Leg Control System and Engineering Machine

Abstract

The invention provides a leg control system, comprising a command transmitting unit, a leg controller and electromagnetic valves for controlling actions of legs, wherein the command transmitting unit is used for transmitting a leg control command; the leg controller simultaneously transmits an action instruction to the electromagnetic valves corresponding to a plurality of legs according to the received leg control command from the command transmitting unit; and the electromagnetic valves are reversed according to the control instruction so as to control the actions of the plurality of legs. Correspondingly, the invention further provides an engineering machine. According to the technical solutions of the invention, the plurality of legs can be controlled simultaneously, and problems of uneven stress and the like when a single leg is controlled are solved.

1 . A leg control system, comprising a command transmitting unit, a leg controller and electromagnetic valves for controlling the actions of legs, wherein
 the command transmitting unit is connected with the leg controller and configured to transmit a leg control command to the leg controller;   the leg controller is connected with the electromagnetic valves and configured to transmit an action instruction according to the received leg control command; and   the electromagnetic valves are connected with the controlled legs and reversed according to the action instruction to synchronously control the actions of the legs.   
     
     
         2 . The leg control system according to  claim 1 , wherein the electromagnetic valves comprise unfolding and folding electromagnetic valves arranged on unfolding and folding loops of the legs and/or ascending and descending electromagnetic valves arranged on ascending and descending loops of the legs;
 wherein the leg control command comprises an unfolding and folding control command and/or an ascending and descending control command, and correspondingly, the action instruction comprises an unfolding and folding instruction and/or an ascending and descending instruction.   
     
     
         3 . The leg control system according to  claim 2 , wherein
 the electromagnetic valves are proportional electromagnetic valves;   wherein the leg control command includes a leg moving speed for adjusting the displacement of the valve core of each proportional electromagnetic valve.   
     
     
         4 . The leg control system according to  claim 1 , wherein the command transmitting unit comprises a remote control device and a remote control receiver, the remote control device is connected with the remote control receiver in a wired or wireless manner, and the remote control receiver is connected with the leg controller in a wired or wireless manner. 
     
     
         5 . The leg control system according to  claim 4 , wherein the remote control device is provided with a command receiving device, and the command receiving device is configured to generate the leg control command according to the received action indication. 
     
     
         6 . The leg control system according to  claim 5 , wherein the command receiving device comprises action indication input devices, and each action indication input device corresponds to at least two legs and is configured to generate the corresponding leg control command according to the input action indication;
 wherein the leg control command includes leg information for determining the electromagnetic valves corresponding to the controlled legs.   
     
     
         7 . The leg control system according to  claim 6 , wherein the command receiving device comprises two action indication input devices, and the action indication input devices correspond to the legs on the same side. 
     
     
         8 . An engineering machine, comprising the leg control system according to  claim 1 . 
     
     
         9 . The engineering machine according to  claim 8 , comprising a boom device and a plurality of legs;
 wherein the command transmitting unit is connected with the boom device and provided with a switching device for performing switching control between the boom device and the legs.   
     
     
         10 . The engineering machine according to  claim 9 , wherein the command transmitting unit is a boom remote controller, and the boom remote controller is provided with the switching device; when the switching device is at a first state position, the boom remote controller transmits a boom control command to the boom device according to the sensed operation action; and when the switching device is at a second state position, the boom remote controller transmits the leg control command to a plurality of corresponding legs according to the sensed operation action. 
     
     
         11 . The leg control system according to  claim 2 , wherein the command transmitting unit comprises a remote control device and a remote control receiver, the remote control device is connected with the remote control receiver in a wired or wireless manner, and the remote control receiver is connected with the leg controller in a wired or wireless manner. 
     
     
         12 . The leg control system according to  claim 11 , wherein the remote control device is provided with a command receiving device, and the command receiving device is configured to generate the leg control command according to the received action indication. 
     
     
         13 . The leg control system according to  claim 12 , wherein the command receiving device comprises action indication input devices, and each action indication input device corresponds to at least two legs and is configured to generate the corresponding leg control command according to the input action indication;
 wherein the leg control command includes leg information for determining the electromagnetic valves corresponding to the controlled legs.   
     
     
         14 . The leg control system according to  claim 13 , wherein the command receiving device comprises two action indication input devices, and the action indication input devices correspond to the legs on the same side. 
     
     
         15 . The leg control system according to  claim 3 , wherein the command transmitting unit comprises a remote control device and a remote control receiver, the remote control device is connected with the remote control receiver in a wired or wireless manner, and the remote control receiver is connected with the leg controller in a wired or wireless manner. 
     
     
         16 . The leg control system according to  claim 15 , wherein the remote control device is provided with a command receiving device, and the command receiving device is configured to generate the leg control command according to the received action indication. 
     
     
         17 . The leg control system according to  claim 16 , wherein the command receiving device comprises action indication input devices, and each action indication input device corresponds to at least two legs and is configured to generate the corresponding leg control command according to the input action indication;
 wherein the leg control command includes leg information for determining the electromagnetic valves corresponding to the controlled legs.   
     
     
         18 . An engineering machine, comprising the leg control system according to  claim 2 . 
     
     
         19 . The engineering machine according to  claim 18 , comprising a boom device and a plurality of legs;
 wherein the command transmitting unit is connected with the boom device and provided with a switching device for performing switching control between the boom device and the legs.   
     
     
         20 . The engineering machine according to  claim 19 , wherein the command transmitting unit is a boom remote controller, and the boom remote controller is provided with the switching device;
 when the switching device is at a first state position, the boom remote controller transmits a boom control command to the boom device according to the sensed operation action; and when the switching device is at a second state position, the boom remote controller transmits the leg control command to a plurality of corresponding legs according to the sensed operation action.