Eine Plattform für die Wissenschaft: Bauingenieurwesen, Architektur und Urbanistik
Eine Plattform für die Wissenschaft: Bauingenieurwesen, Architektur und Urbanistik
Method for controlling leveling of chassis, controller and walking excavator
The invention discloses a method for controlling leveling of a chassis, a controller and a walking excavator. The method comprises the steps that supporting leg pressure data of each supporting leg and initial displacement data of each oil cylinder are obtained; according to the supporting leg pressure data of each supporting leg and the initial displacement data of each oil cylinder, the position of each supporting leg is adjusted, so that the stress of each supporting leg is balanced; under the condition that the stress of each supporting leg is balanced, determining a supporting leg adjusting sequence for adjusting each supporting leg according to the supporting leg pressure data of each supporting leg; on the basis of the supporting leg adjusting sequence, according to the target displacement data of each oil cylinder and the obtained inclination angle data of the chassis, the angle of each supporting leg is adjusted in sequence so that the chassis can be leveled; wherein the target displacement data of each oil cylinder is the displacement data of each oil cylinder obtained under the condition that the stress of each supporting leg is balanced. The leveling effect of the chassis of the walking excavator can be improved.
本申请公开了一种用于控制底盘调平的方法、控制器及步履式挖掘机。该方法包括：获取每个支腿的支腿压力数据和每个油缸的初始位移数据；根据每个支腿的支腿压力数据和每个油缸的初始位移数据，调整每个支腿的位置，使每个支腿受力平衡；在每个支腿受力平衡的情况下，根据每个支腿的支腿压力数据确定对每个支腿进行调整的支腿调整顺序；基于支腿调整顺序，根据每个油缸的目标位移数据和获取到的底盘的倾角数据，依次对每个支腿的角度进行调整，以调平底盘；其中，每个油缸的目标位移数据是在每个支腿受力平衡的情况下获取到的每个油缸的位移数据。本申请能提高步履式挖掘机的底盘的调平效果。
Method for controlling leveling of chassis, controller and walking excavator
The invention discloses a method for controlling leveling of a chassis, a controller and a walking excavator. The method comprises the steps that supporting leg pressure data of each supporting leg and initial displacement data of each oil cylinder are obtained; according to the supporting leg pressure data of each supporting leg and the initial displacement data of each oil cylinder, the position of each supporting leg is adjusted, so that the stress of each supporting leg is balanced; under the condition that the stress of each supporting leg is balanced, determining a supporting leg adjusting sequence for adjusting each supporting leg according to the supporting leg pressure data of each supporting leg; on the basis of the supporting leg adjusting sequence, according to the target displacement data of each oil cylinder and the obtained inclination angle data of the chassis, the angle of each supporting leg is adjusted in sequence so that the chassis can be leveled; wherein the target displacement data of each oil cylinder is the displacement data of each oil cylinder obtained under the condition that the stress of each supporting leg is balanced. The leveling effect of the chassis of the walking excavator can be improved.
本申请公开了一种用于控制底盘调平的方法、控制器及步履式挖掘机。该方法包括：获取每个支腿的支腿压力数据和每个油缸的初始位移数据；根据每个支腿的支腿压力数据和每个油缸的初始位移数据，调整每个支腿的位置，使每个支腿受力平衡；在每个支腿受力平衡的情况下，根据每个支腿的支腿压力数据确定对每个支腿进行调整的支腿调整顺序；基于支腿调整顺序，根据每个油缸的目标位移数据和获取到的底盘的倾角数据，依次对每个支腿的角度进行调整，以调平底盘；其中，每个油缸的目标位移数据是在每个支腿受力平衡的情况下获取到的每个油缸的位移数据。本申请能提高步履式挖掘机的底盘的调平效果。
Method for controlling leveling of chassis, controller and walking excavator
用于控制底盘调平的方法、控制器及步履式挖掘机
FU LING (Autor:in) / YUAN YE (Autor:in) / LIANG HENG (Autor:in) / LI YONGQIANG (Autor:in) / ZHANG LONG (Autor:in) / BAI JING (Autor:in) / KE BAO (Autor:in)
26.12.2023
Patent
Elektronische Ressource
Chinesisch
IPC:
E02F
Baggern
,
DREDGING
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