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CN-121990509-A - Landing leg system and engineering machinery

CN121990509ACN 121990509 ACN121990509 ACN 121990509ACN-121990509-A

Abstract

The invention provides a landing leg system and engineering machinery, the landing leg system comprises a landing leg box, a landing leg mechanism, a controller and the controller, wherein the landing leg mechanism comprises a landing leg first arm, a landing leg second arm, a rotary driving piece and a telescopic driving piece, the landing leg first arm is hinged to the landing leg box, the landing leg second arm is arranged in the landing leg first arm in a penetrating mode, the controller is electrically connected with the rotary driving piece and the telescopic driving piece, the controller is configured to obtain landing leg control instructions, control the rotary driving piece to drive the landing leg first arm to rotate relative to the landing leg box according to the landing leg control instructions when the landing leg control instructions are obtained, obtain a avoiding angle range, a driving angle range and the current angle of the landing leg first arm, shut down the telescopic driving piece when the current angle is determined to be in the avoiding angle range, and control the telescopic driving piece to conduct telescopic driving according to the current angle when the current angle is determined to be in the driving angle range. The invention realizes large span and improves the safety of the landing leg system.

Inventors

  • WANG YOUHUA
  • LI ZHIWEI
  • XUE FU
  • QU LONGTAO
  • LI WEIMING

Assignees

  • 湖南中联重科智能高空作业机械有限公司

Dates

Publication Date
20260508
Application Date
20251224

Claims (10)

  1. 1. A leg system, characterized in that the leg system (100) comprises: A leg box (1); The support leg mechanism (2) comprises a support leg first arm (21), a support leg second arm (22), a rotary driving piece (23) and a telescopic driving piece (24), wherein the support leg first arm (21) is hinged to the support leg box (1), and the support leg second arm (22) is arranged in the support leg first arm (21) in a penetrating mode; a controller, the rotary drive (23), the telescopic drive (24) being electrically connected to the controller, the controller being configured to: Acquiring a landing leg control instruction; When a leg control instruction is acquired, controlling the rotary driving piece (23) to drive the leg one arm (21) to rotate relative to the leg box (1) according to the leg control instruction; Acquiring an avoidance angle range, a driving angle range and a current angle of one arm (21) of the supporting leg; -shutting down the telescopic drive member (24) if the current angle is determined to be within the range of avoidance angles; and when the current angle is determined to be within the driving angle range, controlling the telescopic driving piece (24) to perform telescopic driving according to the current angle.
  2. 2. The leg system of claim 1, wherein the controller is configured to obtain a range of avoidance angles and a range of drive angles, comprising: acquiring a minimum unfolding angle and a maximum unfolding angle; determining that the minimum unfolding angle is smaller than or equal to or larger than the maximum unfolding angle is an avoidance angle range; and determining that the minimum unfolding angle is larger than or equal to the minimum unfolding angle and smaller than the maximum unfolding angle is a driving angle range.
  3. 3. The leg system according to claim 2, wherein a vehicle body (200) is provided at a top of the leg box (1), the leg one arm (21) is hinged to a first hinge point (11) of the leg box (1), the rotation driving member (23) is hinged to a second hinge point (211) of the leg one arm (21), an edge of the vehicle body (200) in a vehicle width direction protrudes from the first hinge point (11), and the controller is configured to obtain a minimum deployment angle, comprising: acquiring a critical interference angle of the supporting leg mechanism (2) and the vehicle body (200) under the condition that the telescopic driving piece (24) is at the maximum extension stroke; and determining the critical interference angle as the minimum unfolding angle.
  4. 4. A leg system according to claim 3, characterized in that the critical interference angle of the leg 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]; Wherein, the 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 a vertical distance between the first hinge point (11) and an 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), wherein the two arms (22) of the supporting leg are in the maximum extension stroke state, and the supporting leg mechanism (2) and the vehicle body (200) are in the critical interference state.
  5. 5. The leg system of any one of claims 2 to 4, wherein the maximum deployment angle is a preset angle.
  6. 6. The leg system according to any one of claims 2 to 4, wherein the controller is configured to control the telescopic drive (24) to perform telescopic drive according to the current angle, comprising: Calculating the telescopic speed and the telescopic length of the telescopic driving piece (24) according to the current angle; And controlling the telescopic driving piece (24) to perform telescopic driving according to the telescopic speed and the telescopic length, so that the telescopic driving piece (24) completes telescopic movement under the condition that the current angle is in the driving angle range.
  7. 7. The leg system according to claim 6, characterized in that the telescopic travel of the telescopic drive (24) is calculated according to the following formula: L_e=L*[sin(θ)-sin(a_min)]/[1-sin(a_min)]; Wherein, the L_e is the telescopic travel; l is the maximum extension of the two arms (22) of the support leg; θ is the current angle, and a_min is the minimum expansion angle.
  8. 8. The leg system according to claim 6, characterized in that the telescoping speed of the telescoping drive (24) is calculated according to the following formula: v_e=L*cos(θ)/[1-sin(a_min)]; Wherein, the V_e is the telescoping speed; l is the maximum extension of the two arms (22) of the support leg; θ is the current angle; a_min is the minimum deployment angle.
  9. 9. The leg system according to any one of claims 1 to 4, wherein the rotary drive (23) is a drive ram, the controller being configured to obtain a current angle of the leg-arm (21), comprising: -obtaining a current elongation of the rotary drive (23), -obtaining the current angle from the current elongation.
  10. 10. A working machine, characterized in that the working machine comprises a body (200) and a leg system (100) according to any one of claims 1 to 9, the leg box (1) being mounted to the bottom of the body (200).

Description

Landing leg system and engineering machinery Technical Field The invention belongs to the technical field of engineering machinery, and particularly relates to a landing leg system and engineering machinery. Background Engineering machinery such as high-altitude working platforms, forklift trucks (such as rotary telescopic boom forklift trucks), excavators and the like usually require support leg stabilizers for support due to stability requirements. There are two kinds of conventional leg stabilizers, the first is a single-arm supporting leg structure, in which a single-arm supporting leg is suspended vertically when retracted, and the single-arm supporting leg is extended horizontally when extended. The second is to use multi-stage telescopic supporting legs, the supporting legs are controlled to be unfolded through telescopic control, and an additional lifting structure is needed to lift the vehicle after the supporting legs touch the ground. The length of the single-arm supporting leg structure is short, the span is small after the single-arm supporting leg is unfolded, the stability is insufficient, and the safety of high-altitude operation is affected. When the rotary table is retracted, the single-arm supporting legs are vertically hung, and the supporting leg stabilizers extend into the working area of the rotary table to prevent the rotary table from rotating. The multistage telescopic supporting leg is long in width after retraction, occupies space in the width direction, and the additional lifting structure needs to be unfolded by using more than two driving components successively, so that the unfolding time is long, the energy consumption is high, the condition that the supporting leg interferes with other components to cause safety accidents easily occurs in the unfolding or retracting process of the multistage supporting leg, and the use potential safety hazard is large. Disclosure of Invention The invention mainly aims to provide a landing leg system and engineering machinery, and aims to solve the technical problems of small span and large potential safety hazard of a landing leg stabilizer in the prior art. In order to achieve the above object, the present invention provides a leg system including: A leg box; The support leg mechanism comprises a support leg first arm, a support leg second arm, a rotary driving piece and a telescopic driving piece, wherein the support leg first arm is hinged to the support leg box, and the support leg second arm is arranged in the support leg first arm in a penetrating manner; A controller, the rotary drive, the telescoping drive and the controller are all electrically connected, the controller is configured to: Acquiring a landing leg control instruction; under the condition that a supporting leg control instruction is acquired, controlling the rotary driving piece to drive the supporting leg one arm to rotate relative to the supporting leg box according to the supporting leg control instruction; Acquiring an avoidance angle range, a driving angle range and a current angle of one arm of the supporting leg; if the current angle is determined to be within the avoidance angle range, closing the telescopic driving piece; and under the condition that the current angle is determined to be in the driving angle range, controlling the telescopic driving piece to perform telescopic driving according to the current angle. In an embodiment of the present invention, the controller is configured to obtain an avoidance angle range and a driving angle range, including: acquiring a minimum unfolding angle and a maximum unfolding angle; determining that the minimum unfolding angle is smaller than or equal to or larger than the maximum unfolding angle is an avoidance angle range; and determining that the minimum unfolding angle is larger than or equal to the minimum unfolding angle and smaller than the maximum unfolding angle is a driving angle range. In an embodiment of the present invention, a vehicle body is provided on top of the leg box, the leg box is hinged with a first hinge point on an arm, the rotation driving member is hinged with a second hinge point on the leg box, an edge of the vehicle body in a vehicle width direction protrudes from the first hinge point, and the controller is configured to obtain a minimum unfolding angle, and includes: Acquiring critical interference angles of the supporting leg mechanism and the vehicle body under the condition that the telescopic driving piece is in the maximum extension stroke; and determining the critical interference angle as the minimum unfolding angle. In the embodiment of the invention, the critical interference angle of the supporting leg mechanism and the vehicle body is calculated according to the following formula: a_min=arctan[(D_e+D_z/cos(a_min))/H_e]; Wherein, the A_min is the critical interference angle; d_e is a horizontal distance between the first hinge point and an outer edge of the vehicle body; h_e is