Control method and control device for boom pinning system, working machine, and storage medium

Abstract

A control method and control device for a boom pinning system, a working machine, and a storage medium. The control method is used for controlling a boom pin and a cylinder pin in a telescopic boom to insert and withdraw. The boom pinning system comprises a bidirectional pump, a boom pin driving cylinder, a cylinder pin driving cylinder, a pressurization and oil storage device, and a switch valve device. The control method comprises: acquiring a pin insertion and withdrawing instruction; and according to the pin insertion and withdrawing instruction, controlling a bidirectional pump to switch among a pump-off state, a forward-rotation state, and a reverse-rotation state, wherein in the forward-rotation state or the reverse-rotation state, the bidirectional pump supplies oil to one of a boom pin driving cylinder and a cylinder pin driving cylinder, and a piston rod of one of the boom pin driving cylinder and the cylinder pin driving cylinder is in an extended state, and a piston rod of the other one is in a retracted state, such that at least one of the boom pin and the cylinder pin is in a pin inserted state.

Description

Control methods, control devices, operating machinery, and storage media for boom pin systems

[0001] Cross-references to related applications

[0002] This application claims priority to Chinese patent application 202411026404.8, filed on July 30, 2024, the contents of which are incorporated herein by reference. Technical Field

[0003] This application belongs to the field of engineering equipment technology, and specifically relates to a control method, control device, operating machinery and storage medium for a boom pin system. Background Technology

[0004] The telescopic boom of a work platform comprises multiple boom sections, telescopic cylinders, and a boom pin system. The boom sections are nested together to form the telescopic boom, with the telescopic cylinders housed within it. Each telescopic cylinder has a cylinder pin and a boom pin. The telescopic cylinder's extension and retraction, along with the insertion and withdrawal of the cylinder pins and boom pins, drives different boom sections to move, thus achieving the extension and retraction of the telescopic boom. By controlling the boom pin drive cylinders and cylinder pin drive cylinders within the boom pin system, the insertion and withdrawal of the boom pins and cylinder pins are achieved, respectively.

[0005] During the extension and retraction of the telescopic boom, one of the boom pin and the cylinder pin is in the inserted state and the other is in the pulled-out state, and the two states alternate.

[0006] Generally, a reversing valve is used to switch the flow direction of hydraulic oil in the oil circuit, thereby achieving alternating control of the arm pin drive cylinder and the cylinder pin drive cylinder.

[0007] Under extreme operating conditions such as low temperatures, the viscosity of the hydraulic oil can cause delays or even prevent the directional control valve from switching, leading to problems such as abnormal pin pull-out. Furthermore, leaks in the directional control valve can also easily cause abnormal pin pull-out. These issues adversely affect the normal operation and safety of the machinery. Summary of the Invention

[0008] The purpose of this application is to provide a control method, control device, operating machinery, and storage medium for a boom pin system that directly controls the rotation direction of a bidirectional pump to drive the boom pin to insert and remove the pin, as well as to drive the cylinder pin to insert and remove the pin.

[0009] To achieve the above objectives, the technical solution of this application embodiment is implemented as follows:

[0010] This application provides a control method for a boom pin system, used to control the insertion and removal of boom pins and cylinder pins in a telescopic boom. The boom pin system includes a bidirectional pump, a boom pin drive cylinder for driving the boom pin to insert and remove the pin, a cylinder pin drive cylinder for driving the cylinder pin to insert and remove the pin, a pressurized oil storage device, and a switching valve device. A boom pin working oil circuit is provided between the bidirectional pump and the boom pin drive cylinder, and a cylinder pin working oil circuit is provided between the bidirectional pump and the cylinder pin drive cylinder. The switching valve device can connect or disconnect at least one of the boom pin working oil circuit and the cylinder pin working oil circuit from the pressurized oil storage device. The control method includes:

[0011] Obtain the insertion / removal pin command;

[0012] According to the insertion and removal pin command, the bidirectional pump is controlled to switch between a pump stop state, a forward rotation state, and a reverse rotation state. In the forward rotation state or the reverse rotation state, the bidirectional pump supplies oil to one of the arm pin drive cylinder and the cylinder pin drive cylinder to put at least one of the arm pin and the cylinder pin in the insertion pin state.

[0013] In some embodiments, the arm pin drive cylinder is a single-acting reset cylinder, and the insertion / removal pin command includes an arm pin removal command.

[0014] The step of controlling the bidirectional pump to switch between a pump stop state, a forward rotation state, and a reverse rotation state according to the insertion / removal pin command specifically includes:

[0015] According to the arm pin pulling command, the bidirectional pump is controlled to switch from the pump stop state or the reverse state to the forward state, so as to deliver hydraulic oil to the rod chamber of the arm pin drive cylinder, so as to retract the piston rod of the arm pin drive cylinder, thereby driving the arm pin to pull out.

[0016] In some embodiments, the arm pin drive cylinder is a single-acting reset cylinder, and the insertion / removal pin command includes an arm pin insertion command.

[0017] The step of controlling the bidirectional pump to switch between a pump stop state, a forward rotation state, and a reverse rotation state according to the insertion / removal pin command specifically includes:

[0018] According to the arm pin command, the bidirectional pump is controlled to switch from the forward rotation state to the pump stop state or the reverse rotation state, so that the hydraulic oil in the rod chamber of the arm pin drive cylinder is discharged, and the piston rod of the arm pin drive cylinder extends, thereby driving the arm pin.

[0019] In some embodiments, the cylinder pin drive cylinder is a single-acting reset cylinder, and the insertion / removal pin command includes a cylinder pin removal command.

[0020] The step of controlling the bidirectional pump to switch between a pump stop state, a forward rotation state, and a reverse rotation state according to the insertion / removal pin command specifically includes:

[0021] According to the pin-pulling command, the bidirectional pump is controlled to switch from the pump-stop state or the forward rotation state to the reverse rotation state, so as to deliver hydraulic oil to the rod chamber of the pin-drive cylinder, so as to retract the piston rod of the pin-drive cylinder, thereby driving the pin-pulling mechanism.

[0022] In some embodiments, the cylinder pin drive cylinder is a single-acting reset cylinder, and the insertion / removal pin command includes a cylinder pin insertion command.

[0023] The step of controlling the bidirectional pump to switch between a pump stop state, a forward rotation state, and a reverse rotation state according to the insertion / removal pin command specifically includes:

[0024] According to the cylinder pin command, the bidirectional pump is controlled to switch from the reverse state to the pump stop state or the forward state, so that the hydraulic oil in the rod chamber of the cylinder pin drive cylinder is discharged, and the piston rod of the cylinder pin drive cylinder extends, thereby driving the cylinder pin.

[0025] In some embodiments, the control method further includes: when the bidirectional pump is in the forward rotation state, controlling the switching valve device to disconnect the oil passage between the arm pin working oil passage and the booster oil storage device; and when the bidirectional pump is in the reverse rotation state or the pump stop state, controlling the switching valve device to open the oil passage between the arm pin working oil passage and the booster oil storage device, so that at least a portion of the hydraulic oil in the rod chamber of the arm pin drive cylinder enters the booster oil storage device through the arm pin working oil passage.

[0026] In some embodiments, the control method further includes: when the bidirectional pump is in the reverse state, controlling the switching valve device to disconnect the oil passage between the cylinder pin working oil passage and the booster oil storage device; and when the bidirectional pump is in the forward state or the pump stop state, controlling the switching valve device to open the oil passage between the cylinder pin working oil passage and the booster oil storage device, so that at least a portion of the hydraulic oil in the rod chamber of the cylinder pin drive cylinder enters the booster oil storage device through the cylinder pin working oil passage.

[0027] In some embodiments, the insertion / removal pin command includes an arm pin removal command, and the control method further includes:

[0028] Obtain the status of the switching valve device;

[0029] According to the arm pin pull command and the determination that the switching valve device is in the state of connecting the arm pin working oil circuit and the booster oil storage device, the bidirectional pump is controlled to execute the maximum forward rotation speed to supply oil to the arm pin drive cylinder.

[0030] In some embodiments, the insertion / removal pin command includes a cylinder pin removal command, and the control method further includes:

[0031] Obtain the status of the switching valve device;

[0032] According to the pin pulling command and the determination that the switching valve device is in the state of connecting the working oil circuit of the pin and the booster oil storage device, the bidirectional pump is controlled to execute the maximum reverse speed to supply oil to the pin drive cylinder.

[0033] In some embodiments, during the process of the bidirectional pump being in a forward or reverse rotation state, the control method further includes:

[0034] Obtain the current actual pressure value and the current target pressure value on the oil outlet side of the bidirectional pump;

[0035] The current target speed of the bidirectional pump is obtained based on the current actual pressure value and the current target pressure value.

[0036] Control the bidirectional pump to execute the current target speed.

[0037] In some embodiments, obtaining the current target pressure value includes: obtaining the time when the bidirectional pump performs forward or reverse rotation.

[0038] Based on the mapping relationship between time and pressure value, the current target pressure value corresponding to the current moment is obtained.

[0039] In some embodiments, obtaining the current target rotational speed of the bidirectional pump based on the current actual pressure value and the current target pressure value includes:

[0040] Calculate the difference between the current actual pressure value and the current target pressure value;

[0041] If the difference does not exceed the first threshold, the current target speed is obtained according to the mapping relationship between the difference, the current target pressure value, and the bidirectional pump speed.

[0042] When the difference exceeds the first threshold, the maximum speed of the bidirectional pump is the current target speed.

[0043] This application embodiment also provides a control device for a boom pin system, the boom pin system including a bidirectional pump, and the control device including:

[0044] The acquisition module is used to acquire insertion / removal pin commands;

[0045] The control module is used to control the bidirectional pump to be in one of the following states: pump stop, forward rotation, or reverse rotation.

[0046] This application also provides a working machine, which includes the control device described in the foregoing embodiments.

[0047] This application also provides a storage medium storing a computer program, which, when executed by a processor, implements the steps of any of the control methods described in the foregoing embodiments.

[0048] The control method for the boom pin system in this embodiment of the application, based on the insertion and removal pin command, directly controls the rotation direction and start / stop of the bidirectional pump, thereby achieving the purpose of changing the flow direction of hydraulic oil in the boom pin system. This allows for direct control of the insertion and removal of the boom pin and cylinder pin through the change in hydraulic oil flow direction. No additional directional valve is required, thus avoiding the problem of jamming during directional valve switching. This method only requires operating the bidirectional pump, is simple, and requires fewer controlled components, which helps reduce the computational workload required for control. Attached Figure Description

[0049] Figure 1 is a schematic diagram of the bidirectional pump in the forward rotation state in the first embodiment of this application, wherein the arrow represents the flow direction of hydraulic oil;

[0050] Figure 2 is a schematic diagram of the bidirectional pump in reverse state in the first embodiment of this application, wherein the arrow represents the flow direction of hydraulic oil;

[0051] Figure 3 is a schematic diagram of the bidirectional pump in the stopped state in the first embodiment of this application, wherein the arrow represents the flow direction of hydraulic oil;

[0052] Figure 4 is a schematic diagram of the bidirectional pump in the forward rotation state in the second embodiment of this application, wherein the volume of the rod chamber of the cylinder pin drive cylinder is greater than the volume of the rod chamber of the arm pin drive cylinder.

[0053] Figure 5 is a schematic diagram of the bidirectional pump in reverse state in the second embodiment of this application, wherein the volume of the rod chamber of the arm pin drive cylinder is greater than the volume of the rod chamber of the cylinder pin drive cylinder.

[0054] Figure 6 is a schematic diagram of the steps of the control method of the boom pin system in one embodiment of this application;

[0055] Figure 7 is a schematic diagram of the bidirectional pump in the forward rotation state in the third embodiment of this application, wherein the arrow represents the flow direction of hydraulic oil;

[0056] Figure 8 is a schematic diagram of the bidirectional pump in reverse state in the third embodiment of this application, wherein the arrow represents the flow direction of hydraulic oil;

[0057] Figure 9 is a schematic diagram of the bidirectional pump in the stopped state in the third embodiment of this application. The arrows represent the flow direction of the hydraulic oil. The switching valve device is in the state of connecting the oil circuit between the booster oil storage device and the arm pin working oil circuit, and connecting the oil circuit between the booster oil storage device and the cylinder pin working oil circuit.

[0058] Figure 10 is a schematic diagram of a control device in one embodiment of this application.

[0059] Explanation of reference numerals in the attached drawings: 10, Arm pin drive cylinder; 10a, First working port; 11, First pressure sensor; 20, Cylinder pin drive cylinder; 20a, Second working port; 21, Second pressure sensor; 30, Bidirectional pump; 30a, First oil port; 30b, Second oil port; 40, Motor; 50, Arm pin working oil circuit; 51, Cylinder pin working oil circuit; 60, Pressure boosting oil storage device; 60a, Third working port; 70, First branch; 71, First valve device; 72, Second branch; 73, Second valve device; 74, Switch valve device; 80, First oil circuit; 81, First check valve; 82, Second oil circuit; 83, Second check valve; 90, First overflow oil circuit; 91, First overflow valve; 92, Second overflow oil circuit; 93, Second overflow valve; 94, Control device; 941, Acquisition module; 942, Control module. Detailed Implementation

[0060] The specific embodiments of this application will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit this application.

[0061] The boom pin system in this application embodiment, as shown in Figures 1 to 3, is used for telescopic booms.

[0062] The telescopic boom includes a telescopic cylinder, a boom pin, a cylinder pin, multiple boom sections, and a boom pin system according to any embodiment of this application.

[0063] The boom pin system is located in the cylinder of the telescopic cylinder. The boom section has a boom pin hole and a cylinder pin hole. The boom pin system is used to control the insertion and removal of the boom pin and the cylinder pin. The cylinder pin can be inserted into the cylinder pin hole to lock the telescopic cylinder and the boom section, and the boom pin can be inserted into the boom pin hole to lock the boom section. Boom section locking refers to locking the relative positions between at least two boom sections.

[0064] Specifically, the arm pin is located on the boom section, and the cylinder pin is located on the cylinder of the telescopic cylinder.

[0065] In this way, the bidirectional pump 30 can directly switch between forward and reverse states, realizing the fit between cylinder pin and cylinder pin hole, and between arm pin and arm pin hole. This is beneficial to improving the response speed of relative extension and retraction between multiple arm sections and reducing the number of parts in the telescopic arm.

[0066] The boom pin system includes a boom pin drive cylinder 10, a cylinder pin drive cylinder 20, a two-way pump 30, a boom pin working oil circuit 50, and a cylinder pin working oil circuit 51. That is to say, the boom pin drive cylinder 10, the cylinder pin drive cylinder 20, the two-way pump 30, the boom pin working oil circuit 50, and the cylinder pin working oil circuit 51 are all located on the cylinder barrel of the telescopic cylinder.

[0067] The arm pin drive cylinder 10 has a first working port 10a, and is used to drive the arm pin insertion and removal pin. Specifically, when the piston rod of the arm pin drive cylinder 10 extends, it drives the arm pin to extend and insert into the arm pin hole, thus realizing the arm pin insertion; when the piston rod of the arm pin drive cylinder 10 retracts, it drives the arm pin to exit from the arm pin hole, thus realizing the arm pin removal pin.

[0068] The cylinder pin drive cylinder 20 has a second working port 20a, and is used to drive the cylinder pin insertion and removal pin. Specifically, when the piston rod of the cylinder pin drive cylinder 20 extends, it drives the cylinder pin to extend and insert into the cylinder pin hole, thus realizing the cylinder pin insertion; when the piston rod of the cylinder pin drive cylinder 20 retracts, it drives the cylinder pin to exit from the cylinder pin hole, thus realizing the cylinder pin removal pin.

[0069] The bidirectional pump 30 is provided with a first oil port 30a and a second oil port 30b.

[0070] The arm pin working oil passage 50 connects the first oil port 30a and the first working port 10a, and the cylinder pin working oil passage 51 connects the second oil port 30b and the second working port 20a.

[0071] The bidirectional pump 30 includes a forward rotation state and a reverse rotation state. In the forward rotation state, the bidirectional pump 30 draws hydraulic oil from the cylinder pin working oil circuit 51 and delivers hydraulic oil to the arm pin working oil circuit 50; in the reverse rotation state, the bidirectional pump 30 draws hydraulic oil from the arm pin working oil circuit 50 and delivers hydraulic oil to the cylinder pin working oil circuit 51.

[0072] The first working port 10a is used to allow the hydraulic oil in the arm pin working oil circuit 50 to enter the arm pin drive cylinder 10, or to allow the hydraulic oil in the arm pin drive cylinder 10 to enter the arm pin working oil circuit 50 through the first working port 10a.

[0073] The second working port 20a is used to allow hydraulic oil in the cylinder pin working oil circuit 51 to enter the cylinder pin drive cylinder 20, or to allow hydraulic oil in the cylinder pin drive cylinder 20 to enter the cylinder pin working oil circuit 51 through the second working port 20a.

[0074] A bidirectional pump 30 refers to a pump that can rotate in either direction to supply oil to two different oil circuits. It can be understood that by switching the rotation direction, the bidirectional pump 30 switches the function of the first oil port 30a and the second oil port 30b between oil supply and return. Specifically, when the first oil port 30a serves as the oil supply port of the bidirectional pump 30, the second oil port 30b serves as the oil return port. Conversely, after switching the rotation direction of the bidirectional pump 30, the first oil port 30a becomes the oil return port, while the second oil port 30b becomes the oil supply port.

[0075] It should be noted that the forward and reverse rotation states of the bidirectional pump 30 are to distinguish that the rotation directions are opposite in the two states, and are not to specify a particular rotation direction.

[0076] When the bidirectional pump 30 is in forward rotation, it delivers hydraulic oil from the cylinder pin working oil circuit 51 to the arm pin working oil circuit 50, so that the arm pin drive cylinder 10 performs corresponding actions under the pressure of the hydraulic oil, thereby driving the arm pin to perform the insertion and removal of the pin. At the same time, due to the reduction of hydraulic oil in the cylinder pin working oil circuit 51 and the decrease of pressure, when there is hydraulic oil in the cylinder pin drive cylinder 20, the hydraulic oil in the cylinder pin drive cylinder 20 can be drawn out to the cylinder pin working oil circuit 51, which also causes the cylinder pin drive cylinder 20 to perform corresponding actions, thereby driving the cylinder pin to perform the insertion and removal of the pin.

[0077] When the bidirectional pump 30 is in reverse, it delivers hydraulic oil from the arm pin working oil circuit 50 to the cylinder pin working oil circuit 51, so that the cylinder pin drive cylinder 20 performs corresponding actions under the pressure of the hydraulic oil, thereby driving the cylinder pin to perform the insertion and removal of the pin. At the same time, due to the reduction of hydraulic oil in the arm pin working oil circuit 50 and the decrease of pressure, when there is hydraulic oil in the arm pin drive cylinder 10, the hydraulic oil in the arm pin drive cylinder 10 can be drawn out to the arm pin working oil circuit 50, which also causes the arm pin drive cylinder 10 to perform corresponding actions, thereby driving the arm pin to perform the insertion and removal of the pin.

[0078] The boom pin system in this embodiment has several advantages. First, since the boom pin system is located on the telescopic cylinder, there is no need to install a core tube in the piston rod of the telescopic cylinder as part of the boom pin system's oil circuit. This reduces the production and maintenance costs of the telescopic cylinder, improves its service life and telescopic positioning accuracy, and facilitates the production, assembly, and subsequent maintenance of the boom pin system itself. Second, it directly utilizes the change in the rotation direction of the bidirectional pump 30 to change the hydraulic oil flow direction, thereby eliminating the need for a directional valve in the prior art. This avoids the problem of jamming during the directional valve's switching process and the difficulty in valve core movement due to hydraulic oil adhesion in low-temperature conditions. It also reduces switching delay, simplifies the structure of the boom pin system, improves switching efficiency and control accuracy, expands the application range of the boom pin system, and enhances reliability.

[0079] Furthermore, the boom pin system of this embodiment forms a closed hydraulic system, with a sealed oil passage formed between the bidirectional pump 30, the boom pin working oil passage 50, the cylinder pin working oil passage 51, the boom pin drive cylinder 10, and the cylinder pin drive cylinder 20. This reduces the probability of air entering the oil passage and forming cavitation bubbles, which helps to reduce the risk of abnormal vibration caused by air intake in the bidirectional pump 30 when the boom is at different pitch angles, thus improving the safety and stability of the boom pin system.

[0080] For example, referring to Figures 1 to 3, the bidirectional pump 30 is equipped with a motor 40. The rotation direction of the bidirectional pump 30 is controlled by the motor 40, which is conducive to achieving rapid and precise adjustment of the rotation speed of the bidirectional pump 30. It is also conducive to making the boom pin system compatible with new energy forms of operating machinery such as pure electric and plug-in hybrid.

[0081] Of course, the operating machinery can also be fuel-powered or hybrid, with the generator connected to the engine to power the motor 40.

[0082] In some embodiments, the arm pin drive cylinder 10 is a double-acting cylinder, which achieves alternating oil intake and return between the rod chamber and the rodless chamber through oil circuit switching, thereby enabling the piston rod to drive the arm pin to complete the insertion and removal of the pin. For example, when the first working port 10a is connected to the rod chamber of the arm pin drive cylinder 10, and the rodless chamber of the arm pin drive cylinder 10 is connected to other oil circuits, when the bidirectional pump 30 rotates forward, oil enters the first working port 10a, oil returns to the rodless chamber, and the piston rod of the arm pin drive cylinder 10 retracts, realizing the removal of the arm pin. When the bidirectional pump 30 rotates in reverse, oil returns to the first working port 10a, oil enters the rodless chamber, and the piston rod of the arm pin drive cylinder 10 extends, realizing the insertion of the arm pin. When the first working port 10a is connected to the rodless chamber of the arm pin drive cylinder 10, and the rod chamber of the arm pin drive cylinder 10 is connected to other oil circuits, when the bidirectional pump 30 rotates forward, oil enters the first working port 10a, oil returns to the rod chamber, and the piston rod of the arm pin drive cylinder 10 extends to realize the insertion of the arm pin. When the bidirectional pump 30 rotates in reverse, oil returns to the first working port 10a, oil enters the rod chamber, and the piston rod of the arm pin drive cylinder 10 retracts to realize the removal of the arm pin.

[0083] In some embodiments, referring to Figures 1 to 3, the arm pin drive cylinder 10 is a single-acting reset cylinder, the first working port 10a is connected to the rod chamber of the arm pin drive cylinder 10, and the piston rod of the arm pin drive cylinder 10 extends when the bidirectional pump 30 is in reverse state.

[0084] For example, the arm pin drive cylinder 10 is provided with a first elastic reset member. In the initial state, the first elastic reset member pushes the piston rod to extend so that the volume of the rod chamber is in the minimum volume state. The force applied by the first elastic reset member to the piston rod can be used to drive the arm pin to switch from the pin-pulled state to the pin-inserted state.

[0085] When the bidirectional pump 30 is in reverse, the hydraulic oil is drawn out of the rod chamber due to the negative pressure of the arm pin working oil circuit 50, thereby reducing the pressure in the rod chamber. The first elastic reset member pushes the piston rod to extend, thereby driving the arm pin to extend and switch the arm pin from the pulled pin state to the inserted pin state.

[0086] Thus, the power to control the insertion and removal of the boom pin comes only from the boom pin drive cylinder 10 and the two-way pump 30, without the need for additional valve devices to adjust the direction of the hydraulic oil. This simplifies the structure of the boom pin system and improves the response speed of the insertion and removal of the boom pin.

[0087] The specific type of the first elastic reset element is not limited, such as a coil spring.

[0088] In some embodiments, the pin-driven cylinder 20 is a double-acting cylinder, which achieves alternating oil intake and return between the rod chamber and the rodless chamber through oil circuit switching, thereby enabling the piston rod to drive the pin to complete the insertion and removal of the pin. For example, when the second working port 20a is connected to the rod chamber of the pin-driven cylinder 20, and the rodless chamber of the pin-driven cylinder 20 is connected to other oil circuits, when the bidirectional pump 30 rotates forward, oil enters through the second working port 20a, oil returns through the rodless chamber, and the piston rod of the pin-driven cylinder 20 retracts, realizing the removal of the pin. When the bidirectional pump 30 rotates in reverse, oil returns through the second working port 20a, oil enters through the rodless chamber, and the piston rod of the pin-driven cylinder 20 extends, realizing the insertion of the pin. When the second working port 20a is connected to the rodless chamber of the pin-driven cylinder 20, and the rod chamber of the pin-driven cylinder 20 is connected to other oil circuits, when the bidirectional pump 30 rotates forward, oil enters the second working port 20a, oil returns to the rod chamber, and the piston rod of the pin-driven cylinder 20 extends to achieve the insertion of the pin. When the bidirectional pump 30 rotates in reverse, oil returns to the second working port 20a, oil enters the rod chamber, and the piston rod of the pin-driven cylinder 20 retracts to achieve the removal of the pin.

[0089] In some embodiments, referring to Figures 1 to 3, the pin-driven cylinder 20 is a single-acting reset cylinder, and the second working port 20a is connected to the rod chamber of the pin-driven cylinder 20. When the bidirectional pump 30 is in the forward rotation state, the piston rod of the pin-driven cylinder 20 extends.

[0090] For example, the cylinder pin drive cylinder 20 is provided with a second elastic reset member. In the initial state, the second elastic reset member pushes the piston rod to extend so that the volume of the rod chamber is in the minimum volume state. The force applied by the second elastic reset member to the piston rod can be used to drive the cylinder pin to switch from the pin-pulled state to the pin-inserted state.

[0091] When the bidirectional pump 30 is in reverse, the hydraulic oil is drawn out from the rod chamber due to the negative pressure of the cylinder pin working oil circuit 51, thereby reducing the pressure in the rod chamber. The second elastic reset member pushes the piston rod to extend, thereby driving the cylinder pin to extend and switch the cylinder pin from the pulled-out state to the inserted state.

[0092] Thus, the power to control the insertion and removal of the cylinder pin comes only from the cylinder pin drive cylinder 20 and the two-way pump 30, without the need for additional valve devices to adjust the direction of the hydraulic oil. This simplifies the structure of the boom pin system and improves the response speed of the insertion and removal of the cylinder pin.

[0093] Understandably, regardless of whether the bidirectional pump 30 is in forward or reverse rotation, at least one of the boom pin and cylinder pin is in the latched state to reduce the operational risks caused by the boom section losing restraint.

[0094] The specific type of the second elastic reset element is not limited, such as a coil spring.

[0095] In some embodiments, referring to Figures 1 and 2, both the arm pin drive cylinder 10 and the cylinder pin drive cylinder 20 are single-acting reset cylinders. The first working port 10a is connected to the rod chamber of the arm pin drive cylinder 10, and the second working port 20a is connected to the rod chamber of the cylinder pin drive cylinder 20. When the bidirectional pump 30 is in the forward rotation state, the piston rod of the arm pin drive cylinder 10 retracts and the piston rod of the cylinder pin drive cylinder 20 extends. When the bidirectional pump 30 is in the reverse rotation state, the piston rod of the arm pin drive cylinder 10 extends and the piston rod of the cylinder pin drive cylinder 20 retracts.

[0096] Regardless of whether the bidirectional pump 30 is in forward or reverse rotation, it can always ensure that the piston rod of one of the arm pin drive cylinder 10 and the cylinder pin drive cylinder 20 extends while the piston rod of the other retracts, so that one of the arm pin and the cylinder pin is in the pulled-out state and the other is in the inserted state.

[0097] Thus, by adjusting the rotation direction of the bidirectional pump 30, the bidirectional pump 30 draws hydraulic oil from the rod chamber of one of the boom pin drive cylinder 10 and the cylinder pin drive cylinder 20 and delivers it to the rod chamber of the other, thereby realizing the linkage between the boom pin drive cylinder 10 and the cylinder pin drive cylinder 20 and improving the operational safety of the telescopic boom during the telescopic process.

[0098] It is understandable that after a period of use, the hydraulic oil in the boom pin system may leak, which may affect the normal operation of the boom pin system.

[0099] In some embodiments, referring to Figures 1 to 3, the boom pin system further includes a pressurized oil reservoir 60 having a third working port 60a, which is connected to at least one of the boom pin working oil passage 50 and the cylinder pin working oil passage 51.

[0100] The third working port 60a is used to allow hydraulic oil to enter or exit the pressurized oil storage device 60.

[0101] The pressurized oil storage device 60 stores hydraulic oil and pressurizes it to a certain pressure. The hydraulic oil in the pressurized oil storage device 60 can replenish the hydraulic oil flow required for the normal operation of the boom pin system by supplementing the boom pin working oil circuit 50 and the cylinder pin working oil circuit 51. At the same time, since the boom pin system can rotate and pitch with the telescopic boom, the hydraulic oil level in the boom pin system fluctuates, which can easily lead to the risk of cavitation in the bidirectional pump 30. However, since the pressurized oil storage device 60 can replenish the hydraulic oil in the boom pin system's oil circuit, it helps to reduce cavitation in the hydraulic oil, lowers the risk of cavitation, and also optimizes the oil suction environment of the bidirectional pump 30, improving its operating speed.

[0102] In some embodiments with a pressurized oil storage device 60, referring to Figures 1 to 5, the boom pin system further includes a first branch 70 and a first valve device 71. The first branch 70 connects the boom pin working oil passage 50 and the third working port 60a. The first valve device 71 is disposed in the first branch 70 and is used to switch the first branch 70 on and off.

[0103] For example, referring to Figure 5, when the volume of the arm pin drive cylinder 10 is greater than the volume of the cylinder pin drive cylinder 20, the bidirectional pump 30 is controlled to be in reverse and the first valve device 71 is open to the first branch 70. Part of the hydraulic oil drawn from the arm pin drive cylinder 10 enters the cylinder pin working oil circuit 51, while the other part enters the booster oil storage device 60 through the third working port 60a via the first branch 70. This facilitates the complete removal of hydraulic oil from the arm pin drive cylinder 10, allowing the arm pin drive cylinder 10 to fully utilize its piston rod stroke. Simultaneously, it reduces the risk of excessive hydraulic oil entering the cylinder pin working oil circuit 51 and the cylinder pin drive cylinder 20, leading to leakage and damage.

[0104] For example, in some embodiments where the arm pin drive cylinder 10 is a single-acting reset cylinder, referring to Figure 3, after the bidirectional pump 30 switches from the forward rotation state to the stop state, the control first valve device 71 opens the first branch 70. Under the pushing force of the first elastic reset member, the hydraulic oil in the arm pin drive cylinder 10 enters the booster oil storage device 60 through the arm pin working oil circuit 50 and the first branch 70, thereby enabling the arm pin drive cylinder 10 to drive the arm pin to engage. This is beneficial for locking the arm joint by driving the arm pin when the bidirectional pump 30 stops rotating due to manual control, unexpected situations, etc.

[0105] The specific type of the first valve device 71 is not limited. For example, referring to Figures 1 to 5, the first valve device 71 is a two-position two-way valve. The first valve device 71 includes a first valve working port and a second valve working port. The first valve working port is connected to the arm pin working oil circuit 50 through a part of the first branch 70, and the second valve working port is connected to the third working port 60a through another part of the first branch 70. In the first working position state, the first valve working port and the second valve working port are cut off. In the second working position state, the first valve working port and the second valve working port are connected.

[0106] In some embodiments with a pressurized oil storage device 60, referring to Figures 1 to 3, the boom pin system further includes a second branch 72 and a second valve device 73. The second branch 72 connects the cylinder pin working oil passage 51 and the third working port 60a. The second valve device 73 is disposed on the second branch 72 and is used to switch the second branch 72 on and off.

[0107] For example, referring to Figure 4, when the volume of the pin drive cylinder 20 is greater than that of the arm pin drive cylinder 10, the bidirectional pump 30 is controlled to rotate in the forward direction and the second valve device 73 is connected to the second branch 72. Part of the hydraulic oil drawn from the pin drive cylinder 20 enters the pin working oil circuit 51, while the other part enters the booster oil storage device 60 through the third working port 60a via the second branch 72. This facilitates the complete removal of hydraulic oil from the pin drive cylinder 20, allowing it to fully utilize the stroke of its piston rod. Simultaneously, it reduces the risk of excessive hydraulic oil entering the arm pin working oil circuit 50 and the arm pin drive cylinder 10, which could lead to leakage and damage.

[0108] For example, in some embodiments where the cylinder pin drive cylinder 20 is a single-acting reset cylinder, referring to FIG3, after the bidirectional pump 30 switches from the reverse state to the stop state, the control second valve device 73 opens the second branch 72. Under the pushing force of the second elastic reset member, the hydraulic oil in the cylinder pin drive cylinder 20 enters the booster oil storage device 60 through the cylinder pin working oil passage 51 and the second branch 72, thereby enabling the cylinder pin drive cylinder 20 to drive the arm pin to be in the pin-inserted state.

[0109] This allows for the drive cylinder pin locking arm and telescopic cylinder to be engaged even when the bidirectional pump 30 stops rotating due to human intervention, unexpected situations, or other reasons.

[0110] The specific type of the second valve device 73 is not limited. For example, referring to Figures 1 to 3, the first valve device 71 is a two-position two-way valve. The second valve device 73 includes a third valve working port and a fourth valve working port. The second valve working port is connected to the cylinder pin working oil circuit 51 through a part of the second branch 72. The second valve working port is connected to the third working port 60a through another part of the second branch 72. In the third working position, the third valve working port and the fourth valve working port are cut off. In the fourth working position, the third valve working port and the fourth valve working port are connected.

[0111] In some embodiments, referring to Figures 1 to 3, the boom pin system further includes a first oil passage 80 and a first check valve 81. The first oil passage 80 connects the boom pin working oil passage 50 and the third working port 60a. The first check valve 81 is disposed in the first oil passage 80 and its inlet is connected to the third working port 60a.

[0112] In other words, the hydraulic oil in the first oil circuit 80 can only flow unidirectionally from the third working port 60a to the arm pin working oil circuit 50. When the hydraulic oil pressure in the booster oil reservoir 60 is greater than the hydraulic oil pressure in the arm pin working oil circuit 50, the booster oil reservoir 60 can output hydraulic oil to the arm pin working oil circuit 50; while when the hydraulic oil pressure in the booster oil reservoir 60 is less than the hydraulic oil pressure in the arm pin working oil circuit 50, the first check valve 81 cuts off the first oil circuit 80, preventing the hydraulic oil in the arm pin working oil circuit 50 from entering the booster oil reservoir 60.

[0113] In this way, on the one hand, it is beneficial to reduce the adverse effects on the timely response of the arm pin drive cylinder 10 caused by the direct entry of hydraulic oil into the booster oil reservoir 60 when the bidirectional pump 30 is in the forward rotation state, and also reduces the probability of damage to the booster oil reservoir 60 due to the pressure of the hydraulic oil entering it; on the other hand, it is beneficial to replenish the hydraulic oil in the booster oil reservoir 60 into the arm pin working oil circuit 50 when the bidirectional pump 30 is in the reverse rotation state, so as to meet the different hydraulic oil requirements of the arm pin drive cylinder 10 and the cylinder pin drive cylinder 20.

[0114] In some embodiments, referring to Figures 1 to 3, the boom pin system further includes a second oil passage 82 and a second check valve 83. The second oil passage 82 connects the cylinder pin working oil passage 51 and the third working port 60a. The second check valve 83 is disposed in the second oil passage 82 and its inlet is connected to the third working port 60a.

[0115] In other words, the hydraulic oil in the second oil circuit 82 can only flow unidirectionally from the third working port 60a to the cylinder pin working oil circuit 51. When the hydraulic oil pressure of the booster oil reservoir 60 is greater than the hydraulic oil pressure of the cylinder pin working oil circuit 51, the booster oil reservoir 60 can output hydraulic oil to the cylinder pin working oil circuit 51; while when the hydraulic oil pressure of the booster oil reservoir 60 is less than the hydraulic oil pressure of the cylinder pin working oil circuit 51, the second check valve 83 cuts off the second oil circuit 82, preventing the hydraulic oil in the cylinder pin working oil circuit 51 from entering the booster oil reservoir 60.

[0116] In this way, on the one hand, it is beneficial to reduce the adverse effects on the timely response of the cylinder pin drive cylinder 20 due to the hydraulic oil entering the booster oil reservoir 60 when the bidirectional pump 30 is in the reverse state, and also reduces the probability of damage to the booster oil reservoir 60 due to the pressure of the hydraulic oil entering it; on the other hand, it is beneficial to replenish the hydraulic oil in the booster oil reservoir 60 into the cylinder pin working oil circuit 51 when the bidirectional pump 30 is in the forward state, so as to meet the hydraulic oil requirements of the different volumes of the arm pin drive cylinder 10 and the cylinder pin drive cylinder 20.

[0117] In some embodiments where both the boom pin drive cylinder 10 and the cylinder pin drive cylinder 20 are single-acting reset cylinders, referring to Figures 1 to 3, the boom pin system includes a first oil passage 80, a first check valve 81, a second oil passage 82, and a second check valve 83. When the bidirectional pump 30 is stopped, the piston rods of both the boom pin drive cylinder 10 and the cylinder pin drive cylinder 20 are extended, and there is little or no hydraulic oil in their rod chambers. Therefore, it is impossible to directly extract hydraulic oil from the rod chamber of either cylinder by rotating the bidirectional pump 30 forward or reverse. Thus, by opening either the first check valve 81 or the second check valve 83, regardless of whether the bidirectional pump 30 switches to forward or reverse mode, hydraulic oil is extracted from the booster reservoir 60 and supplied to one of the boom pin drive cylinders 10 and 20.

[0118] In some embodiments with a pressurized oil storage device 60, referring to Figures 1 to 3, the boom pin system further includes a first overflow oil passage 90 and a first overflow valve 91. The first overflow oil passage 90 connects the boom pin working oil passage 50 and the third working port 60a. The first overflow valve 91 is disposed in the first overflow oil passage 90 and its outlet is connected to the third working port 60a.

[0119] In other words, when the pressure of the hydraulic oil in the arm pin working oil circuit 50 reaches the opening pressure of the first relief valve 91, the first relief valve 91 opens to make the first relief oil circuit 90 open, and the hydraulic oil enters the booster oil storage device 60 from the arm pin working oil circuit 50 through the first relief oil circuit 90.

[0120] This reduces the likelihood of excessive hydraulic oil pressure in the boom pin working oil circuit 50 causing damage to the boom pin drive cylinder 10, thus improving the safety of the boom pin system.

[0121] It is understandable that the opening pressure of the first relief valve 91 is not greater than the maximum allowable working pressure of the arm pin drive cylinder 10.

[0122] In some embodiments with a pressurized oil storage device 60, referring to Figures 1 to 3, the boom pin system further includes a second overflow oil passage 92 and a second overflow valve 93. The second overflow oil passage 92 connects the cylinder pin working oil passage 51 and the third working port 60a. The second overflow valve 93 is disposed in the second overflow oil passage 92 and its outlet is connected to the third working port 60a.

[0123] In other words, when the pressure of the hydraulic oil in the cylinder pin working oil circuit 51 reaches the opening pressure of the second relief valve 93, the second relief valve 93 opens to allow the second relief oil circuit 92 to be open, and the hydraulic oil enters the booster oil storage device 60 from the cylinder pin working oil circuit 51 through the second relief oil circuit 92.

[0124] This reduces the likelihood of excessive hydraulic oil pressure in the cylinder pin working oil circuit 51 causing damage to the cylinder pin drive cylinder 20, thus improving the safety of the boom pin system.

[0125] It is understandable that the opening pressure of the second relief valve 93 is not greater than the maximum allowable working pressure of the cylinder pin drive cylinder 20.

[0126] It is understood that in the embodiment where a first oil passage 80, a first branch passage 70 and a first overflow oil passage 90 are provided, the first oil passage 80, the first branch passage 70 and the first overflow oil passage 90 are connected in parallel with each other.

[0127] It is understood that in the embodiment with a second oil passage 82, a second branch passage 72 and a second overflow oil passage 92, the second oil passage 82, the second branch passage 72 and the second overflow oil passage 92 are connected in parallel with each other.

[0128] In some embodiments where both the arm pin drive cylinder 10 and the cylinder pin drive cylinder 20 are single-acting reset cylinders, the reset pressure of both is greater than the boosting pressure of the boosting oil storage device 60.

[0129] Thus, on the one hand, when the bidirectional pump 30 stops rotating, the pressure of the booster oil storage device 60 prevents the arm pin drive cylinder 10 and cylinder pin drive cylinder 20 from failing to reset; on the other hand, it also allows the hydraulic oil in the arm pin drive cylinder 10 and cylinder pin drive cylinder 20 to enter the booster oil storage device 60 after being discharged.

[0130] In some embodiments, the pressurized oil storage device 60 includes one of a pressurized oil tank, an accumulator, a bladder pressurization device, and a spring pressurization device, to store a certain amount of hydraulic oil and be able to output the hydraulic oil.

[0131] In some embodiments, referring to Figures 1 to 3, the boom pin system further includes a first pressure sensor 11, which is used to detect the hydraulic oil pressure value of the oil circuit on the side where the first oil port 30a of the bidirectional pump 30 is located.

[0132] In some embodiments, referring to Figures 1 to 3, the boom pin system further includes a second pressure sensor 21, which is used to detect the hydraulic oil pressure value of the oil circuit on the side where the second oil port 30b of the bidirectional pump 30 is located.

[0133] In some embodiments, referring to Figures 1 to 3, there are no hydraulic components on the boom pin working oil circuit 50. That is, there are no hydraulic components on the boom pin working oil circuit 50 to adjust the flow direction of the hydraulic oil. The hydraulic oil output by the bidirectional pump 30 can directly enter the boom pin drive cylinder 10 without any flow direction adjustment. This helps to simplify the structure of the boom pin system and reduce the pressure loss of hydraulic oil in the boom pin working oil circuit 50.

[0134] In some embodiments, referring to Figures 1 to 3, there are no hydraulic components on the cylinder pin working oil circuit 51. That is, there are no hydraulic components on the cylinder pin working oil circuit 51 to adjust the flow direction of the hydraulic oil. The hydraulic oil output by the bidirectional pump 30 can directly enter the cylinder pin drive cylinder 20 without any flow direction adjustment. This helps to simplify the structure of the boom pin system and reduce the pressure loss of hydraulic oil in the cylinder pin working oil circuit 51.

[0135] This application provides a control method for a boom pin system. Referring to Figure 6, the control method is used to control the boom pin system to insert and remove the boom pins and cylinder pins in the telescopic boom.

[0136] Referring to Figures 7 to 9, the boom pin system includes a bidirectional pump 30, a boom pin drive cylinder 10 for driving the boom pin to insert or remove the pin, a cylinder pin drive cylinder 20 for driving the cylinder pin to insert or remove the pin, a booster oil storage device 60, and a switching valve device 74. A boom pin working oil passage 50 is provided between the bidirectional pump 30 and the boom pin drive cylinder 10, and a cylinder pin working oil passage 51 is provided between the bidirectional pump 30 and the cylinder pin drive cylinder 20. The switching valve device 74 can connect or disconnect the oil passage between at least one of the boom pin working oil passage 50 and the cylinder pin working oil passage 51 and the booster oil storage device 60.

[0137] The control method includes steps S10 and S20.

[0138] S10: Obtain the insertion / removal pin command.

[0139] S20: According to the insertion and removal pin command, control the bidirectional pump to switch between the pump stop state, forward state and reverse state. In the forward state or reverse state, the bidirectional pump supplies oil to one of the arm pin drive cylinder and the cylinder pin drive cylinder to put at least one of the arm pin and the cylinder pin in the insertion state.

[0140] The boom pin working oil circuit 50 is used to output hydraulic oil to the boom pin drive cylinder 10 when the bidirectional pump 30 is in the forward rotation state; or, when the bidirectional pump 30 is in the pump stop state or reverse rotation state, it is used to output hydraulic oil from the boom pin drive cylinder 10.

[0141] The cylinder pin working oil circuit 51 is used to output hydraulic oil to the cylinder pin drive cylinder 20 when the bidirectional pump 30 is in reverse state; or, when the bidirectional pump 30 is in the pump stop state or forward state, it is used to output hydraulic oil from the cylinder pin drive cylinder 20.

[0142] By controlling the switching valve device 74, hydraulic oil from at least one of the arm pin working oil circuit 50 and the cylinder pin working oil circuit 51 can be input into the pressurized oil storage device 60, so that the hydraulic oil in the arm pin drive cylinder 10 and the cylinder pin drive cylinder 20 can be discharged more quickly and excess hydraulic oil in the oil circuit can be stored.

[0143] When the piston rod of the arm pin drive cylinder 10 extends, it drives the arm pin to extend and insert into the arm pin hole, thus realizing the insertion of the arm pin; when the piston rod retracts, it drives the arm pin to retract and exit from the arm pin hole, thus realizing the removal of the arm pin.

[0144] When the piston rod of the cylinder pin drive cylinder 20 extends, it drives the cylinder pin to extend and insert into the cylinder pin hole, thus realizing the insertion of the cylinder pin; when the piston rod retracts, it drives the cylinder pin to retract and exit from the cylinder pin hole, thus realizing the removal of the cylinder pin.

[0145] The insertion / removal pin command refers to the command that, at the current moment, requires the drive arm pin or cylinder pin to move to the expected position.

[0146] The source of the pin insertion / removal command is not limited. For example, it can be that the operator directly issues the corresponding command to the control device 94 of the boom pin system through input devices such as buttons, joysticks, touch screens, mice, keyboards, and microphones. Alternatively, the processor in the machine can autonomously issue the corresponding command to the control device 94 of the boom pin system based on the current working conditions according to the pre-set logic program or the built-in AI (Artificial Intelligence).

[0147] It should be noted that the forward and reverse rotation states of the bidirectional pump 30 are used to distinguish them by their opposite directions of rotation, and each state corresponds to the operation of supplying oil to the arm pin drive cylinder 10 and the cylinder pin drive cylinder 20, respectively, rather than representing a specific direction of rotation. For example, if the bidirectional pump 30 can supply oil to the arm pin drive cylinder 10 when rotating clockwise, then the clockwise rotation state is the forward rotation state, and the counterclockwise rotation state is the reverse rotation state; if the bidirectional pump 30 can supply oil to the arm pin drive cylinder 10 when rotating counterclockwise, then the counterclockwise rotation state is the forward rotation state, and the clockwise rotation state is the reverse rotation state.

[0148] The pump stop state refers to the state in which the bidirectional pump 30 is stopped rotating. In this state, the bidirectional pump 30 does not supply hydraulic oil to either the arm pin drive cylinder 10 or the cylinder pin drive cylinder 20.

[0149] The control method of the boom pin system in this embodiment of the application achieves the purpose of changing the flow direction of hydraulic oil in the boom pin system by directly controlling the rotation direction and start / stop of the bidirectional pump 30 according to the insertion and removal command. Thus, the insertion and removal of boom pins and cylinder pins are directly controlled by the change of hydraulic oil flow direction. There is no need to set up an additional directional valve, thereby avoiding the problem of jamming during the directional valve switching process. This method only requires operating the bidirectional pump 30, which is simple and requires fewer components to be controlled, which helps to reduce the amount of computation required to achieve control.

[0150] It is understandable that, under different insertion and removal pin commands, the specific control strategies of the boom pin system control method in this application embodiment are different for different types of boom pin drive cylinders 10 and different types of cylinder pin drive cylinders 20.

[0151] In some embodiments, referring to Figures 1 to 3 and Figures 7 to 9, the arm pin drive cylinder 10 is a single-acting reset cylinder; and / or, the cylinder pin drive cylinder 20 is a single-acting reset cylinder.

[0152] A single-acting reset cylinder refers to a cylinder in which hydraulic oil can only enter and exit one piston chamber to drive the piston rod to move, and the hydraulic oil in the piston chamber is discharged through the elastic reset element in the cylinder to achieve piston rod reset.

[0153] In some embodiments, the insertion / removal pin command includes an arm pin removal command; based on the insertion / removal pin command, the bidirectional pump 30 is controlled to switch between a pump stop state, a forward rotation state, and a reverse rotation state, specifically including:

[0154] According to the arm pin pulling command, the bidirectional pump 30 is controlled to switch from the pump stop state or the reverse state to the forward state, and the hydraulic oil is delivered to the rod chamber of the arm pin drive cylinder 10 so that the piston rod of the arm pin drive cylinder 10 retracts, thereby driving the arm pin to pull out the pin.

[0155] The arm pin pull command is the command that requires the arm pin to be pulled out of the arm pin hole on the arm segment at the current moment.

[0156] The arm pin drive cylinder 10 is provided with a first elastic reset member. In the initial state, the first elastic reset member pushes the piston rod to extend so that the volume of the rod chamber is in the minimum volume state. The force applied by the first elastic reset member to the piston rod causes the arm pin to switch to the pin state.

[0157] After receiving the arm pin pull command, the bidirectional pump 30 switches to forward rotation, allowing hydraulic oil to enter the rod chamber. Under the pressure of the hydraulic oil in the rod chamber, the first elastic reset member is passively compressed, causing the piston rod to retract, thereby driving the arm pin to retract and putting the arm pin in the pull state.

[0158] Thus, by directly controlling the bidirectional pump 30 to supply oil to the boom pin drive cylinder 10, the boom pin can be switched to the pin-pulling state. The control method is simple and also helps to improve the operation speed of pulling out the boom pin. By utilizing the reset capability of the single-acting reset cylinder itself, the passive adjustment of the boom pin position can be achieved by only controlling the pressure of the hydraulic oil output by the bidirectional pump 30. This simplifies the control method of the boom pin system, eliminating the need for additional control devices and simplifying the boom pin system.

[0159] In some embodiments, referring to Figures 1 to 3 and Figures 7 to 9, the arm pin drive cylinder 10 is a single-acting reset cylinder, and the pin insertion / removal command includes the arm pin insertion command.

[0160] According to the insertion and removal pin command, the bidirectional pump 30 is controlled to switch between the pump stop state, forward rotation state, and reverse rotation state, specifically including:

[0161] According to the arm pin insertion command, the bidirectional pump 30 is controlled to switch from the forward rotation state to the pump stop state or the reverse rotation state, so that the hydraulic oil in the rod chamber of the arm pin drive cylinder 10 is discharged, and the piston rod of the arm pin drive cylinder 10 is extended, thereby driving the arm pin insertion.

[0162] The arm pin insertion command is the command that requires the arm pin to be inserted into the arm pin hole on the arm segment at the current moment.

[0163] When the pump is stopped, the bidirectional pump 30 stops rotating, thus no longer applying a driving force to the hydraulic oil. The hydraulic oil can no longer enter the rod chamber of the arm pin drive cylinder 10 under the push of the bidirectional pump 30, which breaks the elastic force of the original first elastic reset member in the arm pin drive cylinder 10 and the pressure balance of the hydraulic oil. The elastic potential energy of the first elastic reset member in the arm pin drive cylinder 10 is released, and the first elastic reset member pushes the piston rod to extend, thereby driving the arm pin to extend, and the arm pin switches to the pin state.

[0164] In the reverse state, the bidirectional pump 30 drives the hydraulic oil to leave the rod chamber of the arm pin drive cylinder 10. Under the combined action of the elastic force of the first elastic reset member and the negative pressure formed by the hydraulic oil being drawn out of the rod chamber, the piston rod extends, thereby driving the arm pin to extend, and the arm pin switches to the pin state.

[0165] In this way, by coordinating the rotation direction of the bidirectional pump 30 with the reset function of the single-acting reset cylinder, the purpose of extending the boom pin can be achieved simply by switching the bidirectional pump 30 to the stop state and the reverse state, without the need for additional drive devices or control devices. This simplifies the control method of the boom pin system.

[0166] In some embodiments, referring to Figures 1 to 3 and Figures 7 to 9, the cylinder pin drive cylinder 20 is a single-acting reset cylinder, and the pin insertion / removal command includes the pin removal command.

[0167] According to the insertion and removal pin command, the bidirectional pump 30 is controlled to switch between the pump stop state, forward rotation state, and reverse rotation state, specifically including:

[0168] According to the pin pulling command, the bidirectional pump 30 is controlled to switch from the pump stop state or the forward rotation state to the reverse rotation state, and the hydraulic oil is delivered to the rod chamber of the pin drive cylinder 20 so that the piston rod of the pin drive cylinder 20 retracts, thereby driving the pin to pull out.

[0169] The cylinder pin pull command is the command that requires the cylinder pin to be pulled out of the cylinder pin hole on the boom at the current moment.

[0170] Hydraulic oil can only enter or flow out from the rod chamber of the cylinder 20 driven by the cylinder pin.

[0171] The cylinder pin drive cylinder 20 is provided with a second elastic reset member. In the initial state, the second elastic reset member pushes the piston rod to extend so that the volume of the rod chamber is in the minimum volume state. The force applied by the second elastic reset member to the piston rod causes the cylinder pin to switch the pin state.

[0172] After receiving the pin-pulling command, the bidirectional pump 30 reverses to the reverse state, allowing hydraulic oil to enter the rod chamber. Under the pressure of the hydraulic oil in the rod chamber, the second elastic reset member is passively compressed, causing the piston rod to retract, thereby driving the pin to retract and switching the pin to the pin-pulling state.

[0173] Thus, by directly controlling the bidirectional pump 30 to supply oil to the cylinder pin drive cylinder 20 in one direction, the cylinder pin can be pulled out. The control method is simple and also helps to improve the operation speed of pulling out the cylinder pin. By utilizing the reset capability of the single-acting reset cylinder, the position of the cylinder pin can be passively adjusted by only controlling the pressure of the hydraulic oil output by the bidirectional pump 30. This simplifies the control method of the boom pin system, eliminating the need for additional control devices and simplifying the boom pin system.

[0174] In some embodiments, referring to Figures 1 to 3 and Figures 7 to 9, the cylinder pin drive cylinder 20 is a single-acting reset cylinder, and the pin insertion / removal command includes the cylinder pin insertion command.

[0175] According to the insertion and removal pin command, the bidirectional pump 30 is controlled to switch between the pump stop state, forward rotation state, and reverse rotation state, specifically including:

[0176] According to the cylinder pin insertion command, the bidirectional pump 30 is controlled to switch from the reverse state to the pump stop state or the forward state, so that the hydraulic oil in the rod chamber of the cylinder pin drive cylinder 20 is discharged, and the piston rod of the cylinder pin drive cylinder 20 is extended, thereby driving the cylinder pin insertion.

[0177] The cylinder pin insertion command is the command that requires the cylinder pin to be inserted into the cylinder pin hole on the boom at the current moment.

[0178] When the pump is stopped, the bidirectional pump 30 stops rotating, thus no longer applying a driving force to the hydraulic oil. The hydraulic oil can no longer enter the rod chamber of the cylinder pin drive cylinder 20 under the push of the bidirectional pump 30, which breaks the elastic force of the original second elastic reset member in the cylinder pin drive cylinder 20 and the pressure balance of the hydraulic oil. The elastic potential energy of the second elastic reset member in the cylinder pin drive cylinder 20 is released, and the second elastic reset member pushes the piston rod to extend, thereby driving the cylinder pin to extend, and the cylinder pin switches to the pin state.

[0179] In the reverse state, the bidirectional pump 30 drives the hydraulic oil to leave the rod chamber of the cylinder pin drive cylinder 20. Under the combined action of the elastic force of the second elastic reset member and the negative pressure formed by the hydraulic oil being withdrawn from the rod chamber, the piston rod extends, thereby driving the cylinder pin to extend, and the cylinder pin switches to the pin state.

[0180] In this way, by coordinating the rotation direction of the bidirectional pump 30 with the reset function of the single-acting reset cylinder, the purpose of driving the cylinder pin to extend can be achieved simply by switching the bidirectional pump 30 to the stop state and the reverse state, without the need for additional drive devices or control devices. This is beneficial to simplifying the control method of the boom pin system.

[0181] It is understandable that when the volume of the pin drive cylinder 20 is smaller than the volume of the arm pin drive cylinder 10, or when the pin drive cylinder 20 does not require the injection of additional hydraulic oil, an additional device is needed to store at least a portion of the hydraulic oil discharged by the arm pin drive cylinder 10; when the volume of the arm pin drive cylinder 10 is smaller than the volume of the pin drive cylinder 20, or when the arm pin drive cylinder 10 does not require the injection of additional hydraulic oil, an additional device is needed to store at least a portion of the hydraulic oil discharged by the pin drive cylinder 20.

[0182] In some embodiments, the control method further includes: when the bidirectional pump 30 is in the forward rotation state, controlling the switching valve device 74 to disconnect the oil passage between the arm pin working oil passage 50 and the booster oil storage device 60; and when the bidirectional pump 30 is in the reverse rotation state or the pump is stopped state, controlling the switching valve device 74 to open the oil passage between the arm pin working oil passage 50 and the booster oil storage device 60, so that at least a portion of the hydraulic oil in the rod chamber of the arm pin drive cylinder 10 enters the booster oil storage device 60 through the arm pin working oil passage 50.

[0183] When the bidirectional pump 30 is in forward rotation, the switching valve device 74 disconnects the boom pin working oil circuit 50 from the booster oil storage device 60, so that the hydraulic oil output from the bidirectional pump 30 cannot enter the booster oil storage device 60, but can only enter the rod chamber of the boom pin drive cylinder 10 through the boom pin working oil circuit 50.

[0184] When the bidirectional pump 30 is in reverse or stopped state, the switching valve device 74 connects the boom pin working oil circuit 50 and the booster oil storage device 60, so that at least part of the hydraulic oil discharged from the boom pin drive cylinder 10 can directly enter the booster oil storage device 60 through the switching valve device 74, without flowing through the bidirectional pump 30, thus unloading the boom pin drive cylinder 10.

[0185] Thus, by controlling the on / off state of the switching valve device 74, on the one hand, the hydraulic oil output by the bidirectional pump 30 is utilized to the maximum extent, which helps to reduce the pressure loss of the hydraulic oil and allows the piston rod of the boom pin drive cylinder 10 to retract more quickly, thereby improving the response speed; on the other hand, by utilizing the space in the pressurized oil storage device 60, the hydraulic oil in the boom pin drive cylinder 10 can be discharged more quickly, improving the response speed and reducing the impact of the hydraulic oil discharged from the boom pin drive cylinder 10 on other components in the boom pin system.

[0186] It is understandable that the reset pressure of the arm pin drive cylinder 10 is greater than the boosting pressure of the boosting oil storage device 60, so that the hydraulic oil discharged by the arm pin drive cylinder 10 can enter the boosting oil storage device 60.

[0187] In some embodiments, referring to Figures 7 to 9, the control method further includes: when the bidirectional pump 30 is in reverse rotation, controlling the switching valve device 74 to disconnect the oil passage between the cylinder pin working oil passage 51 and the booster oil storage device 60; and when the bidirectional pump 30 is in forward rotation or stopped, controlling the switching valve device 74 to open the oil passage between the cylinder pin working oil passage 51 and the booster oil storage device 60, so that at least a portion of the hydraulic oil in the rod chamber of the cylinder pin drive cylinder 20 enters the booster oil storage device 60 through the cylinder pin working oil passage 51.

[0188] When the bidirectional pump 30 is in reverse, the switching valve device 74 disconnects the cylinder pin working oil circuit 51 from the booster oil storage device 60, so that the hydraulic oil output from the bidirectional pump 30 cannot enter the booster oil storage device 60, but can only enter the rod chamber of the cylinder pin drive cylinder 20 through the cylinder pin working oil circuit 51.

[0189] When the bidirectional pump 30 is in forward rotation or stopped, the switching valve device 74 connects the cylinder pin working oil circuit 51 and the booster oil storage device 60, so that at least part of the hydraulic oil discharged from the cylinder pin drive cylinder 20 can directly enter the booster oil storage device 60 through the switching valve device 74 without flowing through the bidirectional pump 30, thus unloading the cylinder pin drive cylinder 20.

[0190] Thus, by controlling the on / off state of the switching valve device 74, on the one hand, the hydraulic oil output by the bidirectional pump 30 is utilized to the maximum extent, which helps to reduce the pressure loss of the hydraulic oil and allows the piston rod of the cylinder pin drive cylinder 20 to retract more quickly, thereby improving the response speed; on the other hand, by utilizing the space in the pressurized oil storage device 60, the hydraulic oil in the cylinder pin drive cylinder 20 can be discharged more quickly, improving the response speed and reducing the impact of the hydraulic oil discharged from the cylinder pin drive cylinder 20 on other components in the boom pin system.

[0191] It is understandable that the reset pressure of the cylinder pin drive cylinder 20 is greater than the boosting pressure of the boosting oil storage device 60, so that the hydraulic oil discharged by the cylinder pin drive cylinder 20 can enter the boosting oil storage device 60.

[0192] In some embodiments, the insertion / removal pin command includes an arm pin removal command, and the control method further includes:

[0193] Obtain the status of the switching valve device 74;

[0194] According to the arm pin pulling command and the determination that the switching valve device 74 is in the state of connecting the arm pin working oil circuit 50 and the booster oil storage device 60, the bidirectional pump 30 is controlled to execute the maximum forward rotation speed to supply oil to the arm pin drive cylinder 10.

[0195] Understandably, under the influence of long-term use and external shocks, the switching valve device 74 may leak, thus failing to completely disconnect the boom pin working oil circuit 50 from the pressurized oil reservoir 60; or, hydraulic oil may leak out of the boom pin system, causing pressure loss and potentially preventing the boom pin from reaching the intended position, thus posing a safety risk to the use of the boom pin system.

[0196] According to the arm pin pulling command, the bidirectional pump 30 is in the forward rotation state. If the switching valve device 74 fails and opens the oil passage between the arm pin working oil passage 50 and the booster oil storage device 60, a portion of the hydraulic oil output by the bidirectional pump 30 will flow directly into the booster oil storage device 60, causing pressure loss. This will result in the pressure in the rod chamber of the arm pin drive cylinder 10 not meeting the expected pressure, which will prevent the piston rod of the arm pin drive cylinder 10 from retracting to the preset retraction position, potentially causing the arm pin to be unable to be completely pulled out of the arm pin hole.

[0197] In this way, by executing the maximum forward rotation speed through the bidirectional pump 30, the bidirectional pump 30 can output the maximum flow rate, so as to make the hydraulic oil pressure in the boom pin drive cylinder 10 as high as possible to meet the hydraulic oil pressure required to pull out the boom pin, thereby facilitating the smooth pull out of the boom pin, improving the safety of the boom pin system, and also making it easier for the telescopic cylinder to retract to the maintenance position.

[0198] In some embodiments, the insertion / removal pin command includes a cylinder pin removal command, and the control method further includes:

[0199] Obtain the status of the switching valve device 74;

[0200] According to the pin pulling command and the determination that the switching valve device 74 is in the state of connecting the pin working oil circuit 51 and the booster oil storage device 60, the bidirectional pump 30 is controlled to execute the maximum reverse speed to supply oil to the pin drive cylinder 20.

[0201] Understandably, under the influence of long-term use and external shocks, the switching valve device 74 may leak, thus failing to completely cut off the cylinder pin working oil circuit 51 and the booster oil reservoir 60; or, hydraulic oil may leak out of the boom pin system, causing pressure loss, and there is a chance that the cylinder pin will not reach the predetermined position, resulting in a safety risk in the use of the boom pin system.

[0202] If the switching valve device 74 fails and opens the oil passage between the cylinder pin working oil passage 51 and the booster oil storage device 60 when the bidirectional pump 30 is in reverse, a portion of the hydraulic oil output by the bidirectional pump 30 will flow directly into the booster oil storage device 60, causing pressure loss. This will result in the pressure in the rod chamber of the cylinder pin drive cylinder 20 not meeting the expected pressure, which will prevent the piston rod of the cylinder pin drive cylinder 20 from retracting to the preset retraction position, potentially causing the cylinder pin to be unable to be completely pulled out of the cylinder pin hole.

[0203] In this way, by executing the maximum reverse speed of the bidirectional pump 30, the bidirectional pump 30 can output the maximum flow rate, so as to make the pressure of the hydraulic oil in the cylinder pin drive cylinder 20 as high as possible to meet the hydraulic oil pressure required to pull out the cylinder pin, thereby facilitating the smooth pull out of the cylinder pin, improving the safety of the boom pin system, and also making it easier for the telescopic cylinder to retract to the maintenance position.

[0204] It is understandable that in embodiments where both the cylinder pin drive cylinder 20 and the arm pin drive cylinder 10 are single-acting reset cylinders, when both the cylinder pin and the arm pin need to be in the inserted state, both the cylinder pin drive cylinder 20 and the arm pin drive cylinder 10 need to discharge the hydraulic oil from their rod chambers.

[0205] In some embodiments where both the cylinder pin drive cylinder 20 and the boom pin drive cylinder 10 are single-acting reset cylinders, and the boom pin system also includes a pressurized oil reservoir 60 and a switching valve device 74, the pin insertion / removal command includes pin insertion commands for both the boom pin and the cylinder pin. Based on these commands, the bidirectional pump 30 is controlled to switch between a pump stop state, a forward rotation state, and a reverse rotation state. Specifically, this includes:

[0206] According to the pin insertion command of both the arm pin and the cylinder pin, the bidirectional pump 30 is controlled to switch from the forward or reverse state to the stop state, the switching valve device 74 is controlled to connect the oil passage between the rod chamber of the cylinder pin drive cylinder 20 and the cylinder pin working oil passage 51, and the switching valve device 74 is controlled to connect the oil passage between the rod chamber of the arm pin drive cylinder 10 and the arm pin working oil passage 50.

[0207] This allows the hydraulic oil in both the cylinder pin drive cylinder 20 and the arm pin drive cylinder 10 to be smoothly discharged into the pressurized oil storage device 60, which helps to improve the response speed of the arm pin and cylinder pin when they extend.

[0208] It is understood that in the embodiment with the switching valve device 74, referring to Figures 1 to 3, the switching valve device 74 includes a first valve device 71, a second valve device 73, a first branch 70, and a second branch 72. Thus, by selectively opening and closing the first branch 71 and selectively opening and closing the second branch 72 by the second valve device 73, the switching valve device 74 is controlled to open and close the oil passage between the arm pin working oil passage 50 and the pressurization storage device, and to open and close the oil passage between the cylinder pin working oil passage 51 and the pressurization storage device.

[0209] It is understandable that during the actual operation of the bidirectional pump 30, due to factors such as leakage, resistance, and control precision, there is an error between the actual pressure of the hydraulic oil entering the arm pin drive cylinder 10 and the cylinder pin drive cylinder 20 and the theoretical value.

[0210] In some embodiments, the control method further includes the following steps during the process of the bidirectional pump 30 being in a forward or reverse rotation state:

[0211] Obtain the current actual pressure value and the current target pressure value on the oil outlet side of the bidirectional pump 30;

[0212] Based on the current actual pressure value and the current target pressure value, the current target speed of the bidirectional pump 30 is obtained;

[0213] Control the bidirectional pump 30 to execute the current target speed.

[0214] The current actual pressure value on the outlet side of the bidirectional pump 30 refers to the pressure value of the hydraulic oil in each oil circuit and actuator on the side where the hydraulic oil is discharged by the bidirectional pump 30 at the time of measurement.

[0215] In the forward rotation state, the oil outlet side of the bidirectional pump 30 refers to the side where the hydraulic oil of the bidirectional pump 30 flows to the arm pin drive cylinder 10; in the reverse rotation state, the oil outlet side of the bidirectional pump 30 refers to the side where the hydraulic oil of the bidirectional pump 30 flows to the cylinder pin drive cylinder 20.

[0216] The current target speed of the bidirectional pump 30 refers to the speed at which the difference between the current actual pressure value and the current target pressure value is expected to be within the allowable pressure error range. In other words, after the bidirectional pump 30 reaches the current target speed, the current actual pressure value on the outlet side of the bidirectional pump 30 can meet the hydraulic oil pressure requirements of the cylinder pin drive cylinder 20 or the arm pin drive cylinder 10 located on the outlet side.

[0217] This facilitates closed-loop control of hydraulic oil pressure, reduces the error between the actual hydraulic oil pressure output to cylinder pin drive cylinder 20 or arm pin drive cylinder 10 and their respective target pressure values, and improves control accuracy.

[0218] Understandably, during the extension and retraction of the arm pin and the cylinder pin, their movements need to be smooth to minimize the impact caused by acceleration and deceleration. Therefore, different driving forces are required when the arm pin and cylinder pin move to different positions at different times.

[0219] In some embodiments, obtaining the current target pressure value includes: obtaining the time when the bidirectional pump 30 performs a forward or reverse rotation state;

[0220] Based on the mapping relationship between time and pressure value, the current target pressure value corresponding to the current moment is obtained.

[0221] The time during which the bidirectional pump 30 enters the forward rotation state refers to the length of time from when the bidirectional pump 30 switches to the forward rotation state in response to the arm pin command.

[0222] The time during which the bidirectional pump 30 executes the reverse state refers to the length of time from the start of the calculation when the bidirectional pump 30 switches to the reverse state in response to the cylinder pin command.

[0223] This allows the bidirectional pump 30 to adaptively adjust the pressure of the hydraulic oil it outputs at different times, thus ensuring smooth extension and retraction of the cylinder pin and boom pin, reducing the chance of impact and creep. It also helps maintain constant pressure during pin removal, reducing the chance of the cylinder pin and boom pin abnormally popping out and getting stuck during the extension and retraction of the telescopic boom. Furthermore, it helps the output power of the bidirectional pump 30 to match the power consumption of the boom pin drive cylinder 10 and cylinder pin drive cylinder 20, thereby reducing the operating power consumption of the boom pin system.

[0224] The specific type of mapping relationship between time and pressure value is not limited; it can be a functional relationship between time and pressure value, or a chart showing the correspondence between different times and pressure values.

[0225] There are no restrictions on the specific method for establishing the mapping relationship between time and pressure values. For example, tests can be conducted on a test bench in advance, and the pressure values ​​at different times can be recorded to obtain a graph showing the correspondence between different times and pressure values. Alternatively, based on the correspondence between different times and pressure values ​​in the graph, a functional relationship between time and pressure values ​​can be established through linear regression, fitting, or other methods.

[0226] In some embodiments, the current target rotational speed of the bidirectional pump 30 is obtained based on the current actual pressure value and the current target pressure value, specifically including:

[0227] Calculate the error between the current actual pressure value and the current target pressure value;

[0228] The current target speed of the bidirectional pump 30 is calculated by performing proportional-integral-derivative processing on the error value.

[0229] This will help to further reduce the error between the adjusted actual pressure value and the target pressure value, and further improve control accuracy.

[0230] In some embodiments, the current target rotational speed of the bidirectional pump 30 is obtained based on the current actual pressure value and the current target pressure value, including:

[0231] Calculate the difference between the current actual pressure value and the current target pressure value;

[0232] If the difference does not exceed the first threshold, the current target speed is obtained according to the mapping relationship between the difference, the current target pressure value, and the speed of the bidirectional pump 30.

[0233] When the difference exceeds the first threshold, the maximum speed of the bidirectional pump 30 is the current target speed.

[0234] When the difference does not exceed the first threshold, it can be considered that the difference is caused by factors such as flow resistance and measurement error in the boom pin system, rather than by a problem with the internal components of the boom pin system itself.

[0235] When the difference exceeds the first threshold, it can be considered that there is a problem with the internal components of the boom pin system itself, causing internal or external leakage of hydraulic oil, resulting in a large pressure loss.

[0236] This allows the bidirectional pump 30 to respond more quickly and increase the pressure of the output hydraulic oil in the event of a problem with the internal components of the boom pin system, thereby improving the safety of the boom pin system.

[0237] In some embodiments, obtaining the current actual pressure value and the current target pressure value on the oil outlet side of the bidirectional pump 30 specifically includes:

[0238] Confirm that the bidirectional pump 30 is rotating in the forward direction;

[0239] Obtain the current actual pressure value of the arm pin and the current target pressure value of the arm pin in the rod chamber of the arm pin drive cylinder 10.

[0240] This allows for more precise control over the movement of the arm pin.

[0241] In some embodiments where a first pressure sensor 11 is provided, the sensing area of ​​the first pressure sensor 11 is located in the rod chamber of the arm pin drive cylinder 10 to obtain the current actual pressure value of the arm pin of the hydraulic oil in the rod chamber of the arm pin drive cylinder 10.

[0242] In some embodiments, obtaining the current actual pressure value and the current target pressure value on the oil outlet side of the bidirectional pump 30 specifically includes:

[0243] It is confirmed that the bidirectional pump 30 is in reverse rotation.

[0244] Obtain the current actual pressure value and the current target pressure value of the hydraulic oil in the rod chamber of the cylinder 20 driven by the cylinder pin.

[0245] This allows for more precise control over the movement of the cylinder pins.

[0246] In some embodiments where a second pressure sensor 21 is provided, the sensing area of ​​the second pressure sensor 21 is located in the rod chamber of the pin-driven cylinder 20 to obtain the current actual pressure value of the hydraulic oil in the rod chamber of the pin-driven cylinder 20.

[0247] It is understandable that the mapping relationship between time and the current target pressure value of the cylinder pin, and the mapping relationship between time and the current target pressure value of the boom pin, are not the same.

[0248] This application embodiment also provides a control device 94 for a boom pin system. The boom pin system includes a bidirectional pump 30. Referring to FIG10, the control device 94 includes:

[0249] Module 941 is used to acquire insertion / removal pin commands;

[0250] The control module 942 is used to control the bidirectional pump 30 to be in one of the following states: pump stop, forward rotation, or reverse rotation.

[0251] In this way, the purpose of controlling the specific operating state of the bidirectional pump 30 according to the specific insertion and removal pin instructions is achieved.

[0252] This application also provides a working machine, which further includes the control device 94 described in the foregoing embodiments.

[0253] The operating machinery can be cranes, aerial work platforms, fire trucks, boom-type robots, etc.

[0254] This application also provides a storage medium storing a computer program, which, when executed by a processor, implements the steps of the control method in any of the foregoing embodiments.

[0255] The storage medium can specifically be a computer-readable storage medium, such as a memory that stores computer programs. Computer-readable storage media can be ROM, PROM, EPROM, EEPROM, Flash Memory, magnetic surface memory, optical disc, or CD-ROM, etc.

[0256] It is understood that memory can be volatile or non-volatile, or both. Non-volatile memory can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), ferromagnetic random access memory (FRAM), flash memory, magnetic surface memory, optical disc, or compact disc read-only memory (CD-ROM); magnetic surface memory can be disk storage or magnetic tape storage. Volatile memory can be random access memory (RAM), which is used as an external cache. By way of example, but not limitation, many forms of RAM are available, such as Static Random Access Memory (SRAM), Synchronous Static Random Access Memory (SSRAM), Dynamic Random Access Memory (DRAM), Synchronous Dynamic Random Access Memory (SDRAM), Double Data Rate Synchronous Dynamic Random Access Memory (DDRSDRAM), Enhanced Synchronous Dynamic Random Access Memory (ESDRAM), SyncLink Dynamic Random Access Memory (SLDRAM), and Direct Rambus Random Access Memory (DRRAM).The memories described in the embodiments of this application are intended to include, but are not limited to, these and any other suitable types of memories.

Claims

1. A control method of a boom pin system for controlling insertion and extraction of an arm pin and a cylinder pin in a telescopic boom, wherein, The arm frame pin system comprises a bidirectional pump, an arm pin driving oil cylinder for driving the arm pin to plug and unplug, a cylinder pin driving oil cylinder for driving the cylinder pin to plug and unplug, a pressurized oil storage device, and a switch valve device, an arm pin working oil path is arranged between the bidirectional pump and the arm pin driving oil cylinder, a cylinder pin working oil path is arranged between the bidirectional pump and the cylinder pin driving oil cylinder, the switch valve device can conduct or disconnect the oil path between at least one of the arm pin working oil path and the cylinder pin working oil path and the pressurized oil storage device, and the control method comprises: obtaining a plug and unplug instruction; According to the plug and unplug instruction, the bidirectional pump is switched between the stop pump state, the forward rotation state and the reverse rotation state, wherein in the forward rotation state or the reverse rotation state, the bidirectional pump supplies oil to one of the arm pin driving oil cylinder and the cylinder pin driving oil cylinder, so as to make at least one of the arm pin and the cylinder pin in the plug state.

2. The control method according to claim 1, wherein The arm pin driving oil cylinder is a single-acting reset oil cylinder, and the plug and unplug instruction comprises an arm pin unplug instruction; According to the plug and unplug instruction, the bidirectional pump is switched between the stop pump state, the forward rotation state and the reverse rotation state, and specifically comprises: According to the arm pin unplug instruction, the bidirectional pump is switched from the stop pump state or the reverse rotation state to the forward rotation state, so as to deliver hydraulic oil to the rod cavity of the arm pin driving oil cylinder, so that the piston rod of the arm pin driving oil cylinder is retracted, and the arm pin is driven to unplug.

3. The control method according to claim 1, wherein The arm pin driving oil cylinder is a single-acting reset oil cylinder, and the plug and unplug instruction comprises an arm pin unplug instruction; According to the plug and unplug instruction, the bidirectional pump is switched between the stop pump state, the forward rotation state and the reverse rotation state, and specifically comprises: According to the arm pin unplug instruction, the bidirectional pump is switched from the stop pump state or the reverse rotation state to the forward rotation state, so as to deliver hydraulic oil to the rod cavity of the arm pin driving oil cylinder, so that the piston rod of the arm pin driving oil cylinder is retracted, and the arm pin is driven to unplug.

4. The control method according to claim 1, wherein The cylinder pin driving oil cylinder is a single-acting reset oil cylinder, and the plug and unplug instruction comprises a cylinder pin unplug instruction; According to the plug and unplug instruction, the bidirectional pump is switched between the stop pump state, the forward rotation state and the reverse rotation state, and specifically comprises: According to the cylinder pin unplug instruction, the bidirectional pump is switched from the stop pump state or the forward rotation state to the reverse rotation state, so as to deliver hydraulic oil to the rod cavity of the cylinder pin driving oil cylinder, so that the piston rod of the cylinder pin driving oil cylinder is retracted, and the cylinder pin is driven to unplug.

5. The control method according to claim 1, wherein The cylinder pin driving oil cylinder is a single-acting reset oil cylinder, and the plug and unplug instruction comprises a cylinder pin unplug instruction; According to the plug and unplug instruction, the bidirectional pump is switched between the stop pump state, the forward rotation state and the reverse rotation state, and specifically comprises: According to the cylinder pin unplug instruction, the bidirectional pump is switched from the stop pump state or the forward rotation state to the reverse rotation state, so as to deliver hydraulic oil to the rod cavity of the cylinder pin driving oil cylinder, so that the piston rod of the cylinder pin driving oil cylinder is retracted, and the cylinder pin is driven to unplug.

6. The control method according to claim 1, wherein The control method further comprises: when the bidirectional pump is in the forward rotation state, controlling the on-off valve device to disconnect the oil path between the arm pin working oil path and the pressurized oil storage device; and when the bidirectional pump is in the reverse rotation state or the pump stop state, controlling the on-off valve device to connect the oil path between the arm pin working oil path and the pressurized oil storage device, so that at least part of the hydraulic oil in the rod cavity of the arm pin driving oil cylinder enters the pressurized oil storage device through the arm pin working oil path.

7. The control method according to claim 1, wherein The control method further comprises: when the bidirectional pump is in the reverse rotation state, controlling the on-off valve device to disconnect the oil path between the cylinder pin working oil path and the pressurized oil storage device; and when the bidirectional pump is in the forward rotation state or the pump stop state, controlling the on-off valve device to connect the oil path between the cylinder pin working oil path and the pressurized oil storage device, so that at least part of the hydraulic oil in the rod cavity of the cylinder pin driving oil cylinder enters the pressurized oil storage device through the cylinder pin working oil path.

8. The control method according to claim 1, wherein The plug pin instruction comprises an arm pin plug-out instruction, and the control method further comprises: obtaining the state of the on-off valve device; according to the arm pin plug-out instruction and determining that the on-off valve device is in a state of connecting the arm pin working oil path and the pressurized oil storage device, controlling the bidirectional pump to execute a maximum forward rotation speed to supply oil to the arm pin driving oil cylinder.

9. The control method according to claim 1, wherein The plug pin instruction comprises a cylinder pin plug-out instruction, and the control method further comprises: obtaining the state of the on-off valve device; according to the cylinder pin plug-out instruction and determining that the on-off valve device is in a state of connecting the cylinder pin working oil path and the pressurized oil storage device, controlling the bidirectional pump to execute a maximum reverse rotation speed to supply oil to the cylinder pin driving oil cylinder.

10. The control method according to claim 1, wherein In the process of the bidirectional pump being in the forward rotation state or the reverse rotation state, the control method further comprises: obtaining a current actual pressure value and a current target pressure value of the oil outlet side of the bidirectional pump; according to the current actual pressure value and the current target pressure value, obtaining a current target speed of the bidirectional pump; controlling the bidirectional pump to execute the current target speed.

11. The control method according to claim 10, wherein The obtaining of the current target pressure value comprises: obtaining a time during which the bidirectional pump executes the forward rotation state or the reverse rotation state; according to a mapping relationship between the time and the pressure value, obtaining a current target pressure value corresponding to the current time.

12. The control method according to claim 10, wherein The obtaining of the current target speed of the bidirectional pump according to the current actual pressure value and the current target pressure value comprises: calculating a difference value between the current actual pressure value and the current target pressure value; when the difference value does not exceed a first threshold value, obtaining the current target speed according to a mapping relationship among the difference value, the current target pressure value and the speed of the bidirectional pump; when the difference value exceeds the first threshold value, the maximum speed of the bidirectional pump is the current target speed.

13. A control device for a boom bolt system, wherein, The arm rack pin system comprises a bidirectional pump, an arm pin driving oil cylinder for driving an arm pin to plug and unplug, a cylinder pin driving oil cylinder for driving a cylinder pin to plug and unplug, a pressurized oil storage device and a switch valve device, an arm pin working oil path is arranged between the bidirectional pump and the arm pin driving oil cylinder, a cylinder pin working oil path is arranged between the bidirectional pump and the cylinder pin driving oil cylinder, the switch valve device can conduct or disconnect the oil path between at least one of the arm pin working oil path and the cylinder pin working oil path and the pressurized oil storage device, The control device comprises: an acquisition module configured to acquire a plug and unplug instruction; a control module configured to control the bidirectional pump to be in one of a pump stop state, a forward rotation state and a reverse rotation state.

14. A work machine, wherein, The working machine comprises an arm rack pin system and a control device, The arm rack pin system comprises a bidirectional pump, an arm pin driving oil cylinder for driving an arm pin to plug and unplug, a cylinder pin driving oil cylinder for driving a cylinder pin to plug and unplug, a pressurized oil storage device and a switch valve device, an arm pin working oil path is arranged between the bidirectional pump and the arm pin driving oil cylinder, a cylinder pin working oil path is arranged between the bidirectional pump and the cylinder pin driving oil cylinder, the switch valve device can conduct or disconnect the oil path between at least one of the arm pin working oil path and the cylinder pin working oil path and the pressurized oil storage device; The control device is configured to perform the control method of any one of claims 1 to 12.

15. A storage medium having stored thereon a computer program, wherein, The computer program, when executed by a processor, implements the steps of the control method of any one of claims 1 to 12.

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