Concrete pumping hydraulic system and automatic adjusting method

Abstract

The invention relates to the technical field of concrete pump trucks, and particularly discloses a concrete pumping hydraulic system and an automatic adjusting method.The concrete pumping hydraulic system comprises an execution assembly, an oil supply assembly and an adjusting assembly, reverse synchronous movement of a first hydraulic cylinder and a second hydraulic cylinder in the execution assembly is achieved through the oil supply assembly, and in the process, the first hydraulic cylinder and the second hydraulic cylinder are driven by the adjusting assembly; if the moving distances of the first piston and the second piston are synchronous, the total oil quantity of a first communication cavity formed by the small cavity of the first hydraulic cylinder and the small cavity of the second hydraulic cylinder is a fixed value a; the total oil quantity of a first communication cavity composed of a small cavity of the first hydraulic cylinder and a small cavity of the second hydraulic cylinder is changed to b, the oil quantity in the small cavity of the first hydraulic cylinder can be increased through the first adjusting set, or the oil quantity in the small cavity of the second hydraulic cylinder can be reduced through the second adjusting set, and then b approaches a. And the moving distances of the first piston and the second piston tend to be synchronous.

Description

Technical Field

[0001] The invention relates to the technical field of concrete pump trucks, and in particular to a concrete pumping hydraulic system and an automatic adjustment method. Background Art

[0002] The piston rod of the pumping main oil cylinder of the concrete pump is connected to the piston of the concrete cylinder. The continuous pumping of concrete is achieved through the reciprocating motion of the two main oil cylinders. The two main oil cylinders are connected in series, with the same cylinder diameter, rod diameter and stroke. Under ideal conditions, the two main oil cylinders can maintain reverse synchronous movement, that is, the speed and moving distance are the same, but the direction is opposite, so that the piston rod of one cylinder can be fully extended, while the piston rod of the other cylinder is just retracted.

[0003] In actual operation, due to load changes, processing accuracy, wear, internal leakage and other reasons, the oil volume in the connecting cavity of the two cylinders will change, which will cause synchronization errors. The extension / retraction of the piston rod of one cylinder is in place, while the retraction / extension of the piston rod of the other cylinder is not in place or too far. Sometimes, the synchronization error will gradually increase over time, and may eventually cause the concrete pumping equipment to fail to work properly. "Not in place" will cause low stroke utilization; "over-reaching" may cause cylinder collision.

[0004] Therefore, there is an urgent need for a concrete pumping hydraulic system to solve the above problems. Summary of the invention

[0005] The purpose of the present invention is to provide a concrete pumping hydraulic system and an automatic adjustment method to solve the problem in the related art that when the concrete pumping hydraulic system is working, the two oil cylinders are out of sync due to the increase or decrease of oil in the main oil cylinder communication chamber.

[0006] In one aspect, the present invention provides a concrete pumping hydraulic system, the concrete pumping hydraulic system comprising:

[0007] An actuator assembly includes a first hydraulic cylinder and a second hydraulic cylinder;

[0008] An oil supply assembly, comprising an oil tank, a hydraulic pump and an electromagnetic valve group, wherein the electromagnetic valve group can selectively connect the small chamber of the first hydraulic cylinder with the small chamber of the second hydraulic cylinder. When the electromagnetic valve group connects the small chamber of the first hydraulic cylinder with the small chamber of the second hydraulic cylinder, the electromagnetic valve group supplies the oil in the oil tank to the large chamber of the first hydraulic cylinder through the hydraulic pump, and the large chamber of the second hydraulic cylinder is connected to the oil tank, or the electromagnetic valve group supplies the oil in the oil tank to the large chamber of the second hydraulic cylinder through the hydraulic pump, and the large chamber of the first hydraulic cylinder is connected to the oil tank.

[0009] The regulating assembly comprises a first regulating group and a second regulating group, wherein the first regulating group can connect or disconnect the large chamber and the small chamber of the first hydraulic cylinder, and the second regulating group can connect or disconnect the large chamber and the small chamber of the second hydraulic cylinder.

[0010] As a preferred technical solution of the concrete pumping hydraulic system, the peripheral wall of the first cylinder body of the first hydraulic cylinder is provided with A1 connecting hole, A2 connecting hole, A3 connecting hole and A4 connecting hole communicating with the piston cavity of the first cylinder body in sequence from the telescopic end to the closed end of the first cylinder body;

[0011] The first regulating group includes a first solenoid valve and a second solenoid valve, the first solenoid valve is used to control the connection or disconnection between the A1 connecting hole and the A2 connecting hole, and the second solenoid valve is used to control the connection or disconnection between the A3 connecting hole and the A4 connecting hole.

[0012] As a preferred technical solution of the concrete pumping hydraulic system, the peripheral wall of the second cylinder body of the second hydraulic cylinder is provided with B1 connecting holes, B2 connecting holes, B3 connecting holes and B4 connecting holes communicating with the piston chamber of the second cylinder body in sequence from the telescopic end to the closed end of the second cylinder body;

[0013] The second regulating group includes a third solenoid valve and a fourth solenoid valve, the third solenoid valve is used to control the connection or disconnection between the B1 connecting hole and the B2 connecting hole, and the fourth solenoid valve is used to control the connection or disconnection between the B3 connecting hole and the B4 connecting hole.

[0014] As a preferred technical solution of the concrete pumping hydraulic system, the solenoid valve group includes a gear regulating valve, and the gear regulating valve includes a first gear and a second gear. In the first gear, the small chamber of the first hydraulic cylinder is connected to the small chamber of the second hydraulic cylinder, and in the second gear, the large chamber of the first hydraulic cylinder is connected to the large chamber of the second hydraulic cylinder;

[0015] In the second gear, the solenoid valve group supplies the oil from the oil tank to the small chamber of the first hydraulic cylinder through the hydraulic pump, and the small chamber of the second hydraulic cylinder is connected to the oil tank, or the solenoid valve group supplies the oil from the oil tank to the small chamber of the second hydraulic cylinder through the hydraulic pump, and the small chamber of the first hydraulic cylinder is connected to the oil tank.

[0016] As a preferred technical solution of the concrete pumping hydraulic system, the solenoid valve group also includes a first reversing regulating valve, a first interface of the first reversing regulating valve is communicated with the liquid outlet of the hydraulic pump, a second interface is communicated with the oil tank, a third interface is communicated with the large chamber of the first hydraulic cylinder, and a fourth interface is communicated with the large chamber of the second hydraulic cylinder. The first reversing regulating valve includes a first position, a second position and a third position. In the first position, the first interface is communicated with the fourth interface, and the second interface is communicated with the third interface. In the second position, the first interface, the second interface, the third interface and the fourth interface are disconnected from each other. In the third position, the first interface is communicated with the third interface, and the second interface is communicated with the fourth interface.

[0017] As a preferred technical solution of the concrete pumping hydraulic system, the solenoid valve group also includes a second reversing regulating valve, the fifth interface of the second reversing regulating valve is communicated with the liquid outlet of the hydraulic pump, the sixth interface is communicated with the oil tank, the seventh interface is communicated with the small chamber of the first hydraulic cylinder, and the eighth interface is communicated with the small chamber of the second hydraulic cylinder. The second reversing regulating valve includes a fourth position, a fifth position and a sixth position. In the fourth position, the fifth interface is communicated with the eighth interface, and the sixth interface is communicated with the seventh interface. In the second position, the fifth interface, the sixth interface, the seventh interface and the eighth interface are disconnected from each other. In the sixth position, the fifth interface is communicated with the seventh interface, and the second interface is communicated with the eighth interface.

[0018] As a preferred technical solution of the concrete pumping hydraulic system, the solenoid valve group further includes a relief valve, one end of which is connected to the liquid outlet of the hydraulic pump, and the other end of which is connected to the oil tank.

[0019] On the other hand, the present invention provides an automatic adjustment method, which is implemented by the concrete pumping hydraulic system in any of the above schemes, when the small chamber of the first hydraulic cylinder and the small chamber of the second hydraulic cylinder are connected, the concrete pumping hydraulic system is in a high-pressure gear, including a high-pressure gear adjustment method:

[0020] S10: supplying oil to the large chamber of the first hydraulic cylinder;

[0021] S20: The first piston of the first hydraulic cylinder reaches the A2 position;

[0022] S30: monitor whether the second piston of the second hydraulic cylinder is located at the B3 position, if yes, execute S31, if no, execute S321;

[0023] S31: After the regulating component remains inactive for T1 period, S40 is executed;

[0024] S321: if it is determined that the second piston has not reached the B3 position, then S322 is executed; if it is determined that the second piston exceeds the B3 position, then S323 is executed;

[0025] S322: the first regulating group connects the large chamber and the small chamber of the first hydraulic cylinder for T1 time and then closes them, and executes S40;

[0026] S323: the second regulating group connects the large chamber and the small chamber of the second hydraulic cylinder for T1 time and then closes them, and executes S40;

[0027] S40 includes S403: the first piston reaches the telescopic end of the first cylinder body and supplies oil to the large chamber of the second hydraulic cylinder;

[0028] S50: the second piston of the second hydraulic cylinder reaches position B2;

[0029] S60: monitor whether the first piston of the first hydraulic cylinder is at position A3, if yes, execute S61, if no, execute S621;

[0030] S61: After the regulating component remains inactive for T1 time, S70 is executed;

[0031] S621: if it is determined that the first piston has not reached the A3 position, then S622 is executed; if it is determined that the first piston exceeds the A3 position, then S623 is executed;

[0032] S622: the second regulating group connects the large chamber and the small chamber of the second hydraulic cylinder for T1 time and then closes them, and executes S70;

[0033] S623: the first regulating group connects the large chamber and the small chamber of the first hydraulic cylinder for T1 time and then closes them, and executes S70;

[0034] S70 includes S703: the second piston reaches the telescopic end of the second cylinder, and returns to S10.

[0035] As a preferred technical solution of the automatic adjustment method, S40 also includes:

[0036] S401: After T2 time, determine whether the first piston of the first hydraulic cylinder exceeds position A1; or whether the second piston of the second hydraulic cylinder exceeds position B4, if yes, execute S402, if no, execute S403;

[0037] S402: If the first piston of the first hydraulic cylinder exceeds the A1 position, the first regulating group connects the large chamber and the small chamber of the first hydraulic cylinder for T3 time and then closes the chamber, and the second regulating group connects the large chamber and the small chamber of the second hydraulic cylinder for T3 time and then closes the chamber. If the second piston of the second hydraulic cylinder exceeds the B4 position, the second regulating group connects the large chamber and the small chamber of the second hydraulic cylinder for T4 time and then closes the chamber, and executes S403;

[0038] The S70 also includes:

[0039] S701: After T2 time, determine whether the second piston of the second hydraulic cylinder exceeds position B1, or whether the first piston of the first hydraulic cylinder exceeds position A4. If yes, execute S702; if no, execute S703;

[0040] S702: If the second piston of the second hydraulic cylinder exceeds the B1 position, the second adjustment group connects the large chamber and the small chamber of the second hydraulic cylinder for T3 time and then closes them, and the first adjustment group connects the large chamber and the small chamber of the first hydraulic cylinder for T3 time and then closes them. If the first piston of the first hydraulic cylinder exceeds the A4 position, the first adjustment group connects the large chamber and the small chamber of the first hydraulic cylinder for T4 time and then closes them, and executes S703.

[0041] As a preferred technical solution of the automatic adjustment method, the large chamber of the first hydraulic cylinder is connected to the large chamber of the second hydraulic cylinder, the solenoid valve group supplies the oil of the oil tank to the small chamber of the first hydraulic cylinder through the hydraulic pump, and the small chamber of the second hydraulic cylinder is connected to the oil tank; or the solenoid valve group supplies the oil of the oil tank to the small chamber of the second hydraulic cylinder through the hydraulic pump, and the small chamber of the first hydraulic cylinder is connected to the oil tank;

[0042] When the large chamber of the first hydraulic cylinder is connected to the large chamber of the second hydraulic cylinder, the concrete pumping hydraulic system is in a low-pressure gear position, and also includes a low-pressure gear position adjustment method:

[0043] D10: supply oil to the small chamber of the first hydraulic cylinder;

[0044] D20: the first piston of the first hydraulic cylinder reaches the A3 position;

[0045] D30: monitor whether the second piston of the second hydraulic cylinder is located at the B2 position, if yes, execute D31, if no, execute D321;

[0046] D31: After the regulating component remains inactive for T1 time, D40 is executed;

[0047] D321: if it is determined that the second piston does not exceed the B2 position, then S322 is executed; if it is determined that the second piston exceeds the B2 position, then S323 is executed;

[0048] D322: The first regulating group connects the large chamber and the small chamber of the first hydraulic cylinder for T1 time and then closes them, and executes D40;

[0049] D323: The second regulating group connects the large chamber and the small chamber of the second hydraulic cylinder for T1 time and then closes them, and executes D40;

[0050] D40 includes D403: the first piston reaches the closed end of the first cylinder body and supplies oil to the small chamber of the second hydraulic cylinder;

[0051] D50: the second piston of the second hydraulic cylinder reaches the B3 position;

[0052] D60: monitor whether the first piston of the first hydraulic cylinder is located at the A2 position, if yes, execute D61, if no, execute D621;

[0053] D61: After the regulating component remains inactive for T1 time, D70 is executed;

[0054] D621: if it is determined that the first piston does not exceed the A2 position, then execute D622; if it is determined that the first piston exceeds the A2 position, then execute D623;

[0055] D622: the second regulating group connects the large chamber and the small chamber of the second hydraulic cylinder for T1 time and then closes them, and executes D70;

[0056] D623: the first regulating group connects the large chamber and the small chamber of the first hydraulic cylinder for T1 time and then closes them, and executes D70;

[0057] D70 includes D703: the second piston reaches the sealing end of the second cylinder and returns to D10.

[0058] As a preferred technical solution of the automatic adjustment method, the D40 further includes:

[0059] D401: After T2 time, determine whether the first piston of the first hydraulic cylinder exceeds position A4, or whether the second piston of the second hydraulic cylinder exceeds position B1. If yes, execute D402; if no, execute D403;

[0060] D402: If the first piston of the first hydraulic cylinder exceeds the A4 position, the first regulating group connects the large chamber and the small chamber of the first hydraulic cylinder for T3 time and then closes it, and the second regulating group connects the large chamber and the small chamber of the second hydraulic cylinder for T3 time and then closes it; if the second piston of the second hydraulic cylinder exceeds the B1 position, the second regulating group connects the large chamber and the small chamber of the second hydraulic cylinder for T4 time and then closes it;

[0061] The D70 also includes:

[0062] D701: After T2 time, determine whether the second piston of the second hydraulic cylinder exceeds the B4 position, or whether the first piston of the first hydraulic cylinder exceeds the A1 position. If yes, execute D702; if no, execute D703;

[0063] D702; if the second piston of the second hydraulic cylinder exceeds the B4 position, the second adjustment group connects the large chamber and the small chamber of the second hydraulic cylinder for T3 time and then closes it, and the first adjustment group connects the large chamber and the small chamber of the first hydraulic cylinder for T3 time and then closes it; if the first piston of the first hydraulic cylinder exceeds the A1 position, the first adjustment group connects the large chamber and the small chamber of the first hydraulic cylinder for T4 time and then closes it.

[0064] The beneficial effects of the present invention are:

[0065] The present invention provides a concrete pumping hydraulic system and an automatic adjustment method. The concrete pumping hydraulic system comprises an execution assembly, an oil supply assembly and an adjustment assembly. The execution assembly comprises a first hydraulic cylinder and a second hydraulic cylinder. The oil supply assembly comprises an oil tank, a hydraulic pump and an electromagnetic valve group. The electromagnetic valve group can selectively connect a small cavity of the first hydraulic cylinder with a small cavity of the second hydraulic cylinder. When the small cavity of the first hydraulic cylinder and the small cavity of the second hydraulic cylinder are connected, the electromagnetic valve group supplies oil from the oil tank to a large cavity of the first hydraulic cylinder through the hydraulic pump, and the large cavity of the second hydraulic cylinder is connected with the oil tank; or the electromagnetic valve group supplies oil from the oil tank to the large cavity of the second hydraulic cylinder through the hydraulic pump, and the large cavity of the first hydraulic cylinder is connected with the oil tank. The adjustment assembly comprises a first adjustment group and a second adjustment group. The first adjustment group can connect or disconnect the large cavity and the small cavity of the first hydraulic cylinder, and the second adjustment group can connect or disconnect the large cavity and the small cavity of the second hydraulic cylinder. When the concrete pumping hydraulic system is working, the small chamber of the first hydraulic cylinder is first connected to the small chamber of the second hydraulic cylinder, the hydraulic pump starts to work, and the solenoid valve group supplies the oil in the oil tank to the large chamber of the first hydraulic cylinder through the hydraulic pump. At this time, the first piston moves toward the telescopic end of the first cylinder body, thereby reducing the small chamber of the first hydraulic cylinder. At this time, the small chamber of the second hydraulic cylinder increases, and the oil in the large chamber of the second hydraulic cylinder flows back to the oil tank until the first piston moves to the telescopic end of the first cylinder body. The solenoid valve group supplies the oil in the oil tank to the large chamber of the second hydraulic cylinder through the hydraulic pump. At this time, the second piston moves toward the telescopic end of the second cylinder body, thereby reducing the small chamber of the second hydraulic cylinder. At this time, the small chamber of the first hydraulic cylinder increases, and the oil in the large chamber of the first hydraulic cylinder flows back to the oil tank until the first piston moves to the telescopic end of the first cylinder body, and the above steps are repeated to achieve concrete pumping. During this process, if the moving distances of the first piston and the second piston are synchronized, the total oil volume in the first connecting chamber composed of the small chamber of the first hydraulic cylinder and the small chamber of the second hydraulic cylinder is a constant a. If it is found that the moving distances of the first piston and the second piston are not synchronized, the total oil volume in the first connecting chamber composed of the small chamber of the first hydraulic cylinder and the small chamber of the second hydraulic cylinder changes to b, the amount of oil in the small chamber of the first hydraulic cylinder can be increased through the first adjustment group, or the amount of oil in the small chamber of the second hydraulic cylinder can be reduced through the second adjustment group, so that b is close to a and the moving distances of the first piston and the second piston are synchronized. BRIEF DESCRIPTION OF THE DRAWINGS

[0066] Figure 1 It is a hydraulic circuit diagram of a concrete pumping hydraulic system in an embodiment of the present invention;

[0067] Figure 2 It is a flow chart of a high-voltage gear adjustment method in an automatic adjustment method in an embodiment of the present invention;

[0068] Figure 3 It is a flow chart of the low-voltage gear adjustment method in the automatic adjustment method in an embodiment of the present invention.

[0069] In the figure:

[0070] 11. First hydraulic cylinder; 111. First cylinder body; 1111. A1 connecting hole; 1112. A2 connecting hole; 1113. A3 connecting hole; 1114. A4 connecting hole; 1115. A1 position; 1116. A2 position; 1117. A3 position; 1118. A4 position; 112. First piston; 12. Second hydraulic cylinder; 121. Second cylinder body; 1211. B1 connecting hole; 1212. B2 connecting hole; 1213. B3 connecting hole; 1214. B4 connecting hole; 1215. B1 position; 1216. B2 position; 1217. B3 position; 1218. B4 position; 122. Second piston;

[0071] 21. Oil tank; 22. Hydraulic pump; 23. Solenoid valve group; 231. Shift regulating valve; 232. First reversing regulating valve; 233. Second reversing regulating valve; 234. Unloading valve;

[0072] 31, first regulating group; 311, first solenoid valve; 312, second solenoid valve; 32, second regulating group; 321, third solenoid valve; 322, fourth solenoid valve;

[0073] 4. Controller. DETAILED DESCRIPTION

[0074] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0075] In the description of the present invention, it should be noted that the orientations or positional relationships indicated by the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc. are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. Among them, the terms "first position" and "second position" are two different positions, and the first feature "above", "above" and "above" the second feature include the first feature being directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. The first feature "below", "below" and "below" the second feature include the first feature being directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0076] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0077] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0078] like Figure 1 As shown, this embodiment provides a concrete pumping hydraulic system, which includes an actuator, an oil supply assembly and an adjustment assembly. The actuator includes a first hydraulic cylinder 11 and a second hydraulic cylinder 12. The oil supply assembly includes an oil tank 21, a hydraulic pump 22 and an electromagnetic valve group 23. The electromagnetic valve group 23 can selectively connect the small cavity of the first hydraulic cylinder 11 with the small cavity of the second hydraulic cylinder 12. When the small cavity of the first hydraulic cylinder 11 and the small cavity of the second hydraulic cylinder 12 are connected, the electromagnetic valve group 23 supplies oil to the first hydraulic cylinder 11 through the hydraulic pump 22. The oil in the tank 21 is supplied to the large chamber of the first hydraulic cylinder 11, and the large chamber of the second hydraulic cylinder 12 is connected to the oil tank 21, or the solenoid valve group 23 supplies the oil in the oil tank 21 to the large chamber of the second hydraulic cylinder 12 through the hydraulic pump 22, and the large chamber of the first hydraulic cylinder 11 is connected to the oil tank 21; the adjustment component includes a first adjustment group 31 and a second adjustment group 32, the first adjustment group 31 can connect or disconnect the large chamber and the small chamber of the first hydraulic cylinder 11, and the second adjustment group 32 can connect or disconnect the large chamber and the small chamber of the second hydraulic cylinder 12.

[0079] Optionally, the first hydraulic cylinder 11 includes a first cylinder body 111 and a first piston 112. A piston cavity is provided in the first cylinder body 111. The first piston 112 is slidably provided in the piston cavity of the first cylinder body 111, and then reciprocates between the telescopic end and the closed end of the first cylinder body 111. A telescopic rod is provided at one end of the first piston 112, and the telescopic rod extends out of the first cylinder body 111 from the telescopic end of the first cylinder body 111. The first piston 112 divides the piston cavity of the first cylinder body 111 into two cavities with variable volumes, namely a large cavity and a small cavity, and the telescopic rod is located in the small cavity.

[0080] Optionally, the second hydraulic cylinder 12 includes a second cylinder body 121 and a second piston 122. A piston cavity is provided in the second cylinder body 121. The second piston 122 is slidably provided in the piston cavity of the second hydraulic cylinder 12, and then reciprocates between the telescopic end and the closed end of the second cylinder body 121. A telescopic rod is provided at one end of the second piston 122. The telescopic rod extends from the telescopic end of the second cylinder body 121 out of the second cylinder body 121. The second piston 122 divides the piston cavity of the second hydraulic cylinder 12 into two cavities with variable volumes, namely a large cavity and a small cavity, and the telescopic rod is located in the small cavity.

[0081] When the concrete pumping hydraulic system is working, the small chamber of the first hydraulic cylinder 11 is first connected to the small chamber of the second hydraulic cylinder 12, the hydraulic pump 22 starts to work, and the solenoid valve group 23 supplies the oil in the oil tank 21 to the large chamber of the first hydraulic cylinder 11 through the hydraulic pump 22. At this time, the first piston 112 moves toward the telescopic end of the first cylinder body 111, thereby reducing the small chamber of the first hydraulic cylinder 11. At this time, the small chamber of the second hydraulic cylinder 12 is enlarged, and the oil in the large chamber of the second hydraulic cylinder 12 flows back to the oil tank 21 until the first piston 112 After moving to the telescopic end of the first cylinder body 111, the solenoid valve group 23 supplies the oil in the oil tank 21 to the large cavity of the second hydraulic cylinder 12 through the hydraulic pump 22. At this time, the second piston 122 moves toward the telescopic end of the second cylinder body 121, thereby reducing the small cavity of the second hydraulic cylinder 12. At this time, the small cavity of the first hydraulic cylinder 11 increases, and the oil in the large cavity of the first hydraulic cylinder 11 flows back to the oil tank 21 until the first piston 112 moves to the telescopic end of the first cylinder body 111. The above steps are repeated to realize the pumping of concrete. During this process, if the moving distances of the first piston 112 and the second piston 122 are synchronized, the total oil volume in the first connecting chamber composed of the small chamber of the first hydraulic cylinder 11 and the small chamber of the second hydraulic cylinder 12 is a constant a. If it is found that the moving distances of the first piston 112 and the second piston 122 are not synchronized, and the total oil volume b in the first connecting chamber composed of the small chamber of the first hydraulic cylinder 11 and the small chamber of the second hydraulic cylinder 12 is not equal to a, the amount of oil in the small chamber of the first hydraulic cylinder 11 can be increased by the first adjustment group 31, or the amount of oil in the small chamber of the second hydraulic cylinder 12 can be reduced by the second adjustment group 32, so as to make b approach a and make the moving distances of the first piston 112 and the second piston 122 tend to be synchronized.

[0082] The peripheral wall of the first cylinder 111 is provided with A1 connecting hole 1111, A2 connecting hole 1112, A3 connecting hole 1113 and A4 connecting hole 1114 which are connected to the piston cavity of the first cylinder 111 in sequence from the telescopic end to the closed end of the first cylinder 111. The first regulating group 31 includes a first solenoid valve 311 and a second solenoid valve 312. The first solenoid valve 311 is used to control the connection or disconnection of the A1 connecting hole 1111 and the A2 connecting hole 1112, and the second solenoid valve 312 is used to control the connection or disconnection of the A3 connecting hole 1113 and the A4 connecting hole 1114. In this embodiment, when the first piston 112 moves between the A1 connecting hole 1111 and the A2 connecting hole 1112, the connection and disconnection of the small cavity and the large cavity of the first cylinder 111 can be adjusted by adjusting the first solenoid valve 311. When the first piston 112 moves between the A3 connecting hole 1113 and the A4 connecting hole 1114 , the connection and disconnection between the small chamber and the large chamber of the first cylinder 111 can be adjusted by adjusting the second solenoid valve 312 .

[0083] Specifically, the A1 connecting hole 1111 is close to the telescopic end of the first cylinder body 111 , and the A4 connecting hole 1114 is close to the closed end of the first cylinder body 111 .

[0084] The peripheral wall of the second cylinder body 121 of the second hydraulic cylinder 12 is provided with B1 connecting holes 1211, B2 connecting holes 1212, B3 connecting holes 1213 and B4 connecting holes 1214 which are connected to the piston chamber of the second cylinder body 121 in sequence from the telescopic end to the closed end of the second cylinder body 121; the second regulating group 32 includes a third solenoid valve 321 and a fourth solenoid valve 322, the third solenoid valve 321 is used to control the connection or disconnection of the B1 connecting hole 1211 and the B2 connecting hole 1212, and the fourth solenoid valve 322 is used to control the connection or disconnection of the B3 connecting hole 1213 and the B4 connecting hole 1214. In this embodiment, when the second piston 122 moves between the B1 connecting hole 1211 and the B2 connecting hole 1212, the connection and disconnection of the small chamber and the large chamber of the second cylinder body 121 can be adjusted by adjusting the third solenoid valve 321. When the second piston 122 moves between the B3 connecting hole 1213 and the B4 connecting hole 1214 , the connection and disconnection between the small chamber and the large chamber of the second cylinder 121 can be adjusted by adjusting the fourth solenoid valve 322 .

[0085] Optionally, the solenoid valve group 23 includes a gear regulating valve 231, and the gear regulating valve 231 includes a first gear and a second gear. In the first gear, the small chamber of the first hydraulic cylinder 11 is connected to the small chamber of the second hydraulic cylinder 12, and in the second gear, the large chamber of the first hydraulic cylinder 11 is connected to the large chamber of the second hydraulic cylinder 12; in the second gear, the solenoid valve group 23 supplies the oil in the oil tank 21 to the small chamber of the first hydraulic cylinder 11 through the hydraulic pump 22, and the small chamber of the second hydraulic cylinder 12 is connected to the oil tank 21, or the solenoid valve group 23 supplies the oil in the oil tank 21 to the small chamber of the second hydraulic cylinder 12 through the hydraulic pump 22, and the small chamber of the first hydraulic cylinder 11 is connected to the oil tank 21. In this embodiment, when the concrete pumping hydraulic system is in the first gear, the large chamber of the first hydraulic cylinder 11 or the second hydraulic cylinder 12 is filled with oil, and the concrete output pressure is high, but the unit output is small; when the concrete pumping hydraulic system is in the second gear, the small chamber of the first hydraulic cylinder 11 or the second hydraulic cylinder 12 is filled with oil, and the concrete output pressure is low, but the unit output is large. Specifically, the gear regulating valve 231 is a two-position four-way valve.

[0086] Optionally, the solenoid valve group 23 also includes a first reversing regulating valve 232, the first interface of the first reversing regulating valve 232 is connected to the liquid outlet of the hydraulic pump 22, the second interface is connected to the oil tank 21, the third interface is connected to the large chamber of the first hydraulic cylinder 11, and the fourth interface is connected to the large chamber of the second hydraulic cylinder 12. The first reversing regulating valve 232 includes a first position, a second position and a third position. In the first position, the first interface is connected to the fourth interface, and the second interface is connected to the third interface. In the second position, the first interface, the second interface, the third interface and the fourth interface are disconnected from each other. In the third position, the first interface is connected to the third interface, and the second interface is connected to the fourth interface. In this embodiment, when the gear regulating valve 231 is in the first gear position, the first reversing regulating valve 232 works. When the first reversing regulating valve 232 is in the first position, the large chamber of the second hydraulic cylinder 12 is filled with oil, and the large chamber of the first hydraulic cylinder 11 returns oil to the oil tank 21. At this time, the second piston 122 of the second hydraulic cylinder 12 moves toward the telescopic end of the second cylinder body 121, and the first piston 112 of the first hydraulic cylinder 11 moves toward the closed end of the first cylinder body 111. When the first reversing regulating valve 232 is in the third position, the large chamber of the first hydraulic cylinder 11 is filled with oil, and the large chamber of the second hydraulic cylinder 12 returns oil to the oil tank 21. At this time, the first piston 112 of the first hydraulic cylinder 11 moves toward the telescopic end of the first cylinder body 111, and the second piston 122 of the second hydraulic cylinder 12 moves toward the closed end of the second cylinder body 121.

[0087] Optionally, the solenoid valve group 23 also includes a second reversing regulating valve 233, the fifth interface of the second reversing regulating valve 233 is connected to the liquid outlet of the hydraulic pump 22, the sixth interface is connected to the oil tank 21, the seventh interface is connected to the small chamber of the first hydraulic cylinder 11, and the eighth interface is connected to the small chamber of the second hydraulic cylinder 12. The second reversing regulating valve 233 includes a fourth position, a fifth position and a sixth position. In the fourth position, the fifth interface is connected to the eighth interface, and the sixth interface is connected to the seventh interface. In the second position, the fifth interface, the sixth interface, the seventh interface and the eighth interface are disconnected from each other. In the sixth position, the fifth interface is connected to the seventh interface, and the second interface is connected to the eighth interface. In this embodiment, when the gear regulating valve 231 is in the second gear position, the second reversing regulating valve 233 works. When the second reversing regulating valve 233 is in the fourth position, the small chamber of the second hydraulic cylinder 12 is filled with oil, and the small chamber of the second hydraulic cylinder 12 returns oil to the oil tank 21. At this time, the second piston 122 of the second hydraulic cylinder 12 moves toward the lower end of the second cylinder body 121, and the first piston 112 of the first hydraulic cylinder 11 moves toward the telescopic end of the first cylinder body 111. When the second reversing regulating valve 233 is in the sixth position, the small chamber of the first hydraulic cylinder 11 is filled with oil, and the small chamber of the second hydraulic cylinder 12 returns oil to the oil tank 21. At this time, the first piston 112 of the first hydraulic cylinder 11 moves toward the bottom end of the first cylinder body 111, and the second piston 122 of the second hydraulic cylinder 12 moves toward the telescopic end of the second cylinder body 121.

[0088] Specifically, when the gear regulating valve 231 is located at the first gear, the second switching regulating valve 233 is located at the fifth position; when the gear regulating valve 231 is located at the second gear, the first switching regulating valve 232 is located at the second position.

[0089] Optionally, the solenoid valve group 23 further includes a relief valve 234, one end of which is connected to the liquid outlet of the hydraulic pump 22, and the other end of which is connected to the oil tank 21. In this embodiment, when the first reversing regulating valve 232 is located at the second position and the second reversing regulating valve 233 is located at the fifth position, the relief valve 234 connects the oil outlet of the hydraulic pump 22 with the oil tank 21 to achieve load relief.

[0090] Specifically, the first switching regulating valve 232 and the second switching regulating valve 233 are both three-position four-way valves.

[0091] Optionally, a controller 4 is further included, and the controller 4 is used to control the hydraulic pump 22 , the solenoid valve group 23 , the first regulating group 31 and the second regulating group 32 .

[0092] The present embodiment also provides an automatic adjustment method, which is implemented by the concrete pumping hydraulic system in the above scheme, wherein the peripheral wall of the first cylinder body 111 of the first hydraulic cylinder 11 is sequentially provided with A1 position 1115, A2 position 1116, A3 position 1117 and A4 position 1118 along the telescopic end to the closed end of the first cylinder body 111, wherein the A1 position 1115 and the A2 position 1116 are close to the telescopic end of the first cylinder body 111, and the A3 position 1117 and the A4 position 1118 are close to the telescopic end of the first cylinder body 111. 118 is close to the closed end of the first cylinder body 111, and the peripheral wall of the second cylinder body 121 of the second hydraulic cylinder 12 is sequentially arranged with B1 position 1215, B2 position 1216, B3 position 1217 and B4 position 1218 along the telescopic end to the closed end of the second cylinder body 121, B1 position 1215 and B2 position 1216 are close to the telescopic end of the second cylinder body 121, and B3 position 1217 and B4 position 1218 are close to the closed end of the second cylinder body 121;

[0093] Specifically, A1 position 1115 and A2 position 1116 are located between A1 connecting hole 1111 and A2 connecting hole 1112, A3 position 1117 and A4 position 1118 are located between A3 connecting hole 1113 and A4 connecting hole 1114, B1 position 1215 and B2 position 1216 are located between B1 connecting hole 1211 and B2 connecting hole 1212, and B3 position 1217 and B4 position 1218 are located between B3 connecting hole 1213 and B4 connecting hole 1214.

[0094] Preferably, both the first hydraulic cylinder 11 and the second hydraulic cylinder 12 are digital hydraulic cylinders, which can detect the real-time moving positions of the first piston 112 and the second piston 122 in real time.

[0095] like Figure 2 As shown, when the shift regulating valve is in the first gear, the concrete pumping hydraulic system is in the high-pressure gear, and the automatic adjustment method includes the high-pressure gear adjustment method:

[0096] S10: Supply oil to the large chamber of the first hydraulic cylinder 11.

[0097] In this step, the shift regulating valve is adjusted to the first gear position, the first reversing regulating valve 232 is adjusted to the third position, and the second reversing regulating valve 233 is adjusted to the fifth position. At this time, the hydraulic pump 22 is started, and the oil in the oil tank 21 can be pumped into the large cavity of the first hydraulic cylinder 11.

[0098] S20 : ​​The first piston 112 of the first hydraulic cylinder 11 reaches the A2 position 1116 .

[0099] S30: Monitor whether the second piston 122 of the second hydraulic cylinder 12 is located at the B3 position 1217, if yes, execute S31, otherwise, execute S321.

[0100] S31: After the adjustment component remains inactive for T1 time, S40 is executed.

[0101] In this embodiment, after the concrete pumping hydraulic system maintains the current working state for a preset time T1, S40 is executed.

[0102] S321: If it is determined that the second piston 122 has not reached the B3 position 1217, execute S322; if it is determined that the second piston 122 exceeds the B3 position 1217, execute S323; in this step, the second piston 122 has not reached the B3 position 1217, which specifically means that the second piston 122 is located between the B2 position 1216 and the B3 position 1217; the second piston 122 exceeds the B3 position 1217, which means that the second piston 122 is located between the B3 position 1217 and the B4 position 1218.

[0103] S322: The first regulating group 31 connects the large chamber and the small chamber of the first hydraulic cylinder 11 for T1 time and then closes it, and executes S40. In this step, when the second piston 122 is located between the B2 position 1216 and the B3 position 1217, at this time, the oil in the first connecting chamber composed of the small chamber of the first hydraulic cylinder 11 and the small chamber of the second hydraulic cylinder 12 is reduced, and it is necessary to add oil to the first connecting chamber, so the first regulating group 31 connects the large chamber and the small chamber of the first hydraulic cylinder 11 to transport the oil in the large chamber of the first hydraulic cylinder 11 to the small chamber of the first hydraulic cylinder 11. Time T1 is a fixed value. After the large chamber and the small chamber of the first hydraulic cylinder 11 are connected for time T1, the large chamber and the small chamber of the first hydraulic cylinder 11 are disconnected. If the oil volume b in the first connecting chamber is not equal to a, the adjustment is continued through the subsequent steps, or the adjustment is performed through the next cycle.

[0104] S323: The second regulating group 32 connects the large chamber and the small chamber of the second hydraulic cylinder 12 for T1 time and then closes it, and executes S40. In this step, when the second piston 122 is located between the B3 position 1217 and the B4 position 1218, at this time, the oil in the first connecting chamber composed of the small chamber of the first hydraulic cylinder 11 and the small chamber of the second hydraulic cylinder 12 is too much, and it is necessary to reduce the oil in the first connecting chamber, so the second regulating group 32 connects the large chamber and the small chamber of the second hydraulic cylinder 12, so that the excess oil in the first connecting chamber first flows to the large chamber of the second hydraulic cylinder 12, and then flows to the oil tank 21. Time T1 is a fixed value. After the large chamber and the small chamber of the second hydraulic cylinder 12 are connected for time T1, the large chamber and the small chamber of the second hydraulic cylinder 12 are disconnected. If the oil volume b in the first connecting chamber is not equal to a, the adjustment is continued through the subsequent steps in this cycle, or the adjustment is performed through the next cycle.

[0105] Optionally, S40 specifically includes:

[0106] S401: After T2 time, determine whether the first piston 112 of the first hydraulic cylinder 11 exceeds the A1 position 1115 or whether the second piston 122 of the second hydraulic cylinder 12 exceeds the B4 position 1218. If yes, execute S41; if not, execute S42.

[0107] The purpose of this step is to prevent the first piston 112 from colliding with the top wall of the first cylinder 111 and to prevent the second piston 122 from colliding with the bottom wall of the second cylinder 121 .

[0108] S402: If the first piston 112 of the first hydraulic cylinder 11 exceeds the A1 position 1115, the first regulating group 31 connects the large chamber and the small chamber of the first hydraulic cylinder 11 for T3 time and then closes, and the second regulating group 32 connects the large chamber and the small chamber of the second hydraulic cylinder 12 for T3 time and then closes. This setting can guide the oil in the large chamber of the first hydraulic cylinder 11 into the small chamber of the first hydraulic cylinder 11, thereby slowing down the movement speed of the first piston 112, and at the same time guide the oil in the small chamber of the second hydraulic cylinder 12 into the large chamber of the second hydraulic cylinder 12, and then discharge it into the oil tank 21, thereby avoiding reducing the movement speed of the first piston 112 while increasing the movement speed of the second piston 122.

[0109] If the second piston 122 of the second hydraulic cylinder 12 exceeds the B4 position 1218, the second adjustment group 32 connects the large chamber and the small chamber of the second hydraulic cylinder 12 for T4 time and then closes, and executes S42. This setting can discharge the oil in the first connecting chamber into the oil tank 21 through the large chamber of the second hydraulic cylinder 12, thereby reducing the moving speed of the second piston 122. Since the path for the oil in the large chamber of the first hydraulic cylinder 11 to be discharged to the oil tank 21 is greater than the path for the oil in the small chamber of the second hydraulic cylinder 12 to be discharged to the oil tank 21, T4 is less than T3.

[0110] S403 ; the first piston 112 reaches the telescopic end of the first cylinder body 111 and supplies oil to the large chamber of the second hydraulic cylinder 12 .

[0111] In this step, the first reversing regulating valve 232 is adjusted to the first position, so that the oil in the oil tank 21 can be pumped into the large chamber of the second hydraulic cylinder 12 .

[0112] S50: The second piston 122 of the second hydraulic cylinder 12 reaches the B2 position 1216;

[0113] S60: Monitor whether the first piston 112 of the first hydraulic cylinder 11 is located at the A3 position 1117. If yes, execute S61, otherwise, execute S621. In this step, if the oil volume b in the first connecting chamber is equal to a, then the first piston 112 is exactly located at the A3 position 1117. If yes, execute S61, otherwise, execute S621.

[0114] S61: After the adjustment component remains inactive for T1 time, execute S70.

[0115] In this embodiment, after the concrete pumping hydraulic system maintains the current working state for a preset time T1, S70 is executed.

[0116] S621: If it is determined that the first piston 112 has not reached the A3 position 1117, then S622 is executed; if it is determined that the first piston 112 exceeds the A3 position 1117, then S623 is executed.

[0117] In this step, the first piston 112 not reaching the A3 position 1117 specifically means that the first piston 112 is located between the A2 position 1116 and the A3 position 1117 , and the first piston 112 exceeding the A3 position 1117 specifically means that the first piston 112 is located between the A3 position 1117 and the A4 position 1118 .

[0118] S622: The second regulating group 32 connects the large chamber and the small chamber of the second hydraulic cylinder 12 for T1 time and then closes it, and executes S70. In this step, when the first piston 112 is located between the A2 position 1116 and the A3 position 1117, at this time, the oil in the first connecting chamber composed of the small chamber of the first hydraulic cylinder 11 and the small chamber of the second hydraulic cylinder 12 is reduced, and it is necessary to add oil to the first connecting chamber, so the second regulating group 32 connects the large chamber and the small chamber of the second hydraulic cylinder 12 to transport the oil in the large chamber of the second hydraulic cylinder 12 to the small chamber of the second hydraulic cylinder 12. Time T1 is a fixed value. After the large chamber and the small chamber of the second hydraulic cylinder 12 are connected for T1 time, the large chamber and the small chamber of the second hydraulic cylinder 12 are disconnected. If the oil volume b in the first connecting chamber is not equal to a, the adjustment is continued through the next cycle.

[0119] S623: The first regulating group 31 connects the large chamber and the small chamber of the first hydraulic cylinder 11 for T1 time and then closes it, and executes S70. In this step, when the first piston 112 is located between the A3 position 1117 and the A4 position 1118, at this time, there is too much oil in the first connecting chamber composed of the small chamber of the first hydraulic cylinder 11 and the small chamber of the second hydraulic cylinder 12, and it is necessary to reduce the oil in the first connecting chamber. Therefore, the first regulating group 31 connects the large chamber and the small chamber of the first hydraulic cylinder 11 to make the excess oil in the first connecting chamber flow to the large chamber of the first hydraulic cylinder 11 first, and then flow to the oil tank 21. Time T1 is a fixed value. After the large chamber and the small chamber of the first hydraulic cylinder 11 are connected for T1 time, the large chamber and the small chamber of the first hydraulic cylinder 11 are disconnected. If the oil volume b in the first connecting chamber is not equal to a, it is adjusted through the subsequent steps in this cycle, or adjusted through the next cycle.

[0120] S70 specifically includes:

[0121] S701: After T2 time, determine whether the second piston 122 of the second hydraulic cylinder 12 exceeds the B1 position 1215 or whether the first piston 112 of the first hydraulic cylinder 11 exceeds the A4 position 1118. If yes, execute S702; otherwise, execute S703.

[0122] The purpose of this step is to prevent the first piston 112 from colliding with the bottom wall of the first cylinder 111 and to prevent the second piston 122 from colliding with the top wall of the second cylinder 121 .

[0123] S702: If the second piston 122 of the second hydraulic cylinder 12 exceeds the B1 position 1215, the second regulating group 32 connects the large chamber and the small chamber of the second hydraulic cylinder 12 for T3 time and then closes, and the first regulating group 31 connects the large chamber and the small chamber of the first hydraulic cylinder 11 for T3 time and then closes. This setting can guide the oil in the large chamber of the second hydraulic cylinder 12 into the small chamber of the second hydraulic cylinder 12, thereby slowing down the movement speed of the second piston 122, and at the same time guide the oil in the small chamber of the first hydraulic cylinder 11 into the large chamber of the first hydraulic cylinder 11, and then discharge it into the oil tank 21, thereby avoiding reducing the movement speed of the second piston 122 while increasing the movement speed of the first piston 112.

[0124] If the first piston 112 of the first hydraulic cylinder 11 exceeds the A4 position 1118, the first adjustment group 31 connects the large chamber and the small chamber of the first hydraulic cylinder 11 for T4 time and then closes, and executes S72. This setting can discharge the oil in the first connecting chamber into the oil tank 21 through the large chamber of the first hydraulic cylinder 11, thereby reducing the moving speed of the first piston 112. Since the path for the oil in the large chamber of the second hydraulic cylinder 12 to be discharged to the oil tank 21 is greater than the path for the oil in the small chamber of the first hydraulic cylinder 11 to be discharged to the oil tank 21, T4 is less than T3.

[0125] S703: The second piston 122 reaches the extension end of the second cylinder 121 and returns to S10.

[0126] The above steps can make the oil b in the actual first communicating chamber gradually approach a, thereby achieving synchronous reverse movement of the first hydraulic cylinder 11 and the second hydraulic cylinder 12.

[0127] Optionally, when the large chamber of the first hydraulic cylinder 11 and the large chamber of the second hydraulic cylinder 12 are connected, the concrete pumping hydraulic system is in a low-pressure gear. At this time, the large chamber of the first hydraulic cylinder 11 and the large chamber of the second hydraulic cylinder 12 form a second connecting chamber. When the oil volume in the second connecting chamber is A, the first hydraulic cylinder 11 and the second hydraulic cylinder 12 move synchronously in opposite directions, and the actual oil volume of the second connecting chamber is B.

[0128] like Figure 3 As shown, the low-voltage gear adjustment method specifically includes:

[0129] D10: supplies oil to the small chamber of the first hydraulic cylinder 11.

[0130] In this step, the shift regulating valve is adjusted to the second gear position, the first reversing regulating valve 232 is adjusted to the second position, and the second reversing regulating valve 233 is adjusted to the sixth position. At this time, the oil pump is started to pump the oil in the oil tank 21 into the small chamber of the first hydraulic cylinder 11.

[0131] D20: The first piston 112 of the first hydraulic cylinder 11 reaches the A3 position 1117 .

[0132] D30: Monitor whether the second piston 122 of the second hydraulic cylinder 12 is located at the B2 position 1216. If yes, execute D31; otherwise, execute D321.

[0133] D31: After the adjustment component remains inactive for T1 time, execute D40.

[0134] In this embodiment, after the concrete pumping hydraulic system maintains the current working state for a preset time T1, D40 is executed.

[0135] D321: If it is determined that the second piston 122 does not exceed the B2 position 1216, then S322 is executed; if it is determined that the second piston exceeds the B2 position 1216, then S323 is executed.

[0136] In this step, the second piston 122 not exceeding the B2 position 1216 specifically means that the second piston 122 is located between the B2 position 1216 and the B3 position 1217 , and the second piston 122 exceeding the B2 position 1216 specifically means that the second piston 122 is located between the B1 position 1215 and the B2 position 1216 .

[0137] D322: The first regulating group 31 connects the large chamber and the small chamber of the first hydraulic cylinder 11 for T1 time and then closes it, and executes D40. In this step, when the second piston 122 is located between the B2 position 1216 and the B3 position 1217, at this time, the oil in the second connecting chamber composed of the large chamber of the first hydraulic cylinder 11 and the large chamber of the second hydraulic cylinder 12 is reduced, and it is necessary to add oil to the second connecting chamber, so the first regulating group 31 connects the large chamber and the small chamber of the first hydraulic cylinder 11 to transport the oil in the small chamber of the first hydraulic cylinder 11 to the large chamber of the first hydraulic cylinder 11. Time T1 is a fixed value. After the large chamber and the small chamber of the first hydraulic cylinder 11 are connected for time T1, the large chamber and the small chamber of the first hydraulic cylinder 11 are disconnected. If the oil volume B in the second connecting chamber is not equal to A, it is adjusted through subsequent steps or adjusted through the next cycle.

[0138] D323: The second regulating group 32 connects the large chamber and the small chamber of the second hydraulic cylinder 12 for T1 time and then closes them, and executes D40. In this step, when the second piston 122 is located between the B1 position 1215 and the B2 position 1216, at this time, there is too much oil in the second connecting chamber composed of the large chamber of the first hydraulic cylinder 11 and the large chamber of the second hydraulic cylinder 12, and it is necessary to reduce the oil in the second connecting chamber. Therefore, the second regulating group 32 connects the large chamber and the small chamber of the second hydraulic cylinder 12 to make the excess oil in the second connecting chamber flow to the small chamber of the second hydraulic cylinder 12 first, and then flow to the oil tank 21. Time T1 is a fixed value. After the large chamber and the small chamber of the second hydraulic cylinder 12 are connected for T1 time, the large chamber and the small chamber of the second hydraulic cylinder 12 are disconnected. If the oil volume b in the second connecting chamber is not equal to a, it is adjusted through the subsequent steps in the cycle, or adjusted through the next cycle. Optionally,

[0139] D40 specifically includes:

[0140] D401: After T2 time, determine whether the first piston 112 of the first hydraulic cylinder 11 exceeds the A4 position 1118 or whether the second piston 122 of the second hydraulic cylinder 12 exceeds the B1 position 1215. If yes, execute D402; otherwise, execute D403.

[0141] The purpose of this step is to prevent the first piston 112 from colliding with the top wall of the first cylinder 111 and to prevent the second piston 122 from colliding with the bottom wall of the second cylinder 121 .

[0142] D402: If the first piston 112 of the first hydraulic cylinder 11 exceeds the A4 position 1118, the first regulating group 31 connects the large chamber and the small chamber of the first hydraulic cylinder 11 for T3 time and then closes, and the second regulating group 32 connects the large chamber and the small chamber of the second hydraulic cylinder 12 for T3 time and then closes. This setting can guide the oil in the small chamber of the first hydraulic cylinder 11 into the large chamber of the first hydraulic cylinder 11, thereby slowing down the movement speed of the first piston 112, and at the same time guide the oil in the large chamber of the second hydraulic cylinder 12 into the small chamber of the second hydraulic cylinder 12, and then discharge it into the oil tank 21, thereby avoiding reducing the movement speed of the first piston 112 while increasing the movement speed of the second piston 122.

[0143] If the second piston 122 of the second hydraulic cylinder 12 exceeds the B1 position 1215, the second adjustment group 32 connects the large chamber and the small chamber of the second hydraulic cylinder 12 for T4 time and then closes, and executes S42. This setting can discharge the oil in the second connecting chamber into the oil tank 21 through the small chamber of the second hydraulic cylinder 12, thereby reducing the moving speed of the second piston 122. Since the path for the oil in the small chamber of the first hydraulic cylinder 11 to be discharged to the oil tank 21 is greater than the path for the oil in the large chamber of the second hydraulic cylinder 12 to be discharged to the oil tank 21, T4 is less than T3.

[0144] D403; the first piston 112 reaches the closed end of the first cylinder body 111 and supplies oil to the small chamber of the second hydraulic cylinder 12.

[0145] In this step, the second reversing regulating valve 233 is adjusted to the fourth position, so that the oil in the oil tank 21 can be pumped into the large chamber of the first hydraulic cylinder 11 .

[0146] D50: The second piston 122 of the second hydraulic cylinder 12 reaches the B3 position 1217 .

[0147] D60: Monitor whether the first piston 112 of the first hydraulic cylinder 11 is located at the A2 position 1116. If yes, execute D61, otherwise, execute D621. In this step, if the oil volume B in the second connecting chamber is equal to A, then the first piston 112 is exactly located at the A2 position 1116. If yes, execute D61, otherwise, execute D621.

[0148] D61: After the adjustment component remains inactive for T1 time, execute D70;

[0149] In this embodiment, after the concrete pumping hydraulic system maintains the current working state for a preset time T1, D70 is executed.

[0150] D621: If it is determined that the first piston 112 does not exceed the A2 position 1116, D622 is executed; if it is determined that the first piston 112 exceeds the A2 position 1116, D623 is executed.

[0151] In this step, the first piston 112 not exceeding the A2 position 1116 specifically means that the first piston 112 is located between the A2 position 1116 and the A3 position 1117, and the first piston 112 exceeding the A2 position 1116 specifically means that the first piston 112 is located between the A1 position 1115 and the A2 position 1116, then execute S623.

[0152] D622: The second regulating group 32 connects the large chamber and the small chamber of the second hydraulic cylinder 12 for T1 time and then closes it, and executes D70. In this step, when the first piston 112 is located between the A2 position 1116 and the A3 position 1117, at this time, the oil in the second connecting chamber composed of the large chamber of the first hydraulic cylinder 11 and the large chamber of the second hydraulic cylinder 12 is reduced, and it is necessary to add oil to the second connecting chamber, so the second regulating group 32 connects the large chamber and the small chamber of the second hydraulic cylinder 12 to transport the oil in the small chamber of the second hydraulic cylinder 12 to the large chamber of the second hydraulic cylinder 12. Time T1 is a fixed value. After the large chamber and the small chamber of the second hydraulic cylinder 12 are connected for T1 time, the large chamber and the small chamber of the second hydraulic cylinder 12 are disconnected. If the oil volume B in the second connecting chamber is not equal to A, it is adjusted through the next cycle.

[0153] D623: The first regulating group 31 connects the large chamber and the small chamber of the first hydraulic cylinder 11 for T1 time and then closes it, and executes D70. In this step, when the first piston 112 is located between the A1 position 1115 and the A2 position 1116, at this time, there is too much oil in the second connecting chamber composed of the large chamber of the first hydraulic cylinder 11 and the large chamber of the second hydraulic cylinder 12, and it is necessary to reduce the oil in the second connecting chamber. Therefore, the first regulating group 31 connects the large chamber and the small chamber of the first hydraulic cylinder 11 to make the excess oil in the second connecting chamber flow to the small chamber of the first hydraulic cylinder 11 first, and then flow to the oil tank 21. Time T1 is a fixed value. After the large chamber and the small chamber of the first hydraulic cylinder 11 are connected for T1 time, the large chamber and the small chamber of the first hydraulic cylinder 11 are disconnected. If the oil volume b in the second connecting chamber is not equal to a, it is adjusted through the subsequent steps in this cycle, or adjusted through the next cycle.

[0154] D70 specifically includes:

[0155] D701: After T2 time, determine whether the second piston 122 of the second hydraulic cylinder 12 exceeds the B4 position 1218 or whether the first piston 112 of the first hydraulic cylinder 11 exceeds the A1 position 1115. If yes, execute D702; otherwise, execute D703.

[0156] The purpose of this step is to prevent the first piston 112 from colliding with the bottom wall of the first cylinder 111 and to prevent the second piston 122 from colliding with the top wall of the second cylinder 121 .

[0157] D702 specifically includes: if the second piston 122 of the second hydraulic cylinder 12 exceeds the B4 position 1218, the second regulating group 32 connects the large chamber and the small chamber of the second hydraulic cylinder 12 for T3 time and then closes, and the first regulating group 31 connects the large chamber and the small chamber of the first hydraulic cylinder 11 for T3 time and then closes. This setting can guide the oil in the small chamber of the second hydraulic cylinder 12 into the large chamber of the second hydraulic cylinder 12, thereby slowing down the movement speed of the second piston 122, and at the same time guide the oil in the large chamber of the first hydraulic cylinder 11 into the small chamber of the first hydraulic cylinder 11, and then discharge it into the oil tank 21, thereby avoiding reducing the movement speed of the second piston 122 while increasing the movement speed of the first piston 112.

[0158] If the first piston 112 of the first hydraulic cylinder 11 exceeds the A1 position 1115, the first regulating group 31 connects the large chamber and the small chamber of the first hydraulic cylinder 11 for T4 time and then closes, and executes D72. This setting can discharge the oil in the second connecting chamber into the oil tank 21 through the small chamber of the first hydraulic cylinder 11, thereby reducing the moving speed of the first piston 112. Since the path for the oil in the large chamber of the second hydraulic cylinder 12 to be discharged to the oil tank 21 is greater than the path for the oil in the small chamber of the first hydraulic cylinder 11 to be discharged to the oil tank 21, T4 is less than T3.

[0159] D703; the second piston 122 reaches the lower end of the second cylinder 121 and returns to D10.

[0160] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the embodiments here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. Concrete pumping hydraulic system, characterized in that: include: An actuator assembly comprises a first hydraulic cylinder (11) and a second hydraulic cylinder (12); An oil supply assembly comprises an oil tank (21), a hydraulic pump (22) and an electromagnetic valve group (23), wherein the electromagnetic valve group (23) is capable of selectively connecting the small chamber of the first hydraulic cylinder (11) to the small chamber of the second hydraulic cylinder (12); when the electromagnetic valve group (23) connects the small chamber of the first hydraulic cylinder (11) to the small chamber of the second hydraulic cylinder (12), the electromagnetic valve group (23) supplies the oil in the oil tank (21) to the large chamber of the first hydraulic cylinder (11) through the hydraulic pump (22), and the large chamber of the second hydraulic cylinder (12) is connected to the oil tank (21); or the electromagnetic valve group (23) supplies the oil in the oil tank (21) to the large chamber of the second hydraulic cylinder (12) through the hydraulic pump (22), and the large chamber of the first hydraulic cylinder (11) is connected to the oil tank (21); The adjustment assembly comprises a first adjustment group (31) and a second adjustment group (32), wherein the first adjustment group (31) is capable of connecting or disconnecting a large chamber and a small chamber of the first hydraulic cylinder (11), and the second adjustment group (32) is capable of connecting or disconnecting a large chamber and a small chamber of the second hydraulic cylinder (12).

2. The concrete pumping hydraulic system according to claim 1, characterized in that: A1 connecting hole (1111), A2 connecting hole (1112), A3 connecting hole (1113) and A4 connecting hole (1114) communicating with the piston chamber of the first cylinder body (111) are sequentially arranged on the peripheral wall of the first cylinder body (111) from the telescopic end to the closed end of the first cylinder body (111); The first regulating group (31) comprises a first solenoid valve (311) and a second solenoid valve (312), wherein the first solenoid valve (311) is used to control the connection or disconnection between the A1 connecting hole (1111) and the A2 connecting hole (1112), and the second solenoid valve (312) is used to control the connection or disconnection between the A3 connecting hole (1113) and the A4 connecting hole (1114).

3. The concrete pumping hydraulic system according to claim 1, characterized in that: A peripheral wall of the second cylinder body (121) of the second hydraulic cylinder (12) is provided with a B1 connecting hole (1211), a B2 connecting hole (1212), a B3 connecting hole (1213) and a B4 connecting hole (1214) which are connected to the piston chamber of the second cylinder body (121) at intervals from the telescopic end to the closed end of the second cylinder body (121); The second regulating group (32) includes a third solenoid valve (321) and a fourth solenoid valve (322), wherein the third solenoid valve (321) is used to control the connection or disconnection between the B1 connecting hole (1211) and the B2 connecting hole (1212), and the fourth solenoid valve (322) is used to control the connection or disconnection between the B3 connecting hole (1213) and the B4 connecting hole (1214).

4. The concrete pumping hydraulic system according to claim 1, characterized in that: The solenoid valve group (23) comprises a gear regulating valve (231), and the gear regulating valve (231) comprises a first gear and a second gear. In the first gear, the small chamber of the first hydraulic cylinder (11) is connected to the small chamber of the second hydraulic cylinder (12), and in the second gear, the large chamber of the first hydraulic cylinder (11) is connected to the large chamber of the second hydraulic cylinder (12). In the second gear position, the solenoid valve group (23) supplies the oil in the oil tank (21) to the small chamber of the first hydraulic cylinder (11) through the hydraulic pump (22), and the small chamber of the second hydraulic cylinder (12) is connected to the oil tank (21), or the solenoid valve group (23) supplies the oil in the oil tank (21) to the small chamber of the second hydraulic cylinder (12) through the hydraulic pump (22), and the small chamber of the first hydraulic cylinder (11) is connected to the oil tank (21).

5. The concrete pumping hydraulic system according to claim 4, characterized in that: The solenoid valve group (23) also includes a first reversing regulating valve (232), wherein a first interface of the first reversing regulating valve (232) is connected to a liquid outlet of the hydraulic pump (22), a second interface is connected to the oil tank (21), a third interface is connected to a large chamber of the first hydraulic cylinder (11), and a fourth interface is connected to a large chamber of the second hydraulic cylinder (12). The first reversing regulating valve (232) includes a first position, a second position and a third position. In the first position, the first interface is connected to the fourth interface, and the second interface is connected to the third interface. In the second position, the first interface, the second interface, the third interface and the fourth interface are disconnected from each other. In the third position, the first interface is connected to the third interface, and the second interface is connected to the fourth interface.

6. The concrete pumping hydraulic system according to claim 5, characterized in that: The solenoid valve group (23) also includes a second reversing regulating valve (233), the fifth interface of the second reversing regulating valve (233) is connected to the liquid outlet of the hydraulic pump (22), the sixth interface is connected to the oil tank (21), the seventh interface is connected to the small cavity of the first hydraulic cylinder (11), and the eighth interface is connected to the small cavity of the second hydraulic cylinder (12). The second reversing regulating valve (233) includes a fourth position, a fifth position and a sixth position. In the fourth position, the fifth interface is connected to the eighth interface, and the sixth interface is connected to the seventh interface. In the second position, the fifth interface, the sixth interface, the seventh interface and the eighth interface are disconnected from each other. In the sixth position, the fifth interface is connected to the seventh interface, and the sixth interface is connected to the eighth interface.

7. The concrete pumping hydraulic system according to claim 1, characterized in that: The solenoid valve group (23) further comprises a relief valve (234), one end of which is in communication with a liquid outlet of the hydraulic pump (22), and the other end of which is in communication with the oil tank (21).

8. The automatic adjustment method is characterized in that: The concrete pumping hydraulic system is implemented by the concrete pumping hydraulic system according to any one of claims 1 to 7, wherein when the small chamber of the first hydraulic cylinder (11) and the small chamber of the second hydraulic cylinder (12) are connected, the concrete pumping hydraulic system is in a high-pressure gear position, including a high-pressure gear position adjustment method: S10: supplying oil to the large chamber of the first hydraulic cylinder (11); S20: the first piston (112) of the first hydraulic cylinder (11) reaches the A2 position (1116); S30: monitor whether the second piston (122) of the second hydraulic cylinder (12) is located at position B3 (1217); if yes, execute S31; if no, execute S321; S31: After the regulating component remains inactive for T1 period, S40 is executed; S321: if it is determined that the second piston (122) has not reached the B3 position (1217), then S322 is executed; if it is determined that the second piston (122) exceeds the B3 position (1217), then S323 is executed; S322: the first regulating group (31) connects the large chamber and the small chamber of the first hydraulic cylinder (11) for a period of time T1 and then closes them, and executes S40; S323: the second regulating group (32) connects the large chamber and the small chamber of the second hydraulic cylinder (12) for a period of time T1 and then closes them, and executes S40; S40 includes S403: the first piston (112) reaches the telescopic end of the first cylinder body (111) and supplies oil to the large chamber of the second hydraulic cylinder (12); S50: the second piston (122) of the second hydraulic cylinder (12) reaches the B2 position (1216); S60: monitor whether the first piston (112) of the first hydraulic cylinder (11) is located at position A3 (1117); if yes, execute S61; if no, execute S621; S61: After the regulating component remains inactive for T1 time, S70 is executed; S621: if it is determined that the first piston (112) has not reached the A3 position (1117), then S622 is executed; if it is determined that the first piston (112) exceeds the A3 position (1117), then S623 is executed; S622: the second regulating group (32) connects the large chamber and the small chamber of the second hydraulic cylinder (12) for a period of time T1 and then closes them, and executes S70; S623: the first regulating group (31) connects the large chamber and the small chamber of the first hydraulic cylinder (11) for a period of time T1 and then closes them, and executes S70; S70 includes S703: the second piston (122) reaches the telescopic end of the second cylinder (121), and returns to S10.

9. The automatic adjustment method according to claim 8, characterized in that: The S40 also includes: S401: After T2 time, determine whether the first piston (112) of the first hydraulic cylinder (11) exceeds the A1 position (1115); or whether the second piston (122) of the second hydraulic cylinder (12) exceeds the B4 position (1218); if yes, execute S402; if no, execute S403; S402: If the first piston (112) of the first hydraulic cylinder (11) exceeds the A1 position (1115), the first regulating group (31) connects the large chamber and the small chamber of the first hydraulic cylinder (11) for T3 time and then closes the chamber, and the second regulating group (32) connects the large chamber and the small chamber of the second hydraulic cylinder (12) for T3 time and then closes the chamber, and if the second piston (122) of the second hydraulic cylinder (12) exceeds the B4 position (1218), the second regulating group (32) connects the large chamber and the small chamber of the second hydraulic cylinder (12) for T4 time and then closes the chamber, and executes S403; The S70 also includes: S701: After T2 time, determine whether the second piston (122) of the second hydraulic cylinder (12) exceeds the B1 position (1215), or whether the first piston (112) of the first hydraulic cylinder (11) exceeds the A4 position (1118); if yes, execute S702; if no, execute S703; S702: If the second piston (122) of the second hydraulic cylinder (12) exceeds the B1 position (1215), the second regulating group (32) connects the large chamber and the small chamber of the second hydraulic cylinder (12) for T3 time and then closes them, and the first regulating group (31) connects the large chamber and the small chamber of the first hydraulic cylinder (11) for T3 time and then closes them, and if the first piston (112) of the first hydraulic cylinder (11) exceeds the A4 position (1118), the first regulating group (31) connects the large chamber and the small chamber of the first hydraulic cylinder (11) for T4 time and then closes them, and executes S703.

10. The automatic adjustment method according to claim 8, characterized in that: The large chamber of the first hydraulic cylinder (11) is connected to the large chamber of the second hydraulic cylinder (12); the solenoid valve group (23) supplies the oil in the oil tank (21) to the small chamber of the first hydraulic cylinder (11) through the hydraulic pump (22), and the small chamber of the second hydraulic cylinder (12) is connected to the oil tank (21); or the solenoid valve group (23) supplies the oil in the oil tank (21) to the small chamber of the second hydraulic cylinder (12) through the hydraulic pump (22), and the small chamber of the first hydraulic cylinder (11) is connected to the oil tank (21); When the large chamber of the first hydraulic cylinder (11) and the large chamber of the second hydraulic cylinder (12) are connected, the concrete pumping hydraulic system is in a low-pressure gear position, and also includes a low-pressure gear position adjustment method: D10: supplying oil to the small chamber of the first hydraulic cylinder (11); D20: the first piston (112) of the first hydraulic cylinder (11) reaches the A3 position (1117); D30: monitor whether the second piston (122) of the second hydraulic cylinder (12) is located at the B2 position (1216); if yes, execute D31; if no, execute D321; D31: After the regulating component remains inactive for T1 time, D40 is executed; D321: if it is determined that the second piston (122) has not exceeded the B2 position (1216), then S322 is executed; if it is determined that the second piston (122) has exceeded the B2 position (1216), then S323 is executed; D322: the first regulating group (31) connects the large chamber and the small chamber of the first hydraulic cylinder (11) for a period of time T1 and then closes them, and executes D40; D323: the second regulating group (32) connects the large chamber and the small chamber of the second hydraulic cylinder (12) for a period of time T1 and then closes them, and executes D40; D40 includes D403: the first piston (112) reaches the closed end of the first cylinder body (111) and supplies oil to the small chamber of the second hydraulic cylinder (12); D50: the second piston (122) of the second hydraulic cylinder (12) reaches the B3 position (1217); D60: monitor whether the first piston (112) of the first hydraulic cylinder (11) is located at the A2 position (1116); if yes, execute D61; if no, execute D621; D61: After the regulating component remains inactive for T1 time, D70 is executed; D621: if it is determined that the first piston (112) does not exceed the A2 position (1116), then D622 is executed; if it is determined that the first piston (112) exceeds the A2 position (1116), then D623 is executed; D622: the second regulating group (32) connects the large chamber and the small chamber of the second hydraulic cylinder (12) for a period of time T1 and then closes them, and executes D70; D623: the first regulating group (31) connects the large chamber and the small chamber of the first hydraulic cylinder (11) for a period of time T1 and then closes them, and executes D70; D70 includes D703: the second piston (122) reaches the sealing end of the second cylinder (121) and returns to D10.

11. The automatic adjustment method according to claim 10, characterized in that: The D40 also includes: D401: After T2 time, determine whether the first piston (112) of the first hydraulic cylinder (11) exceeds the A4 position (1118), or whether the second piston (122) of the second hydraulic cylinder (12) exceeds the B1 position (1215). If yes, execute D402; if no, execute D403; D402: If the first piston (112) of the first hydraulic cylinder (11) exceeds the A4 position (1118), the first regulating group (31) connects the large chamber and the small chamber of the first hydraulic cylinder (11) for a period of T3 and then closes the chamber, and the second regulating group (32) connects the large chamber and the small chamber of the second hydraulic cylinder (12) for a period of T3 and then closes the chamber; if the second piston (122) of the second hydraulic cylinder (12) exceeds the B1 position (1215), the second regulating group (32) connects the large chamber and the small chamber of the second hydraulic cylinder (12) for a period of T4 and then closes the chamber; The D70 also includes: D701: After T2 time, determine whether the second piston (122) of the second hydraulic cylinder (12) exceeds the B4 position (1218), or whether the first piston (112) of the first hydraulic cylinder (11) exceeds the A1 position (1115). If yes, execute D702; if no, execute D703; D702; if the second piston (122) of the second hydraulic cylinder (12) exceeds the B4 position (1218), the second regulating group (32) connects the large chamber and the small chamber of the second hydraulic cylinder (12) for T3 time and then closes them, and the first regulating group (31) connects the large chamber and the small chamber of the first hydraulic cylinder (11) for T3 time and then closes them; if the first piston (112) of the first hydraulic cylinder (11) exceeds the A1 position (1115), the first regulating group (31) connects the large chamber and the small chamber of the first hydraulic cylinder (11) for T4 time and then closes them.

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