The invention relates to the technical field of engineering machinery, and discloses a control method, a controller and a device for supporting legs of engineering equipment and the engineering equipment. The engineering equipment comprises a cantilever crane and supporting legs, and the control method comprises the steps that in response to received supporting leg control instructions, the posture of the cantilever crane is obtained, and the supporting leg control instructions comprise a horizontal control instruction used for swinging or unfolding and folding the supporting legs and a vertical control instruction used for adjusting the extension amount of the supporting legs; obtaining the stress state of the supporting leg corresponding to the supporting leg control instruction; and limiting the vertical control and the horizontal control of the corresponding supporting legs under the condition that the posture is that the cantilever crane is not fully folded and the stress state is that the stress value is greater than a preset threshold value. Potential safety hazards caused by the fact that the supporting leg valve responds to the supporting leg control instruction can be avoided, judgment and limitation are conducted through a machine, subjective judgment and unlimited operation of people are avoided, reliability of equipment control response is higher, equipment operation safety is improved, and the requirement of industrial standards for equipment operation safety is met.

    本发明涉及工程机械技术领域,公开了一种用于工程设备支腿的控制方法、控制器、装置和工程设备。工程设备包括臂架和支腿,控制方法包括:响应于接收到的支腿操控指令,获取臂架的姿态,其中支腿操控指令包括用于摆动或展收支腿的水平操控指令、用于调整支腿伸长量的垂直操控指令;获取支腿操控指令对应的支腿的受力状态;在姿态为臂架未全收状态,且受力状态为受力值大于预设阈值的情况下,对对应的支腿的垂直操控和水平操控进行限制。可以避免支腿阀响应支腿操控指令导致的安全隐患,用机器来进行判断和限制,避免了人的主观判断和无限制的操作,设备操控响应的可靠性更高,提高了设备作业安全性,满足了行业标准对设备操作安全的要求。


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    Title :

    Control method, controller and device for supporting legs of engineering equipment and engineering equipment


    Additional title:

    用于工程设备支腿的控制方法、控制器、装置和工程设备


    Contributors:
    ZENG ZHONGWEI (author) / TONG XIANGWEI (author) / SONG YANG (author)

    Publication date :

    2022-10-18


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60S SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR , Warten, Reinigen, Instandsetzen, Unterstützen, Anheben oder Rangieren von Fahrzeugen, soweit nicht anderweitig vorgesehen / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR




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