阅读说明：本技术 伸缩支腿姿态检测方法、及系统及工程设备 (Telescopic outrigger attitude detecting method and system and engineering equipment ) 是由 曾中炜 李淇阳 于 2019-07-29 设计创作，主要内容包括：本发明实施方式提供一种伸缩支腿姿态检测方法,所述伸缩支腿包括具有能向第一方向伸缩的支腿和能向第二方向伸缩的支腿,所述检测方法包括：获取第一柔性拉线的距离增量数值ΔL,并获取第一方向伸缩油缸驱动阀状态K,当所述第一方向伸缩油缸驱动阀状态K显示驱动阀未动作时,将所述第一柔性拉线的距离增量数值ΔL计入第二方向伸缩的行程X；当所述第一方向伸缩油缸驱动阀状态K显示驱动阀动作时,将所述第一柔性拉线的距离增量数值ΔL计入第一方向伸缩油缸的行程Y。该方法解决了不能同时测量两个不同方向伸缩支腿的行程的问题。(Embodiment of the present invention provides a kind of telescopic outrigger attitude detecting method, the telescopic outrigger includes with the supporting leg that can be stretched to first direction and the supporting leg that can be stretched to second direction, the detection method includes: the distance increment value, Δ L for obtaining the first flexible bowden cable, and obtain first direction telescopic oil cylinder driving valve state K, when first direction telescopic oil cylinder driving valve state K display driving valve is not operating, the distance increment value, Δ L of first flexible bowden cable is included in the flexible stroke X of second direction；When first direction telescopic oil cylinder driving valve state K display driving valve events, the distance increment value, Δ L of first flexible bowden cable is included in the stroke Y of first direction telescopic oil cylinder.The problem of this method solve the strokes that cannot measure two different directions telescopic outriggers simultaneously.)

1. a kind of telescopic outrigger attitude detecting method, the telescopic outrigger includes with the supporting leg (1) that can be stretched to first direction With the supporting leg (2) that can be stretched to second direction, which is characterized in that the detection method includes:

The distance increment value, Δ L of the first flexible bowden cable (3) is obtained, and obtains first direction telescopic oil cylinder driving valve state K, when When the first direction telescopic oil cylinder driving valve state K display drives valve not operating, by the distance of first flexible bowden cable (3) Incremental value Δ L is included in the flexible stroke X of second direction；

When first direction telescopic oil cylinder driving valve state K display driving valve events, by first flexible bowden cable (3) Distance increment value, Δ L is included in the stroke Y of first direction telescopic oil cylinder.

2. telescopic outrigger attitude detecting method according to claim 1, which is characterized in that when the flexible oil of the first direction When cylinder driving valve is electromagnetic hydraulic valve, it is by the electricity to input terminal that the acquisition first direction telescopic oil cylinder, which drives valve state, Control signal is monitored or is monitored acquisition by the electric drive signal to electricity output end, when the first direction is flexible Oil cylinder drives valve to obtain for that can pass through detection handle state when hand-operated hydraulic valve.

3. a kind of telescopic outrigger attitude detection system, the telescopic outrigger includes with the supporting leg (1) that can be stretched to first direction With the supporting leg (2) that can be stretched to second direction characterized by comprising

Stroke measure detection unit, for detect it is described can to first direction stretch supporting leg (1) and it is described can be to second direction The stroke of flexible supporting leg (2)；Stroke distributes detection unit, for driving valve state K that will go according to first direction telescopic oil cylinder The stroke that degree amount detection unit obtains distributes the stroke Y flexible to the flexible stroke X of second direction or first direction；

Climb displacement unit, for calculating the stroke X flexible comprising the second direction including supporting leg second direction posture initial value X0 Aggregate-value and include the accumulative of the flexible stroke Y of first direction including supporting leg first direction posture initial value Y0 for calculating Value.

4. telescopic outrigger attitude detection system according to claim 3, which is characterized in that the stroke measures detection unit It include the first stay wire sensor (4), the first flexible bowden cable (3), the first bracing wire positioning steering for the first stay wire sensor component Structure (5), the first end of pulling fixed structure (6).

5. telescopic outrigger attitude detection system according to claim 4, which is characterized in that first stay wire sensor (4) it is fixedly mounted in the inactive structure of engineering equipment.

6. telescopic outrigger attitude detection system according to claim 4, which is characterized in that first flexible bowden cable (3) The branch that the first bracing wire of pile warp positioning steering structure (5) makes a part of the first flexible bowden cable (3) and the second direction stretch Leg (2) telescopic direction is parallel, and another part is parallel with the telescopic direction of supporting leg (1) that the first direction stretches.

7. the telescopic outrigger attitude detection system according to any one of claim 3-6, which is characterized in that anti-including bracing wire Protection structure (7), for protecting the first flexible bowden cable (3) exposed part.

8. a kind of telescopic outrigger attitude detection system, the telescopic outrigger includes with the supporting leg (1) that can be stretched to first direction With the supporting leg (2) that can be stretched to second direction, which is characterized in that including the first stay wire sensor component, the second stay wire sensor Component, climb displacement unit；Wherein, the first stay wire sensor component is used to detect the supporting leg that can be stretched to first direction (1) and the sum of the stroke of supporting leg (2) LA that can be stretched to second direction；Second stay wire sensor component is described for detecting The stroke LB for the supporting leg (2) that can be stretched to second direction；Climb displacement unit is used to calculate the flexible stroke Y of first direction and the The flexible stroke X in two directions.

9. telescopic outrigger attitude detection system according to claim 8, which is characterized in that the first stay wire sensor group The first stay wire sensor (4) of part, the second stay wire sensor (8) of the second stay wire sensor component are fixedly mounted on engineering In the inactive structure of equipment, wherein the end (10) of the second stay wire sensor component is located at the supporting leg that can be stretched to second direction (2) in.

10. telescopic outrigger attitude detection system according to claim 9, which is characterized in that first stay wire sensor (4) the second flexible bowden cable (9) of the first flexible bowden cable (3) and second stay wire sensor (8) is parallel to each other.

11. a kind of engineering equipment, which is characterized in that including any telescopic outrigger attitude detection system of claim 3-6.

Technical field

The present invention relates to engineering equipment fields, more particularly to a kind of telescopic outrigger attitude detecting method and a kind of flexible branch Leg attitude detection system.

Background technique

Engineering equipment, especially long cantilever crane, high center of gravity and the engineering equipment shifted in construction operation with center of gravity, usually Stable and sufficient supporting surface is ensured using telescopic outrigger.Detection to telescopic outrigger posture is assessment support safety Important leverage, and realize the important prerequisite of security control.Such as the stroke of detection telescopic outrigger Vertical Cylinders, it may also be used for Control reference when equipment Automatic Levelling.However, due to the design feature of telescopic outrigger, in particular by most commonly used flexible The structure of supporting leg, in telescopic outrigger attitude detection, the especially detection of vertical telescopic leg stretching length, it is contemplated that sensor Possible movement interference after installation, there is no assembly solutions well.

Summary of the invention

The purpose of embodiment of the present invention be to provide one kind can simultaneously to horizontal extension supporting leg and vertical telescopic supporting leg into The telescopic outrigger attitude detecting method and system of row detection, it is at low cost, it is not easy to break down, for ease of maintenaince.

To achieve the goals above, in first aspect present invention, a kind of telescopic outrigger attitude detecting method is provided, it is described to stretch Contracting supporting leg includes with the supporting leg that can be stretched to first direction and the supporting leg that can be stretched to second direction, the detection method packet It includes:

The distance increment value, Δ L of the first flexible bowden cable is obtained, and obtains first direction telescopic oil cylinder driving valve state K, When first direction telescopic oil cylinder driving valve state K display driving valve is not operating, by the distance of first flexible bowden cable Incremental value Δ L is included in the flexible stroke X of second direction；

When first direction telescopic oil cylinder driving valve state K display driving valve events, by first flexible bowden cable Distance increment value, Δ L be included in the stroke Y of first direction telescopic oil cylinder.

Optionally, when first direction telescopic oil cylinder driving valve is electromagnetic hydraulic valve, the acquisition first direction is stretched Contracting oil cylinder drives valve state, is monitored by the electric control signal to input terminal or by the electric drive to electricity output end Signal is monitored acquisition, can be by detecting handle shape when first direction telescopic oil cylinder driving valve is hand-operated hydraulic valve State obtains.

Second aspect, the present invention also provides a kind of telescopic outrigger attitude detection system, the telescopic outrigger includes having energy The supporting leg to stretch to first direction and the supporting leg that can be stretched to second direction, comprising:

Stroke measure detection unit, for detect it is described can to first direction stretch supporting leg and it is described can be to second direction The stroke of flexible supporting leg；Stroke distributes detection unit, for driving valve state K by stroke degree according to first direction telescopic oil cylinder The stroke that amount detection unit obtains distributes the stroke Y flexible to the flexible stroke X of second direction or first direction；

Climb displacement unit, for calculating the row flexible comprising the second direction including supporting leg second direction posture initial value X0 The aggregate-value of journey X and include the tired of the flexible stroke Y of first direction including supporting leg first direction posture initial value Y0 for calculating Evaluation.

Optionally, stroke measurement detection unit is the first stay wire sensor component, include the first stay wire sensor, First flexible bowden cable, the first bracing wire position steering structure, the first end of pulling fixed structure.

Optionally, first stay wire sensor is fixedly mounted in the inactive structure of engineering equipment.

Optionally, the first bracing wire of the first flexible bowden cable pile warp positioning steering structure makes one of the first flexible bowden cable Divide stretching for the supporting leg parallel with the landing leg stretching direction that the second direction is stretched, another part is stretched with the first direction Contracting direction is parallel.

Optionally, including guy guard structure, for protecting the exposed part of the first flexible bowden cable.

The third aspect, the present invention also provides a kind of telescopic outrigger attitude detection system, the telescopic outrigger includes having energy The supporting leg to stretch to first direction and the supporting leg that can be stretched to second direction, including the first stay wire sensor component, the second bracing wire Sensor module, climb displacement unit；Wherein, the first stay wire sensor component is used to detect the flexible supporting leg of the first direction The sum of the stroke of supporting leg to stretch with the second direction LA；Second stay wire sensor component is stretched for detecting the second direction The stroke LB of the supporting leg of contracting；The stroke that climb displacement unit is used to calculate the flexible stroke Y of first direction and second direction is stretched X。

Optionally, the first stay wire sensor of the first stay wire sensor component, the second stay wire sensor component The second stay wire sensor be fixedly mounted in the inactive structure of engineering equipment, wherein the second stay wire sensor component end position In in the supporting leg that second direction is stretched.

Optionally, the second flexibility of the first flexible bowden cable of first stay wire sensor and second stay wire sensor Bracing wire is parallel to each other.

Fourth aspect, the present invention also provides a kind of engineering equipments, including the flexible branch any in above-mentioned technical proposal Leg attitude detection system.

Above-mentioned technical proposal of the present invention provides the method for detection both direction support oil cylinder stroke, solves existing scheme In difficulty, can accurately detect the posture of telescopic outrigger both direction in real time, it is living compared to direction support oil cylinder wherein Displacement sensor is buried in stopper rod, is had the advantages that structure is simple and easy to maintain, is realized telescopic outrigger attitude detection scheme Simplification and optimization, and it is at low cost.

The other feature and advantage of embodiment of the present invention will the following detailed description will be given in the detailed implementation section.

Detailed description of the invention

Attached drawing is to further understand for providing to embodiment of the present invention, and constitute part of specification, with Following specific embodiment is used to explain the present invention embodiment together, but does not constitute the limit to embodiment of the present invention System.In the accompanying drawings:

Fig. 1 is the telescopic outrigger attitude detection system of one embodiment of the present invention comprising the first stay wire sensor component Structural schematic diagram；

Fig. 2 is the telescopic outrigger attitude detection system of another embodiment of the present invention comprising the first stay wire sensor component With the structural schematic diagram of the second stay wire sensor component；

Fig. 3 is supporting leg oil when first direction telescopic oil cylinder does not move in a kind of supporting leg attitude detecting method of the invention Cylinder motion action handle state diagram；

Fig. 4 is support oil cylinder when first direction telescopic oil cylinder has a movement in a kind of supporting leg attitude detecting method of the invention Motion action handle state diagram.

Description of symbols

1 supporting leg that can be stretched to first direction

2 supporting legs that can be stretched to second direction

3 first flexible bowden cable, 4 first stay wire sensor

5 first bracing wires position 6 first end of pulling fixed structure of steering structure

7 guy guard structure, 8 second stay wire sensor

The end of 9 second flexible bowden cable, 10 second stay wire sensor component

11 supporting leg Vertical Cylinders motion action handles

The close switch of 12 handle metal link rods 13

14 support oil cylinders drive valve

Specific embodiment

Below in conjunction with attached drawing, detailed description of the preferred embodiments.It should be understood that this place is retouched The specific embodiment stated is merely to illustrate and explain the present invention, and is not intended to restrict the invention.

In embodiments of the present invention, in the absence of explanation to the contrary, the noun of locality used such as " upper and lower, top, bottom " Usually for direction shown in the drawings either for it is vertical, vertically or on gravity direction for each component it is mutual Positional relationship describes word.

In a first aspect, the present invention provides a kind of telescopic outrigger attitude detecting method, the telescopic outrigger includes that have can be to The flexible supporting leg 1 of first direction and the supporting leg 2 that can be stretched to second direction, the detection method include:

The distance increment value, Δ L of the first flexible bowden cable 3 is obtained, and obtains first direction telescopic oil cylinder driving valve state K, When first direction telescopic oil cylinder driving valve state K display driving valve is not operating, by the distance of first flexible bowden cable 3 Incremental value Δ L is included in the flexible stroke X of second direction；

In practical applications, firstly, obtaining the distance increment Δ L of the first flexible bowden cable 3 in real time, and first party is obtained simultaneously Valve state K is driven to telescopic oil cylinder, when first direction telescopic oil cylinder driving valve state K display driving valve is not operating, then The distance increment value, Δ L of first flexible bowden cable 3 is included in the flexible stroke X of second direction；

Wherein when first flexible bowden cable 3 pulls out, Δ L is positive value, when first flexible bowden cable 3 is withdrawn, Δ L For negative value.

In practical applications, when the first direction telescopic oil cylinder of acquisition driving valve state K display driving valve events, The distance increment value, Δ L of first flexible bowden cable 3 of the acquisition is then included in the stroke Y of first direction telescopic oil cylinder.Due to First direction telescopic oil cylinder driving valve state K is obtained, makes it possible to the flexible supporting leg 1 of first direction and can be stretched to second direction The respective stroke of supporting leg 2, that is, Y, X of contracting can add up to obtain by the first flexible bowden cable 3 respectively.

Valve state K is driven according to the distance increment numerical value of first flexible bowden cable 3 and the first direction telescopic oil cylinder The supporting leg 1 that cumulative calculation can stretch to first direction respectively and 2 stroke of supporting leg that can be stretched to second direction:

X=X0+ ∑ [Δ L × (1-K)]；

Y=Y0+ ∑ [Δ L × K]；

Wherein, X is the stroke length for the supporting leg 2 that can be stretched to second direction, and Y is the supporting leg 1 that can be stretched to first direction Stroke length；Δ L is the distance increment numerical value of first flexible bowden cable 3；K is that first direction telescopic oil cylinder drives valve shape State.

As K=0, i.e., first direction telescopic oil cylinder driving valve does not move；

As K=1, i.e. first direction telescopic oil cylinder driving valve movement.

When the spool state of the driving hydraulic valve of first direction telescopic oil cylinder driving valve is in middle position, i.e., first The driving valve of direction telescopic oil cylinder driving valve does not move, the cross cylinder stroke length X of the supporting leg 2 that can be stretched to second direction Are as follows: X=X0+ ∑ Δ L；Wherein, X0 is the posture initial value of the supporting leg 2 that can be stretched to second direction, and Δ L is described first soft The distance increment numerical value of property bracing wire 3；The oil cylinder stroke length Y of the supporting leg 1 that can be stretched to first direction are as follows: Y=Y0；Wherein Y0 is the posture initial value of the supporting leg 1 that can be stretched to first direction；

When the spool state of the driving hydraulic valve of the supporting leg 1 that can be stretched to first direction is in elongation state or receipts When contracting state, the driving valve for the supporting leg 1 that can be stretched to first direction has movement, the supporting leg 2 that can be stretched to second direction Oil cylinder stroke length X are as follows: X=X0；Wherein, X0 is the posture initial value of the supporting leg 2 that can be stretched to second direction；The energy The oil cylinder stroke length Y of the supporting leg 1 to stretch to first direction are as follows: Y=Y0+ ∑ Δ L；Wherein Y0 can stretch to be described to first direction The posture initial value of the supporting leg 1 of contracting；Δ L is the distance increment numerical value of first flexible bowden cable 3；

By above step, it is recognised that the present invention needs to pass through the supporting leg 1 that can be stretched to first direction and can be to second The timesharing campaign of the flexible supporting leg 2 in direction obtains respective stroke.If can to first direction stretch supporting leg 1 and can be to second The flexible supporting leg 2 in direction moves simultaneously, then cannot obtain respective stroke.

This method guarantees the telescopic outrigger locking in another direction when telescopic outrigger movement in one direction in the detection It is failure to actuate, using the strategy of " timesharing movement, time-sharing measurement ", realizes the simplification and optimization of telescopic outrigger attitude detection scheme, And can accurately be measured using a stay wire sensor, it is at low cost.

In actual operation, the supporting leg 2 that can be stretched to second direction is usually horizontal support legs；It is described can be to first party To the flexible generally vertical supporting leg of supporting leg 1.

When first direction telescopic oil cylinder driving valve is electromagnetic hydraulic valve, the acquisition first direction telescopic oil cylinder is driven Dynamic valve state is to be monitored by the electric control signal to input terminal or carried out by the electric drive signal to electricity output end Monitoring obtains, and can be obtained by detection handle state when first direction telescopic oil cylinder driving valve is hand-operated hydraulic valve.

It should be noted that in actual operation, above-mentioned acquisition first direction telescopic oil cylinder drives valve state, usually in fact When obtain, and then can real-time detection obtain the posture of first direction telescopic outrigger.Obtaining the posture of telescopic outrigger in real time is Real-time supporting leg control is carried out to engineering equipment and provides possibility, for example, the complete machine rollover prevention system of engineering equipment, it is necessary in real time Obtain supporting leg posture.

Second aspect, the present invention also provides a kind of telescopic outrigger attitude detection system, the telescopic outrigger includes having energy The supporting leg 1 to stretch to first direction and the supporting leg 2 that can be stretched to second direction, comprising:

Stroke measure detection unit, for detect it is described can to first direction stretch supporting leg 1 and it is described can be to second party To the stroke of flexible supporting leg 2；

Stroke distributes detection unit, for driving valve state K that stroke measurement detection is single according to first direction telescopic oil cylinder The stroke that member obtains distributes the stroke Y flexible to the flexible stroke X of second direction or first direction；It distributes and examines because of stroke Unit is surveyed, the stroke of the supporting leg 1 and the supporting leg 2 that can be stretched to second direction that make it possible to stretch to first direction can be distinguished It opens, achievees the purpose that telescopic outrigger attitude detection of the invention.

Climb displacement unit, for calculating the row flexible comprising the second direction including supporting leg second direction posture initial value X0 The aggregate-value of journey X and include the tired of the flexible stroke Y of first direction including supporting leg first direction posture initial value Y0 for calculating Evaluation.The climb displacement unit is to calculate equipment, such as PLC, PC or single-chip microcontroller.It is described above, calculating stroke herein X, the aggregate-value of Y can calculate in real time, and details are not described herein again.

As shown in Figure 1, Fig. 1 is the telescopic outrigger attitude detection system of one embodiment of the present invention comprising the first bracing wire The structural schematic diagram of sensor module.

The stroke measurement detection unit is the first stay wire sensor component, includes that the first stay wire sensor 4, first is soft Property bracing wire 3, the first bracing wire position steering structure 5, the first end of pulling fixed structure 6.The first stay wire sensor component packet Include: the first stay wire sensor 4, the first flexible bowden cable 3, be arranged in it is described can to first direction stretch supporting leg 1 and can be to second The first bracing wire positioning steering structure 5 and setting at the connecting joint of the flexible supporting leg 2 in direction it is described can be to second direction The first end of pulling fixed structure 6 on flexible 2 pedal of supporting leg；First stay wire sensor 4 is fixedly mounted on the energy In the inactive structure of the supporting leg 1 to stretch to first direction, such as pump truck bracket, the first of first stay wire sensor 4 is flexible Bracing wire 3 is drawn by first stay wire sensor 4, and change direction is fixed after being wrapped over the first bracing wire positioning steering structure 5 On the first end of pulling fixed structure 6；

First flexible bowden cable, 3 first bracing wire of pile warp positioning steering structure 5 make a part of the first flexible bowden cable 3 with Flexible 2 telescopic direction of supporting leg of the second direction is parallel, and the supporting leg 1 that another part is stretched with the first direction stretches Direction is parallel.

First flexible bowden cable 3 can also according to the actual situation, the branch that each section is not stretched with the second direction 2 telescopic direction of leg is parallel, also not parallel with the telescopic direction of supporting leg 1 that the first direction stretches.But for the letter of calculating Just, in the present embodiment, remain set to parallel with each section.

The first bracing wire positioning steering structure 5 is any one of fixed pulley, bending conduit and axis.Select the first bracing wire The purpose of positioning steering structure 5 is that a fulcrum is arranged in joint, is conducive to the first flexible bowden cable 3 and turns to, is able to detect simultaneously To the variation of the supporting leg 1 and the supporting leg 2 that can be stretched to second direction that can stretch to first direction.

Preferably, the telescopic outrigger attitude detection system further includes guy guard structure 7, for protecting the first flexible drawing The exposed part of line 3.

As shown in Fig. 2, Fig. 2 is the telescopic outrigger attitude detection system of another embodiment of the present invention comprising the first bracing wire The structural schematic diagram of sensor module and the second stay wire sensor component.

The third aspect, the present invention also provides a kind of telescopic outrigger attitude detection system, the telescopic outrigger includes having energy The supporting leg 1 to stretch to first direction and the supporting leg 2 that can be stretched to second direction, including the first stay wire sensor component, the second drawing Line sensor module, climb displacement unit；Wherein, the first stay wire sensor component is used to detect the flexible branch of the first direction The sum of the stroke of supporting leg 2 that leg 1 and the second direction are stretched LA；Second stay wire sensor component is for detecting the second party To the stroke LB of flexible supporting leg 2；Climb displacement unit is used to calculate first direction flexible stroke Y and second direction is flexible Stroke X.

The oil cylinder stroke length X of the flexible supporting leg 2 of the second direction are as follows: X=X0+LB；Wherein, X0 is the second party To the posture initial value of flexible supporting leg 1, the LB is the distance increment numerical value of second flexible bowden cable 9；

The oil cylinder stroke length Y of the supporting leg 1 that can be stretched to first direction are as follows: Y=Y0+LA-LB；Wherein, Y0 is institute The posture initial value for the supporting leg 2 that can be stretched to first direction is stated, LA is the distance increment numerical value of first flexible bowden cable 3.

In the present solution, can to first direction stretch supporting leg 2 and can to second direction stretch supporting leg 1 can same luck It is dynamic, since there are two stay wire sensors for tool, so, the supporting leg 1 that can be stretched to first direction can be directly acquired and can be to second The flexible respective stroke of supporting leg 2 in direction.

In tool there are two in the case where stay wire sensor, although increased costs, that is, enable flexible to first direction Supporting leg 1 and can change simultaneously to the supporting leg 2 that second direction is stretched, also can be measured 1 He of supporting leg that can be flexible to first direction The respective stroke of supporting leg 2 variation that can be stretched to second direction.

First stay wire sensor 4, the second stay wire sensor 8 are fixedly mounted in the inactive structure of engineering equipment, In the end 10 of the second stay wire sensor component be located in the flexible supporting leg 2 of second direction.

First flexible bowden cable 3 of first stay wire sensor 4 and the second flexible bowden cable of second stay wire sensor 8 9 are parallel to each other.

As shown in figure 3, Fig. 3 is that first direction telescopic oil cylinder described in a kind of supporting leg attitude detecting method of the invention does not have Support oil cylinder motion action handle state diagram when movement；As the cylinder action manipulator for the supporting leg 1 that can be stretched to first direction Handle 11 does not act, i.e., described to connect when the support oil cylinder driving valve 14 of the described supporting leg 1 that can be stretched to first direction does not move The support oil cylinder driving valve 14 for the supporting leg 1 that the nearly prompt of switch 13 can stretch to first direction does not move.At this time close to switch 13 On lamp light.

As shown in figure 4, Fig. 4 is that first direction telescopic oil cylinder described in a kind of supporting leg attitude detecting method of the invention has fortune Support oil cylinder motion action handle state diagram when dynamic.When the cylinder action operation handle for the supporting leg 1 that can be stretched to first direction 11 have movement, i.e., described close to switch when the support oil cylinder driving valve 14 of the described supporting leg 1 that can be stretched to first direction has movement 13 lamps knock out, and the support oil cylinder driving valve 14 for the supporting leg 1 that can be stretched to first direction is prompted to have movement.

Close to switch 13 for detecting handle zero-bit, when pulling handle and deviateing zero-bit, branch that can be flexible to first direction The oil cylinder generation of leg 1 acts.At this point, 3 numerical value increment Delta L of the first flexible bowden cable to be contributed to the supporting leg that can be stretched to first direction In the variation of the stroke Y of 1 oil cylinder.Otherwise, the numerical value increment Delta L of the first flexible bowden cable 3 is contributed to and can be stretched to second direction In the variation of the stroke X of the oil cylinder of the supporting leg 2 of contracting.

Fourth aspect, the present invention also provides a kind of engineering equipments, including the flexible branch any in above-mentioned technical proposal Leg attitude detection system.

Above-mentioned technical proposal of the present invention provides the method for detection both direction support oil cylinder stroke, solves existing scheme In difficulty, can accurately detect the posture of telescopic outrigger both direction in real time, it is living compared to direction support oil cylinder wherein Displacement sensor is buried in stopper rod, is had the advantages that structure is simple and easy to maintain, is realized telescopic outrigger attitude detection scheme Simplification and optimization, and it is at low cost.

Optional embodiment of the invention, still, embodiment of the present invention and unlimited is described in detail in conjunction with attached drawing above Detail in above embodiment can be implemented the present invention in the range of the technology design of embodiment of the present invention The technical solution of mode carries out a variety of simple variants, these simple variants belong to the protection scope of embodiment of the present invention.

It is further to note that specific technical features described in the above specific embodiments, in not lance In the case where shield, it can be combined in any appropriate way.In order to avoid unnecessary repetition, embodiment of the present invention To various combinations of possible ways, no further explanation will be given.

It can be with it will be appreciated by those skilled in the art that realizing that all or part of the steps in the method for above embodiment is Relevant hardware is instructed to complete by program, which is stored in a storage medium, including some instructions are to make Obtain all or part of step that single-chip microcontroller, chip or processor (processor) execute each embodiment the method for the present invention Suddenly.And storage medium above-mentioned includes: USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), deposits at random The various media that can store program code such as access to memory (RAM, Random Access Memory), magnetic or disk.

In addition, various embodiments of the present invention can be combined randomly, as long as it is without prejudice to originally The thought of invention embodiment equally should be considered as embodiment of the present invention disclosure of that.