Mother-son type drainage vehicle pipeline synchronous recovery system and method and mother-son type drainage vehicle

Abstract

This invention discloses a mother-daughter type drainage vehicle pipeline synchronous retrieval system, method, and mother-daughter type drainage vehicle. The system includes a hydraulic winch device, a hydraulic drive device, and a control device. The winch drive mechanism of the hydraulic winch device is mounted on the mother vehicle and has a hydraulic pipeline wound around it. The hydraulic valve group of the mother vehicle of the hydraulic drive device can drive the winch drive mechanism to unwind or wind up the hydraulic pipeline. The hydraulic valve group of the daughter vehicle is connected to the daughter vehicle drive mechanism and the hydraulic pipeline and drives the daughter vehicle forward or backward. Upon receiving a synchronous retrieval confirmation command, the control device controls the mother vehicle hydraulic valve group to drive the winch drive mechanism to wind up the hydraulic pipeline and controls the daughter vehicle hydraulic valve group to drive the daughter vehicle backward. The winding speed of the hydraulic pipeline is greater than the backward speed of the daughter vehicle, so that the hydraulic pipeline is always in a taut state during the synchronous retrieval process, which significantly improves the retrieval efficiency of the hydraulic pipeline and avoids the phenomenon of the hydraulic pipeline being damaged by the daughter vehicle.

Description

Technical Field

[0001] This invention belongs to the field of drainage and emergency rescue technology, specifically relating to a mother-daughter type drainage vehicle pipeline synchronous recovery system, method, and mother-daughter type drainage vehicle. Background Technology

[0002] The mother-daughter type drainage vehicle consists of a mother vehicle and a daughter vehicle. Power is transmitted between the mother and daughter vehicles via hydraulic hoses and low-voltage cables. The mother vehicle has a hose winch and a cable winch for retrieving and extending the hydraulic hoses and low-voltage cables, respectively. When the daughter vehicle leaves the mother vehicle and heads to the drainage operation point for emergency work, it pulls the hydraulic hoses and low-voltage cables out of their respective winches. When the daughter vehicle returns to the mother vehicle, the on-site operator must first reverse the daughter vehicle a certain distance, then stop it, and then operate the corresponding winch to actively retrieve the hydraulic hoses and low-voltage cables. This alternating operation is necessary to gradually bring the daughter vehicle back to the mother vehicle and ultimately complete the pipeline retrieval. This retrieval method is not only inefficient but also prone to pipeline damage from the daughter vehicle's movement. Summary of the Invention

[0003] To address the aforementioned deficiencies or shortcomings, this invention provides a mother-daughter type drainage vehicle pipeline synchronous recovery system, method, and mother-daughter type drainage vehicle, aiming to solve the technical problems of low efficiency and easy pipeline damage in existing pipeline recovery methods.

[0004] To achieve the above objectives, the present invention provides a mother-daughter type drainage vehicle pipeline synchronous retrieval system, wherein the mother-daughter type drainage vehicle pipeline synchronous retrieval system includes a hydraulic winch device, a hydraulic drive device, and a control device; the hydraulic winch device includes a winch drive mechanism mounted on the mother vehicle and a hydraulic pipeline wound around the winch drive mechanism; the hydraulic drive device includes a mother vehicle hydraulic valve group and a daughter vehicle hydraulic valve group, the mother vehicle hydraulic valve group being mounted on the mother vehicle and capable of driving the winch drive mechanism to unwind or wind up the hydraulic pipeline, the daughter vehicle hydraulic valve group being mounted on the daughter vehicle and used to connect the daughter vehicle drive mechanism and the hydraulic pipeline to drive the daughter vehicle forward or backward; the control device is communicatively connected to the mother vehicle hydraulic valve group and the daughter vehicle hydraulic valve group respectively and is configured to: upon confirming receipt of a synchronous retrieval confirmation command, control the mother vehicle hydraulic valve group to drive the winch drive mechanism to wind up the hydraulic pipeline and control the daughter vehicle hydraulic valve group to drive the daughter vehicle backward, wherein the winding speed of the hydraulic pipeline is greater than the backward speed of the daughter vehicle.

[0005] In this embodiment of the invention, the hydraulic drive device further includes an oil tank mounted on the mother car and a first pump oil component connected to the oil tank. The mother car hydraulic valve group includes a first reversing valve and an overload safety valve. The first reversing valve is connected to the first pump oil component, the oil tank, and the unwinding working oil port and the winding working oil port of the winch motor of the winch drive mechanism, respectively, and is used to switch between the unwinding drive state and the winding drive state. The overload safety valve is connected between the winding working oil port and the return oil circuit of the first pump oil component.

[0006] In this embodiment of the invention, the first reversing valve has a first oil inlet, a first oil return, a first reversing port, and a second reversing port. The first oil inlet is connected to the first pump oil component, and the first oil return is connected back to the oil tank. The first reversing port and the second reversing port are respectively connected to the unwinding working port and the winding working port in a one-to-one correspondence. The first reversing valve is used to switch the connection of the first oil inlet back to the oil tank and the connection of the first reversing port to the second reversing port in the unwinding drive state. The first reversing valve is also used to switch the connection of the first oil inlet and the first oil return to the second reversing port and the first reversing port in a one-to-one correspondence in the winding drive state.

[0007] In this embodiment of the invention, there are three winch drive mechanisms. The pipelines on the three winch drive mechanisms are respectively a pressure oil hose, a return oil hose, and a drain oil hose. There are three first directional valves and three overload safety valves in the hydraulic valve group of the mother car. The three first directional valves and the three overload safety valves are all configured to correspond one-to-one with the winch motors of the three winch drive mechanisms. The first oil inlet of the three first directional valves is connected to the oil inlet circuit of the first pump oil component, and the first oil return port of the three first directional valves is connected to the oil return circuit of the first pump oil component.

[0008] In this embodiment of the invention, the hydraulic drive device further includes a second pumping component connected to the oil tank and pumping oil to the pressure hose. The return hose is connected to the oil tank and serves as the return oil circuit for the second pumping component. The trolley hydraulic valve group includes a second reversing valve with a third reversing port and a fourth reversing port. The third and fourth reversing ports are respectively connected to the forward working port and the reverse working port of the travel motor of the trolley drive mechanism. The second reversing valve is used to switch between the third and fourth reversing ports, selecting one to be connected to the pressure hose and the other to be connected to the return hose. The two ends of the drain hose are respectively connected to the drain ports of the oil tank and the travel motor.

[0009] In this embodiment of the invention, the control device includes a wireless controller, a subcar wireless transceiver mounted on the subcar, and a main controller and a main car wireless transceiver mounted on the mother car. The wireless controller is wirelessly connected to the main car wireless transceiver and the subcar wireless transceiver, respectively. The mother car wireless transceiver is electrically connected to the main controller. The main controller and the subcar wireless transceiver are electrically connected to the hydraulic valve group of the mother car and the hydraulic valve group of the subcar, respectively.

[0010] In this embodiment of the invention, the synchronous recovery system for the mother-daughter type drainage vehicle pipeline further includes a cable winch device. The cable winch device includes a winch drum, a spiral spring, and a cable pipeline. The winch drum is rotatably mounted on the mother vehicle. The cable pipeline is wound around the winch drum and electrically connected to the mother vehicle and the daughter vehicle. The spiral spring is placed inside the winch drum and can undergo elastic deformation to rewind and store energy when the cable pipeline is being unwound.

[0011] To achieve the above objectives, the present invention also provides a method for synchronous recovery of pipelines in a mother-daughter type drainage vehicle, wherein the method includes:

[0012] Confirmation received of the synchronization and recycling confirmation instruction;

[0013] The hydraulic line is controlled to wind up and the carriage is controlled to move backward, wherein the winding speed of the hydraulic line is greater than the backward speed of the carriage.

[0014] In this embodiment of the invention, confirming receipt of the synchronization recovery determination instruction includes:

[0015] Confirm receipt of the synchronization recovery preparation command and the sub-vehicle reversal command.

[0016] In this embodiment of the invention, confirming receipt of the vehicle reversing command includes:

[0017] Confirm that the left travel motor reverse command and the right travel motor reverse command have been received.

[0018] To achieve the above objectives, the present invention provides a mother-daughter type drainage vehicle, wherein the mother-daughter type drainage vehicle includes the above-described mother-daughter type drainage vehicle pipeline synchronous recovery system.

[0019] Through the above technical solution, the synchronous recovery system for the mother-daughter type drainage truck pipeline provided by the embodiments of the present invention has the following beneficial effects:

[0020] When using the aforementioned mother-and-daughter type drainage vehicle pipeline synchronous retrieval system, which includes a hydraulic winch device, a hydraulic drive device, and a control device, the winch drive mechanism of the hydraulic winch device is located on the mother vehicle and has hydraulic lines wound around it. The mother vehicle hydraulic valve group of the hydraulic drive device can drive the winch drive mechanism to unwind or wind up the hydraulic lines. The daughter vehicle hydraulic valve group is connected to the daughter vehicle drive mechanism and the hydraulic lines to drive the daughter vehicle forward or backward. The control device is communicatively connected to both the mother vehicle hydraulic valve group and the daughter vehicle hydraulic valve group and is configured to: upon receiving a synchronous retrieval confirmation command, control the mother vehicle hydraulic valve group to drive the winch drive mechanism to unwind or wind up the hydraulic lines. The hydraulic cable is wound up, and the hydraulic valve group of the control carriage drives the carriage to move backward. The winding speed of the hydraulic cable is greater than the backward speed of the carriage. That is, while the carriage is being driven back into the mother carriage by controlling the hydraulic valve group of the carriage, the winch drive mechanism of the mother carriage can also be controlled to synchronously retract the hydraulic cable. The winding speed of the hydraulic cable is also controlled to be greater than the backward speed of the carriage, so that the hydraulic cable is always taut during synchronous retraction. Compared with the existing cable retrieval methods, this significantly improves the retrieval efficiency of the hydraulic cable and avoids the phenomenon of the hydraulic cable being damaged by the carriage.

[0021] Other features and advantages of the present invention will be described in detail in the following detailed description section. Attached Figure Description

[0022] The accompanying drawings are provided to illustrate the invention and form part of the specification. They are used together with the following detailed description to explain the invention, but do not constitute a limitation thereof. In the drawings:

[0023] Figure 1 This is a schematic diagram of the structure of a mother-daughter type drainage vehicle according to an embodiment of the present invention;

[0024] Figure 2 This is a hydraulic control principle diagram of a hydraulic drive device, a winch motor, and a travel motor according to an embodiment of the present invention.

[0025] Figure 3 This is a hydraulic control principle diagram of the mother car hydraulic valve group according to an embodiment of the present invention;

[0026] Figure 4 This is a flowchart of a method for synchronous recovery of a mother-daughter type drainage vehicle pipeline according to an embodiment of the present invention.

[0027] Explanation of reference numerals in the attached figures

[0028] 100 Hydraulic winch device 101 Winch drive mechanism

[0029] 102 Hydraulic pipeline 103 Winch motor

[0030] 103a Oil pressure hose winch motor; 103b Return oil hose winch motor

[0031] 103c Oil drain hose winch motor A1 unwinding working oil port

[0032] B1 Rewinding working oil port 104 Pressure oil hose

[0033] 105 Oil return hose; 106 Oil drain hose

[0034] 200 Hydraulic drive unit; 201 Mother car hydraulic valve group

[0035] 202 Sub-cart hydraulic valve assembly; 203 Oil tank

[0036] 204 First pump oil component 205 First directional valve

[0037] A3 First oil inlet; B3 First oil return outlet.

[0038] C3 First reversing oil port; D3 Second reversing oil port

[0039] 206 Overload safety valve; 207 Second pump oil components

[0040] 208 Second directional valve 300 Control device

[0041] 301 Main Controller; 302 Mother Car Wireless Transceiver

[0042] 303 Cart Wireless Transceiver 400 Cable Winch Device

[0043] 401 Winch drum; 402 Cable conduit

[0044] 500 mother car, 600 daughter car

[0045] 601 Travel Motor 601a Left Travel Motor

[0046] 601b Right travel motor A2 forward working oil port

[0047] B2 Reverse working oil port Detailed Implementation

[0048] 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 present invention.

[0049] The present invention, including a mother-daughter type drainage vehicle pipeline synchronous recovery system, method, and mother-daughter type drainage vehicle, is described below with reference to the accompanying drawings.

[0050] like Figure 1As shown, the present invention provides a mother-daughter type drainage truck pipeline synchronous recovery system, wherein the mother-daughter type drainage truck pipeline synchronous recovery system includes:

[0051] The hydraulic winch device 100 includes a winch drive mechanism 101 mounted on the mother car 500 and a hydraulic line 102 wound around the winch drive mechanism 101.

[0052] The hydraulic drive unit 200 includes a mother car hydraulic valve group 201 and a daughter car hydraulic valve group 202. The mother car hydraulic valve group 201 is mounted on the mother car 500 and can drive the winch drive mechanism 101 to unwind or wind up the hydraulic line 102. The daughter car hydraulic valve group 202 is mounted on the daughter car 600 and is used to connect the daughter car drive mechanism and the hydraulic line 102 to drive the daughter car 600 forward or backward.

[0053] The control device 300 is communicatively connected to the master car hydraulic valve group 201 and the slave car hydraulic valve group 202, respectively, and is configured to: upon confirming receipt of a synchronization recovery confirmation command, control the master car hydraulic valve group 201 to drive the winch drive mechanism 101 to wind up the hydraulic line 102 and control the slave car hydraulic valve group 202 to drive the slave car 600 to move backward, wherein the winding speed of the hydraulic line 102 is greater than the backward speed of the slave car 600.

[0054] When using the aforementioned synchronized retrieval system for drainage vehicles, the system includes a hydraulic winch device 100, a hydraulic drive device 200, and a control device 300. The winch drive mechanism 101 of the hydraulic winch device 100 is mounted on the mother vehicle 500 and has the hydraulic line 102 wound around it. The mother vehicle hydraulic valve group 201 of the hydraulic drive device 200 can drive the winch drive mechanism 101 to unwind or wind up the hydraulic line 102. The daughter vehicle hydraulic valve group 202 connects the daughter vehicle drive mechanism and the hydraulic line 102 to drive the daughter vehicle 600 forward or backward. The control device 300 is configured to, upon receiving a synchronized retrieval confirmation command, control the mother vehicle hydraulic valve group 201 to drive the winch drive mechanism 101 to wind up the hydraulic line 102. The system controls the hydraulic valve group 202 of the trolley to drive the trolley 600 backward, and the winding speed of the hydraulic line 102 is greater than the backward speed of the trolley 600. That is, while the trolley 600 is driven back into the mother car 500 by controlling the hydraulic valve group 202 of the trolley, the winch drive mechanism 101 of the mother car can also be controlled by controlling the hydraulic valve group 201 of the mother car to drive the hydraulic line 102 synchronously. The winding speed of the hydraulic line 102 is also controlled to be greater than the backward speed of the trolley 600, so that the hydraulic line 102 is always in a taut state during the synchronous recovery process. Compared with the existing pipeline recovery method, this significantly improves the recovery efficiency of the hydraulic line 102 and avoids the phenomenon of the hydraulic line 102 being damaged by the trolley 600.

[0055] See Figure 1 and Figure 2 In this embodiment of the invention, the hydraulic drive device 200 further includes an oil tank 203 mounted on the mother car 500 and a first pump oil component 204 connected to the oil tank 203. The mother car hydraulic valve group 201 includes a first reversing valve 205 and an overload safety valve 206. The first reversing valve 205 is connected to the first pump oil component 204, the oil tank 203, and the unwinding working oil port A1 and the winding working oil port B1 of the winch motor 103 of the winch drive mechanism 101, and is used to switch between the unwinding drive state and the winding drive state. The overload safety valve 206 is connected to the winding... The addition of an overload safety valve 206 between the working oil port B1 and the return oil circuit of the first pump oil component 204 allows the hydraulic line 102 to be synchronously retracted. If the oil pressure in the oil circuit exceeds the set value of the overload safety valve 206, the pressure can be released through the overload safety valve 206. The oil pressure in the oil circuit drives the winch motor 103 to rotate and apply a pull force to the hydraulic line 102 accordingly. The addition of the overload safety valve 206 can limit the maximum pull force of the hydraulic line 102 to avoid damage to the hydraulic line 102 due to excessive pull force.

[0056] Specifically, the formula for calculating the maximum pull-back force of hydraulic line 102 is as follows:

[0057] Among them, P m The working pressure of winch motor 103; V m i is the displacement of the winch motor 103; i is the speed ratio between the winch drum and the winch motor 103; R is the displacement of the winch motor 103. max The radius of the winch drum.

[0058] From the above formula, it can be seen that the pull-back force of hydraulic line 102 is related to P. m V m i, R max Related, among which V m i, R max Since it is a constant, the maximum pull-back force of hydraulic line 102 is determined by P. m The decision is made to install an overload safety valve 206 at the winding working oil port B1 of the winch motor 103 to limit the working pressure P of the winch motor 103 when the hydraulic line 102 is being retracted. m This limits the maximum pull-back force of the hydraulic line 102 to a safe range, preventing damage or breakage of the hydraulic line 102.

[0059] See Figure 2 and Figure 3In this embodiment of the invention, the first reversing valve 205 has a first oil inlet A3, a first oil return port B3, a first reversing port C3, and a second reversing port D3. The first oil inlet A3 is connected to the first pump oil component 204, the first oil return port B3 is connected back to the oil tank 203, and the first reversing port C3 and the second reversing port D3 are respectively connected to the unwinding working oil port A1 and the winding working oil port B1. The first reversing valve 205 is used to switch the connection between the first oil inlet A3 and the oil tank 203 and the first reversing port C3 and the second reversing port D3 in the unwinding drive state, that is, in the carriage... When the trolley 600 moves forward and the hydraulic line 102 is unwound synchronously, the winch motor 103 is in a floating state. The forward rotation of the winch motor 103 is driven by the trolley 600 dragging the hydraulic line 102 to unwind. The first reversing port C3 is connected to the second reversing port D3 and can be connected back to the oil tank 203. This allows a portion of the oil from the second reversing port D3 to enter the oil tank 203, while the other portion of the oil enters the winch motor 103 from the first reversing port C3. This ensures that the winch motor 103 has the oil required to rotate, thereby enabling the winch motor 103 to unwind automatically. In addition, the first reversing valve 205 is used to switch the first oil inlet A3 and the first oil return port B3 to be connected to the second reversing port D3 and the first reversing port C3 respectively in the winding drive state. That is, when the trolley 600 moves backward and the hydraulic line 102 is wound up synchronously, the first pump oil component 204 can pump oil sequentially to the first oil inlet A3, the second reversing port D3, the winding working port B1, the unwinding working port A1, the first reversing port C3 and the first oil return port B3, thereby driving the winch motor 103 to rotate in the opposite direction to realize the winding of the hydraulic line 102.

[0060] It should be noted that the first reversing valve 205 has two unwinding drive states. One is the aforementioned unwinding follow-up drive state, in which the winch motor 103 is in a floating state. The other is the unwinding active drive state, in which the first reversing valve 205 is used to switch the connection between the first oil inlet A3 and the first reversing oil port C3 and the first oil return port B3 and the second reversing oil port D3 in the unwinding active drive state. At this time, the unwinding working oil port A1 of the winch motor 103 is set as the oil inlet of the winch motor 103, and the winding working oil port B1 is set as the oil return port. The return port of the winch motor 103 is set as the return port, enabling the winch motor 103 to rotate forward to unwind the hydraulic line 102. In the winding drive state, the first reversing valve 205 switches to connect the first inlet port A3 to the second reversing port D3 and the first return port B3 to the first reversing port C3. At this time, the winding working port B1 of the winch motor 103 becomes the inlet port, and the unwinding working port A1 becomes the return port. The winch motor 103 then reverses direction to wind up the hydraulic line 102. More specifically, the first reversing valve 205 has a first solenoid valve and a second solenoid valve. When de-energized, the first reversing valve 205 switches to the unwinding follow-up drive state; when energized, it switches to the unwinding active drive state; and when energized, it switches to the winding drive state. The first reversing valve 205 can also be a load-sensitive proportional valve.

[0061] In this embodiment of the invention, the number of winch drive mechanisms 101 can be three. The pipelines on the three winch drive mechanisms 101 are respectively a pressure oil hose 104, a return oil hose 105, and a drain oil hose 106. The winch motors 103 that drive the pressure oil hose 104, the return oil hose 105, and the drain oil hose 106 to unwind or wind up are respectively a pressure oil hose winch motor 103a, a return oil hose winch motor 103b, and a drain oil hose winch motor 103c. The pressure valve assembly 201 contains three first directional valves 205 and three overload safety valves 206. Each of the three first directional valves 205 and three overload safety valves 206 corresponds one-to-one with the winch motors 103 of the three winch drive mechanisms 101. Furthermore, the first oil inlet A3 of each of the three first directional valves 205 is connected to the oil inlet circuit of the first pump oil component 204, and the first oil return port B3 of each of the three first directional valves 205 is connected to the oil return circuit of the first pump oil component 204. In other words, the three hydraulic lines 102—pressure hose 104, return hose 105, and drain hose 106—are independently wound around different winch drive mechanisms 101. This facilitates the management of the three hydraulic lines 102, making replacement or maintenance easier, and also improves the winding and unwinding efficiency.

[0062] Please continue reading Figure 1 and Figure 2In this embodiment of the invention, the hydraulic drive device 200 further includes a second pumping component 207 connected to the oil tank 203 and pumping oil to the pressure oil hose 104. The return oil hose 105 is connected to the oil tank 203 and is configured as the return oil passage of the second pumping component 207. The trolley hydraulic valve group 202 includes a second reversing valve 208 with a third reversing port and a fourth reversing port. The third reversing port and the fourth reversing port are respectively connected to the forward working port A2 and the backward working port B2 of the travel motor 601 of the trolley drive mechanism. The second reversing valve 208 is used to switch between the third reversing port and the fourth reversing port, selecting one to be connected to the pressure oil hose 104 and the other to be connected to the return oil hose 105. The two ends of the drain hose 106 are respectively connected to the drain ports of the oil tank 203 and the travel motor 601. When the second reversing valve 208 switches to the third reversing port connected to the pressure hose 104 and the fourth reversing port connected to the return hose 105, the forward working port A2 of the travel motor 601 is set as the inlet port of the travel motor 601, and the reverse working port B2 is set as the return port of the travel motor 601, thus driving the trolley 600 forward. When the first reversing valve 205 switches to the fourth reversing port connected to the pressure hose 104 and the third reversing port connected to the return hose 105, the reverse working port B2 of the travel motor 601 is set as the inlet port of the travel motor 601, and the forward working port A2 is set as the return port of the travel motor 601, thus driving the trolley 600 backward. Furthermore, the addition of the drain hose 106 can discharge the high-pressure oil leaking from the high-pressure chamber of the travel motor 601, carrying away hot oil and providing a cooling effect.

[0063] Specifically, the second directional valve 208 can be a load-sensitive proportional valve with a second inlet, a third directional valve, a fourth directional valve, and a second return port. The second inlet is connected to the pressure hose 104, and the second return port is connected back to the oil tank 203 via the return hose 105. The third directional valve is connected to the forward working port A2 of the travel motor 601, and the fourth directional valve is connected to the reverse working port B2 of the travel motor 601. That is, the second directional valve 208 can switch between the third and fourth directional valves, selecting one to connect to the second inlet and the other to the second return port. In addition, the travel motor 601 of the vehicle drive mechanism is divided into a left travel motor 601a and a right travel motor 601b. There are two second directional valves 208 in the vehicle hydraulic valve group 202. The two second directional valves 208 are set one-to-one with the left travel motor 601a and the right travel motor 601b. The second oil inlet of the two second directional valves 208 is connected to the oil pressure hose 104, and the second oil return port of the two second directional valves 208 is connected to the oil return hose 105.

[0064] In this embodiment of the invention, the control device 300 includes a wireless controller, a sub-vehicle wireless transceiver 303 mounted on the sub-vehicle 600, and a main controller 301 and a main vehicle wireless transceiver 302 mounted on the mother vehicle 500. The wireless controller is wirelessly connected to the mother vehicle wireless transceiver 302 and the sub-vehicle wireless transceiver 303, respectively. The mother vehicle wireless transceiver 302 is electrically connected to the main controller 301. The main controller 301 and the sub-vehicle wireless transceiver 303 are electrically connected to the mother vehicle hydraulic valve group 201 and the sub-vehicle hydraulic valve group 202, respectively. The synchronization recovery confirmation command can be issued via a wireless controller. After the master vehicle wireless transceiver 302 and slave vehicle wireless transceiver 303 receive the synchronization recovery confirmation command, the master vehicle wireless transceiver 302 forwards it to the main controller 301. The main controller 301 then controls the master vehicle hydraulic valve group 201 to drive the winch drive mechanism 101 to wind up the hydraulic cable 102. The slave vehicle wireless transceiver 303 can directly control the slave vehicle hydraulic valve group 202 to drive the slave vehicle 600 to reverse, and the winding speed of the hydraulic cable 102 is greater than the reversing speed of the slave vehicle 600, thereby achieving synchronous recovery of the hydraulic cable 102. The addition of the wireless controller makes the control more flexible and convenient.

[0065] Specifically, the wireless controller can be a wireless handheld remote control. The handheld remote control is equipped with a "Synchronous Retrieval Preparation Command" button and two push rods (left and right). The control signal of the left push rod acts on the second reversing valve 208 corresponding to the left travel motor 601a of the trolley drive mechanism, and the control signal of the right push rod acts on the second reversing valve 208 corresponding to the right travel motor 601b of the trolley drive mechanism. Pushing the left and right push rods forward controls the corresponding second reversing valve 208 to switch to drive the travel motor 601 forward, and pushing the left and right push rods backward controls the corresponding second reversing valve 208 to switch to drive the travel motor 601 backward. Furthermore, the "Synchronous Retrieval Confirmation Command" requires both the triggering of the "Synchronous Retrieval Preparation Command" button and the backward movement of both push rods.

[0066] like Figure 1As shown in the embodiment of the present invention, the synchronous recovery system for the mother-daughter type drainage vehicle pipeline also includes a cable winch device 400. The cable winch device 400 includes a winch drum 401, a spiral spring, and a cable pipeline 402. The winch drum 401 is rotatably mounted on the mother vehicle 500. The cable pipeline 402 is wound around the winch drum 401 and electrically connected to the mother vehicle 500 and the daughter vehicle 600. The spiral spring is placed inside the winch drum 401 and can undergo elastic deformation to rewind and store energy when the cable pipeline 402 is unwound. While the trolley 600 moves forward, it can not only unwind the hydraulic cable 102 on the hydraulic winch device 100, but also pull the cable cable 402 on the cable winch device 400 to unwind. Due to the presence of the spiral spring, elastic potential energy can be stored during the unwinding process of the cable cable 402. When the trolley 600 moves backward, the elastic potential energy of the spiral spring is released to drive the winch drum 401 to wind up the cable cable 402. This enables the synchronous recovery of the cable cable 402 and the hydraulic cable 102, significantly improving the recovery efficiency of the cable cable 402 and avoiding the phenomenon of the cable cable 402 being damaged by the trolley 600.

[0067] See Figure 4 To achieve the above objectives, the present invention also provides a method for synchronous recovery of pipelines in a mother-daughter type drainage vehicle, wherein the method includes:

[0068] Step 100: Confirm receipt of the synchronization recycling confirmation instruction.

[0069] In step 200, the hydraulic line 102 is controlled to wind up and the carriage 600 is controlled to move backward, wherein the winding speed of the hydraulic line 102 is greater than the reversing speed of the carriage 600.

[0070] When using the above-described synchronous retrieval method for drainage pipelines using a mother-daughter type drainage vehicle, upon receiving a synchronous retrieval confirmation command, the mother vehicle hydraulic valve group 201 drives the winch drive mechanism 101 to wind up the hydraulic pipeline 102, and the daughter vehicle hydraulic valve group 202 drives the daughter vehicle 600 to retreat. Furthermore, the winding speed of the hydraulic pipeline 102 is greater than the retreating speed of the daughter vehicle 600, ensuring that the hydraulic pipeline 102 remains taut throughout the synchronous retrieval process. Compared to existing pipeline retrieval methods, this significantly improves the retrieval efficiency of the hydraulic pipeline 102 and avoids the phenomenon of the hydraulic pipeline 102 being damaged by the daughter vehicle 600.

[0071] Furthermore, the reversing speed of the carriage 600 can be controlled by the carriage hydraulic valve assembly 202, and the winding speed of the hydraulic line 102 can be a certain value, which is greater than the maximum reversing speed of the carriage 600. Of course, the present invention is not limited to this; the winding speed of the hydraulic line 102 can also be a variable value, specifically, it can always be set to be greater than the reversing speed of the carriage 600.

[0072] In this embodiment of the invention, step 100, confirming the receipt of the synchronization recycling determination instruction, includes:

[0073] Confirm receipt of the synchronization recovery preparation command and the sub-vehicle reversal command.

[0074] Specifically, the wireless controller can be configured as a wireless remote control to issue a synchronization recovery confirmation command. The wireless remote control is equipped with a "synchronization recovery preparation command" button and a push rod. The control signal of the push rod acts on the second reversing valve 208 of the travel motor 601 of the trolley drive mechanism. Pushing the push rod forward controls the second reversing valve 208 to switch to driving the travel motor 601 forward; pushing the push rod backward controls the second reversing valve 208 to switch to driving the travel motor 601 backward. Furthermore, the "synchronization recovery confirmation command" requires both the triggering of the "synchronization recovery preparation command" button and the backward push of the push rod. Therefore, even if the "synchronization recovery preparation command" button is triggered, if the push rod does not trigger a backward signal, it cannot be confirmed that the "synchronization recovery confirmation command" has been received, thus ensuring the reliability of the synchronization recovery command triggering. In addition, the push rod facilitates the control of the forward and backward position adjustments of the trolley 600.

[0075] In this embodiment of the invention, confirming receipt of the vehicle reversing command includes:

[0076] Confirm that the reverse command of the left travel motor 601a and the reverse command of the right travel motor 601b have been received.

[0077] Specifically, the wireless controller can have two levers, a left lever and a right lever. The control signal of the left lever acts on the second reversing valve 208 corresponding to the left travel motor 601a of the vehicle drive mechanism, and the control signal of the right lever acts on the second reversing valve 208 corresponding to the right travel motor 601b of the vehicle drive mechanism. Pushing the left and right levers forward controls the corresponding second reversing valve 208 to switch to drive the travel motor 601 forward, and pushing the left and right levers backward controls the corresponding second reversing valve 208 to switch to drive the travel motor 601 backward. Furthermore, the "synchronization recovery confirmation command" requires the simultaneous triggering of the "synchronization recovery preparation command" button and the backward movement of both left and right levers. Therefore, even if the "synchronization recovery preparation command" button is triggered, if neither left nor right lever triggers the backward signal or one of them fails to trigger the backward signal, it cannot be confirmed that the "synchronization recovery confirmation command" has been received, thus ensuring the reliability of the synchronization recovery command triggering. Furthermore, the dual push rods on the left and right sides facilitate individual control of the movement of the left travel motor 601a and the right travel motor 601b.

[0078] More specifically, A and B are the left and right push lever signals output by the wireless remote controller to the mother vehicle wireless transceiver 302 and the daughter vehicle wireless transceiver 303, respectively. A forward push is a positive value, and a backward push is a negative value. -a1 and a1 are the dead zone judgment values ​​for no signal on the left push lever, and -b1 and b1 are the dead zone judgment values ​​for no signal on the right push lever. k1 is the linear proportional value between the left (right) push lever signal and the PWMI signal output by the mother vehicle wireless transceiver 302 and the daughter vehicle wireless transceiver 303 to the second reversing valve 208 of the left (right) travel motor 601. That is, the second reversing valve 208 corresponding to the left travel motor 601a can receive the PWMI signal of k1*A, and the second reversing valve 208 corresponding to the right travel motor 601b can receive the PWMI signal of k1*B. When a "synchronization recovery preparation command" is received, and "A<-a1, B<-b1" confirms that both left and right travel motors 601 are in reverse order, it can be confirmed that a "synchronization recovery confirmation command" has been received. When a "synchronization recovery preparation command" is received, and "-a1≦A≦a1, -b1≦B≦b1" confirms that there is no signal, it cannot be confirmed that a "synchronization recovery confirmation command" has been received. When one of the commands "A<-a1, B≧-b1", "A≧-a1, B<-b1", and "A≧-a1, B≧-b1" is received, regardless of whether a "synchronization recovery preparation command" has been received, it cannot be confirmed that a "synchronization recovery confirmation command" has been received.

[0079] To achieve the above objectives, the present invention provides a mother-daughter type drainage vehicle, wherein the mother-daughter type drainage vehicle includes the aforementioned mother-daughter type drainage vehicle pipeline synchronous recovery system. Since the mother-daughter type drainage vehicle adopts all the technical solutions of the above embodiments, it possesses at least all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be elaborated upon here.

[0080] In the description of this invention, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0081] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0082] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0083] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A synchronous recovery system for drainage vehicle pipelines of a mother-daughter type, characterized in that, include: The hydraulic winch device (100) includes a winch drive mechanism (101) mounted on the mother car (500) and hydraulic lines (102) wound around the winch drive mechanism (101). The hydraulic drive unit (200) includes a mother car hydraulic valve group (201) and a daughter car hydraulic valve group (202). The mother car hydraulic valve group (201) is located on the mother car (500) and can drive the winch drive mechanism (101) to unwind or wind up the hydraulic line (102). The daughter car hydraulic valve group (202) is located on the daughter car (600) and is used to connect the daughter car drive mechanism and the hydraulic line (102) to drive the daughter car (600) forward or backward. The control device (300) is communicatively connected to the mother car hydraulic valve group (201) and the daughter car hydraulic valve group (202) respectively and is configured to: upon confirming receipt of a synchronous recovery determination command, control the mother car hydraulic valve group (201) to drive the winch drive mechanism (101) to wind up the hydraulic line (102) and control the daughter car hydraulic valve group (202) to drive the daughter car (600) to move backward, wherein the winding speed of the hydraulic line (102) is greater than the backward speed of the daughter car (600) so that the hydraulic line (102) is in a taut state during synchronous recovery; The hydraulic drive unit (200) further includes an oil tank (203) mounted on the mother car (500) and a first pump unit (204) connected to the oil tank (203). The mother car hydraulic valve group (201) includes a first reversing valve (205) and an overload safety valve (206). The overload safety valve (206) is connected to the winding working port (B1) of the winch motor (103) of the winch drive mechanism (101) and the first pump unit (204). 4) Between the return oil circuits, to limit the maximum pull force of the hydraulic line (102) and to keep the hydraulic line (102) in a taut state without pull damage, the first reversing valve (205) is used to switch to the first oil inlet (A3) to connect back to the oil tank (203) in the unwinding drive state, and the first reversing oil port (C3) and the second reversing oil port (D3) are connected back to the oil tank, so that the winch motor (103) is in a floating state and performs follow-up unwinding.

2. The synchronous recovery system for the mother-daughter type drainage vehicle pipeline according to claim 1, characterized in that, The first reversing valve (205) is connected to the unwinding working oil port (A1) and the winding working oil port (B1) of the first pump oil component (204), the oil tank (203) and the winch motor (103) of the winch drive mechanism (101), respectively, and is used to switch between the unwinding drive state and the winding drive state.

3. The synchronous recovery system for the mother-daughter type drainage vehicle pipeline according to claim 2, characterized in that, The first reversing valve (205) has a first oil inlet (A3), a first oil return port (B3), a first reversing port (C3), and a second reversing port (D3). The first oil inlet (A3) is connected to the first pump oil component (204), and the first oil return port (B3) is connected back to the oil tank (203). The first reversing port (C3) and the second reversing port (D3) are respectively connected to the unwinding working port (A1) and the winding working port (B1). The first reversing valve (205) is used to switch the first oil inlet (A3) and the first oil return port (B3) to be connected to the second reversing port (D3) and the first reversing port (C3) respectively in the winding drive state.

4. The synchronous recovery system for mother-daughter type drainage truck pipelines according to claim 3, characterized in that, The number of winch drive mechanisms (101) is three. The pipelines on the three winch drive mechanisms (101) are oil pressure hose (104), oil return hose (105) and oil drain hose (106), respectively. The number of first directional valves (205) and overload safety valves (206) in the hydraulic valve group (201) of the mother car is three. The three first directional valves (205) and the three overload safety valves (206) are all set in a one-to-one correspondence with the winch motors (103) of the three winch drive mechanisms (101). The first oil inlet (A3) of the three first directional valves (205) is connected to the oil inlet circuit of the first pump oil component (204). The first oil return port (B3) of the three first directional valves (205) is connected to the oil return circuit of the first pump oil component (204).

5. The synchronous recovery system for the mother-daughter type drainage vehicle pipeline according to claim 4, characterized in that, The hydraulic drive unit (200) further includes a second pumping component (207) connected to the oil tank (203) and pumping oil to the pressure hose (104). The return hose (105) is connected to the oil tank (203) and serves as the return oil circuit for the second pumping component (207). The sub-vehicle hydraulic valve group (202) includes a second directional valve (208) with a third directional port and a fourth directional port. The third directional port and the fourth directional port are respectively connected to the sub-vehicle hydraulic valve group (204). The forward working oil port (A2) and the reverse working oil port (B2) of the travel motor (601) of the vehicle drive mechanism are connected one-to-one. The second reversing valve (208) is used to switch between the third reversing oil port and the fourth reversing oil port, one of which is connected to the pressure oil hose (104) and the other is connected to the return oil hose (105). The two ends of the drain hose (106) are respectively connected to the oil tank (203) and the drain port of the travel motor (601).

6. The synchronous recovery system for mother-daughter type drainage vehicle pipelines according to any one of claims 1 to 5, characterized in that, The control device (300) includes a wireless controller, a vehicle wireless transceiver (303) mounted on the vehicle (600), and a main controller (301) and a main vehicle wireless transceiver (302) mounted on the mother vehicle (500). The wireless controller is wirelessly connected to the main vehicle wireless transceiver (302) and the vehicle wireless transceiver (303) respectively. The main vehicle wireless transceiver (302) is electrically connected to the main controller (301). The main controller (301) and the vehicle wireless transceiver (303) are electrically connected to the main vehicle hydraulic valve group (201) and the vehicle hydraulic valve group (202) respectively.

7. The synchronous recovery system for mother-daughter type drainage vehicle pipelines according to any one of claims 1 to 5, characterized in that, The synchronous recovery system for the mother-daughter type drainage vehicle pipeline also includes a cable winch device (400), which includes a winch drum (401), a spiral spring, and a cable pipeline (402). The winch drum (401) is rotatably mounted on the mother vehicle (500). The cable pipeline (402) is wound around the winch drum (401) and electrically connected to the mother vehicle (500) and the daughter vehicle (600). The spiral spring is placed inside the winch drum (401) and can undergo elastic deformation to rewind and store energy when the cable pipeline (402) is unwound.

8. A method for synchronous recovery of pipelines in a mother-daughter type drainage vehicle, characterized in that, The method for synchronous recovery of pipelines in a mother-daughter type drainage vehicle is applied to the synchronous recovery system for pipelines in a mother-daughter type drainage vehicle according to any one of claims 1 to 7, and includes: Confirm receipt of the synchronization and recycling confirmation instruction; The hydraulic line (102) is controlled to wind up and the carriage (600) is controlled to move backward, wherein the winding speed of the hydraulic line (102) is greater than the retraction speed of the carriage (600) so that the hydraulic line (102) is in a taut state during synchronous recovery.

9. The method for synchronous recovery of mother-daughter type drainage vehicle pipelines according to claim 8, characterized in that, The confirmation of receiving the synchronization recovery determination instruction includes: Confirm receipt of the synchronization recovery preparation command and the sub-vehicle reversal command.

10. The method for synchronous recovery of mother-daughter type drainage vehicle pipelines according to claim 9, characterized in that, The confirmation of receiving the vehicle reversing command includes: Confirm that the reverse command from the left travel motor (601a) and the reverse command from the right travel motor (601b) have been received.

11. A mother-daughter type drainage vehicle, characterized in that, The mother-daughter drainage vehicle includes a mother-daughter drainage vehicle pipeline synchronous recovery system according to any one of claims 1 to 7.

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