Landing leg system and engineering machinery

Abstract

The invention provides a supporting leg system and an engineering machine. The supporting leg system comprises a supporting leg box, the supporting leg mechanism comprises a first supporting leg arm, a second supporting leg arm, a rotary driving part and a telescopic driving part, the first supporting leg arm is hinged to the supporting leg box, and the second supporting leg arm is arranged in the first supporting leg arm in a penetrating mode; the rotation driving piece and the telescopic driving piece are both electrically connected with the controller, and the controller is configured to obtain a supporting leg control instruction; under the condition that the supporting leg control instruction is obtained, the rotation driving part is controlled to drive one arm of the supporting leg to rotate relative to the supporting leg box according to the supporting leg control instruction; acquiring an avoiding angle range, a driving angle range and a current angle of one arm of the landing leg; when it is determined that the current angle is within the avoiding angle range, the telescopic driving part is shut down; and under the condition that the current angle is determined to be within the driving angle range, the telescopic driving part is controlled to perform telescopic driving according to the current angle. The safety of the landing leg system can be improved while the large span is achieved.

Description

Technical Field

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

[0002] Aerial work platforms, forklifts (such as telescopic boom forklifts), and excavators, among other construction machinery, typically require outrigger stabilizers for stability. There are two traditional types of outrigger stabilizers. The first uses a single-arm outrigger structure, where the single arm hangs vertically when retracted and extends horizontally when deployed. The second uses a multi-stage telescopic outrigger, where the outrigger deployment is controlled by telescopic movement; after the outrigger touches the ground, an additional lifting structure is needed to lift the vehicle.

[0003] Among these issues, the single-arm support leg is relatively short, has a small span when deployed, and lacks stability, affecting the safety of high-altitude operations. When retracted, the single-arm support leg hangs vertically, and the outrigger stabilizer extends into the turntable's working area, hindering the turntable's rotation. The multi-stage telescopic support leg, when retracted, is long and occupies space in the width direction. Furthermore, deploying the additional lifting structure requires the use of two or more drive components, resulting in long deployment times, high energy consumption, and the risk of interference with other components during deployment or retraction, posing significant safety hazards. Summary of the Invention

[0004] The main objective of this invention is to propose an outrigger system and engineering machinery, which aims to solve the technical problems of small span and significant safety hazards of outrigger stabilizers in the prior art.

[0005] To achieve the above objectives, the present invention provides a leg support system, the leg support system comprising: Outrigger box; The outrigger mechanism includes a first outrigger arm, a second outrigger arm, a rotary drive component, and a telescopic drive component. The first outrigger arm is hinged to the outrigger box, and the second outrigger arm passes through the first outrigger arm. The controller, wherein the rotary drive component and the telescopic drive component are both electrically connected to the controller, and the controller is configured to: Obtain outrigger control commands; Upon receiving a support leg control command, the rotation drive is controlled according to the support leg control command to drive one arm of the support leg to rotate relative to the support leg box. Obtain the avoidance angle range, the drive angle range, and the current angle of one arm of the outrigger; If it is determined that the current angle is within the avoidance angle range, the telescopic drive component is shut down. If the current angle is determined to be within the range of the driving angle, the telescopic drive component is controlled to perform telescopic drive according to the current angle.

[0006] In this embodiment of the invention, the controller is configured to acquire an avoidance angle range and a drive angle range, including: Obtain the minimum and maximum unfolding angles; The avoidance angle range is defined as either less than the minimum deployment angle or greater than or equal to the maximum deployment angle. The driving angle range is defined as being greater than or equal to the minimum deployment angle and less than the maximum deployment angle.

[0007] In this embodiment of the invention, a vehicle body is provided on the top of the outrigger box, one arm of the outrigger is hinged to a first hinge point of the outrigger box, the rotary drive is hinged to a second hinge point of the outrigger arm, the edge of the vehicle body protrudes beyond the first hinge point along the vehicle width direction, and the controller is configured to obtain the minimum deployment angle, including: Obtain the critical interference angle between the outrigger mechanism and the vehicle body when the telescopic drive member is at its maximum extension stroke; The critical interference angle is determined to be the minimum unfolding angle.

[0008] In this embodiment of the invention, the critical interference angle between the outrigger mechanism and the vehicle body is calculated according to the following formula: a_min=arctan[(D_e+D_z / cos(a_min)) / H_e]; in, a_min is the critical interference angle; D_e is the horizontal distance between the first hinge point and the outer edge of the vehicle body; H_e is the vertical distance between the first hinge point and the outer edge of the vehicle body; D_z represents the critical width between the first hinge point and the lower edge of the vehicle body when the outrigger arms are in their maximum extension state and the outrigger mechanism and the vehicle body are in a critical interference state.

[0009] In this embodiment of the invention, the maximum unfolding angle is a preset angle.

[0010] In this embodiment of the invention, the controller is configured to control the telescopic drive to perform telescopic drive according to the current angle, including: The telescopic drive component's telescopic speed and telescopic length are calculated based on the current angle. The telescopic drive is controlled to perform telescopic movement based on the telescopic speed and the telescopic length, so that the telescopic drive completes the telescopic movement when the current angle is within the driving angle range.

[0011] In this embodiment of the invention, the telescopic stroke of the telescopic drive is calculated according to the following formula: L_e=L*[sin(θ)-sin(a_min)] / [1-sin(a_min)]; in, L_e is the telescopic stroke; L is the maximum extension length of the two arms of the outrigger; θ is the current angle, and a_min is the minimum unfolding angle.

[0012] In this embodiment of the invention, the extension and retraction speed of the telescopic drive is calculated according to the following formula: v_e=L*cos(θ) / [1-sin(a_min)]; in, v_e is the scaling speed; L is the maximum extension length of the two arms of the outrigger; θ is the current angle; a_min is the minimum unfolding angle.

[0013] In this embodiment of the invention, the rotary drive component is a hydraulic cylinder, and the controller is configured to acquire the current angle of one arm of the outrigger, including: Obtain the current elongation of the rotary drive component, and obtain the current angle based on the current elongation.

[0014] The present invention also proposes an engineering machine, which includes a vehicle body and a support leg system as described above, wherein the support leg box is installed at the bottom of the vehicle body.

[0015] Through the above technical solutions, the outrigger system provided by the embodiments of the present invention has the following beneficial effects: The outrigger system is connected to the outrigger box via one outrigger arm, and the second outrigger arm and the first outrigger arm are telescopically connected. The first outrigger arm and the second outrigger arm are driven by independent drive components, ensuring a large extension span while saving storage space for the outriggers. The outrigger control command includes either outrigger deployment or outrigger folding. When the outrigger control command includes outrigger deployment, the controller can control the rotary drive to rotate one outrigger arm downwards relative to the outrigger housing. The extension and retraction control of the second outrigger arm can be adjusted based on the current angle of the first outrigger arm. When the outrigger control command includes outrigger folding, the controller can control the rotary drive to rotate one outrigger arm upwards relative to the outrigger housing. The extension and retraction control of the second outrigger arm can be adjusted based on the current angle of the first outrigger arm, achieving dynamic linkage control of both arms. If the current angle is within the avoidance angle range, the extension and retraction drive is shut off. This prevents safety accidents caused by the second outrigger arm extending or retracting when the current state of the first outrigger arm is unsuitable for extension and retraction. If the current angle is within the drive angle range, the extension and retraction drive is controlled based on the current angle, allowing the drive of the second outrigger arm to be dynamically adjusted according to the current angle of the first outrigger arm. In this embodiment, upon receiving the outrigger control command, one arm of the outrigger is driven first, and the avoidance angle range, driving angle range, and the current angle of the outrigger arm are collected. Only when the current angle is within the driving angle range, the telescopic drive component is controlled to extend and retract according to the current angle. This avoids the telescopic drive component extending prematurely and the two arms of the outrigger interfering with other components, thus achieving a large span while improving the safety of the outrigger system.

[0016] Other features and advantages of the present invention will be described in detail in the following detailed description section. Attached Figure Description

[0017] The accompanying drawings are provided to illustrate the invention and form part of the specification. They are used together with the following detailed description to explain the invention, but do not constitute a limitation thereof. In the drawings: Figure 1 This is a schematic diagram of the support leg system according to an embodiment of the present invention; Figure 2 This is a schematic diagram of the angle analysis of the outrigger system according to an embodiment of the present invention; Figure 3 This is a schematic diagram of the angle analysis of the outrigger system according to another embodiment of the present invention; Figure 4 This is a schematic diagram of the angle analysis of the outrigger system according to another embodiment of the present invention.

[0018] Explanation of reference numerals in the attached figures Detailed Implementation

[0019] The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0020] The leg system 100 according to the present invention is described below with reference to the accompanying drawings.

[0021] like Figures 1 to 4 As shown, in an embodiment of the present invention, the outrigger system 100 includes an outrigger box 1 and an outrigger mechanism 2. The outrigger mechanism 2 includes an outrigger arm 21, an outrigger arm 22, a rotary drive 23, and a telescopic drive 24. One end of the outrigger arm 21 is hinged to the first hinge point 11 of the outrigger box 1. The outrigger arm 21 is a hollow cylinder. The outrigger arm 22 passes through the outrigger arm 21 and is slidably connected to the outrigger arm 21. The rotary drive 23 is used to drive the outrigger arm 21 to reciprocate between the unfolded position and the folded position around the first hinge point 11. The telescopic drive 24 is used to drive the outrigger arm 22 to extend or retract relative to the outrigger arm 21.

[0022] Understandably, in this embodiment, the outrigger system 100 is mainly used for aerial work platforms, forklifts (such as rotary telescopic boom forklifts), or excavators and other construction machinery. The outrigger box 1 can be installed on the bottom of the construction machinery's body 200. In one embodiment, the outrigger box 1 has a symmetrical box-shaped structure, with a main body 12 in the middle. Inverted V-shaped side branches 13 extend from the left and right sides of the main body 12. The width of the outrigger box 1 can be... Figure 1 The left-right direction can also be the width direction of the construction machinery. Outrigger mechanisms 2 are installed on both branches 13 of the outrigger box 1. Specifically, the first outrigger arm 21 can be hinged to the branch 13 via a pin, and the second outrigger arm 22 can slide and engage with the first outrigger arm 21 via flexible sliders 221. Multiple sets of sliding contact groups are provided at the end of the second outrigger arm 22 near the outrigger box 1, arranged sequentially along the arm length direction of the second outrigger arm 22. Each sliding contact group includes multiple flexible sliders 221, which are spaced apart along the outer periphery of the second outrigger arm 22. The flexible sliders 221 can be made of flexible material; in one embodiment, the flexible sliders 221 are made of rubber or nylon. It should be noted that the length ratio of the first outrigger arm 21 to the second outrigger arm 22 can be adjusted according to the needs of different vehicle models (e.g., the length of the second outrigger arm 22 ≥ the length of the first outrigger arm 21) to adapt to different vehicle model requirements.

[0023] In one embodiment, both the rotary drive component 23 and the telescopic drive component 24 can be driven by hydraulic cylinders. In another embodiment, the rotary drive component 23 and the telescopic drive component 24 can be driven by electric push rods or pneumatic drive devices. The use of hydraulic cylinders for both the rotary drive component 23 and the telescopic drive component 24 provides higher rigidity and stability. The cylinder itself is a rigid structure, and when extended, it acts like a solid support pillar. When the outrigger mechanism 2 bears a huge load, the cylinder hardly undergoes elastic deformation, providing an extremely stable support foundation for the equipment. This is crucial for the accuracy and safety of lifting operations. In contrast, a flexible traction structure will exhibit some elastic elongation under heavy loads. Even with a locking device installed, the rigidity of the entire support system is far less than that of a hydraulic cylinder, which may cause slight sinking or swaying of the equipment under heavy loads.

[0024] Furthermore, it offers enhanced safety, as the hydraulic system supplying oil to the rotary drive component 23 and the telescopic drive component 24 is self-locking. By incorporating a hydraulic lock (typically composed of a hydraulically controlled check valve) in the oil circuit, even if an oil pipe ruptures, the cylinder can firmly lock the piston rod in its current position, preventing the outrigger mechanism 2 from retracting unexpectedly, resulting in an extremely high safety factor. Existing structures may be susceptible to wear and malfunction, and if a mechanical component breaks, the outrigger mechanism 2 will instantly lose support, causing a catastrophic accident. Additionally, the rotary drive component 23 and the telescopic drive component 24 offer high control precision and adjustable logic. Each outrigger is driven by an independent cylinder, allowing for precise synchronization or individual control via a hydraulic circuit (e.g., using a synchronizing valve) or an electronic control system. Operators can easily fine-tune the extension length and height of each outrigger, and the four support points of the vehicle can form various irregular quadrilaterals, making it suitable for more complex scenarios and uneven terrain. The rotary drive component 23 and the telescopic drive component 24 utilize drive cylinders; the main wear parts during operation are the sealing rings, which have a long lifespan under normal use and regular hydraulic oil changes. The entire system is enclosed in oil, making it less susceptible to external contamination and corrosion, thus giving the outrigger system 100 a longer service life and lower maintenance costs.

[0025] When the outrigger system 100 needs to deploy its outriggers, the rotary drive 23 drives the first outrigger arm 21 to rotate downwards relative to the outrigger housing 1 until the first outrigger arm 21 rotates to its maximum angle. The rotary drive 23 then stops, and the outrigger extension drive 24 drives the second outrigger arm 22 to extend relative to the first outrigger arm 21, causing the bottom of the second outrigger arm 22 to touch the ground and lift the construction machinery. After the extension drive 24 reaches its maximum travel, the outrigger mechanism 2 extends to its longest distance, at which point the construction machinery is lifted to its highest point. When the outrigger system 100 needs to fold its outriggers, the extension drive 24 drives the second outrigger arm 22 to retract to its initial position, and the rotary drive 23 drives the first outrigger arm 21 to rotate upwards relative to the outrigger housing 1, causing the outrigger mechanism 2 to retract to its initial position. When the outrigger mechanism 2 is in the folded state, the second outrigger arm 22 at least partially overlaps with the first arm. The overall height of the outrigger system 100 can be approximately equal to the length of the first arm, reducing the vertical space occupied when the outrigger is retracted and avoiding interference with other components. This allows the device to operate flexibly even when the outrigger is not extended. The outrigger box 1 is hinged to the first outrigger arm 21, and the first outrigger arm 21 is slidably connected to the second outrigger arm 22, achieving maximum extension distance and compact storage. Furthermore, the extension of the first outrigger arm 21 and the extension / retraction of the second outrigger arm 22 are driven by independent drive components, allowing for more flexible extension and retraction control strategies and adaptability to more application scenarios. In this embodiment, the outrigger system 100 is hinged to the outrigger box 1 via the first outrigger arm 21, and the second outrigger arm 22 is retractably connected to the first outrigger arm 21. The first outrigger arm 21 and the second outrigger arm 22 are driven by independent drive components, ensuring a large extension span while saving storage space and adapting to more usage scenarios.

[0026] In one embodiment, the second outrigger arm 22 is a hollow cylinder. One end of the telescopic drive component 24 is housed within and connected to the first outrigger arm 21, and the other end is housed within and connected to the second outrigger arm 22. In this embodiment, both the first outrigger arm 21 and the second outrigger arm 22 adopt a hollow cylinder structure. Combined with the rotary drive component 23 and the telescopic drive component 24, this results in a compact structure with minimal space occupation. The outrigger housing 1 can be equipped with storage space. The rotary drive component 23 can be cleverly integrated inside the outrigger housing 1, and the telescopic drive component 24 can be integrated within the second outrigger arm 22. The structure is very compact, does not occupy additional space, and makes the overall layout of the equipment neater and more rational. Existing mechanical connection structures require a certain amount of layout space, are relatively complex and bulky, and may affect the overall structural design of the vehicle.

[0027] It should be noted that the first outrigger arm 21 and the second outrigger arm 22 enclose the installation space. The telescopic drive component 24 can extend and retract between the initial position and the maximum stroke position. Both the initial position and the maximum stroke position of the telescopic drive component 24 are accommodated within the installation space. Outrigger mechanisms 2 are installed on both the left and right sides of the outrigger box 1. The outrigger mechanism 2 on the left side of the outrigger box 1 is in a folded state, and the outrigger mechanism 2 on the right side of the outrigger box 1 is in an unfolded state. The telescopic drive component 24 is accommodated within the installation space during the movement of the outrigger mechanism 2 and in all states. This protects the telescopic drive component 24 and prevents external components from interfering with it, making the outrigger system 100 operate more stably.

[0028] like Figures 1 to 4 As shown, one end of the rotary drive component 23 is hinged to the outrigger housing 1, and the other end is hinged to the second hinge point 211 of the outrigger arm 21. The outrigger arm 21 has a rotating end and a free end along its length, respectively. The rotating end is hinged to the first hinge point 11, and the second hinge point 211 is located between the rotating end and the free end. In this embodiment, the second hinge point 211 is located between the first hinge point 11 and the free end of the outrigger arm 21, thus avoiding interference between the rotary drive component 23 and other components. When the telescopic drive component 24 uses a hydraulic cylinder, the piston rod of the telescopic drive component 24 can be installed at the first mounting point of the outrigger arm 21. The first mounting point is located horizontally between the first hinge point 11 and the second hinge point 211, thus avoiding interference between the movement of the outrigger arm 21 and the outrigger arm 22. The cylinder of the telescopic drive component 24 extends into the outrigger arm 22 and connects to the inner wall of the outrigger arm 22.

[0029] like Figure 1 As shown, the support leg box 1 has a symmetrical box-shaped structure, and support leg mechanisms 2 are provided on both sides of the support leg box 1. The two support leg mechanisms 2 are symmetrically arranged on both sides of the support leg box 1. The two support leg mechanisms 2 are located at both ends of the support leg box 1 along the width direction (i.e., the left-right direction), which can ensure that the support leg system 100 has a large span when the two support leg mechanisms 2 are deployed.

[0030] In this embodiment of the invention, the outrigger mechanism 2 further includes a support foot 25, which is hinged to one end of the outrigger arm 22 away from the outrigger arm 21. The support foot 25 is provided with a support plane for supporting the ground. The support foot 25 can adopt a triangular support structure, and the top of the support foot 25 can be hinged to the bottom of the outrigger arm 22 via a pin. When the support foot 25 touches the ground, it automatically rotates to a horizontal position to adapt to sloping terrain. The adaptive design of the support foot 25 enables automatic leveling, allowing the outrigger system 100 to adapt to complex terrain.

[0031] Specifically, the outrigger system 100 includes an outrigger housing 1, an outrigger mechanism 2, and a controller. The outrigger mechanism 2 includes a first outrigger arm 21, a second outrigger arm 22, a rotary drive component 23, and a telescopic drive component 24. The first outrigger arm 21 is hinged to the outrigger housing 1, and the second outrigger arm 22 passes through the first outrigger arm 21. The rotary drive component 23 and the telescopic drive component 24 are both electrically connected to the controller, which is configured as follows: Obtain outrigger control commands; Upon receiving the outrigger control command, the rotation drive 23 is controlled according to the outrigger control command to drive the outrigger arm 21 to rotate relative to the outrigger box 1. Obtain the avoidance angle range, the drive angle range, and the current angle of the outrigger arm 21; If the current angle is determined to be within the avoidance angle range, shut down the telescopic drive component 24; If the current angle is determined to be within the driving angle range, the telescopic drive component 24 is controlled to perform telescopic drive according to the current angle.

[0032] The outrigger system 100 is hinged to the outrigger housing 1 via an outrigger arm 21. The outrigger arm 22 is telescopically connected to the outrigger arm 21, and both the outrigger arm 21 and the outrigger arm 22 are driven by independent drive components. This ensures a large deployment span while saving storage space and adapting to more usage scenarios. Outrigger control commands include either outrigger deployment or outrigger folding. When the outrigger control command includes outrigger deployment, the controller can control the rotation drive 23 to drive the outrigger arm 21 to rotate downwards relative to the outrigger housing 1. The telescopic control of the outrigger arm 22 can be adjusted based on the current angle of the outrigger arm 21 by controlling the telescopic drive 24. When the outrigger control command includes outrigger folding, the controller can control the rotation drive 23 to drive the outrigger arm 21 to rotate upwards relative to the outrigger housing 1. The telescopic control of the outrigger arm 22 can be adjusted based on the current angle of the outrigger arm 21 by adjusting the telescopic drive 24. The telescopic drive component 24 is controlled to extend and retract based on the current angle of the outrigger, enabling dynamic linkage control of both arms. When the current angle is within the avoidance angle range, the telescopic drive component 24 is shut down. This prevents safety accidents caused by the extension and retraction of the outrigger arm 22 when its current state is unsuitable for extension and retraction. When the current angle is within the driving angle range, the telescopic drive component 24 is controlled to extend and retract based on the current angle, allowing the driving of the outrigger arm 22 to be dynamically adjusted according to the current angle of the outrigger arm 21. In this embodiment, upon receiving the outrigger control command, the outrigger arm 21 is driven first, and the avoidance angle range, driving angle range, and the current angle of the outrigger arm 21 are collected. Only when the current angle is within the driving angle range is the telescopic drive component 24 controlled to extend and retract based on the current angle. This avoids the telescopic drive component 24 extending prematurely and the outrigger arm 22 interfering with other components, achieving a large span while improving the safety of the outrigger system 100.

[0033] It should be noted that the controller is configured to acquire the avoidance angle range and the drive angle range, including: Obtain the minimum and maximum unfolding angles; The avoidance angle range is defined as either less than the minimum deployment angle or greater than or equal to the maximum deployment angle. The driving angle range is defined as being greater than or equal to the minimum deployment angle and less than the maximum deployment angle.

[0034] In this embodiment, the minimum deployment angle is less than the maximum deployment angle. During the first stage of outrigger deployment, if the current angle is less than the minimum deployment angle, the telescopic drive component 24 is prohibited from operating, effectively preventing the outrigger arms 22 from extending prematurely and interfering with the vehicle components (turntable, engine hood, cab, etc.) above. During the second stage of outrigger deployment, if the forward deployment angle is greater than or equal to the minimum deployment angle and less than the maximum deployment angle, the telescopic drive component 24's extension stroke and speed can be calculated and controlled based on the current angle to achieve the extension stroke requirement within a limited angle, ensuring the smoothness of the deployment action and avoiding the impact effect before the end of the extension process. During the third stage of outrigger deployment, if the current angle is greater than or equal to the maximum deployment angle, only the deployment angle of the outrigger arm 21 changes. Compared with the process of the outrigger arm 21 deploying while the outrigger arms 22 extend and retract without linkage control, only the rotary drive component 23 needs to be driven in this stage, effectively saving energy and improving process reliability, while also preventing the support foot 25 from sliding significantly on the support plane. When the outrigger is deployed or retracted, the cylinder extension speed of the rotary drive component 23 can remain constant, simplifying the hydraulic control system.

[0035] In one embodiment, a vehicle body 200 is provided on the top of the outrigger box 1, an outrigger arm 21 is hinged to a first hinge point 11 of the outrigger box 1, a rotary drive 23 is hinged to a second hinge point 211 of the outrigger arm 21, and the edge of the vehicle body 200 protrudes from the first hinge point 11 along the vehicle width direction. The controller is configured to obtain the minimum deployment angle, including: Obtain the critical interference angle between the outrigger mechanism 2 and the vehicle body 200 when the telescopic drive component 24 is at its maximum extension stroke; The critical interference angle is determined to be the minimum unfolding angle. For example... Figure 3 As shown, the vehicle body 200 is located on top of the outrigger box 1. By using the critical interference angle as the minimum deployment angle, interference between the outrigger mechanism 2 and the vehicle body during movement can be precisely avoided. The minimum deployment angle is determined by obtaining the critical interference angle between the outrigger mechanism 2 and the vehicle body 200 when the telescopic drive member 24 is at its maximum extension stroke, allowing the outrigger mechanism 2 to adapt to different vehicle body widths. Specifically, the critical interference angle between the outrigger mechanism 2 and the vehicle body 200 is calculated according to the following formula: a_min=arctan[(D_e+D_z / cos(a_min)) / H_e]; in, a_min is the critical interference angle; D_e is the horizontal distance between the first hinge point 11 and the outer edge of the vehicle body 200; H_e is the vertical distance between the first hinge point 11 and the outer edge of the vehicle body 200; D_z represents the critical width between the first hinge point 11 and the lower edge of the vehicle body 200 when the outrigger arm 22 is in its maximum extension state and the outrigger mechanism 2 and the vehicle body 200 are in a critical interference state. Figure 3 As shown, D_z is the distance between the first hinge point 11 and the lower edge of the vehicle body 200 when the rotary drive 23 is at its maximum extension stroke. The critical interference angle can be accurately calculated using the above formula, precisely avoiding interference between the outrigger mechanism 2 and the vehicle body 200. In one embodiment, the maximum extension angle is a preset angle. The maximum extension angle can be 90°~110°, which can prevent the supporting feet 25 on the outrigger arms 22 from sliding while also providing sufficient extension and retraction space for the outrigger arms 22.

[0036] It should be noted that the controller is configured to control the telescopic drive 24 to perform telescopic drive based on the current angle, including: Calculate the extension speed and extension length of the telescopic drive component 24 based on the current angle; The telescopic drive component 24 is controlled to extend and retract based on the telescopic speed and extension length, ensuring that the current angle is within the driving angle range before completing the telescopic movement. In this embodiment, both the telescopic speed and extension length are dynamically adjusted according to the current angle, preventing the telescopic drive component 24 from failing to extend and retract in a timely manner.

[0037] Specifically, the telescopic stroke of the telescopic drive 24 is calculated according to the following formula: L_e=L*[sin(θ)-sin(a_min)] / [1-sin(a_min)]; in, L_e represents the telescopic stroke; L is the maximum extended length of the two arms of the outrigger 22; θ is the current angle, and a_min is the minimum unfolding angle.

[0038] The outrigger deployment control is as follows: L_e is also the telescopic length of the second outrigger arm 22, L is the maximum extended distance of the second outrigger arm 22, θ is the current angle of the first outrigger arm 21, and a_min is the minimum deployment angle at which the first outrigger arm 21 can be telescoped. The rotary drive 23 pushes the first outrigger arm 21 to rotate downward around the outrigger box 1. When the deployment angle θ of the first outrigger arm 21 is less than 60°, the telescopic drive 24 is prohibited from operating, and when θ < a_min (set to 60° in one embodiment): L_e = 0; when 60° ≤ θ < 90°, the telescopic drive 24 is calculated and controlled according to the current angle, so that the telescopic drive 24 drives the second outrigger arm 22 to extend. When θ > 90°, the telescopic drive 24 is prohibited from operating, and the first outrigger arm 21 is deployed to the maximum angle and stops. At this time, the vehicle is lifted to the highest. The outrigger retraction control is as follows: when θ > 90°, the telescopic drive 24 is prohibited from operating, and the rotary drive 23 drives the first outrigger arm 21 to rotate upward; when 60° ≤ θ < 90°, the telescopic drive 24 is calculated and controlled according to the current angle; when θ < 60°, the telescopic drive 24 is prohibited from operating, and the rotary drive 23 drives the first outrigger arm 21 to rotate upward to retract the outrigger to the initial position. In this embodiment, the sine function relationship curve of the telescopic stroke is smooth, and the rate of change of the stroke with the angle gradually decreases, ensuring the smoothness of the deployment action and avoiding the impact effect before the end of the telescopic process.

[0039] Specifically, the telescopic speed of the telescopic drive 24 is calculated according to the following formula: v_e = L * cos(θ) / [1 - sin(a_min)]; Where, v_e is the telescopic speed; L is the maximum extended length of the second outrigger arm 22; θ is the current angle; a_min is the minimum deployment angle.

[0040] In this embodiment, the cosine function relationship curve of the telescopic stroke is smooth, ensuring the smoothness of the deployment action.

[0041] It can be understood that the rotary drive device 23 is a drive oil cylinder, and the controller is configured to obtain the current angle of the first outrigger arm 21, including: Obtain the current elongation of the rotary drive 23, and obtain the current angle according to the current elongation.

[0042] In one embodiment, a pull-wire sensor electrically connected to the controller can be installed on the rotary drive component 23. The extension reading of the hydraulic cylinder of the rotary drive component 23 can be obtained through the pull-wire sensor, and then the current angle can be obtained by consulting a table of correspondence between hydraulic cylinder extension and deployment angle pre-built into the controller. In another embodiment, an tilt sensor electrically connected to the controller is installed on one of the outrigger arms 21. The current angle of the outrigger arm 21 can be detected through the tilt sensor. The current angle of the outrigger arm 21 can be accurately obtained.

[0043] like Figure 4 As shown, A is the hinge point between the rotary drive 23 and the outrigger box 1, C is the second hinge point 211, and the distance between hinge points A and C is the actual length LR of the rotary drive 23; B is the first hinge point 11, AB and BC are fixed distances; θ_p is the angle between AB and BC, and the initial value of θ_p is θ_i when the outrigger mechanism 2 is fully retracted.

[0044] θ = θ_p - θ_i; θ_p=ARCCOS(AB^2+BC^2–2*LR); θ_i=ARCCOS(AB^2+BC^2–2*L_i); Where LR=Le1+L_i, L_e1 is the actual cylinder stroke of the rotary drive 23, and L_i is the cylinder length AC when the stroke of the rotary drive 23 is zero.

[0045] θ=ARCCOS(AB^2+BC^2–2*Le1-2*L_i)-ARCCOS(AB^2+BC^2–2*L_i); It can be verified that when Le1=0, θ=0, that is, the unfolding angle of the outrigger arm 21 is controlled by the relative positions of hinge points A, B, and C and the stroke of the hydraulic cylinder. Le1(θ)={(AB^2+BC^2-2L_i)(1–cos(θ))+sqrt{1-(AB^2+BC^2-2L_i)^2}sin(θ)} / 2; the stroke of the hydraulic cylinder of the rotary drive 23 is set as Le1, and the stroke of the hydraulic cylinder of the telescopic drive 24 is set as Le2; The hydraulic cylinder strokes for the final three stages of outrigger deployment are as follows: θ <a_min:Le1=Le1(θ),Le2=0; a_min<θ <a_max: Le1=Le1(θ), Le2=f(θ)=L*[sin(θ)-sin(a_min)] / [1-sin(a_min)]; θ>a_max: Le1=Le1(θ), Le2=L.

[0046] This invention also proposes an engineering machinery, comprising a vehicle body 200 and the outrigger system 100 described above, with the outrigger box 1 mounted on the bottom of the vehicle body 200. The specific structure of the outrigger system 100 is as described in the above embodiments. Since the engineering machinery adopts all the technical solutions of all the above embodiments, it possesses at least all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be elaborated upon here. In one embodiment, the engineering machinery can be applied to aerial work platforms, forklifts (such as rotary telescopic boom forklifts), or excavators, etc.

[0047] Specifically, the construction machinery includes two outrigger boxes 1, which are set along the length of the vehicle body 200. When the construction machinery needs support, the outrigger mechanisms 2 on the two outrigger boxes 1 are deployed together, which increases the support span of the construction machinery. After the two-section boom outriggers are deployed, a wider support quadrilateral is formed (the area is increased by about 30%), which significantly enhances stability.

[0048] In the description of this invention, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0049] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0050] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0051] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A leg support system, characterized in that, The outrigger system (100) includes: Outrigger box (1); The outrigger mechanism (2) includes a first outrigger arm (21), a second outrigger arm (22), a rotary drive (23), and a telescopic drive (24). The first outrigger arm (21) is hinged to the outrigger box (1), and the second outrigger arm (22) is inserted inside the first outrigger arm (21). The controller, wherein the rotary drive (23) and the telescopic drive (24) are both electrically connected to the controller, and the controller is configured to: Obtain outrigger control commands; Upon receiving a support leg control command, the rotation drive (23) is controlled to drive one arm (21) of the support leg to rotate relative to the support leg box (1) according to the support leg control command; Obtain the avoidance angle range, the drive angle range, and the current angle of the outrigger arm (21); If the current angle is determined to be within the avoidance angle range, the telescopic drive component (24) is shut down. If the current angle is determined to be within the range of the driving angle, the telescopic drive (24) is controlled to perform telescopic drive according to the current angle.

2. The outrigger system according to claim 1, characterized in that, The controller is configured to acquire an avoidance angle range and a drive angle range, including: Obtain the minimum and maximum unfolding angles; The avoidance angle range is defined as either less than the minimum deployment angle or greater than or equal to the maximum deployment angle. The driving angle range is defined as being greater than or equal to the minimum deployment angle and less than the maximum deployment angle.

3. The outrigger system according to claim 2, characterized in that, The top of the outrigger box (1) is provided with a vehicle body (200), one arm (21) of the outrigger is hinged to a first hinge point (11) of the outrigger box (1), the rotary drive (23) is hinged to a second hinge point (211) of the outrigger arm (21), the edge of the vehicle body (200) protrudes from the first hinge point (11) along the vehicle width direction, and the controller is configured to obtain the minimum deployment angle, including: Obtain the critical interference angle between the outrigger mechanism (2) and the vehicle body (200) when the telescopic drive member (24) is at its maximum extension stroke; The critical interference angle is determined to be the minimum unfolding angle.

4. The outrigger system according to claim 3, characterized in that, The critical interference angle between the outrigger mechanism (2) and the vehicle body (200) is calculated according to the following formula: a_min=arctan[(D_e+D_z / cos(a_min)) / H_e]; in, a_min is the critical interference angle; D_e is the horizontal distance between the first hinge point (11) and the outer edge of the vehicle body (200); H_e is the vertical distance between the first hinge point (11) and the outer edge of the vehicle body (200); D_z is the critical width between the first hinge point (11) and the lower edge of the vehicle body (200) when the outrigger arm (22) is in the maximum extension stroke state and the outrigger mechanism (2) and the vehicle body (200) are in the critical interference state.

5. The outrigger system according to any one of claims 2 to 4, characterized in that, The maximum unfolding angle is a preset angle.

6. The outrigger system according to any one of claims 2 to 4, characterized in that, The controller is configured to control the telescopic drive (24) to telescopically drive according to the current angle, including: The telescopic drive (24) telescopic speed and telescopic length are calculated based on the current angle; The telescopic drive (24) is controlled to perform telescopic drive according to the telescopic speed and the telescopic length, so that the current angle is within the driving angle range, and the telescopic drive (24) completes the telescopic movement.

7. The outrigger system according to claim 6, characterized in that, The telescopic stroke of the telescopic drive (24) is calculated according to the following formula: L_e=L*[sin(θ)-sin(a_min)] / [1-sin(a_min)]; in, L_e is the telescopic stroke; L is the maximum extension length of the two outrigger arms (22); θ is the current angle, and a_min is the minimum unfolding angle.

8. The outrigger system according to claim 6, characterized in that, The extension and retraction speed of the telescopic drive (24) is calculated according to the following formula: v_e=L*cos(θ) / [1-sin(a_min)]; in, v_e is the scaling speed; L is the maximum extension length of the two outrigger arms (22); θ is the current angle; a_min is the minimum unfolding angle.

9. The outrigger system according to any one of claims 1 to 4, characterized in that, The rotary drive (23) is a drive cylinder, and the controller is configured to acquire the current angle of the outrigger arm (21), including: Obtain the current elongation of the rotary drive (23), and obtain the current angle based on the current elongation.

10. An engineering machinery, characterized in that, The construction machinery includes a vehicle body (200) and a leg support system (100) as described in any one of claims 1 to 9, wherein the leg support box (1) is mounted on the bottom of the vehicle body (200).

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