration, the first inclination value and the second inclination value can be obtained according to the measurement of the horizontal inclination detection device 30 .

[0116] In this embodiment, the support distance H between each support member 11 and the ground is obtained. i The steps include:

[0117] The distance between each leg 10 and the ground is measured by the distance sensor 13 of each leg 10 to obtain the support distance H. i .

[0118] Through the above arrangement, the distance between the supporting leg 10 and the ground can be obtained according to the measurement of each distance sensor 13 .

[0119] In this embodiment, step S20: controlling the plurality of legs 10 to be in the outward swing position includes:

[0120] Step S21: obtaining the lateral span of the support leg 10;

[0121] Step S22: controlling the movement of the plurality of legs 10 according to the lateral span of the legs 10 so that the legs 10 are in an outward swing position.

[0122] Through the above settings, after obtaining the span of the legs 10, the movement of each leg 10 can be controlled according to the span of the legs 10, so that the legs 10 can be placed in an outward swing position, which facilitates the subsequent movement of the support members 11 of the legs 10.

[0123] like Figures 5 to 8 As shown, the crane of this embodiment is controlled using the above-described control method. The crane includes a car body 20 and a plurality of outriggers. The plurality of outriggers are spaced apart on the periphery of the car body 20. Each outrigger includes a support member 11, a drive cylinder 12, and a distance sensor 13. The support member 11 is movably arranged in the vertical direction. The drive cylinder 12 includes a cylinder body 121 and a rod body 122 telescopically disposed within the cylinder body 121. The cylinder body 121 is connected to the car body 20, and the rod body 122 is driven in conjunction with the support member 11. The distance sensor 13 is disposed on the cylinder body 121. The drive cylinder 12 can drive the support member 11 to move. As the plurality of support members 11 move, they can support the crane and stabilize the crane's position. When the rod body 122 moves, it can also drive the support members 11. The distance sensor 13 can measure the support distance between the cylinder body 121 and the ground, making it easier to determine the actual movement speed of each support member 11 based on the support distance.

[0124] It should be noted that the support member 11 and the rod body 122 can be an integral structure, or of course, they can be a split structure, which can be processed separately and then connected.

[0125] The crane in this embodiment is a railway crane.

[0126] The crane of this embodiment can quickly complete the outrigger 10 support work before the crane rescue. Specifically, the present invention utilizes the adjustment of the support pressure state, the control of the movement distance of the support member 11, the adjustment of the leg span, and the adjustment of the tilt state of the vehicle body 20 to enable the crane to quickly extend and lock the outrigger 10 on a track with a certain inclination. It can also automatically extend the support member 11 to a specified length, lift the crane bogie off the track surface, and maintain the vehicle body 20 in a horizontal state, quickly completing the outrigger 10 support work before the crane operation.

[0127] The horizontal tilt angle detection device 30 is a dual-axis horizontal tilt angle sensor.

[0128] The railway crane further comprises an upper vehicle structure, a lifting arm arranged on the upper vehicle structure, a rotary joint arranged between an upper vehicle joint of the upper vehicle structure and a vehicle body 20 , a hand-electric integrated control valve and a controller 40 .

[0129] The manual and electric integrated control valve adopts a load-sensitive control valve. The flow rate passing through the manual and electric integrated control valve has nothing to do with the load, but is related to the size of the valve port opening. The valve port opening can be adjusted manually or remotely controlled by a solenoid valve.

[0130] The outrigger oil cylinder and the leg spreading oil cylinder 14 are both connected to the controller 40 via a hand-operated and electric-integrated control valve.

[0131] The driving cylinder 12 is a leg oil cylinder.

[0132] The outrigger oil cylinder includes a first cylinder barrel, a first cylinder bottom, a distance measuring sensor, a first piston rod, a first hydraulic lock, a first piston, a first magnetostrictive sensor and a pressure sensor.

[0133] The cylinder body 121 includes a first cylinder barrel and a first cylinder bottom connected to the first cylinder barrel, and the rod body 122 is a first piston rod.

[0134] The distance sensor 13 is a distance measuring sensor.

[0135] The leg extension cylinder 14 includes a second piston rod, a second cylinder barrel, a second hydraulic lock, a second piston, a second cylinder bottom and a second magnetostrictive sensor.

[0136] The crane further comprises a first hydraulic lock in communication with the outrigger cylinders and a second hydraulic lock in communication with the leg extension cylinders 14 .

[0137] The crane further includes a first hydraulic lock support and a second hydraulic lock support, wherein the first hydraulic lock support is arranged on the first cylinder barrel and the second hydraulic lock support is arranged on the second cylinder barrel. A pressure sensor is arranged on the first hydraulic lock and is in communication with the first hydraulic lock.

[0138] The first hydraulic lock is arranged on the first hydraulic lock support, and the second hydraulic lock is arranged on the second hydraulic lock support.

[0139] The vehicle body 20 includes an underframe, a mounting frame mounted on the underframe, and a bogie mounted below the vehicle body 20. The first end of the mounting frame is rotatably mounted on the underframe, and the outrigger cylinder is mounted on the second end of the mounting frame. The outrigger cylinder 14 is hingedly connected to the mounting frame to move the second end of the mounting frame toward or away from the underframe.

[0140] There are multiple mounting frames, and the multiple mounting frames are arranged in a one-to-one correspondence with the multiple supporting legs 10.

[0141] The mounting bracket is a leg support.

[0142] The leg extension cylinder 14 is rotatably arranged on the base frame, and the second piston rod of the leg extension cylinder 14 is hingedly connected to the middle part of the mounting frame, so that when the second piston rod is extended or retracted, the second piston rod can drive the mounting frame to rotate relative to the base frame, thereby driving the leg extension cylinder to move toward or away from the base frame.

[0143] The swivel joint includes a stator and a rotor. The stator is connected to the base frame by bolts, and the rotor is connected to the upper vehicle joint by bolts. When the upper vehicle structure drives the rotor of the swivel joint to rotate relative to the base frame, the hydraulic oil in the upper vehicle structure can be transferred to the support leg cylinder and the leg extension cylinder 14 installed on the base frame through the swivel joint.

[0144] The controller 40 is fixed to the upper vehicle structure by bolts, and controls the outrigger cylinder and the outrigger cylinder 14 by providing data through the distance sensor 13 installed on the outrigger cylinder, the second magnetostrictive sensor installed on the leg-spreading cylinder 14, the pressure sensor installed on the outrigger cylinder, and the horizontal inclination detection device 30 fixed on the chassis.

[0145] The manual and electric integrated control valve is fixed to the end of the base frame by bolt connection. The manual and electric integrated control valve adopts a load-sensitive control valve. The flow rate passing through the valve is not related to the load, but is related to the size of the valve port opening. The valve port opening can be adjusted manually or remotely controlled by a solenoid valve.

[0146] The oil inlet and return ports of the leg spreading cylinder 14, the leg supporting cylinder, the hand-electric integrated control valve, and the rotary joint are directly connected through a hydraulic pipeline.

[0147] The support member 11 is a rod head. The support member 11 is connected to the second piston rod.

[0148] The crane further comprises a distance measuring sensor support, on which the distance measuring sensor is arranged.

[0149] The first cylinder is rigidly connected to the mounting frame via a pin. The support member 11 is supported by the ground. When multiple support members 11 are extended, the vehicle body 20 is lifted off the ground. The first hydraulic lock support is welded to the first cylinder, and the first hydraulic lock is bolted to the first hydraulic lock support. The distance sensor support is welded to the first cylinder, and the distance sensor is bolted to the distance sensor support. The first cylinder bottom is welded to the first cylinder. The fixed end of the first magnetic sensor is threaded to the first cylinder bottom. The thread uses a fine pitch thread that can seal high-pressure hydraulic oil. The first piston rod is threadedly welded to the first piston, and the movable end of the first magnetic sensor is threadedly connected to the first piston. The support member 11 is welded to the first piston rod. The support member 11 is provided with a groove. The groove contacts the retaining spring and round pin at the end of the first cylinder away from the first cylinder bottom, preventing the first piston rod, first piston, and support member 11 of the outrigger cylinder from moving downward under their own weight.

[0150] When oil enters the rodless chamber of the outrigger cylinder, high-pressure oil pushes the first piston, causing the first piston rod and the movable end of the first magnetic sensor to extend relative to the first cylinder barrel, thereby extending the support member 11. When oil enters the rod chamber of the outrigger cylinder, high-pressure oil pushes the first piston, causing the first piston rod and the movable end of the first magnetic sensor to retract relative to the first cylinder barrel, thereby retracting the support member 11. When the relative positions of the fixed end and the movable end of the first magnetic sensor change, the voltage signal of the first magnetic sensor changes, thereby measuring the extension length of the first piston rod, and thus the extension length of the support member 11. The first hydraulic lock can achieve a pressure-maintaining function. When no hydraulic oil flows through the oil inlet and return ports of the first hydraulic lock, the hydraulic oil in the rodless and rod chambers of the leg extension cylinder 14 cannot be discharged, thereby locking the leg extension cylinder 14. The distance sensor 13 on the outrigger cylinder can measure the distance between the distance sensor 13 and the ground support, and provide input data to the controller 40 through the distance parameter. The controller 40 can calculate the distance between the distance sensor 13 and the ground based on the measured distance parameter, and then obtain the support distance between the support member and the ground, so that the controller 40 can control the action of the outrigger 10, that is, to extend all the multiple outriggers 10 and lift the chassis and the bogie arranged under the chassis off the rail surface to a suitable height, while ensuring that the car body 20 remains in a horizontal state.

[0151] The distance measuring sensor can measure the distance between the sensor and the ground support, and then the controller 40 can calculate the support distance according to the distance between the sensor and the ground support.

[0152] The fixed end of the second barrel of the leg extension cylinder 14 is connected to the base frame via a pin. The second piston rod of the leg extension cylinder 14 is connected to the mounting bracket on the base frame via a pin. The second hydraulic lock support is welded to the second barrel, and the second hydraulic lock is bolted to the second hydraulic lock support. The second cylinder base is welded to the second barrel. The fixed end of the second magnetic sensor is threaded to the second barrel base, using a fine pitch thread to seal high-pressure hydraulic oil. The second piston rod is threaded to the second piston, also using a fine pitch thread to seal high-pressure hydraulic oil. The movable end of the second magnetic sensor is threaded to the second piston.

[0153] The mounting frame is a steel structure with supporting legs.

[0154] When oil enters the rodless chamber of the leg extension cylinder 14, high-pressure oil pushes the second piston, causing the second piston rod and the movable end of the second magnetic sensor to extend relative to the second cylinder barrel, causing the mounting frame to swing outward. When oil enters the rod chamber of the leg extension cylinder 14, high-pressure oil pushes the second piston, causing the second piston, the second piston rod, and the movable end of the second magnetic sensor to retract relative to the second cylinder barrel, causing the mounting frame to swing inward. When the relative positions of the fixed end of the second magnetic sensor and the movable end of the second magnetic sensor change, the voltage signal of the magnetic sensor changes, thereby measuring the extension length of the second piston rod and, in turn, the lateral span of the leg 10. The hydraulic lock on the leg extension cylinder 14 can maintain pressure. When the oil inlet and return ports of the second hydraulic lock are not receiving oil, the hydraulic oil in the rodless and rod chambers of the leg extension cylinder 14 cannot be discharged, thereby locking the leg extension cylinder 14.

[0155] The mounting bracket swings outward and refers to that the second end of the mounting bracket moves in a direction away from the vehicle body 20. The mounting bracket swings inward and refers to that the second end of the mounting bracket moves in a direction close to the vehicle body 20.

[0156] The operating steps of the crane are as follows:

[0157] (1) Press the oil supply switch of the outrigger 10. After the oil supply switch of the outrigger 10 is set, it can ensure that once the outrigger 10 control system fails, the outrigger 10 will not automatically extend or retract during the process of lifting heavy objects, thereby causing the crane to overturn.

[0158] (2) Select the lateral span of the outrigger 10. Depending on the working conditions, the outrigger 10 can have various spans. The second magnetostrictive sensor installed inside the outrigger cylinder 14 can measure the extension length of the second piston rod of the outrigger cylinder 14. The outrigger 10 can have three, four, or more spans. During the installation and commissioning of the crane, different spans are calibrated, and the span of the railway crane can be controlled by controlling the extension length of the outrigger cylinder 14.

[0159] (3) The leg extension cylinder 14 is locked. When the second hydraulic lock is locked, the two one-way valves inside the second hydraulic lock block the oil inlet and oil return ports of the leg extension cylinder 14. At this time, even if the leg extension cylinder 14 is subjected to a large load, the hydraulic oil in the leg extension cylinder 14 cannot pass through the second hydraulic lock.

[0160] (4) A distance sensor is installed on the outrigger cylinder. The distance sensor can measure the height between the first cylinder and the ground support structure. Based on this parameter, the controller can calculate the length that the support member 11 needs to extend when lifting the car body 20 and the bogie off the rail surface.

[0161] (5) The controller determines the reference value of the cylinder length. When the crane is operating on an inclined track (such as a track slope of 12‰), the height of the mounting brackets on the front and rear sides of the crane from the ground support will be different. The height difference between the left and right sides of the track (such as the outer rail is too high) will also cause the height of the mounting bracket to be different from the ground support structure. The controller will determine the support distance of each support member 11 from the ground based on the measurement value provided by each distance measuring sensor, and select the support member 11 corresponding to the largest support distance among the multiple support distances as the calibration support member, and the support distance of the calibration support member is used as the predetermined value of the distance moved by the support member 11.

[0162] (6) The controller controls the extension speed of the multiple support members 11 according to the height difference of the support legs 10, ensuring that when the support members 11 are extended and the crane bogie is lifted off the ground, the tilt angle of the car body 20 is smaller than the initial tilt angle. At the same time, when the multiple support legs 10 are extended simultaneously, the car body 20 is lifted smoothly.

[0163] (7) The control program calculates the flow rate of the oil circuit of each leg 10 of the hand-operated integrated control valve based on the calculated extension speed of the multiple legs 10, and then calculates the command value corresponding to the electromagnetic proportional valve on the hand-operated integrated control valve.

[0164] (8) The control program adjusts the level of the vehicle body 20, that is, adjusts the tilt state of the vehicle body 20. When the actual moving distance of the calibration support reaches the maximum distance H max When the controller controls the solenoid valve to lose power, the support member 11 no longer extends. The tilt direction of the vehicle body 20 is then identified by the horizontal tilt angle detection device installed on the chassis. The controller determines the support member 11 whose height needs to be adjusted and energizes the solenoid valve of the corresponding outrigger cylinder. During the energization process, the command value is small, that is, the opening of the control valve is small, and the movement speed of the support member 11 is very small, ensuring that the vehicle body 20 is stable during the leveling process and avoiding leveling transitions and repeated oscillations. During the leveling process of the vehicle body 20, the first tilt angle value needs to be smaller than the first preset tilt angle value, and the second tilt angle value needs to be smaller than the second preset tilt angle value. Under the constraints of the first preset tilt angle value and the second preset tilt angle value, the stability of the crane's lifting operation meets the use requirements.

[0165] (9) Judgment of the pressure of the outrigger 10, i.e., judgment of the supporting pressure state. This can avoid the risk of the outrigger 10 sinking under the ground support or the outrigger 10 becoming weak. When the pressure in the outrigger oil cylinder of one of the outriggers 10 is less than the preset pressure value, the controller will adjust the height of the cover support 11 accordingly until the pressure of the multiple outriggers 10 is greater than or equal to the preset pressure value. The preset pressure value is 4MP. a .

[0166] (10) Verify the vehicle body 20 is level again. During the process of adjusting the pressure of the support legs 10, there is a possibility that the first inclination value of the vehicle body 20 is greater than or equal to the first preset inclination value, and / or the second inclination value is greater than or equal to the second preset inclination value. Verify the horizontal inclination of the vehicle body 20 again to ensure that the tilt state and support pressure state of the vehicle body 20 meet the conditions.

[0167] (11) Locking the outrigger cylinder. When the first hydraulic lock is locked, the two one-way valves inside the first hydraulic lock block the oil inlet and oil return ports of the outrigger cylinder. At this time, even if the outrigger cylinder is subjected to a large load, the hydraulic oil in the outrigger cylinder cannot pass through the first hydraulic lock.

[0168] (12) Turn off the oil supply switch of the support leg 10.

[0169] (13) Manual operation. The crane is equipped with a manual-electric integrated load-sensitive control valve. In addition to using the controller to control the movement of the outriggers, the length of the outrigger cylinders and the spreader cylinder 14 can also be controlled separately through the manual-electric integrated load-sensitive control valve.

[0170] The control method of the crane legs of this embodiment has the following advantages:

[0171] (1) It can automatically and quickly complete the operation of the crane legs 10, thereby improving the efficiency of crane rescue.

[0172] (2) It can automatically identify the supporting pressure state of the car body 20, the tilt state of the car body 20, and the height of the bogie lifted off the rail surface, thereby reducing the impact of human subjective judgment on the safety of crane operations.

[0173] (3) The leg extension cylinder 14 and the leg support cylinder can be automatically extended, which solves the current situation that multiple people are required to cooperate when opening the leg support 10 and extending the leg, thereby reducing labor costs.

[0174] In the description of the present invention, it is to be understood that "plurality" refers to a quantity of two or more than two. The directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "lateral, vertical, perpendicular, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description. Unless otherwise stated, these directional words do not indicate or imply that the devices or elements referred to must have a specific direction or be constructed and operated in a specific direction. Therefore, they cannot be understood as limiting the scope of protection of the present invention. The directional words "inside" and "outside" refer to the inside and outside relative to the outline of each component itself.

[0175] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used herein to describe the spatial positional relationship of a device or feature to other devices or features as shown in the figures. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figures. For example, if the device in the drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0176] In addition, it should be noted that the use of terms such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of the present invention.

[0177] The foregoing description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention are intended to be within the scope of protection of the present invention.

Claims

1. A method for controlling a crane's outriggers, for controlling a plurality of crane outriggers (10), characterized in that: The control method includes: Controlling the plurality of legs (10) to be in an outward swing position, and making the support member (11) of each leg (10) be in an initial position; Obtain the support distance H between each support member (11) and the ground i ; Get the maximum value among the multiple support distances and set it as the maximum distance H max , with the maximum distance H max A corresponding one of the support members (11) is a calibration support member, and the remaining support members (11) are adjustment support members; Set the preset moving speed V of the calibration support e ; According to the support distance H between each adjusting support member and the ground i The maximum distance H max and the preset moving speed V e Get the actual moving speed V of each adjusting support i ; Control the calibration support to move at the preset speed V e Move downward and control each of the adjustment supports to move at the actual moving speed V i Move downwards; Control the actual moving distance of the calibration support and the maximum distance H max When the values ​​are equal, all the supporting members (11) are controlled to stop moving.

2. The method for controlling the outriggers of a crane according to claim 1, wherein: The actual moving speed V i Satisfies the following formula: Here, the value of i is a positive integer greater than or equal to 2.

3. The method for controlling the outriggers of a crane according to claim 1, wherein: After controlling all the support members (11) to stop moving, the control method further comprises: adjusting the tilt state of the crane body (20), wherein the step of adjusting the tilt state of the crane body (20) comprises: Obtaining a first inclination value and a second inclination value of a vehicle body (20) of the crane; The continued movement amount of each support member (11) is obtained according to the difference between the first inclination value and the first preset inclination value and the difference between the second inclination value and the second preset inclination value; Each of the support members (11) is moved according to the continued movement amount of each of the support members (11) to adjust the tilt state of the vehicle body (20) of the crane.

4. The method for controlling the outriggers of a crane according to claim 3, wherein: The step of obtaining the continued movement amount of each support member (11) according to the difference between the first inclination value and the first preset inclination value and the difference between the second inclination value and the second preset inclination value comprises: When the first inclination angle value is greater than or equal to a first preset inclination angle value, and / or the second inclination angle value is greater than or equal to a second preset inclination angle value, the continued movement amount of each support member (11) is obtained; When the first inclination angle value is smaller than a first preset inclination angle value and the second inclination angle value is smaller than the second preset inclination angle value, the continued movement amount of each support member (11) is zero; The first tilt angle value is the front-rear tilt angle of the vehicle body (20), and the second tilt angle value is the left-right tilt angle of the vehicle body (20).

5. The method for controlling the outriggers of a crane according to claim 3, wherein: After the step of moving each support member (11) according to the continued movement amount of each support member (11), the control method further comprises: adjusting the support pressure state of the crane car body (20), wherein the step of adjusting the support pressure state of the crane car body (20) comprises: Obtain the initial driving pressure value P of the driving cylinder (12) of each leg (10) i ; According to the initial driving pressure value P i The difference between the pressure value and the preset pressure value is used to obtain the pressure adjustment amount of each driving cylinder (12); Each of the driving cylinders (12) is controlled according to the pressure adjustment amount of each of the driving cylinders (12) to adjust the supporting pressure state of the crane car body (20).

6. The method for controlling the outriggers of a crane according to claim 5, characterized in that: When at least one of the multiple initial driving pressure values ​​is smaller than the preset pressure value, a pressure adjustment amount of each driving cylinder (12) is obtained; When the multiple initial driving pressure values ​​P i When the values ​​of are greater than or equal to the preset pressure value, the pressure adjustment amount of each driving cylinder (12) is zero.

7. The method for controlling the outriggers of a crane according to claim 3, wherein: The step of obtaining the first inclination value and the second inclination value of the crane body (20) comprises: The first inclination angle value and the second inclination angle value are obtained by measuring a horizontal inclination angle detection device (30) arranged on the vehicle body (20).

8. The method for controlling the outriggers of a crane according to any one of claims 1 to 7, characterized in that: Obtain the support distance H between each support member (11) and the ground i The steps include: The support distance H is obtained by measuring the distance sensor (13) of each support leg (10) and obtaining the distance between the support leg (10) and the ground. i .

9. The method for controlling the outriggers of a crane according to any one of claims 1 to 7, characterized in that: The step of controlling the plurality of legs (10) to be in an outward swing position comprises: Obtain the lateral span of the support leg (10); The movement of the plurality of legs (10) is controlled according to the transverse span of the legs (10) so that the legs (10) are in the outward swing position.

10. A crane, characterized in that: The crane is controlled by the control method according to any one of claims 1 to 9, wherein the crane comprises: A vehicle body (20) and a plurality of legs (10), wherein the plurality of legs (10) are arranged at intervals on the outer periphery of the vehicle body (20); Each of the legs (10) comprises: A support member (11), wherein the support member (11) is movably arranged in a vertical direction; A driving cylinder (12), the driving cylinder (12) comprising a cylinder body (121) and a rod body (122) telescopically arranged in the cylinder body (121), the cylinder body (121) being connected to the vehicle body (20), and the rod body (122) drivingly cooperating with the support member (11); A distance sensor (13) is provided on the cylinder body (121).

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