Self-advancing tail and control method and device therefor, and readable storage medium

Abstract

The present application provides a self-advancing tail and a control method and device therefor, and a readable storage medium. The self-advancing tail comprises slide rails, a frame, first cylinder assemblies, first sensor assemblies, second cylinder assemblies, and a control assembly. The frame is located on one side of the slide rails and can move relative to the slide rails. The first cylinder assemblies each comprise a first cylinder body and a first piston, and the first piston can move relative to the first cylinder body between a first position and a second position. Each first sensor assembly is provided on a corresponding first cylinder assembly, and can detect a first operating parameter when the first piston moves from the first position to the second position. The second cylinder assemblies each comprise a second cylinder body and a second piston, and the second piston can move relative to the second cylinder body between a third position and a fourth position. The control assembly is provided on the frame, and can control, on the basis of the first operating parameter, the second pistons to move from the third position to the fourth position. Movement of the frame driven by the first cylinder assemblies to a predetermined position can be determined, thereby preventing misoperation.

Description

Self-moving tail and control method and control device thereof, and readable storage medium

[0001] The present application claims priority from the Chinese patent application No. 202411253611.7 filed on September 9, 2024, and entitled "Self-moving tail and control method and control device thereof, and readable storage medium", the whole content of which is incorporated herein by reference. TECHNICAL FIELD

[0002] The present application relates to the technical field of coal mining machinery, in particular to a self-moving tail and a control method and control device thereof, and a readable storage medium. BACKGROUND

[0003] At present, in the related art, the self-moving tail is a mobile device of a fully-mechanized coal mining and fully-mechanized tunneling working face in a coal mine, which is mainly used in conjunction with a belt conveyor and a transfer machine. When the self-moving tail moves forward, the rack needs to be lifted by a lifting cylinder, and then the rack is moved relative to the slide rail by a pushing cylinder to realize the movement of the self-moving tail. However, during the movement, the operator needs to judge whether the lifting cylinder is in place before controlling the pushing cylinder to start, so that the manual method cannot accurately judge the movement of the lifting cylinder, and thus misoperation occurs. SUMMARY

[0004] The present application aims to at least solve one of the problems in the prior art or related art.

[0005] To this end, a first aspect of the present application provides a self-moving tail.

[0006] A second aspect of the present application provides a control method of the self-moving tail.

[0007] A third aspect of the present application provides a control device of the self-moving tail.

[0008] A fourth aspect of the present application provides a readable storage medium.

[0009] In view of the above, the first aspect of the present application provides a self-moving tail, comprising a slide rail, a frame, a first oil cylinder assembly, a first sensor assembly, a second oil cylinder assembly and a control assembly. The frame is located on one side of the slide rail and can move relative to the slide rail; the first oil cylinder assembly comprises a first cylinder body and a first piston, the first cylinder body is connected with the frame, at least part of the first piston is located in the first cylinder body, one end of the first piston away from the frame abuts against the slide rail, and the first piston can move relative to the first cylinder body between a first position and a second position; the first sensor assembly is arranged on the first oil cylinder assembly and can detect a first operating parameter when the first piston moves from the first position to the second position; the second oil cylinder assembly comprises a second cylinder body and a second piston, the second cylinder body is connected with the frame, at least part of the second piston is located in the second cylinder body, one end of the second piston away from the frame is connected with the slide rail, and the second piston can move relative to the second cylinder body between a third position and a fourth position; and the control assembly is arranged on the frame and can control the second piston to move from the third position to the fourth position according to the first operating parameter.

[0010] In the technical scheme, the self-moving tail includes a slide rail, a rack, a first oil cylinder assembly, a first sensor assembly, a second oil cylinder assembly and a control assembly. The rack is located on one side of the slide rail and can move relative to the slide rail. The movement of the self-moving tail is realized through the cooperation of the rack and the slide rail. The first oil cylinder assembly includes a first cylinder body and a first piston. The first cylinder body is connected with the rack. At least part of the first piston is located in the first cylinder body. An end of the first piston away from the rack abuts against the slide rail to realize the installation of the first cylinder body and the first piston. The first piston can move relative to the first cylinder body between a first position and a second position, so that the first oil cylinder assembly can drive the rack away from or the slide rail. The first sensor assembly is arranged on the first oil cylinder assembly and can detect a first operating parameter when the first piston moves from the first position to the second position, so as to realize the installation of the first sensor assembly. The first sensor assembly can detect the first operating parameter when the first piston moves from the retracted position to the fully extended position, so as to facilitate the confirmation of the full stroke of the first piston by the first sensor assembly. The second oil cylinder assembly includes a second cylinder body and a second piston. The second cylinder body is connected with the rack. At least part of the second piston is located in the second cylinder body. An end of the second piston away from the rack is connected with the slide rail to realize the installation of the second cylinder body and the second piston. The second piston can move relative to the second cylinder body between a third position and a fourth position, so that the piston can drive the slide rail to move relative to the rack. The slide rail can provide a stable movement path for the rack, so as to ensure that the rack can always move along the predetermined direction on the slide rail. In addition, the second oil cylinder assembly pushes the slide rail to move, so that the self-moving tail can move forward quickly and accurately to meet the advancing demand of the working face. The control assembly is arranged on the rack to realize the installation of the control assembly. The control assembly can control the second piston to move from the third position to the fourth position according to the first operating parameter, so as to drive the second piston. In the present application, the first sensor assembly is used to detect the first operating parameter when the first piston moves from the first position to the second position, so as to confirm whether the first piston is fully extended by the first sensor assembly. The first oil cylinder assembly is used to lift the rack to the predetermined position. Then, the second piston is controlled to move from the third position to the fourth position, so that the second oil cylinder assembly can drive the rack to move relative to the slide rail to realize the movement of the self-moving tail. Therefore, the movement stroke of the first oil cylinder assembly is detected by the first sensor assembly, and then the second oil cylinder assembly is controlled to move, so that the rack can be accurately driven to the predetermined position by the first oil cylinder assembly, and then the slide rail is controlled to move, thereby avoiding the misoperation of the self-moving tail and improving the safety of the self-moving tail.

[0011] In addition, the self-moving tail in the above technical scheme provided by the present application can also have the following additional technical features:

[0012] In one of the technical solutions of the present application, the self-moving tail further comprises a second sensor assembly, the second sensor assembly is arranged on the second oil cylinder assembly, and the second sensor assembly can detect a second operating parameter when the second piston moves from the third position to the fourth position; the control assembly can control the first piston to move from the second position to the first position according to the second operating parameter.

[0013] In the technical solution, the self-moving tail further comprises a second sensor assembly, the second sensor assembly is arranged on the second oil cylinder assembly, so as to realize the installation of the second sensor assembly. The second sensor assembly can detect a second operating parameter when the second piston moves from the third position to the fourth position, so that the second sensor assembly can detect the extension stroke of the second piston, and thus the position of the second oil cylinder assembly can be determined. The control assembly can control the first piston to move from the second position to the first position according to the second operating parameter, so that after the second piston moves to the preset position, the first oil cylinder assembly drives the rack to move in the direction of the slide rail. The first sensor assembly can also detect a third operating parameter when the first piston moves from the second position to the first position, that is, whether the first oil cylinder assembly is retracted to the predetermined position can be confirmed through the first sensor assembly, so that the rack can be determined to move to the predetermined position in the direction close to the slide rail, and the control assembly can control the second piston to move from the fourth position to the third position according to the third operating parameter, that is, after the rack is lowered to the predetermined position, the second oil cylinder assembly is controlled to drive the slide rail to move along the length direction of the rack, so as to realize the step-by-step movement of the self-moving tail, and thus the rack can always move on the slide rail. Therefore, through the arrangement of the second sensor assembly, the position of the second oil cylinder assembly can be fed back in real time, so as to realize the detection of the movement of the first oil cylinder assembly and the second oil cylinder assembly, and improve the accuracy of detecting whether the first oil cylinder assembly and the second oil cylinder assembly move to the predetermined position.

[0014] In one of the technical solutions of the present application, the self-moving tail further comprises a first valve assembly; the first oil cylinder assembly further comprises a first pipeline and a second pipeline. One end of the first pipeline is connected with the first valve assembly, and the other end of the first pipeline is connected with the first oil cylinder assembly; one end of the second pipeline is connected with the first valve assembly, and the other end of the second pipeline is connected with the first oil cylinder assembly, the first hydraulic oil can flow between the first pipeline and the second pipeline, the first valve assembly can change the flow direction of the first hydraulic oil, and the first sensor assembly is arranged on the first pipeline or the second pipeline.

[0015] In the technical scheme, the self-moving tail further comprises a first valve assembly; the first oil cylinder assembly further comprises a first pipeline and a second pipeline. One end of the first pipeline is connected with the first valve assembly, and the other end of the first pipeline is connected with the first oil cylinder assembly, so as to realize installation and fixation of the first pipeline. One end of the second pipeline is connected with the first valve assembly, and the other end of the second pipeline is connected with the first oil cylinder assembly, so as to realize installation and fixation of the second pipeline. The first hydraulic oil can flow between the first pipeline and the second pipeline, and when the first hydraulic oil flows, the first oil cylinder assembly can be driven, so that the first piston can move between the first position and the second position, thereby driving the rack to move close to or away from the slide rail. The first sensor assembly is arranged in the first pipeline or the second pipeline, that is, the first sensor assembly can detect the pressure in the first pipeline or the second pipeline. When the first piston extends to a predetermined position or retracts to a predetermined position relative to the first cylinder body, the pressure value in the first pipeline or the second pipeline reaches a predetermined value. Therefore, by detecting the pressure in the pipeline, it can be determined whether the first piston moves to the predetermined position.

[0016] In one technical scheme of the present application, optionally, the self-moving tail further comprises a second valve assembly; the second oil cylinder assembly further comprises a third pipeline and a fourth pipeline. One end of the third pipeline is connected with the second valve assembly, and the other end of the third pipeline is connected with the second oil cylinder assembly; one end of the fourth pipeline is connected with the second valve assembly, and the other end of the fourth pipeline is connected with the second oil cylinder assembly. The second hydraulic oil can flow between the third pipeline and the fourth pipeline, and the second valve assembly can change the flow direction of the second hydraulic oil.

[0017] In the technical scheme, the self-moving tail further comprises a second valve assembly; the second oil cylinder assembly further comprises a third pipeline and a fourth pipeline. One end of the third pipeline is connected with the second valve assembly, and the other end of the third pipeline is connected with the second oil cylinder assembly, so as to realize installation and fixation of the third pipeline. One end of the fourth pipeline is connected with the second valve assembly, and the other end of the fourth pipeline is connected with the second oil cylinder assembly, so as to realize installation and fixation of the fourth pipeline. The second hydraulic oil can flow between the third pipeline and the fourth pipeline, and when the second hydraulic oil flows, the second oil cylinder assembly can be driven, so that the second piston can move between the third position and the fourth position, thereby enabling the second oil cylinder assembly to drive the rack to move relative to the slide rail or enabling the second oil cylinder assembly to drive the slide rail to move relative to the rack along the length direction of the rack.

[0018] In a technical solution of the present application, the number of the first oil cylinder assemblies is two, and the two first oil cylinder assemblies are arranged on the two sides of the frame along the length direction; the number of the slide rails is two, and the two slide rails are arranged correspondingly with the two first oil cylinder assemblies; and the number of the second oil cylinder assemblies is two, and the two second oil cylinder assemblies are arranged correspondingly with the two slide rails.

[0019] In the technical solution, the number of the first oil cylinder assemblies is two, and the two first oil cylinder assemblies are arranged on the two sides of the frame along the length direction, so as to arrange the two first oil cylinder assemblies, so that the two first oil cylinder assemblies can drive the frame at the same time, improve the driving efficiency of the frame, and further improve the movement efficiency of the self-moving engine tail. The number of the slide rails is two, and the two slide rails are arranged correspondingly with the two first oil cylinder assemblies, so as to arrange the two slide rails, so that the two first oil cylinder assemblies can move on the two slide rails. The number of the second oil cylinder assemblies is two, and the two second oil cylinder assemblies are arranged correspondingly with the two slide rails, so as to arrange the two second oil cylinder assemblies, so that the two second oil cylinder assemblies drive the slide rails or the frame, and further improve the running efficiency of the self-moving engine tail.

[0020] The second aspect of the present application provides a control method of a self-moving engine tail, comprising: obtaining a starting instruction of the self-moving engine tail; controlling a first piston to move from a first position to a second position according to the starting instruction; controlling a first sensor assembly to obtain a first running parameter of the first piston when the first piston moves to the second position; and controlling a second piston to move from a third position to a fourth position according to the first running parameter.

[0021] In the technical solution, the starting instruction is acquired from the self-moving tail, so that the self-moving tail can be activated and placed in a working state. According to the starting instruction, the first piston is controlled to move from the first position to the second position, so that the first piston can move from the retracted position to the position fully extended from the first cylinder body, and then the first oil cylinder assembly can drive the rack to move away from the slide rail to lift the position of the rack. In the case that the first piston moves to the second position, the first sensor assembly is controlled to acquire the first running parameter of the first piston. After lifting the rack, the position of the rack is acquired, so that it can be confirmed that the first piston is extended to the full stroke position, that is, it can be confirmed that the rack is lifted to the predetermined position. According to the first running parameter, the control assembly controls the second piston to move from the third position to the fourth position. After the rack is lifted to the predetermined position, the second piston is controlled to move, so that the movement of the second piston can drive the slide rail to move relative to the rack, so that the slide rail can provide a stable movement path for the rack, ensuring that the rack can always move along the predetermined direction on the slide rail. In addition, the second oil cylinder assembly pushes the slide rail to move, so that the self-moving tail can quickly and accurately move forward to meet the advancing demand of the working face. The first running parameter of the first piston moving from the first position to the second position is detected, so that it can be confirmed whether the first piston is extended to the full stroke to determine that the first oil cylinder assembly lifts the rack to the predetermined position, and then the second piston is controlled to move from the third position to the fourth position, so that the second oil cylinder assembly can push the rack to move relative to the slide rail to realize the movement of the self-moving tail. Therefore, by detecting the movement stroke of the first oil cylinder assembly and then controlling the movement of the second oil cylinder assembly, the first oil cylinder assembly can accurately drive the rack to move to the predetermined position, and then the slide rail is controlled to move, so that the operation of the self-moving tail can be avoided. The safety of the operation of the self-moving tail is improved.

[0022] In one technical solution of the present application, optionally, after the control assembly controls the second piston to move from the third position to the fourth position according to the first running parameter, the control method of the self-moving tail further comprises: in the case that the second piston moves to the fourth position, the second sensor assembly is controlled to acquire the second running parameter of the second piston; the control assembly controls the first piston to move from the second position to the first position according to the second running parameter; in the case that the first piston moves to the first position, the first sensor assembly is controlled to acquire the third running parameter of the first piston; and the control assembly controls the second piston to move from the fourth position to the third position according to the third running parameter.

[0023] In the technical solution, after the second oil cylinder assembly drives the frame to move a predetermined distance on the slide rail by the second piston, the second sensor assembly is controlled to acquire the second operation parameter of the second piston when the second piston moves to the fourth position, so that the extension stroke of the second piston can be detected, and it can be determined that the second oil cylinder assembly extends to the predetermined position. The control assembly controls the first piston to move from the second position to the first position according to the second operation parameter, so that the first oil cylinder assembly can drive the frame to move towards the slide rail after the second oil cylinder assembly extends to the predetermined position, thereby reducing the position of the frame. When the first piston moves to the first position, the first sensor assembly is controlled to acquire the third operation parameter of the first piston, so that it can be determined whether the first piston moves to the retracted position, and further determine whether the frame is lowered to the predetermined position. The control assembly controls the second piston to move from the fourth position to the third position according to the third operation parameter, and when the frame is lowered to the predetermined position, the second piston is controlled to move, so that the second piston can drive the slide rail to move relative to the frame along the length direction of the frame to realize the step-by-step movement of the self-moving tail, so that the frame can always move on the slide rail.

[0024] In one technical solution of the present application, optionally, the control of the first sensor assembly to acquire the first operation parameter of the first piston includes: controlling the first sensor assembly to detect the movement distance of the first piston, or controlling the first sensor assembly to detect the pressure in the first pipeline or the second pipeline.

[0025] In the technical solution, the control of the first sensor assembly to detect the movement distance of the first piston can realize the detection of the first operation parameter by using the detection of the movement distance of the first piston by the first sensor assembly, so that it can be determined whether the first piston extends to the predetermined position by using the movement distance of the first piston. The first sensor assembly is a pressure sensor, and the control of the first sensor assembly to detect the pressure in the first pipeline or the second pipeline. Since the first piston of the first oil cylinder assembly is driven by using the first hydraulic oil flowing in the first pipeline and the second pipeline, the detection of the pressure in the first pipeline or the second pipeline can determine whether the first piston moves to the predetermined position, thereby realizing the detection of whether the first piston moves to the second position.

[0026] The third aspect of the present application provides a self-moving tail control device, which comprises a memory and a processor. The memory stores programs or instructions executable on the processor. When the programs or instructions are executed by the processor, the steps of the self-moving tail control method in any of the above technical solutions are implemented. Therefore, the self-moving tail control device has all the beneficial effects of the self-moving tail control method, which will not be repeated here.

[0027] The fourth aspect of the present application provides a readable storage medium having a program or instructions stored thereon, the program or instructions being executed by a processor to implement the steps of the control method of the tail moving machine in any of the above technical solutions. Therefore, the readable storage medium has all the beneficial effects of the control method of the tail moving machine, which will not be repeated here.

[0028] Additional aspects and advantages of the present application will be in part apparent and in part pointed out hereinafter. BRIEF DESCRIPTION OF DRAWINGS

[0029] The above and / or additional aspects and advantages of the present application will become apparent and be readily appreciated from the following description, including the appended drawings, wherein:

[0030] Fig. 1 shows one of the schematic diagrams of the tail moving machine according to one embodiment of the present application;

[0031] Fig. 2 shows another of the schematic diagrams of the tail moving machine according to one embodiment of the present application;

[0032] Fig. 3 shows a third of the schematic diagrams of the tail moving machine according to one embodiment of the present application;

[0033] Fig. 4 shows a fourth of the schematic diagrams of the tail moving machine according to one embodiment of the present application;

[0034] Fig. 5 is a partial schematic diagram of the tail moving machine at C shown in Fig. 1 according to one embodiment of the present application;

[0035] Fig. 6 shows one of the flowcharts of the control method of the tail moving machine according to one embodiment of the present application;

[0036] Fig. 7 shows another of the flowcharts of the control method of the tail moving machine according to one embodiment of the present application;

[0037] Fig. 8 shows a structural block diagram of the control device of the tail moving machine according to one embodiment of the present application.

[0038] Corresponding relationship between reference numerals and component names in Figs. 1-8 is as follows: 100 tail moving machine, 102 slide rail, 104 machine frame, 106 first oil cylinder assembly, 108 first cylinder body, 110 first piston, 112 first pipeline, 114 second pipeline, 116 first sensor assembly, 118 second oil cylinder assembly, 120 second cylinder body, 122 second piston, 124 third pipeline, 126 fourth pipeline, 128 control assembly, 130 second sensor assembly, 132 first valve assembly, 134 second valve assembly, 136 pressure gauge, 138 balance valve, 400 control device of the tail moving machine, 410 memory, 420 processor. DETAILED DESCRIPTION

[0039] In order to enable a more clear understanding of the above-mentioned objects, features and advantages of the present application, the present application will be further described below with reference to the drawings and specific embodiments. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

[0040] In the following description, a large number of specific details are set forth in order to facilitate a thorough understanding of the present application, but the present application can also be implemented in other manners different from those described herein, and therefore, the scope of protection of the present application is not limited to the specific embodiments disclosed below.

[0041] The self-moving tail, the control method and the control device thereof, and the readable storage medium according to some embodiments of the present application are described below with reference to FIGS. 1 to 8.

[0042] As shown in FIGS. 1, 2 and 3, in the embodiments of the present application, a self-moving tail 100 is provided, which includes a slide rail 102, a frame 104, a first cylinder assembly 106, a first sensor assembly 116, a second cylinder assembly 118 and a control assembly 128. The frame 104 is located at one side of the slide rail 102 and is capable of moving relative to the slide rail 102. The first cylinder assembly 106 includes a first cylinder body 108 and a first piston 110. The first cylinder body 108 is connected to the frame 104, and at least a part of the first piston 110 is located in the first cylinder body 108. An end of the first piston 110 away from the frame 104 abuts against the slide rail 102. The first piston 110 is capable of moving relative to the first cylinder body 108 between a first position and a second position. The first sensor assembly 116 is arranged on the first cylinder assembly 106 and is capable of detecting a first operating parameter when the first piston 110 moves from the first position to the second position. The second cylinder assembly 118 includes a second cylinder body 120 and a second piston 122. The second cylinder body 120 is connected to the frame 104, and at least a part of the second piston 122 is located in the second cylinder body 120. An end of the second piston 122 away from the frame 104 is connected to the slide rail 102. The second piston 122 is capable of moving relative to the second cylinder body 120 between a third position and a fourth position. The control assembly 128 is arranged on the frame 104 and is capable of controlling the second piston 122 to move from the third position to the fourth position according to the first operating parameter.

[0043] In the embodiment, the self-moving tail 100 comprises a slide rail 102, a frame 104, a first cylinder assembly 106, a first sensor assembly 116, a second cylinder assembly 118 and a control assembly 128. The frame 104 is located on one side of the slide rail 102 and can move relative to the slide rail 102. The movement of the self-moving tail 100 is realized through the cooperation of the frame 104 and the slide rail 102. The first cylinder assembly 106 comprises a first cylinder body 108 and a first piston 110. The first cylinder body 108 is connected with the frame 104, and at least part of the first piston 110 is located in the first cylinder body 108. The end of the first piston 110 away from the frame 104 abuts against the slide rail 102 to realize the installation of the first cylinder body 108 and the first piston 110. The first piston 110 can move relative to the first cylinder body 108 between a first position and a second position, so that the first cylinder assembly 106 can drive the frame 104 away from or the slide rail 102. The first sensor assembly 116 is arranged on the first cylinder assembly 106 and can detect a first operating parameter when the first piston 110 moves from the first position to the second position, so as to realize the installation of the first sensor assembly 116. The first sensor assembly 116 can detect the first operating parameter when the first piston 110 moves from the retracted position to the fully extended position, so as to facilitate the confirmation of the first sensor assembly 116 that the first piston 110 extends to the full stroke position. The second cylinder assembly 118 comprises a second cylinder body 120 and a second piston 122. The second cylinder body 120 is connected with the frame 104, and at least part of the second piston 122 is located in the second cylinder body 120. The end of the second piston 122 away from the frame 104 is connected with the slide rail 102 to realize the installation of the second cylinder body 120 and the second piston 122. The second piston 122 can move relative to the second cylinder body 120 between a third position and a fourth position, so that the piston can drive the slide rail 102 to move relative to the frame 104. The slide rail 102 can provide a stable movement path for the frame 104, so that the frame 104 can always move along the predetermined direction on the slide rail 102. In addition, the second cylinder assembly 118 pushes the slide rail 102 to move in such a way that the self-moving tail 100 can quickly and accurately move forward to meet the advancing demand of the working face. The control assembly 128 is arranged on the frame 104 to realize the installation of the control assembly 128. The control assembly 128 can control the second piston 122 to move from the third position to the fourth position according to the first operating parameter to realize the driving of the second piston 122.The first sensor assembly 116 is used to detect the first running parameter of the first piston 110 when moving from the first position to the second position, so as to determine whether the first piston 110 extends to the full stroke, and then control the second piston 122 to move from the third position to the fourth position, so that the second cylinder assembly 118 can drive the rack 104 to move relative to the slide rail 102, thereby achieving the movement of the self-moving tail 100. Therefore, by detecting the movement stroke of the first cylinder assembly 106 by the first sensor assembly 116, and then controlling the movement of the second cylinder assembly 118, the first cylinder assembly 106 can be accurately driven to move the rack 104 to the predetermined position, and then the slide rail 102 is controlled to move, thereby avoiding misoperation of the self-moving tail 100, and improving the safety of the self-moving tail 100.

[0044] Specifically, the first sensor assembly 116 is a first displacement sensor, and the first running parameter is the displacement of the first piston 110 when moving from the first position to the second position, so as to determine whether the first piston 110 moves to the second position by detecting the displacement.

[0045] The self-moving tail 100 provided by the embodiment further includes the following technical features in addition to the technical features of the above-mentioned embodiments.

[0046] As shown in FIGS. 1 and 4, the self-moving tail 100 provided by the embodiment includes a slide rail 102, a rack 104, a first cylinder assembly 106, a first sensor assembly 116, a second cylinder assembly 118, and a control assembly 128. The rack 104 is located on one side of the slide rail 102 and can move relative to the slide rail 102. The first cylinder assembly 106 includes a first cylinder body 108 and a first piston 110. The first cylinder body 108 is connected to the rack 104, and at least a part of the first piston 110 is located in the first cylinder body 108. An end of the first piston 110 away from the rack 104 abuts against the slide rail 102, and the first piston 110 can move relative to the first cylinder body 108 between a first position and a second position. The first sensor assembly 116 is arranged on the first cylinder assembly 106 and can detect a first running parameter of the first piston 110 when moving from the first position to the second position. The second cylinder assembly 118 includes a second cylinder body 120 and a second piston 122. The second cylinder body 120 is connected to the rack 104, and at least a part of the second piston 122 is located in the second cylinder body 120. An end of the second piston 122 away from the rack 104 is connected to the slide rail 102, and the second piston 122 can move relative to the second cylinder body 120 between a third position and a fourth position. The control assembly 128 is arranged on the rack 104 and can control the second piston 122 to move from the third position to the fourth position according to the first running parameter.

[0047] In the embodiment, the self-moving tail 100 comprises a slide rail 102, a frame 104, a first cylinder assembly 106, a first sensor assembly 116, a second cylinder assembly 118 and a control assembly 128. The frame 104 is located on one side of the slide rail 102 and can move relative to the slide rail 102. The movement of the self-moving tail 100 is realized through the cooperation of the frame 104 and the slide rail 102. The first cylinder assembly 106 comprises a first cylinder body 108 and a first piston 110. The first cylinder body 108 is connected with the frame 104, and at least part of the first piston 110 is located in the first cylinder body 108. The end of the first piston 110 away from the frame 104 abuts against the slide rail 102 to realize the installation of the first cylinder body 108 and the first piston 110. The first piston 110 can move relative to the first cylinder body 108 between a first position and a second position, so that the first cylinder assembly 106 can drive the frame 104 away from or the slide rail 102. The first sensor assembly 116 is arranged on the first cylinder assembly 106 and can detect a first operating parameter when the first piston 110 moves from the first position to the second position, so as to realize the installation of the first sensor assembly 116. The first sensor assembly 116 can detect the first operating parameter when the first piston 110 moves from the retracted position to the fully extended position, so as to facilitate the confirmation of the first sensor assembly 116 that the first piston 110 extends to the full stroke position. The second cylinder assembly 118 comprises a second cylinder body 120 and a second piston 122. The second cylinder body 120 is connected with the frame 104, and at least part of the second piston 122 is located in the second cylinder body 120. The end of the second piston 122 away from the frame 104 is connected with the slide rail 102 to realize the installation of the second cylinder body 120 and the second piston 122. The second piston 122 can move relative to the second cylinder body 120 between a third position and a fourth position, so that the piston can drive the slide rail 102 to move relative to the frame 104. The slide rail 102 can provide a stable movement path for the frame 104, so that the frame 104 can always move along the predetermined direction on the slide rail 102. In addition, the second cylinder assembly 118 pushes the slide rail 102 to move in such a way that the self-moving tail 100 can quickly and accurately move forward to meet the advancing demand of the working face. The control assembly 128 is arranged on the frame 104 to realize the installation of the control assembly 128. The control assembly 128 can control the second piston 122 to move from the third position to the fourth position according to the first operating parameter to realize the driving of the second piston 122.The first sensor assembly 116 is used to detect the first running parameter of the first piston 110 moving from the first position to the second position, so as to determine whether the first piston 110 extends to the full stroke by the first sensor assembly 116, to determine that the first cylinder assembly 106 lifts the frame 104 to the predetermined position, and then controls the second piston 122 to move from the third position to the fourth position, so that the second cylinder assembly 118 can push the frame 104 to move relative to the slide rail 102, to realize the movement of the self-propelled tail 100. Therefore, by detecting the movement stroke of the first cylinder assembly 106 by the first sensor assembly 116, and then controlling the movement of the second cylinder assembly 118, the first cylinder assembly 106 can be accurately determined to drive the frame 104 to move to the predetermined position, and then the slide rail 102 is controlled to move, thereby avoiding misoperation of the self-propelled tail 100, and improving the safety of the self-propelled tail 100.

[0048] Specifically, the first sensor assembly 116 is a first displacement sensor, and the first running parameter is the displacement of the first piston 110 moving from the first position to the second position, so that whether the first piston 110 moves to the second position can be determined by detecting the displacement.

[0049] The self-propelled tail 100 provided by the embodiment further includes the following technical features in addition to the technical features of the above-mentioned embodiments.

[0050] As shown in FIG. 1, the self-propelled tail 100 further includes a second sensor assembly 130, which is arranged on the second cylinder assembly 118 and can detect a second running parameter of the second piston 122 moving from the third position to the fourth position. The control assembly 128 can control the first piston 110 to move from the second position to the first position according to the second running parameter. The first sensor assembly 116 can further detect a third running parameter of the first piston 110 moving from the second position to the first position, and the control assembly 128 can control the second piston 122 to move from the fourth position to the third position according to the third running parameter.

[0051] In the technical solution, the self-moving tail 100 further comprises a second sensor assembly 130, which is arranged on the second oil cylinder assembly 118 to facilitate installation of the second sensor assembly 130. The second sensor assembly 130 can detect a second operating parameter when the second piston 122 moves from the third position to the fourth position, so that the second sensor assembly 130 can detect the extension stroke of the second piston 122, and thus the position of the extension of the second oil cylinder assembly 118 can be determined. The control assembly 128 can control the first piston 110 to move from the second position to the first position according to the second operating parameter, so that the first oil cylinder assembly 106 drives the rack 104 to move towards the slide rail 102 after the second piston 122 moves to the preset position. The first sensor assembly 116 can also detect a third operating parameter when the first piston 110 moves from the second position to the first position, that is, the first oil cylinder assembly 106 can be determined to be retracted to the predetermined position through the first sensor assembly 116, so that the rack 104 can be determined to move towards the slide rail 102 to the predetermined position, and the control assembly 128 can control the second piston 122 to move from the fourth position to the third position according to the third operating parameter, that is, the slide rail 102 is driven to move along the length direction of the rack 104 by the second oil cylinder assembly 118 after the rack 104 is lowered to the predetermined position, so that the self-moving tail 100 can move step by step, and thus the rack 104 can always move on the slide rail 102. Therefore, through the second sensor assembly 130, the position of the extension or retraction of the second oil cylinder assembly 118 can be fed back in real time, so that the movement of the first oil cylinder assembly 106 and the second oil cylinder assembly 118 can be detected, and the accuracy of detecting whether the first oil cylinder assembly 106 and the second oil cylinder assembly 118 move to the predetermined position can be improved.

[0052] Specifically, the second sensor assembly 130 is a second displacement sensor.

[0053] The self-moving tail 100 provided in the embodiment further comprises the following technical features in addition to the technical features of the above-mentioned embodiments.

[0054] As shown in FIGS. 1 and 5, the self-moving tail 100 further comprises a first valve assembly 132, and the first oil cylinder assembly 106 further comprises a first pipeline 112 and a second pipeline 114. One end of the first pipeline 112 is connected with the first valve assembly 132, and the other end of the first pipeline 112 is connected with the first oil cylinder assembly 106. One end of the second pipeline 114 is connected with the first valve assembly 132, and the other end of the second pipeline 114 is connected with the first oil cylinder assembly 106. The first hydraulic oil can flow between the first pipeline 112 and the second pipeline 114, the first valve assembly 132 can change the flow direction of the first hydraulic oil, and the first sensor assembly 116 is arranged on the first pipeline 112 or the second pipeline 114.

[0055] In this embodiment, the self-moving tail 100 further comprises a first valve assembly 132; the first oil cylinder assembly 106 further comprises a first pipeline 112 and a second pipeline 114. One end of the first pipeline 112 is connected with the first valve assembly 132, and the other end of the first pipeline 112 is connected with the first oil cylinder assembly 106 to realize the installation and fixation of the first pipeline 112. One end of the second pipeline 114 is connected with the first valve assembly 132, and the other end of the second pipeline 114 is connected with the first oil cylinder assembly 106 to realize the installation and fixation of the second pipeline 114. The first hydraulic oil can flow between the first pipeline 112 and the second pipeline 114, and when the first hydraulic oil flows, the first oil cylinder assembly 106 can be driven, so that the first piston 110 can move between the first position and the second position, thereby driving the rack 104 to approach or move away from the slide rail 102. The first valve assembly 132 can change the flow direction of the first hydraulic oil, and when the first hydraulic oil flows in different directions, the first piston 110 can be driven to move in different directions to realize the extension or retraction of the piston relative to the first cylinder body 108. The first sensor assembly 116 is arranged in the first pipeline 112 or the second pipeline 114, that is, the first sensor assembly 116 can detect the pressure in the first pipeline 112 or the second pipeline 114. Since the first piston 110 extends to a predetermined position or retracts to a predetermined position relative to the first cylinder body 108, the pressure value in the first pipeline 112 or the second pipeline 114 will reach a predetermined value, so that by detecting the pressure in the pipeline, it can be determined whether the first piston 110 moves to a predetermined position.

[0056] Specifically, the first valve assembly 132 comprises a first control valve and a second control valve, the first control valve is connected with the first pipeline 112, and the first control valve can control the on-off of the first pipeline 112. The second control valve is connected with the second pipeline 114, and the second control valve can control the on-off of the second pipeline 114. When the first sensor assembly 116 is a pressure sensor, the pressure at the valve port of the first control valve or the valve port of the second control valve can be detected.

[0057] Specifically, the self-moving tail 100 further comprises a balance valve 138 arranged in the first oil cylinder assembly 106. By arranging the balance valve 138, the position of the first oil cylinder assembly 106 can be locked, so that the first piston 110 will not continue to move after extending to a certain position, preventing the first oil cylinder assembly 106 from losing control due to excessive load, thereby improving the safety of the equipment.

[0058] The self-moving tail 100 provided in this embodiment further comprises the following technical features in addition to the technical features of the above-mentioned embodiments.

[0059] As shown in FIG. 1 and FIG. 5, the self-moving tail 100 further comprises a second valve assembly 134; the second cylinder assembly 118 further comprises a third pipeline 124 and a fourth pipeline 126. One end of the third pipeline 124 is connected with the second valve assembly 134, and the other end of the third pipeline 124 is connected with the second cylinder assembly 118; one end of the fourth pipeline 126 is connected with the second valve assembly 134, and the other end of the fourth pipeline 126 is connected with the second cylinder assembly 118, so that the second hydraulic oil can flow between the third pipeline 124 and the fourth pipeline 126, and the second valve assembly 134 can change the flow direction of the second hydraulic oil.

[0060] In this embodiment, the self-moving tail 100 further comprises a second valve assembly 134; the second cylinder assembly 118 further comprises a third pipeline 124 and a fourth pipeline 126. One end of the third pipeline 124 is connected with the second valve assembly 134, and the other end of the third pipeline 124 is connected with the second cylinder assembly 118 to realize the installation and fixation of the third pipeline 124. One end of the fourth pipeline 126 is connected with the second valve assembly 134, and the other end of the fourth pipeline 126 is connected with the second cylinder assembly 118 to realize the installation and fixation of the fourth pipeline 126, so that the second hydraulic oil can flow between the third pipeline 124 and the fourth pipeline 126, and when the second hydraulic oil flows, the second cylinder assembly 118 can be driven, so that the second piston 122 can move between the third position and the fourth position, thereby making the second cylinder assembly 118 push the rack 104 to move relative to the slide rail 102, or making the second cylinder assembly 118 drive the slide rail 102 to move relative to the rack 104 along the length direction of the rack 104.

[0061] Specifically, the first valve assembly 132 comprises a first control valve and a second control valve, the first control valve is connected with the first pipeline 112, and the first control valve can control the on-off of the first pipeline 112. The second control valve is connected with the second pipeline 114, and the second control valve can control the on-off of the second pipeline 114.

[0062] Specifically, the second valve assembly 134 comprises a third control valve and a fourth control valve, the third control valve is connected with the third pipeline 124, and the third control valve can control the on-off of the third pipeline 124. The fourth control valve is connected with the fourth pipeline 126, and the fourth control valve can control the on-off of the fourth pipeline 126.

[0063] Specifically, the first valve assembly 132 and the second valve assembly 134 are integrated into a multi-way valve, and the self-moving tail 100 further comprises a pressure gauge 136, which is arranged on the multi-way valve, so that the pressure gauge 136 can detect the system working pressure of the self-moving tail 100, thereby facilitating the daily equipment inspection.

[0064] The embodiment provides a self-moving tail 100, and in addition to the technical features of the above embodiment, the embodiment further comprises the following technical features.

[0065] As shown in FIG. 1 and FIG. 5, the number of the first oil cylinder assemblies 106 is two groups, the two groups of first oil cylinder assemblies 106 are arranged on the two sides of the frame 104 along the length direction respectively; the number of the slide rails 102 is two, the two slide rails 102 are arranged correspondingly with the two groups of first oil cylinder assemblies 106 respectively; the number of the second oil cylinder assemblies 118 is two groups, the two groups of second oil cylinder assemblies 118 are arranged correspondingly with the two slide rails 102.

[0066] In the embodiment, the number of the first oil cylinder assemblies 106 is two groups, the two groups of first oil cylinder assemblies 106 are arranged on the two sides of the frame 104 along the length direction respectively, so that the arrangement of the two groups of first oil cylinder assemblies 106 is realized, and the two groups of first oil cylinder assemblies 106 can drive the frame 104 at the same time, the driving efficiency of the frame 104 is improved, and then the movement efficiency of the self-moving tail 100 is improved. The number of the slide rails 102 is two, the two slide rails 102 are arranged correspondingly with the two groups of first oil cylinder assemblies 106 respectively, so that the arrangement of the two slide rails 102 is realized, and the two groups of first oil cylinder assemblies 106 can move on the two slide rails 102. The number of the second oil cylinder assemblies 118 is two groups, the two groups of second oil cylinder assemblies 118 are arranged correspondingly with the two slide rails 102, so that the arrangement of the two groups of second oil cylinder assemblies 118 is realized, and the two groups of second oil cylinder assemblies 118 drive the slide rails 102 or the frame 104, and then the operation efficiency of the self-moving tail 100 is improved.

[0067] Specifically, in FIG. 1, the arrow D represents the length direction of the frame 104.

[0068] Specifically, the number of each group of the first oil cylinder assemblies 106 in the two groups of first oil cylinder assemblies 106 is multiple.

[0069] Specifically, the control module is arranged in the control assembly 128, the control module can receive the signals of the first sensor assembly 116 and the second sensor assembly 130, so as to control the conversion of the flow direction of the first hydraulic oil and the second hydraulic oil.

[0070] Specifically, as shown in FIG. 1 and FIG. 5, the number of each group of the first oil cylinder assemblies 106 in the two groups of first oil cylinder assemblies 106 is nine, the nine first oil cylinder assemblies 106 in one group of first oil cylinder assemblies 106 are connected with one of the two first control valves in a parallel connection mode, and the nine first oil cylinder assemblies 106 in the other group of first oil cylinder assemblies 106 are connected with the other of the two first control valves in a parallel connection mode.

[0071] Specifically, as shown in FIG. 1 and FIG. 5, the number of the first valve assemblies 132 is two, the first cylinder assemblies 106 are lifting cylinders, the second cylinder assemblies 118 are push cylinders, the first sensor assemblies 116 are pressure sensors, and the two first valve assemblies 132 are connected with two groups of the first cylinder assemblies 106 respectively. The two first valve assemblies 132 are provided with two first control valves and two second control valves, the two first control valves include a first control valve A1 and a first control valve A3, the two second control valves include a second control valve B1 and a second control valve B3, the third control valve is A2, and the fourth control valve is B2.

[0072] Specifically, as shown in FIG. 1 and FIG. 5, the control assembly 128 is a remote controller, when the remote controller step-on button is pressed, the two first control valves are opened at the same time, at this time, the multiple lifting cylinders in the two groups of the first cylinder assemblies 106 are lifted at the same time, when the lifting is fully extended to the full stroke, the system pressure is increased, at this time, whether the set pressure signal is reached is detected through the pressure sensor installed on the pipeline connected with the first control valve and the second control valve, when the pressure sensor receives the pressure signal, the third control valve is opened, the push cylinder is extended, the stroke of the push cylinder is detected through the displacement sensor, when it is detected that the push cylinder has been extended to the set stroke, the two second control valves are opened at the same time, at this time, the multiple lifting cylinders are lowered at the same time, when the lifting cylinders are fully retracted, the system pressure is increased, at this time, whether the set pressure signal is reached is detected through the pressure sensor, when the pressure sensor receives the pressure signal, the fourth control valve is opened, the push cylinder is retracted, so that a complete step cycle action is realized. In the process of a complete cycle step, the action can be paused at any time by controlling the de-energization of the electromagnet in the multi-way valve through the control assembly 128.

[0073] Specifically, the control system of one step formed by the self-moving tail 100 of the present application detects whether the lifting cylinders are lifted to the position through the pressure sensor, detects whether the push cylinders are extended to the position through the displacement sensor on the push cylinders, and after receiving the signals of the pressure sensor and the displacement sensor through the electrical control module, opens the first control valve A1 and the first control valve A3, the third control valve A2, the second control valve B1 and the second control valve B3, and the fourth control valve B2 in sequence according to the set program to realize one step cycle.

[0074] Specifically, the self-moving tail 100 of the present application realizes one-key step automation by setting the pressure sensor, the displacement sensor and the electrical program control of the control assembly 128, and the pause in the step process. The self-moving tail 100 can also be set to automatically stop after starting or multiple steps according to specific working conditions. The self-moving tail 100 can be operated by one key during the moving process, which improves the safety and reliability of the self-moving tail 100, reduces the generation of false actions of the first oil cylinder assembly 106 and the second oil cylinder assembly 118, and makes the self-moving tail 100 adapt to the movement in various working conditions.

[0075] Specifically, in FIG. 5, P represents the oil inlet of the multi-way valve, LS represents the load feedback port of the multi-way valve, R represents the oil return port of the multi-way valve, T represents the oil discharge port of the multi-way valve, Z represents the external pilot oil supply of the multi-way valve, a and b represent the working positions of the multi-way valve, M represents the pressure measuring point of the oil inlet of the multi-way valve, 275 bar represents the set pressure of the main overflow valve of the multi-way valve, and 250 bar represents the set pressure of the lift, push and lift secondary overflow of the multi-way valve.

[0076] Specifically, the first valve assembly 132 and the second valve assembly 134 can be controlled by the control assembly 128 through electrical control, or the direction of the oil circuit can be switched by manual operation to realize the extension and retraction of the first oil cylinder assembly 106 and the second oil cylinder assembly 118.

[0077] In an embodiment of the present application, a control method of a self-moving tail is provided, as shown in FIG. 6, the control method of the self-moving tail comprises:

[0078] S202, obtaining a start instruction of the self-moving tail;

[0079] S204, controlling the first piston to move from the first position to the second position according to the start instruction;

[0080] S206, controlling the first sensor assembly to obtain the first running parameter of the first piston when the first piston moves to the second position;

[0081] S208, controlling the control assembly to control the second piston to move from the third position to the fourth position according to the first running parameter.

[0082] In the embodiment, the starting instruction of the self-moving tail is acquired, so that the self-moving tail can be activated and in a working state. According to the starting instruction, the first piston is controlled to move from the first position to the second position, so that the first piston can move from the retracted position to the position fully extended from the first cylinder body, and then the first oil cylinder assembly can drive the rack to move away from the slide rail to lift the position of the rack. In the case that the first piston moves to the second position, the first sensor assembly is controlled to acquire the first running parameter of the first piston, and after the rack is lifted, the position of the rack is acquired, so that it can be confirmed that the first piston is extended to the full stroke position, that is, it can be confirmed that the rack is lifted to the predetermined position. According to the first running parameter, the control assembly controls the second piston to move from the third position to the fourth position, and after the rack is lifted to the predetermined position, the second piston is controlled to move, so that the second piston can drive the slide rail to move relative to the rack, so that the slide rail can provide a stable movement path for the rack, so that the rack can always move along the predetermined direction on the slide rail, and the second oil cylinder assembly pushes the slide rail to move in a manner that the self-moving tail can quickly and accurately move forward to meet the advancing demand of the working face. The first running parameter of the first piston moving from the first position to the second position is detected, so that it can be confirmed whether the first piston is extended to the full stroke, so as to determine that the first oil cylinder assembly lifts the rack to the predetermined position, and then the second piston is controlled to move from the third position to the fourth position, so that the second oil cylinder assembly can push the rack to move relative to the slide rail to realize the movement of the self-moving tail. Therefore, by detecting the movement stroke of the first oil cylinder assembly and then controlling the movement of the second oil cylinder assembly, the first oil cylinder assembly can be accurately determined to drive the rack to move to the predetermined position, and then the slide rail is controlled to move, so that the operation of the self-moving tail can be avoided. The safety of the operation of the self-moving tail is improved.

[0083] In one embodiment of the present application, as shown in FIG. 7, the control method of the self-moving tail further comprises:

[0084] S302, acquiring a starting instruction of the self-moving tail;

[0085] S304, according to the starting instruction, controlling the first piston to move from the first position to the second position;

[0086] S306, in the case that the first piston moves to the second position, controlling the first sensor assembly to acquire the first running parameter of the first piston;

[0087] S308, according to the first running parameter, the control assembly controls the second piston to move from the third position to the fourth position;

[0088] S310, in the case that the second piston moves to the fourth position, the control unit controls the second sensor assembly to obtain a second operating parameter of the second piston;

[0089] S312, the control unit controls the first piston to move from the second position to the first position according to the second operating parameter;

[0090] S314, in the case that the first piston moves to the first position, the control unit controls the first sensor assembly to obtain a third operating parameter of the first piston;

[0091] S316, the control unit controls the second piston to move from the fourth position to the third position according to the third operating parameter.

[0092] In the embodiment, in the case that the second cylinder assembly drives the frame to move on the slide rail by a predetermined distance through the second piston, the control unit controls the second sensor assembly to obtain a second operating parameter of the second piston in the case that the second piston moves to the fourth position, so that the extension stroke of the second piston can be detected, and it can be determined that the second cylinder assembly extends to the predetermined position. The control unit controls the first piston to move from the second position to the first position according to the second operating parameter, so that the first cylinder assembly can drive the frame to move towards the slide rail after the second cylinder assembly extends to the predetermined position, so that the position of the frame can be lowered. In the case that the first piston moves to the first position, the control unit controls the first sensor assembly to obtain a third operating parameter of the first piston, so that it can be determined whether the first piston moves to the retracted position, and it can be determined whether the frame is lowered to the predetermined position. The control unit controls the second piston to move from the fourth position to the third position according to the third operating parameter, so that the slide rail can move relative to the frame along the length direction of the frame to realize the step-by-step movement of the self-moving tail in the case that the frame is lowered to the predetermined position, and the second piston is controlled to move, so that the frame can always move on the slide rail.

[0093] In an embodiment of the present application, optionally, the control unit controls the first sensor assembly to obtain a first operating parameter of the first piston, including: controlling the first sensor assembly to detect the distance of the movement of the first piston, or controlling the first sensor assembly to detect the pressure in the first pipeline or the second pipeline.

[0094] In this embodiment, the control of the first sensor assembly to detect the distance of the first piston movement can be achieved by using the detection of the first piston movement distance by the first sensor assembly to realize the detection of the first operating parameter, so that the distance of the first piston movement can be used to determine whether the first piston extends to the predetermined position. The control of the first sensor assembly to detect the pressure in the first pipeline or the second pipeline, i.e. the first sensor assembly is a pressure sensor, since the first piston of the first cylinder assembly is driven by using the first hydraulic oil flowing in the first pipeline and the second pipeline, so that the detection of the pressure in the first pipeline or the second pipeline can determine whether the first piston moves to the predetermined position, thereby realizing the detection of whether the first piston moves to the second position.

[0095] As shown in FIG. 8, in one embodiment of the present application, a self-moving tail control device 400 is provided, which comprises a memory 410 and a processor 420, the memory 410 stores programs or instructions executable on the processor 420, and the programs or instructions are executed by the processor 420 to realize the steps of the self-moving tail control method in any of the above embodiments. Therefore, the self-moving tail control device has all the beneficial effects of the self-moving tail control method, which will not be repeated here.

[0096] In one embodiment of the present application, a readable storage medium is provided, which stores programs or instructions executable by a processor to realize the steps of the tail moving control method in any of the above embodiments. Therefore, the readable storage medium has all the beneficial effects of the tail moving control method, which will not be repeated here.

[0097] In the claims, the specification, and the drawings of the present application, the term "a plurality of" refers to two or more, unless otherwise specifically limited, and the terms "upper", "lower", and the like refer to the orientation or position relationship shown in the drawings, which are only used for more convenient description of the present application and make the description process more simple, and are not intended to indicate or imply that the device or element must have the described specific orientation, be constructed and operated in a specific orientation, therefore these descriptions cannot be understood as a limitation of the present application; the terms "connection", "installation", "fixation" and the like should be understood in a broad sense, for example, "connection" can be a fixed connection between objects, or a detachable connection between objects, or an integral connection; can be a direct connection between objects, or an indirect connection between objects through an intermediate medium. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances of the above data.

[0098] In the claims, specification, and drawings of this application, terms have their plain, ordinary meaning unless otherwise indicated by the context of their use. The terms "comprise", "comprising", "include", "including", "have" and "having" are used interchangeably and mean "including but not limited to". It is further noted that the claims can be drafted to exclude any optional element. As such, these terms are to be read to disclaim any possibility of interpretation of the application in contravention to that set out in the specification and claims.

[0099] The foregoing is merely illustrative of the principles of this application and various modifications can be made by those skilled in the art without departing from the scope and spirit of the application. Any further modifications, changes, improvements, and equivalents that fall within the spirit and scope of the application should be considered.

Claims

1. A self-propelled tail, characterized in that, The application relates to a hydraulic cylinder device, comprising: a slide rail; a frame located on one side of the slide rail and capable of moving relative to the slide rail; a first cylinder assembly comprising a first cylinder body and a first piston, the first cylinder body being connected with the frame, at least part of the first piston being located in the first cylinder body, one end of the first piston away from the frame abutting against the slide rail, the first piston being capable of moving relative to the first cylinder body between a first position and a second position; a first sensor assembly arranged on the first cylinder assembly and capable of detecting a first operating parameter when the first piston moves from the first position to the second position; a second cylinder assembly comprising a second cylinder body and a second piston, the second cylinder body being connected with the frame, at least part of the second piston being located in the second cylinder body, one end of the second piston away from the frame being connected with the slide rail, the second piston being capable of moving relative to the second cylinder body between a third position and a fourth position; a control assembly arranged on the frame and capable of controlling the second piston to move from the third position to the fourth position according to the first operating parameter.

2. The self-propelled trailing machine of claim 1, wherein, Further comprising: a second sensor assembly arranged on the second cylinder assembly and capable of detecting a second operating parameter when the second piston moves from the third position to the fourth position, the control assembly being capable of controlling the first piston to move from the second position to the first position according to the second operating parameter; the first sensor assembly is also capable of detecting a third operating parameter when the first piston moves from the second position to the first position, and the control assembly is capable of controlling the second piston to move from the fourth position to the third position according to the third operating parameter.

3. The self-propelled trailing machine of claim 1, wherein, Further comprising: a first valve assembly; the first cylinder assembly further comprises a first pipeline and a second pipeline, one end of the first pipeline being connected with the first valve assembly, the other end of the first pipeline being connected with the first cylinder assembly; one end of the second pipeline being connected with the first valve assembly, the other end of the second pipeline being connected with the first cylinder assembly, first hydraulic oil being capable of flowing between the first pipeline and the second pipeline, the first valve assembly being capable of changing the flow direction of the first hydraulic oil, and the first sensor assembly being arranged on the first pipeline or the second pipeline.

4. The self-propelled trailing machine of claim 1, wherein, Further comprising: a second valve assembly; the second cylinder assembly further comprises a third pipeline and a fourth pipeline, one end of the third pipeline being connected with the second valve assembly, the other end of the third pipeline being connected with the second cylinder assembly; one end of the fourth pipeline being connected with the second valve assembly, the other end of the fourth pipeline being connected with the second cylinder assembly, second hydraulic oil being capable of flowing between the third pipeline and the fourth pipeline, and the second valve assembly being capable of changing the flow direction of the second hydraulic oil.

5. A self-propelled trailing machine according to any one of claims 1 to 4, characterized in that The number of the first cylinder assemblies is two, and the two first cylinder assemblies are arranged on the two sides of the frame along the length direction respectively. The number of the slide rails is two, and the two slide rails are respectively arranged in correspondence with the two groups of the first oil cylinder assemblies; The number of the second oil cylinder assemblies is two groups, and the two groups of the second oil cylinder assemblies are arranged in correspondence with the two slide rails.

6. A method of controlling a self-propelled tail, characterized by The method comprises the following steps: An activation instruction of the self-moving tail is acquired; According to the activation instruction, the first piston is controlled to move from a first position to a second position; When the first piston moves to the second position, a first sensor assembly is controlled to acquire a first running parameter of the first piston; According to the first running parameter, the control assembly controls a second piston to move from a third position to a fourth position.

7. The control method of the self-propelled trailing machine according to claim 6, characterized by, After the control assembly controls the second piston to move from the third position to the fourth position according to the first running parameter, the control method of the self-moving tail further comprises the following steps: When the second piston moves to the fourth position, a second sensor assembly is controlled to acquire a second running parameter of the second piston; According to the second running parameter, the control assembly controls the first piston to move from the second position to the first position; When the first piston moves to the first position, the first sensor assembly is controlled to acquire a third running parameter of the first piston; According to the third running parameter, the control assembly controls the second piston to move from the fourth position to the third position.

8. The control method of the self-propelled trailing machine according to claim 6 or 7, characterized in that, The control of the first sensor assembly to acquire the first running parameter of the first piston comprises the following steps: The first sensor assembly is controlled to detect the moving distance of the first piston, or the first sensor assembly is controlled to detect the pressure in the first pipeline or the second pipeline.

9. A control device for a self-propelled tail, characterized in that The device comprises a memory and a processor, the memory stores programs or instructions executable on the processor, and the programs or the instructions are executed by the processor to realize the steps of the control method of the self-moving tail according to any one of claims 6 to 8.

10. A readable storage medium, on which a program or instructions are stored, characterized in that, The programs or the instructions are executed by the processor to realize the steps of the control method of the self-moving tail according to any one of claims 6 to 8.

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