Synchronous Detection Method and System for Telescopic Boom Series Cylinders and Construction Machinery

Abstract

This application relates to the technical field of telescopic booms, and specifically provides a method and system for detecting the synchronism of telescopic boom series cylinders and a construction machinery. A method for detecting the synchronism of telescopic boom series cylinders provided by this application, the telescopic boom includes at least three section booms connected in sequence; wherein, the method includes: obtaining the relative displacements between every two of the at least three section booms; and if at least two of the relative displacements do not match, generating an oil quantity prompt signal for the cylinders. When in use, after obtaining the relative displacements between different section booms of the telescopic boom, comparing at least two of the relative displacements, if they do not match, it indicates that the telescopic movements of the corresponding section booms are not synchronous, that is, it indicates that there may be a problem with the oil quantity of the cylinders corresponding to the section booms, and an oil quantity prompt signal for the cylinders is generated. By comparing the relative displacements, this application can determine whether the oil quantity of the cylinders in the telescopic boom is normal. After the staff or the construction machinery learns of the abnormal oil quantity situation, they can perform the corresponding oil quantity adjustment work accordingly.

Description

Technical Field

[0001] The present application relates to the technical field of telescopic booms, and particularly to a method and system for detecting the synchronism of series-connected cylinders of a telescopic boom and a construction machine. Background Art

[0002] When a construction machine (such as a telescopic forklift with a three-section boom) including a telescopic boom is working, multiple boom sections of the telescopic boom are driven by multiple cylinders to expand and contract. The hydraulic pipelines of the multiple cylinders are connected in series to achieve synchronous movement. However, during the working process, it is inevitable that hydraulic oil leaks, resulting in asynchronous expansion and contraction of the cylinders. The asynchronous expansion and contraction of the cylinders will cause the problem of asynchronous expansion and contraction of each boom section in the telescopic boom. The asynchronous expansion and contraction may cause some boom sections to not fully extend or even be damaged. In this field, how to know whether the multiple cylinders in the telescopic boom expand and contract synchronously is a technical problem to be solved. Summary of the Invention

[0003] In view of this, the present application provides a method and system for detecting the synchronism of series-connected cylinders of a telescopic boom and a construction machine, which can know whether the multiple cylinders in the telescopic boom expand and contract synchronously and can give a prompt signal.

[0004] In a first aspect, the present application provides a method for detecting the synchronism of series-connected cylinders of a telescopic boom. The telescopic boom includes at least three boom sections and multiple cylinders. The rod chamber of any one of the cylinders is connected in series with the rodless chamber of another one of the cylinders in terms of oil circuit. Wherein, the method includes: obtaining the relative displacement between every two of at least three of the boom sections; and if at least two of the relative displacements do not match, generating a prompt signal for the oil quantity of the cylinders.

[0005] When this aspect is in use, after obtaining the relative displacements between different boom sections of the telescopic boom, at least two relative displacements are compared. If they do not match, it means that the expansion and contraction of the corresponding boom sections are asynchronous, that is, it means that there may be a problem with the oil quantity of the cylinders corresponding to the boom sections, and a prompt signal for the oil quantity of the cylinders is generated. By comparing the relative displacements in this aspect, it is possible to know whether the oil quantity of the cylinders in the telescopic boom is normal. After the staff or the construction machine knows the abnormal situation of the oil quantity, the corresponding oil quantity adjustment work can be carried out accordingly.

[0006] In combination with the first aspect, in a possible implementation, the telescopic arm includes a first-stage arm, a second-stage arm, a third-stage arm, a first oil cylinder, and a second oil cylinder that are connected in sequence. The first oil cylinder is respectively connected to the first-stage arm and the second-stage arm, and the second oil cylinder is respectively connected to the second-stage arm and the third-stage arm. The rod chamber of the first oil cylinder and the rodless chamber of the second oil cylinder are connected in series in the oil circuit. The first-stage arm is provided with a first length detection unit and a second length detection unit; wherein, the obtaining of the relative displacements between every two of at least three of the stage arms includes: receiving a first elongation amount of the first-stage arm relative to the second-stage arm detected by the first length detection unit; and receiving a second elongation amount of the first-stage arm relative to the third-stage arm detected by the second length detection unit; the generating of an oil cylinder oil quantity prompt signal if at least two of the relative displacements do not match includes: if the second elongation amount is greater than twice the first elongation amount, generating a prompt signal indicating that the oil quantity in the rodless chamber of the second oil cylinder is excessive, or generating a prompt signal indicating that the oil quantity in the rodless chamber of the first oil cylinder is too little; or if the second elongation amount is less than twice the first elongation amount, generating a prompt signal indicating that the oil quantity in the rodless chamber of the second oil cylinder is too little, or generating a prompt signal indicating that the oil quantity in the rodless chamber of the first oil cylinder is excessive.

[0007] In combination with the first aspect, in a possible implementation, the second-stage arm is provided with a third length detection unit. The obtaining of the relative displacements between every two of at least three of the stage arms further includes: receiving a third elongation amount of the second-stage arm relative to the third-stage arm detected by the third length detection unit; the generating of an oil cylinder oil quantity prompt signal if at least two of the relative displacements do not match further includes: if the third elongation amount is greater than the first elongation amount, generating a prompt signal indicating that the oil quantity in the rodless chamber of the second oil cylinder is excessive, or generating a prompt signal indicating that the oil quantity in the rodless chamber of the first oil cylinder is too little; or if the third elongation amount is less than the first elongation amount, generating a prompt signal indicating that the oil quantity in the rodless chamber of the second oil cylinder is too little, or generating a prompt signal indicating that the oil quantity in the rodless chamber of the first oil cylinder is excessive.

[0008] In combination with the first aspect, in a possible implementation manner, the telescopic arm includes a first-stage arm, a second-stage arm, a third-stage arm, a first oil cylinder, and a second oil cylinder that are connected in sequence. The first oil cylinder is respectively connected to the first-stage arm and the second-stage arm, and the second oil cylinder is respectively connected to the second-stage arm and the third-stage arm. The rod chamber of the first oil cylinder and the rodless chamber of the second oil cylinder are connected in series in the oil circuit. A proximity switch and a fourth length detection unit are provided on the first-stage arm, and an induction point corresponding to the proximity switch is provided at a preset position of the second-stage arm; wherein, the obtaining of the relative displacements between every two of at least three of the stage arms includes: receiving the trigger signals of the proximity switch and the induction point; and receiving the fourth elongation amount of the first-stage arm relative to the third-stage arm detected by the fourth length detection unit; the generating of an oil cylinder oil quantity prompt signal if at least two of the relative displacements do not match each other includes: if the fourth elongation amount is greater than twice the distance between the preset position and the initial position, generating a prompt signal indicating that the oil quantity in the rodless chamber of the second oil cylinder is excessive, or generating a prompt signal indicating that the oil quantity in the rodless chamber of the first oil cylinder is too little, where the initial position is the position of the proximity switch relative to the induction point when the second-stage arm is fully retracted; or if the fourth elongation amount is less than twice the distance between the preset position and the initial position, generating a prompt signal indicating that the oil quantity in the rodless chamber of the second oil cylinder is too little, or generating a prompt signal indicating that the oil quantity in the rodless chamber of the first oil cylinder is excessive.

[0009] In combination with the first aspect, in a possible implementation manner, a supplementary oil discharging mechanism is provided on the oil cylinder of the telescopic arm; if at least two of the relative displacements do not match each other, the method further includes: controlling the supplementary oil discharging mechanism to perform oil supplement or oil discharge on the rodless chamber of one or more oil cylinders of the telescopic arm, so as to synchronize the telescoping of multiple stage arms.

[0010] In combination with the first aspect, in a possible implementation, the telescopic arm includes a first-stage arm, a second-stage arm, a third-stage arm, a first oil cylinder, and a second oil cylinder that are sequentially connected. The first oil cylinder is respectively connected to the first-stage arm and the second-stage arm, and the second oil cylinder is respectively connected to the second-stage arm and the third-stage arm. The rod chamber of the first oil cylinder and the rodless chamber of the second oil cylinder are connected in series in the oil circuit; wherein, the obtaining of the relative displacements between every two of at least three of the stage arms includes: receiving a fifth elongation amount of the first-stage arm relative to the second-stage arm; and receiving a sixth elongation amount of the first-stage arm relative to the third-stage arm; the refueling or draining of one or more oil cylinders of the telescopic arm to make the telescoping of multiple stage arms synchronous includes: obtaining the elongation difference between twice the fifth elongation amount and the sixth elongation amount; obtaining a corresponding oil quantity difference according to the elongation difference, where the oil quantity difference is the oil quantity difference between the rodless chamber of the first oil cylinder and the rodless chamber of the second oil cylinder; and if the sixth elongation amount is greater than twice the fifth elongation amount, controlling the refueling and draining mechanism to fill the rodless chamber of the first oil cylinder with the hydraulic oil of the oil quantity difference, or controlling the refueling and draining mechanism to extract the hydraulic oil of the oil quantity difference from the rodless chamber of the second oil cylinder; or if the sixth elongation amount is less than twice the fifth elongation amount, controlling the refueling and draining mechanism to extract the hydraulic oil of the oil quantity difference from the rodless chamber of the first oil cylinder, or controlling the refueling and draining mechanism to fill the rodless chamber of the second oil cylinder with the hydraulic oil of the oil quantity difference.

[0011] In a second aspect, the present application provides a synchronous detection system for series-connected oil cylinders of a telescopic arm. The telescopic arm includes at least three stage arms and multiple oil cylinders. The rod chamber of any one of the oil cylinders and the rodless chamber of another one of the oil cylinders are connected in series in the oil circuit; the synchronous detection system for series-connected oil cylinders of the telescopic arm includes: a displacement detection module configured to: detect the relative displacements between two of at least three of the stage arms; and a controller communicatively connected to the displacement detection module; wherein, the controller includes: a stage arm displacement acquisition module configured to: receive the relative displacements between every two of at least three of the stage arms; and an oil quantity inspection and prompt module configured to: generate an oil cylinder oil quantity prompt signal if at least two of the relative displacements do not match each other.

[0012] The second aspect is a system corresponding to the first aspect, so the technical effects of the second aspect will not be elaborated here.

[0013] In combination with the second aspect, in a possible implementation, the telescopic arm includes a first-stage arm, a second-stage arm, a third-stage arm, a first oil cylinder, and a second oil cylinder that are sequentially connected. The first oil cylinder is respectively connected to the first-stage arm and the second-stage arm, and the second oil cylinder is respectively connected to the second-stage arm and the third-stage arm. The rod chamber of the first oil cylinder and the rodless chamber of the second oil cylinder are connected in series in an oil circuit. Wherein, the displacement sensing module includes: a first length detection unit disposed on the first-stage arm, and the first length detection unit is configured to: detect a first elongation amount of the first-stage arm relative to the second-stage arm; and a second length detection unit disposed on the first-stage arm, and the second length detection unit is configured to: detect a second elongation amount of the first-stage arm relative to the third-stage arm. The arm displacement acquisition module is further configured to: receive the first elongation amount and the second elongation amount. The oil quantity inspection and prompting module is further configured to: if the second elongation amount is greater than twice the first elongation amount, generate a prompt signal indicating that the oil quantity in the rodless chamber of the second oil cylinder is excessive, or generate a prompt signal indicating that the oil quantity in the rod chamber of the first oil cylinder is too small; or if the second elongation amount is less than twice the first elongation amount, generate a prompt signal indicating that the oil quantity in the rodless chamber of the second oil cylinder is too small, or generate a prompt signal indicating that the oil quantity in the rod chamber of the first oil cylinder is excessive.

[0014] In combination with the second aspect, in a possible implementation, the telescopic arm includes a first-stage arm, a second-stage arm, a third-stage arm, a first oil cylinder, and a second oil cylinder that are sequentially connected. The first oil cylinder is respectively connected to the first-stage arm and the second-stage arm, and the second oil cylinder is respectively connected to the second-stage arm and the third-stage arm. The rod chamber of the first oil cylinder and the rodless chamber of the second oil cylinder are connected in series in an oil circuit. Wherein, the displacement sensing module includes: a proximity switch disposed on the first-stage arm; an induction point corresponding to the proximity switch, disposed at a preset position of the second-stage arm; and a fourth length detection unit disposed on the first-stage arm, and the fourth length detection unit is configured to: detect a fourth elongation amount of the first-stage arm relative to the third-stage arm. Wherein, the arm telescopic amount acquisition module is further configured to: receive the trigger signal of the proximity switch and the induction point, and receive the fourth elongation amount. The oil quantity inspection and prompting module is further configured to: if the fourth elongation amount is greater than twice the distance between the preset position and the initial position, generate a prompt signal indicating that the oil quantity in the rodless chamber of the second oil cylinder is excessive, or generate a prompt signal indicating that the oil quantity in the rod chamber of the first oil cylinder is too small, where the initial position is the position of the proximity switch relative to the induction point when the second-stage arm is fully retracted; or if the fourth elongation amount is less than twice the distance between the preset position and the initial position, generate a prompt signal indicating that the oil quantity in the rodless chamber of the second oil cylinder is too small, or generate a prompt signal indicating that the oil quantity in the rod chamber of the first oil cylinder is excessive.

[0015] In combination with the second aspect, in a possible implementation manner, a make-up and drain oil mechanism is provided on the oil cylinder of the telescopic arm; wherein, the controller is configured to: if at least two of the relative displacements do not match each other, control the make-up and drain oil mechanism to make up oil or drain oil from the rodless cavity of one or more oil cylinders of the telescopic arm, so as to synchronize the telescoping of multiple boom sections.

[0016] In a third aspect, the present application provides a construction machinery, including: a construction machinery body including a telescopic arm, the telescopic arm including at least three boom sections and a plurality of oil cylinders, the rod chamber of any one of the oil cylinders being in series connection with the rodless cavity of another one of the oil cylinders in terms of oil circuit; and the aforementioned telescopic arm series-connected oil cylinder synchronism detection system, connected to the construction machinery body.

[0017] The third aspect includes all the structures of the second aspect, so the technical effects of the third aspect will not be elaborated here. Description of the Drawings

[0018] Figure 1 The figure shows a schematic diagram of the method steps of a telescopic arm series-connected oil cylinder synchronism detection method provided by an embodiment of the present application.

[0019] Figure 2 The figure shows a schematic diagram of the method steps of a telescopic arm series-connected oil cylinder synchronism detection method provided by another embodiment of the present application.

[0020] Figure 3 The figure shows a schematic diagram of the method steps of a telescopic arm series-connected oil cylinder synchronism detection method provided by another embodiment of the present application.

[0021] Figure 4 The figure shows a schematic diagram of the method steps of a telescopic arm series-connected oil cylinder synchronism detection method provided by another embodiment of the present application.

[0022] Figure 5 The figure shows a schematic diagram of the method steps of a telescopic arm series-connected oil cylinder synchronism detection method provided by another embodiment of the present application.

[0023] Figure 6 The figure shows a schematic diagram of the method steps of a telescopic arm series-connected oil cylinder synchronism detection method provided by another embodiment of the present application.

[0024] Figure 7 The figure shows a schematic diagram of the system structure of a telescopic arm series-connected oil cylinder synchronism detection system provided by another embodiment of the present application.

[0025] Figure 8 The figure shows a schematic diagram of the structure when the telescopic arm series-connected oil cylinder synchronism detection system of the present application is applied to a telescopic arm.

[0026] Figure 9The following is a schematic structural diagram of an electronic device provided by another embodiment of the present application.

[0027] Figure 10 The following is a schematic diagram of the connection of an oil cylinder provided by an embodiment of the present application. Detailed implementation manners

[0028] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0029] Exemplary Synchronization Detection Method for Telescopic Boom Series Cylinders

[0030] The present application provides a method for detecting the synchronism of series-connected oil cylinders of a telescopic boom, which can be applied to some construction machinery with a telescopic boom having series-connected oil cylinders. The telescopic boom includes at least three boom sections connected in sequence, and the telescopic boom further includes a plurality of oil cylinders for driving the relative telescoping of different boom sections. The rod chamber of any one oil cylinder is connected in series with the rodless chamber of another oil cylinder in terms of oil circuit. Specifically, the plurality of boom sections of the telescopic boom are driven by a plurality of oil cylinders to telescope, and the hydraulic pipelines of the plurality of oil cylinders are connected in series to achieve synchronous movement. However, during the working process, it is inevitable that hydraulic oil leakage occurs, resulting in asynchronous telescoping of the oil cylinders.

[0031] Figure 1 The following is a schematic diagram of the method steps of a method for detecting the synchronism of series-connected oil cylinders of a telescopic boom provided by an embodiment of the present application. In one embodiment, as Figure 1 shown, the method includes:

[0032] Step 100: Obtain the relative displacements between every two of at least three boom sections.

[0033] During the telescopic movement of the telescopic boom, the relative displacements between the respective boom sections can be detected by detection units such as length sensors and proximity switches. This step can be executed by a controller having data calculation functions and control signal sending functions. The detection units respectively detect the relative displacements between every two boom sections, and a plurality of relative displacements are detected. Each relative displacement value is the displacement between two boom sections, and the controller obtains the data of the plurality of relative displacements.

[0034] Judge whether at least two relative displacements match each other. If not, execute Step 200: Generate an oil quantity prompt signal for the oil cylinder.

[0035] This process can be executed by a controller with data calculation function and control signal sending function. After obtaining multiple relative displacements, the multiple relative displacements are compared with each other. If at least two of the relative displacements do not match, that is, they do not conform to the preset matching relationship, it indicates that the telescoping of different boom sections is not synchronous, that is, the multiple oil cylinders corresponding to different boom sections do not telescope synchronously with each other, which indirectly indicates that there may be a problem with the oil volume in the oil cylinders. At this time, an oil cylinder oil volume prompt signal is generated to prompt the staff to check the oil volume in the oil cylinders in time.

[0036] When this embodiment is in use, after obtaining the relative displacements between different boom sections of the telescopic boom, at least two relative displacements are compared. If they do not match, it indicates that the telescoping of the corresponding boom sections is not synchronous, that is, it indicates that there may be a problem with the oil volume in the oil cylinders corresponding to the boom sections, and an oil cylinder oil volume prompt signal is generated. By comparing the relative displacements in this embodiment, it is possible to know whether the oil volume in the oil cylinders in the telescopic boom is normal. After the staff or the construction machinery learns of the abnormal oil volume situation, the corresponding oil volume adjustment work can be carried out accordingly.

[0037] Figure 2 The following is a schematic diagram of the method steps of a method for detecting the synchronism of series-connected oil cylinders of a telescopic boom provided by another embodiment of the present application. In one embodiment, the telescopic boom includes a first boom section, a second boom section, a third boom section, a first oil cylinder, and a second oil cylinder that are connected in sequence. The first oil cylinder is respectively connected to the first boom section and the second boom section, and the second oil cylinder is respectively connected to the second boom section and the third boom section. A first length detection unit and a second length detection unit are provided on the first boom section. Specifically, the first length detection unit and the second length detection unit can adopt a drag chain cable type length detector, a laser rangefinder, a proximity switch, etc. As Figure 10 shown, the rodless cavity of the first oil cylinder 1001 and the rodless cavity of the second oil cylinder 1002 are connected in series in the oil circuit. When oil is injected into the rodless cavity of the first oil cylinder 1001, the first oil cylinder 1001 extends, and the hydraulic oil in the rod cavity of the first oil cylinder 1001 enters the rodless cavity of the second oil cylinder 1002 to drive the second oil cylinder 1002 to extend synchronously.

[0038] As Figure 2 shown, step 100 includes:

[0039] Step 101, receiving the first elongation amount of the first boom section relative to the second boom section detected by the first length detection unit.

[0040] In this step, during the telescoping of the telescopic boom, the first length detection unit provided on the first boom section detects the relative displacement between the first boom section and the second boom section. After detecting the first elongation amount, the controller receives the measured first elongation amount.

[0041] Step 102, receiving the second elongation amount of the first boom section relative to the third boom section detected by the second length detection unit.

[0042] In this step, during the telescoping process of the telescopic arm, the second length detection unit provided on one section of the arm detects the relative displacement between one section of the arm and three sections of the arm. After detecting the second elongation amount, the controller receives the measured second elongation amount.

[0043] After step 102, it is determined whether the second elongation amount is greater than twice the first elongation amount. If so, step 201 is executed to generate a prompt signal indicating that the oil volume in the rodless cavity of the second oil cylinder is excessive, or a prompt signal indicating that the oil volume in the rodless cavity of the first oil cylinder is too small.

[0044] In this process, when the second elongation amount is greater than twice the first elongation amount, it indicates that the elongation amount of the second oil cylinder is greater than that of the first oil cylinder, that is, the oil volume in the rodless cavity of the second oil cylinder is excessive. At this time, a prompt signal indicating that the oil volume in the rodless cavity of the second oil cylinder is excessive is generated. This process may also be caused by too little oil volume in the rodless cavity of the first oil cylinder, and a prompt signal indicating that the oil volume in the rodless cavity of the first oil cylinder is too small may also be generated. Subsequently, the rodless cavity of the second oil cylinder can be drained of oil, or the rodless cavity of the first oil cylinder can be refilled with oil. Both operation methods can make the elongation amount of the second oil cylinder equal to that of the first oil cylinder.

[0045] After step 102, or it is determined whether the second elongation amount is less than twice the first elongation amount. If so, step 202 is executed to generate a prompt signal indicating that the oil volume in the rodless cavity of the second oil cylinder is too small, or a prompt signal indicating that the oil volume in the rodless cavity of the first oil cylinder is excessive.

[0046] In this process, when the second elongation amount is less than twice the first elongation amount, it indicates that the elongation amount of the second oil cylinder is less than that of the first oil cylinder, that is, the oil volume in the rodless cavity of the second oil cylinder is too small. At this time, a prompt signal indicating that the oil volume in the rodless cavity of the second oil cylinder is too small is generated. This process may also be caused by too much oil volume in the rodless cavity of the first oil cylinder, and a prompt signal indicating that the oil volume in the rodless cavity of the first oil cylinder is excessive may also be generated. Subsequently, the rodless cavity of the second oil cylinder can be refilled with oil, or the rodless cavity of the first oil cylinder can be drained of oil. Both operation methods can make the elongation amount of the second oil cylinder equal to that of the first oil cylinder.

[0047] This embodiment can determine whether the elongations of the first oil cylinder and the second oil cylinder are synchronized by comparing the first elongation amount and the second elongation amount. If they are not synchronized, a prompt signal indicating too much or too little oil volume is generated to prompt for refilling or draining oil from the first oil cylinder or the second oil cylinder. It should be noted that when comparing the first elongation amount with the second elongation amount, the values of the first elongation amount and the second elongation amount used are the values detected at the same moment.

[0048] Figure 3The figure shows a schematic diagram of the method steps of a method for detecting the synchronization of series cylinders of a telescopic arm provided by another embodiment of the present application. In one embodiment, a third length detection unit is provided on the second boom. Specifically, the third length detection unit can adopt a drag chain cable type length detector, a laser rangefinder or a proximity switch, etc.

[0049] As Figure 3 shown, step 100 further includes:

[0050] Step 103: Receive the third elongation amount of the second boom relative to the third boom detected by the third length detection unit.

[0051] In this step, during the telescopic process of the telescopic arm, the third length detection unit provided on the second boom detects the relative displacement between the second boom and the third boom. After detecting the third elongation amount, the controller receives the measured third elongation amount.

[0052] After step 103, determine whether the third elongation amount is greater than the first elongation amount. If so, execute step 203: Generate a prompt signal indicating that the oil volume in the rodless cavity of the second cylinder is too much, or generate a prompt signal indicating that the oil volume in the rodless cavity of the first cylinder is too little.

[0053] In this process, when the third elongation amount is greater than the first elongation amount, it means that the elongation amount of the second cylinder is greater than that of the first cylinder, that is, the oil volume in the rodless cavity of the second cylinder is too much. At this time, a prompt signal indicating that the oil volume in the rodless cavity of the second cylinder is too much is generated. This process may also be caused by too little oil volume in the rodless cavity of the first cylinder, and a prompt signal indicating that the oil volume in the rodless cavity of the first cylinder is too little can also be generated. Subsequently, the rodless cavity of the second cylinder can be drained of oil, or the rodless cavity of the first cylinder can be refilled with oil. Both operation methods can make the elongation amount of the second cylinder equal to that of the first cylinder.

[0054] After step 103, or determine whether the third elongation amount is less than the first elongation amount. If so, execute step 204: Generate a prompt signal indicating that the oil volume in the rodless cavity of the second cylinder is too little, or generate a prompt signal indicating that the oil volume in the rodless cavity of the first cylinder is too much.

[0055] In this process, when the third elongation amount is less than the first elongation amount, it means that the elongation amount of the second cylinder is less than that of the first cylinder, that is, the oil volume in the rodless cavity of the second cylinder is too little. At this time, a prompt signal indicating that the oil volume in the rodless cavity of the second cylinder is too little is generated. This process may also be caused by too much oil volume in the rodless cavity of the first cylinder, and a prompt signal indicating that the oil volume in the rodless cavity of the first cylinder is too much can also be generated. Subsequently, the rodless cavity of the second cylinder can be refilled with oil, or the rodless cavity of the first cylinder can be drained of oil. Both operation methods can make the elongation amount of the second cylinder equal to that of the first cylinder.

[0056] In this embodiment, it is possible to know whether the first oil cylinder and the second oil cylinder extend synchronously by comparing the second elongation and the third elongation. If they are not equal, a signal indicating too much or too little oil volume is generated to prompt for oil replenishment or drainage of the first oil cylinder or the second oil cylinder. It should be noted that when comparing the second elongation with the third elongation, the values of the second elongation and the third elongation used are the values detected at the same moment.

[0057] Figure 4 The figure shows a schematic diagram of the method steps of a method for detecting the synchronization of telescopic boom series-connected oil cylinders provided by another embodiment of the present application. In one embodiment, the telescopic boom includes a first boom, a second boom, a third boom, a first oil cylinder, and a second oil cylinder that are connected in sequence. The first oil cylinder is respectively connected to the first boom and the second boom, and the second oil cylinder is respectively connected to the second boom and the third boom. A proximity switch and a fourth length detection unit are provided on the first boom, and an induction point corresponding to the proximity switch is provided at a preset position of the second boom. As Figure 10 shown, the rodless cavity of the first oil cylinder 1001 and the rodless cavity of the second oil cylinder 1002 are connected in series in the oil circuit. When oil is injected into the rodless cavity of the first oil cylinder 1001, the first oil cylinder 1001 extends, and the hydraulic oil in the rod cavity of the first oil cylinder 1001 enters the rodless cavity of the second oil cylinder 1002 to drive the second oil cylinder 1002 to extend synchronously.

[0058] As Figure 4 shown, step 100 further includes:

[0059] Step 104, receiving the trigger signal of the proximity switch and the induction point.

[0060] During the telescopic process of the telescopic boom, when the second boom extends and retracts to make the induction point reach the position of the proximity switch, the proximity switch and the induction point trigger each other, and a trigger signal is generated at this time. The controller receives this trigger signal.

[0061] Step 105, receiving the fourth elongation of the first boom relative to the third boom detected by the fourth length detection unit.

[0062] When receiving the trigger signal of the proximity switch and the induction point, the fourth elongation detected by the fourth length detection unit at this time is also received.

[0063] After step 105, it is judged whether the fourth elongation is greater than twice the distance between the preset position and the initial position. If so, step 205 is executed: generating a signal indicating too much oil volume in the rodless cavity of the second oil cylinder, or generating a signal indicating too little oil volume in the rodless cavity of the first oil cylinder.

[0064] In this process, the initial position is the position of the proximity switch relative to the induction point when the second boom is fully retracted. The induction point is set at a preset position on the second boom. When the induction point triggers the proximity switch, it indicates that the proximity switch of the first boom has moved to the position of the induction point, that is, the first boom has moved a distance value equal to the distance between the preset position and the initial position relative to the second boom. The method of detecting by the proximity switch is essentially a way to detect the relative displacement of the first boom relative to the second boom.

[0065] When the fourth elongation is greater than twice the distance between the preset position and the initial position, it indicates that the elongation of the second oil cylinder is greater than that of the first oil cylinder, that is, the oil volume in the rodless cavity of the second oil cylinder is too much. At this time, a prompt signal indicating that the oil volume in the rodless cavity of the second oil cylinder is too much is generated. This process may also be caused by too little oil volume in the rodless cavity of the first oil cylinder, and a prompt signal indicating that the oil volume in the rodless cavity of the first oil cylinder is too little may also be generated. Subsequently, the rodless cavity of the second oil cylinder can be drained of oil, or the rodless cavity of the first oil cylinder can be refilled with oil. Both operation methods can make the elongation of the second oil cylinder equal to that of the first oil cylinder.

[0066] After step 105, it is determined whether the fourth elongation is less than twice the distance between the preset position and the initial position. If so, step 206 is executed to generate a prompt signal indicating that the oil volume in the rodless cavity of the second oil cylinder is too little, or a prompt signal indicating that the oil volume in the rodless cavity of the first oil cylinder is too much.

[0067] When the fourth elongation is less than twice the distance between the preset position and the initial position, it indicates that the elongation of the second oil cylinder is less than that of the first oil cylinder, that is, the oil volume in the rodless cavity of the second oil cylinder is too little. At this time, a prompt signal indicating that the oil volume in the rodless cavity of the second oil cylinder is too little is generated. This process may also be caused by too much oil volume in the rodless cavity of the first oil cylinder, and a prompt signal indicating that the oil volume in the rodless cavity of the first oil cylinder is too much may also be generated. Subsequently, the rodless cavity of the second oil cylinder can be refilled with oil, or the rodless cavity of the first oil cylinder can be drained of oil. Both operation methods can make the telescopic movements of the second oil cylinder and the first oil cylinder resume synchronization.

[0068] Figure 5 The figure shows a schematic diagram of the method steps of a method for detecting the synchronization of series-connected oil cylinders of a telescopic boom provided by another embodiment of the present application. In one embodiment, a filling and draining mechanism is provided on the oil cylinder of the telescopic boom. The filling and draining mechanism can fill or drain the oil cylinder of the telescopic boom to adjust the oil volume in the oil cylinder. Specifically, the filling and draining mechanism may include a solenoid valve and a hydraulic oil storage mechanism. The inlet of the solenoid valve is connected to the hydraulic oil storage mechanism, and the outlet of the solenoid valve is connected to the oil cylinder. When refilling oil is required, the solenoid valve is opened and the oil pressure of the hydraulic oil storage mechanism is increased, so as to refill the hydraulic oil into the oil cylinder. When draining oil is required, the solenoid valve is opened and the oil pressure of the hydraulic oil storage mechanism is decreased, so as to drain the hydraulic oil in the oil cylinder into the hydraulic oil storage mechanism. The methods of filling or draining the oil cylinder are already prior art and will not be elaborated here.

[0069] When at least two relative displacements do not match each other, such as Figure 5 shown, the method further includes:

[0070] Step 300, controlling the oil filling and discharging mechanism to fill or discharge the rodless cavity of one or more cylinders of the telescopic boom, so as to synchronize the telescoping of multiple boom sections.

[0071] In the use of this embodiment, when it is detected that the telescoping of multiple boom sections is not synchronous, the controller controls the oil filling and discharging mechanism to work, fills a certain amount of oil into or discharges a certain amount of oil from the cylinder, so that the telescoping of the boom sections resumes synchronization, and avoids the situation that the telescoping of multiple boom sections is not synchronous.

[0072] Figure 6 The figure shows a schematic diagram of the method steps of a method for detecting the synchronization of series-connected cylinders of a telescopic boom provided by another embodiment of the present application. In one embodiment, the telescopic boom includes a first boom section, a second boom section, a third boom section, a first cylinder, and a second cylinder that are connected in sequence. The first cylinder is respectively connected to the first boom section and the second boom section, and the second cylinder is respectively connected to the second boom section and the third boom section. As Figure 10 shown, the rodless cavity of the rodless cavity of the first cylinder 1001 and the second cylinder 1002 are connected in series in the oil circuit. When oil is injected into the rodless cavity of the first cylinder 1001, the first cylinder 1001 extends, and the hydraulic oil in the rod cavity of the first cylinder 1001 enters the rodless cavity of the second cylinder 1002, thereby driving the second cylinder 1002 to extend synchronously.

[0073] As Figure 6 shown, step 100 further includes:

[0074] Step 106, receiving the fifth elongation amount of the first boom section relative to the second boom section.

[0075] Step 107, receiving the sixth elongation amount of the first boom section relative to the third boom section.

[0076] In this embodiment, the method for detecting and receiving the fifth elongation amount can adopt the method of measuring the elongation amount by the aforementioned length detection unit, or can also adopt the method of detecting the elongation amount by the aforementioned proximity switch, which will not be elaborated here. The method for detecting and receiving the sixth elongation amount can adopt the method of measuring the elongation amount by the aforementioned length detection unit, or can also adopt the method of detecting the elongation amount by the aforementioned proximity switch, which will not be elaborated here.

[0077] Step 300 includes:

[0078] Step 301, obtaining the elongation difference between twice the fifth elongation amount and the sixth elongation amount.

[0079] In this step, it can be executed by the controller to calculate twice the fifth elongation amount, and then subtract the sixth elongation amount from the twice calculated result to obtain the difference between the two, that is, the elongation difference amount is obtained.

[0080] Step 302: Obtain the corresponding oil volume difference according to the elongation difference amount, where the oil volume difference is the oil volume difference between the rodless cavity of the first oil cylinder and the rodless cavity of the second oil cylinder.

[0081] The corresponding relationship between the elongation difference amount and the oil volume difference is calculated in advance, that is, each oil volume difference value can correspond to an elongation difference amount. In this step, this corresponding relationship is called to obtain the oil volume difference corresponding to the elongation difference amount.

[0082] After step 302, determine whether the sixth elongation amount is greater than twice the fifth elongation amount. If so, execute step 303: Control the oil filling and discharging mechanism to fill the rodless cavity of the first oil cylinder with the hydraulic oil of the oil volume difference, or control the oil filling and discharging mechanism to extract the hydraulic oil of the oil volume difference from the rodless cavity of the second oil cylinder.

[0083] In this step, when the sixth elongation amount is greater than twice the fifth elongation amount, it indicates that the elongation amount of the second oil cylinder is greater than that of the first oil cylinder, that is, the oil volume in the rodless cavity of the second oil cylinder is too much or the oil volume in the rodless cavity of the first oil cylinder is too little. At this time, extract the hydraulic oil of the oil volume difference obtained in step 302 from the second oil cylinder, or fill the first oil cylinder with the hydraulic oil of the oil volume difference obtained in step 302, so as to make the telescopic movements of the first oil cylinder and the second oil cylinder resume synchronization.

[0084] After step 302, or determine whether the sixth elongation amount is less than twice the fifth elongation amount. If so, execute step 304: Control the oil filling and discharging mechanism to extract the hydraulic oil of the oil volume difference from the rodless cavity of the first oil cylinder, or control the oil filling and discharging mechanism to fill the rodless cavity of the second oil cylinder with the hydraulic oil of the oil volume difference.

[0085] In this step, when the sixth elongation amount is less than twice the fifth elongation amount, it indicates that the elongation amount of the second oil cylinder is less than that of the first oil cylinder, that is, the oil volume in the rodless cavity of the second oil cylinder is too little or the oil volume in the rodless cavity of the first oil cylinder is too much. At this time, fill the second oil cylinder with the hydraulic oil of the oil volume difference obtained in step 302, or extract the hydraulic oil of the oil volume difference obtained in step 302 from the first oil cylinder, so as to make the telescopic movements of the first oil cylinder and the second oil cylinder resume synchronization.

[0086] Exemplary Synchronization Detection System for Telescopic Boom Series Cylinders

[0087] This application also provides a telescopic arm series oil cylinder synchronization detection system. The telescopic arm includes at least three section arms connected in sequence. The telescopic arm also includes a plurality of oil cylinders. The oil cylinders are used to drive the relative telescopic movements of different section arms. The rodless cavity of any one oil cylinder is in series connection with the rodless cavity of another oil cylinder in the oil circuit. Figure 7The following is a schematic structural diagram of a telescopic boom series cylinder synchronization detection system provided by another embodiment of the present application. As Figure 7 shown, the telescopic boom series cylinder synchronization detection system includes: a displacement detection module 701 and a controller 702.

[0088] The displacement detection module 701 is configured to: detect the relative displacement between any two of at least three boom segments. The controller 702 is communicatively connected to the displacement detection module 701. Among them, the controller 702 includes a boom segment displacement acquisition module 7021 and an oil quantity inspection prompt module 7022.

[0089] The boom segment displacement acquisition module 7021 is configured to: acquire the relative displacement between any two of at least three boom segments. The oil quantity inspection prompt module 7022 is configured to: generate an oil cylinder oil quantity prompt signal if at least two relative displacements do not match each other.

[0090] When this embodiment is in use, after obtaining the relative displacement between different boom segments of the telescopic boom, at least two relative displacements are compared. If they do not match, it means that the telescopic of the corresponding boom segments is not synchronized, that is, it means that there may be a problem with the oil quantity of the oil cylinders corresponding to the boom segments, and an oil cylinder oil quantity prompt signal is generated. By comparing the relative displacements in this embodiment, it is possible to know whether the oil quantity of the oil cylinders is normal. After the staff or construction machinery learns of the abnormal oil quantity situation, the corresponding oil quantity adjustment work can be carried out accordingly.

[0091] In one embodiment, the telescopic boom includes a first boom segment, a second boom segment, a third boom segment, a first oil cylinder, and a second oil cylinder that are connected in sequence. The first oil cylinder is respectively connected to the first boom segment and the second boom segment, and the second oil cylinder is respectively connected to the second boom segment and the third boom segment. Among them, the displacement sensing module includes a first length detection unit and a second length detection unit. As Figure 10 shown, the rodless cavity of the first oil cylinder 1001 and the rodless cavity of the second oil cylinder 1002 are connected in series in the oil circuit. When oil is injected into the rodless cavity of the first oil cylinder 1001, the first oil cylinder 1001 extends, and the hydraulic oil in the rod cavity of the first oil cylinder 1001 enters the rodless cavity of the second oil cylinder 1002 to drive the second oil cylinder 1002 to extend synchronously. Specifically, the first length detection unit and the second length detection unit can adopt a drag chain cable type length detector, a laser rangefinder, a proximity switch, etc.

[0092] The first length detection unit is arranged on the first boom segment, and the first length detection unit is configured to: detect the first elongation amount of the first boom segment relative to the second boom segment. The second length detection unit is arranged on the first boom segment, and the second length detection unit is configured to: detect the second elongation amount of the first boom segment relative to the third boom segment.

[0093] Among them, the boom displacement acquisition module is further configured to: receive a first elongation amount and a second elongation amount. The oil quantity inspection prompt module is further configured to: if the second elongation amount is greater than twice the first elongation amount, generate a prompt signal indicating that the oil quantity in the rodless cavity of the second oil cylinder is excessive, or generate a prompt signal indicating that the oil quantity in the rodless cavity of the first oil cylinder is too small; or if the second elongation amount is less than twice the first elongation amount, generate a prompt signal indicating that the oil quantity in the rodless cavity of the second oil cylinder is too small, or generate a prompt signal indicating that the oil quantity in the rodless cavity of the first oil cylinder is excessive.

[0094] In this embodiment, it is possible to know whether the first oil cylinder and the second oil cylinder are extended synchronously by comparing the first elongation amount and the second elongation amount. If they are not synchronous, a prompt signal indicating excessive or insufficient oil quantity is generated to prompt the refueling or oil discharging operation for the first oil cylinder or the second oil cylinder. It should be noted that when comparing the first elongation amount and the second elongation amount, the values of the first elongation amount and the second elongation amount used are the values detected at the same moment.

[0095] Figure 8 The following is a schematic structural diagram of an application of a telescopic boom series oil cylinder synchronization detection system of the present application to a telescopic boom. In one embodiment, as Figure 8 shown, the telescopic boom includes a first boom 810, a second boom 820, a third boom 830, a first oil cylinder 840, and a second oil cylinder 850 that are connected in sequence. The first oil cylinder 840 is respectively connected to the first boom 810 and the second boom 820, and the second oil cylinder 850 is respectively connected to the second boom 820 and the third boom 830. As Figure 10 shown, the rodless cavity of the first oil cylinder 1001 and the rodless cavity of the second oil cylinder 1002 are connected in series in the oil circuit. When injecting oil into the rodless cavity of the first oil cylinder 1001, the first oil cylinder 1001 extends, and the hydraulic oil in the rod cavity of the first oil cylinder 1001 enters the rodless cavity of the second oil cylinder 1002 to drive the second oil cylinder 1002 to extend synchronously.

[0096] Among them, the displacement sensing module includes a proximity switch 801, an induction point 802, and a fourth length detection unit 803. The proximity switch 801 is arranged on the first boom 810. The induction point is matched with the proximity switch, and the induction point is arranged at a preset position of the second boom 820.

[0097] The fourth length detection unit 803 is arranged on the first boom 810. The fourth length detection unit 803 is configured to: detect the fourth elongation amount of the first boom 810 relative to the third boom 830.

[0098] Among them, the boom telescopic amount acquisition module is further configured to: receive the trigger signal of the proximity switch 801 and the induction point 802, and receive the fourth elongation amount.

[0099] The oil quantity inspection prompt module is further configured such that: if the fourth elongation is greater than twice the distance between the preset position and the initial position, a prompt signal indicating excessive oil quantity in the rodless cavity of the second oil cylinder is generated, or a prompt signal indicating insufficient oil quantity in the rodless cavity of the first oil cylinder is generated, where the initial position is the position of the proximity switch relative to the induction point when the second boom is fully retracted; or if the fourth elongation is less than twice the distance between the preset position and the initial position, a prompt signal indicating insufficient oil quantity in the rodless cavity of the second oil cylinder is generated, or a prompt signal indicating excessive oil quantity in the rodless cavity of the first oil cylinder is generated.

[0100] In this embodiment, during the telescoping process of the telescopic boom, when the second boom telescopes to make the induction point 802 reach the position of the proximity switch 801, the proximity switch 801 and the induction point 802 trigger each other, and at this time, a trigger signal is generated. The boom telescoping amount acquisition module receives this trigger signal, and the boom telescoping amount acquisition module simultaneously receives the fourth elongation detected by the fourth length detection unit 803 at this time.

[0101] The initial position is the position of the proximity switch 801 relative to the induction point 802 when the second boom 820 is fully retracted. The induction point 802 is set at a preset position of the second boom 820. When the induction point 802 triggers the proximity switch 801, it means that the proximity switch 801 of the first boom 810 has moved to the position of the induction point 802, that is, the first boom 810 has moved a distance value equal to the distance between the preset position and the initial position relative to the second boom 820. The method of detecting by the proximity switch is essentially also a method of detecting the relative displacement of the first boom 810 relative to the second boom 820.

[0102] When the fourth elongation is greater than twice the distance between the preset position and the initial position, it means that the elongation of the second oil cylinder 850 is greater than that of the first oil cylinder 840, that is, the oil quantity in the rodless cavity of the second oil cylinder 850 is excessive. At this time, a prompt signal indicating excessive oil quantity in the rodless cavity of the second oil cylinder 850 is generated. This process may also be caused by insufficient oil quantity in the rodless cavity of the first oil cylinder 840, and then a prompt signal indicating insufficient oil quantity in the rodless cavity of the first oil cylinder 840 may also be generated. Subsequently, the rodless cavity of the second oil cylinder 850 can be drained of oil, or the rodless cavity of the first oil cylinder 840 can be refilled with oil. Both operation methods can make the telescoping of the second oil cylinder 850 and the first oil cylinder 840 resume synchronization.

[0103] In one embodiment, a supplementary oil discharging mechanism is provided on the oil cylinder of the telescopic boom. Wherein, the controller is configured such that: if at least two relative displacements do not match each other, the supplementary oil discharging mechanism is controlled to refill or drain the rodless cavity of one or more oil cylinders of the telescopic boom, so as to make the telescoping of multiple booms synchronized.

[0104] In the use of this embodiment, when it is detected that the telescopic movements of multiple boom sections are asynchronous, the controller controls the oil supplement and discharge mechanism to work, supplement a certain amount of oil into or discharge a certain amount of oil from the oil cylinder, so that the telescopic movements of the boom sections resume synchronism, and the situation where the telescopic movements of multiple boom sections are asynchronous is avoided.

[0105] Exemplary Construction Machinery

[0106] The present application also provides a construction machinery, which includes a construction machinery body and the aforementioned telescopic boom series oil cylinder synchronism detection system. The construction machinery body includes a telescopic boom, and the telescopic boom includes at least three boom sections connected in sequence. The telescopic boom further includes a plurality of oil cylinders, and the oil cylinders are used to drive the relative telescopic movements of different boom sections. The rod chamber of any one oil cylinder and the rodless chamber of another oil cylinder are connected in series in the oil circuit.

[0107] Exemplary Electronic Devices and Computer Readable Storage Media

[0108] Next, with reference to Figure 9 to describe the electronic device according to an embodiment of the present application. Figure 9 The following shows a schematic structural diagram of an electronic device provided by an embodiment of the present application.

[0109] As Figure 9 shown, the electronic device 90 includes one or more processors 901 and a memory 902.

[0110] The processor 901 may be a central processing unit (CPU) or other forms of processing units with data processing capabilities and / or instruction execution capabilities, and may control other components in the electronic device 90 to perform desired functions.

[0111] The memory 902 may include one or more computer program products, and the computer program products may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may include, for example, random access memory (RAM) and / or cache memory, etc. The non-volatile memory may include, for example, read-only memory (ROM), hard disk, flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage medium, and the processor 901 may run the program instructions to implement the telescopic boom series oil cylinder synchronism detection method of various embodiments of the present application described above or other desired functions. Various contents such as telescopic boom series oil cylinder synchronism detection error parameters may also be stored in the computer-readable storage medium.

[0112] In one example, the electronic device 90 may further include: an input device 903 and an output device 904, and these components are interconnected through a bus system and / or other forms of connection mechanisms (not shown).

[0113] The input device 903 may include, for example, a keyboard, a mouse, a joystick, a touch screen, and the like.

[0114] The output device 904 may output various information to the outside, including the determined motion data and the like. The output device 904 may include, for example, a display, a communication network, and remote output devices connected thereto, and the like.

[0115] Of course, for simplicity, Figure 9 only some of the components related to the present application in the electronic device 90 are shown, and components such as a bus, an input / output interface, and the like are omitted. In addition, according to specific application scenarios, the electronic device 90 may further include any other appropriate components.

[0116] In addition to the above methods and devices, an embodiment of the present application may also be a computer program product, which includes computer program instructions that, when run by a processor, cause the processor to execute the steps in the telescopic boom series cylinder synchronism detection method according to various embodiments of the present application described in this specification.

[0117] The computer program product may be written in any combination of one or more programming languages for programming code to perform the operations of the embodiments of the present application. The programming languages include object-oriented programming languages such as Java, C++, etc., and also include conventional procedural programming languages such as the "C" language or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, executed as a stand-alone software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0118] In addition, an embodiment of the present application may also be a computer-readable storage medium, on which computer program instructions are stored, and the computer program instructions, when run by a processor, cause the processor to execute the steps in the telescopic boom series cylinder synchronism detection method according to various embodiments of the present application described in this specification.

[0119] The computer-readable storage medium may adopt any combination of one or more readable media. The readable media may be a readable signal medium or a readable storage medium. The readable storage medium may include, for example, but is not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above. More specific examples (a non-exhaustive list) of the readable storage medium include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0120] The basic principles of the present application have been described above in conjunction with specific embodiments. However, it should be noted that the advantages, benefits, effects, etc. mentioned in the present application are only examples and not limitations. It cannot be considered that these advantages, benefits, effects, etc. are essential for each embodiment of the present application. In addition, the above-disclosed specific details are only for illustrative and facilitating understanding purposes and are not limitations. The above details do not limit the present application to necessarily adopt the above specific details for implementation.

[0121] The block diagrams of the devices, apparatuses, equipment, and systems involved in the present application are only illustrative examples and do not intend to require or imply that they must be connected, arranged, and configured in the manner shown in the block diagrams. As those skilled in the art will recognize, these devices, apparatuses, equipment, and systems can be connected, arranged, and configured in any manner. Words such as "including", "comprising", "having", etc. are open-ended terms, meaning "including but not limited to", and can be used interchangeably with each other. The word "or" and "and" used herein refer to the word "and / or" and can be used interchangeably with each other, unless the context clearly indicates otherwise. The word "such as" used herein refers to the phrase "such as but not limited to" and can be used interchangeably with each other.

[0122] It should also be noted that in the devices, equipment, and methods of the present application, each component or each step can be decomposed and / or recombined. These decompositions and / or recombinations should be regarded as equivalent solutions of the present application.

[0123] The above description of the disclosed aspects enables any person skilled in the art to make or use the present application. Various modifications to these aspects are very obvious to those skilled in the art, and the general principles defined herein can be applied to other aspects without departing from the scope of the present application. Therefore, the present application is not intended to be limited to the aspects shown herein, but rather to the broadest scope consistent with the principles and novel features invented herein.

[0124] The above are only the preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent replacements, etc. made within the spirit and principle of the present application shall be included within the protection scope of the present application.

Claims

1. A method for detecting the synchronism of telescopic boom series cylinders, characterized in that, The telescopic arm includes at least three telescopic sections and a plurality of oil cylinders, and the rod chamber of any one of the oil cylinders is in series connection with the rodless chamber of another one of the oil cylinders through an oil circuit; Wherein, the method includes: Obtaining the relative displacements between every two of at least three of the telescopic sections; and If at least two of the relative displacements do not match each other, generating an oil quantity prompt signal for the oil cylinder; The telescopic arm includes a first telescopic section, a second telescopic section, a third telescopic section, a first oil cylinder and a second oil cylinder which are connected in sequence. The first oil cylinder is respectively connected to the first telescopic section and the second telescopic section, the second oil cylinder is respectively connected to the second telescopic section and the third telescopic section, the rod chamber of the first oil cylinder is in series connection with the rodless chamber of the second oil cylinder through an oil circuit, and a first length detection unit and a second length detection unit are arranged on the first telescopic section; Wherein, the obtaining the relative displacements between every two of at least three of the telescopic sections includes: Receiving a first elongation amount of the first telescopic section relative to the second telescopic section detected by the first length detection unit; and Receiving a second elongation amount of the first telescopic section relative to the third telescopic section detected by the second length detection unit; The if at least two of the relative displacements do not match each other, generating an oil quantity prompt signal for the oil cylinder includes: If the second elongation amount is greater than twice the first elongation amount, generating a prompt signal indicating that the oil quantity in the rodless chamber of the second oil cylinder is excessive, or generating a prompt signal indicating that the oil quantity in the rodless chamber of the first oil cylinder is too little; or If the second elongation amount is less than twice the first elongation amount, generating a prompt signal indicating that the oil quantity in the rodless chamber of the second oil cylinder is too little, or generating a prompt signal indicating that the oil quantity in the rodless chamber of the first oil cylinder is excessive.

2. The telescopic boom series cylinder synchronization detection method according to claim 1, characterized in that A third length detection unit is arranged on the second telescopic section, and the obtaining the relative displacements between every two of at least three of the telescopic sections further includes: Receiving a third elongation amount of the second telescopic section relative to the third telescopic section detected by the third length detection unit; The if at least two of the relative displacements do not match each other, generating an oil quantity prompt signal for the oil cylinder further includes: If the third elongation amount is greater than the first elongation amount, generating a prompt signal indicating that the oil quantity in the rodless chamber of the second oil cylinder is excessive, or generating a prompt signal indicating that the oil quantity in the rodless chamber of the first oil cylinder is too little; or If the third elongation amount is less than the first elongation amount, generating a prompt signal indicating that the oil quantity in the rodless chamber of the second oil cylinder is too little, or generating a prompt signal indicating that the oil quantity in the rodless chamber of the first oil cylinder is excessive.

3. The telescopic boom series cylinder synchronization detection method according to claim 1, characterized in that A supplementary oil discharging mechanism is arranged on the oil cylinder of the telescopic arm; If at least two of the relative displacements do not match each other, the method further includes: Controlling the supplementary oil discharging mechanism to perform oil supplementing or oil discharging on the rodless chamber of one or more oil cylinders of the telescopic arm, so as to make the telescopic movements of the plurality of telescopic sections synchronous.

4. A method for detecting the synchronism of telescopic boom series cylinders, characterized in that, The telescopic arm includes at least three telescopic sections and a plurality of oil cylinders, and the rod chamber of any one of the oil cylinders is in series connection with the rodless chamber of another one of the oil cylinders through an oil circuit; Wherein, the method includes: Obtaining the relative displacements between every two of at least three of the telescopic sections; and If at least two of the relative displacements do not match each other, generating an oil quantity prompt signal; The telescopic arm includes a first-stage arm, a second-stage arm, a third-stage arm, a first oil cylinder, and a second oil cylinder that are connected in sequence. The first oil cylinder is respectively connected to the first-stage arm and the second-stage arm, and the second oil cylinder is respectively connected to the second-stage arm and the third-stage arm. The rod chamber of the first oil cylinder and the rodless chamber of the second oil cylinder are connected in series in the oil circuit. A proximity switch and a fourth length detection unit are provided on the first-stage arm, and an induction point corresponding to the proximity switch is provided at a preset position of the second-stage arm; Among them, the obtaining of the relative displacement between every two of at least three of the stage arms includes: Receiving the trigger signals of the proximity switch and the induction point; and Receiving a fourth elongation amount of the first-stage arm relative to the third-stage arm detected by the fourth length detection unit; The generating of an oil cylinder oil quantity prompt signal if at least two of the relative displacements do not match each other includes: If the fourth elongation amount is greater than twice the distance between the preset position and the initial position, generating a prompt signal indicating that the oil quantity in the rodless chamber of the second oil cylinder is excessive, or generating a prompt signal indicating that the oil quantity in the rodless chamber of the first oil cylinder is too little, where the initial position is the position of the proximity switch relative to the induction point when the second-stage arm is fully retracted; or If the fourth elongation amount is less than twice the distance between the preset position and the initial position, generating a prompt signal indicating that the oil quantity in the rodless chamber of the second oil cylinder is too little, or generating a prompt signal indicating that the oil quantity in the rodless chamber of the first oil cylinder is excessive.

5. A method for detecting the synchronization of series-connected oil cylinders of a telescopic arm, characterized in that the telescopic arm includes at least three stage arms and a plurality of oil cylinders. The rod chamber of any one of the oil cylinders and the rodless chamber of another one of the oil cylinders are connected in series in the oil circuit, and a make-up and drain oil mechanism is provided on the oil cylinders of the telescopic arm; Among them, the method includes: Obtaining the relative displacement between every two of at least three of the stage arms; and If at least two of the relative displacements do not match each other, generating an oil cylinder oil quantity prompt signal, and controlling the make-up and drain oil mechanism to make up or drain oil from the rodless chambers of one or more oil cylinders of the telescopic arm so that the telescopic movements of the plurality of stage arms are synchronized; The telescopic arm includes a first-stage arm, a second-stage arm, a third-stage arm, a first oil cylinder, and a second oil cylinder that are connected in sequence. The first oil cylinder is respectively connected to the first-stage arm and the second-stage arm, and the second oil cylinder is respectively connected to the second-stage arm and the third-stage arm. The rod chamber of the first oil cylinder and the rodless chamber of the second oil cylinder are connected in series in the oil circuit; Among them, the obtaining of the relative displacement between every two of at least three of the stage arms includes: Receiving a fifth elongation amount of the first-stage arm relative to the second-stage arm; and Receiving a sixth elongation amount of the first-stage arm relative to the third-stage arm; The making up or draining of oil from one or more oil cylinders of the telescopic arm so that the telescopic movements of the plurality of stage arms are synchronized includes: Obtaining an elongation difference between twice the fifth elongation amount and the sixth elongation amount; Obtaining a corresponding oil quantity difference according to the elongation difference, where the oil quantity difference is the oil quantity difference between the rodless chambers of the first oil cylinder and the second oil cylinder; and If the sixth elongation is greater than twice the fifth elongation, control the oil replenishing and discharging mechanism to replenish the hydraulic oil of the oil volume difference into the rodless cavity of the first oil cylinder, or control the oil replenishing and discharging mechanism to extract the hydraulic oil of the oil volume difference from the rodless cavity of the second oil cylinder; or If the sixth elongation is less than twice the fifth elongation, control the oil replenishing and discharging mechanism to extract the hydraulic oil of the oil volume difference from the rodless cavity of the first oil cylinder, or control the oil replenishing and discharging mechanism to replenish the hydraulic oil of the oil volume difference into the rodless cavity of the second oil cylinder.

6. A telescopic boom series cylinder synchronism detection system, characterized in that, The telescopic arm includes at least three section arms and multiple oil cylinders, and the rodless cavities of the rodless cavities of any one of the oil cylinders and another one of the oil cylinders are connected in series in the oil circuit; the telescopic arm series oil cylinder synchronization detection system includes: A displacement detection module configured to: detect the relative displacement between two of the at least three section arms; and A controller communicatively connected to the displacement detection module; wherein, the controller includes: A section arm displacement acquisition module configured to: receive the relative displacements between every two of the at least three section arms; and An oil quantity inspection prompt module configured to: generate an oil cylinder oil quantity prompt signal if at least two of the relative displacements do not match each other; The telescopic arm includes a first section arm, a second section arm, a third section arm, a first oil cylinder and a second oil cylinder connected in sequence, the first oil cylinder is respectively connected to the first section arm and the second section arm, and the second oil cylinder is respectively connected to the second section arm and the third section arm; the rodless cavity of the first oil cylinder and the rodless cavity of the second oil cylinder are connected in series in the oil circuit; Wherein, the displacement detection module includes: A first length detection unit disposed on the first section arm, and the first length detection unit is configured to: detect a first elongation of the first section arm relative to the second section arm; and A second length detection unit disposed on the first section arm, and the second length detection unit is configured to: detect a second elongation of the first section arm relative to the third section arm; The section arm displacement acquisition module is further configured to: receive the first elongation and the second elongation; The oil quantity inspection prompt module is further configured to: if the second elongation is greater than twice the first elongation, generate a prompt signal indicating that the oil quantity in the rodless cavity of the second oil cylinder is excessive, or generate a prompt signal indicating that the oil quantity in the rodless cavity of the first oil cylinder is too little; or if the second elongation is less than twice the first elongation, generate a prompt signal indicating that the oil quantity in the rodless cavity of the second oil cylinder is too little, or generate a prompt signal indicating that the oil quantity in the rodless cavity of the first oil cylinder is excessive.

7. The telescopic boom series cylinder synchronization detection system according to claim 6, characterized in that, An oil replenishing and discharging mechanism is provided on the oil cylinder of the telescopic arm; Wherein, the controller is configured to: if at least two of the relative displacements do not match each other, control the oil replenishing and discharging mechanism to replenish or discharge oil from the rodless cavity of one or more oil cylinders of the telescopic arm, so that the telescopic synchronization of the multiple section arms is achieved.

8. A telescopic boom series cylinder synchronization detection system, characterized in that, The telescopic arm includes a first section arm, a second section arm, a third section arm, a first oil cylinder and a second oil cylinder connected in sequence, the first oil cylinder is respectively connected to the first section arm and the second section arm, and the second oil cylinder is respectively connected to the second section arm and the third section arm; The rodless cavity of the first oil cylinder and the rodless cavity of the second oil cylinder are connected in series hydraulically with each other; The telescopic boom series-connected oil cylinder synchronism detection system includes: A displacement detection module configured to detect the relative displacement between two of at least three boom sections; and A controller communicatively connected to the displacement detection module; wherein the controller includes: A boom section displacement acquisition module configured to receive the relative displacements between every two of at least three boom sections; and An oil quantity inspection prompt module configured to generate an oil cylinder oil quantity prompt signal if at least two of the relative displacements do not match each other; Wherein, the displacement detection module includes: A proximity switch disposed on the first boom section; An induction point corresponding to the proximity switch, disposed at a preset position on the second boom section; and A fourth length detection unit disposed on the first boom section, the fourth length detection unit configured to detect a fourth elongation amount of the first boom section relative to the third boom section; Wherein, the boom section elongation amount acquisition module is further configured to receive the trigger signals of the proximity switch and the induction point, and receive the fourth elongation amount; The oil quantity inspection prompt module is further configured to, if the fourth elongation amount is greater than twice the distance between the preset position and the initial position, generate a prompt signal indicating that the oil quantity in the rodless cavity of the second oil cylinder is excessive, or generate a prompt signal indicating that the oil quantity in the rodless cavity of the first oil cylinder is insufficient, wherein the initial position is the position of the proximity switch relative to the induction point when the second boom section is fully retracted; or if the fourth elongation amount is less than twice the distance between the preset position and the initial position, generate a prompt signal indicating that the oil quantity in the rodless cavity of the second oil cylinder is insufficient, or generate a prompt signal indicating that the oil quantity in the rodless cavity of the first oil cylinder is excessive.

9. An engineering machinery, characterized in that, Including: A construction machinery body including a telescopic boom, the telescopic boom including at least three boom sections and a plurality of oil cylinders, the rodless cavity of any one oil cylinder and the rodless cavity of another one oil cylinder being connected in series hydraulically with each other; And The telescopic boom series-connected oil cylinder synchronism detection system according to any one of claims 6 to 8, connected to the construction machinery body.

Images