Synchronous hose retracting and releasing system and method for drainage rescue vehicle and drainage rescue vehicle

Abstract

The present invention belongs to the field of hydraulic and electrical application technology, and specifically relates to a synchronous hose retracting and releasing system, method and a drainage rescue vehicle for a drainage rescue vehicle. The synchronous hose retracting and releasing system for a drainage rescue vehicle includes a controller, an engine, a pump I, a pump II, a hydraulic oil tank, a travel motor control valve, a travel motor, a hose retracting motor control valve and a hose retracting motor. The present invention can realize the synchronous walking and retracting and releasing of the hose, and the walking and retracting speeds are matched to prevent the hose from being over-stretched and damaged or the retracting and releasing system from being damaged when the walking speed is too slow during the retracting process, and the hose from being retracted in time and piled up or the walking system from crushing the hose when the walking speed is too fast.

Description

Technical Field

[0001] The present invention belongs to the technical field of hydraulic and electrical applications, and in particular relates to a synchronous hose retracting and releasing system and method for a drainage rescue vehicle, and a drainage rescue vehicle. Background Art

[0002] After a flood disaster occurs, drainage rescue vehicles use large-diameter hoses connected to their working devices to drain the accumulated water over long distances. Because large-diameter hoses are large in size, heavy in weight, and far away, the traditional manual retraction and release method requires a lot of manpower and is inefficient. Therefore, the use of mechanical structures to automatically retract and release large-diameter hoses has become an inevitable trend.

[0003] Patent CN201520299729.3 discloses a hose winch structure, which includes a winch bracket and a winch drum; the winch drum is connected to the winch bracket and can rotate relative to the winch bracket, and a hose head quick-connect structure is provided on the outer wall of the winch drum. The hose quick-connect structure is a sealed connection structure, and the hose winch structure is also provided with a rotary joint, which is coaxially arranged with the winch drum. One end of the rotary joint is fixed to the winch drum and rotates with the winch drum, and is connected to the hose quick-connect structure. The other end of the rotary joint is fixed to the winch bracket and is used to connect to the external pipeline. The hose reel mainly solves the problem of hose winding. This technology only has a reel structure. Although it solves the problem of hose winding, the hose winding and laying path require manual participation, which is time-consuming and labor-intensive, and has high labor intensity.

[0004] Patent CN201920723478.5 discloses a hydraulic hose reel device, including a bracket, a hose reel, a driving mechanism, a hose leveling mechanism and an external hydraulic control system; the hose reel is installed on the bracket, and the hose reel includes a reel drum, a three-claw interface groove, a baffle ring, a reel drainage hole and a reel shaft, the three-claw interface groove is arranged in the middle of the reel drum, baffle rings are arranged on both sides of the reel drum, a plurality of reel drainage holes are arranged on both ends of the reel drum and on the surface of the baffle ring, and the reel shaft is fixedly installed on the center of the baffle ring. Although this technology can quickly and effectively store the hose through the hydraulic control device, the hydraulic hose reel device cannot be moved. When performing long-distance drainage operations, the laying path of the hose is far, and the hose can only be laid or reeled by manually dragging, which is time-consuming and labor-intensive, and has high labor intensity.

[0005] Patent CN202110320391.5 discloses a hose storage method of a hose robot and a hose robot thereof, which can realize synchronous laying and retracting of hoses. However, this patent cannot actively adjust and realize the matching of the self-propelled speed of the machine and the retracting speed during retraction and only adjusts the rotation speed of the hose turntable and / or the walking speed of the walking mechanism when the hose is detected to be trapped at the bottom of the hose robot. In fact, the matching of the self-propelled speed of the machine and the retracting speed during the retraction of the mechanical structure will greatly affect the smoothness and efficiency of the retracting and releasing of the hose. Summary of the invention

[0006] In order to solve the deficiencies of the prior art, the present invention provides a synchronous water hose retracting and releasing system for a drainage rescue vehicle and a synchronous water hose retracting and releasing method for a drainage rescue vehicle, which can realize the synchronous walking and retracting and releasing of the water hose, and the walking and retracting speeds are matched to prevent the water hose from being excessively pulled and damaged or the retracting system from being damaged when the walking speed is too slow during the retracting process, and the water hose from being unreeled in time and piled up or the water hose laying device from crushing the water hose when the walking speed is too fast.

[0007] The present invention also provides a drainage rescue vehicle, which can realize synchronous running and retracting and releasing of a water hose, and the running and retracting and releasing speeds are matched.

[0008] In order to solve the deficiencies of the prior art, the technical solution provided by the present invention is:

[0009] A synchronous hose retracting and releasing system for a drainage rescue vehicle, comprising a controller, an engine, a pump I, a pump II, a hydraulic oil tank, a travel motor control valve, a travel motor, a hose retracting motor and a hose retracting motor control valve;

[0010] The engine drives the pumps I and II to suck oil from the hydraulic oil tank;

[0011] The oil outlet of pump II is connected to the travel motor control valve;

[0012] The two oil outlets of the travel motor control valve are connected to the travel motor, and the oil return port is connected to the hydraulic oil tank;

[0013] The oil outlet of pump I is connected to the hose reeling motor control valve;

[0014] The two oil outlets of the hose reeling motor control valve are respectively connected to the laying end and the reeling end of the hose reeling motor, and the oil return port is connected to the hydraulic oil tank;

[0015] A speed sensor is provided on the hose reeling motor and / or the travel motor;

[0016] The controller is electrically connected to the travel motor control valve, the rotation speed sensor and the hose reeling motor control valve.

[0017] Preferably, the water hose reeling motor comprises a left water hose reeling motor and a right water hose reeling motor;

[0018] The hose reeling motor control valve comprises a proportional reversing valve I and a proportional reversing valve II;

[0019] The oil outlet of the pump I is connected in parallel to the proportional reversing valve I and the proportional reversing valve II;

[0020] The A1 port of the proportional reversing valve I is connected to the laying end of the right hose reeling motor, the B1 port is connected to the reeling end of the right hose reeling motor, and the oil outlet is connected to the hydraulic oil tank;

[0021] The A2 port of the proportional reversing valve II is connected to the laying end of the left hose reeling motor, the B2 port is connected to the reeling end of the left hose reeling motor, and the oil return port is connected to the hydraulic oil tank;

[0022] The left hose reeling motor and the right hose reeling motor are provided with a speed sensor Ⅰ;

[0023] The travel motor includes a left travel motor and a right travel motor;

[0024] The travel motor control valve includes a proportional reversing valve V and a proportional reversing valve IV;

[0025] The oil outlet of the pump II is connected in parallel to the proportional reversing valve V and the proportional reversing valve IV;

[0026] The A4 and B4 ports of the proportional reversing valve IV are connected to the right travel motor, and the oil return port is connected to the hydraulic oil tank;

[0027] The A5 and B5 ports of the proportional reversing valve V are connected to the left travel motor, and the oil return port is connected to the hydraulic oil tank;

[0028] The controller is electrically connected to the proportional reversing valve V and the proportional reversing valve IV, the speed sensor I, the speed sensor II, the proportional reversing valve I and the proportional reversing valve II.

[0029] Preferably, the oil outlet of the pump II is connected to the travel motor control valve via an oil inlet connection II;

[0030] The oil return port of the travel motor control valve is connected to the hydraulic oil tank through the tail connection II;

[0031] The oil inlet connection II is provided with a three-way compensator and an LS relief valve;

[0032] The travel motor control valve is equipped with a pressure compensator.

[0033] Preferably, it also includes a left hose reeling motor control valve, a right hose reeling motor control valve, a proportional reversing valve III and an oil replenishment overflow valve;

[0034] The left water hose reeling motor control valve includes a proportional relief valve I, a proportional relief valve II and an oil replenishment check valve I; the oil inlet P1 of the proportional relief valve I and the oil return port T2 of the proportional relief valve II are connected in parallel, and are connected to the laying end of the left water hose reeling motor and the A2 port of the proportional reversing valve II; the oil return port T1 of the proportional relief valve I and the oil inlet P2 of the proportional relief valve II are connected in parallel, and are connected to the retracting end of the left water hose reeling motor and the B2 port of the proportional reversing valve II;

[0035] The spring end of the oil replenishment check valve I is connected to the oil inlet P1 of the proportional relief valve I, and the other end is connected to the oil replenishment port F1 of the left hose reeling motor control valve;

[0036] The right hose reeling motor control valve includes a proportional relief valve III, a proportional relief valve IV and an oil replenishment check valve II;

[0037] The oil inlet P3 of the proportional relief valve III and the oil return port T4 of the proportional relief valve IV are connected in parallel, and are connected to the laying end of the right hose reeling motor and the A1 port of the proportional reversing valve I; the oil return port T3 of the proportional relief valve III and the oil inlet P4 of the proportional relief valve IV are connected in parallel, and are connected to the retracting end of the right hose retracting motor and the B1 port of the proportional reversing valve I;

[0038] The spring end of the oil replenishment check valve II is connected to the oil inlet P3 of the proportional relief valve III, and the other end is connected to the oil replenishment port F2 of the right hose reeling motor control valve;

[0039] The oil inlet of the proportional reversing valve III is connected to the oil outlet of the pump I, the oil outlet B3 is connected to the oil replenishment port F1 of the left water hose reeling motor control valve, the oil replenishment port F2 of the right water hose reeling motor control valve, and the inlet of the oil replenishment relief valve, and the oil return port is connected to the hydraulic oil tank;

[0040] The oil return port of the oil replenishment relief valve is connected to the hydraulic oil tank;

[0041] The proportional reversing valve III, the proportional relief valve I, the proportional relief valve II, the oil replenishing check valve I, the proportional relief valve III, the proportional relief valve IV and the oil replenishing check valve II are connected to the controller.

[0042] Preferably, the oil outlet of the pump I is connected in parallel to the proportional reversing valve I, the proportional reversing valve II and the proportional reversing valve III via an oil inlet connection I;

[0043] The oil return ports of proportional reversing valve I, proportional reversing valve II and proportional reversing valve III are connected with the hydraulic oil tank through tail connection I;

[0044] The oil inlet connection I is provided with a three-way compensator and an LS relief valve;

[0045] Proportional reversing valve I, proportional reversing valve II and proportional reversing valve III are provided with pressure compensators.

[0046] Preferably, the hose reeling motor is provided with a speed sensor I; the speed sensor I is electrically connected to the controller;

[0047] The controller is used to control the hose retracting and releasing speed to match the walking speed, including:

[0048] The current travel speed V1 is calculated according to the current of the travel motor control valve, and the current radius of the hose is calculated according to the real-time accumulated number of revolutions of the hose reeling motor uploaded by the speed sensor I;

[0049] Calculate the theoretical speed of the hose reel motor based on the theoretical retracting speed and the current radius of the hose:

[0050] N1=V2 / 2πR

[0051] Among them, N1 is the theoretical speed of the hose reeling motor; R is the current radius of the hose; V2 is the theoretical retracting speed, which is equal to the current walking speed V1;

[0052] According to the theoretical speed N1 of the hose reel motor, the theoretical flow requirement of the hose reel motor can be obtained:

[0053] Q1=N1*V / η v

[0054] Where Q1 is the theoretical flow requirement of the hose reel motor; V is the motor displacement of the hose reel motor; η v is the volumetric efficiency of the hose reel motor;

[0055] The current of the hose reeling motor control valve is controlled according to the theoretical flow demand Q of the hose reeling motor, so that the hose reeling motor rotates according to the theoretical speed.

[0056] Preferably, the travel motor is provided with a speed sensor II; the speed sensor II is electrically connected to the controller;

[0057] The controller is used to control the travel speed to match the hose retraction and extension speed, including:

[0058] Calculate the current flow of the hose reeling motor according to the current of the hose reeling motor control valve;

[0059] Calculate the current speed N2 of the hose reel motor according to the current flow rate of the hose reel motor, and calculate the current radius R of the hose according to the real-time accumulated number of revolutions of the hose reel motor uploaded by the speed sensor;

[0060] N2=Q2*η v / V

[0061] Wherein, N2 is the current speed of the hose reeling motor; Q2 is the current flow rate of the hose reeling motor; V is the motor displacement of the hose reeling motor; η v is the volumetric efficiency of the hose reel motor;

[0062] The current retracting speed V3 is obtained according to the current speed N2 of the hose retracting motor and the current radius R of the hose;

[0063] V3=N22πR

[0064] The theoretical walking speed V4 is equal to the current retraction speed V3;

[0065] The current magnitude of the travel motor control valve is obtained according to the theoretical travel speed V4, and the travel motor control valve is controlled according to the current magnitude of the travel motor control valve so that the theoretical travel speed V4 is equal to the current retracting and extending speed V3.

[0066] Preferably, the controller is also used to:

[0067] Adjust the current of proportional reversing valve I and proportional reversing valve II so that port B1 of proportional reversing valve I and port B2 of proportional reversing valve II supply oil at maximum flow rate;

[0068] Adjust the current of proportional relief valve I, proportional relief valve II, proportional relief valve III and proportional relief valve IV so that the maximum value of the reeling pressure of the left hose reeling motor and the right hose reeling motor is equal to the preset pressure value;

[0069] The A5 port of the proportional reversing valve V and the A4 port of the proportional reversing valve IV are controlled to start supplying oil to rotate the left travel motor and the right travel motor so that the hose laying device moves forward. At the same time, the left hose retracting motor and the right hose retracting motor retract the hose synchronously.

[0070] Preferably, the controller is also used to:

[0071] Adjust the B1 port of the proportional reversing valve I and the B2 port of the proportional reversing valve II to supply oil to the reeling end of the left hose reeling motor and the right hose reeling motor at a flow rate of 1-2L / min;

[0072] Adjust the current values ​​of proportional relief valve Ⅰ, proportional relief valve Ⅱ, proportional relief valve Ⅲ and proportional relief valve Ⅳ to control the maximum reeling pressure of the left hose reeling motor and the right hose reeling motor to 0-10bar;

[0073] Adjust the proportional reversing valve III to actively replenish oil at a pressure of 15-25 bar to the oil replenishing port F1 of the left hose reeling motor control valve and the oil replenishing port F2 of the right hose reeling motor control valve through the B3 port;

[0074] The B5 port of the proportional reversing valve V and the B4 port of the proportional reversing valve IV are controlled to start supplying oil to rotate the left travel motor and the right travel motor so that the hose laying device moves backward and at the same time the left hose reeling motor and the right hose reeling motor synchronously lay the hose.

[0075] A synchronous hose retracting and releasing method for a drainage rescue vehicle comprises:

[0076] The aforementioned controller calculates the current travel speed V1 according to the current of the travel motor control valve, and calculates the current radius of the hose according to the real-time accumulated number of turns of the hose reeling motor uploaded by the speed sensor I;

[0077] Calculate the theoretical speed of the hose reel motor based on the theoretical retracting speed and the current radius of the hose:

[0078] N1=V2 / 2πR

[0079] Among them, N1 is the theoretical speed of the hose reeling motor; R is the current radius of the hose; V2 is the theoretical retracting speed, which is equal to the current walking speed V1;

[0080] According to the theoretical speed N1 of the hose reel motor, the theoretical flow requirement of the hose reel motor can be obtained:

[0081] Q1=N1*V / η v

[0082] Where Q1 is the theoretical flow requirement of the hose reel motor; V is the motor displacement of the hose reel motor; η v is the volumetric efficiency of the hose reel motor;

[0083] The current of the hose reeling motor control valve is controlled according to the theoretical flow demand Q of the hose reeling motor, so that the hose reeling motor rotates according to the theoretical speed.

[0084] A synchronous hose retracting and releasing method for a drainage rescue vehicle comprises:

[0085] The aforementioned controller calculates the current flow of the hose reeling motor according to the current magnitude of the hose reeling motor control valve;

[0086] The current speed N2 of the hose reeling motor is calculated according to the current flow rate of the hose reeling motor, and the current radius R of the hose is calculated according to the real-time accumulated number of revolutions of the hose reeling motor uploaded by the speed sensor;

[0087] N2=Q2*η v / V

[0088] Wherein, N2 is the current speed of the hose reeling motor; Q2 is the current flow rate of the hose reeling motor; V is the motor displacement of the hose reeling motor; η v is the volumetric efficiency of the hose reel motor;

[0089] The current retracting speed V3 is obtained according to the current speed N2 of the hose retracting motor and the current radius R of the hose;

[0090] V3=N22πR

[0091] The theoretical walking speed V4 is equal to the current retraction speed V3;

[0092] The current magnitude of the travel motor control valve is obtained according to the theoretical travel speed V4, and the travel motor control valve is controlled according to the current magnitude of the travel motor control valve so that the theoretical travel speed V4 is equal to the current retracting and extending speed V3.

[0093] A synchronous hose retracting and releasing method for a drainage rescue vehicle comprises:

[0094] The aforementioned controller adjusts the current of proportional reversing valve I and proportional reversing valve II so that port B1 of proportional reversing valve I and port B2 of proportional reversing valve II supply oil at maximum flow rate;

[0095] The controller adjusts the current of proportional relief valve I, proportional relief valve II, proportional relief valve III and proportional relief valve IV so that the maximum value of the reeling pressure of the left hose reeling motor and the right hose reeling motor is equal to the preset pressure value;

[0096] The controller controls the A5 port of the proportional reversing valve V and the A4 port of the proportional reversing valve IV to start supplying oil to rotate the left travel motor and the right travel motor so that the hose laying device moves forward. At the same time, the left hose retracting motor and the right hose retracting motor synchronously retract the hose.

[0097] A synchronous hose retracting and releasing method for a drainage rescue vehicle comprises:

[0098] The aforementioned controller adjusts the B1 port of the proportional reversing valve I and the B2 port of the proportional reversing valve II to supply oil to the reeling ends of the left hose reeling motor and the right hose reeling motor at a flow rate of 1-2L / min;

[0099] The controller adjusts the current values ​​of proportional relief valve I, proportional relief valve II, proportional relief valve III and proportional relief valve IV to control the maximum reeling pressure of the left hose reeling motor and the right hose reeling motor to be 0-10 bar;

[0100] The controller adjusts the proportional reversing valve III to actively replenish oil at a pressure of 15-25 bar to the oil replenishing port F1 of the left hose reeling motor control valve and the oil replenishing port F2 of the right hose reeling motor control valve through the B3 port;

[0101] The controller controls the B5 port of the proportional reversing valve V and the B4 port of the proportional reversing valve IV to start supplying oil to rotate the left travel motor and the right travel motor so that the water hose laying device retreats and at the same time the left water hose reeling motor and the right water hose reeling motor synchronously lay the water hose.

[0102] A drainage rescue vehicle comprises the aforementioned synchronous water hose retracting and releasing system for drainage rescue vehicles.

[0103] Beneficial effects of the present invention:

[0104] The present invention solves the problems of hose reeling, hose laying and laying path, and achieves speed matching between traveling and reeling; it prevents the hose from being over-tensioned and damaged or the reeling system from being damaged when the traveling speed is too slow during the reeling process, and prevents the hose from being piled up or the traveling system from crushing the hose when the traveling speed is too fast due to failure to reel in time.

[0105] The present invention can be operated by remote control, and only one person is needed to control the independent walking, forward and backward movement, and water hose retracting of the water hose laying device. It can also realize automatic matching of walking and water hose retracting and self-adaptation of water hose retracting to automatically match external speed requirements. BRIEF DESCRIPTION OF THE DRAWINGS

[0106] Figure 1 A schematic diagram of the retractable system provided by the present invention;

[0107] Figure 2 A schematic diagram of a walking system provided by the present invention;

[0108] Figure 3 It is a schematic diagram of a synchronous hose retracting and releasing method for a drainage rescue vehicle proposed by the present invention;

[0109] in,

[0110] 1-Engine; 2-Pump I; 3-Pump II; 4-Hydraulic oil tank; 5-Oil inlet connection I; 6-Proportional reversing valve I; 7-Proportional reversing valve II; 8-Proportional reversing valve III; 9-Tail connection I; 10-Left hose reeling motor regulating valve; 11-Right hose reeling motor regulating valve; 12-Left hose reeling motor; 13-Right hose reeling motor; 14-Oil inlet connection II; 15-Proportional reversing valve IV; 16-Proportional reversing valve V; 17-Tail connection II; 18-Left travel motor; 19-Right travel motor; 8.1-Oil replenishment overflow valve;

[0111] 10.1-proportional relief valve Ⅰ; 10.2-proportional relief valve Ⅱ; 10.3-oil replenishment check valve Ⅰ; 10.4-manual variable throttle valve Ⅰ;

[0112] 11.1-Proportional relief valve III; 11.2-Proportional relief valve IV; 11.3-Oil replenishment check valve II; 11.4 Manual variable throttle valve II. DETAILED DESCRIPTION

[0113] The present invention is further described below in conjunction with the embodiments. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and cannot be used to limit the protection scope of the present invention.

[0114] The embodiment of the present invention provides a synchronous hose retracting and releasing system for a drainage rescue vehicle, see Figure 1 , 2 , including a controller, an engine 1, a hydraulic oil tank 4, a retracting system and a traveling system. Specifically, the retracting system includes a pump Ⅰ2, a hose reeling motor control valve, and a hose reeling motor; the traveling system includes a pump Ⅱ3, a traveling motor control valve, and a traveling motor. The engine 1 drives pumps Ⅰ2 and Ⅱ3 to suck oil from the hydraulic oil tank 4. The oil outlet of pump Ⅱ3 is connected to the traveling motor control valve, the two oil outlets of the traveling motor control valve are connected to the traveling motor, and the oil return port is connected to the hydraulic oil tank 4, which is used to control the speed and direction of the traveling motor. The oil outlet of pump Ⅰ2 is connected to the hose reeling motor control valve; the two oil outlets of the hose reeling motor control valve are respectively connected to the laying end and the reeling end of the hose reeling motor, and the oil return port is connected to the hydraulic oil tank 4. A speed sensor is provided on the hose reeling motor and / or the traveling motor; the controller is electrically connected to the traveling motor control valve, the speed sensor, and the hose reeling motor control valve. When in use, the controller obtains the real-time cumulative number of turns of the hose reeling motor through the angular displacement value obtained by the speed sensor located on the hose reeling motor, and the current size or hydraulic pressure of the hose reeling motor control valve to obtain the current retraction and extension speed of the hose reeling, and obtains the theoretical travel speed of the travel motor according to the current retraction and extension speed of the hose reeling, and obtains the current size or hydraulic pressure of the travel motor control valve according to the theoretical travel speed of the travel motor, and controls the travel motor control valve according to the current size or hydraulic pressure of the travel motor control valve so that the travel motor travels at the theoretical travel speed, thereby matching the retraction and extension speed with the travel speed. Similarly, the controller can also obtain the theoretical retraction and extension speed of the hose reeling according to the current travel speed of the travel motor, and obtain the current size or hydraulic pressure of the hose reeling motor control valve according to the theoretical retraction and extension speed of the hose reeling, and achieve matching of the retraction and extension speed with the travel speed by controlling the hose reeling motor control valve.

[0115] The synchronous water hose retracting and releasing system for a drainage rescue vehicle provided by the present invention is used for a water hose laying device of the drainage rescue vehicle, the traveling system is used to control the forward and backward movement of the water hose laying device, and the retracting and releasing system is used to control the rotation of the reel on the water hose laying device to realize the laying and retracting of the water hose.

[0116] In order to improve drainage efficiency, the retracting and releasing system is preferably provided with two hose reeling motors and two hose reeling motor control valves for controlling two reels. The settings of the two hose reeling motors are completely consistent. The parameters of the two hose reeling motor control valves are completely consistent. The hose reeling motors are respectively the left hose reeling motor 12 and the right hose reeling motor 13; the hose reeling motor control valve is preferably a proportional reversing valve, including a proportional reversing valve I6 and a proportional reversing valve II7. The oil outlet of pump Ⅰ2 is connected in parallel to proportional reversing valve Ⅰ6 and proportional reversing valve Ⅱ7; port A1 of proportional reversing valve Ⅰ6 is connected to the laying end of the right water hose rewinding motor 13, port B1 is connected to the rewinding end of the right water hose rewinding motor 13, and the oil return port is connected to the hydraulic oil tank 4; port A2 of proportional reversing valve Ⅱ7 is connected to the laying end of the left water hose rewinding motor 12, port B2 is connected to the rewinding end of the left water hose rewinding motor 12, and the oil return port is connected to the hydraulic oil tank 4; speed sensor Ⅰ is provided on the left water hose rewinding motor 12 and the right water hose rewinding motor 13. The travel system is preferably provided with two travel motors and two travel motor control valves to realize differential steering. The parameters of the two travel motors are consistent. The parameters of the two travel motor control valves are consistent. See. Figure 2 , the travel motor includes a left travel motor 18 and a right travel motor 19; the travel motor control valve is preferably a proportional reversing valve, including a proportional reversing valve V16 and a proportional reversing valve IV15. The oil outlet of the pump II3 is connected in parallel with the proportional reversing valve V16 and the proportional reversing valve IV15; the A4 and B4 ports of the proportional reversing valve IV15 are connected to the right travel motor 19, and the oil return port is connected to the hydraulic oil tank 4, which is used to control the speed and direction of the right travel motor 19; the A5 and B5 ports of the proportional reversing valve V16 are connected to the left travel motor 18, and the oil return port is connected to the hydraulic oil tank 4, which is used to control the speed and direction of the left travel motor 19. The controller is electrically connected to the proportional reversing valve V16 and the proportional reversing valve IV15, the speed sensor I, the speed sensor II, the proportional reversing valve I and the proportional reversing valve II.

[0117] In an alternative embodiment of the present invention, see Figure 2 The oil outlet of pump Ⅱ3 is connected in parallel to proportional reversing valve Ⅴ16 and proportional reversing valve Ⅳ15 through oil inlet connection Ⅱ14; the oil return ports of proportional reversing valve Ⅴ16 and proportional reversing valve Ⅳ15 are connected to hydraulic oil tank 4 through tail connection Ⅱ17; a three-way compensator and LS relief valve are provided on the oil inlet connection Ⅱ, which can unload the small pressure before the actuators of the walking system are actuated. When the actuators are working, the overflow pressure is slightly higher than the maximum working pressure to reduce the power consumption of the walking system; the proportional reversing valve Ⅴ and the proportional reversing valve Ⅳ are provided with pressure compensators, which can be located before or after the valves, and can better control the flow distribution of each actuator; the tail connection Ⅱ provides pilot pressure for the proportional reversing valve Ⅴ16 and the proportional reversing valve Ⅳ15. The three-way compensator, LS relief valve, pressure compensator and tail connection Ⅱ are commonly used settings and will not be described in detail.

[0118] In an alternative embodiment of the present invention, see Figure 1 The synchronous hose retracting and releasing system for drainage rescue vehicles also includes a left hose retracting motor control valve 10, a right hose retracting motor control valve 11, an oil replenishment overflow valve 8.1 and a proportional reversing valve III8. The left hose retracting motor control valve 10 is connected in parallel with the left hose retracting motor 12. The left hose retracting motor control valve 10 includes a proportional overflow valve I 10.1, a proportional overflow valve II 10.2 and an oil replenishment check valve I 10.3. The oil inlet P1 of the proportional relief valve Ⅰ10.1 and the oil return port T2 of the proportional relief valve Ⅱ10.2 are connected in parallel, and are connected to the laying end of the left hose winding motor 12 and the A2 port of the proportional reversing valve Ⅱ7; the oil return port T1 of the proportional relief valve Ⅰ10.1 and the oil inlet P2 of the proportional relief valve Ⅱ10.2 are connected in parallel, and are connected to the winding end of the left hose winding motor 12 and the B2 port of the proportional reversing valve Ⅱ7; the spring end of the oil replenishment check valve Ⅰ10.3 is connected to the oil inlet P1 of the proportional relief valve Ⅰ10.1, and the other end is connected to the oil replenishment port F1 of the left hose winding motor control valve 10; the laying side of the left hose winding motor control valve 10 can be replenished with oil through the F1 port of the left hose winding motor control valve. The right hose winding motor control valve 11 is connected in parallel with the right hose winding motor 13. The right hose reeling motor control valve 11 comprises a proportional relief valve III 11.1, a proportional relief valve IV 11.2 and an oil replenishment check valve II 11.3. The oil inlet P3 of the proportional relief valve III 11.1 and the oil return port T4 of the proportional relief valve IV 11.2 are connected in parallel, and are connected to the laying end of the right water hose reeling motor 13 and the A1 port of the proportional reversing valve I 6; the oil return port T3 of the proportional relief valve III 11.1 and the oil inlet P4 of the proportional relief valve IV 11.2 are connected in parallel, and are connected to the reeling end of the right water hose reeling motor 13 and the B1 port of the proportional reversing valve I 6; the spring end of the oil replenishment check valve II 11.3 is connected to the oil inlet P3 of the proportional relief valve III 11.1, and the other end is connected to the oil replenishment port F2 of the right water hose reeling motor control valve 11; the laying side of the right water hose reeling motor control valve 11 can be replenished with oil through the F2 port of the right water hose reeling motor control valve. The proportional reversing valve III8 is connected in parallel with the proportional reversing valve I6 and the proportional reversing valve II7. The oil inlet is connected to the oil outlet of the pump I2. The oil outlet B3 is connected to the oil replenishment port F1 of the left hose reeling motor control valve 10, the oil replenishment port F2 of the right hose reeling motor control valve 11, and the inlet of the 15bar oil replenishment relief valve 8.1. The oil return port is connected to the hydraulic oil tank 4. The proportional reversing valve III8, the proportional relief valve I10.1, the proportional relief valve II10.2, the oil replenishment check valve I10.3, the proportional relief valve III11.1, the proportional relief valve IV11.2 and the oil replenishment check valve II11.3 are connected to the controller. The oil return port of the oil replenishment relief valve 8.1 is connected to the hydraulic oil tank 4. The oil replenishment relief valve 8.1 mainly controls the oil replenishment pressure to prevent the two hose reeling motors from sucking air when the pump is working. The oil replenishment relief valve 8.1 can be a separate relief valve.

[0119] In an alternative embodiment of the present invention, see Figure 1 The oil outlet of pump Ⅰ2 is connected in parallel to proportional reversing valve Ⅰ6, proportional reversing valve Ⅱ7, and proportional reversing valve Ⅲ8 through oil inlet connection Ⅰ5; the oil return ports of proportional reversing valve Ⅰ6, proportional reversing valve Ⅱ7, and proportional reversing valve Ⅲ8 are connected to hydraulic oil tank 4 through tail connection Ⅰ9. A three-way compensator and LS relief valve can be set on the oil inlet connection Ⅰ as needed, which can unload the small pressure before the actuators of the retracting and releasing system are operated. When the actuators are working, the overflow pressure is slightly higher than the maximum working pressure to reduce the power consumption of the retracting and releasing system. Proportional reversing valve Ⅰ, proportional reversing valve Ⅱ and proportional reversing valve Ⅲ can be equipped with pressure compensators, which can be located before or after the valves, and can better control the flow distribution of each actuator.

[0120] The proportional reversing valve I, proportional reversing valve II, proportional reversing valve III, proportional reversing valve IV, proportional reversing valve V, proportional overflow valve I, proportional overflow valve II, proportional overflow valve III and proportional overflow valve IV can be electrically controlled or hydraulically controlled, preferably electrically controlled.

[0121] The synchronous hose retracting and releasing system for drainage rescue vehicles provided by the present invention can realize the independent movement of the hose laying device, including the forward and backward movement of the hose laying device, and the independent and simultaneous movement of the left and right hose retracting motors: the corresponding proportional reversing valves are powered and oiled through the controller, which will not be described in detail.

[0122] The drainage rescue vehicle provided by the present invention can realize the automatic matching of the running of the water hose laying device and the retracting and releasing of the water hose:

[0123] The controller includes a hose reeling radius calculation module, a hose reeling motor speed calculation module, and a proportional reversing valve flow calculation module. The controller matches the hose reeling speed (including reeling speed and laying speed) with the walking speed. Figure 3 , the specific steps are as follows:

[0124] The current walking speed V1 is calculated based on the current of proportional reversing valve IV and proportional reversing valve V.

[0125] The hose reeling radius calculation module calculates the current radius of the hose according to the real-time accumulated revolutions of the left hose reeling motor and the right hose reeling motor uploaded by the speed sensor;

[0126] The hose reel motor speed calculation module calculates the theoretical speed of the left hose reel motor and the right hose reel motor according to the theoretical reel speed and the current radius of the hose:

[0127] N1=V2 / 2πR

[0128] Among them, N1 is the theoretical speed of the left hose reeling motor and the right hose reeling motor; R is the current radius of the hose; V2 is the theoretical retracting speed, which is equal to the current walking speed V1;

[0129] The proportional reversing valve flow calculation module can obtain the theoretical flow requirements of the left water hose rewinding motor and the right water hose rewinding motor according to the theoretical speed N1 of the left water hose rewinding motor and the right water hose rewinding motor, and calculate the current size of the proportional reversing valve I and the proportional reversing valve II according to the theoretical flow requirements of the left water hose rewinding motor and the right water hose rewinding motor;

[0130] Q1=N1*V / η v

[0131] Wherein, Q1 is the theoretical flow demand of the left hose reeling motor and the right hose reeling motor; V is the motor displacement of the left hose reeling motor and the right hose reeling motor; η v is the volumetric efficiency of the left hose reel motor and the right hose reel motor;

[0132] The current of proportional reversing valve I and proportional reversing valve II is controlled so that the left hose reeling motor and the right hose reeling motor rotate at the theoretical speed.

[0133] Specifically, during synchronous retraction, the controller makes the flow output of A4 port of proportional reversing valve IV and A5 port of proportional reversing valve V, the left travel motor and the right travel motor work, the hose laying device moves forward, and the current of proportional reversing valve IV and proportional reversing valve V is adjusted to control the travel speed of the hose laying device. At the same time, the controller calculates the current travel speed V1 with reference to the current of proportional reversing valves IV and V, and V1 is equal to the theoretical retraction speed V2. The speed sensor I installed on the left hose rewinding motor and the right hose rewinding motor can record the number of rewinding turns of the left hose rewinding motor and the right hose rewinding motor in real time. The radius of the hose can be calculated. According to the theoretical reeling speed V2 and the hose reeling radius R, the theoretical speed of the left hose reeling motor and the right hose reeling motor can be obtained. The theoretical flow requirements of the left hose reeling motor and the right hose reeling motor can be obtained from the theoretical speeds of the left hose reeling motor and the right hose reeling motor. The theoretical flow requirements of the left hose reeling motor and the right hose reeling motor correspond to the flow of the proportional reversing valve IB1 and the proportional reversing valve IIB2, and the current of the proportional reversing valve I and the proportional reversing valve II. The current of the proportional reversing valve I and the proportional reversing valve II controls the retracting speed of the left hose reeling motor and the right hose reeling motor to match the forward and retracting speeds. At the same time, the current value of the proportional overflow valve I and the proportional overflow valve II is controlled by the controller to control the retracting pressure to prevent the hose from being damaged by excessive tension or the reeling system from being damaged.

[0134] Synchronous laying: The calculation procedures for synchronous laying and synchronous winding are similar. The difference is that during synchronous laying, the controller enables the flow output of the proportional reversing valve IVB4 and the proportional reversing valve VB5, the left travel motor and the right travel motor work, and the hose laying device retreats. The current of the proportional reversing valves Ⅰ and Ⅱ controls the laying speed of the left hose winding motor and the right hose winding motor to match the retreat and laying speeds. At the same time, the controller controls the current value of the proportional overflow valve Ⅰ and the proportional overflow valve Ⅱ to control the laying pressure to prevent the hose laying device from getting stuck and damaging the hose laying device during the laying process.

[0135] In another embodiment of the present invention, the controller matches the travel speed with the hose retracting speed (including the retracting speed and the laying speed) by specifying an internal algorithm, and the specific steps are as follows:

[0136] Calculate the current flow of the left hose reeling motor and the right hose reeling motor according to the current of the proportional reversing valve I and the proportional reversing valve II;

[0137] Calculate the current speed N2 of the left hose reeling motor and the right hose reeling motor according to the current flow rates of the left hose reeling motor and the right hose reeling motor;

[0138] N2=Q2*η v / V

[0139] Calculate the current radius R of the hose according to the real-time accumulated revolutions of the left hose reeling motor and the right hose reeling motor uploaded by the speed sensor;

[0140] The current retracting speed V3 is obtained according to the current rotation speed N2 of the left hose retracting motor and the right hose retracting motor and the current radius R of the hose;

[0141] V3=N22πR

[0142] The theoretical walking speed V4 is equal to the current retraction speed V3;

[0143] According to the theoretical walking speed V4, the current size of the proportional reversing valve V and the proportional reversing valve IV is obtained. According to the current size of the proportional reversing valve V and the proportional reversing valve IV, the proportional reversing valve V and the proportional reversing valve IV are controlled so that the left walking motor and the right walking motor travel according to the theoretical walking speed.

[0144] The process of matching the walking speed with the hose retracting and releasing speed (including the reeling speed and the laying speed) is similar to the process of matching the hose retracting and releasing speed (including the reeling speed and the laying speed) with the walking speed, and will not be described in detail.

[0145] The synchronous water hose retracting and releasing system for drainage rescue vehicles provided by the present invention can also realize adaptive water hose retracting and releasing through a controller: including adaptive reeling and adaptive laying. The adaptive reeling can cooperate with the forward movement of the water hose laying device to realize synchronous reeling, and the adaptive laying can cooperate with the backward movement of the water hose laying device to realize synchronous laying. It can also be used alone to realize automatic reeling and laying of the water hose.

[0146] Hose reeling self-adaptation: The controller adjusts the current of proportional reversing valve Ⅰ6 and proportional reversing valve Ⅱ7 so that port B1 of proportional reversing valve Ⅰ6 and port B2 of proportional reversing valve Ⅱ7 supply oil at maximum flow rate; the controller controls the current of proportional relief valve Ⅰ10.1, proportional relief valve Ⅱ10.2, proportional relief valve Ⅲ11.1 and proportional relief valve Ⅳ11.2 to control the maximum value of the reeling pressure of the left water hose reeling motor 12 and the right water hose reeling motor 13 to be equal to the preset pressure value; when the reeling pressure of the left water hose reeling motor 12 and the right water hose reeling motor 13 is equal to the preset pressure value, the reeling pressure of the left water hose reeling motor 12 and the right water hose reeling motor 13 is equal to the preset pressure value. When the pressure is at the preset value, the hose cannot be pulled by the set reeling force and is in a static state; the A5 port of the proportional reversing valve V16 and the A4 port of the proportional reversing valve IV15 are controlled to start supplying oil to rotate the left travel motor 18 and the right travel motor 19 so that the hose laying device moves forward. After the hose laying device moves forward, the hose tension becomes smaller and the suspended hose becomes loose. When the hose laying device moves forward, the reeling pressure is sufficient to rotate the motor after the vehicle moves forward, and the hose is reeled. After the hose laying device stops moving, the reeling pressure is insufficient and the hose stops reeling, and finally the automatic coordination of moving and reeling is achieved. The preset pressure value is related to the hanging height of the hose, and the hanging height is obtained by the installation height of the reel. The reeling progress does not affect the preset pressure value. When used for the first time, the critical value that can reel the hose is obtained through on-site debugging, which is the preset pressure value.

[0147] Water hose laying self-adaptation: The controller adjusts the B1 port of the proportional reversing valve Ⅰ6 and the B2 port of the proportional reversing valve Ⅱ7 to supply oil to the reeling end of the left water hose reeling motor 12 and the right water hose reeling motor 13 at a flow rate of 1-2L / min; adjusts the current value of the proportional relief valve Ⅰ10.1, the proportional relief valve Ⅱ10.2, the proportional relief valve Ⅲ11.1, and the proportional relief valve Ⅳ11.2 to control the maximum reeling pressure of the left water hose reeling motor 12 and the right water hose reeling motor 13 to 0-10bar; adjusts the proportional reversing valve Ⅲ8 to actively replenish oil through the B3 port to the oil replenishing port F1 of the left water hose reeling motor control valve 10 and the oil replenishing port F2 of the right water hose reeling motor control valve 11 at a pressure of 15-25bar. At this time, the left water hose reeling motor 12 and the right water hose reeling motor 13 are stationary under the action of a small reeling and laying pressure. The B5 port of the proportional reversing valve V16 and the B4 port of the proportional reversing valve IV15 are controlled to start supplying oil to rotate the left travel motor 18 and the right travel motor 19 so that the hose laying device retreats. The retreat of the hose laying device is equivalent to applying external force to pull the hose. At this time, the left hose reeling motor 12 and the right hose reeling motor 13 become pump working conditions, and the oil returns through the reeling end of the left hose reeling motor 12 and the right hose reeling motor 13. Oil is supplied to the B2 port of valve Ⅱ7 at a flow rate of 1-2L / min to the reeling end of the left hose reeling motor 12 and the right hose reeling motor 13, so the oil can only open the proportional relief valve Ⅰ10.1, proportional relief valve Ⅱ10.2, proportional relief valve Ⅲ11.1, proportional relief valve Ⅳ11.2 to enter the laying end of the left hose reeling motor 12 and the right hose reeling motor 13, and the left hose reeling motor 12 and the right hose reeling motor 13 can rotate and lay the hose. When the hose laying device stops moving forward, that is, when the external force applied to the hose is removed, the left hose reeling motor and the right hose reeling motor stop rotating synchronously to achieve the self-adaptation of retreat and laying. The proportional reversing valve Ⅲ8 can effectively prevent the left hose reeling motor 12 and the right hose reeling motor 13 from sucking air through the oil hydraulic pressure on the B3 side. When the water hose begins to be laid, there is no water hose on the ground, and the water hose laying device will move backward without applying tension to the water hose. At this time, an external force is required to hold the water hose head to prevent the water hose reeling motor from not being laid due to insufficient external force in the initial stage of laying.

[0148] In an optional embodiment of the present invention, the synchronous hose retracting and releasing system for drainage rescue vehicles also includes a remote controller and a handle; the remote controller is connected to the controller, and the remote controller is provided with a separate walking button, a forward button, a backward button, a separate action button for the left hose retracting motor, a separate action button for the right hose retracting motor, a walking and hose synchronous retracting button, a walking and hose synchronous laying button, a hose retracting adaptive button, and a hose laying adaptive button; the handle is used to control the current of the walking motor control valve and the hose retracting motor control valve. Through remote control operation, only one person is required to control the separate walking, forward and backward movement, and hose retracting of the hose laying device, and can also realize the automatic matching of walking and hose retracting and releasing, and the adaptation of hose retracting and releasing to automatically match the walking speed requirements. The handle opening controls the speed of synchronous retracting and synchronous laying.

[0149] In an alternative embodiment of the present invention, see Figure 1 The left hose reeling motor regulating valve 10 is also provided with a manual variable throttle valve I10.4, and the two ends of the variable throttle valve I10.4 are respectively connected to the reeling end and the laying end of the left hose reeling motor 12; the right hose reeling motor regulating valve 11 is also provided with a manual variable throttle valve II11.4, and the two ends of the manual variable throttle valve II11.4 are respectively connected to the reeling end and the laying end of the right hose reeling motor 13. The manual variable throttle valve is used to realize the free rotation of the hose reeling motor when the hose laying device is unpowered, realize the small amount of pulling out of the hose, and cooperate with other necessary working conditions.

[0150] The embodiment of the present invention also provides a synchronous hose retracting and releasing method for a drainage rescue vehicle in which the hose retracting and releasing speed (including the retracting speed and the laying speed) matches the traveling speed, see Figure 3 ,include,

[0151] The controller calculates the current travel speed V1 according to the current of the proportional reversing valve V and the proportional reversing valve IV, and calculates the current radius of the hose according to the real-time accumulated number of revolutions of the left hose reeling motor and the right hose reeling motor uploaded by the speed sensor;

[0152] Calculate the theoretical speed of the left hose reel motor and the right hose reel motor based on the theoretical reeling speed and the current radius of the hose:

[0153] N1=V2 / 2πR

[0154] Among them, N1 is the theoretical speed of the left hose reeling motor and the right hose reeling motor; R is the current radius of the hose; V2 is the theoretical retracting speed, which is equal to the current walking speed V1;

[0155] According to the theoretical speed N1 of the left hose reel motor and the right hose reel motor, the theoretical flow requirements of the left hose reel motor and the right hose reel motor can be obtained:

[0156] Q1=N1*V / η v

[0157] Wherein, Q1 is the theoretical flow demand of the left hose reeling motor and the right hose reeling motor; V is the motor displacement of the left hose reeling motor and the right hose reeling motor; η v is the volumetric efficiency of the left hose reel motor and the right hose reel motor;

[0158] According to the theoretical flow requirements of the left water hose reeling motor and the right water hose reeling motor, the current of the proportional reversing valve I and the proportional reversing valve II are controlled, so that the left water hose reeling motor and the right water hose reeling motor rotate according to the theoretical speed.

[0159] The embodiment of the present invention also provides a synchronous hose retracting and releasing method for a drainage rescue vehicle, in which the travel speed matches the hose retracting and releasing speed (including the retracting speed and the laying speed), comprising:

[0160] Calculate the current flow of the left hose reeling motor and the right hose reeling motor according to the current of the proportional reversing valve I and the proportional reversing valve II;

[0161] Calculate the current speed N2 of the left hose reeling motor and the right hose reeling motor according to the current flow rates of the left hose reeling motor and the right hose reeling motor;

[0162] N2=Q2*η v / V

[0163] Calculate the current radius R of the hose according to the real-time accumulated revolutions of the left hose reeling motor and the right hose reeling motor uploaded by the speed sensor;

[0164] The current retracting speed V3 is obtained according to the current rotation speed N2 of the left hose retracting motor and the right hose retracting motor and the current radius R of the hose;

[0165] V3=N22πR

[0166] The theoretical walking speed V4 is equal to the current retraction speed V3;

[0167] According to the theoretical walking speed V4, the current size of the proportional reversing valve V and the proportional reversing valve IV is obtained. According to the current size of the proportional reversing valve V and the proportional reversing valve IV, the proportional reversing valve V and the proportional reversing valve IV are controlled so that the left walking motor and the right walking motor travel at the theoretical walking speed and are equal to the current retraction and extension speed.

[0168] The embodiment of the present invention also provides a method for synchronously releasing and retracting a water hose for a drainage rescue vehicle with adaptive water hose retraction, comprising:

[0169] The controller adjusts the current of proportional reversing valve I and proportional reversing valve II so that port B1 of proportional reversing valve I and port B2 of proportional reversing valve II supply oil at maximum flow rate;

[0170] The controller adjusts the current of proportional relief valve I, proportional relief valve II, proportional relief valve III and proportional relief valve IV so that the maximum value of the reeling pressure of the left hose reeling motor and the right hose reeling motor is equal to the preset pressure value;

[0171] The controller controls the A5 port of the proportional reversing valve V and the A4 port of the proportional reversing valve IV to start supplying oil to rotate the left travel motor and the right travel motor so that the hose laying device moves forward. At the same time, the left hose retracting motor and the right hose retracting motor synchronously retract the hose.

[0172] The embodiment of the present invention also provides a method for synchronously releasing and retracting a water hose for a drainage rescue vehicle with adaptive water hose laying, comprising:

[0173] The controller adjusts the B1 port of the proportional reversing valve I and the B2 port of the proportional reversing valve II to supply oil to the reeling end of the left hose reeling motor and the right hose reeling motor at a flow rate of 1-2L / min;

[0174] The controller adjusts the current values ​​of proportional relief valve I, proportional relief valve II, proportional relief valve III and proportional relief valve IV to control the maximum reeling pressure of the left hose reeling motor and the right hose reeling motor to be 0-10 bar;

[0175] The controller adjusts the proportional reversing valve III to actively replenish oil at a pressure of 15-25 bar to the oil replenishing port F1 of the left hose reeling motor control valve and the oil replenishing port F2 of the right hose reeling motor control valve through the B3 port;

[0176] The controller controls the B5 port of the proportional reversing valve V and the B4 port of the proportional reversing valve IV to start supplying oil to rotate the left travel motor and the right travel motor so that the water hose laying device retreats and at the same time the left water hose reeling motor and the right water hose reeling motor synchronously lay the water hose.

[0177] An embodiment of the present invention further provides a drainage rescue vehicle, comprising the aforementioned synchronous water hose retracting and releasing system for the drainage rescue vehicle.

[0178] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0179] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0180] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0181] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0182] The embodiments of the present invention are described above in conjunction with the accompanying drawings, but the present invention is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the enlightenment of the present invention, ordinary technicians in this field can also make many forms without departing from the scope of protection of the purpose of the present invention and the claims, which all fall within the protection of the present invention.

[0183] The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention to be protected. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A synchronous hose retracting and releasing system for a drainage rescue vehicle, characterized in that: It includes a controller, an engine, pump I, pump II, a hydraulic oil tank, a travel motor control valve, a travel motor, a hose reeling motor and a hose reeling motor control valve; The engine drives the pumps I and II to suck oil from the hydraulic oil tank; The oil outlet of pump II is connected to the travel motor control valve; The two oil outlets of the travel motor control valve are connected to the travel motor, and the oil return port is connected to the hydraulic oil tank; The oil outlet of pump I is connected to the hose reeling motor control valve; The two oil outlets of the hose reeling motor control valve are respectively connected to the laying end and the reeling end of the hose reeling motor, and the oil return port is connected to the hydraulic oil tank; Speed ​​sensors are provided on the hose reeling motor and travel motor; The controller is electrically connected to the travel motor control valve, the speed sensor and the hose reeling motor control valve; The water hose reeling motor comprises a left water hose reeling motor and a right water hose reeling motor; The hose reeling motor control valve comprises a proportional reversing valve I and a proportional reversing valve II; The oil outlet of the pump I is connected in parallel to the proportional reversing valve I and the proportional reversing valve II; The A1 port of the proportional reversing valve I is connected to the laying end of the right hose reeling motor, the B1 port is connected to the reeling end of the right hose reeling motor, and the oil outlet is connected to the hydraulic oil tank; The A2 port of the proportional reversing valve II is connected to the laying end of the left hose reeling motor, the B2 port is connected to the reeling end of the left hose reeling motor, and the oil return port is connected to the hydraulic oil tank; The left hose reeling motor and the right hose reeling motor are provided with a speed sensor Ⅰ; The travel motor includes a left travel motor and a right travel motor; The travel motor control valve includes a proportional reversing valve V and a proportional reversing valve IV; The oil outlet of the pump II is connected in parallel to the proportional reversing valve V and the proportional reversing valve IV; The A4 and B4 ports of the proportional reversing valve IV are connected to the right travel motor, and the oil return port is connected to the hydraulic oil tank; The A5 and B5 ports of the proportional reversing valve V are connected to the left travel motor, and the oil return port is connected to the hydraulic oil tank; The travel motor is provided with a speed sensor II; The controller is electrically connected to the proportional reversing valve V and the proportional reversing valve IV, the speed sensor I, the speed sensor II, the proportional reversing valve I and the proportional reversing valve II; The synchronous hose retracting and releasing system for drainage rescue vehicles also includes a left hose retracting motor regulating valve, a right hose retracting motor regulating valve, a proportional reversing valve III and an oil replenishment overflow valve; The left water hose reeling motor control valve includes a proportional relief valve I, a proportional relief valve II and an oil replenishment check valve I; the oil inlet P1 of the proportional relief valve I and the oil return port T2 of the proportional relief valve II are connected in parallel, and are connected to the laying end of the left water hose reeling motor and the A2 port of the proportional reversing valve II; the oil return port T1 of the proportional relief valve I and the oil inlet P2 of the proportional relief valve II are connected in parallel, and are connected to the retracting end of the left water hose reeling motor and the B2 port of the proportional reversing valve II; The spring end of the oil replenishment check valve I is connected to the oil inlet P1 of the proportional relief valve I, and the other end is connected to the oil replenishment port F1 of the left hose reeling motor control valve; The right hose reeling motor control valve includes a proportional relief valve III, a proportional relief valve IV and an oil replenishment check valve II; The oil inlet P3 of the proportional relief valve III and the oil return port T4 of the proportional relief valve IV are connected in parallel, and are connected to the laying end of the right hose reeling motor and the A1 port of the proportional reversing valve I; the oil return port T3 of the proportional relief valve III and the oil inlet P4 of the proportional relief valve IV are connected in parallel, and are connected to the retracting end of the right hose retracting motor and the B1 port of the proportional reversing valve I; The spring end of the oil replenishment check valve II is connected to the oil inlet P3 of the proportional relief valve III, and the other end is connected to the oil replenishment port F2 of the right hose reeling motor control valve; The oil inlet of the proportional reversing valve III is connected to the oil outlet of the pump I, the oil outlet B3 is connected to the oil replenishment port F1 of the left water hose reeling motor control valve, the oil replenishment port F2 of the right water hose reeling motor control valve, and the inlet of the oil replenishment relief valve, and the oil return port is connected to the hydraulic oil tank; The oil return port of the oil replenishment relief valve is connected to the hydraulic oil tank; The proportional reversing valve III, the proportional relief valve I, the proportional relief valve II, the oil replenishing check valve I, the proportional relief valve III, the proportional relief valve IV and the oil replenishing check valve II are connected to the controller.

2. A synchronous hose retracting and releasing system for drainage rescue vehicles according to claim 1, characterized in that: The oil outlet of the pump II is connected to the travel motor control valve via the oil inlet connection II; The oil return port of the travel motor control valve is connected to the hydraulic oil tank through the tail connection II; The oil inlet connection II is provided with a three-way compensator and an LS relief valve; The travel motor control valve is equipped with a pressure compensator.

3. The synchronous hose retracting and releasing system for drainage rescue vehicles according to claim 1 is characterized in that: The oil outlet of the pump I is connected in parallel to the proportional reversing valve I, the proportional reversing valve II and the proportional reversing valve III through the oil inlet connection I; The oil return ports of proportional reversing valve I, proportional reversing valve II and proportional reversing valve III are connected with the hydraulic oil tank through tail connection I; The oil inlet connection I is provided with a three-way compensator and an LS relief valve; Proportional reversing valve I, proportional reversing valve II and proportional reversing valve III are provided with pressure compensators.

4. The synchronous hose retracting and releasing system for drainage rescue vehicles according to claim 1 is characterized in that: The hose reeling motor is provided with a speed sensor I; the speed sensor I is electrically connected to the controller; The controller is used to control the hose retracting and releasing speed to match the walking speed. include, The current travel speed V1 is calculated according to the current of the travel motor control valve, and the current radius of the hose is calculated according to the real-time accumulated number of turns of the hose reeling motor uploaded by the speed sensor I; Calculate the theoretical speed of the hose reel motor based on the theoretical retracting speed and the current radius of the hose: N1= V2 / 2πR Among them, N1 is the theoretical speed of the hose reeling motor; R is the current radius of the hose; V2 is the theoretical retracting speed, which is equal to the current walking speed V1; According to the theoretical speed N1 of the hose reel motor, the theoretical flow demand of the hose reel motor can be obtained: Q1= N1*V / n v Where Q1 is the theoretical flow requirement of the hose reel motor; V is the motor displacement of the hose reel motor; η v is the volumetric efficiency of the hose reel motor; According to the theoretical flow demand Q1 of the hose reeling motor, the current of the hose reeling motor control valve is controlled so that the hose reeling motor rotates according to the theoretical speed.

5. The synchronous hose retracting and releasing system for drainage rescue vehicles according to claim 1 is characterized in that: The speed sensor II is electrically connected to the controller; The controller is used to control the travel speed to match the hose retraction and extension speed, including: Calculate the current flow of the hose reeling motor according to the current of the hose reeling motor control valve; Calculate the current speed N2 of the hose reeling motor according to the current flow rate of the hose reeling motor, and calculate the current radius R of the hose according to the real-time accumulated number of revolutions of the hose reeling motor uploaded by the speed sensor; N2=Q2*η v / V Wherein, N2 is the current speed of the hose reeling motor; Q2 is the current flow rate of the hose reeling motor; V is the motor displacement of the hose reeling motor; η v is the volumetric efficiency of the hose reel motor; The current retracting speed V3 is obtained according to the current speed N2 of the hose retracting motor and the current radius R of the hose; V3=N22πR The theoretical walking speed V4 is equal to the current retraction speed V3; The current magnitude of the travel motor control valve is obtained according to the theoretical travel speed V4, and the travel motor control valve is controlled according to the current magnitude of the travel motor control valve so that the theoretical travel speed V4 is equal to the current retracting and extending speed V3.

6. The synchronous hose retracting and releasing system for drainage rescue vehicles according to claim 1 is characterized in that: The controller is also used to: Adjust the current of proportional reversing valve I and proportional reversing valve II so that port B1 of proportional reversing valve I and port B2 of proportional reversing valve II supply oil at maximum flow rate; Adjust the current of proportional relief valve I, proportional relief valve II, proportional relief valve III and proportional relief valve IV so that the maximum value of the reeling pressure of the left hose reeling motor and the right hose reeling motor is equal to the preset pressure value; The A5 port of the proportional reversing valve V and the A4 port of the proportional reversing valve IV are controlled to start supplying oil to rotate the left travel motor and the right travel motor so that the hose laying device moves forward. At the same time, the left hose retracting motor and the right hose retracting motor retract the hose synchronously.

7. The synchronous hose retracting and releasing system for drainage rescue vehicles according to claim 1 is characterized in that: The controller is also used to: Adjust the B1 port of the proportional reversing valve I and the B2 port of the proportional reversing valve II to supply oil to the reeling end of the left hose reeling motor and the right hose reeling motor at a flow rate of 1-2L / min; Adjust the current values ​​of proportional relief valve Ⅰ, proportional relief valve Ⅱ, proportional relief valve Ⅲ and proportional relief valve Ⅳ to control the maximum reeling pressure of the left hose reeling motor and the right hose reeling motor to 0-10bar; Adjust the proportional reversing valve III to actively replenish oil at a pressure of 15-25 bar to the oil replenishing port F1 of the left hose reeling motor control valve and the oil replenishing port F2 of the right hose reeling motor control valve through the B3 port; The B5 port of the proportional reversing valve V and the B4 port of the proportional reversing valve IV are controlled to start supplying oil to rotate the left travel motor and the right travel motor so that the hose laying device moves backward and at the same time the left hose reeling motor and the right hose reeling motor synchronously lay the hose.

8. A synchronous hose retracting and releasing method for a drainage rescue vehicle, characterized in that: include, The controller described in any one of claims 1 to 7 calculates the current travel speed V1 according to the current of the travel motor control valve, and calculates the current radius of the hose according to the real-time accumulated number of revolutions of the hose reeling motor uploaded by the speed sensor I; Calculate the theoretical speed of the hose reel motor based on the theoretical retracting speed and the current radius of the hose: N1= V2 / 2πR Among them, N1 is the theoretical speed of the hose reeling motor; R is the current radius of the hose; V2 is the theoretical retracting speed, which is equal to the current walking speed V1; According to the theoretical speed N1 of the hose reel motor, the theoretical flow demand of the hose reel motor can be obtained: Q1= N1*V / n v Where Q1 is the theoretical flow requirement of the hose reel motor; V is the motor displacement of the hose reel motor; η v is the volumetric efficiency of the hose reel motor; According to the theoretical flow demand Q1 of the hose reeling motor, the current of the hose reeling motor control valve is controlled so that the hose reeling motor rotates according to the theoretical speed.

9. A synchronous hose retracting and releasing method for a drainage rescue vehicle, characterized in that: include, The controller described in any one of claims 1 to 7 calculates the current flow of the hose reeling motor according to the current of the hose reeling motor control valve; The current speed N2 of the hose reeling motor is calculated according to the current flow rate of the hose reeling motor, and the current radius R of the hose is calculated according to the real-time accumulated number of revolutions of the hose reeling motor uploaded by the speed sensor; N2=Q2*η v / V Wherein, N2 is the current speed of the hose reeling motor; Q2 is the current flow rate of the hose reeling motor; V is the motor displacement of the hose reeling motor; η v is the volumetric efficiency of the hose reel motor; The current retracting speed V3 is obtained according to the current speed N2 of the hose retracting motor and the current radius R of the hose; V3=N22πR The theoretical walking speed V4 is equal to the current retraction speed V3; The current magnitude of the travel motor control valve is obtained according to the theoretical travel speed V4, and the travel motor control valve is controlled according to the current magnitude of the travel motor control valve so that the theoretical travel speed V4 is equal to the current retracting and extending speed V3.

10. A synchronous hose retracting and releasing method for a drainage rescue vehicle, characterized in that: include, The controller described in any one of claims 1 to 7 adjusts the current of proportional reversing valve I and proportional reversing valve II so that port B1 of proportional reversing valve I and port B2 of proportional reversing valve II supply oil at maximum flow rate; The controller adjusts the current of proportional relief valve I, proportional relief valve II, proportional relief valve III and proportional relief valve IV so that the maximum value of the reeling pressure of the left hose reeling motor and the right hose reeling motor is equal to the preset pressure value; The controller controls the A5 port of the proportional reversing valve V and the A4 port of the proportional reversing valve IV to start supplying oil to rotate the left travel motor and the right travel motor so that the hose laying device moves forward. At the same time, the left hose retracting motor and the right hose retracting motor synchronously retract the hose.

11. A synchronous hose retracting and releasing method for a drainage rescue vehicle, characterized in that: The controller described in any one of claims 1 to 7 adjusts the B1 port of the proportional reversing valve I and the B2 port of the proportional reversing valve II to supply oil to the reeling ends of the left hose reeling motor and the right hose reeling motor at a flow rate of 1-2 L / min; The controller adjusts the current values ​​of proportional relief valve I, proportional relief valve II, proportional relief valve III and proportional relief valve IV to control the maximum reeling pressure of the left hose reeling motor and the right hose reeling motor to be 0-10 bar; The controller adjusts the proportional reversing valve III to actively replenish oil at a pressure of 15-25 bar to the oil replenishing port F1 of the left hose reeling motor control valve and the oil replenishing port F2 of the right hose reeling motor control valve through the B3 port; The controller controls the B5 port of the proportional reversing valve V and the B4 port of the proportional reversing valve IV to start supplying oil to rotate the left travel motor and the right travel motor so that the water hose laying device retreats and at the same time the left water hose reeling motor and the right water hose reeling motor synchronously lay the water hose.

12. A drainage rescue vehicle, characterized in that: It comprises the synchronous hose retracting and releasing system for drainage rescue vehicles as described in any one of claims 1 to 7.

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