Sub-vehicle recovery method of sub-mother type flood drainage vehicle and sub-mother type flood drainage vehicle

Abstract

This invention provides a method for retrieving the subsidiary vehicle of a mother-and-daughter type flood drainage vehicle, and the mother-and-daughter type flood drainage vehicle itself, relating to the field of emergency vehicles. A reel, hydraulic motor, first oil supply assembly, second oil supply assembly, and hydraulic oil tank are all located on the mother vehicle. Hydraulic lines are wound around the reel, and the hydraulic motor is drivenly connected to the reel. The first oil supply assembly is connected to the winding oil inlet of the hydraulic motor via an oil supply circuit. The oil supply circuit is equipped with an overflow circuit connecting back to the hydraulic oil tank, and an overflow valve is installed on the overflow circuit. The winding return oil inlet of the hydraulic motor is connected back to the hydraulic oil tank. One end of the hydraulic line is connected to the second oil supply assembly, and the other end is connected to the subsidiary vehicle. The method for retrieving the subsidiary vehicle of the mother-and-daughter type flood drainage vehicle includes the following steps: S1, when the hydraulic line is in a slack state, the winding speed of the reel is greater than the retraction speed of the subsidiary vehicle; S2, when the hydraulic line is in a taut state, the winding speed of the reel is the same as the retraction speed of the subsidiary vehicle. This method can better achieve subsidiary vehicle retrieval while protecting the hydraulic lines.

Description

Technical Field

[0001] This invention relates to the field of emergency vehicle technology, and more specifically, to a method for recovering the daughter vehicle of a mother-daughter type flood drainage vehicle and the mother-daughter type flood drainage vehicle itself. Background Technology

[0002] The mother-daughter type drainage vehicle consists of a mother car and a daughter car, which are connected via hydraulic lines to transmit power from the mother car to the daughter car. The mother car is equipped with a reel on which the hydraulic lines are wound. The reel can unwind the hydraulic lines as the daughter car moves forward, allowing the daughter car to carry the hydraulic lines forward. The reel can also wind up the hydraulic lines as the daughter car retracts, preventing the daughter car from damaging the hydraulic lines.

[0003] In existing technologies, the winding of hydraulic lines requires manual control of the reel's winding and the trolley's retraction, which demands a high level of skill. During manual control, if the reel's winding speed is too fast or the trolley's retraction speed is too slow, there is a risk of the hydraulic lines being pulled and damaged. Conversely, if the reel's winding speed is too slow or the trolley's retraction speed is too fast, the lines may become tangled and piled up on the ground, posing a risk of the trolley damaging the hydraulic lines.

[0004] Based on the above problems, how to better realize the recovery of hydraulic lines when the sub-cart is reversing has become an urgent problem to be solved in this field. Summary of the Invention

[0005] The present invention aims to provide a method for recovering the daughter vehicle of a mother-daughter type flood drainage vehicle and the mother-daughter type flood drainage vehicle, which can achieve better recovery of hydraulic pipelines when the hydraulic pipelines are in different states, thereby avoiding the problem of hydraulic pipelines being pulled or crushed.

[0006] The embodiments of the present invention can be implemented as follows: In a first aspect, the present invention provides a method for recovering the daughter vehicle of a mother-daughter type drainage vehicle, wherein the mother-daughter type drainage vehicle includes a mother vehicle, a reel, a hydraulic motor, a first oil supply component, a second oil supply component, a hydraulic oil tank, an overflow valve, hydraulic lines, and a daughter vehicle. The reel, the hydraulic motor, the first oil supply component, the second oil supply component, and the hydraulic oil tank are all located on the mother car. The hydraulic lines are wound around the reel, and the hydraulic motor is connected to the reel to drive the hydraulic lines to wind up. The first oil supply component is connected to the hydraulic oil tank, and the first oil supply component is connected to the winding oil inlet of the hydraulic motor through an oil supply circuit. The oil supply circuit is provided with an overflow circuit that returns to the hydraulic oil tank. The overflow valve is provided on the overflow circuit, and the winding oil return port of the hydraulic motor is connected back to the hydraulic oil tank. The second oil supply component is connected to the hydraulic oil tank, and one end of the hydraulic line is connected to the second oil supply component, and the other end is connected to the vehicle to provide power to the vehicle. The method for recovering the daughter vehicle of the mother-daughter type drainage vehicle includes the following steps: S1. When the hydraulic line is in a slack state, the winding speed of the reel is greater than the retraction speed of the trolley. S2. When the hydraulic line is in a taut state, the winding speed of the reel is the same as the retraction speed of the trolley.

[0007] In an optional implementation, in steps S1 and S2, the first oil supply component supplies oil according to a preset flow rate, the preset flow rate satisfying the following relationship: ; Where: Q is the preset flow rate; V1 is the real-time retraction speed of the trolley; i is the speed ratio between the reel and the hydraulic motor; Vm is the displacement of the hydraulic motor; and R1 is the radius of the reel when it is not wound with the hydraulic line.

[0008] In an optional implementation, in steps S1 and S2, the first oil supply component supplies oil according to a preset flow rate, the preset flow rate satisfying the following relationship: ; Where: Q is the preset flow rate; V2 is the maximum retraction speed of the trolley; i is the speed ratio between the reel and the hydraulic motor; Vm is the displacement of the hydraulic motor; R1 is the radius of the unwound hydraulic line on the reel.

[0009] In an optional implementation, the preset flow rate also satisfies the following relationship: .

[0010] In an optional embodiment, the first oil supply assembly includes a first oil pump and a first electro-proportional directional valve; The first electro-proportional directional valve has an oil inlet, an oil return port, a first working oil port, and a second working oil port; The first oil pump is connected to the hydraulic oil tank. The oil inlet is connected to the oil supply port of the first oil pump through an oil circuit. The first working oil port is connected to the winding oil inlet through the oil supply circuit. The second working oil port is connected to the winding return oil port through an oil circuit. The return oil port is connected back to the hydraulic oil tank. The first oil supply component supplies oil according to a preset flow rate, including the following steps: The first electro-proportional directional valve is controlled to switch to the working position where the oil inlet is connected to the first working oil port and the second working oil port is connected to the oil return port, and the opening degree of the first electro-proportional directional valve is controlled to correspond to the preset flow rate.

[0011] In an optional embodiment, the first oil supply assembly includes a first oil pump and a first directional valve; The first directional valve has an oil inlet, an oil return port, a first working oil port, and a second working oil port; The first oil pump is connected to the hydraulic oil tank. The oil inlet is connected to the oil supply port of the first oil pump through an oil circuit. The first working oil port is connected to the winding oil inlet through the oil supply circuit. The second working oil port is connected to the winding return oil port through an oil circuit. The return oil port is connected back to the hydraulic oil tank. The first oil supply component supplies oil according to a preset flow rate, including the following steps: The first reversing valve is controlled to switch to the working position where the oil inlet is connected to the first working oil port and the second working oil port is connected to the oil return port, and the displacement of the first oil pump is controlled to correspond to the preset flow rate.

[0012] In an optional implementation, the preset pressure of the relief valve satisfies the following formula: ; Where: P is the preset pressure of the relief valve; F is the maximum pull-back force that the hydraulic line can withstand; i is the speed ratio between the reel and the hydraulic motor; Vm is the displacement of the hydraulic motor; R2 is the distance between the hydraulic line wound on the outermost ring of the reel and the center of the reel.

[0013] In an optional implementation, the preset pressure of the overflow valve further satisfies the following formula: .

[0014] In an optional implementation, the preset pressure of the overflow valve further satisfies the following formula: ; Where: P is the preset pressure of the relief valve; F1 is the force required to pull the hydraulic line; i is the speed ratio between the reel and the hydraulic motor; Vm is the displacement of the hydraulic motor; R2 is the radius of the hydraulic line wound on the outermost ring of the reel.

[0015] Secondly, the present invention provides a mother-daughter type drainage vehicle, which applies the daughter vehicle retrieval method of any of the aforementioned embodiments of the mother-daughter type drainage vehicle.

[0016] The method for recovering the daughter vehicle of the mother-daughter type flood drainage vehicle provided in this embodiment of the invention and the beneficial effects of the mother-daughter type flood drainage vehicle include: This application connects the first oil supply component of the mother-daughter drainage vehicle to the hydraulic oil tank, and the first oil supply component is connected to the winding oil inlet of the hydraulic motor through an oil supply circuit. An overflow circuit is set in the oil supply circuit to return to the hydraulic oil tank, and an overflow valve is installed in the overflow circuit, connecting the winding return oil inlet of the hydraulic motor back to the hydraulic oil tank. The hydraulic line that provides power to the daughter vehicle from the second oil supply component is wound on a reel, and the hydraulic motor is connected to the reel drive to drive the hydraulic line winding. During the daughter vehicle's retrieval process, when the hydraulic line is in a slack state, the winding speed of the reel is made greater than the retraction speed of the daughter vehicle. This allows the excess line in the reverse direction of the daughter vehicle to be quickly retrieved, avoiding damage to the hydraulic line during the retraction process. When the hydraulic line is in a taut state, the overflow valve ensures that the winding speed of the reel is the same as the retraction speed of the daughter vehicle, preventing damage to the hydraulic line during winding. Overall, this reduces the difficulty of winding the hydraulic line during the daughter vehicle's retrieval. Attached Figure Description

[0017] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 A partial hydraulic schematic diagram of a mother-daughter type drainage vehicle provided in this embodiment; Figure 2 This is a partial hydraulic schematic diagram of a mother-daughter type drainage vehicle provided in this embodiment; Figure 3 A schematic diagram of the reel structure when the hydraulic lines of the mother-daughter type drainage vehicle provided in this embodiment are completely wound on the reel; Figure 4 This is a schematic diagram of the process for recovering the daughter vehicle of the mother-daughter type drainage vehicle provided in this embodiment.

[0019] Icons: 100-Mother-Daughter Drainage Vehicle; 110-Mother Vehicle; 120-Wind Reel; 130-Hydraulic Motor; 131-Oil Supply Circuit; 132-Overflow Circuit; 140-First Oil Supply Component; 141-First Oil Pump; 142-First Electro-Proportional Directional Valve; 150-Second Oil Supply Component; 151-Second Oil Pump; 160-Hydraulic Oil Tank; 170-Overflow Valve; 180-Hydraulic Line; 190-Daughter Vehicle; 191-Multi-Way Directional Valve Block; A-First Working Oil Port; B-Second Working Oil Port; P-Oil Inlet; P1-Rewinding Oil Inlet; P2-Rewinding Return Oil Port; T-Return Oil Port. Detailed Implementation

[0020] The mother-daughter type drainage vehicle consists of a mother car and a daughter car, which are connected via hydraulic lines to transmit power from the mother car to the daughter car. The mother car is equipped with a reel on which the hydraulic lines are wound. The reel can unwind the hydraulic lines as the daughter car moves forward, allowing the daughter car to carry the hydraulic lines forward. The reel can also wind up the hydraulic lines as the daughter car retracts, preventing the daughter car from damaging the hydraulic lines.

[0021] In existing technologies, the winding of hydraulic lines requires manual control of the reel's winding and the trolley's retraction, which demands a high level of skill. During manual control, if the reel's winding speed is too fast or the trolley's retraction speed is too slow, there is a risk of the hydraulic lines being pulled and damaged. Conversely, if the reel's winding speed is too slow or the trolley's retraction speed is too fast, there is a risk of the trolley damaging the hydraulic lines.

[0022] Based on the above problems, how to better realize the recovery of hydraulic lines when the sub-cart is reversing has become an urgent problem to be solved in this field.

[0023] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0024] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0025] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0026] In the description of this invention, it should be noted that if terms such as "upper," "lower," "inner," or "outer" are used to indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the product of this invention is usually placed, they are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0027] Furthermore, the terms "first" and "second" are used only to distinguish descriptions and should not be interpreted as indicating or implying relative importance.

[0028] It should be noted that, where there is no conflict, the features in the embodiments of the present invention can be combined with each other.

[0029] The following detailed description, through embodiments and in conjunction with the accompanying drawings, details the method for recovering the daughter vehicle of the mother-daughter type drainage vehicle provided by the present invention, as well as the overall structure, working principle, and technical effects of the mother-daughter type drainage vehicle.

[0030] Please refer to Figures 1 to 2 In this embodiment, the mother-daughter type drainage vehicle 100 includes a mother vehicle 110 and a daughter vehicle 190 connected to the mother vehicle 110 via a hydraulic line 180. The mother vehicle 110 provides power to the daughter vehicle 190 via the hydraulic line 180 to drive the daughter vehicle 190 to move and to perform functions such as adjusting the attitude of the water pump installed on the daughter vehicle 190, pumping water, and displacement. Due to the small size of the daughter vehicle 190 and the high mobility of the mother vehicle 110, the mother-daughter type drainage vehicle 100 is frequently used in urban emergency drainage operations.

[0031] Furthermore, the mother-daughter type drainage vehicle 100 also includes a reel 120, a hydraulic motor 130, a first oil supply assembly 140, a second oil supply assembly 150, a hydraulic oil tank 160, and an overflow valve 170. The reel 120, hydraulic motor 130, first oil supply assembly 140, second oil supply assembly 150, and hydraulic oil tank 160 are all located on the mother vehicle 110. Hydraulic lines 180 are wound around the reel 120, and the hydraulic motor 130 is connected to the reel 120 to drive the hydraulic lines 180 to wind up. The first oil supply assembly 140 is connected to the hydraulic oil tank 160, and the first oil supply assembly 140 is connected to the winding oil inlet P1 of the hydraulic motor 130 via an oil supply line 131. The oil supply circuit 131 is equipped with an overflow circuit 132 that connects back to the hydraulic oil tank 160. An overflow valve 170 is installed on the overflow circuit 132. The rewind return port P2 of the hydraulic motor 130 is connected back to the hydraulic oil tank 160. The second oil supply assembly 150 is connected to the hydraulic oil tank 160, and one end of the hydraulic line 180 is connected to the second oil supply assembly 150, and the other end is connected to the trolley 190 to provide power to the trolley 190.

[0032] During the winding process of the hydraulic line 180, the inventors discovered that the tension on the hydraulic line 180 is transmitted to the hydraulic motor 130 through the reel 120, which in turn affects the oil pressure in the oil supply circuit 131. This embodiment provides an overflow circuit 132 on the oil supply circuit 131, which is connected to the first oil supply assembly 140 and the winding oil inlet P1 of the hydraulic motor 130. The overflow valve 170 on the overflow circuit 132 can adaptively open, close, or even adjust its opening degree according to the pressure of the oil supply circuit 131 and the preset pressure combined with the state of the hydraulic line 180. This allows the oil pressure in the oil supply circuit 131 to be controlled when the hydraulic line 180 is in a taut state, so that the winding speed of the reel 120 is the same as the retraction speed of the carriage 190.

[0033] The tension in hydraulic line 180 affects the oil pressure in oil supply circuit 131 for the following reasons: The torque generation of the hydraulic motor 130 is essentially a pressure difference driven process. When the pressurized oil enters from the winding inlet P1, the high-pressure oil acts on one side of the rotor blades of the hydraulic motor 130, while the other side of the blades is connected to the low-pressure oil in the winding inlet P1. The resultant force generated by this pressure difference (ΔP=P1-P2) on the blade area is converted into torque through the rotor radius, causing the rotor of the hydraulic motor 130 to rotate in the winding direction.

[0034] Increased rotor load leads to increased rotor rotation resistance and a temporary decrease in rotor speed. The decrease in speed leads to a temporary reduction in flow demand, causing hydraulic oil to accumulate at the hydraulic motor 130 winding inlet P1. This causes the pressure in the oil supply circuit 131, which supplies oil to the hydraulic motor 130 winding inlet P1, to rise until it is rebalanced with the load torque.

[0035] The reduction in rotor load leads to a decrease in rotor rotation resistance, causing a temporary increase in rotor speed. This increase in speed leads to a temporary increase in flow demand, which in turn reduces the hydraulic pressure at the motor winding inlet P1. Consequently, the pressure in the oil supply circuit 131, which supplies oil to the winding inlet P1 of the hydraulic motor 130, decreases until it is rebalanced with the load torque.

[0036] The load variation on reel 120 in this application arises from the mismatch between the retraction speed and winding speed of carriage 190, causing a change in the reverse tension of carriage 190 on hydraulic line 180. When the winding speed is slow and hydraulic line 180 is in a slack state, the load on reel 120 is small, and the pressure in oil supply line 131 is also low. However, at a fast winding speed, as hydraulic line 180 gradually tightens from a slack state, the load on reel 120 increases, thereby increasing the pressure in oil supply line 131.

[0037] By setting up the aforementioned oil circuit, this application can achieve rapid winding of the reel 120 when the hydraulic line 180 is in a slack state by using the quantitative oil supply of the first oil supply component 140 combined with the overflow of the overflow valve 170 and the working principle of the hydraulic motor 130. Furthermore, by setting a reasonable oil supply amount of the first oil supply component 140, the winding speed of the reel 120 can be made greater than the retraction speed of the trolley 190, thereby quickly winding the slack hydraulic line 180 onto the reel 120. This prevents the hydraulic line 180 from being excessively entangled and piled up on the ground due to slack, which could cause damage to the hydraulic line 180 when the trolley 190 retracts. When the hydraulic line 180 is in a taut state, the overflow path allows excess hydraulic oil to overflow in case of excessive oil pressure in the oil supply line 131, thereby reducing the oil supply to the hydraulic motor 130 and reducing the speed of the hydraulic motor 130 so that the winding speed of the reel 120 is the same as the retraction speed of the carriage 190, thus preventing the hydraulic line 180 from being pulled apart.

[0038] Please refer to Figure 2 In this embodiment, the first oil supply assembly 140 includes a first oil pump 141 and a first electro-proportional directional valve 142. The first electro-proportional directional valve 142 has an oil inlet P, an oil return port T, a first working oil port A, and a second working oil port B. The first oil pump 141 is connected to the hydraulic oil tank 160. The oil inlet P is connected to the oil supply port of the first oil pump 141 through an oil circuit. The first working oil port A is connected to the winding oil inlet P1 through an oil supply circuit 131. The second working oil port B is connected to the winding oil return port P2 through an oil circuit. The oil return port T is connected back to the hydraulic oil tank 160.

[0039] When the trolley 190 retracts, the first electro-proportional directional valve 142 can be switched to the working position where the oil inlet P is connected to the first working oil port A and the second working oil port B is connected to the oil return port T. The opening of the first electro-proportional directional valve 142 can be adjusted to achieve quantitative oil supply to the oil supply circuit 131.

[0040] The advantage of this configuration is that the first oil pump 141 can simultaneously supply oil to other hydraulic actuators of the mother car 110. For example, multiple parallel branches can achieve corresponding quantitative oil supply, thereby reducing costs.

[0041] In this embodiment, the first electro-proportional directional valve 142 is a Y-type three-position four-way electro-proportional directional valve.

[0042] In other embodiments of this application, the first oil supply assembly 140 includes a first oil pump 141 and a first directional valve. The first directional valve has an inlet P, a return port T, a first working port A, and a second working port B. The first oil pump 141 is connected to the hydraulic oil tank 160. The inlet P is connected to the supply port of the first oil pump 141 via an oil circuit. The first working port A is connected to the winding inlet P1 via an oil supply circuit 131. The second working port B is connected to the winding return port P2 via an oil circuit. The return port T is connected back to the hydraulic oil tank 160. During winding, the first directional valve is switched to the working position where the inlet P is connected to the first working port A and the second working port B is connected to the return port T, and the displacement of the first oil pump 141 is adjusted to provide a quantitative oil supply to the hydraulic motor 130.

[0043] Compared to the previous embodiment, in this embodiment, the first directional valve can be a common three-position four-way directional valve, which has a lower cost.

[0044] In this embodiment, the second oil supply assembly 150 includes a second oil pump 151. A multi-way directional valve block 191 is installed on the trolley 190. The oil inlet P of the second oil pump 151 is connected to the hydraulic oil tank 160. One end of the hydraulic pipeline 180 is connected to the oil supply port of the second oil pump 151 and is wound sequentially on the reel 120, with the other end connected to the multi-way directional valve block 191 installed on the trolley 190. The multi-way directional valve block 191 is connected one-to-one to each actuator of the trolley 190 via oil pipes.

[0045] The sub-car 190 has a left-side drive hydraulic motor 130 and a right-side hydraulic drive motor. The multi-way directional valve block 191 includes at least a left three-position four-way proportional directional valve connected to the left-side drive hydraulic motor 130 and a right three-position four-way proportional directional valve connected to the right-side hydraulic drive motor. When the sub-car 190 is retracted, the working position and opening degree of the left three-position four-way proportional directional valve can be switched and adjusted by sending commands through the remote control, so as to realize that the sub-car 190 retracts according to the user's control commands.

[0046] The mother-daughter type drainage vehicle 100 provided in this embodiment can also automatically retract the hydraulic line 180 when the daughter vehicle 190 is retracted, according to the daughter vehicle retrieval method of the mother-daughter type drainage vehicle in the following embodiment.

[0047] Please refer to Figures 1 to 4 This embodiment also provides a method for recovering the daughter vehicle of a mother-daughter type drainage vehicle, including the following steps: S1. When the hydraulic line 180 is in a slack state, the winding speed of the reel 120 is greater than the retraction speed of the carriage 190. S2. When the hydraulic line 180 is in a taut state, the winding speed of the reel 120 is the same as the retraction speed of the carriage 190.

[0048] During the retrieval process of the trolley 190, when the hydraulic line 180 is in a slack state, the winding speed of the reel 120 is greater than the retraction speed of the trolley 190. This allows the excess line in the retraction direction of the trolley 190 to be quickly retrieved, preventing damage to the hydraulic line 180 during the retraction process. When the hydraulic line 180 is in a taut state, the overflow valve 170 ensures that the winding speed of the reel 120 matches the retraction speed of the trolley 190. This prevents the hydraulic line 180 from being pulled or crushed during winding, and overall reduces the difficulty of winding the hydraulic line 180 during the retrieval of the trolley 190.

[0049] During the retrieval process of the trolley 190 and the winding process of the reel 120, if the relief valve 170 is closed, the hydraulic line 180 is considered to be in a relaxed state. If the relief valve 170 is open, the hydraulic line 180 is considered to be in a tightened state.

[0050] In steps S1 and S2, the first oil supply component 140 supplies oil according to a preset flow rate. Specifically, after receiving the retrieval command for the daughter vehicle 190 sent by the remote control, the mother-daughter drainage vehicle 100 controls the first oil supply component 140 to supply oil according to the preset flow rate, so as to realize the automatic retrieval of the hydraulic pipeline 180.

[0051] Please refer to Figures 1 to 4 In one embodiment, the preset flow rate satisfies the following relationship: ; Where: Q is the preset flow rate; V1 is the real-time retraction speed of the trolley 190; i is the speed ratio between the reel 120 and the hydraulic motor 130; Vm is the displacement of the hydraulic motor 130; and R1 is the radius of the reel 120 when it is not wound with the hydraulic cable 180.

[0052] In this embodiment, the preset flow rate Q of the oil supplied by the first oil supply component 140 satisfies the above relationship, thereby ensuring that when the hydraulic line 180 is in a slack state, the winding speed of the reel 120 is greater than the retraction speed of the carriage 190. When the hydraulic line 180 is in a taut state, the winding speed of the reel 120 is the same as the retraction speed of the carriage 190, making control simpler and easier to implement.

[0053] During the process of the trolley 190 retraction and the reel 120 winding, the speed of the trolley 190 is affected by road conditions and turning, which may cause the pipeline to change from a taut state to a slack state or vice versa.

[0054] In the above formula, R1 represents the radius of reel 120 when it is not wound with hydraulic cable 180 (R1 can be understood as the distance between the winding surface of reel 120 used to wind hydraulic cable 180 and the center of reel 120 when it is not wound with hydraulic cable 180). However, during normal winding operations, as hydraulic cable 180 is wound, its actual radius is greater than R1. This value ensures that the trolley 190 moves at a real-time retraction speed V. During retraction, the preset flow rate is greater than the flow rate required for synchronous recovery, so that the first oil supply component 140 provides slightly more hydraulic oil for dynamic adjustment. When the hydraulic line 180 is in a slack state, the winding speed of the reel 120 is greater than the retraction speed of the carriage 190, so as to achieve rapid recovery of the slack line. When the hydraulic line 180 is in a taut state, the excess hydraulic oil can be discharged through the overflow circuit 132, so that the winding speed of the reel 120 is the same as the retraction speed of the carriage 190.

[0055] It should be noted that the real-time retraction speed V1 of the carriage 190 can be measured by the displacement sensor installed on the carriage 190. It can also be calculated by the pushing angle of the push rod of the remote control. Since R1 is the radius of the reel 120 when the hydraulic cable 180 is not wound, the problem of untimely winding due to the error of the real-time retraction speed V1 of the carriage 190 can be avoided.

[0056] The specific preset flow rate Q can be selected based on factors such as the oil circuit, supply losses, and resistance. For example: , , , , Even the preset flow rate Q can be set to a larger value, as long as the preset flow rate is guaranteed. That's all.

[0057] Secondly, the speed ratio i between the reel 120 and the hydraulic motor 130 can be determined based on the transmission ratio. The displacement Vm of the hydraulic motor 130 can be determined based on the nameplate on the hydraulic motor 130.

[0058] In another optional embodiment of this application, the preset flow rate satisfies the following relationship: ; Where: Q is the preset flow rate; V2 is the maximum retraction speed of the trolley 190; i is the speed ratio between the reel 120 and the hydraulic motor 130; Vm is the displacement of the hydraulic motor 130; and R1 is the radius of the unwound hydraulic line 180 on the reel 120.

[0059] This embodiment ensures that the preset flow rate satisfies the above relationship, making control simpler. It eliminates the need to collect or calculate the reversing speed of the sub-cart 190, thereby saving costs and making the process more convenient. Most importantly, regardless of the actual reversing speed of the sub-cart 190, the first oil supply component 140 will supply oil at a fixed preset flow rate, eliminating the need for frequent adjustments to the first oil supply component 140 and thus extending its service life.

[0060] It should be noted that the maximum reversing speed V2 of the subcar 190 can be measured experimentally or is the design maximum speed.

[0061] In the above formula, R1 represents the radius of the reel 120 when the hydraulic line 180 is not wound. However, during normal winding operations, the actual radius of the hydraulic line 180 is greater than R1 as it winds. Therefore, even when the real-time retraction speed V1 of the carriage 190 is comparable to the maximum retraction speed V2, the preset flow rate is greater than the flow rate required for synchronous recovery. This allows the first oil supply component 140 to provide slightly more hydraulic oil for dynamic adjustment. This ensures that when the hydraulic line 180 is in a slack state, the winding speed of the reel 120 is greater than the retraction speed of the carriage 190, enabling rapid recovery of the slack line. When the hydraulic line 180 is in a taut state, the excess hydraulic oil can be drained through the overflow circuit 132, thus making the winding speed of the reel 120 the same as the retraction speed of the carriage 190.

[0062] Please refer to Figures 1 to 4 Furthermore, the preset flow rate also satisfies the following relationship: .

[0063] In this embodiment, the preset flow rate Q still satisfies the above formula, which can reduce the overflow of hydraulic oil in the overflow circuit 132, thereby reducing energy waste.

[0064] In this embodiment, the specific preset flow rate Q can be selected based on factors such as the oil circuit, supply losses, and resistance. For example: , , , , Even the preset flow rate Q can be set to a larger value, as long as the preset flow rate is guaranteed. That's all.

[0065] In one embodiment: V2 = 2km / h = 2000 / 3600m / s; i=4.59; Vm=160mL / r; R1=0.25m; Substitute the above parameters into and The value of Q is obtained from: 15.6 L / min ≤ Q ≤ 23.4 L / min.

[0066] Specifically, the preset flow rate Q is 23.4 L / min. In this embodiment, the first oil supply assembly 140 includes a first oil pump 141 and a first electro-proportional directional valve 142. The first electro-proportional directional valve 142 has an inlet P, a return port T, a first working port A, and a second working port B. The first oil pump 141 is connected to the hydraulic oil tank 160. The inlet P is connected to the supply port of the first oil pump 141 through an oil circuit. The first working port A is connected to the winding inlet P1 through the supply circuit 131. The second working port B is connected to the winding return port P2 through an oil circuit. The return port T is connected back to the hydraulic oil tank 160.

[0067] The steps of the first oil supply component 140 supplying oil according to the preset flow rate include: S01. Control the first electro-proportional directional valve 142 to switch to the working position where the oil inlet P is connected to the first working oil port A and the second working oil port B is connected to the return oil port T, and control the opening degree of the first electro-proportional directional valve 142 to correspond to the preset flow rate.

[0068] In this embodiment, the first oil pump 141 can be selected to supply oil in a fixed quantity according to the system's needs. The oil supply of this branch can be made to correspond to the preset flow rate by adjusting the opening of the first electro-proportional directional valve 142, so as not to affect the normal operation of other branches connected to the first oil pump 141.

[0069] In other embodiments of this application, the first oil supply assembly 140 includes a first oil pump 141 and a first directional valve. The first directional valve has an oil inlet P, an oil return port T, a first working oil port A, and a second working oil port B. The first oil pump 141 is connected to the hydraulic oil tank 160. The oil inlet P is connected to the oil supply port of the first oil pump 141 through an oil circuit. The first working oil port A is connected to the winding oil inlet P1 through an oil supply circuit 131. The second working oil port B is connected to the winding oil return port P2 through an oil circuit. The oil return port T is connected back to the hydraulic oil tank 160. The steps of the first oil supply component 140 supplying oil according to the preset flow rate include: S02, control the first reversing valve to switch to the working position where the oil inlet P is connected to the first working oil port A and the second working oil port B is connected to the return oil port T, and control the displacement of the first oil pump 141 to correspond to the preset flow rate.

[0070] Please refer to Figures 1 to 4 In this embodiment, the oil supply can be controlled by the first oil pump 141 to make the oil supply correspond to the preset flow rate, so that a common first reversing valve can be selected, and the cost is relatively low.

[0071] Furthermore, the preset pressure of the relief valve 170 satisfies the following formula: ; Where: P is the preset pressure of the relief valve 170; F is the maximum pull-back force that the hydraulic line 180 can withstand; i is the speed ratio between the reel 120 and the hydraulic motor 130; Vm is the displacement of the hydraulic motor 130; R2 is the distance between the hydraulic line 180 wound on the outermost ring of the reel 120 and the center of the reel 120.

[0072] This embodiment ensures that the preset pressure P of the relief valve 170 satisfies the above formula, thereby preventing the hydraulic line 180 from breaking due to the relief valve 170's inability to overflow in time during the winding process. As the hydraulic line 180 is wound layer by layer on the reel 120, the winding radius (lever arm) gradually increases, causing the tension on the hydraulic line 180 to rise accordingly. In the above formula, R2 is the distance between the outermost layer of the hydraulic line 180 wound on the reel 120 and the center of the reel 120. This allows the calculation of the maximum critical value of the preset pressure P of the relief valve 170. By ensuring that the preset pressure P is less than or equal to this maximum near-critical value, the problem of the hydraulic line 180 breaking can be avoided.

[0073] It should be noted that the maximum pull-back force F that hydraulic line 180 can withstand is the axial tensile force that hydraulic line 180 can withstand, which can be obtained from the factory parameters of hydraulic line 180. The distance R2 between the outermost layer of hydraulic line 180 wound on reel 120 and the center of reel 120 is the radius of the outermost layer of hydraulic line 180 on reel 120 relative to the center of reel 120 when all hydraulic lines 180 are wound on reel 120.

[0074] Furthermore, the preset pressure of the relief valve 170 also satisfies the following formula: .

[0075] In this embodiment, the preset pressure of the relief valve 170 still satisfies the above relationship, which can avoid the preset pressure of the relief valve 170 being too small, so that the hydraulic line 180 cannot be pulled to wind up.

[0076] In one specific embodiment, the maximum pull-back force (tensile force) F that the hydraulic line 180 can withstand is 2.4 kN. The distance R2 between the outermost coil of the hydraulic line 180 wound on the reel 120 and the center of the reel 120 is 0.45 m. The speed ratio i is 4.59. The displacement Vm of the hydraulic motor 130 is 60 mL / r.

[0077] Substitute the above parameters into and The range of values ​​for P is: 4.6 MPa ≤ P ≤ 9.2 MPa.

[0078] In one specific implementation, the value of P can be selected from 4.6 MPa, 5 MPa, 6 MPa, 7 MPa, 8 MPa, or 9 MPa.

[0079] In one specific embodiment, the preset pressure value of the relief valve 170 can be... , , , , or .

[0080] In another embodiment, the preset pressure of the relief valve 170 satisfies the following formula: ; Where: P is the preset pressure of the relief valve 170; F1 is the force required to pull the hydraulic line 180; i is the speed ratio between the reel 120 and the hydraulic motor 130; Vm is the displacement of the hydraulic motor 130; and R2 is the radius of the hydraulic line 180 wound on the outermost ring of the reel 120.

[0081] In this embodiment, the preset pressure of the relief valve 170 still satisfies the above relationship, which can avoid the preset pressure of the relief valve 170 being too small, so that the hydraulic line 180 cannot be pulled to wind up.

[0082] It should be noted that the force F1 required to pull the hydraulic lines 180 can be determined experimentally by laying all the hydraulic lines 180 flat on the ground, filling them with hydraulic oil, and measuring the force F1 required to pull the hydraulic lines 180 using a force measuring element. Alternatively, it can be obtained through simulation or calculation.

[0083] In one specific embodiment, the force F1 required to pull the hydraulic cable 180 was tested and determined to be 1.1 kN; the distance R2 between the outermost layer of the hydraulic cable 180 wound on the reel 120 and the center of the reel 120 was determined to be 0.45 m. The speed ratio i was determined to be 4.59. The displacement Vm of the hydraulic motor 130 was determined to be 60 mL / r.

[0084] Substitute the above parameters into The range of values ​​for P is: 4.23 MPa ≤ P ≤ 9.2 MPa.

[0085] In summary, the first oil supply component 140 of the mother-daughter drainage vehicle provided in this embodiment is connected to the hydraulic oil tank 160, and the first oil supply component 140 is connected to the winding oil inlet P1 of the hydraulic motor 130 through the oil supply circuit 131. An overflow circuit 132 connected back to the hydraulic oil tank 160 is provided in the oil supply circuit 131, and an overflow valve 170 is provided on the overflow circuit 132 to connect the winding return oil inlet P2 of the hydraulic motor 130 back to the hydraulic oil tank 160. The second oil supply component 150 provides power to the hydraulic cable 180 of the trolley 190, which is wound onto the reel 120. A hydraulic motor 130 is connected to the reel 120 to drive the hydraulic cable 180 to wind up. During the trolley 190's retraction, when the hydraulic cable 180 is slack, the winding speed of the reel 120 is greater than the retraction speed of the trolley 190. This allows any excess, unwound hydraulic cable 180 in the retraction direction to be quickly removed, preventing damage to the hydraulic cable 180 during the trolley 190's retraction. When the hydraulic cable 180 is taut, the overflow valve 170 ensures that the winding speed of the reel 120 matches the retraction speed of the trolley 190, preventing damage to the hydraulic cable 180 during winding. Overall, this reduces the difficulty of winding the hydraulic cable 180 during the trolley 190's retraction.

[0086] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention.

Claims

1. A sub-vehicle recovery method of a sub-mother type flood drainage vehicle, characterized in that, The mother-daughter type drainage vehicle (100) includes a mother vehicle (110), a reel (120), a hydraulic motor (130), a first oil supply assembly (140), a second oil supply assembly (150), a hydraulic oil tank (160), an overflow valve (170), hydraulic lines (180), and a daughter vehicle (190). The reel (120), the hydraulic motor (130), the first oil supply assembly (140), the second oil supply assembly (150), and the hydraulic oil tank (160) are all located on the mother car (110). The hydraulic line (180) is wound around the reel (120). The hydraulic motor (130) is connected to the reel (120) to drive the hydraulic line (180) to wind up. The first oil supply assembly (140) is connected to the hydraulic oil tank (160), and the first oil supply assembly (140) is connected to the winding oil inlet (P1) of the hydraulic motor (130) through the oil supply circuit (131). The oil supply circuit (131) is provided with an overflow circuit (132) that connects back to the hydraulic oil tank (160). The overflow valve (170) is provided on the overflow circuit (132). The winding return oil inlet (P2) of the hydraulic motor (130) is connected back to the hydraulic oil tank (160). The second oil supply assembly (150) is connected to the hydraulic oil tank (160), and one end of the hydraulic line (180) is connected to the second oil supply assembly (150), and the other end is connected to the sub-vehicle (190) to provide power to the sub-vehicle (190); The method for recovering the daughter vehicle of the mother-daughter type drainage vehicle includes the following steps: S1. When the hydraulic line (180) is in a slack state, the winding speed of the reel (120) is greater than the retraction speed of the carriage (190). S2. When the hydraulic line (180) is in a taut state, the winding speed of the reel (120) is the same as the retraction speed of the carriage (190).

2. The method of claim 1, wherein the sub-vehicle is recovered by, In steps S1 and S2, the first oil supply assembly (140) supplies oil according to a preset flow rate, the preset flow rate satisfying the following relationship: ； Where: Q is the preset flow rate; V1 is the real-time retraction speed of the subcart (190); i is the speed ratio between the reel (120) and the hydraulic motor (130); Vm is the displacement of the hydraulic motor (130); R1 is the radius of the reel (120) when it is not wound with the hydraulic line (180).

3. The method for recovering the daughter vehicle of the mother-daughter type drainage vehicle according to claim 1, characterized in that, In steps S1 and S2, the first oil supply assembly (140) supplies oil according to a preset flow rate, the preset flow rate satisfying the following relationship: ； Where: Q is the preset flow rate; V2 is the maximum retraction speed of the trolley (190); i is the speed ratio between the reel (120) and the hydraulic motor (130); Vm is the displacement of the hydraulic motor (130); R1 is the radius of the hydraulic line (180) not wound on the reel (120).

4. The method for recovering the daughter vehicle of the mother-daughter type drainage vehicle according to claim 3, characterized in that, The preset flow rate also satisfies the following relationship: 。 5. The method for recovering the daughter vehicle of the mother-daughter type drainage vehicle according to any one of claims 2-4, characterized in that, The first oil supply assembly (140) includes a first oil pump (141) and a first electro-proportional directional valve (142). The first electro-proportional directional valve (142) has an oil inlet (P), an oil return port (T), a first working oil port (A), and a second working oil port (B); The first oil pump (141) is connected to the hydraulic oil tank (160). The oil inlet (P) is connected to the oil supply port of the first oil pump (141) through an oil circuit. The first working oil port (A) is connected to the winding oil inlet (P1) through the oil supply circuit (131). The second working oil port (B) is connected to the winding return oil port (P2) through an oil circuit. The return oil port (T) is connected back to the hydraulic oil tank (160). The steps of the first oil supply component (140) supplying oil according to a preset flow rate include: Control the first electro-proportional directional valve (142) to switch to the working position where the oil inlet (P) is connected to the first working oil port (A) and the second working oil port (B) is connected to the oil return port (T), and control the opening degree of the first electro-proportional directional valve (142) to correspond to the preset flow rate.

6. The method for recovering the daughter vehicle of the mother-daughter type drainage vehicle according to any one of claims 2-4, characterized in that, The first oil supply assembly (140) includes a first oil pump (141) and a first directional valve; The first directional valve has an oil inlet (P), an oil return port (T), a first working oil port (A), and a second working oil port (B); The first oil pump (141) is connected to the hydraulic oil tank (160). The oil inlet (P) is connected to the oil supply port of the first oil pump (141) through an oil circuit. The first working oil port (A) is connected to the winding oil inlet (P1) through the oil supply circuit (131). The second working oil port (B) is connected to the winding return oil port (P2) through an oil circuit. The return oil port (T) is connected back to the hydraulic oil tank (160). The steps of the first oil supply component (140) supplying oil according to a preset flow rate include: The first reversing valve is controlled to switch to the working position where the oil inlet (P) is connected to the first working oil port (A) and the second working oil port (B) is connected to the oil return port (T), and the displacement of the first oil pump (141) is controlled to correspond to the preset flow rate.

7. The method for recovering the daughter vehicle of the mother-daughter type drainage vehicle according to any one of claims 1-4, characterized in that, The preset pressure of the relief valve (170) satisfies the following formula: ； Wherein: P is the preset pressure of the relief valve (170); F is the maximum pull-back force that the hydraulic line (180) can withstand; i is the speed ratio between the reel (120) and the hydraulic motor (130); Vm is the displacement of the hydraulic motor (130); R2 is the distance between the hydraulic line (180) wound on the outermost ring of the reel (120) and the center of the reel (120).

8. The method for recovering the daughter vehicle of the mother-daughter type drainage vehicle according to claim 7, characterized in that, The preset pressure of the relief valve (170) also satisfies the following formula: 。 9. The method for recovering the daughter vehicle of the mother-daughter type drainage vehicle according to claim 7, characterized in that, The preset pressure of the relief valve (170) also satisfies the following formula: ； Wherein: P is the preset pressure of the relief valve (170); F1 is the force required to pull the hydraulic line (180); i is the speed ratio between the reel (120) and the hydraulic motor (130); Vm is the displacement of the hydraulic motor (130); R2 is the radius of the hydraulic line (180) wound on the outermost ring of the reel (120).

10. A mother-and-child type drainage vehicle, characterized in that, The method for recovering the daughter vehicle of the mother-daughter type drainage vehicle according to any one of claims 1-9 is applied.

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