Hydraulic control method, control device and engineering machine for single-cylinder pin-type telescopic arm

Abstract

The embodiment of the application provides a hydraulic control method and device of a single-cylinder bolt type telescopic arm and engineering machinery. The method comprises the following steps: determining the working state of the single-cylinder bolt type telescopic arm; obtaining the first pressure of the center channel based on the pressure sensor; obtaining the working speed of the telescopic cylinder in the case that the first pressure is not within the pressure threshold range corresponding to the working state; calculating the preset parameter corresponding to the working state by using the working speed in the case that the working speed is less than or equal to the speed threshold corresponding to the working state; repeatedly adjusting the current of the main valve, and calculating the real-time flow of the main valve according to the adjusted current after each adjustment until the preset parameter meets the preset condition corresponding to the working state based on the real-time flow of the main valve. The process obtains the first pressure of the center channel, adjusts the speed or current of the single-cylinder bolt type telescopic arm to make the first pressure of the center channel within the pressure threshold range, and guarantees the reliability and safety of the operation.

Description

Technical Field

[0001] This invention relates to the field of engineering machinery technology, specifically to a hydraulic control method, control device, and engineering machinery for a single-cylinder pin-type telescopic boom. Background Technology

[0002] Currently, even after the development and selection of a properly matched telescopic system, single-cylinder pin-type telescopic booms for cranes may still experience two situations where the central channel pressure exceeds the limit during extension and retraction due to differences in ambient temperature, hydraulic oil viscosity, and usage conditions. The first situation occurs during high-speed extension of the telescopic cylinder. If the cylinder speed is too fast, the central channel cavity continuously increases. If the hydraulic supply to the single-cylinder pin-type telescopic boom is insufficient, the pressure in the central channel decreases, causing the cylinder pin or boom pin to pop out, resulting in system malfunction and the crane being unable to operate normally. The second situation occurs during high-speed retraction of the telescopic cylinder. If the cylinder speed is too fast, the central channel cavity continuously decreases. If the overflow valve of the single-cylinder pin-type telescopic boom cannot meet the overflow requirements, the pressure in the central channel increases, affecting the stability of the cylinder rod, damaging the cylinder, and leading to a safety accident.

[0003] It is evident that the existing single-cylinder pin-type telescopic boom suffers from abnormal pressure in the central channel, affecting operational reliability. Summary of the Invention

[0004] Based on this, the first aspect of the present invention provides a hydraulic control method for a single-cylinder pin-type telescopic boom, effectively ensuring the reliability and safety of the single-cylinder pin-type telescopic boom during operation. The single-cylinder pin-type telescopic boom includes a main valve, a central channel, a telescopic cylinder, and a pressure sensor. The method includes:

[0005] Determine the working state of the single-cylinder pin-type telescopic boom, which includes the extended state and the retracted state.

[0006] The first pressure in the central channel is obtained based on a pressure sensor;

[0007] When the first pressure is not within the pressure threshold range corresponding to the working state, the working speed of the telescopic cylinder is obtained;

[0008] When the working speed is less than or equal to the speed threshold corresponding to the working state, the preset parameters corresponding to the working state are calculated using the working speed.

[0009] Repeatedly adjust the current of the main valve, and calculate the real-time flow of the main valve based on the adjusted current after each adjustment, until the preset parameters meet the preset conditions corresponding to the working state based on the real-time flow of the main valve.

[0010] The second pressure in the central channel is obtained based on a pressure sensor;

[0011] If the second pressure is within the corresponding pressure threshold range, continue to execute the corresponding working state.

[0012] In this embodiment of the invention, the single-cylinder pin-type telescopic boom also includes a solenoid valve and a boom pin.

[0013] Determine the working status of the single-cylinder pin-type telescopic boom, including:

[0014] When the main valve is energized, the solenoid valve is de-energized, and the arm pin reaches the first preset position, the working state is determined to be the extended state.

[0015] In this embodiment of the invention, the preset parameters corresponding to the extended state include the oil supply demand of the central channel. The preset parameters corresponding to the working state are calculated using the working speed, including:

[0016] The oil supply demand of the central channel is calculated using the operating speed and the cross-sectional area of ​​the central channel.

[0017] In this embodiment of the invention, the current of the main valve is repeatedly adjusted, and the real-time flow rate of the main valve is calculated based on the adjusted current after each adjustment, until the real-time flow rate of the main valve makes the preset parameters meet the preset conditions corresponding to the working state, including:

[0018] The current is increased according to the first preset step size;

[0019] Calculate the real-time flow rate of the main valve based on the increased current;

[0020] Until the real-time flow rate is greater than or equal to the oil supply demand of the central channel.

[0021] In this embodiment of the invention, the method further includes:

[0022] If the working speed is greater than the speed threshold corresponding to the extended state, or if the second pressure is not within the pressure threshold range corresponding to the extended state, the working speed is repeatedly reduced, and the increase in the central channel is calculated based on the reduced working speed after each reduction, until the increase in the central channel is greater than or equal to the real-time flow of the main valve.

[0023] In this embodiment of the invention, the single-cylinder pin-type telescopic boom also includes a solenoid valve, a cylinder pin, and a relief valve.

[0024] Determine the working status of the single-cylinder pin-type telescopic boom, including:

[0025] When the main valve is de-energized, the solenoid valve is energized, and the cylinder pin reaches the second preset position, the working state is determined to be the retraction state.

[0026] In this embodiment of the invention, the preset parameters corresponding to the retraction state include the overflow demand of the main valve. The preset parameters corresponding to the working state are calculated using the working speed, including:

[0027] The overflow demand of the main valve is calculated using the operating speed, the cross-sectional area of ​​the central channel, and the real-time flow rate of the main valve. The real-time flow rate of the main valve is calculated based on the current of the main valve.

[0028] In this embodiment of the invention, the current of the main valve is repeatedly adjusted, and the real-time flow rate of the main valve is calculated based on the adjusted current after each adjustment, until the real-time flow rate of the main valve makes the preset parameters meet the preset conditions corresponding to the working state, including:

[0029] The current is reduced according to the second preset step size;

[0030] Calculate the real-time flow rate of the main valve based on the adjusted current;

[0031] The adjusted overflow demand is calculated based on the real-time flow rate and operating speed until the adjusted overflow demand is less than or equal to the preset overflow flow rate of the overflow valve.

[0032] In this embodiment of the invention, the method further includes:

[0033] If the working speed is greater than the speed threshold corresponding to the retraction state, or if the second pressure is not within the pressure threshold range corresponding to the retraction state, the working speed is repeatedly reduced, and the reduction change of the central channel is calculated based on the reduced working speed after each reduction, until the reduction change is less than or equal to the preset overflow flow of the relief valve.

[0034] A second aspect of the present invention provides a hydraulic control device for a single-cylinder pin-type telescopic boom, the single-cylinder pin-type telescopic boom including a main valve, a central channel, a telescopic cylinder, and a pressure sensor, the device comprising:

[0035] The working status determination module is used to determine the working status of the single-cylinder pin-type telescopic boom, which includes the extended state and the retracted state.

[0036] The first pressure acquisition module is used to acquire the first pressure of the central channel based on the pressure sensor.

[0037] The working speed determination module is used to obtain the working speed of the telescopic cylinder when the first pressure is not within the pressure threshold range corresponding to the working state.

[0038] The preset parameter calculation module is used to calculate the preset parameters corresponding to the working state using the working speed when the working speed is less than or equal to the speed threshold corresponding to the working state.

[0039] The adjustment module is used to repeatedly adjust the current of the main valve and calculate the real-time flow of the main valve based on the adjusted current after each adjustment until the preset parameters meet the preset conditions corresponding to the working state based on the real-time flow of the main valve.

[0040] The second pressure acquisition module is used to acquire the second pressure of the central channel based on the pressure sensor.

[0041] The execution module is used to continue executing the corresponding working state when the second pressure is within the corresponding pressure threshold range.

[0042] A third aspect of the present invention provides a single-cylinder pin-type telescopic boom, comprising:

[0043] Main valve, central channel, telescopic cylinder, and pressure sensor;

[0044] The processor is configured to execute the hydraulic control method of a single-cylinder pin-type telescopic boom, which is described in any of the first aspects.

[0045] A fourth aspect of the present invention provides an engineering machine, comprising: a single-cylinder pin-type telescopic boom as described in the third aspect.

[0046] The fifth aspect of the present invention provides a machine-readable storage medium storing instructions that, when executed by a processor, implement a hydraulic control method for a single-cylinder pin-type telescopic boom as described above.

[0047] The above technical solution determines the working state of the single-cylinder pin-type telescopic boom, which includes an extended state and a retracted state. A first pressure in the central channel is obtained based on a pressure sensor. If the first pressure is not within the pressure threshold range corresponding to the working state, the working speed of the telescopic cylinder is obtained. If the working speed is less than or equal to the speed threshold corresponding to the working state, preset parameters corresponding to the working state are calculated using the working speed. The current of the main valve is repeatedly adjusted, and the real-time flow rate of the main valve is calculated based on the adjusted current after each adjustment, until the preset parameters meet the preset conditions corresponding to the working state based on the real-time flow rate of the main valve. A second pressure in the central channel is obtained based on the pressure sensor. If the second pressure is within the corresponding pressure threshold range, the corresponding working state continues to be executed. This process, by obtaining the first pressure in the central channel and adjusting the speed or current of the single-cylinder pin-type telescopic boom to keep the pressure in the central channel within the pressure threshold range, ensures the reliability and safety of the operation.

[0048] Other features and advantages of the embodiments of the present invention will be described in detail in the following detailed description section. Attached Figure Description

[0049] The accompanying drawings are provided to further illustrate embodiments of the present invention and form part of the specification. They are used together with the following detailed description to explain the embodiments of the present invention, but do not constitute a limitation thereof. In the drawings:

[0050] Figure 1 This is a schematic flowchart of a hydraulic control method for a single-cylinder pin-type telescopic boom provided in an embodiment of the present invention;

[0051] Figure 2 This is a schematic diagram of the structure of a single-cylinder pin-type telescopic boom provided in an embodiment of the present invention;

[0052] Figure 3 This is a schematic diagram of the structure of a hydraulic control device for a single-cylinder pin-type telescopic boom provided in an embodiment of the present invention;

[0053] Figure 4 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention.

[0054] Explanation of reference numerals in the attached figures

[0055] 21-Cylinder pin; 22-Arm pin; 23-Solenoid valve; 24-Telescopic cylinder; 25-Center channel; 26-Relief valve; 27-Main valve; 28-Pressure sensor. Detailed Implementation

[0056] The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit the scope of the present invention.

[0057] Based on this, the present invention provides a hydraulic control method for a single-cylinder pin-type telescopic boom. Figure 1 A schematic flowchart of a hydraulic control method for a single-cylinder pin-type telescopic boom provided in an embodiment of the present invention is shown below. Figure 1 As shown, the method includes:

[0058] Step S101: Determine the working state of the single-cylinder pin-type telescopic boom, wherein the working state includes the extended state and the retracted state.

[0059] In practical applications, Figure 2 This is a schematic diagram of the structure of a single-cylinder pin-type telescopic boom 20 provided in an embodiment of the present invention, as shown below. Figure 2 As shown, the single-cylinder pin-type telescopic boom 20 includes a cylinder pin 21, a boom pin 22, a solenoid valve 23, a telescopic cylinder 24, a central channel 25, an overflow valve 26, a main valve 27, and a pressure sensor 28.

[0060] In practical applications, the working state of the single-cylinder pin-type telescopic boom is determined based on the energization and de-energization of the main valve 27 and the solenoid valve 23, as well as the state of the corresponding cylinder pin or arm pin. Specifically, the working state of the single-cylinder pin-type telescopic boom includes the extended state and the retracted state.

[0061] Step S102: Obtain the first pressure of the central channel based on the pressure sensor.

[0062] In practical applications, after determining the working state of the single-cylinder pin-type telescopic boom, the first pressure of the central channel of the boom is obtained through a pressure sensor. When the boom is in the extended state, the obtained first pressure is the extended pressure of the central channel. When the boom is in the retracted state, the obtained first pressure is the retracted pressure of the central channel.

[0063] Step S103: When the first pressure is not within the pressure threshold range corresponding to the working state, obtain the working speed of the telescopic cylinder.

[0064] In practical applications, it is necessary to determine whether the pressure in the central channel is within the pressure threshold range for the current operating state. Specifically, the pressure threshold range includes both the extension pressure threshold range and the retraction pressure threshold range. If the obtained pressure is not within the corresponding pressure threshold range, it is necessary to obtain the corresponding operating speed of the telescopic cylinder. Specifically, when the extension pressure of the central channel is not within the extension pressure threshold range (i.e., the extension pressure is less than the minimum extension pressure threshold), the extension operating speed of the telescopic cylinder is obtained. When the retraction pressure of the central channel is not within the retraction pressure threshold range (i.e., the retraction pressure is greater than the maximum retraction pressure threshold), the retraction operating speed of the telescopic cylinder is obtained.

[0065] Step S104: When the working speed is less than or equal to the speed threshold corresponding to the working state, calculate the preset parameters corresponding to the working state using the working speed.

[0066] In practical applications, it is determined whether the working speed is less than or equal to the corresponding speed threshold. If the working speed is less than or equal to the corresponding speed threshold, the corresponding preset parameters are calculated using the working speed of the telescopic cylinder. Specifically, the corresponding preset parameters are the supply and demand of the central channel and the overflow demand of the main valve.

[0067] Step S105: Repeatedly adjust the current of the main valve, and calculate the real-time flow of the main valve based on the adjusted current after each adjustment, until the preset parameters meet the preset conditions corresponding to the working state based on the real-time flow of the main valve.

[0068] In practical applications, after calculating the preset parameters, the current of the main valve is adjusted, thereby adjusting the real-time flow rate of the main valve. The preset parameters are adjusted according to the real-time flow rate of the main valve so that they meet the preset conditions corresponding to the operating state. Specifically, the formula for calculating the real-time flow rate q(t) of the main valve is:

[0069] q(t)=K×A(t) (1)

[0070] Where K is a coefficient, and A(t) is the real-time current of the main valve.

[0071] In practical applications, when the working state is the extended state, the first current of the main valve is adjusted, and the first real-time flow of the main valve is adjusted according to the adjusted first current, so that the first real-time flow is greater than or equal to the oil supply demand of the central channel.

[0072] In practical applications, when the working state is the retraction state, the second current of the main valve is adjusted, and the second real-time flow rate of the main valve is adjusted according to the adjusted second current. The overflow demand of the main valve is calculated based on the second real-time flow rate and the working speed in the retraction state, so that the overflow demand of the main valve is less than or equal to the preset overflow flow rate of the overflow valve.

[0073] Step S106: Obtain the second pressure of the central channel based on the pressure sensor.

[0074] In practical applications, after adjusting the current of the main valve, the second pressure of the central channel is obtained based on the pressure sensor.

[0075] Step S107: If the second pressure is within the corresponding pressure threshold range, continue to execute the corresponding working state.

[0076] In practical applications, after adjusting the current of the main valve to ensure that the preset parameters meet the corresponding preset conditions, it is determined whether the second pressure in the central channel is within the corresponding pressure threshold range. If the second pressure in the central channel is within the corresponding pressure threshold range, the corresponding working state continues to be executed.

[0077] In practical applications, when the working state is the extended state, after adjusting the current of the main valve, the second pressure of the central channel is within the pressure threshold range corresponding to the extended state, that is, the second pressure is greater than the minimum extended pressure, and the single-cylinder pin-type telescopic boom continues to perform the extended state.

[0078] In practical applications, when the working state is the retraction state, after adjusting the current of the main valve, the retraction pressure of the central channel is within the pressure threshold range corresponding to the retraction state, that is, the retraction pressure is less than the minimum retraction pressure value, and the single-cylinder pin-type telescopic boom continues to perform the retraction state.

[0079] Through the above embodiments, the working state of the single-cylinder pin-type telescopic boom is determined, including an extended state and a retracted state. A first pressure in the central channel is obtained based on a pressure sensor. If the first pressure is not within the pressure threshold range corresponding to the working state, the working speed of the telescopic cylinder is obtained. If the working speed is less than or equal to the speed threshold corresponding to the working state, preset parameters corresponding to the working state are calculated using the working speed. The current of the main valve is repeatedly adjusted, and the real-time flow rate of the main valve is calculated based on the adjusted current after each adjustment, until the preset parameters meet the preset conditions corresponding to the working state based on the real-time flow rate of the main valve. A second pressure in the central channel is obtained based on a pressure sensor. If the second pressure is within the corresponding pressure threshold range, the corresponding working state continues to be executed. This process, by obtaining the first pressure in the central channel and adjusting the speed or current of the single-cylinder pin-type telescopic boom to keep the pressure in the central channel within the pressure threshold range, ensures the reliability and safety of the operation.

[0080] In one embodiment, the single-cylinder pin-type telescopic boom further includes a solenoid valve and a boom pin. Step S101 includes:

[0081] When the main valve is energized, the solenoid valve is de-energized, and the arm pin reaches the first preset position, the working state is determined to be the extended state.

[0082] In practical applications, when the main valve is energized, the solenoid valve is de-energized, and the boom pin reaches the first preset position, the working state of the single-cylinder pin-type telescopic boom is determined to be the extended state.

[0083] In one embodiment, the preset parameters corresponding to the extended state include the oil supply demand of the central channel. Step S104 includes:

[0084] The oil supply demand of the central channel is calculated using the operating speed and the cross-sectional area of ​​the central channel.

[0085] In practical applications, when the working state is extended, it is determined whether the extension speed is less than or equal to the speed threshold corresponding to the extended state. The speed threshold corresponding to the extended state is the maximum extension speed. If the working speed is less than or equal to the speed threshold, the supply and demand of the central channel are calculated. Specifically, the formula for calculating the supply and demand of the central channel is:

[0086] q'(t)=(πd 2 V1(t)) / 4η (2)

[0087] Where q'(t) is the supply and demand of the central channel, d is the diameter of the central channel, V1(t) is the extension speed of the telescopic cylinder, and η is the volumetric efficiency of the central channel.

[0088] In one embodiment, step S105 includes:

[0089] The current is increased according to the first preset step size;

[0090] Calculate the real-time flow rate of the main valve based on the increased current;

[0091] Until the real-time flow rate is greater than or equal to the oil supply demand of the central channel.

[0092] In practical applications, the current of the main valve is gradually increased according to the first preset step size, so that the real-time flow of the main valve gradually increases until the real-time flow is greater than or equal to the oil supply demand of the central channel.

[0093] In one embodiment, the hydraulic control method for a single-cylinder pin-type telescopic boom further includes:

[0094] If the working speed is greater than the speed threshold corresponding to the extended state, or if the second pressure is not within the pressure threshold range corresponding to the extended state, the working speed is repeatedly reduced, and the increase in the central channel is calculated based on the reduced working speed after each reduction, until the increase in the central channel is greater than or equal to the real-time flow of the main valve.

[0095] In practical applications, when the working state is determined to be the extended state, if the working speed is greater than the speed threshold corresponding to the extended state (i.e., the speed is greater than the maximum extension speed), or if the second pressure is not within the pressure threshold range corresponding to the extended state, the working speed is gradually reduced to decrease the increase in the central channel's flow rate. Specifically, after each reduction in working speed, the increase in the central channel's flow rate is calculated based on the reduced working speed until the increase in the central channel's flow rate is greater than or equal to the main valve's real-time flow rate. The specific formula for calculating the increase in the central channel's flow rate is:

[0096] q1(t)=(πd 2 V1(t)) / 4 (3)

[0097] Where q1(t) is the increase in the central channel.

[0098] Through the above embodiments, when the working speed is greater than the speed threshold corresponding to the extended state, the working speed is reduced, and the increase in the central channel is calculated based on the reduced working speed, so that the increase in the central channel is greater than or equal to the real-time flow of the main valve, thereby making the second pressure of the central channel within the pressure threshold range corresponding to the extended state.

[0099] In one embodiment, the single-cylinder pin-type telescopic boom further includes a solenoid valve, a cylinder pin, and a relief valve. Step S101 includes:

[0100] When the main valve is de-energized, the solenoid valve is energized, and the cylinder pin reaches the second preset position, the working state is determined to be the retraction state.

[0101] In practical applications, when the main valve is de-energized, the solenoid valve is energized, and the cylinder pin reaches the second preset position, the working state of the single-cylinder pin-type telescopic boom is determined to be the retracted state.

[0102] In one embodiment, the preset parameters corresponding to the retraction state include the overflow demand of the main valve. Step S104 includes:

[0103] The overflow demand of the main valve is calculated using the operating speed, the cross-sectional area of ​​the central channel, and the real-time flow rate of the main valve. The real-time flow rate of the main valve is calculated based on the current of the main valve.

[0104] In practical applications, when the operating state is retraction mode, it is determined whether the retraction speed is less than or equal to a retraction speed threshold, which is the maximum retraction speed. If the retraction speed is less than or equal to the retraction speed threshold, the overflow demand of the main valve is calculated. Specifically, the formula for calculating the overflow demand of the main valve is:

[0105] Q'(t)=πd 2 V2(t) / 4+q(t)η (4)

[0106] Where Q'(t) is the overflow demand, V2(t) is the working speed corresponding to the retraction state of the telescopic cylinder, and q(t) is the real-time flow rate of the valve.

[0107] In one embodiment, step S105 includes:

[0108] The current is reduced according to the second preset step size;

[0109] Calculate the real-time flow rate of the main valve based on the adjusted current;

[0110] The adjusted overflow demand is calculated based on the real-time flow rate and operating speed until the adjusted overflow demand is less than or equal to the preset overflow flow rate of the overflow valve.

[0111] In practical applications, the current of the main valve is gradually reduced by the second preset step size, thereby gradually reducing the real-time flow of the main valve. The overflow demand of the main valve is calculated based on the reduced real-time flow and operating speed until the overflow demand of the main valve is less than or equal to the preset overflow capacity of the overflow valve.

[0112] In one embodiment, the hydraulic control method for a single-cylinder pin-type telescopic boom further includes:

[0113] If the working speed is greater than the speed threshold corresponding to the retraction state, or if the second pressure is not within the pressure threshold range corresponding to the retraction state, the working speed is repeatedly reduced, and the reduction change of the central channel is calculated based on the reduced working speed after each reduction, until the reduction change is less than or equal to the preset overflow flow of the relief valve.

[0114] In practical applications, when the working speed exceeds the speed threshold corresponding to the retraction state (i.e., the working speed exceeds the maximum retraction speed), or the second pressure is not within the pressure threshold range corresponding to the retraction state, the working speed is gradually reduced to decrease the reduction in the central channel. Specifically, after each reduction in working speed, the reduction in the central channel is calculated based on the reduced working speed until the reduction is less than or equal to the preset overflow rate of the relief valve. This ensures that the liquid in the central channel can flow out smoothly through the relief valve, thus ensuring that the retraction pressure of the central channel meets the retraction pressure threshold. Specifically, the formula for calculating the reduction is:

[0115] Q1(t)=πd 2 V2(t) / 4+q(t) (5)

[0116] Where Q1(t) is the amount of decrease in the central channel.

[0117] Through the above embodiments, when the working speed is greater than the speed threshold corresponding to the retraction state, the retraction working speed is reduced, and the reduction change of the central channel is calculated based on the reduced retraction working speed, so that the reduction change is less than or equal to the preset overflow flow of the overflow valve, thereby making the second pressure of the central channel within the pressure threshold range corresponding to the retraction state.

[0118] Based on the above-described hydraulic control method for a single-cylinder pin-type telescopic boom, this embodiment of the invention also provides a hydraulic control device 300 for a single-cylinder pin-type telescopic boom. Figure 3 This is a schematic diagram of the hydraulic control device for a single-cylinder pin-type telescopic boom provided in an embodiment of the present invention. The single-cylinder pin-type telescopic boom includes a main valve, a central channel, a telescopic cylinder, and a pressure sensor. The device 300 includes:

[0119] The working state determination module 301 is used to determine the working state of the single-cylinder pin-type telescopic boom, wherein the working state includes the extended state and the retracted state.

[0120] The first pressure acquisition module 302 is used to acquire the first pressure of the central channel based on the pressure sensor.

[0121] The working speed determination module 303 is used to obtain the working speed of the telescopic cylinder when the first pressure is not within the pressure threshold range corresponding to the working state.

[0122] The preset parameter calculation module 304 is used to calculate the preset parameters corresponding to the working state using the working speed when the working speed is less than or equal to the speed threshold corresponding to the working state.

[0123] The adjustment module 305 is used to repeatedly adjust the current of the main valve and calculate the real-time flow of the main valve based on the adjusted current after each adjustment until the preset parameters meet the preset conditions corresponding to the working state based on the real-time flow of the main valve.

[0124] The second pressure acquisition module 306 is used to acquire the second pressure of the central channel based on the pressure sensor.

[0125] The execution module 307 is used to continue executing the corresponding working state when the second pressure is within the corresponding pressure threshold range.

[0126] The hydraulic control device for the single-cylinder pin-type telescopic boom provided in this embodiment of the invention can realize each process of the hydraulic control method for the single-cylinder pin-type telescopic boom in the method embodiment, and can achieve the same technical effect. To avoid repetition, it will not be described again here.

[0127] Based on the above-mentioned hydraulic control method for a single-cylinder pin-type telescopic boom, this embodiment of the invention also provides a single-cylinder pin-type telescopic boom, including: a main valve, a central channel, a telescopic cylinder, and a pressure sensor.

[0128] The processor is configured to execute the hydraulic control method described above for the single-cylinder pin-type telescopic boom.

[0129] This invention also provides an engineering machine, including the above-mentioned single-cylinder pin-type telescopic boom.

[0130] This invention also provides an electronic device, see [link to relevant documentation]. Figure 4 As shown, the electronic device includes a processor 130 and a memory 131. The memory 131 stores machine-executable instructions that can be executed by the processor 130. The processor 130 executes the machine-executable instructions to implement the hydraulic control method of the single-cylinder pin-type telescopic boom described above.

[0131] Furthermore, Figure 4 The electronic device shown also includes a bus 132 and a communication interface 133, with the processor 130, the communication interface 133 and the memory 131 connected via the bus 132.

[0132] The memory 131 may include high-speed random access memory (RAM) or non-volatile memory, such as at least one disk storage device. Communication between this system network element and at least one other network element is achieved through at least one communication interface 133 (which can be wired or wireless), such as the Internet, wide area network, local area network, or metropolitan area network. The bus 132 may be an ISA bus, PCI bus, or EISA bus, etc. The bus can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 4 The symbol is represented by a single double-headed arrow, but this does not mean that there is only one bus or one type of bus.

[0133] Processor 130 may be an integrated circuit chip with signal processing capabilities. In implementation, each step of the above method can be completed by the integrated logic circuitry in the hardware of processor 130 or by instructions in software form. Processor 130 may be a general-purpose processor, including a Central Processing Unit (CPU), a Network Processor (NP), etc.; it may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. It can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of this invention. The general-purpose processor may be a microprocessor or any conventional processor. The steps of the methods disclosed in the embodiments of this invention can be directly manifested as execution by a hardware decoding processor, or execution by a combination of hardware and software modules in the decoding processor. The software module can reside in a mature storage medium in the art, such as random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, or registers. This storage medium is located in memory 131, and processor 130 reads the information in memory 131 and, in conjunction with its hardware, completes the steps of the method described in the foregoing embodiments.

[0134] This invention also provides a machine-readable storage medium storing machine-executable instructions. When these machine-executable instructions are invoked and executed by a processor, they cause the processor to implement the hydraulic control method for the single-cylinder pin-type telescopic boom described above. For specific implementation details, please refer to the method embodiments, which will not be repeated here.

[0135] The hydraulic control method, control device, and engineering machinery of a single-cylinder pin-type telescopic boom provided by the embodiments of the present invention include a computer-readable storage medium storing program code. The instructions included in the program code can be used to execute the methods in the preceding method embodiments. For specific implementation, please refer to the method embodiments, which will not be repeated here.

[0136] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working process of the system and apparatus described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0137] Furthermore, in the description of the embodiments of the present invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in the present invention based on the specific circumstances.

[0138] If a function is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this invention, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, electronic device, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0139] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0140] Finally, it should be noted that the above embodiments are merely specific implementations of the present invention, used to illustrate the technical solutions of the present invention, and not to limit it. The scope of protection of the present invention is not limited thereto. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that any person skilled in the art can still modify or easily conceive of changes to the technical solutions described in the foregoing embodiments within the technical scope disclosed in the present invention, or make equivalent substitutions for some of the technical features; and these modifications, changes, or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be covered within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A hydraulic control method for a single-cylinder pin-type telescopic boom, characterized in that, The single-cylinder pin-type telescopic boom includes a main valve, a central channel, a telescopic cylinder, and a pressure sensor; the method includes: The working state of the single-cylinder pin-type telescopic boom is determined, wherein the working state includes an extended state and a retracted state; The first pressure of the central channel is obtained based on the pressure sensor. When the first pressure is not within the pressure threshold range corresponding to the working state, the working speed of the telescopic cylinder is obtained; When the working speed is less than or equal to the speed threshold corresponding to the working state, the preset parameters corresponding to the working state are calculated using the working speed; The current of the main valve is repeatedly adjusted, and the real-time flow rate of the main valve is calculated based on the adjusted current after each adjustment, until the preset parameters meet the preset conditions corresponding to the working state based on the real-time flow rate of the main valve. The second pressure of the central channel is obtained based on the pressure sensor; If the second pressure is within the corresponding pressure threshold range, the corresponding working state continues to be executed; The single-cylinder pin-type telescopic boom also includes a solenoid valve and a boom pin; Determining the working state of the single-cylinder pin-type telescopic boom includes: When the main valve is energized, the solenoid valve is de-energized, and the arm pin reaches the first preset position, the working state is determined to be the extended state; The step of repeatedly adjusting the current of the main valve and calculating the real-time flow rate of the main valve based on the adjusted current after each adjustment, until the preset parameters satisfy the preset conditions corresponding to the working state based on the real-time flow rate of the main valve, includes: The current is increased according to a first preset step size; The real-time flow rate of the main valve is calculated based on the increased current; Until the real-time flow rate is greater than or equal to the oil supply demand of the central channel.

2. The method according to claim 1, characterized in that, The preset parameters corresponding to the extended state include the oil supply demand of the central channel. The calculation of the preset parameters corresponding to the working state using the working speed includes: The oil supply demand of the central channel is calculated using the operating speed and the cross-sectional area of ​​the central channel.

3. The method according to claim 1, characterized in that, The method further includes: If the working speed is greater than the speed threshold corresponding to the extended state, or if the second pressure is not within the pressure threshold range corresponding to the extended state, the working speed is repeatedly reduced, and after each reduction, the increase in the central channel is calculated based on the reduced working speed, until the increase in the central channel is greater than or equal to the real-time flow rate of the main valve.

4. The method according to claim 1, characterized in that, The single-cylinder pin-type telescopic boom also includes a solenoid valve, a cylinder pin, and an overflow valve. Determining the working state of the single-cylinder pin-type telescopic boom includes: When the main valve is de-energized, the solenoid valve is energized, and the cylinder pin reaches the second preset position, the working state is determined to be the retraction state.

5. The method according to claim 4, characterized in that, The preset parameters corresponding to the retraction state include the overflow demand of the main valve. The calculation of the preset parameters corresponding to the working state using the working speed includes: The overflow demand of the main valve is calculated using the operating speed, the cross-sectional area of ​​the central channel, and the real-time flow rate of the main valve, wherein the real-time flow rate of the main valve is calculated based on the current of the main valve.

6. The method according to claim 4, characterized in that, The process of repeatedly adjusting the current of the main valve and calculating the real-time flow rate of the main valve based on the adjusted current after each adjustment, until the preset parameters satisfy the preset conditions corresponding to the operating state based on the real-time flow rate of the main valve, includes: The current is reduced according to a second preset step size; The real-time flow rate of the main valve is calculated based on the adjusted current. The adjusted overflow demand is calculated based on the real-time flow rate and the operating speed until the adjusted overflow demand is less than or equal to the preset overflow flow rate of the overflow valve.

7. The method according to claim 4, characterized in that, The method further includes: If the working speed is greater than the speed threshold corresponding to the retraction state, or if the second pressure is not within the pressure threshold range corresponding to the retraction state, the working speed is repeatedly reduced, and the reduction amount of the central channel is calculated based on the reduced working speed after each reduction, until the reduction amount is less than or equal to the preset overflow amount of the overflow valve.

8. A hydraulic control device for a single-cylinder pin-type telescopic boom, characterized in that, The hydraulic control method for a single-cylinder pin-type telescopic boom as described in any one of claims 1-7, wherein the single-cylinder pin-type telescopic boom includes a main valve, a central channel, a telescopic cylinder, and a pressure sensor, and the device includes: The working state determination module is used to determine the working state of the single-cylinder pin-type telescopic boom, wherein the working state includes an extended state and a retracted state. The first pressure acquisition module is used to acquire the first pressure of the central channel based on the pressure sensor. The working speed determination module is used to obtain the working speed of the telescopic cylinder when the first pressure is not within the pressure threshold range corresponding to the working state. The preset parameter calculation module is used to calculate the preset parameters corresponding to the working state using the working speed when the working speed is less than or equal to the speed threshold corresponding to the working state. An adjustment module is used to repeatedly adjust the current of the main valve, and calculate the real-time flow rate of the main valve based on the adjusted current after each adjustment, until the preset parameters meet the preset conditions corresponding to the working state based on the real-time flow rate of the main valve. The second pressure acquisition module is used to acquire the second pressure of the central channel based on the pressure sensor. The execution module is configured to continue executing the corresponding working state when the second pressure is within the corresponding pressure threshold range.

9. A single-cylinder pin-type telescopic boom, characterized in that, include: Main valve, central channel, telescopic cylinder, and pressure sensor; The processor is configured to execute the hydraulic control method for a single-cylinder pin-type telescopic boom according to any one of claims 1 to 7.

10. An engineering machinery, characterized in that, include: The single-cylinder pin-type telescopic boom according to claim 9.

11. A machine-readable storage medium storing instructions thereon, characterized in that, When the instructions are executed by the processor, they implement the hydraulic control method for a single-cylinder pin-type telescopic boom as described in any one of claims 1 to 7.

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