Latch-type telescopic boom system and control method thereof, and telescopic operation equipment

Abstract

The present invention belongs to the technical field of engineering machinery and provides a latch-type telescopic boom system and a control method thereof, as well as a telescopic operation device. The control method of the latch-type telescopic boom system includes: when the cylinder pin of the telescopic drive mechanism is in an unlocked state and the telescopic drive mechanism is extended and retracted, detecting whether the electromagnetic induction component provided between the telescopic drive mechanism and the currently passing arm segment generates an induced current; when the electromagnetic induction component generates an induced current, detecting the characteristics of the induced current; comparing the characteristic information of the induced current with the preset identification information corresponding to the characteristic; and determining the number of sections of the currently passing arm segment based on the comparison result. The arm segment identification method provided by this method can avoid identification failures caused by long-term contact wear or impact of the sensing element, while having low requirements on the installation position accuracy, high identification sensitivity, and strong durability and reliability.

Description

Technical Field

[0001] The present invention belongs to the technical field of engineering machinery, and in particular relates to a latch-type telescopic boom system, a control method thereof, and telescopic operation equipment. Background Art

[0002] When the single-cylinder latch-type telescopic arm is extended, the latch mechanism on the cylinder head is first controlled to move so that the cylinder pin on the latch mechanism is connected to the target arm section. Then, the arm pin between the target arm section and the previous arm section is pulled out through another set of drive components of the latch mechanism. At this time, the target arm section can be extended by driving the cylinder.

[0003] To ensure the latch mechanism accurately locates the target boom section, existing technology generally installs a cooperating encoding block and sensing block at the head of the cylinder's piston rod and the tail of each boom section. The sensing block is mounted on the head of the piston rod via a spring. The spring pushes the encoding block and sensing block to contact at a specific position, thereby achieving boom section information recognition and pin positioning. However, because this recognition method requires the sensing block to contact the encoding block, the encoding block or sensing block is prone to wear or impact after the telescopic arm has been used for a period of time, resulting in recognition failure. Summary of the Invention

[0004] In response to the above-mentioned defects or shortcomings, the present invention provides a pin-type telescopic boom system and its control method, and telescopic operation equipment, aiming to solve the technical problem that the arm section identification method of the existing single-cylinder pin-type telescopic boom is prone to failure.

[0005] To achieve the above-mentioned object, the present invention provides a method for controlling a latch-type telescopic boom system, the method comprising:

[0006] S100: When the cylinder pin of the telescopic drive mechanism is in an unlocked state and the telescopic drive mechanism is extending and retracting, detecting whether an electromagnetic induction component provided between the telescopic drive mechanism and the currently passing arm segment generates an induced current;

[0007] S200: When the electromagnetic induction component generates an induced current, detecting characteristics of the induced current;

[0008] S300: Comparing characteristic information of the induced current with preset identification information corresponding to the characteristic;

[0009] S400: Determine the number of the currently passed arm segment according to the comparison result.

[0010] In an embodiment of the present invention, the characteristic of the induced current is at least one of a current magnitude, a current direction, a location where the current is generated, and an amount of the current generated.

[0011] In an embodiment of the present invention, when the plugging and pulling pin end of the telescopic drive mechanism moves in the pin plugging and pulling alignment area of ​​the arm section, the electromagnetic induction component generates an induced current.

[0012] In an embodiment of the present invention, after determining the number of the currently passed boom section according to the comparison result at S400, the latch-type telescopic boom system control method further includes:

[0013] S500: Compare the number of the boom section currently being passed with the number of the boom section to be operated;

[0014] S600: When the number of the arm segment currently being passed is the same as the number of the arm segment to be operated, comparing the characteristics of the induced current with a first preset condition;

[0015] S700: Control the telescopic drive mechanism to decelerate or stop according to the comparison result.

[0016] In an embodiment of the present invention, S700: controlling the telescopic drive mechanism to decelerate or stop according to the comparison result specifically includes:

[0017] When the induced current does not meet the first preset condition, controlling the telescopic drive mechanism to decelerate;

[0018] When the induced current meets the first preset condition, the telescopic drive mechanism is controlled to stop.

[0019] To achieve the above-mentioned objectives, the present invention also provides a pin-type telescopic boom system, wherein the pin-type telescopic boom system includes a telescopic drive mechanism, an arm mechanism, an electromagnetic induction component and a controller, the telescopic drive mechanism is provided with a telescopic movable part, the arm mechanism includes a base arm and a plurality of arm sections arranged in sequence, the electromagnetic induction component includes a first induction element and a second induction element, the first induction element is arranged on the telescopic movable part, and the second induction element is arranged on the arm section, the first induction element is used to uniquely sense with the second induction element on each arm section when the telescopic movable part moves, and generate an induced current with unique characteristics, and the controller is used to execute the control method of the pin-type telescopic boom system described above.

[0020] In an embodiment of the present invention, one of the first sensing element and the second sensing element is a magnetic generating element, and the other is a magnetic sensing element, and the controller is configured as follows:

[0021] Confirm that the magnetic induction component generates induced current;

[0022] Obtaining characteristic information of the induced current;

[0023] Comparing the characteristic information of the induced current with the preset identification information corresponding to the characteristic;

[0024] The number of the arm segments currently passed by the telescopic drive mechanism is determined based on the comparison result.

[0025] In an embodiment of the present invention, one end of the telescopic movable member is a plug-in pin end, the first sensing element is arranged on the plug-in pin end, and the second sensing element is arranged on the pin plug-in alignment area of ​​the arm section.

[0026] In an embodiment of the present invention, after confirming the number of boom sections, the controller is configured to:

[0027] Confirming that the number of boom sections currently identified is the same as the number of boom sections to be operated, and confirming that the induced current does not reach a first preset condition;

[0028] Generate deceleration instructions;

[0029] in response to a deceleration instruction;

[0030] The telescopic drive mechanism is controlled to decelerate according to the deceleration instruction.

[0031] In an embodiment of the present invention, after confirming the number of boom sections, the controller is configured to:

[0032] Confirming that the number of boom sections currently identified is the same as the number of boom sections to be operated, and confirming that the induced current meets a first preset condition;

[0033] Generate a brake stop command;

[0034] In response to a brake stop command;

[0035] The telescopic drive mechanism is controlled to stop according to the in-position brake command.

[0036] To achieve the above-mentioned object, the present invention further provides a telescopic working device, wherein the telescopic working device includes the above-mentioned latch-type telescopic boom system.

[0037] Through the above technical solution, the control method of the latch-type telescopic boom system provided by the embodiment of the present invention has the following beneficial effects:

[0038] Because the electromagnetic induction assembly between the telescopic drive mechanism and each boom section generates different induced current characteristics as the telescopic movable member passes through each boom section, boom sections can be identified based on the induced current characteristics. When the telescopic drive mechanism passes a boom section, the characteristics of the induced current are detected and compared with the identification information preset in the memory. The comparison results can then be used to determine the number of boom sections currently passed. Compared to contact-based boom section sensing elements, this non-contact identification method avoids the problem of boom section identification failures caused by long-term contact wear or impact on the boom section sensing elements. Compared to non-contact identification methods that rely on sensors, this electromagnetic induction-based boom section identification method eliminates the reliance on sensors (such as ranging sensors, light sensors, etc.). The electromagnetic induction assembly can include at least a magnetic generating element and a magnetic sensing element, allowing for a very simple structure. The simpler the structure, the lower the probability of failure, and the higher the durability and reliability. At the same time, the electromagnetic induction component can generate electromagnetic induction within a relatively wide distance, which reduces the installation accuracy requirements of the electromagnetic induction component and can ensure the sensitivity of recognition.

[0039] Other features and advantages of the present invention will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] The accompanying drawings are used to provide an understanding of the present invention and constitute a part of the specification. Together with the following detailed description, they are used to explain the present invention but do not constitute a limitation of the present invention. In the accompanying drawings:

[0041] Figure 1 is a flowchart of the steps of a method for controlling a latch-type telescopic boom system according to an embodiment of the present invention;

[0042] Figure 2 is a flow chart of further steps after step S400 of the latch-type telescopic boom system control method according to an embodiment of the present invention;

[0043] Figure 3 is a schematic structural diagram of a latch-type telescopic boom system according to an embodiment of the present invention from a first perspective;

[0044] Figure 4 is a schematic structural diagram of a latch-type telescopic boom system according to an embodiment of the present invention from a second perspective;

[0045] Figure 5 2. It is a schematic diagram of the structural principle of a three-section arm latch-type telescopic boom system according to an embodiment of the present invention;

[0046] Figure 64 is a circuit schematic diagram of an interlock circuit according to an embodiment of the present invention.

[0047] Description of Reference Numerals

[0048] 1. Arm mechanism; 11. Base arm; 12. Arm section; 2. Telescopic drive mechanism; 21. Plug-in pin end; 22. First movable component; 221. First drive member; 222. Intermediate transmission member; 223. Pin-pulling plate; 23. Second movable component; 231. Second drive member; 3. Electromagnetic induction component; 31. First induction element; 32. Second induction element; 4. Current detection element; 51. Arm pin. DETAILED DESCRIPTION

[0049] The specific embodiments of the present invention are described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only used to illustrate and explain the present invention and are not intended to limit the present invention.

[0050] The latch-type telescopic boom system and the control method thereof of the present invention will be described below with reference to the accompanying drawings.

[0051] like Figures 3 to 5 As shown, the latch-type telescopic boom system in the embodiment of the present invention is mainly composed of a boom mechanism 1 and a telescopic drive mechanism 2.

[0052] The arm mechanism 1 comprises an outermost base arm 11 and a plurality of arm segments 12 sequentially sleeved inside the base arm 11 .

[0053] The telescopic drive mechanism 2 comprises a fixed portion secured to the base arm 11 and a telescopic movable member capable of extending and retracting relative to the fixed portion. For example, if the fixed portion is a cylinder barrel, the telescopic movable member is the cylinder's piston rod. The end of the telescopic movable member distal from the base arm 11 is the insertion / extraction pin end 21, which extends into the hollow cavity of the arm section 12 and houses a first movable assembly 22 for inserting and extracting the arm pin 51 and a second movable assembly 23 for inserting and extracting the cylinder pin.

[0054] When the cylinder pin of the plug-in pin end 21 is in an unlocked state with the arm section 12, each arm section 12 is locked and fixed with each other, and with the base arm 11, by the arm pin 51, and the plug-in pin end 21 of the telescopic drive mechanism 2 can telescopically move relative to the base arm 11 and each arm section 12. By controlling the plug-in pin end 21 to move to the pin insertion and extraction alignment area of ​​the target arm section 12, and then sequentially inserting the cylinder pin (not shown in the figure), pulling out the arm pin 51, and then controlling the plug-in pin end 21 to move, the target arm section 12 can be driven to extend or retract.

[0055] Take the three-section arm pin-type telescopic boom system as an example. Figure 5As shown, the three-section arm is sequentially divided into the first arm (basic arm 11), the second arm and the third arm from the outside to the inside. When the three-section arm is extended in sequence from the fully retracted state, the plug-in pin end 21 of the telescopic drive mechanism 2 is first controlled to move to the pin plug-in and pull-out alignment area of ​​the third arm, and then the cylinder pin is driven to connect with the third arm, and the arm pin 51 between the third arm and the second arm is pulled out. By controlling the telescopic drive mechanism 2 to extend, the three arms can be extended separately. After the third arm is extended to the right position, the cylinder pin is pulled out, the arm pin 51 is inserted, and then the plug-in pin end 21 is driven to retract. The plug-in and pull-out operation with the second arm is repeated, so that the second arm can carry the third arm and continue to extend.

[0056] like Figure 1 and Figure 3 As shown, in this embodiment of the present invention, the electromagnetic induction assembly 3 includes a first induction element 31 and a second induction element 32. The first induction element 31 is disposed on the telescopic movable member, and the second induction element 32 is disposed on the boom section 12. When the telescopic movable member moves, the first induction element 31 is configured to uniquely sense the movement of the second induction element 32 on each boom section 12, generating an induced current with unique characteristics. Specifically, the characteristics of the induced current generated by electromagnetic induction between the first induction element 31 and the second induction element 32 on each boom section 12 are different.

[0057] Based on the above characteristics, the present invention provides a control method for a latch-type telescopic boom system with a non-contact recognition boom section 12, such as Figure 1 As shown, the control method of the latch-type telescopic boom system includes:

[0058] S100: When the cylinder pin of the telescopic drive mechanism 2 is in the unlocked state and the telescopic drive mechanism 2 is extending or retracting, detecting whether the electromagnetic induction assembly 3 provided between the telescopic drive mechanism 2 and the currently passing arm segment 12 generates an induced current;

[0059] S200: When the electromagnetic induction component 3 generates an induced current, detecting characteristics of the induced current;

[0060] S300: Comparing characteristic information of the induced current with preset identification information corresponding to the characteristic;

[0061] S400: Determine the number of the boom segment 12 currently passing through according to the comparison result.

[0062] Because the characteristics of the induced currents generated by the first sensing element 31 and the second sensing element 32 on each boom section 12 differ as the telescopic movable member of the telescopic drive mechanism 2 sequentially passes through each boom section 12, the boom section 12 can be identified based on the characteristics of the induced currents. When the telescopic drive mechanism 2 passes through a particular boom section 12, the characteristics of the induced current generated are detected and compared with the identification information preset in the memory. Based on the comparison results, the number of the boom section 12 currently passed can be determined.

[0063] Compared to the contact-type arm segment sensing element, the identification method in this embodiment is non-contact. The non-contact arm segment identification method can avoid the problem of arm segment identification failure caused by long-term contact wear or impact of the arm segment sensing element. Compared to some existing non-contact identification methods with the help of sensors, this arm segment identification method based on electromagnetic induction can get rid of the dependence on sensors (such as ranging sensors, light sensors, etc.), and the electromagnetic induction component can at least include a magnetic generating component and a magnetic induction component. The structure of the electromagnetic induction component can be very simple, and the simpler the structure, the lower the probability of failure, and the higher the durability and reliability. At the same time, the electromagnetic induction component can generate electromagnetic induction within a relatively wide distance, which reduces the installation accuracy requirements of the electromagnetic induction component and can ensure the sensitivity of identification.

[0064] In an embodiment of the present invention, the characteristic of the induced current may be at least one of a current magnitude, a current direction, a location where the current is generated, and a current amount.

[0065] In the embodiment of the present invention, one of the first sensing element 31 and the second sensing element 32 is a magnetic generating element, and the other is a magnetic induction element.

[0066] The magnetic generating element generally has an N pole and an S pole. When the characteristic of the induced current is the current direction, the unique induction mode of the first induction element 31 and the second induction element 32 can be that the N pole of the magnetic generating element and the magnetic induction element generate electromagnetic induction, and / or the S pole of the magnetic generating element and the magnetic induction element generate electromagnetic induction. By inducing the N pole and the S pole with the magnetic induction element respectively, the magnetic induction element can generate induced currents in different directions.

[0067] If Figure 5 Taking the three-arm latch-type telescopic boom system shown as an example, the three arms are, from the outside to the inside, arm one, arm two, and arm three. The magnetic generating element and magnetic induction element can be a magnet and a coil, respectively. The coil can be disposed on the piston rod or plug-in pin end 21 of the telescopic drive mechanism 2, and the magnet can be disposed on the arm section 12. By arranging the south pole of the magnet on arm two radially inward and the north pole of the magnet on arm three radially inward, when the coil on the telescopic drive mechanism 2 passes by the magnet on arm two, the direction of the induced current can be positive, and when the coil on the telescopic drive mechanism 2 passes by the magnet on arm three, the direction of the induced current can be negative. That is, by arranging the magnetic pole orientation of the magnet on each arm section 12, the telescopic drive mechanism 2 can generate induced currents of different current directions when it passes through each arm section 12.

[0068] In an embodiment of the present invention, a magnet can also be set on the telescopic drive mechanism 2, and a coil can be set on the arm section 12. By setting multiple magnets on the telescopic drive mechanism 2 and multiple coils on the arm section 12, and by coordinating different magnets with different coils, the position and amount of induced current can be changed.

[0069] Of course, the induced current can also be characterized by the location where the current is generated. For example, multiple first sensing elements 31 can be provided on the telescopic movable member, and at least one second sensing element 32 can be provided on each boom section 12, with the second sensing elements 32 located differently in different boom sections 12. The unique sensing method between the first and second sensing elements 31, 32, can be that the second sensing element 32 at the first position of one boom section 12 generates electromagnetic induction with the corresponding first sensing element 31, and / or the second sensing element 32 at the second position of one boom section 12 generates electromagnetic induction with the corresponding first sensing element 31.

[0070] Furthermore, the characteristic of the induced current may also be a combination of the current magnitude, the current direction, the location where the current is generated, and the amount of the current generated.

[0071] For example, an eight-arm latch-type telescopic boom system is shown. The eight-arm system is divided into arms 1 to 8 from the outside to the inside. The magnet installation conditions of arms 2 to 8 and the coil installation conditions of the telescopic drive mechanism 2 can be shown as follows:

[0072] Second arm: Magnets are installed on both sides, with the S pole of the left magnet facing inwards and the S pole of the right magnet facing inwards;

[0073] Three-arm: Magnets are installed on both sides, with the S pole of the left magnet facing inward and the N pole of the right magnet facing inward;

[0074] Four arms: Magnets are installed on both sides, with the N pole of the left magnet facing inwards and the N pole of the right magnet facing inwards;

[0075] Five arms: Magnets are installed on both sides, with the N pole of the left magnet facing inward and the S pole of the right magnet facing inward;

[0076] Six-arm: A magnet is installed on the left side with the S pole facing inward, and no magnet is installed on the right side;

[0077] Seventh arm: The magnet is installed on the left side with the N pole facing inward, and not on the right side;

[0078] Eight-arm: A magnet is installed on the right side with the S pole facing inward, and no magnet is installed on the left side;

[0079] Telescopic drive mechanism 2: Coils are installed on both the left and right sides.

[0080] Through the above settings, the characteristics of the induced current of the two arms to the eight arms can be respectively left positive and right positive, left positive and right negative, left negative and right negative, left negative and right positive, left positive and right zero, left negative and right zero, and left zero and right positive. This characteristic is corresponded in advance to the section number information of the arm section 12. In actual application, it is only necessary to detect the position and current direction of the induced current to accurately identify the section number of the arm section 12.

[0081] In the embodiment of the present invention, the magnitude of the induced current can be changed by changing the number of turns of the coil or changing the magnetic field strength of the magnet.

[0082] like Figure 2 As shown, in an embodiment of the present invention, after determining the number of the boom section 12 currently passed through according to the comparison result in S400, the control method of the latch-type telescopic boom system further includes:

[0083] S500: Compare the section number information of the currently passed arm section 12 with the section number information of the arm section 12 to be operated;

[0084] S600: When the number of sections of the currently passing arm section 12 is the same as the number of sections of the arm section 12 to be operated, comparing the characteristics of the induced current with a first preset condition;

[0085] S700: Control the telescopic drive mechanism 2 to decelerate or stop according to the comparison result.

[0086] In an embodiment of the present invention, S700: controlling the telescopic drive mechanism 2 to decelerate or stop according to the comparison result specifically includes:

[0087] When the induced current does not meet the first preset condition, the telescopic drive mechanism 2 is controlled to decelerate;

[0088] When the induced current meets the first preset condition, the telescopic driving mechanism 2 is controlled to stop.

[0089] Specifically, the electromagnetic induction assembly 3 is preferably disposed between the insertion and extraction pin end 21 of the telescopic drive mechanism 2 and the pin insertion and extraction alignment area of ​​the arm section 12. The pin insertion and extraction alignment area refers to the area of ​​the arm section 12 used for inserting and extracting the arm pin 51 and the cylinder pin. When the electromagnetic induction assembly 3 generates an induced current, it indicates that the insertion and extraction pin end 21 has moved to the vicinity of the pin insertion and extraction alignment area. At this time, the telescopic drive mechanism 2 needs to be decelerated or stopped in advance to ensure that the insertion and extraction pin end 21 accurately stays in the pin insertion and extraction alignment area.

[0090] like Figure 3 As shown, continuing with the example of a magnet on arm segment 12 and a coil on plug-in pin end 21, the first preset condition can be the magnitude and fluctuation amplitude of the induced current. When the telescopic drive mechanism 2 moves at high speed and the plug-in pin end 21 just enters the pin insertion and extraction alignment area, the coil enters the magnetic field of the magnet on the corresponding arm segment 12 and generates an induced current.

[0091] Since the plug-in pin end 21 has just entered the pin plug-in alignment area, the coil and the magnet have not yet been fully aligned, and the coil has not yet fully entered the magnetic field of the magnet, resulting in the induced current generated by the coil being very small and fluctuating greatly. After the coil and the magnet are aligned, the coil evenly cuts the magnetic field, and the induced current generated by the coil at this time will fluctuate around a certain stable value. That is, this method can determine whether the coil and the magnet are completely aligned by setting a first preset condition, and by optimizing the position of the magnet and the coil, and combining the alignment determination of the coil and the magnet, it can determine whether the cylinder pin and the cylinder pin hole on the arm section 12 are aligned.

[0092] Among them, when it is determined that the arm section 12 currently passed by the plug-in pin end 21 is the target operating arm section 12, the induced current generated by the coil also means that the plug-in pin end 21 has moved to the vicinity of the pin plug-in alignment area of ​​the target arm section 12. At this time, the telescopic drive mechanism 2 can be controlled to decelerate to realize the early deceleration function of the telescopic drive mechanism 2, so as to avoid the telescopic drive mechanism 2 from being suddenly stopped at high speed and causing the hydraulic oil circuit or the oil cylinder to bear a large impact. At the same time, early deceleration can also increase the alignment accuracy of the cylinder pin and the cylinder pin hole on the arm section 12 when the telescopic drive mechanism 2 stops, so as to avoid the alignment error between the cylinder pin and the cylinder pin hole due to the braking distance.

[0093] It can be understood that in order to realize the semi-extension and partial extension functions of the telescopic arm system, multiple pin insertion and extraction alignment areas can be set on the arm section, and the pin insertion and extraction alignment area of ​​each arm section can be respectively provided with a second sensing element. The second sensing elements in different pin insertion and extraction alignment areas on each arm section can respectively cooperate with the first sensing element and generate an induced current with unique characteristics.

[0094] like Figure 3 and Figure 4 As shown, in embodiments of the present invention, the magnetic generating element can be a permanent magnet or an electromagnet, and the magnetic induction element can be a coil, a metal ring, or the like. Taking the magnetic generating element disposed on an arm segment 12 as an example, the magnetic induction element of the telescopic drive mechanism 2 can electromagnetically induction with the magnetic generating element of the corresponding arm segment 12 at each specific location, generating an induced current with specific characteristics. In other words, the magnetic induction element can cooperate with the magnetic generating element on each arm segment 12 to generate induced currents with different characteristics.

[0095] In an embodiment of the present invention, the electromagnetic induction assembly 3 of the latch-type telescopic boom system includes, in addition to the telescopic drive mechanism 2, the boom mechanism 1 and the electromagnetic induction assembly 3, a controller for executing the control method of the latch-type telescopic boom system described above.

[0096] In an embodiment of the present invention, when identifying the arm section 12, the controller is specifically configured to:

[0097] Confirm that the magnetic induction component generates induced current;

[0098] Obtaining characteristic information of the induced current;

[0099] Comparing the characteristic information of the induced current with the preset identification information corresponding to the characteristic;

[0100] The number of the arm segment 12 that the telescopic drive mechanism 2 currently passes through is determined based on the comparison result.

[0101] When the telescopic drive mechanism 2 passes through a certain arm section 12 and generates an induced current, since the magnetic induction component cooperates with the arm section 12 of each group of magnetic generating components to generate induced currents with different characteristics respectively, the number of sections of the arm section 12 currently passing through can be determined by detecting the characteristics of the generated induced current and comparing the characteristic information of the induced current with the preset identification information in the memory.

[0102] In an embodiment of the present invention, when the magnetic induction component is arranged on one of the pin insertion and extraction alignment area of ​​the arm section 12 and the insertion and extraction pin end 21 of the telescopic drive mechanism 2, and the magnetic induction component is arranged on the other, the system can also realize the fast and precise positioning function between the cylinder pin and the cylinder pin hole.

[0103] Specifically, in an embodiment of the present invention, after confirming the number of boom segments 12, the controller is configured to:

[0104] Confirming that the number of sections of the currently identified arm section 12 is the same as the number of sections of the arm section 12 to be operated, and confirming that the induced current does not reach the first preset condition;

[0105] Generate deceleration instructions;

[0106] in response to a deceleration instruction;

[0107] The telescopic drive mechanism 2 is controlled to decelerate according to the deceleration instruction.

[0108] In an embodiment of the present invention, after confirming the number of boom segments 12, the controller is configured to:

[0109] Confirming that the number of sections of the currently identified arm section 12 is the same as the number of sections of the arm section 12 to be operated, and confirming that the induced current meets the first preset condition;

[0110] Generate a brake stop command;

[0111] In response to a brake stop command;

[0112] The telescopic drive mechanism 2 is controlled to stop according to the in-position stop instruction.

[0113] When the number of sections of the currently identified arm section 12 is the same as the number of sections of the arm section 12 to be operated, the induced current generated by the magnetic induction component also means that the plug-in pin end 21 has moved to the vicinity of the pin plug-in alignment area of ​​the target operating arm section 12. By controlling the deceleration of the telescopic drive mechanism 2, the braking distance can be reduced when the cylinder pin and the cylinder pin hole on the arm section 12 are aligned, and the hole pin alignment accuracy can be increased. At the same time, the telescopic drive mechanism 2 can be prevented from stopping suddenly from a high-speed running state, causing the hydraulic components to be subjected to a large impact.

[0114] It is understood that when the electromagnetic induction assembly 3 does not generate an induced current, the controller of the telescopic drive mechanism 2 in this boom system can control the telescopic drive mechanism 2 to operate at a higher speed to increase the telescopic efficiency of the boom mechanism 1. However, when the electromagnetic induction assembly 3 generates an induced current and determines that the currently passing boom section 12 is the target operating boom section 12, the controller can control the telescopic drive mechanism 2 to first decelerate and then brake to a stop. Premature deceleration can reduce hydraulic shock and increase the alignment accuracy of the pins.

[0115] like Figure 3 As shown, in the embodiment of the present invention, the characteristics of the induced current can be detected by the current detection element 4, and the current detection element 4 can be a current sensing switch, an ammeter, etc.

[0116] In an embodiment of the present invention, a first movable assembly 22 for driving the insertion and extraction of the arm pin 51 is provided on the insertion and extraction pin end 21. The first movable assembly 22 includes a first driving member 221, an intermediate transmission member 222, and a pin extraction plate 223. The pin extraction plate 223 is provided with a pin extraction groove for the head of the arm pin 51 to extend into. The first driving member 221 and the intermediate transmission member 222 drive the pin extraction plate 223 to radially displace, thereby achieving the insertion and extraction of the arm pin 51. Of course, the movement of the pin extraction plate 223 can also be assisted by a hydraulic drive element.

[0117] like Figure 3 As shown, in an embodiment of the present invention, a second movable assembly 23 for driving the cylinder pin to move is provided on the plug-in pin end 21. The second movable assembly 23 may include a second driving member 231, which can drive the cylinder pin to radially extend and retract.

[0118] In an embodiment of the present invention, the first driving member 221 and the second driving member 231 may be linear motors, which may be positioned using a grating to accurately determine the movement distance of the linear motors. Of course, the first driving member 221 and the second driving member 231 may also be rotary motors that achieve radial linear drive through a screw drive.

[0119] Since the pulling pin is inserted into the pulling groove of the pulling plate 223, there is a radial distance between the pulling pin and the inner wall of the insertion groove. Therefore, when the first movable component 22 is pulling out the arm pin 51, the controller can first control the pulling plate 223 to move radially a certain distance so that the bottom wall of the pulling groove contacts the arm pin 51, and then control the pulling plate 223 to move a preset distance to pull out the arm pin 51. The insertion of the arm pin 51 is similar to the extraction operation of the arm pin 51. The pulling plate 223 is first controlled to move radially a certain distance so that the top wall of the pulling groove contacts the arm pin 51, and then the pulling plate 223 is controlled to move.

[0120] In an embodiment of the present invention, an interlocking circuit is provided between the first driving member 221 and the second driving member 231 . The interlocking circuit can disconnect the first driving member 221 and the second driving member 231 when one of the first driving member 221 and the second driving member 231 is in operation.

[0121] The circuit diagram of the interlock circuit can be shown as follows Figure 6 As shown, QS is the disconnector, FU is the fuse, FR is the thermal contact, SB1 is the normally closed switch, SB2 is the normally open switch, SB3 is the normally open switch, and KM is the contactor. After disconnector QS is closed, pressing switch SB2 energizes the coil of KM1, closing the main contact KM1 connected in series with the first driver 221 and causing the first driver 221 to operate. Simultaneously, in the right control circuit, the normally closed KM1 is disconnected and the normally open KM1 is closed. At this point, pressing switch SB3 does not energize KM2. Only after pressing the stop switch SB1, de-energizing the coil of KM1 and resetting the contacts, can pressing switch SB3 energize the coil of KM2. When the coil of KM2 is energized, the main contact KM2 connected in series with the second driver 231 is closed, disconnecting the normally closed KM2 in the control circuit and closing the normally open KM2. This circuit interlocks the two motors, preventing the cylinder pin and arm pin 51 from moving simultaneously, potentially leading to loss of control of the boom.

[0122] To achieve the above objectives, the present invention further provides a telescopic working device, wherein the telescopic working device includes the above-described latch-type telescopic boom system. Since the telescopic working device utilizes all the technical solutions of the above-described embodiments, it at least has the beneficial effects brought about by the above-described embodiments, and the details thereof will not be repeated here.

[0123] In the description of the present invention, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of the technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of such features. In the description of the present invention, "plurality" means at least two, for example, two, three, etc., unless otherwise specifically defined.

[0124] In the present invention, unless otherwise specified or limited, the terms "installed," "connected," "connect," "fixed," etc. should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection, electrical connection, or communication; direct connection or indirect connection through an intermediate medium; internal communication between two elements or interaction between two elements, unless otherwise specified. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0125] In the description of this specification, the reference terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" mean 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 this specification, 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 can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and features of different embodiments or examples without contradiction.

[0126] Although the embodiments of the present invention have been described above, it is understood that the above embodiments are illustrative and are not to be construed as limitations on the present invention. A person skilled in the art may change, modify, replace and modify the above embodiments within the scope of the present invention.

Claims

1. A control method for a latch-type telescopic boom system, characterized in that: The control method of the latch-type telescopic boom system includes: When the cylinder pin of the telescopic drive mechanism (2) is in an unlocked state and the telescopic drive mechanism (2) is telescoping, detecting whether an electromagnetic induction component (3) disposed between the telescopic drive mechanism (2) and the currently passing arm section (12) generates an induced current; When the electromagnetic induction component (3) generates an induced current, detecting characteristics of the induced current; Comparing the characteristic information of the induced current with preset identification information corresponding to the characteristic; Determine the number of the arm segment (12) currently passing through according to the comparison result; When the plugging and unplugging pin end (21) of the telescopic drive mechanism (2) moves in the pin plugging and unplugging alignment area of ​​the arm section (12), the electromagnetic induction component (3) generates the induced current; After determining the number of sections of the currently passed arm section (12) according to the comparison result, the latch-type telescopic arm system control method further comprises: Comparing the section number information of the currently passing arm section (12) with the section number information of the arm section (12) to be operated; When the section number information of the currently passing arm section (12) is the same as the section number information of the arm section (12) to be operated, comparing the characteristics of the induced current with a first preset condition; The telescopic drive mechanism (2) is controlled to decelerate or stop according to the comparison result.

2. The control method of the latch-type telescopic boom system according to claim 1, characterized in that: The characteristic of the induced current is at least one of current magnitude, current direction, location where the current is generated, and amount of the current generated.

3. The control method of the latch-type telescopic boom system according to claim 1, characterized in that: Controlling the telescopic drive mechanism (2) to decelerate or stop according to the comparison result specifically includes: When the induced current does not meet a first preset condition, controlling the telescopic drive mechanism (2) to decelerate; When the induced current meets a first preset condition, the telescopic drive mechanism (2) is controlled to stop.

4. A latch-type telescopic boom system, characterized in that: The latch-type telescopic boom system comprises: A telescopic drive mechanism (2) is provided with a telescopic movable part; An arm mechanism (1) comprises a base arm (11) and a plurality of arm sections (12) arranged in sequence; An electromagnetic induction component (3) comprises a first induction element (31) and a second induction element (32), wherein the first induction element (31) is arranged on the telescopic movable part, and the second induction element (32) is arranged on the arm section (12), and the first induction element (31) is used for uniquely inducing with the second induction element (32) on each arm section (12) when the telescopic movable part moves, and generating an induced current with unique characteristics; A controller for executing the method for controlling a latch-type telescopic boom system according to any one of claims 1 to 3.

5. The latch-type telescopic boom system according to claim 4, characterized in that: One of the first sensing element (31) and the second sensing element (32) is a magnetic generating element, and the other is a magnetic induction element, and the controller is configured as follows: confirming that the magnetic induction component generates the induced current; Acquiring characteristic information of the induced current; Comparing the characteristic information of the induced current with preset identification information corresponding to the characteristic; Information on the number of sections of the arm section (12) currently passed by the telescopic drive mechanism (2) is determined based on the comparison result.

6. The latch-type telescopic boom system according to claim 5, characterized in that: One end of the telescopic movable part is a plug-in pin end (21), the first sensing element (31) is arranged on the plug-in pin end (21), and the second sensing element (32) is arranged on the pin plug-in alignment area of ​​the arm section (12).

7. The latch-type telescopic boom system according to claim 6, characterized in that: After confirming the number of sections of the arm section (12), the controller is configured to: Confirming that the number of sections of the currently identified arm section (12) is the same as the number of sections of the arm section (12) to be operated, and confirming that the induced current does not reach a first preset condition; Generate deceleration instructions; in response to the deceleration instruction; The telescopic drive mechanism (2) is controlled to decelerate according to the deceleration instruction.

8. The latch-type telescopic boom system according to claim 6, characterized in that: After confirming the number of sections of the arm section (12), the controller is configured to: Confirming that the number of sections of the currently identified arm section (12) is the same as the number of sections of the arm section (12) to be operated, and confirming that the induced current meets a first preset condition; Generate a brake stop command; In response to the in-position brake stop instruction; The telescopic drive mechanism (2) is controlled to stop according to the in-position stop instruction.

9. A pin-type telescopic working device, characterized in that: It comprises a latch-type telescopic boom system according to any one of claims 4 to 8.

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