Landing leg control system and engineering machinery

Abstract

The invention relates to the technical field of engineering machinery, and discloses a supporting leg control system and engineering machinery. The system comprises a supporting leg assembly, an oil liquid main path, an oil liquid branch path, a main valve arranged on the main path and a branch valve assembly arranged on the branch path, wherein the oil liquid main path and the oil liquid branch path are arranged in parallel. The supporting leg assembly comprises a plurality of supporting legs provided with transmission assemblies. The main valve comprises a first valve body and a first driving assembly controlling opening and closing of the first valve body. The branch valve assembly comprises a plurality of branch valves in one-to-one correspondence with the supporting legs, each branch valve comprises a second valve body and a second driving assembly controlling opening and closing of the second valve body, and each branch valve is connected with the transmission assembly of the corresponding supporting leg through an oil way. Through cooperative work of the main valve and the branch valves which are independently and electrically controlled, independent and accurate proportional control over one or more supporting legs is achieved, the leveling precision and control flexibility are improved, and a foundation is laid for remote intelligent control.

Description

Technical Field

[0001] This invention relates to the field of engineering machinery technology, specifically to an outrigger control system and engineering machinery. Background Technology

[0002] In mobile construction machinery such as cranes and pump trucks, the outrigger system is crucial for the overall operational stability of the vehicle. By extending the support profile of the equipment, the outriggers increase the stabilizing torque, effectively preventing the equipment from tipping over during lifting, pumping, and other operations. Therefore, the reliability, response speed, and control accuracy of the outrigger control system directly affect the operational safety and efficiency of the entire vehicle.

[0003] Currently, traditional outrigger hydraulic control systems mostly use manual multi-way valves. Operators manually operate the handle connected to the valve stem to switch the valve stem between three positions: center, left, and right. By opening or closing the valve port, the opening and closing of the oil passage is controlled, thereby controlling the movement of the outrigger cylinder.

[0004] However, this traditional manually controlled hydraulic valve has significant drawbacks. The valve stem only has two states: "open" or "closed," making it impossible to achieve continuous and precise adjustment of the valve opening. Consequently, the movement speed and displacement of the outrigger cylinders are difficult to control precisely, resulting in low efficiency and limited accuracy in the leveling process of construction machinery. Summary of the Invention

[0005] In view of this, the present invention provides an outrigger control system and engineering machinery to solve the problem that "traditional outrigger control systems cannot be precisely controlled".

[0006] In a first aspect, the present invention provides an outrigger control system, including an outrigger assembly, a main hydraulic line, branch hydraulic lines, a main valve, and branch valves; the outrigger assembly includes multiple outriggers, each outrigger being provided with a transmission assembly; the main hydraulic line and the branch hydraulic lines are arranged in parallel, the main hydraulic line is provided with a main valve, the main valve including a first valve body and a first drive assembly for controlling the opening and closing of the first valve body; the branch hydraulic lines are provided with branch valve assemblies, the branch valve assemblies including multiple branch valves arranged in parallel and corresponding one-to-one with the outriggers, each branch valve including a second valve body and a second drive assembly for controlling the opening and closing of the second valve body, and connected in an oil circuit to the transmission assembly of the corresponding outrigger; wherein, the transmission assembly is adapted to convert the hydraulic pressure output by the branch valves into a driving force for outrigger movement.

[0007] In one optional embodiment, the first driving assembly and the second driving assembly include a driving member and a connecting rod; both the first valve body and the second valve body include a valve body body and a valve stem, the valve stem is disposed inside the valve body body, the valve stem is connected to the connecting rod, and the driving member drives the valve stem to move through the connecting rod.

[0008] In one optional embodiment, the valve body includes a first valve passage, a second valve passage, an inlet valve passage, and a return valve passage. The valve stem is provided with an adjusting part, and the overlapping area between the valve passage and the adjusting part is controlled by controlling the displacement of the valve stem. The main valve includes the following three operating conditions: In the first operating condition, the first valve passage, the second valve passage, the inlet valve passage, and the return valve passage are not connected to each other; In the second operating condition, the first valve passage is connected to the inlet valve passage, and the second valve passage is connected to the return valve passage; In the third operating condition, the first valve passage is connected to the return valve passage, and the second valve passage is connected to the inlet valve passage.

[0009] In one optional embodiment, the first valve passage and the second valve passage are located on the first side of the valve body, and the oil inlet valve passage and the oil return valve passage are located on the second side of the valve body; wherein the first side and the second side are not coplanar.

[0010] In one optional embodiment, the overlapping areas of the first valve passage, the second valve passage, the inlet valve passage, and the return valve passage with the regulating section are all linearly related to the displacement of the valve stem.

[0011] In one optional embodiment, the transmission assembly is provided with a hydraulic cylinder, which includes a cylinder body and a piston rod. The piston rod is located in the cylinder body and divides the cylinder body into a rod chamber and a rodless chamber. The piston rod is connected to the corresponding outrigger in a transmission manner. The rodless chamber is provided with a first oil port, and the rod chamber is provided with a second oil port. The first oil port and the second oil port are respectively connected to the corresponding branch valve oil circuit through hydraulic pipelines.

[0012] In one alternative embodiment, the outrigger includes a horizontal outrigger and a vertical outrigger, both of which are connected to a transmission assembly.

[0013] In one optional embodiment, the main valve is a telescopic coupling used to control the movement of the outriggers; when the main valve is in a first operating condition, the main valve controls the outriggers to brake; when the main valve is in a second operating condition, the main valve controls the outriggers to extend; when the main valve is in a third operating condition, the main valve controls the outriggers to retract; the branch valve is a selectable coupling used to control the movement of the horizontal or vertical outriggers; when the branch valve is in a first operating condition, the branch valve controls the horizontal and vertical outriggers to brake; when the branch valve is in a second operating condition, the branch valve connects to the vertical outrigger; when the branch valve is in a third operating condition, the branch valve connects to the horizontal outrigger.

[0014] In one alternative embodiment, the transmission assembly includes a first hydraulic cylinder and a second hydraulic cylinder, wherein the first hydraulic cylinder is used for transmission connection of the horizontal outrigger and the second hydraulic cylinder is used for transmission connection of the vertical outrigger.

[0015] Secondly, the present invention also provides an engineering machine, including the outrigger control system described in the first aspect.

[0016] The technical solution proposed in this application has at least the following technical effects:

[0017] The outrigger control system provided in this application achieves independent, precise, and coordinated control of each outrigger's movement by setting up parallel hydraulic main and branch lines, using an independently electrically driven main valve to control outrigger extension and retraction, and multiple independently electrically driven branch valves to select the outriggers to be extended or retracted. This design significantly improves the flexibility and precision of outrigger control. Operators or controllers can independently extend or retract one or more outriggers, and can achieve precise and proportional control of outrigger movement speed and displacement through stepless adjustment of valve openings via motors, thereby greatly improving the leveling accuracy and operational efficiency of construction machinery.

[0018] Understandably, the outrigger control system provided in this application has a clear structure, high integration, and strong reliability. The main valve and all branch valves are electro-hydraulic valves, eliminating the need for complex hydraulic pilot control circuits and mechanical linkage mechanisms, simplifying the system structure and reducing potential failure points. Simultaneously, the electrical signal control method offers rapid response and is inherently compatible with automated control logic, laying a solid foundation for advanced functions such as remote control, automatic leveling, and intelligent group control, significantly improving the automation level and operational safety of the equipment. Attached Figure Description

[0019] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0020] Figure 1 This is a hydraulic circuit diagram of an outrigger control system according to an embodiment of the present invention; Figure 2 This is a schematic diagram of the structure of a hydraulic cylinder in a leg control system according to an embodiment of the present invention; Figure 3 A structural diagram of the drive component of an outrigger control system according to an embodiment of the present invention.

[0021] Explanation of reference numerals in the attached figures: 1. Actuator; 101. First hydraulic cylinder; 102. Second hydraulic cylinder; 2. Main valve; 201. First valve body; 2011. Valve body; 2012. Valve stem; 2013. First valve passage; 2014. Second valve passage; 2015. Adjustment unit; 2016. Inlet valve passage; 2017. Return valve passage; 202. First drive assembly; 203. Connecting rod; 3. Branch valve; 301. Second valve body; 302. Second drive assembly. 4. Hydraulic cylinder; 401. Cylinder body; 402. Piston rod; 403. Rod chamber; 404. Rodless chamber; 405. First oil port; 406. Second oil port. Detailed Implementation

[0022] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0023] It should be understood that the terminology used herein is for the purpose of describing specific embodiments only and is not intended to impose strict limitations on the technical solutions unless the context clearly indicates otherwise. For example, the use of "a," "an," and "the" to modify a feature does not preclude the possibility that the feature may be plural in other embodiments.

[0024] It should be understood that the terms "comprising," "including," and "having" are open-ended, indicating the presence of the stated features but not excluding the possibility of other features in the embodiment. Similarly, the use of terms such as "first," "second," etc., to describe multiple features only indicates the distinction between one feature and another, and such terms do not imply order or sequence unless explicitly stated in the context.

[0025] It should be understood that, unless the context clearly indicates otherwise, the terms "setup," "connection," and "installation" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integrated connection; they can refer to a direct connection or an indirect connection via a medium. Those skilled in the art will understand the specific meaning of these terms in this document based on the specific circumstances.

[0026] In addition, for ease of description, the text will use terms of spatial relative relationship to describe the position of one feature relative to another feature, such as "inner", "outer", "end", "side", "upper", "middle", "lower", "high", "low", "axial", "circumferential", "radial", "horizontal", "vertical", "first direction", "second direction", etc. It can be understood that the spatial relative relationship between two features should include other specific situations besides those shown in the accompanying drawings of the specification.

[0027] It should be understood that outriggers are support devices used in the field of mechanical engineering to enhance the stability of equipment. Their core functions include bearing equipment loads, suppressing deflection deformation, and improving anti-overturning capacity. Their structural forms include box-type outriggers, sleeve-type outriggers, and multi-section articulated outriggers, and they are widely used in construction machinery such as concrete pump trucks and cranes. Modern outrigger design, through improvements such as roller friction optimization and multi-point articulated layout, has effectively solved technical challenges such as deflection control and cylinder deformation suppression for ultra-long outriggers.

[0028] In the field of engineering machinery technology, outriggers specifically refer to retractable or foldable support structures installed on the chassis or slewing platform of mobile mechanical equipment (such as cranes, concrete pump trucks, etc.). Their core functions are: to expand the support profile of the equipment through horizontal extension, thereby forming a stable torque balance and effectively resisting overturning moments during operation; to reliably bear the equipment's own weight and operating load through vertical lifting, and to transfer this load to the ground; and to achieve precise leveling of the entire vehicle through independent adjustment of each outrigger. A typical outrigger consists of a combination of a horizontal extension mechanism and a vertical lifting mechanism (such as an H-type outrigger), driven by horizontal and vertical hydraulic cylinders respectively. In the outrigger control system described in this invention, the outrigger, as the final action execution terminal and functional carrier, has its extension and retraction movement precisely driven by an actuator 1 controlled by an electro-hydraulic valve. It is a key structural unit that converts the control signals of the hydraulic system into stable mechanical actions, ensuring the safety and stability of the entire machine during operation.

[0029] The embodiments of this application are described below with reference to the accompanying drawings. It can be understood that the technical features involved in the different embodiments described below can be combined with each other as long as they do not conflict with each other.

[0030] The following is combined Figures 1 to 3 The following describes embodiments of the present invention.

[0031] According to an embodiment of the present invention, in a first aspect, referring to Figure 1 A control system for outriggers is provided, including an outrigger assembly, a main hydraulic line, hydraulic branch lines, a main valve 2, and branch valves 3. The outrigger assembly includes multiple outriggers, each of which is equipped with an actuator 1. The main hydraulic line and the hydraulic branch lines are connected in parallel. The main hydraulic line is equipped with a main valve 2, which includes a first valve body 201 and a first drive assembly 202 for controlling the opening and closing of the first valve body 201. The hydraulic branch lines are equipped with branch valve assemblies, which include multiple branch valves 3 connected in parallel and corresponding to each outrigger. Each branch valve 3 includes a second valve body 301 and a second drive assembly 302 for controlling the opening and closing of the second valve body 301, and is connected to the hydraulic circuit of the actuator 1 of the corresponding outrigger. The actuator 1 is adapted to convert the hydraulic pressure output by the branch valve 3 into a driving force for outrigger movement.

[0032] In this embodiment, the system includes multiple outriggers, each equipped with a hydraulic cylinder 4 serving as an actuator 1. In the hydraulic system, a main valve 2 is installed on the main hydraulic line to control the extension and retraction of the outriggers by controlling the opening and closing of its valve port. Multiple branch valves 3 are connected in parallel on the branch hydraulic lines to select the outrigger by controlling the opening and closing of their valve ports. Both the main valve 2 and each branch valve 3 are electro-hydraulic valves, and their core structures include a valve body, a valve stem 2012, and a motor, wherein the motor is connected to the valve stem 2012 via a connecting rod 203.

[0033] It should be noted that the attached drawings only show the hydraulic circuit structure of the outrigger control system, and do not show the specific connection structure between the outrigger and the actuator 1 in the outrigger assembly.

[0034] Furthermore, by sending a signal to the motor of the target branch valve 3 to activate the oil circuit of the corresponding outrigger, the motor of the main valve 2 supplies oil to the outrigger assembly with a set oil flow direction and flow rate; the oil enters the hydraulic cylinder 4 of the corresponding outrigger through the main valve 2 and the activated branch valve 3, driving it to extend or retract precisely, thereby realizing independent and proportional control of one or more outriggers.

[0035] In another embodiment, the valve stem 2012 of the electro-hydraulic valve is provided with a manual emergency operation interface at its end. Specifically, the end of the valve stem 2012 extends axially and passes through the output push rod of the motor or the connecting rod 203 connected to it. A standard tool interface, such as a hexagonal head, an internal hexagonal hole, or a through hole for inserting a pry bar, is machined at the end of this extension. Under normal operating conditions, this manual interface is covered by the motor housing or a removable protective cover, preventing interference with the outside. When the system encounters an extreme power failure or motor drive failure, maintenance personnel can use tools such as wrenches, sockets, or special pry bars to engage the manual interface and apply torque or thrust to directly drive the valve stem 2012 to move within the valve body, thereby manually switching the hydraulic circuit to achieve emergency extension or retraction of the outrigger. This design provides a simple and direct mechanical backup while retaining the complete electric drive function, ensuring the basic operability of the system under extreme conditions and significantly improving the operational safety of the entire outrigger control system.

[0036] In one embodiment, refer to Figure 3 The first drive assembly 202 and the second drive assembly 302 include a drive element and a connecting rod 203; the first valve body 201 and the second valve body 301 both include a valve body body 2011 and a valve stem 2012. The valve stem 2012 is located inside the valve body body 2011 and is connected to the connecting rod 203. The motor body drives the valve stem 2012 to move through the connecting rod 203.

[0037] In this embodiment, both the first drive assembly 202 and the second drive assembly 302 are drive components, and the output end of the drive component is fixedly connected to the connecting rod 203. Correspondingly, both the first valve body 201 and the second valve body 301 include a valve body body 2011 and a valve stem 2012 disposed therein, with one end of the valve stem 2012 connected to the end of the connecting rod 203. Thus, the rotational or linear output force generated by the motor body can be directly transmitted through the connecting rod 203, driving the valve stem 2012 to make precise axial linear movement within the internal cavity of the valve body body 2011, thereby realizing the opening and closing of the oil circuit and the regulation of the flow rate.

[0038] In this embodiment, a linear motor is used as the driving source. Specifically, the mover of the linear motor is directly configured with or connected to a connecting rod 203, which is then coaxially and fixedly connected to the valve stem 2012. When a control current is applied to the winding of the linear motor, its mover directly generates axial linear thrust and displacement under the action of electromagnetic force. This displacement is transmitted to the valve stem 2012 without intermediate conversion through the connecting rod 203, driving the valve stem 2012 to perform synchronous linear motion within the valve body 2011. This embodiment completely eliminates the mechanical transmission link that converts rotational motion into linear motion, and has significant advantages such as extremely simple structure, fast dynamic response, no transmission backlash and wear, and higher control precision.

[0039] In another embodiment, a rotary motor is used as the driving source. Specifically, the output shaft of the rotary motor is coupled to the connecting rod 203 through a transmission mechanism, converting rotational motion into linear motion. For example, a lead screw and nut pair or a gear and rack pair can be used as the transmission mechanism: when a lead screw and nut pair is used, the nut is coaxially fixed with the output shaft of the rotary motor, and the lead screw is connected to the valve stem 2012 as the connecting rod 203; when the motor rotates, the nut drives the lead screw to generate axial displacement. Alternatively, when a gear and rack pair is used, the gear fixed on the motor shaft meshes with the rack machined on the connecting rod 203, and when the motor rotates, the rack drives the connecting rod 203 and the valve stem 2012 to move linearly. This embodiment achieves precise electronic control of the valve stem 2012 displacement with high cost-effectiveness through a mature rotary motor and transmission mechanism.

[0040] Furthermore, the movement of the valve stem 2012 is precisely controlled by the motor itself. The direction of the motor current determines the direction of movement at the motor output, which in turn drives the valve stem 2012 to move via the connecting rod 203; the magnitude or duration of the current controls the motor's speed and duration, ultimately converting into the precise displacement of the valve stem 2012. Through this direct electromechanical conversion and transmission method, the system eliminates complex intermediate hydraulic or mechanical pilot mechanisms, achieving continuous and proportional control over the speed and stroke of the outrigger cylinder.

[0041] In one embodiment, refer to Figure 3The valve body 2011 includes a first valve passage 2013, a second valve passage 2014, an inlet valve passage 2016, and a return valve passage 2017. The valve stem 2012 is provided with an adjusting part 2015. By controlling the displacement of the valve stem 2012, the overlapping area of ​​the valve passage and the adjusting part 2015 can be controlled. The main valve 2 includes the following three working conditions: In the first working condition, the first valve passage 2013, the second valve passage 2014, the inlet valve passage 2016, and the return valve passage 2017 are not connected to each other; In the second working condition, the first valve passage 2013 is connected to the inlet valve passage 2016, and the second valve passage 2014 is connected to the return valve passage 2017; In the third working condition, the first valve passage 2013 is connected to the return valve passage 2017, and the second valve passage 2014 is connected to the inlet valve passage 2016.

[0042] In this embodiment, the valve body 2011 is machined with an independent first valve passage 2013, a second valve passage 2014, an oil inlet valve passage 2016, and an oil return valve passage 2017, and the valve stem 2012 is correspondingly provided with an adjustment part 2015. The main valve 2 has three basic operating conditions: In the first operating condition, the valve stem 2012 simultaneously closes the first valve passage 2013 and the second valve passage 2014, and the valve stem 2012 is in the neutral position, with the oil circuit closed; In the second operating condition, the valve stem 2012 connects the first valve passage 2013 and the inlet valve passage 2016, and the valve stem 2012 connects the second valve passage 2014 and the return valve passage 2017. At this time, the valve stem 2012 is in the "extended" working position, and the system pressure oil can flow through this to the actuator 1 to extend the outrigger; In the third operating condition, the valve stem 2012 connects the first valve passage 2013 and the return valve passage 2017, and the valve stem 2012 connects the second valve passage 2014 and the inlet valve passage 2016. At this time, the valve stem 2012 is in the "retracted" working position, and the system pressure oil can flow through this to the actuator 1 to retract the outrigger. These three operating conditions are switched by precisely controlling the position of the valve stem 2012 through the electric drive assembly, thereby completing the directional control of the outrigger extension and retraction.

[0043] Furthermore, the main valve 2 serves as the core functional state for driving the movement of the outriggers. Its regulating section 2015 typically refers to the section on the valve stem 2012 with a specific groove shape. Through changes in its axial position, it precisely controls the on / off relationship and opening area with each valve passage, ultimately achieving the switching of the oil circuit direction and the regulation of the flow ratio.

[0044] Optionally, the groove type of the adjusting part 2015 may be, but is not limited to, a V-shaped, U-shaped or a combination thereof.

[0045] In one optional embodiment, the first valve passage 2013 and the second valve passage 2014 are disposed on the first side of the valve body 2011, and the oil inlet valve passage 2016 and the oil return valve passage 2017 are disposed on the second side of the valve body 2011; wherein the first side and the second side are not coplanar.

[0046] In this embodiment, the first valve passage 2013 and the second valve passage 2014 of the valve body 2011 are arranged to be adjacent to each other and located on the first side of the valve body 2011. The oil inlet valve passage 2016 and the oil return valve passage 2017 are located on the second side of the valve body and are located in the middle of the second side of the valve body. The first side and the second side are not coplanar, which makes the structural strength of the valve body 2011 higher and can withstand greater loads. Furthermore, referring to Figure 3 The inlet valve passage 2016 and the return valve passage 2017 are located between the first valve passage 2013 and the second valve passage 2014. This design integrates the key oil passages in the middle of the valve body, allowing the regulating unit 2015 to control the oil circuit in a more centralized manner. This simplifies the oil circuit layout inside the valve body, reduces machining difficulty, lowers the risk of internal leakage, and improves the structural compactness of the valve body. When the valve stem 2012 moves axially under the drive of the motor, the regulating unit 2015 of the valve stem 2012 directly determines the on / off relationship with each valve passage, thereby achieving precise oil circuit switching and flow regulation.

[0047] It is understandable that the inlet valve passage 2016 and the return valve passage 2017 may not be located between the first valve passage 2013 and the second valve passage 2014, but may be designed with axial distribution, radial distribution or other complex flow channels, as long as they can cooperate with the regulating unit 2015 to achieve the three working conditions.

[0048] In one optional embodiment, the overlapping areas of the first valve passage 2013, the second valve passage 2014, the oil inlet valve passage 2016, and the oil return valve passage 2017 with the regulating part 2015 are all linearly related to the displacement of the valve stem 2012.

[0049] In this embodiment, the regulating part 2015 is designed with a flow regulating groove (e.g., a V-shaped groove) of a specific profile. When the valve stem 2012 undergoes axial displacement under the drive of the motor, the overlapping area of ​​the regulating part 2015 and its corresponding valve passage will change continuously. Crucially, the overlapping areas of the first valve passage 2013 and the regulating part 2015, the second valve passage 2014 and the regulating part 2015, the inlet valve passage 2016 and the regulating part 2015, and the return valve passage 2017 and the regulating part 2015 are all designed to change linearly with the displacement of the valve stem 2012.

[0050] Furthermore, this structure achieves independent and linear coordinated control of the oil inlet and return paths. The regulating unit 2015 linearly adjusts the opening and closing of each valve channel, allowing the main valve 2 to synchronously and precisely adjust the amount of oil entering the cylinder and the smoothness of oil return when switching operating conditions. This enables dual fine control of the outrigger's movement speed and stability, resulting in smoother and more precise control of the outrigger cylinder's movement speed, further improving the system's dynamic response performance and micro-adjustment capability.

[0051] In one embodiment, refer to Figure 1 and Figure 2 The actuator 1 is equipped with a hydraulic cylinder 4, which includes a cylinder body 401 and a piston rod 402. The piston rod 402 is located inside the cylinder body 401 and divides the cylinder body 401 into a rod chamber 403 and a rodless chamber 404. The piston rod 402 is connected to the corresponding support leg. The rodless chamber 404 is provided with a first oil port 405, and the rod chamber 403 is provided with a second oil port 406. The first oil port 405 and the second oil port 406 are respectively connected to the corresponding support valve 3 through hydraulic pipelines.

[0052] In this embodiment, the actuator 1 is specifically a hydraulic cylinder 4. The hydraulic cylinder 4 includes a cylinder body 401 and a piston rod 402 reciprocally disposed within the cylinder body 401. The piston rod 402 divides the inner cavity of the cylinder body 401 into a rod-side cavity 403 and a rodless cavity 404 that are not interconnected, and the extended end of the piston rod 402 is driven to the corresponding support leg for directly driving its extension and retraction. The rodless cavity 404 is provided with a first oil port 405, and the rod-side cavity 403 is provided with a second oil port 406; the first oil port 405 and the second oil port 406 are respectively connected to the oil circuit of the corresponding support valve 3 through independent hydraulic pipelines.

[0053] Furthermore, by controlling the high-pressure hydraulic fluid through the branch valve 3 to selectively enter the first port 405 (rodless chamber 404) or the second port 406 (rod chamber 403), while the hydraulic fluid in the other chamber is pushed back, the piston rod 402 can be precisely extended or retracted, thereby linearly converting hydraulic energy into the linear motion driving force of the outrigger. This connection method provides a reliable structural basis for achieving independent, proportional control of each outrigger.

[0054] Optionally, all motors are connected to the controller. Operators can select the outriggers to be operated and their actions (such as extending or retracting) via remote control. Upon receiving the command from the remote control, the controller automatically sends control signals to the corresponding motors, driving the corresponding valves to operate, thus achieving precise control of the outriggers remotely. This method makes operation safer and more convenient.

[0055] Optionally, in addition to basic control, pressure sensors can be installed at the interfaces of the rodless chamber 404 and the rod chamber 403 of each outrigger cylinder to monitor the supporting force in real time; ultrasonic or laser rangefinders can be installed on the outrigger arms to accurately measure the outrigger extension length and ground clearance. All these sensor signals are fed back to the controller, forming a closed-loop control system, providing a data foundation for realizing more advanced intelligent operation functions such as load adaptation and automatic ground slope recognition.

[0056] In one embodiment, the outriggers include horizontal outriggers and vertical outriggers, both of which are connected to the actuator 1.

[0057] In this embodiment, the outrigger assembly specifically includes a horizontal outrigger for extending the vehicle's support profile and a vertical outrigger for vertical load-bearing. The ends or joints of both the horizontal and vertical outriggers are driven and connected to the output ends of the corresponding hydraulic cylinders 4, thereby directly converting the linear reciprocating motion of the hydraulic cylinders 4 into the extension, retraction, or lifting actions of the corresponding outriggers.

[0058] Optionally, the horizontal outriggers may be connected to the piston rod 402 of the hydraulic cylinder 4 via a structure including but not limited to a slider or swing arm mechanism to achieve horizontal extension and retraction.

[0059] Optionally, the vertical outriggers may be vertically fixed to the piston rod 402 of the hydraulic cylinder 4 via a support seat or flange, among other things, to achieve vertical lifting and support.

[0060] Furthermore, this differentiated design allows the same electro-hydraulic control system to control two types of outriggers to perform their respective functions through different transmission connection methods, thus jointly ensuring the operational stability of the construction machinery.

[0061] In one embodiment, the main valve 2 is a telescopic link used to control the movement of the outriggers; when the main valve 2 is in the first operating condition, the main valve 2 controls the outriggers to brake; when the main valve 2 is in the second operating condition, the main valve 2 controls the outriggers to extend; when the main valve 2 is in the third operating condition, the main valve 2 controls the outriggers to retract; the branch valve 3 is a selectable link used to control the movement of the horizontal or vertical outriggers; when the branch valve 3 is in the first operating condition, the branch valve 3 controls the horizontal and vertical outriggers to brake; when the branch valve 3 is in the second operating condition, the branch valve 3 connects to the vertical outrigger; when the branch valve 3 is in the third operating condition, the branch valve 3 connects to the horizontal outrigger.

[0062] In this embodiment, the system's working logic is specifically defined as follows: When the main valve 2 is in the second working condition (extended position) and the corresponding branch valve 3 is in the second working condition, the hydraulic circuit is configured to allow oil to enter the rodless chamber 404 and exit the rod chamber 403 of the hydraulic cylinder 4 of the vertical outrigger, thereby driving the piston rod 402 of the hydraulic cylinder 4 of the vertical outrigger to extend, thus realizing the extension action of the outrigger; when the main valve 2 switches to the third working condition (retracted position) and the branch valve 3 remains in the second working condition, the oil circuit is reversed, and oil enters the rod chamber 403 and exits the rodless chamber 404 of the hydraulic cylinder 4 of the vertical outrigger, driving the piston rod 402 of the hydraulic cylinder 4 of the vertical outrigger to retract, thus realizing the retraction action of the vertical outrigger; when the main valve 2 is in the first working condition (neutral position) or the branch valve 3 is in the first working condition (neutral position), both the rod chamber 403 and the rodless chamber 404 of the hydraulic cylinder 4 of the vertical outrigger are disconnected from the oil circuit, the piston rod 402 is hydraulically locked, and the outrigger is in a brake holding state. In this embodiment, the basic control of outrigger movement and locking is achieved through the coordinated state of the main valve 2 and the branch valve 3 driven by the motor.

[0063] In one embodiment, the actuator 1 includes a first hydraulic cylinder 101 and a second hydraulic cylinder 102. The first hydraulic cylinder 101 is used for transmission connection of the horizontal outrigger, and the second hydraulic cylinder 102 is used for transmission connection of the vertical outrigger.

[0064] In this embodiment, the actuator 1 includes a first hydraulic cylinder 101 and a second hydraulic cylinder 102. The cylinder body 401 of the first hydraulic cylinder 101 is fixed to the undercarriage of the construction machinery, and the output end of its piston rod 402 is connected to the corresponding horizontal outrigger via a slider mechanism or a swing arm mechanism to drive the horizontal outrigger to extend and retract horizontally along its guide rail. The cylinder body 401 of the second hydraulic cylinder 102 is also fixed to the undercarriage or fixedly connected to the end structure of the horizontal outrigger, and the output end of its piston rod 402 is directly and vertically fixedly connected to the support seat of the corresponding vertical outrigger to drive the vertical outrigger to perform vertical lifting and lowering movements. The rodless chamber 404 and the rod chamber 403 of the two sets of cylinders are each connected to the corresponding branch valve 3 oil circuit through independent hydraulic pipelines, thereby receiving independent electrical control operation.

[0065] Furthermore, by coordinating the actions of the main valve 2 and the corresponding branch valves 3, the first hydraulic cylinder 101 and the second hydraulic cylinder 102 can be operated independently or synchronously. For example, during the deployment of the outriggers, all the first hydraulic cylinders 101 can be controlled to move synchronously to extend each horizontal outrigger to expand the support profile; then, the actions of each second hydraulic cylinder 102 can be controlled to lower the vertical outrigger to the ground and perform precise leveling. This structure, which separates the horizontal and vertical drive cylinders and controls them with independent branch valves 3, allows for complex, completely independent, sequential, and proportionally adjustable control of the two types of outriggers, greatly improving the flexibility and automation of the operation.

[0066] According to an embodiment of the present invention, a second aspect also provides an engineering machine that includes the outrigger control system of the first aspect.

[0067] Optionally, the construction machinery includes, but is not limited to, concrete pump trucks, cranes, etc.

[0068] In this embodiment, since the engineering machinery proposed in the second aspect includes the outrigger control system of the first aspect, the engineering machinery has the same effect as the outrigger control system. The specific technical effects of the outrigger control system will not be elaborated here.

[0069] Although embodiments of the invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the invention, and all such modifications and variations fall within the scope defined by the appended claims.

Claims

1. A leg control system, characterized in that, include: The outrigger assembly includes multiple outriggers, each of which is provided with an actuator (1); The main oil line and the branch oil lines are connected in parallel. The main oil line is equipped with a main valve (2). The main valve (2) includes a first valve body (201) and a first drive assembly (202) for controlling the opening and closing of the first valve body (201). The oil branch is provided with a branch valve (3) assembly. The branch valve (3) assembly includes multiple branch valves (3) connected in parallel and corresponding to each of the support legs. Each branch valve (3) includes a second valve body (301) and a second drive assembly (302) for controlling the opening and closing of the second valve body (301), and is connected to the oil circuit of the actuator (1) of the corresponding support leg. The actuator (1) is adapted to convert the oil pressure output by the branch valve (3) into the driving force for the outrigger movement.

2. The outrigger control system according to claim 1, characterized in that, Both the first drive assembly (202) and the second drive assembly (302) include a drive element and a connecting rod (203); Both the first valve body (201) and the second valve body (301) include a valve body body (2011) and a valve stem (2012). The valve stem (2012) is located inside the valve body body (2011). The valve stem (2012) is connected to a connecting rod (203). The driving member drives the valve stem (2012) to move through the connecting rod (203).

3. The outrigger control system according to claim 2, characterized in that, The valve body (2011) includes a first valve passage (2013), a second valve passage (2014), an oil inlet valve passage (2016), and an oil return valve passage (2017). The valve stem (2012) is provided with an adjustment part (2015). By controlling the displacement of the valve stem (2012), the overlapping area of ​​the valve passage and the adjustment part (2015) can be controlled. The main valve (2) and the branch valve (3) both include the following three working conditions. Under the first operating condition, the first valve passage (2013), the second valve passage (2014), the oil inlet valve passage (2016), and the oil return valve passage (2017) are not interconnected; In the second operating condition, the first valve passage (2013) is connected to the oil inlet valve passage (2016), and the second valve passage (2014) is connected to the oil return valve passage (2017); In the third operating condition, the first valve passage (2013) is connected to the return valve passage (2017), and the second valve passage (2014) is connected to the inlet valve passage (2016).

4. The outrigger control system according to claim 3, characterized in that, The first valve passage (2013) and the second valve passage (2014) are located on the first side of the valve body (2011), and the oil inlet valve passage (2016) and the oil return valve passage (2017) are located on the second side of the valve body (2011). The first side and the second side are not coplanar.

5. The outrigger control system according to claim 4, characterized in that, The overlapping areas of the first valve passage (2013), the second valve passage (2014), the oil inlet valve passage (2016), and the oil return valve passage (2017) with the adjusting part (2015) are all linearly related to the displacement of the valve stem (2012).

6. The outrigger control system according to claim 3, characterized in that, The actuator (1) is equipped with a hydraulic cylinder (4), which includes a cylinder body (401) and a piston rod (402). The piston rod (402) is located inside the cylinder body (401) and divides the cylinder body (401) into a rod chamber (403) and a rodless chamber (404). The piston rod (402) is connected to the corresponding support leg. The rodless chamber (404) is provided with a first oil port (405), and the rod chamber (403) is provided with a second oil port (406). The first oil port (405) and the second oil port (406) are respectively connected to the corresponding support valve (3) oil circuit through hydraulic pipelines.

7. The outrigger control system according to claim 6, characterized in that, The outriggers include horizontal outriggers and vertical outriggers, both of which are connected to the actuator (1).

8. The outrigger control system according to claim 7, characterized in that, The main valve (2) is a telescopic valve used to control the movement of the outriggers; When the main valve (2) is in the first working condition, the main valve (2) controls the braking of the outrigger; When the main valve (2) is in the second working condition, the main valve (2) controls the outrigger to extend; When the main valve (2) is in the third working condition, the main valve (2) controls the outrigger to retract; The branch valve (3) is a selectable link used to control the movement of the horizontal outrigger or the vertical outrigger; When the branch valve (3) is in the first working condition, the branch valve (3) controls the braking of the horizontal outrigger and the vertical outrigger; The branch valve (3) is in the second working condition, and the branch valve (3) is connected to the vertical support leg; The branch valve (3) is in the third working condition, and the branch valve (3) is connected to the horizontal support leg.

9. The outrigger control system according to claim 8, characterized in that, The actuator (1) includes a first hydraulic cylinder (101) and a second hydraulic cylinder (102). The first hydraulic cylinder (101) is used to drive the horizontal support leg, and the second hydraulic cylinder (102) is used to drive the vertical support leg.

10. An engineering machinery, characterized in that, The outrigger control system includes any one of claims 1 to 9.

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