Walking chassis, engineering machinery, control method of engineering machinery and computer readable storage medium

Abstract

The invention provides a walking chassis, engineering machinery, a control method of the engineering machinery and a computer readable storage medium. The walking chassis comprises a walking device; and the anti-overturning device comprises a supporting mechanism and a supporting mechanism driving part, and the supporting mechanism driving part is in driving connection with the supporting mechanism and is configured to drive the supporting mechanism to extend out of the side of the walking device so that the walking device can be supported on the ground through the supporting mechanism. The construction machine comprises: a vehicle body; and the vehicle body is driven by the walking chassis to walk. According to the technical scheme, the overturning risk of the engineering machinery during operation on complex terrains can be reduced.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the field of engineering machinery, and in particular to a traveling chassis, an engineering machinery and a control method thereof, and a computer readable storage medium. BACKGROUND

[0002] The forest area has complex terrains such as ditches, ponds, beaches and slopes, and some terrains are inconvenient to observe. In order to prevent dangerous situations, forest striping machines and other equipment can only run in the form of road repair and operation, which reduces the operation efficiency. When the forest striping machine is urgently needed to operate in a critical situation, the complex terrain will cause a high risk of overturning of the forest striping machine and a large operation danger. SUMMARY

[0003] The purpose of the present disclosure is to provide an engineering machinery to reduce the risk of overturning of the engineering machinery when operating in a complex terrain.

[0004] The first aspect of the present disclosure provides a traveling chassis, comprising:

[0005] a traveling device; and

[0006] an anti-overturning device comprising a support mechanism and a support mechanism driving part, the support mechanism driving part being drivingly connected with the support mechanism and being configured to drive the support mechanism to extend from the side of the traveling device, so that the traveling device can be supported on the ground by the support mechanism.

[0007] According to some embodiments of the present disclosure, the support mechanism comprises a swing rod assembly, and the support mechanism driving part is configured to drive the swing rod assembly to swing, so that the support mechanism is stowed in the side of the traveling device or unfolded outward relative to the traveling device.

[0008] According to some embodiments of the present disclosure,

[0009] the support mechanism comprises at least two connecting rods, and two ends of each connecting rod are respectively hinged to the swing rod assembly and the traveling device;

[0010] the support mechanism driving part comprises a device oil cylinder, a first end of the device oil cylinder is hinged to the traveling device, the hinged point of the first end of the device oil cylinder to the traveling device is located on the side of the top of the traveling device close to the hinged point of each connecting rod to the traveling device, and a second end of the device oil cylinder is hinged to the swing rod assembly, the hinged point of the second end of the device oil cylinder to the swing rod assembly is located on the side of the bottom of the traveling device close to the hinged point of each connecting rod to the swing rod assembly.

[0011] According to some embodiments of the present disclosure, the swing rod assembly comprises a swing rod and a support base, the support base is hinged to one end of the swing rod, and the swing rod assembly is configured to be in contact with the ground through the support base.

[0012] According to some embodiments of the present disclosure, the support mechanism driving part is configured to drive the support mechanism to be retracted to the side of the walking device, the walking device is a track walking device, and at least a part of the support mechanism is located in the internal space of the track assembly of the walking device in the state that the support mechanism is retracted to the side of the walking device.

[0013] The second aspect of the present disclosure provides an engineering machine comprising:

[0014] a vehicle body; and

[0015] The walking chassis according to the first aspect of the present disclosure drives the vehicle body to walk.

[0016] According to some embodiments of the present disclosure, comprising:

[0017] a machine tool movably connected to one side of the walking direction of the vehicle body; and

[0018] a machine tool driving part drivingly connected with the machine tool and configured to drive the machine tool to move downward relative to the vehicle body, so that the vehicle body can be supported on the ground by the machine tool.

[0019] According to some embodiments of the present disclosure, comprising:

[0020] an inclination detection device configured to detect the inclination a of the vehicle body relative to the horizontal plane along the forward direction of the vehicle body; and

[0021] a control device signal connected with the inclination detection device and operatively connected to the machine tool driving part, and configured to: in response to a > x1, make the machine tool move downward relative to the vehicle body, wherein x1 represents a first preset angle value.

[0022] According to some embodiments of the present disclosure,

[0023] The machine tool driving part comprises a machine tool oil cylinder, the control device is operatively connected to the machine tool oil cylinder, the engineering machine comprises a first pressure detection device, and the first pressure detection device is configured to detect the oil pressure P1 of the machine tool oil cylinder.

[0024] The control device is configured to: in the state of a > x1, make the machine tool oil cylinder drive the machine tool to continuously move downward relative to the vehicle body, and in response to P1 > P10, make the machine tool oil cylinder stop working, wherein P10 represents a first preset pressure value.

[0025] According to some embodiments of the present disclosure, comprising:

[0026] A tilt angle detection device configured to detect a tilt angle b of the vehicle body relative to a horizontal plane along a width direction of the vehicle body; and

[0027] A control device in signal connection with the tilt angle detection device and operatively connected to the support mechanism driving part, configured to: in response to b>x2 or b<-x3, make the support mechanism extend from a side of the vehicle body, wherein x2 represents a second preset angle value and x3 represents a third preset angle value.

[0028] According to some embodiments of the present disclosure,

[0029] The engineering machinery comprises two groups of the anti-overturning devices arranged on both sides of the width direction of the vehicle body, and each group of the anti-overturning devices comprises at least one anti-overturning device.

[0030] The control device is configured to: in response to b>x2, make the support mechanism of the anti-overturning device located on a first side of the width direction of the vehicle body extend from a side of the vehicle body; and in response to b<-x3, make the support mechanism of the anti-overturning device located on a second side of the width direction of the vehicle body extend from a side of the vehicle body.

[0031] According to some embodiments of the present disclosure,

[0032] The support mechanism driving part comprises a device oil cylinder, the control device is operatively connected to the device oil cylinder, and the engineering machinery comprises a second pressure detection device configured to detect an oil pressure P2 of the device oil cylinder.

[0033] The control device is configured to: in a state of b>x2 or b<-x3, make the device oil cylinder drive the support mechanism to continuously extend; and in response to P2>P20, make the device oil cylinder stop working, wherein P20 represents a second preset pressure value.

[0034] According to some embodiments of the present disclosure,

[0035] The engineering machinery comprises a displacement detection device in signal connection with the control device, and the displacement detection device is configured to detect a length L of the device oil cylinder.

[0036] The control device is configured to: in a state of b>x2 or b<-x3 and P2≤P20, in response to L>L0, make the device oil cylinder stop working, wherein L0 represents a preset length value.

[0037] According to some embodiments of the present disclosure, the engineering machinery is an open belt machine.

[0038] The third aspect of the present disclosure provides a control method of a working machine according to the second aspect of the present disclosure.

[0039] The working machine comprises a machine tool movably connected to one side of the travel direction of the vehicle body and a machine tool driving part drivingly connected with the machine tool, the machine tool driving part is configured to drive the machine tool to move downward relative to the vehicle body, the control method comprises: in response to a > x1, moving the machine tool downward relative to the vehicle body, wherein a represents the inclination angle of the vehicle body relative to the horizontal plane along the forward direction of itself, x1 represents a first preset angle value; and / or

[0040] The control method comprises: in response to b > x2 or b < -x3, extending the support mechanism from the side of the vehicle body, wherein b represents the inclination angle of the vehicle body relative to the horizontal plane along the width direction of itself, x2 represents a second preset angle value, and x3 represents a third preset angle value.

[0041] According to some embodiments of the present disclosure,

[0042] The working machine comprises two groups of the anti-overturning devices arranged on both sides of the width direction of the vehicle body, each group of the anti-overturning devices comprises at least one anti-overturning device;

[0043] The control method comprises: if b > x2, extending the support mechanism of the anti-overturning device located on the first side of the width direction of the vehicle body from the side of the vehicle body, and if b < -x3, extending the support mechanism of the anti-overturning device located on the second side of the width direction of the vehicle body from the side of the vehicle body.

[0044] According to some embodiments of the present disclosure,

[0045] The machine tool driving part comprises a machine tool oil cylinder, the control method comprises: in the state of a > x1, driving the machine tool oil cylinder to continuously move the machine tool downward relative to the vehicle body, and in response to P1 > P10, stopping the machine tool oil cylinder from working, wherein P1 represents the oil pressure of the machine tool oil cylinder, and P10 represents a first preset pressure value; and / or

[0046] The support mechanism driving part comprises a device oil cylinder, the control method comprises: in the state of b > x2 or b < -x3, driving the device oil cylinder to continuously extend the support mechanism, and in response to P2 > P20, stopping the device oil cylinder from working, wherein P2 represents the oil pressure of the device oil cylinder, and P20 represents a second preset pressure value.

[0047] According to some embodiments of the present disclosure, the device cylinder is stopped from moving in response to L>L0, in a state of b>x2 or b<-x3 and P2P20.

[0048] The fourth aspect of the present disclosure provides a computer readable storage medium, which stores a computer program, and the program is executed by a processor to implement the control method of the engineering machine according to the third aspect of the present disclosure.

[0049] In the process of the walking chassis walking on the ground of complex terrain, when the walking chassis and the vehicle body carried on the walking chassis are inclined to a certain extent to the side of the walking device, there is a risk of overturning, the walking chassis of the present disclosure can extend and support on the ground from the side of the vehicle body by driving the supporting mechanism, and actively adjust the contact position of the walking chassis and the ground, so as to achieve the purpose of adjusting the position of the overturning line, so that the engineering machine applied with the walking chassis can recover from the critical stable state to the stable state, thereby reducing the safety risk of the engineering machine when working on complex terrain. Such design can reduce the operation limitation caused by the weight distribution of the engineering machine itself. Compared with the way of preventing overturning by adjusting the weight distribution or changing the structure of the walking device itself, the walking chassis of the present disclosure only needs to act the supporting mechanism to achieve the purpose of preventing overturning, which is more convenient to operate and easier to realize.

[0050] The engineering machine provided by the present disclosure can reduce the risk of overturning through the supporting mechanism of the walking chassis, and has the advantages of the walking chassis provided by the present disclosure.

[0051] The control method of the engineering machine provided by the present disclosure can prevent the engineering machine from overturning by moving the implement downward relative to the vehicle body and / or extending the supporting mechanism from the side of the vehicle body, and therefore has the advantages of the engineering machine provided by the present disclosure.

[0052] Other features and advantages of the present disclosure will become apparent from the following detailed description of exemplary embodiments thereof, taken in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS

[0053] The drawings described herein are used to provide further understanding of the present disclosure, and form a part of the present application. The schematic embodiments of the present disclosure and their descriptions are used to explain the present disclosure, and do not constitute an improper limitation on the present disclosure. In the drawings:

[0054] Figure 1 The figure is a structural schematic diagram of the engineering machine of some embodiments of the present disclosure.

[0055] Figure 2 The figure is a structural schematic diagram of the anti-overturning device of some embodiments of the present disclosure.

[0056] Figure 3 Working state diagram of the anti-overturning device for some embodiments of the present disclosure.

[0057] Figure 4 Control principle diagram of the engineering machine for some embodiments of the present disclosure.

[0058] Figure 5 Control logic diagram of the engineering machine for some embodiments of the present disclosure.

[0059] In the drawings, the respective reference signs represent:

[0060] G, ground;

[0061] 1, cab;

[0062] 2, machine tool;

[0063] 3, traveling device;

[0064] 41, mounting seat; 42, connecting rod; 42A, first connecting rod; 42B, second connecting rod; 43, support seat; 44, swing rod;

[0065] 51, displacement detection device; 52, inclination detection device; 531, first pressure detection device; 532, second pressure detection device;

[0066] 61, device oil cylinder; 61A, left device oil cylinder; 61B, right device oil cylinder; 62, machine tool oil cylinder;

[0067] 7, vehicle frame;

[0068] 8, hydraulic valve block;

[0069] 9, control device. DETAILED DESCRIPTION

[0070] The technical solutions in the embodiments of the present disclosure will be described clearly and completely below in conjunction with the drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only some of the embodiments of the present disclosure, but not all the embodiments. The description of the at least one exemplary embodiment is actually only illustrative, but not as any limitation on the present disclosure and its application or use. Based on the embodiments in the present disclosure, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present disclosure.

[0071] The relative arrangement of parts and steps, numerical expressions, and numerical values set forth in the examples herein are not meant to limit the scope of the present disclosure unless otherwise specifically stated. Also, it is to be understood that the dimensions of the various parts shown in the drawings are not drawn to scale for the sake of convenience. Techniques, methods, and equipment known to those of ordinary skill are not discussed in detail because such techniques, methods, and equipment are well known and available. In all of the examples shown and discussed herein, any specific values are to be interpreted as merely illustrative and not as a limitation of the scope of the exemplary embodiments. Thus, other examples of the exemplary embodiments can have different values. It is to be noted that like numbers and letters refer to like elements throughout the several views of the drawings and that one or more specific embodiments thereof will be discussed in sufficient detail to comprehend the scope of the present disclosure, but that where a discussion of a feature, structure, or component is appropriate, further discussion is not necessarily required in subsequent drawings.

[0072] In the description of the present disclosure, it needs to be understood that the use of the words "first", "second", and the like words to qualify parts is only for the convenience of distinguishing the corresponding parts, and the above words do not have special meanings unless otherwise stated, and therefore cannot be understood as limiting the protection scope of the present disclosure.

[0073] In the description of the present disclosure, it needs to be understood that the orientation words such as "front, back, up, down, left, right", "transverse, vertical, perpendicular, horizontal", and "top, bottom" and the like indicated orientation or position relationship are generally based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present disclosure and simplifying the description, and in the absence of contrary statements, these orientation words do not indicate and imply that the indicated device or element must have a particular orientation or be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the protection scope of the present disclosure; the orientation words "inner, outer" refer to the inner and outer relative to the contour of each part itself.

[0074] Embodiments of the present disclosure provide a walking chassis, a construction machine, and a control method thereof, and a computer readable storage medium.

[0075] Reference Figures 1 to 3 Embodiments of the present disclosure provide a walking chassis including a walking device 3 and an anti-overturning device. The anti-overturning device includes a support mechanism and a support mechanism driving part, the support mechanism driving part is drivingly connected with the support mechanism and is configured to drive the support mechanism to extend from the side of the walking device 3, so that the walking device 3 can be supported on the ground by the support mechanism.

[0076] In the process that the walking chassis walks on the ground G of complex terrain, when the walking chassis and the vehicle body carried by the walking chassis are inclined to the side of the walking device 3 to a certain extent, there is a risk of overturning, the walking chassis of the embodiment of the present disclosure can actively adjust the contact position of the walking chassis and the ground by driving the support mechanism to extend from the side of the vehicle body and support on the ground G, so as to achieve the purpose of adjusting the position of the overturning line, so that the engineering machinery applying the walking chassis can recover from the critical stable state to the stable state, thereby reducing the safety risk of the engineering machinery when working on complex terrain. Such design can reduce the operation limitation caused by the weight layout of the engineering machinery itself. Compared with the way of preventing overturning by adjusting the weight layout or changing the structure of the walking device itself, the walking chassis of the embodiment of the present disclosure only needs to actuate the support mechanism to achieve the purpose of preventing overturning, which is more convenient to operate and easier to realize.

[0077] In some embodiments, the support mechanism includes a swing rod assembly, and the support mechanism driving part is configured to drive the swing rod assembly to swing so as to retract the support mechanism to the side of the walking device 3 or extend the support mechanism outward relative to the walking device 3.

[0078] In the embodiment, the support mechanism driving part can switch the support mechanism between the retracted state and the extended state by driving the swing rod assembly to swing. When the engineering machinery walks or works on flat ground, the support mechanism can be retracted to the side of the walking device 3 by swinging the swing rod assembly towards the walking device 3, thereby reducing the influence of the anti-overturning device on the running; when the engineering machinery works on complex terrain, the support mechanism can be extended outward relative to the walking device 3 by swinging the swing rod assembly away from the walking device 3, thereby playing a role in preventing overturning.

[0079] Reference Figure 2 In some embodiments, the support mechanism includes at least two connecting rods 42, and each connecting rod 42 is hinged at both ends to the swing rod assembly and the walking device 3; the support mechanism driving part includes a device oil cylinder 61, the first end of the device oil cylinder 61 is hinged to the walking device 3, and the hinging point of the first end of the device oil cylinder 61 to the walking device 3 is located on the side of the top of the walking device 3 close to the hinging point of each connecting rod 42 to the walking device 3, and the second end of the device oil cylinder 61 is hinged to the swing rod assembly, and the hinging point of the second end of the device oil cylinder 61 to the swing rod assembly is located on the side of the bottom of the walking device 3 close to the hinging point of each connecting rod 42 to the swing rod assembly.

[0080] Optionally, referring to Figure 2 , the support mechanism includes a mounting seat 41, the mounting seat 41 is fixedly connected to the walking device 3, each connecting rod 42 is hinged to the mounting seat 41, and the first end of the device oil cylinder 61 is hinged to the mounting seat 41.

[0081] Optionally, referring to Figure 2The support mechanism includes two connecting rods 42, which include a first connecting rod 42A and a second connecting rod 42B arranged in parallel, and form a parallelogram mechanism with the mounting base 41 and the swing lever assembly.

[0082] In this embodiment, under the constraint of the connecting rods 42, as the device oil cylinder 61 gradually extends, the device oil cylinder 61 drives the swing lever assembly to move outward and downward relative to the walking device 3, so that one end of the swing lever assembly gradually approaches and supports the ground G as the support mechanism extends, and the support position is spaced apart from the contact position of the walking device 3 and the ground G along the width of the walking device 3, thereby achieving the purpose of adjusting the position of the rollover line. The at least two connecting rods 42 can make the swing lever assembly have a clear movement trajectory, making the swing lever assembly move more stably, and in the state that the support mechanism supports the ground, the swing lever assembly can jointly play a reliable supporting role.

[0083] With reference to Figure 2 In some embodiments, the swing lever assembly includes a swing lever 44 and a support seat 43, the support seat 43 is hinged to one end of the swing lever 44, and the swing lever assembly is configured to contact the ground through the support seat 43.

[0084] Optionally, with reference to Figure 2 The hinge point of the support seat 43 and the swing lever 44 is located on the side close to the bottom of the walking device 3 of the hinge point of the device oil cylinder 61 and the swing lever assembly.

[0085] In this embodiment, the support seat 43 can swing relative to the swing lever 44 about the hinge axis under the action of gravity or the supporting force of the ground G, thereby better adapting to the ground G with different inclination degrees, so that the support seat 43 can maintain sufficient contact with the ground G with different inclination degrees.

[0086] With reference to Figure 1 In some embodiments, the support mechanism driving part is configured to drive the support mechanism to be retracted to the side of the walking device 3, and the walking device 3 is a track walking device. In the state that the support mechanism is retracted to the side of the walking device 3, at least a part of the support mechanism is located in the internal space of the track assembly of the walking device 3.

[0087] Optionally, in the state that the support mechanism is retracted to the side of the walking device 3, the connecting rods 42, the swing lever 44, the support seat 43, and the device oil cylinder 61 are retracted to the gap between the track and the wheel train of the track assembly.

[0088] In this embodiment, in the retracted state of the support mechanism, the internal space of the track assembly of the walking device 3 can serve as a storage space of the support mechanism, which is beneficial to optimizing the structural layout of the walking chassis and reducing the influence on the overall size of the walking chassis and the engineering machinery as much as possible under the premise of realizing the anti-rollover function.

[0089] With referenceFigures 1 to 5 The engineering machine provided by the embodiment of the present disclosure comprises a vehicle body and the running chassis provided by the embodiment of the present disclosure, and the vehicle body is driven to run by the running chassis.

[0090] Optionally, referring to Figure 1 The vehicle body comprises a cab 1 and a frame 7, the cab 1 is installed on the frame 7, and the frame 7 is connected to the running device 3 through a connecting piece such as a pin shaft and a bolt.

[0091] The engineering machine provided by the embodiment of the present disclosure can reduce the risk of tipping over through the supporting mechanism of the running chassis, and has the advantages of the running chassis provided by the embodiment of the present disclosure.

[0092] In some embodiments, the engineering machine is a skidder, for example, a forest skidder. The forest skidder usually does not have a counterweight, and it is difficult to adopt the anti-overturning mode of adjusting the position of the counterweight, and it is more suitable to adopt the anti-overturning mode provided by the embodiment of the present disclosure.

[0093] In other embodiments, the engineering machine can also be other mechanical equipment that needs to operate on complex terrain.

[0094] Referring to Figure 1 and Figure 3 In some embodiments, the engineering machine comprises an implement 2 and an implement driving part, the implement 2 is movably connected to one side of the running direction of the vehicle body, and the implement driving part is drivingly connected with the implement 2 and is configured to drive the implement 2 to move downward relative to the vehicle body, so that the vehicle body can be supported on the ground by the implement 2.

[0095] In the embodiment, the implement 2 can not only be used to perform engineering operations, but also can be used to actively adjust the position of the tipping line when the engineering machine tilts to a certain extent in the front direction of the running device 3 and there is a risk of overturning. During the process of the running chassis running on the ground G of the complex terrain, the implement 2 is driven to move downward relative to the vehicle body and is supported on the ground G, thereby achieving the purpose of adjusting the position of the tipping line, and the effect of reducing the overturning of the engineering machine is similar to the supporting mechanism described above.

[0096] Referring to Figure 4 In some embodiments, the engineering machine comprises an inclination detection device 52 and a control device 9. The inclination detection device 52 is configured to detect the inclination a of the vehicle body relative to the horizontal plane along the forward direction of the vehicle body. The control device 9 is signal-connected with the inclination detection device 52 and is operatively connected to the implement driving part, and is configured to drive the implement 2 to move downward relative to the vehicle body in response to a>x1, wherein x1 represents a first preset angle value.

[0097] In the embodiment, when a > x1, it indicates that the vehicle body has a large inclination relative to the horizontal plane in the forward direction, and has a risk of forward tipping. At this time, the implement 2 is moved downward relative to the vehicle body, so that the implement 2 abuts against the ground, and the vehicle body is supported on the ground by the implement 2, thereby reducing the risk of tipping.

[0098] With reference to Figure 4 In some embodiments, the implement driving part includes an implement oil cylinder 62, the control device 9 is operatively connected to the implement oil cylinder 62, and the engineering machine includes a first pressure detection device 531 configured to detect the oil pressure P1 of the implement oil cylinder 62; the control device 9 is configured to: in the state of a > x1, make the implement oil cylinder 62 drive the implement 2 to continuously move downward relative to the vehicle body, and in response to P1 > P10, make the implement oil cylinder 62 stop operating, wherein P10 represents a first preset pressure value.

[0099] Optionally, with reference to Figure 1 The implement 2 is movably connected to the vehicle frame 7, and the two ends of the implement oil cylinder 62 are hingedly connected to the implement 2 and the vehicle frame 7, respectively.

[0100] In the embodiment, after the implement 2 contacts the ground, the movement of the movable part of the implement oil cylinder 62 is limited, and the oil pressure P1 will increase. When a > x1 and P1 ≤ P10, it indicates that the implement 2 has not contacted the ground G or has just contacted the ground G. By making the implement oil cylinder 62 drive the implement 2 to continuously move downward relative to the vehicle body, the implement 2 can be made to reach the state of supporting the traveling device 3 and the vehicle body as soon as possible. When P1 > P10, it indicates that the pressure of the implement 2 on the ground G is large enough to firmly support the traveling device 3 and the vehicle body on the ground. By making the implement oil cylinder 62 stop operating, it can prevent the internal pressure of the implement oil cylinder 62 from being too large to cause structural damage or hydraulic system overload.

[0101] With reference to Figure 4 In some embodiments, the engineering machine includes an inclination detection device 52 and a control device 9. The inclination detection device 52 is configured to detect the inclination b of the vehicle body relative to the horizontal plane in the width direction of the vehicle body. The control device 9 is in signal connection with the inclination detection device 52 and is operatively connected to the support mechanism driving part, and is configured to: in response to b > x2 or b < -x3, make the support mechanism extend from the side of the vehicle body, wherein x2 represents a second preset angle value, and x3 represents a third preset angle value.

[0102] Optionally, the inclination detection device 52 is a dual-axis inclination sensor to simultaneously detect the inclinations a and b. For engineering machines of different purposes and different models, the structural layout and the position of the center of gravity are different, and the values of x2 and x3 can be the same or different.

[0103] In the embodiment, b>x2 can represent that the vehicle body has a larger degree of inclination to the right relative to the horizontal plane in the width direction of the vehicle body, and b<-x3 can represent that the vehicle body has a larger degree of inclination to the left relative to the horizontal plane in the width direction of the vehicle body. When b>x2 or b<-x3, it indicates that the vehicle body has a risk of lateral overturning. At this time, by causing the support mechanism to extend from the side of the vehicle body, the support mechanism can be abutted to the ground, so that the vehicle body is supported on the ground by the support mechanism, thereby reducing the risk of overturning.

[0104] In some embodiments, the working machine comprises two groups of anti-overturning devices arranged on both sides in the width direction of the vehicle body, and each group of anti-overturning devices comprises at least one anti-overturning device. The control device 9 is configured to cause the support mechanism of the anti-overturning device located on the first side in the width direction of the vehicle body to extend from the side of the vehicle body when b>x2, and to cause the support mechanism of the anti-overturning device located on the second side in the width direction of the vehicle body to extend from the side of the vehicle body when b<-x3.

[0105] Optionally, each group of anti-overturning devices comprises two anti-overturning devices arranged in the walking direction of the walking device 3 to form multiple support points in the walking direction of the walking device 3 when the working machine has a risk of lateral overturning, thereby further enhancing the stability of the working machine during operation.

[0106] In the embodiment, the first side in the width direction of the vehicle body can represent the right side of the vehicle body, and the second side in the width direction of the vehicle body can represent the left side of the vehicle body. When the working machine has a tendency to incline to one side in the width direction of the vehicle body, the corresponding anti-overturning effect can be achieved by driving the support mechanism on the side to extend.

[0107] Reference Figure 4 In some embodiments, the support mechanism driving part comprises a device oil cylinder 61, the control device 9 is operatively connected to the device oil cylinder 61, and the working machine comprises a second pressure detection device 532 configured to detect the oil pressure P2 of the device oil cylinder 61. The control device 9 is configured to cause the device oil cylinder 61 to continuously drive the support mechanism to extend when b>x2 or b<-x3, and to cause the device oil cylinder 61 to stop operating in response to P2>P20, wherein P20 represents a second preset pressure value.

[0108] Optionally, the device oil cylinder 61 continuously drives the support mechanism to extend by elongating itself.

[0109] Optionally, reference Figure 2 and Figure 4The two sets of anti-overturning devices are respectively a left device oil cylinder 61A located on the left side of the vehicle body and a right device oil cylinder 61B located on the right side of the vehicle body. In the state of b>x2, the right device oil cylinder 61B drives the corresponding support mechanism to continuously extend. In the state of b<-x3, the left device oil cylinder 61A drives the corresponding support mechanism to continuously extend.

[0110] Optionally, with reference to Figure 4 The construction machine comprises a hydraulic valve block 8, and the control device 9 is in signal connection with the hydraulic valve block 8. The hydraulic valve block 8 is configured to control the movement of the movable parts of each left device oil cylinder 61A, each right device oil cylinder 61B, and the implement oil cylinder 62.

[0111] In this embodiment, after the support mechanism contacts the ground, the movement of the movable part of the device oil cylinder 61 is limited, and the oil pressure P2 will increase. When b>x2 or b<-x3 and P2≤P20, it indicates that the support mechanism has not contacted the ground G or has just contacted the ground G. By continuously extending the support mechanism driven by the device oil cylinder 61, the support mechanism can reach the state of supporting the traveling device 3 and the vehicle body as soon as possible. When P2>P20, it indicates that the pressure of the support mechanism on the ground G is large enough to firmly support the traveling device 3 and the vehicle body on the ground. By stopping the movement of the device oil cylinder 61, it can prevent the internal pressure of the device oil cylinder 61 from being too large to cause structural damage or hydraulic system overload.

[0112] With reference to Figure 4 In some embodiments, the construction machine comprises a displacement detection device 51 in signal connection with the control device 9. The displacement detection device 51 is configured to detect the length L of the device oil cylinder 61. The control device 9 is configured to, in the state of b>x2 or b<-x3 and P2≤P20, stop the movement of the device oil cylinder 61 in response to L>L0, where L0 represents a preset length value.

[0113] In this embodiment, L0 can be used to represent the length value of the device oil cylinder 61 that enables the device oil cylinder 61 and the support mechanism to maintain sufficient supporting capacity, or the length value of the movable part of the device oil cylinder 61 when it extends to the maximum stroke. When L>L0, by stopping the movement of the device oil cylinder 61, it can prevent the extension of the device oil cylinder 61 and the unfolding of the support mechanism from being too large to weaken the carrying capacity. At this time, even if the extension of the device oil cylinder 61 is not enough to make the support mechanism abut against the ground with a certain force, when the construction machine is initially unbalanced, the support mechanism can quickly contact the ground G with the slight rollover of the construction machine, and play a certain supporting role.

[0114] The control principle of Figure 4 and the control logic of Figure 5 are described below.

[0115] The engineering machine comprises a machine tool 2 movably connected to one side of the walking direction of the vehicle body and a machine tool driving part drivingly connected with the machine tool 2, the machine tool driving part is configured to drive the machine tool 2 to move downward relative to the vehicle body, and the control method comprises: in response to a>x1, moving the machine tool 2 downward relative to the vehicle body, wherein a represents the inclination angle of the vehicle body relative to the horizontal plane along the forward direction of the vehicle body, and x1 represents a first preset angle value; and / or

[0116] The control method comprises: in response to b>x2 or b<-x3, extending the support mechanism from the side of the vehicle body, wherein b represents the inclination angle of the vehicle body relative to the horizontal plane along the width direction of the vehicle body, x2 represents a second preset angle value, and x3 represents a third preset angle value.

[0117] The control method of the engineering machine provided by the embodiments of the present disclosure can prevent the engineering machine from tipping over by moving the machine tool 2 downward relative to the vehicle body and / or extending the support mechanism from the side of the vehicle body, so the engineering machine provided by the embodiments of the present disclosure has the advantages.

[0118] In some embodiments, the engineering machine comprises two groups of anti-overturning devices arranged on both sides of the width direction of the vehicle body, each group of anti-overturning devices comprises at least one anti-overturning device; the control method comprises: if b>x2, extending the support mechanism of the anti-overturning device located on the first side of the width direction of the vehicle body from the side of the vehicle body, and if b<-x3, extending the support mechanism of the anti-overturning device located on the second side of the width direction of the vehicle body from the side of the vehicle body.

[0119] In some embodiments, the machine tool driving part comprises a machine tool oil cylinder 62, and the control method comprises: in the state of a>x1, driving the machine tool oil cylinder 62 to continuously move the machine tool 2 downward relative to the vehicle body, and in response to P1>P10, stopping the machine tool oil cylinder 62 from working, wherein P1 represents the oil pressure of the machine tool oil cylinder 62, and P10 represents a first preset pressure value.

[0120] In some embodiments, the support mechanism driving part comprises a device oil cylinder 61, and the control method comprises: in the state of b>x2 or b<-x3, driving the device oil cylinder 61 to continuously extend the support mechanism, and in response to P2>P20, stopping the device oil cylinder 61 from working, wherein P2 represents the oil pressure of the device oil cylinder 61, and P20 represents a second preset pressure value.

[0121] In some embodiments, the control method comprises: in the state of b>x2 or b<-x3 and P2≤P20, in response to L>L0, stopping the device oil cylinder 61 from working, wherein L represents the length of the device oil cylinder 61, and L0 represents a preset length value.

[0122] The implementation manner of the control method of each of the above embodiments and the technical effects played can refer to the foregoing description of the control logic of the engineering machine.

[0123] Some embodiments of the present disclosure also provide a computer readable storage medium, having stored thereon a computer program, which when executed by a processor implements the control method of the construction machine provided by the embodiments of the present disclosure.

[0124] In some embodiments, the control device described above can be implemented as a general purpose processor, a Programmable Logic Controller (PLC), a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA) or other programmable logic device, a discrete gate or transistor logic device, a discrete hardware component, or any appropriate combination thereof, for executing the functions described in the present disclosure.

[0125] Finally, it should be noted that the above embodiments are merely used to illustrate, but not to limit the technical solutions of the present disclosure; although the present disclosure has been described in detail with reference to the preferred embodiments, it should be understood by those of ordinary skill in the art that the specific implementation manners of the present disclosure can be modified or some technical features can be replaced by equivalent replacements, which should be covered in the technical solution range of the present disclosure.

Claims

1. A walking chassis, characterized in that, include: Walking device (3); and An anti-tipping device includes a support mechanism and a support mechanism drive unit, the support mechanism drive unit being driven connected to the support mechanism and configured to drive the support mechanism to extend from the side of the walking device (3) so that the walking device (3) can be supported on the ground by the support mechanism.

2. The chassis for walking as described in claim 1, characterized in that, The support mechanism includes a swing arm assembly, and the drive unit of the support mechanism is configured to drive the swing arm assembly to swing so that the support mechanism is retracted to the side of the walking device (3) or extended outward relative to the walking device (3).

3. The chassis according to claim 2, characterized in that, The support mechanism includes at least two links (42), each link (42) having its two ends hinged to the swing arm assembly and the walking device (3), respectively. The drive unit of the support mechanism includes a device cylinder (61). The first end of the device cylinder (61) is hinged to the walking device (3). The hinge point of the first end of the device cylinder (61) and the walking device (3) is located on the side of the walking device (3) near the top of the hinge point of each connecting rod (42) and the walking device (3). The second end of the device cylinder (61) is hinged to the swing arm assembly. The hinge point of the second end of the device cylinder (61) and the swing arm assembly is located on the side of the walking device (3) near the bottom of the hinge point of each connecting rod (42) and the swing arm assembly.

4. The chassis according to claim 2, characterized in that, The swing arm assembly includes a swing arm (44) and a support (43), the support (43) being hinged to one end of the swing arm (44), and the swing arm assembly being configured to contact the ground via the support (43).

5. The chassis according to any one of claims 1 to 4, characterized in that, The support mechanism drive unit is configured to drive the support mechanism to retract to the side of the walking device (3), the walking device (3) being a tracked walking device. In the state where the support mechanism is retracted to the side of the walking device (3), at least a portion of the support mechanism is located in the internal space of the track assembly of the walking device (3).

6. An engineering machinery, characterized in that, include: Vehicle body; and According to any one of claims 1 to 5, the vehicle body is driven by the chassis.

7. The engineering machinery according to claim 6, characterized in that, include: The implement (2) is movably connected to one side of the vehicle body in the direction of travel; and The implement drive unit is driven to drive the implement (2) and is configured to drive the implement (2) to move downward relative to the vehicle body so that the vehicle body can be supported on the ground by the implement (2).

8. The engineering machinery according to claim 7, characterized in that, include: The tilt angle detection device (52) is configured to detect the tilt angle α of the vehicle body relative to the horizontal plane along its own forward direction; and The control device (9), which is signal-connected to the tilt detection device (52) and operably connected to the machine drive unit, is configured to: in response to a > x1, move the machine (2) downward relative to the vehicle body, where x1 represents a first preset angle value.

9. The engineering machinery according to claim 8, characterized in that, The tool drive unit includes a tool cylinder (62), the control device (9) is operably connected to the tool cylinder (62), and the construction machinery includes a first pressure detection device (531) configured to detect the oil pressure P1 of the tool cylinder (62); The control device (9) is configured to: in the state of a > x1, drive the tool cylinder (62) to continuously move the tool (2) downward relative to the vehicle body, and in response to P1 > P10, stop the tool cylinder (62) from operating, wherein P10 represents the first preset pressure value.

10. The engineering machinery according to claim 6, characterized in that, include: The tilt angle detection device (52) is configured to detect the tilt angle b of the vehicle body relative to the horizontal plane along its own width direction; and The control device (9), which is signal-connected to the tilt detection device (52) and operably connected to the support mechanism drive unit, is configured to: in response to b > x2 or b < -x3, cause the support mechanism to extend from the side of the vehicle body, wherein x2 represents a second preset angle value and x3 represents a third preset angle value.

11. The engineering machinery according to claim 10, characterized in that, The construction machinery includes two sets of anti-rollover devices disposed on both sides of the vehicle body in the width direction, and each set of anti-rollover devices includes at least one anti-rollover device; The control device (9) is configured such that if b > x2, the support mechanism of the anti-rollover device located on the first side of the width direction of the vehicle body extends from the side of the vehicle body; and if b < -x3, the support mechanism of the anti-rollover device located on the second side of the width direction of the vehicle body extends from the side of the vehicle body.

12. The engineering machinery according to claim 10, characterized in that, The support mechanism drive component includes a device cylinder (61), the control device (9) is operably connected to the device cylinder (61), and the engineering machinery includes a second pressure detection device (532) configured to detect the oil pressure P2 of the device cylinder (61); The control device (9) is configured to: in the state of b > x2 or b < -x3, drive the support mechanism to extend continuously by the device cylinder (61), and stop the device cylinder (61) in response to P2 > P20, wherein P20 represents the second preset pressure value.

13. The engineering machinery according to claim 12, characterized in that, The engineering machinery includes a displacement detection device (51) that is signal-connected to the control device (9), the displacement detection device (51) being configured to detect the length L of the hydraulic cylinder (61) of the device; The control device (9) is configured to stop the operation of the device cylinder (61) in response to L>L0 when b>x2 or b<-x3 and P2≤P20, and b>x2 or b>x3. Here, L0 represents a preset length value.

14. The engineering machinery according to any one of claims 6 to 13, characterized in that, The construction machinery mentioned is a conveyor belt cutter.

15. A control method for engineering machinery according to any one of claims 6 to 14, characterized in that, The construction machinery includes a implement (2) movably connected to one side of the vehicle body in the direction of travel and an implement drive unit drivenly connected to the implement (2). The implement drive unit is configured to drive the implement (2) to move downward relative to the vehicle body. The control method includes: in response to a > x1, causing the implement (2) to move downward relative to the vehicle body, where a represents the tilt angle of the vehicle body relative to the horizontal plane along its own direction of travel, and x1 represents a first preset angle value; and / or The control method includes: in response to b > x2 or b < -x3, extending the support mechanism from the side of the vehicle body, where b represents the tilt angle of the vehicle body relative to the horizontal plane along its width direction, x2 represents a second preset angle value, and x3 represents a third preset angle value.

16. The control method for engineering machinery according to claim 15, characterized in that, The construction machinery includes two sets of anti-rollover devices disposed on both sides of the vehicle body in the width direction, and each set of anti-rollover devices includes at least one anti-rollover device; The control method includes: if b > x2, extending the support mechanism of the anti-rollover device located on the first side of the vehicle body in the width direction from the side of the vehicle body; if b < -x3, extending the support mechanism of the anti-rollover device located on the second side of the vehicle body in the width direction from the side of the vehicle body.

17. The control method for engineering machinery according to claim 15, characterized in that, The implement drive unit includes an implement cylinder (62), and the control method includes: in the state a > x1, causing the implement cylinder (62) to drive the implement (2) to move continuously downward relative to the vehicle body; and in response to P1 > P10, causing the implement cylinder (62) to stop operating, wherein P1 represents the hydraulic pressure of the implement cylinder (62), and P10 represents a first preset pressure value; and / or The supporting mechanism driving component includes a device cylinder (61), and the control method includes: in the state of b>x2 or b<-x3, causing the device cylinder (61) to drive the supporting mechanism to extend continuously, and in response to P2>P20, causing the device cylinder (61) to stop operating, wherein P2 represents the oil pressure of the device cylinder (61) and P20 represents a second preset pressure value.

18. The control method for engineering machinery according to claim 17, characterized in that, include: In the state where b > x2 or b < -x3 and P2 ≤ P20, in response to L > L0, the device cylinder (61) stops operating, where L represents the length of the device cylinder (61) and L0 represents the preset length value.

19. A computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the control method for engineering machinery according to any one of claims 15 to 18.

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