Self-moving tail, control method and control device thereof and readable storage medium

Abstract

The invention provides a self-moving tail, a control method and device thereof and a readable storage medium. The self-moving machine tail comprises a sliding rail, a machine frame, a first oil cylinder assembly, a first sensor assembly, a second oil cylinder assembly and a control assembly. The rack is located on one side of the sliding rail and can move relative to the sliding rail. The first oil cylinder assembly comprises a first cylinder body and a first piston, and the first piston can move between a first position and a second position relative to the first cylinder body; the first sensor assembly is arranged on the first oil cylinder assembly and can detect a first operation parameter when the first piston moves from the first position to the second position. The second oil cylinder assembly comprises a second cylinder body and a second piston, and the second piston can move between a third position and a fourth position relative to the second cylinder body; the control assembly is arranged on the rack and can control the second piston to move from the third position to the fourth position according to the first operation parameter. It can be determined that the first oil cylinder assembly drives the rack to move to the preset position, and misoperation is avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of coal mining machinery, and in particular to a self-moving machine tail and a control method and control device thereof, and a readable storage medium. Background Art

[0002] At present, in the relevant technology, the self-moving tail is a mobile device for the comprehensive mining and excavation working face of a coal mine, and is mainly used in conjunction with a belt conveyor and a transfer machine. When the self-moving tail moves forward, it is necessary to lift the frame through the lifting cylinder, and then push the frame relative to the slide rail through the push cylinder to realize the movement of the self-moving tail. However, during the movement, the operator is required to judge whether the lifting cylinder has moved into place and then control the push cylinder to open. Therefore, it is difficult to accurately judge the movement of the lifting cylinder manually, which leads to misoperation. Summary of the invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art or related art.

[0004] To this end, a first aspect of the present invention provides a self-moving tail.

[0005] A second aspect of the present invention provides a control method for self-moving tail.

[0006] A third aspect of the present invention provides a control device for self-moving the tail of an aircraft.

[0007] A fourth aspect of the present invention provides a readable storage medium.

[0008] In view of this, the first aspect of the present invention provides a self-moving tail, including a slide rail, a frame, a first oil cylinder assembly, a first sensor assembly, a second oil cylinder assembly and a control assembly. The frame is located on one side of the slide rail and can move relative to the slide rail; the first oil cylinder assembly includes a first cylinder body and a first piston, the first cylinder body is connected to the frame, at least part of the first piston is located in the first cylinder body, one end of the first piston away from the frame abuts against the slide rail, and the first piston can move between a first position and a second position relative to the first cylinder body; the first sensor assembly is arranged in the first oil cylinder assembly, and can detect a first operating parameter when the first piston moves from the first position to the second position; the second oil cylinder assembly includes a second cylinder body and a second piston, the second cylinder body is connected to the frame, at least part of the second piston is located in the second cylinder body, one end of the second piston away from the frame is connected to the slide rail, and the second piston can move between a third position and a fourth position relative to the second cylinder body; the control assembly is arranged in the frame, and can control the second piston to move from the third position to the fourth position according to the first operating parameter.

[0009] In this technical solution, the self-moving tail includes a slide rail, a frame, a first oil cylinder assembly, a first sensor assembly, a second oil cylinder assembly and a control assembly. The frame is located on one side of the slide rail and can move relative to the slide rail. The movement of the self-moving tail is achieved through the cooperation between the frame and the slide rail. The first oil cylinder assembly includes a first cylinder body and a first piston. The first cylinder body is connected to the frame. At least part of the first piston is located in the first cylinder body. One end of the first piston away from the frame abuts against the slide rail to achieve the installation of the first cylinder body and the first piston. The first piston can move between a first position and a second position relative to the first cylinder body, so that the first oil cylinder assembly can drive the frame away from or slide the rail. The first sensor assembly is arranged on the first oil cylinder assembly, and can detect the first operating parameter when the first piston moves from the first position to the second position, so as to achieve the installation of the first sensor assembly, so that the first sensor assembly can detect the first operating parameter when the first piston moves from the retracted position to the fully extended position, so as to confirm the position of the first piston extending to the full stroke through the first sensor assembly. The second cylinder assembly includes a second cylinder body and a second piston. The second cylinder body is connected to the frame. At least part of the second piston is located in the second cylinder body. The end of the second piston away from the frame is connected to the slide rail to achieve the installation of the second cylinder body and the second piston. The second piston can move between a third position and a fourth position relative to the second cylinder body, so that the piston can drive the slide rail to move relative to the frame, so that the slide rail can provide a stable moving path for the frame, ensuring that the frame can always move along a predetermined direction on the slide rail, and the second cylinder assembly pushes the slide rail to move in a way that the self-moving tail can move forward quickly and accurately to meet the propulsion requirements of the working surface. The control assembly is arranged on the frame to achieve the installation of the control assembly. The control assembly can control the second piston to move from the third position to the fourth position according to the first operating parameter to achieve the driving of the second piston. The present application utilizes a first sensor assembly to detect a first operating parameter when the first piston moves from a first position to a second position, so that the first sensor assembly can be used to confirm whether the first piston is extended to a full stroke, so as to determine that the first cylinder assembly lifts the frame to a predetermined position, and then controls the second piston to move from a third position to a fourth position, so that the second cylinder assembly can push the frame to move relative to the slide rail to achieve movement of the self-moving tail. Therefore, by utilizing the first sensor assembly to detect the movement stroke of the first cylinder assembly, and then controlling the movement mode of the second cylinder assembly, it is possible to accurately determine that the first cylinder assembly drives the frame to move to a predetermined position, and then control the movement of the slide rail, thereby avoiding misoperation of the self-moving tail operation and improving the safety of the self-moving tail operation.

[0010] In addition, the self-moving tail in the above technical solution provided by the present invention may also have the following additional technical features:

[0011] In one technical solution of the present invention, optionally, the self-moving tail also includes a second sensor assembly, which is arranged on the second cylinder assembly and can detect a second operating parameter when the second piston moves from a third position to a fourth position, and the control assembly can control the first piston to move from the second position to the first position according to the second operating parameter; the first sensor assembly can also detect a third operating parameter when the first piston moves from the second position to the first position, and the control assembly can control the second piston to move from the fourth position to the third position according to the third operating parameter.

[0012] In this technical solution, the self-moving tail also includes a second sensor assembly, which is arranged on the second cylinder assembly to realize the installation of the second sensor assembly. The second sensor assembly can detect the second operating parameter when the second piston moves from the third position to the fourth position, so that the second sensor assembly can detect the extension stroke of the second piston, thereby determining the position where the second cylinder assembly extends. The control assembly can control the first piston to move from the second position to the first position according to the second operating parameter, so that after the second piston moves to the preset position, the first cylinder assembly is controlled to drive the frame to move in the direction of the slide rail. The first sensor assembly can also detect a third operating parameter when the first piston moves from the second position to the first position, that is, the first sensor assembly can be used to confirm whether the first cylinder assembly has retracted to a predetermined position, thereby determining that the frame has moved to a predetermined position in a direction close to the slide rail, and the control assembly can control the second piston to move from a fourth position to a third position according to the third operating parameter, that is, after the frame descends to a predetermined position, control the second cylinder assembly to drive the slide rail to move along the length direction of the frame to achieve the sequential step-by-step movement of the self-moving tail, so that the frame can always move on the slide rail. Therefore, by setting the second sensor assembly, the position of the second cylinder assembly extended or retracted can be fed back in real time, thereby realizing the detection of the movement of the first cylinder assembly and the second cylinder assembly, and improving the accuracy of detecting whether the first cylinder assembly and the second cylinder assembly have moved to the predetermined position.

[0013] In a technical solution of the present invention, optionally, the self-moving tail also includes a first valve assembly; the first oil cylinder assembly also includes a first pipeline and a second pipeline. One end of the first pipeline is connected to the first valve assembly, and the other end of the first pipeline is connected to the first oil cylinder assembly; one end of the second pipeline is connected to the first valve assembly, and the other end of the second pipeline is connected to the first oil cylinder assembly, the first hydraulic oil can flow between the first pipeline and the second pipeline, the first valve assembly can change the flow direction of the first hydraulic oil, and the first sensor assembly is arranged in the first pipeline or the second pipeline.

[0014] In this technical solution, the self-moving tail also includes a first valve assembly; the first cylinder assembly also includes a first pipeline and a second pipeline. One end of the first pipeline is connected to the first valve assembly, and the other end of the first pipeline is connected to the first cylinder assembly to achieve the installation and fixation of the first pipeline. One end of the second pipeline is connected to the first valve assembly, and the other end of the second pipeline is connected to the first cylinder assembly to achieve the installation and fixation of the second pipeline. The first hydraulic oil can flow between the first pipeline and the second pipeline. When the first hydraulic oil flows, the first cylinder assembly can be driven so that the first piston can move between the first position and the second position, thereby driving the frame to move closer to or away from the slide rail. The first valve assembly can change the flow direction of the first hydraulic oil. When the first hydraulic oil flows in different directions, it can drive the first piston to move in different directions to achieve the extension or contraction of the piston relative to the first cylinder body. The first sensor component is arranged in the first pipeline or the second pipeline, that is, the first sensor component can detect the pressure in the first pipeline or the second pipeline. When the first piston extends to a predetermined position or contracts to a predetermined position relative to the first cylinder body, the pressure value in the first pipeline or the second pipeline will reach a predetermined value. Therefore, by detecting the pressure in the pipeline, it can be determined whether the first piston moves to the predetermined position.

[0015] In a technical solution of the present invention, the self-moving machine tail further comprises a second valve assembly; the second oil cylinder assembly further comprises a third pipeline and a fourth pipeline. One end of the third pipeline is connected to the second valve assembly, and the other end of the third pipeline is connected to the second oil cylinder assembly; one end of the fourth pipeline is connected to the second valve assembly, and the other end of the fourth pipeline is connected to the second oil cylinder assembly, the second hydraulic oil can flow between the third pipeline and the fourth pipeline, and the second valve assembly can change the flow direction of the second hydraulic oil.

[0016] In this technical solution, the self-moving tail also includes a second valve assembly; the second cylinder assembly also includes a third pipeline and a fourth pipeline. One end of the third pipeline is connected to the second valve assembly, and the other end of the third pipeline is connected to the second cylinder assembly to achieve the installation and fixation of the third pipeline. One end of the fourth pipeline is connected to the second valve assembly, and the other end of the fourth pipeline is connected to the second cylinder assembly to achieve the installation and fixation of the fourth pipeline. The second hydraulic oil can flow between the third pipeline and the fourth pipeline. When the second hydraulic oil flows, the second cylinder assembly can be driven so that the second piston can move between the third position and the fourth position, so that the second cylinder assembly can push the frame to move relative to the slide rail, or the second cylinder assembly drives the slide rail to move relative to the frame along the length direction of the frame.

[0017] In one technical solution of the present invention, optionally, the number of first cylinder assemblies is two groups, and the two groups of first cylinder assemblies are respectively arranged on both sides of the frame along the length direction; the number of slide rails is two, and the two slide rails are respectively arranged corresponding to the two groups of first cylinder assemblies; the number of second cylinder assemblies is two groups, and the two groups of second cylinder assemblies are respectively arranged corresponding to the two slide rails.

[0018] In this technical solution, there are two groups of first cylinder assemblies, which are respectively arranged on both sides of the frame along the length direction to realize the arrangement of the two groups of first cylinder assemblies, so that the two groups of first cylinder assemblies can drive the frame at the same time, thereby improving the efficiency of driving the frame, and further improving the movement efficiency of the self-moving tail. There are two slide rails, which are respectively arranged corresponding to the two groups of first cylinder assemblies to realize the arrangement of the two slide rails, so that the two groups of first cylinder assemblies can move on the two slide rails. There are two groups of second cylinder assemblies, which are respectively arranged corresponding to the two slide rails to realize the arrangement of the two groups of second cylinder assemblies, so that the two groups of second cylinder assemblies can drive the slide rails or the frame, thereby improving the operation efficiency of the self-moving tail.

[0019] A second aspect of the present invention provides a control method for a self-moving tail, comprising: obtaining a start instruction for the self-moving tail; controlling a first piston to move from a first position to a second position according to the start instruction; controlling a first sensor component to obtain a first operating parameter of the first piston when the first piston moves to the second position; and controlling the second piston to move from a third position to a fourth position according to the first operating parameter.

[0020] In this technical solution, a start instruction of the self-moving tail is obtained, so that the self-moving tail can be activated and the self-moving tail is in working state. According to the start instruction, the first piston is controlled to move from the first position to the second position, so that the first piston can move from the retracted position to the position where the first cylinder body is fully extended, and then the first oil cylinder assembly can drive the frame to move in the direction away from the slide rail to lift the position of the frame. When the first piston moves to the second position, the first sensor assembly is controlled to obtain the first operating parameter of the first piston. After the frame is lifted, by obtaining the position of the frame, it can be confirmed that the first piston is extended to the full stroke position, that is, it can be confirmed that the frame is lifted to the predetermined position. According to the first operating parameter, the control assembly controls the second piston to move from the third position to the fourth position. After the frame is lifted to the predetermined position, the second piston is controlled to move, so that through the movement of the second piston, the second piston can drive the slide rail to move relative to the frame, so that the slide rail can provide a stable moving path for the frame, ensuring that the frame can always move along the predetermined direction on the slide rail, and the second oil cylinder assembly drives the slide rail to move in a way that the self-moving tail can move forward quickly and accurately to meet the propulsion requirements of the working surface. The present application detects the first operating parameter when the first piston moves from the first position to the second position, thereby confirming whether the first piston is extended to the full stroke, so as to determine that the first cylinder assembly lifts the frame to a predetermined position, and then controls the second piston to move from the third position to the fourth position, so that the second cylinder assembly can push the frame to move relative to the slide rail to achieve the movement of the self-moving tail. Therefore, by detecting the movement stroke of the first cylinder assembly and then controlling the movement mode of the second cylinder assembly, it is possible to accurately determine that the first cylinder assembly drives the frame to move to the predetermined position, and then control the movement of the slide rail, thereby avoiding misoperation of the self-moving tail operation and improving the safety of the self-moving tail operation.

[0021] In one technical solution of the present invention, optionally, after the control component controls the second piston to move from the third position to the fourth position according to the first operating parameter, the control method for self-moving the tail also includes: when the second piston moves to the fourth position, controlling the second sensor component to obtain the second operating parameter of the second piston; the control component controls the first piston to move from the second position to the first position according to the second operating parameter; when the first piston moves to the first position, controlling the first sensor component to obtain the third operating parameter of the first piston; the control component controls the second piston to move from the fourth position to the third position according to the third operating parameter.

[0022] In this technical solution, after the second cylinder assembly drives the frame to move a predetermined distance on the slide rail through the second piston, when the second piston moves to the fourth position, the second sensor assembly is controlled to obtain the second operating parameter of the second piston, so that the extension stroke of the second piston can be detected, so that it can be determined that the second cylinder assembly is extended to the predetermined position. The control assembly controls the first piston to move from the second position to the first position according to the second operating parameter, and after the second cylinder assembly is extended to the predetermined position, the first cylinder assembly can drive the frame to move in the direction of the slide rail by controlling the movement of the first piston, so that the position of the frame can be lowered. When the first piston moves to the first position, the first sensor assembly is controlled to obtain the third operating parameter of the first piston, so that it can be determined whether the first piston moves to the retracted position, and then determine whether the frame is lowered to the predetermined position. The control assembly controls the second piston to move from the fourth position to the third position according to the third operating parameter, and when the frame is lowered to the predetermined position, the second piston is controlled to move, so that the second piston can drive the slide rail to move relative to the frame along the length direction of the frame, so as to realize the sequential stepping movement of the self-moving tail, so that the frame can always move on the slide rail,

[0023] In one technical solution of the present invention, optionally, controlling the first sensor component to obtain the first operating parameter of the first piston includes: controlling the first sensor component to detect the distance of movement of the first piston, or controlling the first sensor component to detect the pressure in the first pipeline or the second pipeline.

[0024] In this technical solution, the first sensor assembly is controlled to detect the distance of movement of the first piston. The first operating parameter can be detected by utilizing the first sensor assembly to detect the distance of movement of the first piston, so that it can be determined whether the first piston extends to a predetermined position by utilizing the distance of movement of the first piston. The first sensor assembly is controlled to detect the pressure in the first pipeline or the second pipeline, that is, the first sensor assembly is a pressure sensor. Since the first piston of the first oil cylinder assembly is driven by utilizing the first hydraulic oil flowing in the first pipeline and the second pipeline, it can be determined whether the first piston moves to a predetermined position by detecting the pressure in the first pipeline or the second pipeline, thereby realizing the detection of whether the first piston moves to the second position.

[0025] The third aspect of the present invention provides a control device for self-moving tail, comprising a memory and a processor, wherein the memory stores a program or instruction that can be run on the processor, and when the program or instruction is executed by the processor, the steps of the control method for self-moving tail in any of the above technical solutions are implemented. Therefore, the control device for self-moving tail has all the beneficial effects of the control method for self-moving tail, which will not be described in detail here.

[0026] The fourth aspect of the present invention provides a readable storage medium on which a program or instruction is stored. When the program or instruction is executed by a processor, the steps of the control method for moving the tail of the machine in any of the above technical solutions are implemented. Therefore, the readable storage medium has all the beneficial effects of the control method for moving the tail of the machine, which will not be repeated here.

[0027] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0029] Figure 1 One of the schematic diagrams of a self-moving tail of an aircraft according to an embodiment of the present invention is shown;

[0030] Figure 2 A second schematic diagram of a self-moving tail of an aircraft according to an embodiment of the present invention is shown;

[0031] Figure 3 A third schematic diagram of a self-moving tail according to an embodiment of the present invention is shown;

[0032] Figure 4 A fourth schematic diagram of a self-moving tail according to an embodiment of the present invention is shown;

[0033] Figure 5 for Figure 1 The partial schematic diagram of the self-moving tail at position C according to one embodiment of the present invention is shown;

[0034] Figure 6 A flowchart of a control method for self-moving the tail of an aircraft according to an embodiment of the present invention is shown;

[0035] Figure 7 A second flowchart of a method for controlling the self-moving tail of an aircraft according to an embodiment of the present invention is shown;

[0036] Figure 8 A structural block diagram of a control device for self-moving the tail of an aircraft according to an embodiment of the present invention is shown.

[0037] in, Figures 1 to 8 The corresponding relationship between the reference numerals and component names in the figure is:

[0038] 100 self-moving tail, 102 slide rail, 104 frame, 106 first cylinder assembly, 108 first cylinder body, 110 first piston, 112 first pipeline, 114 second pipeline, 116 first sensor assembly, 118 second cylinder assembly, 120 second cylinder body, 122 second piston, 124 third pipeline, 126 fourth pipeline, 128 control assembly, 130 second sensor assembly, 132 first valve assembly, 134 second valve assembly, 136 pressure gauge, 138 balancing valve, 400 control device for self-moving tail, 410 memory, 420 processor. DETAILED DESCRIPTION

[0039] In order to more clearly understand the above-mentioned purpose, features and advantages of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

[0040] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Therefore, the protection scope of the present invention is not limited to the specific embodiments disclosed below.

[0041] Refer to the following Figures 1 to 8 The invention describes a self-moving tail and a control method and a control device thereof, and a readable storage medium according to some embodiments of the invention.

[0042] like Figure 1 , Figure 2 and Figure 3As shown, in an embodiment of the present application, a self-moving tail 100 is provided, which includes a slide rail 102, a frame 104, a first oil cylinder assembly 106, a first sensor assembly 116, a second oil cylinder assembly 118 and a control assembly 128. The frame 104 is located on one side of the slide rail 102 and can move relative to the slide rail 102; the first oil cylinder assembly 106 includes a first cylinder body 108 and a first piston 110, the first cylinder body 108 is connected to the frame 104, at least part of the first piston 110 is located in the first cylinder body 108, one end of the first piston 110 away from the frame 104 abuts against the slide rail 102, and the first piston 110 can move between a first position and a second position relative to the first cylinder body 108; the first sensor assembly 116 is disposed on the first oil cylinder assembly 106, and can detect whether the first piston 110 moves from the first position to the second position. The control component 128 is provided on the frame 104, and can control the second piston 122 to move from the third position to the fourth position according to the first operating parameter.

[0043] In this embodiment, the self-moving tail 100 includes a slide rail 102, a frame 104, a first oil cylinder assembly 106, a first sensor assembly 116, a second oil cylinder assembly 118 and a control assembly 128. The frame 104 is located on one side of the slide rail 102 and can move relative to the slide rail 102. The self-moving tail 100 can be moved by the cooperation between the frame 104 and the slide rail 102. The first oil cylinder assembly 106 includes a first cylinder body 108 and a first piston 110. The first cylinder body 108 is connected to the frame 104. At least part of the first piston 110 is located in the first cylinder body 108. One end of the first piston 110 away from the frame 104 abuts against the slide rail 102 to achieve the installation of the first cylinder body 108 and the first piston 110. The first piston 110 can move between a first position and a second position relative to the first cylinder body 108, so that the first oil cylinder assembly 106 can drive the frame 104 away from the slide rail 102. The first sensor assembly 116 is disposed on the first oil cylinder assembly 106, and can detect the first operating parameter when the first piston 110 moves from the first position to the second position, so as to realize the installation of the first sensor assembly 116, so that the first sensor assembly 116 can detect the first operating parameter when the first piston 110 moves from the retracted position to the fully extended position, so as to confirm the position where the first piston 110 extends to the full stroke through the first sensor assembly 116. The second oil cylinder assembly 118 includes a second cylinder body 120 and a second piston 122, the second cylinder body 120 is connected to the frame 104, at least part of the second piston 122 is located in the second cylinder body 120, and one end of the second piston 122 away from the frame 104 is connected to the slide rail 102, so as to realize the installation of the second cylinder body 120 and the second piston 122. The second piston 122 can move between the third position and the fourth position relative to the second cylinder body 120, so that the piston can drive the slide rail 102 to move relative to the frame 104, so that the slide rail 102 can provide a stable moving path for the frame 104, ensuring that the frame 104 can always move along the predetermined direction on the slide rail 102, and the second cylinder assembly 118 pushes the slide rail 102 to move, so that the self-moving tail 100 can move forward quickly and accurately to meet the propulsion requirements of the working surface. The control assembly 128 is set on the frame 104 to realize the installation of the control assembly 128. The control assembly 128 can control the second piston 122 to move from the third position to the fourth position according to the first operating parameter to realize the driving of the second piston 122.The present application uses the first sensor component 116 to detect the first operating parameter when the first piston 110 moves from the first position to the second position, so that the first sensor component 116 can be used to confirm whether the first piston 110 is extended to the full stroke, so as to determine that the first cylinder component 106 lifts the frame 104 to a predetermined position, and then controls the second piston 122 to move from the third position to the fourth position, so that the second cylinder component 118 can push the frame 104 to move relative to the slide rail 102 to achieve the movement of the self-moving tail 100. Therefore, by using the first sensor component 116 to detect the movement stroke of the first cylinder component 106, and then controlling the movement mode of the second cylinder component 118, it is possible to accurately determine that the first cylinder component 106 drives the frame 104 to move to the predetermined position, and then control the movement of the slide rail 102, thereby avoiding misoperation of the self-moving tail 100 and improving the safety of the operation of the self-moving tail 100.

[0044] Specifically, the first sensor assembly 116 is a first displacement sensor, and the first operating parameter is the displacement of the first piston 110 when it moves from the first position to the second position, so that it can be determined whether the first piston 110 moves to the second position by detecting the displacement.

[0045] This embodiment provides a self-moving tail 100. In addition to the technical features of the above embodiments, this embodiment further includes the following technical features.

[0046] like Figure 1 and Figure 4As shown, the first aspect of the present invention provides a self-moving tail 100, including a slide rail 102, a frame 104, a first oil cylinder assembly 106, a first sensor assembly 116, a second oil cylinder assembly 118 and a control assembly 128. The frame 104 is located on one side of the slide rail 102 and can move relative to the slide rail 102; the first oil cylinder assembly 106 includes a first cylinder body 108 and a first piston 110, the first cylinder body 108 is connected to the frame 104, at least part of the first piston 110 is located in the first cylinder body 108, one end of the first piston 110 away from the frame 104 abuts against the slide rail 102, and the first piston 110 can move between a first position and a second position relative to the first cylinder body 108; the first sensor assembly 116 is arranged on the first oil cylinder assembly 106, and can detect whether the first piston 110 moves from the first position to the second position. The control component 128 is provided on the frame 104, and can control the second piston 122 to move from the third position to the fourth position according to the first operating parameter.

[0047] In this embodiment, the self-moving tail 100 includes a slide rail 102, a frame 104, a first oil cylinder assembly 106, a first sensor assembly 116, a second oil cylinder assembly 118 and a control assembly 128. The frame 104 is located on one side of the slide rail 102 and can move relative to the slide rail 102. The self-moving tail 100 can be moved by the cooperation between the frame 104 and the slide rail 102. The first oil cylinder assembly 106 includes a first cylinder body 108 and a first piston 110. The first cylinder body 108 is connected to the frame 104. At least part of the first piston 110 is located in the first cylinder body 108. One end of the first piston 110 away from the frame 104 abuts against the slide rail 102 to achieve the installation of the first cylinder body 108 and the first piston 110. The first piston 110 can move between a first position and a second position relative to the first cylinder body 108, so that the first oil cylinder assembly 106 can drive the frame 104 away from the slide rail 102. The first sensor assembly 116 is disposed on the first oil cylinder assembly 106, and can detect the first operating parameter when the first piston 110 moves from the first position to the second position, so as to realize the installation of the first sensor assembly 116, so that the first sensor assembly 116 can detect the first operating parameter when the first piston 110 moves from the retracted position to the fully extended position, so as to confirm the position where the first piston 110 extends to the full stroke through the first sensor assembly 116. The second oil cylinder assembly 118 includes a second cylinder body 120 and a second piston 122, the second cylinder body 120 is connected to the frame 104, at least part of the second piston 122 is located in the second cylinder body 120, and one end of the second piston 122 away from the frame 104 is connected to the slide rail 102, so as to realize the installation of the second cylinder body 120 and the second piston 122. The second piston 122 can move between the third position and the fourth position relative to the second cylinder body 120, so that the piston can drive the slide rail 102 to move relative to the frame 104, so that the slide rail 102 can provide a stable moving path for the frame 104, ensuring that the frame 104 can always move along the predetermined direction on the slide rail 102, and the second cylinder assembly 118 pushes the slide rail 102 to move, so that the self-moving tail 100 can move forward quickly and accurately to meet the propulsion requirements of the working surface. The control assembly 128 is set on the frame 104 to realize the installation of the control assembly 128. The control assembly 128 can control the second piston 122 to move from the third position to the fourth position according to the first operating parameter to realize the driving of the second piston 122.The present application uses the first sensor component 116 to detect the first operating parameter when the first piston 110 moves from the first position to the second position, so that the first sensor component 116 can be used to confirm whether the first piston 110 is extended to the full stroke, so as to determine that the first cylinder component 106 lifts the frame 104 to a predetermined position, and then controls the second piston 122 to move from the third position to the fourth position, so that the second cylinder component 118 can push the frame 104 to move relative to the slide rail 102 to achieve the movement of the self-moving tail 100. Therefore, by using the first sensor component 116 to detect the movement stroke of the first cylinder component 106, and then controlling the movement mode of the second cylinder component 118, it is possible to accurately determine that the first cylinder component 106 drives the frame 104 to move to the predetermined position, and then control the movement of the slide rail 102, thereby avoiding misoperation of the self-moving tail 100 and improving the safety of the operation of the self-moving tail 100.

[0048] Specifically, the first sensor assembly 116 is a first displacement sensor, and the first operating parameter is the displacement of the first piston 110 when it moves from the first position to the second position, so that it can be determined whether the first piston 110 moves to the second position by detecting the displacement.

[0049] This embodiment provides a self-moving tail 100. In addition to the technical features of the above embodiments, this embodiment further includes the following technical features.

[0050] like Figure 1 As shown, the self-moving tail 100 also includes a second sensor assembly 130, which is arranged on the second cylinder assembly 118, and can detect a second operating parameter when the second piston 122 moves from the third position to the fourth position, and the control assembly 128 can control the first piston 110 to move from the second position to the first position according to the second operating parameter; the first sensor assembly 116 can also detect a third operating parameter when the first piston 110 moves from the second position to the first position, and the control assembly 128 can control the second piston 122 to move from the fourth position to the third position according to the third operating parameter.

[0051] In this technical solution, the self-moving tail 100 also includes a second sensor assembly 130, which is arranged on the second cylinder assembly 118 to realize the installation of the second sensor assembly 130. The second sensor assembly 130 can detect the second operating parameter when the second piston 122 moves from the third position to the fourth position, so that the second sensor assembly 130 can detect the extension stroke of the second piston 122, thereby determining the extension position of the second cylinder assembly 118. The control assembly 128 can control the first piston 110 to move from the second position to the first position according to the second operating parameter, so that after the second piston 122 moves to the preset position, the first cylinder assembly 106 is controlled to drive the frame 104 to move in the direction of the slide rail 102. The first sensor assembly 116 can also detect a third operating parameter when the first piston 110 moves from the second position to the first position, that is, the first sensor assembly 116 can confirm whether the first cylinder assembly 106 is retracted to the predetermined position, so that it can be determined that the frame 104 moves to the predetermined position in the direction close to the slide rail 102, and the control assembly 128 can control the second piston 122 to move from the fourth position to the third position according to the third operating parameter, that is, after the frame 104 descends to the predetermined position, the second cylinder assembly 118 is controlled to drive the slide rail 102 to move along the length direction of the frame 104, so as to realize the sequential stepping movement of the self-moving tail 100, so that the frame 104 can always move on the slide rail 102. Therefore, by setting the second sensor assembly 130, the position of the second cylinder assembly 118 being extended or retracted can be fed back in real time, thereby realizing the detection of the movement of the first cylinder assembly 106 and the second cylinder assembly 118, and improving the accuracy of detecting whether the first cylinder assembly 106 and the second cylinder assembly 118 move to the predetermined position.

[0052] Specifically, the second sensor assembly 130 is a second displacement sensor.

[0053] This embodiment provides a self-moving tail 100. In addition to the technical features of the above embodiments, this embodiment further includes the following technical features.

[0054] like Figure 1 and Figure 5As shown, the self-moving tail 100 further includes a first valve assembly 132; the first cylinder assembly 106 further includes a first pipeline 112 and a second pipeline 114. One end of the first pipeline 112 is connected to the first valve assembly 132, and the other end of the first pipeline 112 is connected to the first cylinder assembly 106; one end of the second pipeline 114 is connected to the first valve assembly 132, and the other end of the second pipeline 114 is connected to the first cylinder assembly 106, the first hydraulic oil can flow between the first pipeline 112 and the second pipeline 114, the first valve assembly 132 can change the flow direction of the first hydraulic oil, and the first sensor assembly 116 is arranged in the first pipeline 112 or the second pipeline 114.

[0055] In this embodiment, the self-moving tail 100 further includes a first valve assembly 132; the first cylinder assembly 106 further includes a first pipeline 112 and a second pipeline 114. One end of the first pipeline 112 is connected to the first valve assembly 132, and the other end of the first pipeline 112 is connected to the first cylinder assembly 106, so as to achieve the installation and fixation of the first pipeline 112. One end of the second pipeline 114 is connected to the first valve assembly 132, and the other end of the second pipeline 114 is connected to the first cylinder assembly 106, so as to achieve the installation and fixation of the second pipeline 114. The first hydraulic oil can flow between the first pipeline 112 and the second pipeline 114. When the first hydraulic oil flows, the first cylinder assembly 106 can be driven, so that the first piston 110 can move between the first position and the second position, thereby driving the frame 104 to approach or move away from the slide rail 102. The first valve assembly 132 can change the flow direction of the first hydraulic oil. When the first hydraulic oil flows in different directions, the first piston 110 can be driven to move in different directions to extend or retract the piston relative to the first cylinder 108. The first sensor assembly 116 is disposed in the first pipeline 112 or the second pipeline 114, that is, the first sensor assembly 116 can detect the pressure in the first pipeline 112 or the second pipeline 114. When the first piston 110 extends to a predetermined position or retracts to a predetermined position relative to the first cylinder 108, the pressure value in the first pipeline 112 or the second pipeline 114 will reach a predetermined value. Therefore, by detecting the pressure in the pipeline, it can be determined whether the first piston 110 moves to the predetermined position.

[0056] Specifically, the first valve assembly 132 includes a first control valve and a second control valve, wherein the first control valve is connected to the first pipeline 112 and can control the on-off of the first pipeline 112. The second control valve is connected to the second pipeline 114 and can control the on-off of the second pipeline 114. When the first sensor assembly 116 is a pressure sensor, the pressure at the valve port of the first control valve or the valve port of the second control valve can be detected.

[0057] Specifically, the self-moving tail 100 also includes a balancing valve 138, which is arranged on the first cylinder assembly 106. By setting the balancing valve 138, the position of the first cylinder assembly 106 can be locked so that the first piston 110 will no longer move after extending to a certain position, thereby preventing the first cylinder assembly 106 from getting out of control due to excessive load, thereby improving the safety of the equipment.

[0058] This embodiment provides a self-moving tail 100. In addition to the technical features of the above embodiments, this embodiment further includes the following technical features.

[0059] like Figure 1 and Figure 5 As shown, the self-moving tail 100 further includes a second valve assembly 134; the second oil cylinder assembly 118 further includes a third pipeline 124 and a fourth pipeline 126. One end of the third pipeline 124 is connected to the second valve assembly 134, and the other end of the third pipeline 124 is connected to the second oil cylinder assembly 118; one end of the fourth pipeline 126 is connected to the second valve assembly 134, and the other end of the fourth pipeline 126 is connected to the second oil cylinder assembly 118, and the second hydraulic oil can flow between the third pipeline 124 and the fourth pipeline 126, and the second valve assembly 134 can change the flow direction of the second hydraulic oil.

[0060] In this embodiment, the self-propelled tail 100 further includes a second valve assembly 134; the second cylinder assembly 118 further includes a third pipeline 124 and a fourth pipeline 126. One end of the third pipeline 124 is connected to the second valve assembly 134, and the other end of the third pipeline 124 is connected to the second cylinder assembly 118, so as to realize the installation and fixation of the third pipeline 124. One end of the fourth pipeline 126 is connected to the second valve assembly 134, and the other end of the fourth pipeline 126 is connected to the second cylinder assembly 118 to achieve the installation and fixation of the fourth pipeline 126. The second hydraulic oil can flow between the third pipeline 124 and the fourth pipeline 126. When the second hydraulic oil flows, the second cylinder assembly 118 can be driven, so that the second piston 122 can move between the third position and the fourth position, so that the second cylinder assembly 118 can push the frame 104 to move relative to the slide rail 102, or the second cylinder assembly 118 drives the slide rail 102 to move relative to the frame 104 along the length direction of the frame 104.

[0061] Specifically, the first valve assembly 132 includes a first control valve and a second control valve, wherein the first control valve is connected to the first pipeline 112 and can control the on-off of the first pipeline 112. The second control valve is connected to the second pipeline 114 and can control the on-off of the second pipeline 114.

[0062] Specifically, the second valve assembly 134 includes a third control valve and a fourth control valve, wherein the third control valve is connected to the third pipeline 124 and can control the on-off of the third pipeline 124. The fourth control valve is connected to the fourth pipeline 126 and can control the on-off of the fourth pipeline 126.

[0063] Specifically, the first valve assembly 132 and the second valve assembly 134 are integrated into a multi-way valve, and the self-moving tail 100 also includes a pressure gauge 136, which is arranged on the multi-way valve, so that the pressure gauge 136 can detect the system working pressure of the self-moving tail 100, so as to facilitate daily equipment inspection.

[0064] This embodiment provides a self-moving tail 100. In addition to the technical features of the above embodiments, this embodiment further includes the following technical features.

[0065] like Figure 1 and Figure 5 As shown, there are two groups of first cylinder assemblies 106, and the two groups of first cylinder assemblies 106 are respectively arranged on both sides of the frame 104 along the length direction; there are two slide rails 102, and the two slide rails 102 are respectively arranged corresponding to the two groups of first cylinder assemblies 106; there are two groups of second cylinder assemblies 118, and the two groups of second cylinder assemblies 118 are respectively arranged corresponding to the two slide rails 102.

[0066] In this embodiment, there are two groups of first cylinder assemblies 106, which are respectively arranged on both sides of the frame 104 along the length direction, so as to realize the arrangement of the two groups of first cylinder assemblies 106, so that the two groups of first cylinder assemblies 106 can drive the frame 104 at the same time, thereby improving the efficiency of driving the frame 104, and further improving the movement efficiency of the self-moving tail 100. There are two slide rails 102, which are respectively arranged corresponding to the two groups of first cylinder assemblies 106, so as to realize the arrangement of the two slide rails 102, so that the two groups of first cylinder assemblies 106 can move on the two slide rails 102. There are two groups of second cylinder assemblies 118, which are respectively arranged corresponding to the two slide rails 102, so as to realize the arrangement of the two groups of second cylinder assemblies 118, so that the two groups of second cylinder assemblies 118 can drive the slide rails 102 or the frame 104, thereby improving the operation efficiency of the self-moving tail 100.

[0067] Specifically, in Figure 1 In FIG. 1 , arrow D indicates the length direction of the frame 104 .

[0068] Specifically, the number of the first cylinder assemblies 106 in each of the two groups of first cylinder assemblies 106 is multiple.

[0069] Specifically, a control module is disposed in the control component 128 , and the control module can receive signals from the first sensor component 116 and the second sensor component 130 , thereby controlling the switching of the flow directions of the first hydraulic oil and the second hydraulic oil.

[0070] Specifically, Figure 1 and Figure 5 As shown, the number of first cylinder assemblies 106 in each of the two groups of first cylinder assemblies 106 is nine, the nine first cylinder assemblies 106 in one group of first cylinder assemblies 106 are connected to one of the two first control valves through a parallel connection, and the nine first cylinder assemblies 106 in the other group of first cylinder assemblies 106 are connected to the other of the two first control valves through a parallel connection.

[0071] Specifically, Figure 1 and Figure 5 As shown, there are two first valve assemblies 132, the first cylinder assembly 106 is a lifting cylinder, the second cylinder assembly 118 is a displacement cylinder, the first sensor assembly 116 is a pressure sensor, and the two first valve assemblies 132 are respectively connected to the two groups of first cylinder assemblies 106. The two first valve assemblies 132 are provided with two first control valves and two second control valves, the two first control valves include a first control valve A1 and a first control valve A3, the two second control valves include a second control valve B1 and a second control valve B3, the third control valve is A2, and the fourth control valve is B2.

[0072] Specifically, Figure 1 and Figure 5 As shown, the control component 128 is a remote controller. When the remote controller step-on button is pressed, the two first control valves are opened at the same time. At this time, multiple lifting cylinders in the two groups of first cylinder components 106 will rise at the same time. When the lifting is fully extended to the full stroke, the system pressure will increase. At this time, the pressure sensor installed on the pipeline connected to the first control valve and the second control valve is used to detect whether the set pressure signal is reached. When the pressure sensor receives the pressure signal, the third control valve is opened, and the push cylinder is extended. The displacement sensor is used to detect the extension stroke of the push cylinder. When it is detected that the push cylinder has been extended to the set stroke, the two second control valves are opened at the same time. At this time, multiple lifting cylinders will descend at the same time. When the lifting cylinders are all retracted, the system pressure increases. At this time, the pressure sensor is used to detect whether the set pressure signal is reached. When the pressure sensor receives the pressure signal, the fourth control valve is opened and the push cylinder is retracted, thus realizing a complete step cycle action. In the process of a complete step cycle, the control component 128 controls the electromagnet in the multi-way valve to cut off the power supply to realize the suspension action at any time.

[0073] Specifically, the self-moving tail 100 of the present application forms a step control system, which detects whether the lifting cylinder is lifted or not by a pressure sensor, and detects whether the pushing cylinder is extended or not by a displacement sensor on the pushing cylinder. After receiving the pressure sensor and displacement sensor signals through the electrical control module, the first control valve A1 and the first control valve A3, the third control valve A2, the second control valve B1 and the second control valve B3, and the fourth control valve B2 are opened in sequence according to the set program to realize a step cycle.

[0074] Specifically, the self-moving tail 100 of the present application realizes one-key stepping automation and pause during the stepping process by setting up pressure sensors, displacement sensors and electrical program control of the control component 128, and can also be set to automatically stop after one or more steps after starting according to specific working conditions. During the movement of the self-moving tail 100, the whole process can be operated with one key, which improves the safety and reliability of the self-moving tail 100. Compared with the manual operation method, the occurrence of malfunctions of the first cylinder component 106 and the second cylinder component 118 can be reduced, and the self-moving tail 100 can also be adapted to movement in various working conditions.

[0075] Specifically, in Figure 5 In the figure, P indicates the oil inlet of the multi-way valve, LS indicates the load feedback port of the multi-way valve, R indicates the oil return port of the multi-way valve, T indicates the oil drain port of the multi-way valve, Z indicates the external pilot oil supply of the multi-way valve, a and b indicate the working position of the multi-way valve, M indicates the pressure measuring point of the oil inlet of the multi-way valve, 275bar indicates the set pressure of the main relief valve of the multi-way valve, and 250bar indicates the set pressure of the lift, push and lift secondary relief of the multi-way valve.

[0076] Specifically, the first valve assembly 132 and the second valve assembly 134 can be electrically controlled by the control assembly 128, or the direction of the oil circuit can be switched manually to achieve the extension and retraction of the first cylinder assembly 106 and the second cylinder assembly 118.

[0077] In one embodiment of the present application, a control method for self-moving tail is provided, such as Figure 6 As shown, the control method of self-moving the tail includes:

[0078] S202, obtaining a start instruction for self-moving the tail;

[0079] S204, according to the start instruction, controlling the first piston to move from the first position to the second position;

[0080] S206, when the first piston moves to the second position, controlling the first sensor assembly to obtain a first operating parameter of the first piston;

[0081] S208, the control component controls the second piston to move from the third position to the fourth position according to the first operating parameter.

[0082] In this embodiment, a start instruction of the self-moving tail is obtained, so that the self-moving tail can be activated and the self-moving tail is in working state. According to the start instruction, the first piston is controlled to move from the first position to the second position, so that the first piston can move from the retracted position to the position where the first cylinder body is fully extended, and then the first oil cylinder assembly can drive the frame to move in the direction away from the slide rail to lift the position of the frame. When the first piston moves to the second position, the first sensor assembly is controlled to obtain the first operating parameter of the first piston. After the frame is lifted, by obtaining the position of the frame, it can be confirmed that the first piston is extended to the full stroke position, that is, it can be confirmed that the frame is lifted to the predetermined position. According to the first operating parameter, the control assembly controls the second piston to move from the third position to the fourth position. After the frame is lifted to the predetermined position, the second piston is controlled to move, so that through the movement of the second piston, the second piston can drive the slide rail to move relative to the frame, so that the slide rail can provide a stable moving path for the frame, ensuring that the frame can always move along the predetermined direction on the slide rail, and the second oil cylinder assembly drives the slide rail to move in a way that the self-moving tail can move forward quickly and accurately to meet the propulsion requirements of the working surface. The present application detects the first operating parameter when the first piston moves from the first position to the second position, thereby confirming whether the first piston is extended to the full stroke, so as to determine that the first cylinder assembly lifts the frame to a predetermined position, and then controls the second piston to move from the third position to the fourth position, so that the second cylinder assembly can push the frame to move relative to the slide rail to achieve the movement of the self-moving tail. Therefore, by detecting the movement stroke of the first cylinder assembly and then controlling the movement mode of the second cylinder assembly, it is possible to accurately determine that the first cylinder assembly drives the frame to move to the predetermined position, and then control the movement of the slide rail, thereby avoiding misoperation of the self-moving tail operation and improving the safety of the self-moving tail operation.

[0083] In one embodiment of the present invention, Figure 7 As shown, the control method for self-moving the tail also includes:

[0084] S302, obtaining a start instruction for self-moving the tail;

[0085] S304, according to the start instruction, controlling the first piston to move from the first position to the second position;

[0086] S306, when the first piston moves to the second position, controlling the first sensor assembly to obtain a first operating parameter of the first piston;

[0087] S308, the control component controls the second piston to move from the third position to the fourth position according to the first operating parameter;

[0088] S310, when the second piston moves to the fourth position, controlling the second sensor assembly to obtain a second operating parameter of the second piston;

[0089] S312, the control component controls the first piston to move from the second position to the first position according to the second operating parameter;

[0090] S314, when the first piston moves to the first position, controlling the first sensor assembly to obtain a third operating parameter of the first piston;

[0091] S316, the control component controls the second piston to move from the fourth position to the third position according to the third operating parameter.

[0092] In this embodiment, after the second cylinder assembly drives the frame to move a predetermined distance on the slide rail through the second piston, when the second piston moves to the fourth position, the second sensor assembly is controlled to obtain the second operating parameter of the second piston, so that the extension stroke of the second piston can be detected, so that it can be determined that the second cylinder assembly is extended to the predetermined position. The control assembly controls the first piston to move from the second position to the first position according to the second operating parameter, and after the second cylinder assembly is extended to the predetermined position, the first cylinder assembly can drive the frame to move in the direction of the slide rail by controlling the movement of the first piston, so that the position of the frame can be lowered. When the first piston moves to the first position, the first sensor assembly is controlled to obtain the third operating parameter of the first piston, so that it can be determined whether the first piston moves to the retracted position, and then determine whether the frame is lowered to the predetermined position. The control assembly controls the second piston to move from the fourth position to the third position according to the third operating parameter, and when the frame is lowered to the predetermined position, the second piston is controlled to move, so that the second piston can drive the slide rail to move relative to the frame along the length direction of the frame, so as to realize the sequential stepping movement of the self-moving tail, so that the frame can always move on the slide rail,

[0093] In one embodiment of the present invention, optionally, controlling the first sensor assembly to obtain the first operating parameter of the first piston includes: controlling the first sensor assembly to detect the distance of movement of the first piston, or controlling the first sensor assembly to detect the pressure in the first pipeline or the second pipeline.

[0094] In this embodiment, the first sensor assembly is controlled to detect the distance of movement of the first piston. The first operating parameter can be detected by using the first sensor assembly to detect the distance of movement of the first piston, so that it can be determined whether the first piston extends to a predetermined position by using the distance of movement of the first piston. The first sensor assembly is controlled to detect the pressure in the first pipeline or the second pipeline, that is, the first sensor assembly is a pressure sensor. Since the first piston of the first oil cylinder assembly is driven by using the first hydraulic oil flowing in the first pipeline and the second pipeline, it can be determined whether the first piston moves to a predetermined position by detecting the pressure in the first pipeline or the second pipeline, thereby realizing the detection of whether the first piston moves to the second position.

[0095] like Figure 8 As shown, in one embodiment of the present invention, a control device 400 for self-moving tail is provided, comprising a memory 410 and a processor 420. The memory 410 stores a program or instruction that can be run on the processor 420. When the program or instruction is executed by the processor 420, the steps of the control method for self-moving tail in any of the above embodiments are implemented. Therefore, the control device for self-moving tail has all the beneficial effects of the control method for self-moving tail, which will not be described in detail here.

[0096] In one embodiment of the present invention, a readable storage medium is provided, on which a program or instruction is stored, and when the program or instruction is executed by a processor, the steps of the control method for moving the tail of the machine in any of the above embodiments are implemented. Therefore, the readable storage medium has all the beneficial effects of the control method for moving the tail of the machine, which will not be repeated here.

[0097] In the claims, specification and drawings of the present invention, the term "multiple" refers to two or more than two. Unless otherwise clearly defined, the orientation or positional relationship indicated by the terms "upper" and "lower" is based on the orientation or positional relationship shown in the drawings, which is only for the purpose of more conveniently describing the present invention and making the description process simpler, rather than indicating or implying that the device or element referred to must have the specific orientation described, be constructed and operated in a specific orientation, so these descriptions cannot be understood as limiting the present invention; the terms "connect", "install", "fix" and the like should be understood in a broad sense. For example, "connection" can be a fixed connection between multiple objects, or a detachable connection between multiple objects, or an integral connection; it can be a direct connection between multiple objects, or an indirect connection between multiple objects through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood based on the specific circumstances of the above data.

[0098] In the claims, specification and drawings of the present invention, the description of the terms "one embodiment", "some embodiments", "specific embodiments" and the like means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In the claims, specification and drawings of the present invention, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0099] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A self-moving tail, characterized in that: include: Slide rails; A rack, the rack is located on one side of the slide rail and can move relative to the slide rail; a first cylinder assembly, the first cylinder assembly comprising a first cylinder body and a first piston, the first cylinder body being connected to the frame, at least a portion of the first piston being located in the first cylinder body, an end of the first piston away from the frame being in contact with the slide rail, and the first piston being able to move between a first position and a second position relative to the first cylinder body; a first sensor assembly, the first sensor assembly being disposed on the first cylinder assembly and capable of detecting a first operating parameter when the first piston moves from the first position to the second position; a second cylinder assembly, the second cylinder assembly comprising a second cylinder body and a second piston, the second cylinder body being connected to the frame, at least a portion of the second piston being located in the second cylinder body, an end of the second piston away from the frame being connected to the slide rail, and the second piston being able to move between a third position and a fourth position relative to the second cylinder body; A control component is disposed on the frame and can control the second piston to move from the third position to the fourth position according to the first operating parameter.

2. The self-moving tail of claim 1, characterized in that: Also includes: a second sensor assembly, the second sensor assembly being disposed on the second cylinder assembly and capable of detecting a second operating parameter when the second piston moves from the third position to the fourth position, and the control assembly being capable of controlling the first piston to move from the second position to the first position according to the second operating parameter; The first sensor component can also detect a third operating parameter when the first piston moves from the second position to the first position, and the control component can control the second piston to move from the fourth position to the third position according to the third operating parameter.

3. The self-moving tail of claim 1, characterized in that: Also includes: a first valve assembly; The first oil cylinder assembly further includes a first pipeline and a second pipeline, one end of the first pipeline is connected to the first valve assembly, and the other end of the first pipeline is connected to the first oil cylinder assembly; One end of the second pipeline is connected to the first valve assembly, and the other end of the second pipeline is connected to the first cylinder assembly. The first hydraulic oil can flow between the first pipeline and the second pipeline. The first valve assembly can change the flow direction of the first hydraulic oil. The first sensor assembly is arranged in the first pipeline or the second pipeline.

4. The self-moving tail of claim 1, characterized in that: Also includes: a second valve assembly; The second oil cylinder assembly further includes a third pipeline and a fourth pipeline, one end of the third pipeline is connected to the second valve assembly, and the other end of the third pipeline is connected to the second oil cylinder assembly; One end of the fourth pipeline is connected to the second valve assembly, and the other end of the fourth pipeline is connected to the second cylinder assembly. The second hydraulic oil can flow between the third pipeline and the fourth pipeline, and the second valve assembly can change the flow direction of the second hydraulic oil.

5. The self-moving tail of any one of claims 1 to 4, characterized in that: The number of the first oil cylinder assemblies is two, and the two groups of the first oil cylinder assemblies are respectively arranged on both sides of the frame along the length direction; There are two slide rails, and the two slide rails are respectively arranged corresponding to the two groups of the first oil cylinder assemblies; The number of the second oil cylinder assemblies is two, and the two groups of the second oil cylinder assemblies are arranged corresponding to the two slide rails.

6. A control method for self-moving tail, characterized in that: include: Obtaining a start instruction for the self-moving tail; According to the start instruction, the first piston is controlled to move from the first position to the second position; When the first piston moves to the second position, controlling the first sensor assembly to obtain a first operating parameter of the first piston; The control component controls the second piston to move from the third position to the fourth position according to the first operating parameter.

7. The control method for self-moving tail of the machine according to claim 6, characterized in that: After the control component controls the second piston to move from the third position to the fourth position according to the first operating parameter, the control method for self-moving the tail also includes: When the second piston moves to the fourth position, controlling the second sensor assembly to obtain a second operating parameter of the second piston; The control component controls the first piston to move from the second position to the first position according to the second operating parameter; When the first piston moves to the first position, controlling the first sensor assembly to obtain a third operating parameter of the first piston; The control component controls the second piston to move from the fourth position to the third position according to the third operating parameter.

8. The control method for self-moving tail of a machine according to claim 6 or 7, characterized in that: The controlling the first sensor assembly to obtain the first operating parameter of the first piston includes: The first sensor assembly is controlled to detect the distance of movement of the first piston, or the first sensor assembly is controlled to detect the pressure in the first pipeline or the second pipeline.

9. A control device for self-moving tail, characterized in that: It comprises a memory and a processor, wherein the memory stores a program or instruction that can be run on the processor, and when the program or the instruction is executed by the processor, the steps of the control method for self-moving the tail of the aircraft as described in any one of claims 6 to 8 are implemented.

10. A readable storage medium having a program or instruction stored thereon, characterized in that: When the program or the instruction is executed by a processor, the steps of the control method for self-moving the tail of the aircraft as claimed in any one of claims 6 to 8 are implemented.

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