Boom extension and retraction control method, hydraulic control system and operation machine

Abstract

A boom extension and retraction control method, a hydraulic control system and an operation machine. The boom extension and retraction control method comprises the following steps: when it is necessary to extend a boom, determining an extension action mode of the boom on the basis of the extension length of the boom, wherein the extension action mode comprises a priority mode and a synchronous mode, in the priority mode, an oil source prioritizes driving a boom section cylinder of the innermost layer to extend, and in the synchronous mode, the oil source drives boom section cylinders of all layers to extend synchronously. By means of the boom extension and retraction control method, the priority mode can be activated in a state in which the boom extension stability is relatively high, such that the oil source first fully drives the boom section cylinder of the innermost layer to extend, thereby improving the boom extension response speed; and the synchronous mode is activated in a state in which the boom extension stability is relatively low, such that the oil source synchronously drives the boom section cylinders of all layers to extend, thereby ensuring the degree of smoothness and stability of boom extension.

Description

Boom telescoping control method, hydraulic control system and working machine

[0001] The present application claims priority from: Chinese Patent Application No. 202410849167.9, filed on June 27, 2024, and entitled "Boom telescoping control method, hydraulic control system and working machine", the content of which is incorporated herein by reference in its entirety. TECHNICAL FIELD

[0002] The present application relates to the technical field of working machines, and more particularly, to a boom telescoping control method, a hydraulic control system and a working machine. BACKGROUND

[0003] A high-altitude working vehicle is an important working machine. A boom is arranged on the high-altitude working vehicle. In the working process, the telescoping length of the boom needs to be adjusted so that it is lifted to a target working area. In the related art, when the telescoping length of the boom is adjusted, the same oil source is usually used to drive each arm section to perform the telescoping action, and the telescoping response speed of the boom is relatively slow. SUMMARY

[0004] The embodiments of the present application provide a boom telescoping control method, a hydraulic control system and a working machine to solve the problem of the relatively slow telescoping response speed of the boom in the related art.

[0005] In a first aspect, the embodiments of the present application provide a boom telescoping control method, comprising:

[0006] When the boom needs to be telescoped, the telescoping action mode of the boom is determined based on the telescoping length of the boom. The telescoping action mode includes a priority mode and a synchronization mode. In the priority mode, the oil source preferentially drives the innermost arm section cylinder to telescope. In the synchronization mode, the oil source drives the arm section cylinders of each layer to telescope synchronously.

[0007] In a specific embodiment, the step of determining the telescoping action mode of the boom based on the telescoping length of the boom includes: when the telescoping length of the boom is less than or equal to a preset length, determining the telescoping action mode of the boom as the priority mode; and when the telescoping length of the boom is greater than the preset length, determining the telescoping action mode of the boom as the synchronization mode.

[0008] In the priority mode, after the oil source preferentially drives the innermost arm section cylinder to telescope, the remaining arm section cylinders are driven to telescope in turn from the inside to the outside; or,

[0009] In the priority mode, after the oil source preferentially drives the innermost arm section cylinder to telescope, the remaining arm section cylinders are driven to telescope synchronously.

[0010] In an embodiment, the step of driving the innermost arm section cylinder to extend in the priority mode comprises: in the priority mode, opening the direction control valve of the innermost arm section to make the oil source communicate with the innermost arm section cylinder through the direction control valve of the innermost arm section, and closing the direction control valves of the rest arm sections to make the oil source cut off the rest arm section cylinders.

[0011] In an embodiment, the step of driving the arm section cylinders to extend synchronously in the synchronous mode comprises: in the synchronous mode, adjusting the valve opening of the direction control valve of each arm section based on the extension length variation of the arm section cylinder of each arm section, to make the oil source drive the arm section cylinders to extend synchronously through the direction control valve of each arm section.

[0012] In an embodiment, the method further comprises: when the arm support needs to be retracted, starting the arm support retraction mode; in the arm support retraction mode, the gravity of the arm support drives the arm section cylinders to retract.

[0013] In an embodiment, the step of driving the arm section cylinders to retract in the arm support retraction mode comprises: in the arm support retraction mode, adjusting the balance valve of each arm section and the direction control valve of each arm section, to make the oil of the arm section cylinders return through the balance valve and the direction control valve; adjusting the oil port opening of the balance valve to adjust the retraction speed of the arm support.

[0014] In a second aspect, an embodiment of the present application provides a hydraulic control system, comprising an oil source, a plurality of arm section cylinders and a plurality of direction control valves of arm sections, the arm section cylinders and the direction control valves of arm sections are one-to-one corresponding, the oil source is connected with the arm section cylinders through the direction control valves of arm sections, further comprising: a length detection device for detecting the extension length of the arm support; a control device, the control device is used to execute the arm support extension and retraction control method as described above.

[0015] In an embodiment, the system further comprises: an extension variation detection device for detecting the extension length variation of the arm section cylinders; a plurality of balance valves, the balance valves are one-to-one corresponding with the arm section cylinders, each balance valve is connected between the arm section cylinder and the direction control valve of arm section, to return the oil of the arm section cylinder.

[0016] In a third aspect, an embodiment of the present application provides a working machine, which is controlled by the arm support extension and retraction control method as described above, or comprises the hydraulic control system as described above.

[0017] In a fourth aspect, an embodiment of the present application provides a storage medium having stored thereon a computer program, which, when executed by a processor, implements the boom stretching control method of any one of the first aspect.

[0018] In a fifth aspect, an embodiment of the present application provides a chip, comprising a memory and a processor, the memory storing codes and data, the memory being coupled to the processor, and the processor running a program in the memory so that the chip is used to execute the boom stretching control method of any one of the first aspect.

[0019] In a sixth aspect, an embodiment of the present application provides a program product, comprising: a computer program, which, when executed on a computer, causes the computer to execute the boom stretching control method of any one of the first aspect.

[0020] In a seventh aspect, an embodiment of the present application provides a computer program, which, when executed by a processor, is used to execute the boom stretching control method of any one of the first aspect.

[0021] In the process of stretching the boom, when the stretching length of the boom is relatively short, the stability of the boom is relatively high, and the response speed of the boom stretching can be preferentially improved at this stage. When the stretching length of the boom is relatively long, the stability of the boom stretching is relatively poor, and the stability of the boom stretching needs to be preferentially ensured at this stage.

[0022] The boom stretching control method, the hydraulic control system and the working machine provided by the embodiments of the present application can determine the stretching action mode of the boom based on the stretching length of the boom when the boom needs to be stretched. The stretching action mode of the boom includes a priority mode and a synchronization mode. In the priority mode, the oil source preferentially drives the innermost arm section cylinder to stretch, that is, in the priority mode, the oil source first drives the innermost arm section cylinder to stretch at full power to improve the response speed of the boom stretching. In the synchronization mode, the oil source drives the arm section cylinders of each layer to stretch synchronously, that is, in the synchronization mode, the oil source simultaneously drives the arm section cylinders of each layer to stretch to ensure the smoothness and stability of the boom stretching. For example, when the stretching length of the boom is relatively short, the priority mode is controlled to be started, and when the stretching length of the boom is relatively long, the synchronization mode is controlled to be started.

[0023] Through the boom stretching control method, the priority mode can be started when the stability of the boom stretching is relatively high, so that the oil source first drives the innermost arm section cylinder to stretch at full power to improve the response speed of the boom stretching. The synchronization mode is started when the stability of the boom stretching is relatively low, so that the oil source simultaneously drives the arm section cylinders of each layer to stretch to ensure the smoothness and stability of the boom stretching.

[0024] Further, in the working machine provided by the present application, since the arm stretching and retracting action is controlled by the arm stretching and retracting control method as described above, the working machine also has the advantages as described above. BRIEF DESCRIPTION OF DRAWINGS

[0025] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without any creative labor under the premise of the drawings.

[0026] Fig. 1 is a flowchart of the arm stretching and retracting control method provided by the present application.

[0027] Fig. 2 is a schematic diagram of part of the hydraulic control system provided by the present application.

[0028] Fig. 3 is a schematic diagram of part of the hydraulic control system provided by the present application.

[0029] Fig. 4 is a schematic diagram of part of the hydraulic control system provided by the present application.

[0030] Fig. 5 is a schematic diagram of part of the hydraulic control system provided by the present application.

[0031] Reference signs: 100, arm section oil cylinder; 200, arm section direction control valve; 300, balance valve; 400, balance control valve; 500, pressure reducing valve; 600, one-way throttle valve. DETAILED DESCRIPTION

[0032] The embodiments of the present application will be further described in detail below in combination with the drawings and examples. The following examples are used to illustrate the present application, but cannot be used to limit the scope of the present application.

[0033] In the description of the embodiments of the present application, it should be noted that the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the embodiments of the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the embodiments of the present application. In addition, the terms "first", "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance.

[0034] In the description of the embodiments of the present application, it should be noted that unless specifically defined and limited otherwise, the terms "connected", "connected to", "connection" should be interpreted broadly, for example, can be fixed connection, can also be detachable connection, or integral connection; can be mechanical connection, can also be electrical connection; can be directly connected, can also be indirectly connected through an intermediate medium. For those skilled in the art, the specific meaning of the above terms in the embodiments of the present application can be understood according to the specific circumstances.

[0035] In the embodiments of the present application, unless specifically defined and limited otherwise, the first feature is "on" or "under" the second feature can be that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature can be "above", "over" and "on" the second feature, which can be that the first feature is directly above or obliquely above the second feature, or only means that the horizontal height of the first feature is higher than that of the second feature. The first feature can be "below", "under" and "under" the second feature, which can be that the first feature is directly below or obliquely below the second feature, or only means that the horizontal height of the first feature is less than that of the second feature.

[0036] In the description of the present application, the description of the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In the present application, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any suitable manner in any one or more embodiments or examples. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in the present application and the features of the different embodiments or examples to make the purpose, technical solution and advantages of the present application more clear. The technical solutions of the present application will be described clearly and completely in the following description of the drawings in the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0037] The embodiments of the present application provide an arm stretching control method, a hydraulic control system and a working machine. It should be understood that the following description is only a schematic embodiment of the present application, and does not constitute any special limitation on the present application.

[0038] The embodiment of the first aspect of the application provides an arm stretching and retracting control method, comprising the following steps: S101, when the arm needs to be stretched out, determining a stretching action mode of the arm based on a stretching length of the arm. The stretching action mode comprises a priority mode and a synchronization mode. In the priority mode, an oil source preferentially drives the innermost arm section oil cylinder 100 to stretch out. In the synchronization mode, the oil source drives the arm section oil cylinders 100 of each layer to stretch out synchronously.

[0039] In the process of stretching out the arm, when the stretching length of the arm is relatively short, the stability of the arm is relatively high, and the response speed of the arm stretching out can be preferentially improved at this stage. When the stretching length of the arm is relatively long, the stability of the arm stretching out is relatively poor, and the stability of the arm stretching out needs to be preferentially ensured at this stage. In the arm stretching and retracting control method provided in the application, when the arm needs to be stretched out, the stretching action mode of the arm can be determined based on the stretching length of the arm. The stretching action mode of the arm comprises a priority mode and a synchronization mode. In the priority mode, the oil source preferentially drives the innermost arm section oil cylinder 100 to stretch out, that is, in the priority mode, the oil source first drives the innermost arm section oil cylinder 100 to stretch out at full power, so as to improve the response speed of the arm stretching out. In the synchronization mode, the oil source drives the arm section oil cylinders 100 of each layer to stretch out synchronously, that is, in the synchronization mode, the oil source simultaneously drives the arm section oil cylinders 100 of each layer to stretch out, so as to ensure the smoothness and stability of the arm stretching out. For example, when the stretching length of the arm is relatively short, the priority mode is controlled to be started, and when the stretching length of the arm is relatively long, the synchronization mode is controlled to be started.

[0040] Through the arm stretching and retracting control method, in the state that the stability of the arm stretching out is relatively high, the priority mode is started, so that the oil source first drives the innermost arm section oil cylinder 100 to stretch out at full power, and the response speed of the arm stretching out is improved. In the state that the stability of the arm stretching out is relatively low, the synchronization mode is started, so that the oil source simultaneously drives the arm section oil cylinders 100 of each layer to stretch out, and the smoothness and stability of the arm stretching out are ensured.

[0041] In an embodiment of the application, the step of determining the stretching action mode of the arm based on the stretching length of the arm specifically comprises: when the stretching length of the arm is less than or equal to a preset length, determining the stretching action mode of the arm as the priority mode; and when the stretching length of the arm is greater than the preset length, determining the stretching action mode of the arm as the synchronization mode.

[0042] In one embodiment of the present application, in the priority mode, after the oil source preferentially drives the innermost layer of arm joint oil cylinder 100 to extend, the remaining arm joint oil cylinders 100 are sequentially driven to extend from inside to outside; or, in the priority mode, after the oil source preferentially drives the innermost layer of arm joint oil cylinder 100 to extend, the remaining arm joint oil cylinders 100 are synchronously driven to extend. In this way, the extension mode of the non-innermost layer of arm joint oil cylinder 100 in the priority mode can be enriched, and the operator can make flexible selection according to actual needs.

[0043] In the corresponding hydraulic control system, a control device and a length detection device are arranged. For example, the length detection device can detect the extension length of the boom in real time. The length detection device can feed back the detection result to the control device, and the control device is provided with a preset length. The control device can determine the extension action mode of the boom based on the comparison result of the detection result of the length detection device and the preset length. For example, in one embodiment of the present application, the preset length is equal to one third of the maximum extension length of the boom. Specifically, during the control of the extension of the boom, when the extension length of the boom is less than or equal to one third of the maximum extension length of the boom, the priority mode is started, at this time, the oil source first drives the innermost layer of arm joint oil cylinder 100 to extend at full power, so as to improve the response speed of the extension of the boom. When the extension length of the boom is greater than one third of the maximum extension length of the boom, the synchronous mode is started, at this time, the oil source simultaneously drives the arm joint oil cylinders 100 of each layer to extend, so as to ensure the smoothness and stability of the extension of the boom.

[0044] It should be noted that the above embodiment is only one illustrative embodiment of the present application, and cannot constitute any limitation on the present application. That is to say, in the actual work process, the worker can set the preset length according to actual needs.

[0045] In one embodiment of the present application, the step of preferentially driving the innermost layer of arm joint oil cylinder 100 to extend in the priority mode specifically includes: in the priority mode, the direction control valve 200 of the innermost layer of arm joint is controlled to be opened, so that the oil source communicates with the innermost layer of arm joint oil cylinder 100 through the direction control valve 200 of the innermost layer of arm joint, and at the same time, the direction control valves 200 of the remaining layers of arm joints are controlled to be closed, so that the oil source is cut off through the direction control valves 200 of the remaining layers of arm joints and the corresponding arm joint oil cylinders 100.

[0046] In the corresponding hydraulic control system, as shown in FIGS. 2-5, the oil source, the multi-layer arm section oil cylinder 100 and the multi-layer arm section direction control valve 200 are included. The oil source includes an oil tank and an oil pump. The number of arm section oil cylinders 100 is not limited and can be determined according to actual needs. Each layer of arm section oil cylinder 100 is provided with an arm section direction control valve 200. The oil inlet of the oil pump is connected with the oil tank, and the oil outlet of the oil pump is connected with the corresponding arm section oil cylinder 100 through the arm section direction control valve 200. Each arm section direction control valve 200 is also connected with the oil tank for oil return of the corresponding arm section oil cylinder 100. The arm section oil cylinder 100 can use a single-acting cylinder or a double-acting cylinder. The arm section direction control valve 200 is provided with at least an extended state and a cut-off state. In the extended state, the oil pump can supply oil to the corresponding arm section oil cylinder 100 through the arm section direction control valve 200 to extend the arm section oil cylinder 100. In the cut-off state, the oil pump and the corresponding arm section oil tank are cut off from each other to keep the current state of the arm section oil cylinder 100. The control device is connected with each arm section direction control valve 200, which can adjust the working state of each arm section direction control valve 200. For example, in the priority mode, the control device can control the arm section direction control valve 200 corresponding to the innermost layer arm section oil cylinder 100 to switch to the extended state, and at the same time, control each arm section direction control valve 200 corresponding to the remaining arm section oil cylinder 100 to switch to the cut-off state. At this time, the oil pump can fully supply the innermost layer arm section oil cylinder 100 to make it quickly extend.

[0047] In an embodiment of the present application, in the synchronization mode, the step of driving the arm section oil cylinders 100 of each layer to extend synchronously by the oil source includes: in the synchronization mode, based on the extension length change amount of each layer of arm section oil cylinder 100, adjusting the valve opening of each arm section direction control valve 200, so that the oil source drives the corresponding arm section oil cylinder 100 to extend synchronously through each arm section direction control valve 200.

[0048] For example, in the corresponding hydraulic control system, an extension change amount detection device is provided, which includes but is not limited to a displacement sensor. The extension change amount detection device is used to detect the extension length change amount of each layer of arm section. The extension change amount detection device can feed back the detection result to the control device. In the synchronization mode, the synchronization of the extension of each layer of arm section needs to be ensured to improve the stability and smoothness of the extension of the arm support. In the synchronization mode, the arm section direction control valve 200 of each layer of arm section is controlled to be opened at the same time, so that the oil pump can drive each arm section oil cylinder 100 to extend at the same time through the arm section direction control valve 200. In this process, the control device can adjust the valve opening of each arm section direction control valve 200 based on the detection result of the extension change amount detection device, so that the extension length change amount of each arm section oil cylinder 100 remains consistent. Thus, the synchronization closed-loop control in the synchronization mode is realized, the stability of the extension of the arm support is improved, and the safety is enhanced.

[0049] In an embodiment of the present application, as shown in FIG. 1, the boom telescoping control method further comprises: S102, when it is required to retract the boom, controlling to start a boom retracting mode; in the boom retracting mode, the gravity of the boom drives each layer of arm section oil cylinder 100 to retract.

[0050] Further, in an embodiment of the present application, in the boom retracting mode, the step of the gravity of the boom driving each layer of arm section oil cylinder 100 to retract specifically comprises: in the boom retracting mode, adjusting each layer of balance valve 300 and each layer of arm section directional control valve 200, so that the oil of each layer of arm section oil cylinder 100 flows back through the corresponding balance valve 300 and arm section directional control valve 200; controlling the oil port opening degree of each layer of balance valve 300 to adjust the retracting speed of the boom.

[0051] For example, a balance valve 300 is correspondingly arranged between each arm section oil cylinder 100 and the corresponding arm section directional control valve 200, and the arm section directional control valve 200 is also provided with a backflow state, in which each arm section oil cylinder 100 can communicate with the oil tank through the corresponding balance valve 300 and arm section directional control valve 200. When it is required to retract the boom, the boom retracting mode is started. In the boom retracting mode, the control device controls the arm section directional control valve 200 to switch to the backflow state, and controls the balance valve 300 to open. At this time, each layer of arm section oil cylinder 100 can be squeezed to backflow under the action of its own gravity, and the backflow oil flows back to the oil tank through the corresponding balance valve 300 and arm section directional control valve 200. As shown in FIGS. 2 to 5, the control oil source of the balance valve 300 can be the same oil source as the arm section oil cylinder 100, or an independent control oil source can also be used in combination with the corresponding balance control valve 400. During the control of the boom retracting, the retracting speed of the arm section oil cylinder 100 can be controlled by controlling the opening degree of the balance valve 300. By using the gravity of the boom as the driving force to drive the arm section oil cylinder 100 to retract, the power consumption of the working machine can be reduced, and the fuel economy can be improved.

[0052] An embodiment of the second aspect of the present application provides a hydraulic control system, comprising an oil source, a plurality of layers of arm section oil cylinders 100 and a plurality of layers of arm section directional control valves 200. The arm section oil cylinder 100 and the arm section directional control valve 200 are correspondingly arranged. The oil source is connected with the corresponding arm section oil cylinder 100 through each arm section directional control valve 200, and further comprises: a length detection device for detecting the telescoping length of the boom; a control device, which is used to execute the boom telescoping control method as described above.

[0053] Further, in an embodiment of the present application, the hydraulic control system further comprises: an extension change amount detection device for detecting the extension length change amount of each layer of arm section oil cylinder 100; and a plurality of balance valves 300, each of which is arranged corresponding to the arm section oil cylinder 100, and each of which is connected between the corresponding arm section oil cylinder 100 and the arm section direction control valve 200 for oil return of the corresponding arm section oil cylinder 100.

[0054] For example, as shown in FIGS. 2-5, the hydraulic control system comprises an oil source, a plurality of layers of arm section oil cylinders 100, a plurality of arm section direction control valves 200, a plurality of balance valves 300, a length detection device, a control device, and an extension change amount detection device. The oil source comprises an oil tank and an oil pump. Each arm section oil cylinder 100 is provided with an arm section direction control valve 200. The oil inlet of the oil pump is connected to the oil tank, and the oil outlet of the oil pump is connected to the corresponding arm section oil cylinder 100 through the arm section direction control valve 200. Each arm section direction control valve 200 is also connected to the oil tank for oil return of the corresponding arm section oil cylinder 100. The arm section oil cylinder 100 can use a single-acting oil cylinder or a double-acting oil cylinder. Each arm section oil cylinder 100 is provided with a balance valve 300 corresponding to the arm section direction control valve 200. The arm section direction control valve 200 has an extension state, a cut-off state, and an oil return state. In the extension state, the oil pump can supply oil to the corresponding arm section oil cylinder 100 through the arm section direction control valve 200 and the balance valve 300, so that the arm section oil cylinder 100 extends. In the cut-off state, the oil pump and the corresponding arm section oil tank are cut off from each other, so that the arm section oil cylinder 100 remains in the current state. In the oil return state, the arm section oil cylinder 100 can communicate with the oil tank through the corresponding balance valve 300 and the arm section direction control valve 200. The control device is connected to each arm section direction control valve 200 and each balance valve 300, and can adjust the working state of each arm section direction control valve 200 and each balance valve 300. The control oil source of the balance valve 300 can use the same oil source as the arm section oil cylinder 100, or an independent control oil source can be used in combination with a corresponding balance control valve 400. In addition, a length detection device for detecting the extension length of the boom and an extension change amount detection device for detecting the extension length change amount of each arm section oil cylinder 100 are also provided. A pressure reducing valve 500 can be provided at the oil inlet front end of the arm section direction control valve 200 and the oil inlet front end of the balance control valve 400. A one-way throttle valve 600 can be provided between the arm section direction control valve 200 and the balance valve 300, and oil can be supplied through the one-way valve in the one-way throttle valve 600 and returned through the throttle valve in the one-way throttle valve 600.

[0055] In the process of controlling the stretching of the boom, when the stretching length of the boom is less than or equal to the preset length, the control starts the priority mode. In the priority mode, the control device can control the arm joint directional control valve 200 corresponding to the innermost arm joint cylinder 100 to switch to the stretching state, and simultaneously control the arm joint directional control valve 200 corresponding to the remaining arm joint cylinders 100 to switch to the cut-off state. At this time, the oil pump can preferentially supply the innermost arm joint cylinder 100 with full power to make it stretch quickly. When the stretching length of the boom is greater than the preset length, the control starts the synchronization mode. In the synchronization mode, the arm joint directional control valves 200 of each layer are controlled to be opened simultaneously, so that the oil pump can drive the arm joint cylinders 100 to stretch simultaneously through the arm joint directional control valves 200. In this process, the control device can adjust the valve opening degree of the arm joint directional control valve 200 based on the detection result of the stretching amount change detection device, so that the stretching length change amount of each arm joint cylinder 100 remains consistent.

[0056] In the process of controlling the contraction of the boom, the control starts the boom contraction mode, and in the arm joint contraction mode, the arm joint directional control valve 200 is controlled to switch to the oil return state, and the balance valve 300 is controlled to be opened. At this time, under the action of the gravity of each arm joint, each layer of arm joint cylinder 100 can be squeezed to return oil, and the returned oil flows back to the oil tank through the corresponding balance valve 300 and arm joint directional control valve 200. In the process of controlling the contraction of the boom, the contraction speed of the arm joint cylinder 100 can be controlled by controlling the opening degree of the valve port of the balance valve 300.

[0057] The embodiment of the third aspect of the present application provides a working machine to control the stretching and contraction of the boom by the boom stretching and contraction control method as described above, or a hydraulic control system as described above.

[0058] For example, in an embodiment of the present application, the working machine includes a lifting working vehicle.

[0059] It should be noted that the above embodiment is only an illustrative embodiment of the present application, and cannot constitute any limitation on the present application. That is, the above working machine includes but is not limited to a lifting working vehicle. For example, in other embodiments of the present application, the working machine can also include a crane and the like.

[0060] Further, in the working machine provided by the present application, since the stretching and contraction of the boom is controlled by the boom stretching and contraction control method as described above, it also has the advantages as described above.

[0061] The embodiment also provides a readable storage medium, and the readable storage medium stores a computer program. When at least one processor of an electronic device executes the computer program, the electronic device executes the boom stretching and contraction control method provided by the various embodiments.

[0062] The embodiment further provides a program product including a computer program stored in a readable storage medium. At least one processor of an electronic device can read the computer program from the readable storage medium, and the at least one processor executes the computer program to enable the electronic device to implement the telescopic control method of the arm support provided in the various embodiments.

[0063] The embodiment further provides a chip including a memory and a processor. The memory stores codes and data, and is coupled to the processor. The processor executes a program in the memory to enable the chip to perform the telescopic control method of the arm support provided in the various embodiments.

[0064] The embodiment further provides a computer program for performing the telescopic control method of the arm support provided in the various embodiments when the computer program is executed by a processor.

[0065] Those skilled in the art can understand that all or part of the steps of the above-mentioned method embodiments can be completed by a program instruction related to hardware. The foregoing program can be stored in a computer readable storage medium. When the program is executed, the steps of the above-mentioned method embodiments are executed; and the foregoing storage medium includes: ROM, RAM, magnetic disk or optical disk and various media that can store program codes.

[0066] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacements to some technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A boom extension control method, characterized in that, include: When it is necessary to extend the boom, the extension action mode of the boom is determined based on the extension length of the boom; The extension action mode includes a priority mode and a synchronous mode; in the priority mode, the oil source drives the innermost boom cylinder (100) to extend first; in the synchronous mode, the oil source drives each layer of boom cylinder (100) to extend synchronously.

2. The method according to claim 1, characterized in that, The step of determining the extension action mode of the boom based on the extension length of the boom includes: When the extension length of the boom is less than or equal to the preset length, the extension action mode of the boom is determined to be the priority mode; When the extension length of the boom is greater than the preset length, the extension action mode of the boom is determined to be the synchronous mode.

3. The method according to claim 1 or 2, characterized in that, In the priority mode, after the innermost boom cylinder (100) is extended by the oil source, the remaining boom cylinders (100) are extended sequentially from the inside out; or, In the priority mode, after the oil source prioritizes driving the innermost boom cylinder (100) to extend, the remaining boom cylinders (100) extend synchronously.

4. The method according to any one of claims 1 to 3, characterized in that, In the preferred mode, the step of prioritizing the extension of the innermost boom cylinder (100) by the oil source includes: In the priority mode, the directional control valve (200) of the innermost boom section is opened so that the oil source is connected to the innermost boom section cylinder (100) through the directional control valve (200) of the innermost boom section. At the same time, the directional control valves (200) of the remaining boom sections are closed so that the oil source is cut off from the corresponding boom cylinder (100) through the directional control valves (200) of the remaining boom sections.

5. The method according to any one of claims 1 to 4, characterized in that, In the synchronous mode, the step of the oil source driving the boom cylinders (100) of each layer to extend synchronously includes: In the synchronous mode, based on the change in the extension length of each layer of boom cylinder (100), the valve opening of each layer of boom direction control valve (200) is adjusted so that the oil source drives the corresponding boom cylinder (100) to extend synchronously through each layer of boom direction control valve (200).

6. The method according to any one of claims 1 to 5, characterized in that, The method further includes: When it is necessary to retract the boom, the boom retraction mode is activated. In the boom retraction mode, the gravity of the boom drives the retraction of the boom section cylinders (100) of each layer.

7. The method according to claim 6, characterized in that, In the boom retraction mode, the step of retracting the boom sections (100) driven by gravity includes: In the boom retraction mode, adjust the balance valve (300) of each layer and the boom section direction control valve (200) of each layer so that the oil of the boom section cylinder (100) of each layer flows back through the corresponding balance valve (300) and boom section direction control valve (200); Control the opening of the oil port of each layer balance valve (300) to adjust the retraction speed of the boom.

8. A hydraulic control system, comprising an oil source, multi-stage boom cylinders (100), and multi-stage boom directional control valves (200), wherein each boom cylinder (100) is correspondingly arranged with respect to a boom directional control valve (200), and the oil source is connected to the corresponding boom cylinder (100) through each boom directional control valve (200), characterized in that, Also includes: A length detection device is used to detect the extended length of the boom; A control device for performing the boom extension control method as described in any one of claims 1 to 7.

9. The system according to claim 8, characterized in that, The system also includes: The device for detecting the change in the extension length of each layer of the boom cylinder (100) is used to detect the change in the extension length. Multiple balance valves (300) are provided, each of which is corresponding to one of the boom cylinders (100). Each balance valve (300) is connected between the corresponding boom cylinder (100) and the boom direction control valve (200) to allow the corresponding boom cylinder (100) to return oil.

10. A type of operating machinery, characterized in that, The boom extension and retraction action is controlled by the boom extension and retraction control method as described in any one of claims 1 to 7, or includes the hydraulic control system as described in claim 8 or 9.

11. A storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the boom extension control method according to any one of claims 1 to 7.

12. A chip, characterized in that, The chip includes a memory and a processor. The memory stores code and data and is coupled to the processor. The processor runs the program in the memory so that the chip can perform the boom extension control method according to any one of claims 1 to 7.

13. A program product, characterized in that, include: A computer program, when the program product is run on a computer, causes the computer to execute the boom extension control method according to any one of claims 1 to 7.

14. A computer program, characterized in that, When the computer program is executed by a processor, it is used to perform the boom extension control method according to any one of claims 1 to 7.

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