Automatic return control method and system for a swing arm vehicle and swing arm vehicle

Abstract

The application discloses a curved arm vehicle and an automatic return control system and method thereof. The system comprises a curved arm vehicle body, a one-key recovery switch and a control module. The curved arm vehicle body comprises a chassis assembly, a rotary table assembly and an arm support assembly. The chassis assembly is provided with a first receiving seat and a first sensing switch. The rotary table assembly comprises a driving motor and a slewing mechanism. The arm support assembly comprises a folding arm, a main arm, a telescopic arm and a fly arm. The folding arm is provided with a second receiving seat. The first receiving seat comprises a second sensing switch. The second receiving seat comprises a third sensing switch. The end of the main arm is provided with a fourth sensing switch. The scheme realizes one-key automatic return operation in the whole process, does not need manual intervention, improves the recovery efficiency, and avoids incomplete recovery or other misoperations.

Description

TECHNICAL FIELD

[0001] The embodiment of the application relates to the technical field of return, in particular to a curved arm vehicle automatic return control method and system and a curved arm vehicle. BACKGROUND

[0002] During driving or operation, the curved arm vehicle often needs to be returned to adjust the vehicle posture.

[0003] At present, the curved arm vehicle is usually continuously manipulated by an operator, and the curved arm vehicle continuously performs multiple operations such as rotation and arm falling, which leads to low efficiency and inconvenient operation. Meanwhile, the operator needs to manually observe the falling point during continuous manipulation of the handle, which leads to low efficiency and inconvenient operation, and often needs to be repeatedly fine-tuned, which also leads to low operation efficiency. In addition, the recovery may not be in place or other misoperations may occur. SUMMARY

[0004] The application provides a curved arm vehicle automatic return control method and system and a curved arm vehicle, which realize one-key full-process automatic operation, do not need manual intervention, improve the recovery efficiency, and avoid recovery not in place or other misoperations.

[0005] To achieve the above purpose, in a first aspect, the embodiment of the application provides a curved arm vehicle automatic return control system, characterized by comprising a curved arm vehicle body, a one-key recovery switch and a control module; the curved arm vehicle body comprises a chassis assembly, a rotary table assembly, an arm support assembly and a platform assembly; a first receiving seat and a first sensing switch are arranged on the chassis assembly; the rotary table assembly comprises a driving motor and a rotation mechanism; the arm support assembly comprises a folding arm, a main arm, a telescopic arm and a flying arm; a second receiving seat is arranged on the folding arm; the first receiving seat comprises a second sensing switch; the second receiving seat comprises a third sensing switch; a fourth sensing switch is arranged at the end of the main arm;

[0006] The control module is electrically connected with the driving motor and the first sensing switch, is used for controlling the driving motor to drive the rotation mechanism to return when a one-key recovery instruction output by the one-key recovery switch is acquired; and the first sensing switch is used for outputting a signal when the folding arm is aligned with the first receiving seat;

[0007] The control module is electrically connected with the second sensing switch, is used for stopping controlling the driving motor to drive the rotation mechanism to return when a signal output by the first sensing switch is acquired; and controlling the driving motor to drive the folding arm to be recovered; and the second sensing switch is used for outputting a signal when the folding arm is on the first receiving seat;

[0008] The control module is electrically connected with the third induction switch, and is used for stopping controlling the driving motor to drive the folding arm to perform the folding arm retraction action and controlling the driving motor to drive the main arm to perform the main arm retraction action when the signal output by the second induction switch is acquired.

[0009] The control module is electrically connected with the fourth induction switch, and is used for stopping controlling the driving motor to drive the main arm to perform the main arm retraction action and controlling the driving motor to drive the telescopic arm to perform the telescopic arm retraction action when the signal output by the third induction switch is acquired.

[0010] The control module is used for stopping controlling the driving motor to drive the telescopic arm to perform the telescopic arm retraction action and controlling the driving motor to drive the flying arm to perform the flying arm retraction action when the signal output by the fourth induction switch is acquired.

[0011] Optionally, the rotating mechanism comprises a first electromagnetic valve, a rotating mechanism oil cylinder and a rotating unit.

[0012] The folding arm comprises a folding arm body, a folding arm oil cylinder and a second electromagnetic valve.

[0013] The main arm comprises a main arm body, a main arm oil cylinder and a third electromagnetic valve.

[0014] The telescopic arm comprises a telescopic arm body, a telescopic arm oil cylinder and a fourth electromagnetic valve.

[0015] The flying arm comprises a flying arm body, a flying arm oil cylinder and a fifth electromagnetic valve.

[0016] The control module is electrically connected with the pump motor; an oil path outlet of the pump motor is communicated with the rotating mechanism oil cylinder through the first electromagnetic valve, communicated with the folding arm oil cylinder through the second electromagnetic valve, communicated with the main arm oil cylinder through the third electromagnetic valve, communicated with the telescopic arm oil cylinder through the fourth electromagnetic valve and communicated with the flying arm oil cylinder through the fifth electromagnetic valve; and the control module is electrically connected with the first electromagnetic valve, the second electromagnetic valve, the third electromagnetic valve, the fourth electromagnetic valve and the fifth electromagnetic valve.

[0017] The control module is specifically used for acquiring the one-key retraction instruction output by the one-key retraction switch, controlling the pump motor to work and driving the first electromagnetic valve to be opened so that the pump motor drives the rotating mechanism to perform the rotating mechanism retraction action through the rotating mechanism oil cylinder.

[0018] The control module is specifically configured to stop driving the first electromagnetic valve to open when the signal output by the first inductive switch is acquired, and drive the second electromagnetic valve to open so that the pump motor drives the boom body to retract through the boom cylinder.

[0019] The control module is configured to stop driving the second electromagnetic valve to open when the signal output by the second inductive switch is acquired, and drive the third electromagnetic valve to open so that the pump motor drives the main arm body to retract through the main arm cylinder.

[0020] The control module is specifically configured to stop driving the third electromagnetic valve to open when the signal output by the third inductive switch is acquired, and drive the fourth electromagnetic valve to open so that the pump motor drives the telescopic arm body to retract through the telescopic arm cylinder.

[0021] The control module is specifically configured to stop driving the fourth electromagnetic valve to open when the signal output by the fourth inductive switch is acquired, and drive the fifth electromagnetic valve to open so that the pump motor drives the boom body to retract through the boom cylinder.

[0022] Optionally, the first inductive switch, the second inductive switch, the third inductive switch and the fourth inductive switch each comprise an inductive proximity switch.

[0023] Optionally, the first inductive switch, the second inductive switch, the third inductive switch and the fourth inductive switch each comprise a reflective photoelectric switch.

[0024] Optionally, the one-key recovery switch comprises a self-resetting button switch.

[0025] Optionally, the pump motor comprises a motor controller, a motor and a gear pump.

[0026] The control module is electrically connected with the motor controller, and the motor controller is electrically connected with the motor.

[0027] The motor is coupled with the gear pump, and the motor drives the gear pump to generate oil pressure.

[0028] In a second aspect, an embodiment of the present application further provides a curved arm vehicle, which comprises the curved arm vehicle automatic return control system in the first aspect.

[0029] In a third aspect, an embodiment of the present application further provides a curved arm vehicle automatic return control method, which is applied to the curved arm vehicle automatic return control system in the first aspect. The curved arm vehicle automatic return control method comprises the following steps.

[0030] acquiring a one-key recovery instruction output by the one-key recovery switch;

[0031] stopping control of the driving motor driving the slewing mechanism to return when the signal output by the first sensing switch is acquired; and controlling the driving motor to drive the folding arm to retract;

[0032] acquiring a signal output by the second sensing switch;

[0033] stopping control of the driving motor driving the folding arm to retract when the signal output by the second sensing switch is acquired; and controlling the driving motor to drive the main arm to retract;

[0034] acquiring a signal output by the third sensing switch;

[0035] stopping control of the driving motor driving the main arm to retract when the signal output by the third sensing switch is acquired; and controlling the driving motor to drive the telescopic arm to retract;

[0036] acquiring a signal output by the fourth sensing switch;

[0037] stopping control of the driving motor driving the telescopic arm to retract when the signal output by the fourth sensing switch is acquired; and controlling the driving motor to drive the flying arm to retract.

[0038] Optionally, the driving motor comprises a pump motor;

[0039] the slewing mechanism comprises a first electromagnetic valve and a slewing unit; the folding arm comprises a folding arm body, a folding arm oil cylinder and a second electromagnetic valve; the main arm comprises a main arm body, a main arm oil cylinder, a third electromagnetic valve; the telescopic arm comprises a telescopic arm body, a telescopic arm oil cylinder, a fourth electromagnetic valve; and the flying arm comprises a flying arm body, a flying arm oil cylinder and a fifth electromagnetic valve;

[0040] an oil passage outlet of the pump motor is communicated with the slewing mechanism through the first electromagnetic valve, communicated with the folding arm oil cylinder through the second electromagnetic valve, communicated with the main arm oil cylinder through the third electromagnetic valve, communicated with the telescopic arm oil cylinder through the fourth electromagnetic valve, and communicated with the flying arm oil cylinder through the fifth electromagnetic valve;

[0041] stopping control of the driving motor driving the slewing mechanism to return; and controlling the driving motor to drive the folding arm to retract, comprises:

[0042] stopping driving the first electromagnetic valve to open, and driving the second electromagnetic valve to open so that the pump motor drives the flying arm body to retract through the folding arm oil cylinder;

[0043] Stop controlling the driving motor to drive the folding arm to retract, and controlling the driving motor to drive the main arm to retract, comprising:

[0044] Stop driving the second electromagnetic valve to open, and driving the third electromagnetic valve to open to make the pump motor drive the telescopic arm body to retract through the telescopic arm cylinder.

[0045] Optionally, stop controlling the driving motor to drive the main arm to retract, and controlling the driving motor to drive the telescopic arm to retract, comprising:

[0046] Stop driving the third electromagnetic valve to open, and driving the fourth electromagnetic valve to open to make the pump motor drive the telescopic arm body to retract through the telescopic arm cylinder.

[0047] Stop controlling the driving motor to drive the telescopic arm to retract, and controlling the driving motor to drive the telescopic arm to retract, comprising:

[0048] Stop driving the fourth electromagnetic valve to open, and driving the fifth electromagnetic valve to open to make the pump motor drive the telescopic arm body to retract through the telescopic arm cylinder.

[0049] In the embodiment of the application, when the control module acquires a one-key recovery instruction output by a one-key recovery switch, the control module controls the driving motor to drive the rotating mechanism to return; when the first sensing switch senses that the folding arm is aligned with the first receiving seat, the first sensing switch outputs a signal; when the control module acquires the signal output by the first sensing switch, the control module stops controlling the driving motor to drive the rotating mechanism to return, and controls the driving motor to drive the folding arm to retract; when the second sensing switch senses that the folding arm is on the first receiving seat, the second sensing switch outputs a signal; when the control module acquires the signal output by the second sensing switch, the control module stops controlling the driving motor to drive the folding arm to retract, and controls the driving motor to drive the main arm to retract; when the third sensing switch senses that the main arm is on the second receiving seat, the third sensing switch outputs a signal; when the control module acquires the signal output by the third sensing switch, the control module stops controlling the driving motor to drive the main arm to retract, and controls the driving motor to drive the telescopic arm to retract; when the fourth sensing switch senses that the telescopic arm is telescoped to the end of the main arm, the fourth sensing switch outputs a signal; when the control module acquires the signal output by the fourth sensing switch, the control module stops controlling the driving motor to drive the telescopic arm to retract, and controls the driving motor to drive the telescopic arm to retract; and thus the present application realizes one-key automatic return operation in the whole process, without manual intervention, improves the recovery efficiency, and avoids incomplete recovery or other misoperations. BRIEF DESCRIPTION OF DRAWINGS

[0050] Figure 1 is a structural schematic diagram of an automatic return control system of a curved arm vehicle provided by the embodiment of the application;

[0051] Figure 2This is a schematic diagram of the structure of a self-resetting push button switch provided in an embodiment of the present invention;

[0052] Figure 3 This is a schematic diagram of the boom assembly and turntable assembly in an automatic return control system for a boom lift truck provided in an embodiment of the present invention.

[0053] Figure 4 This is a flowchart illustrating an automatic return control method for a boom lift provided in an embodiment of the present invention;

[0054] Figure 5 This is a flowchart illustrating another automatic return control method for a boom lift provided in an embodiment of the present invention. Detailed Implementation

[0055] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, and not all of the structures.

[0056] Figure 1 This is a schematic diagram of the structure of an automatic return control system for a boom lift provided in an embodiment of the present invention, as shown below. Figure 1 As shown, the system includes: a boom lift body 10, a one-button retraction switch 20, and a control module 30; the boom lift body 10 includes a chassis assembly 11, a turntable assembly 12, and a boom assembly 13; a first receiving seat 111 and a first inductive switch 112 are provided on the chassis assembly 11; the turntable assembly 12 includes a drive motor 121 and a slewing mechanism 122; the boom assembly 13 includes a folding boom 131, a main boom 132, a telescopic boom 133, and a flying boom 134; a second receiving seat 113 is provided on the folding boom 131; a second inductive switch 114 is provided on the first receiving seat 111; a third inductive switch 115 is provided on the second receiving seat 113; and a fourth inductive switch 116 is provided at the end of the main boom 132.

[0057] The control module 30 is electrically connected to the drive motor 121 and the first inductive switch 112 (not shown in the figure). When the one-key recycling command output by the one-key recycling switch 10 is received, the control module 30 controls the drive motor 121 to drive the rotary mechanism 122 to return to its original position. The first inductive switch 112 is used to output a signal when it senses that the folding arm 131 is aligned with the first receiving seat 111 (i.e., the rotary mechanism 122 returns to its original position).

[0058] The control module 30 is electrically connected with the second induction switch 114 (not shown in the figure), for stopping controlling the driving motor 121 to drive the return mechanism 122 to return when the signal output by the first induction switch 112 is acquired; and controlling the driving motor 121 to drive the folding arm 131 to return; the second induction switch 114 is used for outputting a signal when the folding arm 131 is sensed on the first receiving seat 111;

[0059] The control module 30 is electrically connected with the third induction switch 115 (not shown in the figure), for stopping controlling the driving motor 121 to drive the folding arm 131 to return when the signal output by the second induction switch 114 is acquired; and controlling the driving motor 121 to drive the main arm 132 to return; the third induction switch 115 is used for outputting a signal when the main arm 132 is sensed on the second receiving seat 113;

[0060] The control module 30 is electrically connected with the fourth induction switch 116 (not shown in the figure), for stopping controlling the driving motor 121 to drive the main arm 132 to return when the signal output by the third induction switch 115 is acquired; and controlling the driving motor 121 to drive the telescopic arm 133 to return; the fourth induction switch 116 is used for outputting a signal when the telescopic arm 133 is sensed to be telescoped to the end of the main arm 132;

[0061] The control module 30 is used for stopping controlling the driving motor 121 to drive the telescopic arm 133 to return when the signal output by the fourth induction switch 116 is acquired; and controlling the driving motor 121 to drive the flying arm 134 to return.

[0062] The one-key recovery switch 10 can include different switch types such as a dial switch and a self-resetting button switch, and can be used to acquire the one-key recovery operation instruction of an operator; when the one-key recovery operation instruction of the operator is acquired, a one-key recovery instruction is outputted; for example, Figure 2 is a structural schematic diagram of a self-resetting button switch provided by the embodiment of the application; as shown in Figure 2 When the button is pressed, the spring 200 is compressed, the connecting rod 300 is moved downward, the normally closed contact 400 is disconnected, and the circuit in which the normally closed contact 400 is located is cut off; the normally open contact 500 is closed, the circuit in which the normally open contact 500 is located is connected, and a loop is formed; when the button 100 is released, the reset spring 200 is reset, the connecting rod 300 is also moved upward, the normally closed contact 400 is reset and closed, and the normally open contact 500 is reset and disconnected. The normally open contact 500 of the self-resetting button switch is connected in series between the power supply and the control module 30; pressing the button is equivalent to sending a high-level signal of a self-resetting program start to the control module 30, and the self-resetting program starts to be executed.

[0063] The first sensing switch 112, the second sensing switch 114, the third sensing switch 115 and the fourth sensing switch 116 can all be inductive proximity switches, or the first sensing switch 112, the second sensing switch 114, the third sensing switch 115 and the fourth sensing switch 116 can all be reflective photoelectric switches; each sensing switch can be used to sense whether each executing component (the rotating mechanism 122, the lower arm 131, the main arm 132, the telescopic arm 133 and the fly arm 134) on the curved arm vehicle is recovered to the position; the type of each sensing switch is not limited in the embodiment. Specifically, when the control module 30 obtains a one-key recovery instruction output by the one-key recovery switch 30, the control module 30 controls the driving motor 121 to drive the rotating mechanism 122 to return to the position; when the signal output by the first sensing switch 112 is obtained, the control module 30 stops controlling the driving motor 121 to drive the rotating mechanism 122 to return to the position; and controls the driving motor 121 to drive the lower arm 131 to be recovered; similarly, when the signal output by the second sensing switch 114 is obtained, the control module 30 stops controlling the driving motor 121 to drive the lower arm 131 to be recovered; and controls the driving motor 121 to drive the main arm 132 to be recovered; when the signal output by the third sensing switch 115 is obtained, the control module 30 stops controlling the driving motor 121 to drive the main arm 132 to be recovered; and controls the driving motor 121 to drive the telescopic arm 133 to be recovered; when the signal output by the fourth sensing switch 116 is obtained, the control module 30 stops controlling the driving motor 121 to drive the telescopic arm 133 to be recovered; and controls the driving motor 121 to drive the fly arm 134 to be recovered, so that the one-key full-process automatic return operation is realized, manual intervention is not needed, the recovery efficiency is improved, and the problems that the lower arm 131 cannot be lowered to the position, the main arm 132 cannot be lowered to the position, the telescopic arm 133 cannot be lowered to the position and the fly arm 134 cannot be lowered to the position are avoided.

[0064] In addition, it should be noted that, compared with the continuous operation of the handle by the operator and the continuous execution of the rotation, the lower arm falling and other operations of the curved arm vehicle in the prior art, the embodiment considers that the arms of the curved arm vehicle will affect each other, and the falling of each arm is sequentially completed after the rotation is executed, so that the problems that the lower arm 131 cannot be lowered to the position, the main arm 132 cannot be lowered to the position, the telescopic arm 133 cannot be lowered to the position and the fly arm 134 cannot be lowered to the position are avoided, the shielding problem in the falling process of each arm is avoided, and the recovery precision of the curved arm vehicle is improved.

[0065] Optionally, on the basis of the above-mentioned embodiment, the driving process of the driving motor driving the rotating mechanism 122, the lower arm 131, the main arm 132, the telescopic arm 133 and the fly arm 134 is further refined, Figure 3 is a specific structure diagram of the arm support assembly and the rotating table assembly in the curved arm vehicle automatic return control system provided by the embodiment of the present application, like Figure 3As shown, the driving motor 121 comprises a pump motor 1211; the slewing mechanism 122 comprises a first electromagnetic valve Y1, a slewing mechanism oil cylinder and a slewing unit; the folding arm 131 comprises a folding arm body, a folding arm oil cylinder and a second electromagnetic valve Y2; the main arm 132 comprises a main arm body, a main arm oil cylinder and a third electromagnetic valve Y3; the telescopic arm 133 comprises a telescopic arm body, a telescopic arm oil cylinder and a fourth electromagnetic valve Y4; the fly arm 134 comprises a fly arm body, a fly arm oil cylinder and a fifth electromagnetic valve Y5; the control module 30 is electrically connected with the pump motor 1211; the oil outlet of the pump motor 1211 is communicated with the slewing mechanism oil cylinder through the first electromagnetic valve Y1, communicated with the folding arm oil cylinder through the second electromagnetic valve Y2, communicated with the main arm oil cylinder through the third electromagnetic valve Y3, communicated with the telescopic arm oil cylinder through the fourth electromagnetic valve Y4 and communicated with the fly arm oil cylinder through the fifth electromagnetic valve Y5; the control module 30 is electrically connected with the first electromagnetic valve Y1, the second electromagnetic valve Y2, the third electromagnetic valve Y2, the fourth electromagnetic valve Y4 and the fifth electromagnetic valve Y5;

[0066] Wherein, referring to Figure 3 In the scheme, the driving motor 121 comprises a pump motor 1211; the pump motor 1211 comprises a motor controller 1211-1, a motor 1211-2 and a gear pump 1211-3; the control module 30 is electrically connected with the motor controller 1211-1; the motor controller 1211-1 is electrically connected with the motor 1211-2; the motor 1211-2 is coupled with the gear pump 1211-3; in this way, when the control module 30 acquires the one-key recovery instruction output by the one-key recovery switch 10, the motor controller 1211-1 is started to work, so that the motor controller 1211-1 drives the motor 1211-2 to work to make the motor 1211-2 drive the gear pump 1211-3 to generate oil pressure; the oil outlet of the pump motor 1211 is communicated with the slewing mechanism oil cylinder through the first electromagnetic valve Y1, communicated with the folding arm oil cylinder through the second electromagnetic valve Y2, communicated with the main arm oil cylinder through the third electromagnetic valve Y3, communicated with the telescopic arm oil cylinder through the fourth electromagnetic valve Y4 and communicated with the fly arm oil cylinder through the fifth electromagnetic valve Y5; so that the pump motor 1211 drives each execution component of the slewing mechanism 122, the folding arm 131, the main arm 132, the telescopic arm 133 and the fly arm 134 through the first electromagnetic valve Y1, the second electromagnetic valve Y2, the third electromagnetic valve Y2, the fourth electromagnetic valve Y4 and the fifth electromagnetic valve Y5 through the hydraulic drive mode;

[0067] Specifically, the control module 30 controls the pump motor 1211 to work and drives the first electromagnetic valve Y1 to open to make the pump motor 1211 drive the rotary unit to return to the original position through the rotary mechanism oil cylinder when the one-key recovery instruction output by the one-key recovery switch 10 is acquired; the control module 30 specifically stops driving the first electromagnetic valve Y1 to open and drives the second electromagnetic valve Y2 to open to make the pump motor 1211 drive the fly arm body to return to the original position through the folding arm oil cylinder when the signal output by the first sensing switch 112 is acquired; the control module 30 is used for stopping driving the second electromagnetic valve Y2 to open and driving the third electromagnetic valve Y3 to open to make the pump motor 1211 drive the main arm body to return to the original position through the main arm oil cylinder when the signal output by the second sensing switch 114 is acquired; the third sensing switch 115 is used for sensing whether the main arm body is on the second receiving seat 113; the control module 30 is specifically used for stopping driving the third electromagnetic valve Y3 to open and driving the fourth electromagnetic valve Y4 to open to make the pump motor 1211 drive the telescopic arm body to return to the original position through the telescopic arm oil cylinder when the signal output by the third sensing switch 115 is acquired; the fourth sensing switch 116 is used for sensing whether the telescopic arm body is telescoped to the starting point; the control module 30 is specifically used for stopping driving the fourth electromagnetic valve Y4 to open and driving the fifth electromagnetic valve Y5 to open to make the pump motor 1211 drive the fly arm body to return to the original position through the fly arm oil cylinder when the signal output by the fourth sensing switch 116 is acquired; thus, the one-key hydraulic automatic return operation is realized, manual intervention is not needed, the efficiency of recovery is improved, and the recovery is not out of position or other misoperations are avoided.

[0068] Based on the same inventive concept, the embodiment of the present application also provides a curved arm vehicle, which comprises the curved arm vehicle automatic return control system described in the above embodiment, and has the beneficial effects of the above embodiment, which will not be repeated here.

[0069] Based on the same inventive concept, the embodiment of the present application also provides a curved arm vehicle automatic return control method, which is applied to the curved arm vehicle automatic return control system described in the above embodiment. Figure 4 It is a flowchart of the curved arm vehicle automatic return control method provided by the embodiment of the present application; as shown in the figure, Figure 4 the curved arm vehicle automatic return control method comprises the following steps:

[0070] S110, acquiring the one-key recovery instruction output by the one-key recovery switch;

[0071] S120, stopping the control of the driving motor to drive the rotary mechanism to return to the original position when the signal output by the first sensing switch is acquired; and controlling the driving motor to drive the folding arm to return to the original position;

[0072] S130, acquiring the signal output by the second sensing switch;

[0073] S140, stop controlling the driving motor to drive the folding arm to retract when the signal output by the second inductive switch is acquired; and control the driving motor to drive the main arm to retract;

[0074] S150, acquire the signal output by the third inductive switch;

[0075] S160, stop controlling the driving motor to drive the main arm to retract when the signal output by the third inductive switch is acquired; and control the driving motor to drive the telescopic arm to retract;

[0076] S170, acquire the signal output by the fourth inductive switch;

[0077] S180, stop controlling the driving motor to drive the telescopic arm to retract when the signal output by the fourth inductive switch is acquired; and control the driving motor to drive the flying arm to retract.

[0078] The scheme realizes one-key full-process automatic return operation without manual intervention, improves the return efficiency, and avoids incomplete return or other misoperations; compared with the continuous operation of the handle by the operator, the continuous execution of the turning of the articulated truck, and the falling of the arms in the prior art, the scheme considers the mutual influence between the arms of the articulated truck, independently and sequentially completes the falling of the arms after the turning is executed, avoids the blocking problem in the falling process of the arms, and improves the return precision of the articulated truck.

[0079] Optionally, the above embodiment is further refined, and the method is applied to Figure 3 the articulated truck automatic return control system in the embodiment, referring to Figure 3 the driving motor 121 includes a pump motor 1211; the turning mechanism 122 includes a first electromagnetic valve Y1, a turning mechanism oil cylinder, and a turning unit; the folding arm 132 includes a folding arm body, a folding arm oil cylinder, and a second electromagnetic valve Y2; the main arm 133 includes a main arm body, a main arm oil cylinder, and a third electromagnetic valve Y3; the telescopic arm 134 includes a telescopic arm body, a telescopic arm oil cylinder, and a fourth electromagnetic valve Y4; the flying arm 135 includes a flying arm body, a flying arm oil cylinder, and a fifth electromagnetic valve Y5; the oil outlet of the pump motor 1211 is communicated with the turning mechanism oil cylinder through the first electromagnetic valve Y1, communicated with the folding arm oil cylinder through the second electromagnetic valve Y2, communicated with the main arm oil cylinder through the third electromagnetic valve Y3, communicated with the telescopic arm oil cylinder through the fourth electromagnetic valve Y4, and communicated with the flying arm oil cylinder through the fifth electromagnetic valve Y5; based on the articulated truck automatic return control system, the embodiment provides another articulated truck automatic return control method; Figure 5 is another articulated truck automatic return control method provided by the embodiment of the present application, as shown in Figure 5 the method includes the following steps:

[0080] S210, acquire the one-key recovery instruction output by the one-key recovery switch;

[0081] S220, stop driving the first electromagnetic valve to open when the signal output by the first induction switch is acquired, and drive the second electromagnetic valve to open to make the pump motor drive the boom body to retract through the folding arm oil cylinder;

[0082] S230, acquire the signal output by the second induction switch;

[0083] S240, stop driving the second electromagnetic valve to open when the signal output by the second induction switch is acquired, and drive the third electromagnetic valve to open to make the pump motor drive the telescopic arm body to retract through the telescopic arm oil cylinder;

[0084] S250, acquire the signal output by the third induction switch;

[0085] S260, stop driving the third electromagnetic valve to open when the signal output by the third induction switch is acquired, and drive the fourth electromagnetic valve to open to make the pump motor drive the boom body to retract through the boom oil cylinder;

[0086] S270, acquire the signal output by the fourth induction switch;

[0087] S280, stop driving the third electromagnetic valve to open when the signal output by the fourth induction switch is acquired, and drive the fourth electromagnetic valve to open to make the pump motor drive the boom body to retract through the boom oil cylinder.

[0088] The scheme is based on that the pump motor 1211 drives each execution component of the slewing mechanism 122, the folding arm 131, the main arm 132, the telescopic arm 133 and the boom 134 through the first electromagnetic valve Y1, the second electromagnetic valve Y2, the third electromagnetic valve Y2, the fourth electromagnetic valve Y4 and the fifth electromagnetic valve Y5 in a hydraulic drive mode, realizes one-key hydraulic automatic return operation, does not need manual intervention, improves the efficiency of recovery, and avoids incomplete recovery or other misoperations.

[0089] Note that the above is only the preferred embodiment of the present application and the technical principle applied. Those skilled in the art will understand that the present application is not limited to the specific embodiments described herein, and those skilled in the art can make various obvious changes, readjustments and substitutions without departing from the scope of the present application. Therefore, although the present application has been described in more detail through the above embodiments, the present application is not limited to the above embodiments, and can include more other equivalent embodiments without departing from the concept of the present application, and the scope of the present application is determined by the scope of the appended claims.

Claims

1. An automatic return control system for a boom lift truck, characterized in that, include: The boom lift truck body, a one-button retraction switch, and a control module are included. The boom lift truck body comprises a chassis assembly, a turntable assembly, a boom assembly, and a platform assembly. A first receiving seat and a first inductive switch are provided on the chassis assembly. The turntable assembly includes a drive motor and a slewing mechanism. The boom assembly includes a folding boom, a main boom, a telescopic boom, and a flying boom. A second receiving seat is provided on the folding boom. A second inductive switch is provided on the first receiving seat. A third inductive switch is provided on the second receiving seat. A fourth inductive switch is provided at the end of the main boom. The control module is electrically connected to the drive motor and the first inductive switch, and is used to control the drive motor to drive the rotary mechanism to return to its original position when a one-key recycling command is received from the one-key recycling switch; the first inductive switch is used to output a signal when it senses that the folding arm is aligned with the first receiving seat. The control module is electrically connected to the second inductive switch and is used to stop controlling the drive motor to drive the rotary mechanism to return to its original position when the signal output by the first inductive switch is received; and to control the drive motor to drive the folding arm to retract; the second inductive switch is used to output a signal when it senses that the folding arm is on the first support. The control module is electrically connected to the third inductive switch and is used to stop controlling the drive motor to drive the folding arm retraction action when the signal output by the second inductive switch is obtained; and to control the drive motor to drive the main arm retraction action; the third inductive switch is used to output a signal when it senses that the main arm is on the second support seat; The control module is electrically connected to the fourth inductive switch and is used to stop controlling the drive motor to retract the main arm when the signal output by the third inductive switch is received; and to control the drive motor to retract the telescopic arm; the fourth inductive switch is used to output a signal when it senses that the telescopic arm has extended to the end of the main arm; The control module is used to stop controlling the drive motor to retract the telescopic arm when it receives the signal output by the fourth inductive switch; and to control the drive motor to retract the flying arm.

2. The automatic return control system for the boom lift truck according to claim 1, characterized in that, The drive motor includes a pump motor; the rotary mechanism includes a first solenoid valve, a rotary mechanism cylinder, and a rotary unit. The articulated arm includes an articulated arm body, an articulated arm cylinder, and a second solenoid valve; The main boom includes the main boom body, the main boom cylinder and the third solenoid valve; The telescopic boom includes a telescopic boom body, a telescopic boom cylinder, and a fourth solenoid valve. The boom includes a boom body, a boom cylinder, and a fifth solenoid valve; The control module is electrically connected to the pump motor; the oil outlet of the pump motor is connected to the rotary mechanism cylinder through the first solenoid valve; it is connected to the folding arm cylinder through the second solenoid valve; it is connected to the main boom cylinder through the third solenoid valve; it is connected to the telescopic boom cylinder through the fourth solenoid valve; and it is connected to the flying boom cylinder through the fifth solenoid valve; the control module is electrically connected to the first, second, third, fourth, and fifth solenoid valves. The control module is specifically used to control the pump motor to work and drive the first solenoid valve to open when it receives the one-key recycling command output by the one-key recycling switch, so that the pump motor drives the rotary mechanism to return to its original position through the rotary mechanism cylinder. The control module is specifically used to stop driving the first solenoid valve to open when it receives the signal output by the first inductive switch, and to drive the second solenoid valve to open so that the pump motor drives the boom body to retract through the folding arm cylinder. The control module is used to stop driving the second solenoid valve to open when it receives the signal output by the second inductive switch, and to drive the third solenoid valve to open so that the pump motor drives the main boom body to retract through the main boom cylinder; the third inductive switch is used to sense whether the main boom body is on the second support seat; The control module is specifically used to stop driving the third solenoid valve to open when it receives the signal output by the third inductive switch, and to drive the fourth solenoid valve to open so that the pump motor drives the telescopic arm body to retract through the telescopic arm cylinder; the fourth inductive switch is used to sense whether the telescopic arm body has extended to the starting point. The control module is specifically used to stop driving the fourth solenoid valve to open when it receives the signal output by the fourth inductive switch, and to drive the fifth solenoid valve to open so that the pump motor drives the flying arm body to retract through the flying arm cylinder.

3. The automatic return control system for the boom lift truck according to claim 1, characterized in that, The first inductive switch, the second inductive switch, the third inductive switch, and the fourth inductive switch all include inductive proximity switches.

4. The automatic return control system for the boom lift truck according to claim 1, characterized in that, The first inductive switch, the second inductive switch, the third inductive switch, and the fourth inductive switch all include reflective photoelectric switches.

5. The automatic return control system for the boom lift truck according to claim 1, characterized in that, The one-button recycling switch includes a self-reset button switch.

6. The automatic return control system for the boom lift truck according to claim 2, characterized in that, The pump motor includes a motor controller, a motor, and a gear pump; The control module is electrically connected to the motor controller; the motor controller is electrically connected to the motor. The motor is coupled to the gear pump; the motor drives the gear pump to generate oil pressure.

7. A boom lift truck, characterized in that, The automatic return control system for the boom lift truck as described in any one of claims 1-6 above.

8. A method for automatic return control of a boom lift, characterized in that, The automatic return control system for the boom lift truck as described in any one of claims 1-6 is applied; the automatic return control method for the boom lift truck includes: Obtain the one-click recycling command output by the one-click recycling switch; When the signal output by the first inductive switch is received, the control of the drive motor to drive the rotary mechanism to return to its original position is stopped; and the drive motor is controlled to drive the folding arm to retract. Obtain the signal output by the second inductive switch; When the signal output by the second inductive switch is received, the control of the drive motor to drive the folding arm retraction action is stopped; and the drive motor is controlled to drive the main arm retraction action. Obtain the signal output by the third inductive switch; When the signal output by the third inductive switch is received, the control of the drive motor to drive the main arm to retract is stopped; and the drive motor to drive the telescopic arm to retract is controlled. Obtain the signal output by the fourth inductive switch; When the signal output by the fourth inductive switch is received, the control of the drive motor to retract the telescopic arm is stopped; and the drive motor is controlled to retract the flying arm.

9. The automatic return control method for a boom lift according to claim 8, characterized in that, The drive motor includes a pump motor; The slewing mechanism includes a first solenoid valve, a slewing mechanism cylinder, and a slewing unit; the folding arm includes a folding arm body, a folding arm cylinder, and a second solenoid valve; the main arm includes a main arm body, a main arm cylinder, and a third solenoid valve; the telescopic arm includes a telescopic arm body, a telescopic arm cylinder, and a fourth solenoid valve; the flying arm includes a flying arm body, a flying arm cylinder, and a fifth solenoid valve. The oil outlet of the pump motor is connected to the rotary mechanism cylinder through the first solenoid valve; to the folding arm cylinder through the second solenoid valve; to the main boom cylinder through the third solenoid valve; to the telescopic boom cylinder through the fourth solenoid valve; and to the flying boom cylinder through the fifth solenoid valve. Stop controlling the drive motor to drive the rotary mechanism to return to its original position; and control the drive motor to drive the folding arm to retract, including: Stop driving the first solenoid valve to open, and drive the second solenoid valve to open so that the pump motor drives the articulated arm body to retract through the articulated arm cylinder; Stop controlling the drive motor to retract the folding arm; and control the drive motor to retract the main arm, including: Stop driving the second solenoid valve to open, and drive the third solenoid valve to open so that the pump motor drives the main boom body to retract via the main boom cylinder.

10. The automatic return control method for a boom lift according to claim 9, characterized in that, Stop controlling the drive motor to retract the main arm; and control the drive motor to retract the telescopic arm; including: Stop driving the third solenoid valve to open, and drive the fourth solenoid valve to open so that the pump motor drives the telescopic arm body to retract through the telescopic arm cylinder; Stop controlling the drive motor to retract the telescopic arm; and control the drive motor to retract the flying arm, including: Stop driving the fourth solenoid valve to open, and drive the fifth solenoid valve to open so that the pump motor drives the flying arm body to retract via the flying arm cylinder.

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