CN102815633A - Control device for hydraulic winch and engineering machine - Google Patents
Control device for hydraulic winch and engineering machine Download PDFInfo
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- CN102815633A CN102815633A CN2012103222705A CN201210322270A CN102815633A CN 102815633 A CN102815633 A CN 102815633A CN 2012103222705 A CN2012103222705 A CN 2012103222705A CN 201210322270 A CN201210322270 A CN 201210322270A CN 102815633 A CN102815633 A CN 102815633A
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Abstract
The invention provides a control device for a hydraulic winch and an engineering machine. The control device comprises a motor, a back pressure valve and a flow regulation valve, wherein the motor is connected with the hydraulic winch, and comprises a loading cavity and a descending cavity; and the loading cavity is connected with the back pressure valve, the flow regulation valve and an oil tank sequentially. According to the control device, the flow regulation valve is used for regulating the flow of hydraulic oil discharged from the loading cavity of the motor, so that the control on a descending speed is realized, the speed of slow descending is controlled stably, and the control is more stable and reliable.
Description
Technical field
The present invention relates to Hydraulic Field, more specifically, relate to a kind of control setup and construction machinery and equipment of hydraulic wireline winch.
Background technology
Vertical earthwork evacuation construction (for example creep into downwards, driving etc.) from the face of land need to the speed of creeping into/tunneling, creep into/the headwork device (being load) over the ground the pressure at the end control.When creep into/speed of when the headwork device is suspended in midair by hydraulic wireline winch, creeping into/tunneling, creep into/headwork device over the ground the pressure control at the end can be achieved through the towing tension of putting on rope speed (being descending speed) and the rope of modulated pressure winch.
Fig. 1 shows the hydraulic schematic diagram of the control setup of a kind of hydraulic wireline winch of the prior art.As shown in Figure 1, the reel of hydraulic wireline winch 40 is connected with motor 10 through reductor 110, and motor 10 comprises load cavity 11 and decline chamber 12, and motor 10 is connected with pressure oil-source 140 with change-over valve 130 through load balance valve 120 successively.Wherein, load balance valve 120 comprises valve 121.
When the needs load hoisted, the valve 121 of load balance valve 120 was positioned at left station, and at this moment, change-over valve 130 makes the load cavity of the pressure oil of pressure oil-source 140 outputs through the check valve inflow motor 10 of valve 121 left stations, thus the function that realization hoists.When the needs dropping of load, the valve 121 of load balance valve 120 is positioned at right working position, and at this moment, change-over valve 130 makes the pressure oil of pressure oil-source 140 outputs get into the decline chamber 12 of motor 10, and simultaneously, the valve 121 of load balance valve 120 is operated in right working position.At this moment, valve 121 is in throttle, makes the high pressure oil from load cavity 11 obtain discharging.If the excessive velocities that descends so that the traffic demand of motor 10 have surpassed the delivery quality in decline chamber 12; Chamber 12 descend so by the suction sky; So the valve 121 of load balance valve 120 becomes left station by right working position under the effect of spring; With the release rate of the high pressure oil that reduces load cavity 11, thereby realize descending speed and the coupling of supply flow rate and the force balance of load.That is to say, hydraulic wireline winch of the prior art put at a slow speed that rope is to realize through the hydraulic fluid flow rate that reduces to offer motor.
Because the velocity magnitude of putting rope is to realize through the hydraulic fluid flow rate of adjustment supply motor, only offer that the hydraulic fluid flow rate of motor itself is stable could to guarantee to put stablizing of rope speed.Yet, in the prior art to the control of hydraulic fluid flow rate generally through the cooperate realization of oil pump with valve, the stability of its flow is not high.The HM Hydraulic Motor of hydraulic wireline winch of the prior art and reductor be for realize hoisting fast, the decline design-calculated, when being used for putting rope at a slow speed, the rotating speed of motor is extremely slow, rotating speed is difficult to stable control.The stable local close-loop feedback control of also passing through the load balance valve of especially, putting rope speed realizes.When putting rope at a slow speed, the performance extreme difference of local close-loop feedback control is easy to generate the control shake, thus the stability that rope speed is put in influence.
Further, creep into/the size adjustment function of the power of contacting to earth of headwork device and prevent that rope on the hydraulic wireline winch from crossing playing function is to realize through the warp of hydraulic wireline winch.Adopt to the decline chamber operation mode of fuel feeding initiatively owing to putting rope, therefore, HM Hydraulic Motor is transferred when switching to warp by forward, needs complicated electric, hydraulic structure to realize.
Summary of the invention
The present invention aims to provide a kind of control setup and rig of hydraulic wireline winch, speed problem of unstable when putting rope to solve at a slow speed in the prior art.
For solving the problems of the technologies described above, according to a first aspect of the invention, a kind of control setup of hydraulic wireline winch is provided, control setup comprises motor, back pressure valve and flow control valve; Motor is connected with hydraulic wireline winch, and motor comprises load cavity and decline chamber; Load cavity is connected with back pressure valve, flow control valve and fuel tank successively.
Further, control setup also comprises the first repairing portion, and the first repairing portion comprises pressure source and check valve, and pressure source is connected with load cavity through check valve.
Further, pressure source is oil pump or energy storage.
Further, the first repairing portion also comprises first by pass valve that is used to set oil compensation pressure.
Further, control setup also comprises and decline chamber bonded assembly prevents inhaling empty feed circuit, and the empty feed circuit of anti-suction comprises second by pass valve that is used to set the empty oil compensation pressure of anti-suction.
Further, control setup also comprises controller, is connected with flow control valve with back pressure valve, is used to control the back pressure of back pressure valve and the aperture of flow control valve.
Further; Control setup also comprises the drg that is used for the modulated pressure winch; Control setup also comprises the brake releasing unit that is used for the control brake device; The brake releasing unit comprises the reducing valve and first change-over valve, and load cavity is connected with drg with first change-over valve through reducing valve successively, and control setup also comprises the pressure detecting element of the pressure that is used to detect load cavity; Pressure detecting element is connected with controller, and controller is according to the switching-over of detected pressure control first change-over valve of pressure detecting element.
Further, the brake releasing unit also comprises second change-over valve, and reducing valve is connected with first change-over valve through second change-over valve.
Further, flow control valve is flow regulating valve, flow valve or load balance valve.
Further, back pressure valve is by pass valve or sequence valve.
Further, back pressure valve is a leak by pass valve or be the internal control sequence valve that leaks of internal control.
According to a second aspect of the invention, a kind of construction machinery and equipment is provided, has comprised hydraulic wireline winch, drilling tool and be used for the control setup of modulated pressure winch, drilling tool is connected with hydraulic wireline winch, and this control setup is above-mentioned control setup.
Further; The motor of control setup is connected with hydraulic wireline winch through reductor; Reductor is the dual input reductor, and an end of dual input reductor is connected with the motor of control setup, and the other end is connected with pressure oil-source through another motor, load balance valve, change-over valve successively.
Further, construction machinery and equipment is rig or slotter.
Control setup among the present invention comes the flow of the hydraulic oil that the load cavity of governor motor discharges through its flow control valve, thereby has realized the control to descending speed, makes the speed that descends at a slow speed obtain stable control, and is stable more, reliable in control.
Description of drawings
The accompanying drawing that constitutes the application's a part is used to provide further understanding of the present invention, and illustrative examples of the present invention and explanation thereof are used to explain the present invention, do not constitute improper qualification of the present invention.In the accompanying drawings:
Fig. 1 has schematically shown the hydraulic schematic diagram of the control setup of a kind of hydraulic wireline winch of the prior art;
Fig. 2 has schematically shown the hydraulic schematic diagram of the control setup among the embodiment among the present invention; And
Fig. 3 has schematically shown the hydraulic schematic diagram of the control setup among another embodiment among the present invention.
Reference numeral among the figure: 10, motor; 10, motor '; 11, load cavity; 11 ', load cavity; 12, decline chamber; 12 ', decline chamber; 20, back pressure valve; 30, flow control valve; 40, hydraulic wireline winch; 50, fuel tank; 60, the first repairing portion; 61, pressure source; 62, check valve; 63, first by pass valve; 70, the empty feed circuit of anti-suction; 71, second by pass valve; 80, controller; 90, drg; 101, reducing valve; 102, first change-over valve; 103, pressure detecting element; 104, second change-over valve; 110, reductor; 120, load balance valve; 121, valve; 130, change-over valve; 140, pressure oil-source.
The specific embodiment
Below in conjunction with accompanying drawing embodiments of the invention are elaborated, but the multitude of different ways that the present invention can be defined by the claims and cover is implemented.
As first aspect of the present invention, a kind of control setup of hydraulic wireline winch is provided.As shown in Figures 2 and 3, this control setup comprises motor 10, back pressure valve 20 and flow control valve 30; Motor 10 is connected with hydraulic wireline winch 40, and motor 10 comprises load cavity 11 and decline chamber 12; Load cavity 11 is connected with back pressure valve 20, flow control valve 30 and fuel tank 50 successively.Preferably, motor 10 is connected with the reel of hydraulic wireline winch 40 through reductor 110, therefore, in the occasion that needs descend at a slow speed, uses the big more reductor of reduction ratio, and easier realization descends at a slow speed.
The reel that motor 10 drives hydraulic wireline winchs 40 rotates, thereby load equipments such as (for example) drilling tools is promoted or descends.Especially, realize putting at a slow speed rope, when putting rope at a slow speed, have stable speed, and control corresponding is to the towing tension size of load, with the size of the power of contacting to earth of control load with control load through speed control to the reel of hydraulic wireline winch 40.
Please combine Fig. 2 and Fig. 3, because back pressure valve 20 is connected in series with the load cavity 11 of flow control valve 30 with motor 10, the hydraulic oil that flows out by load cavity 11 flow through successively back pressure valve 20 and flow control valve 30, and then flow back to fuel tank 50.During this period, the potential energy that dropping of load discharged also is converted into heat energy by back pressure valve 20 and flow control valve 30 simultaneously.
Wherein, (with equipments such as drilling tools is example to towing tension size suffered when back pressure valve 20 can be used for setting dropping of load; Can realize control to the power of contacting to earth of equipment), preferably, back pressure valve 20 is by pass valve or sequence valve; Further, back pressure valve 20 is leak by pass valve or be the internal control sequence valve that leaks of internal control.Adopt the back pressure valve of these forms, can make the pressure oil that flows out by load cavity 11, prevent that back pressure valve from producing interference to the flow control valve 30 in its downstream hardly interruptedly through back pressure valve.Like this, creep into/size adjustment of the power of contacting to earth of headwork device just can realize through back pressure valve 20, realize through the warp of hydraulic wireline winch need not resembling in the prior art, do not need complicated electric, hydraulic structure.
Like this, have only when the pressure of the load cavity 11 of motor 10 reaches the setting value of back pressure valve 20, the pressure oil of load cavity 11 just allows to flow to flow control valve 30 through back pressure valve 20.When pressure oil was flowed through flow control valve 30, flow was bigger, resistance is big more, thereby made the maximum falling speed of load obtain restriction.Preferably, flow control valve 30 can be the proportional flow adjustable valve, so that the descending speed of load obtains controlling more accurately.
It is thus clear that, because back pressure valve 20 in series is provided with flow control valve 30 successively, at first guaranteed the pressure of the load cavity of motor 10, just guaranteed to act on the towing tension on the rope.Because the squareness that towing tension is assurance creeps into/tunnel, the cutter on the protection equipment, the key parameter of transmission gearbox; Therefore; Effective control to towing tension can improve the squareness of creeping into/tunneling, the cutter on the prolongation equipment and the service life of transmission gearbox.
Control setup among the present invention comes the flow of the hydraulic oil that the load cavity 11 of governor motor 10 discharged through its flow control valve 30; Thereby realized control to descending speed; Make the speed that descends at a slow speed obtain stable control, stable more, reliable in control.
In order to prevent internal leakage, control setup comprises that also 60, the first repairing portions 60 of the first repairing portion comprise pressure source 61 and check valve 62, and pressure source 61 is connected with load cavity 11 through check valve 62.Like this, when internal leakage has taken place, can replenish hydraulic oil through check valve 62 to load cavity 11 through pressure source 61.Preferably, pressure source 61 is oil pump or energy storage, and certainly, pressure source 61 also can be the pressure source of other form.
Especially, the first repairing portion 60 also comprises first by pass valve 63 that is used to set oil compensation pressure, and preferably, first by pass valve 63 is vent relief valves.Check valve 62 can prevent that the pressure oil of load cavity 11 from leaking through first by pass valve 63.Preferably, the setting pressure of first by pass valve 63 equates with the setting pressure of back pressure valve 20 or is close.Owing to adopted first by pass valve 63, when adopting oil pump etc., can prevent that benefit is gone into too high pressure oil to load cavity 11 in as pressure source 61.When adopting energy storage, can not need use first by pass valve 63 as pressure source 61.
In order to inhale sky in the decline chamber 12 that prevents motor 10, control setup comprises also and the empty feed circuit 70 of the anti-suction of decline chamber 12 bonded assemblys that for example, preventing inhaling empty feed circuit 70 can be connected with any pressure oil-source.Preferably, the empty feed circuit 70 of anti-suction comprises second by pass valve 71 that is used to set the empty oil compensation pressure of anti-suction, to prevent to mend the hydraulic oil into hypertonia.
Please refer to Fig. 2 and Fig. 3, preferably, control setup also comprises controller 80, is connected with flow control valve 30 with back pressure valve 20, is used to control the back pressure of back pressure valve 20 and the aperture of flow control valve 30.Can set and adjust the pressure set points of back pressure valve 20 through controller 80, to realize adjusting to towing tension; The aperture that simultaneously can also regulate flow control valve 30 is to realize the adjusting to descending speed.Preferably, back pressure valve is electricity liquid ratio relief valve or electric-hydraulic proportion sequence valve at this moment, further, can be the leak electricity liquid ratio relief valve or the electric-hydraulic proportion sequence valve of formula of internal control.Preferably, flow control valve 30 can be electro-hydraulic proportional flow valve.For example; Operating personal can be regulated the size of back pressure and the speed of decline according to the situation on stratum; For example, need bigger back pressure when the stratum is softer, can set the pressure set points of back pressure valve 20 and the aperture of flow control valve 30 through input media (for example knob etc.).Then, controller 80 obtains the related setting value of operating personal, and the size through pressure detecting element 103 detects back pressure in real time simultaneously.Like this, just can set and adjust the pressure set points of back pressure valve 20 and the aperture of flow control valve 30, so that back pressure reaches predetermined value through pressure detecting element 103 detected pressure feedback values.That is to say, utilize the pressure feedback value of pressure detecting element 103 can realize the closed loop control of towing tension (being back pressure).In addition, the pressure feedback value of pressure detecting element 103 also capable of using is carried out trouble diagnosing.For example, when the booster fault took place, pressure detecting element 103 detected less than pressure all the time, in any case and regulate back pressure valve 20 and flow control valve 30, also can not set up pressure, can judge this moment the booster fault takes place.When the spool of back pressure valve 20 blocks, detect pressure through pressure detecting element 103 and raise, in any case but regulate back pressure valve 20, pressure is reduced, can judge back pressure valve 20 et out of orders this moment.
In one embodiment; As shown in Figures 2 and 3; Control setup also comprises the drg 90 that is used for modulated pressure winch 40, and control setup also comprises the brake releasing unit that is used for control brake device 90, and the brake releasing unit comprises the reducing valve 101 and first change-over valve 102; Load cavity 11 is connected with drg 90 with first change-over valve 102 through reducing valve 101 successively; Control setup also comprises the pressure detecting element 103 of the pressure that is used to detect load cavity 11, and pressure detecting element 103 is connected with controller 80, and controller 80 is according to the switching-over of pressure detecting element 103 detected pressure control first change-over valves 102.Like this; Pressure detecting element 103 capable of using detects the pressure of load cavity 11, as long as after the pressure of load cavity 11 reaches predetermined value, controller 80 (for example just can be controlled 102 switching-overs of first change-over valve; First change-over valve 102 is positioned at right working position); Pressure oil control brake releasing unit to be used to think highly of oneself to carry chamber 11 allows reel to begin to rotate, and prevents under the situation of build-up pressure not, just to start reel.
Preferably, the brake releasing unit also comprises second change-over valve 104, and reducing valve 101 is connected with first change-over valve 102 through second change-over valve 104.Second change-over valve 104 commutates under by the pressure oil effect of reducing valve 101 outputs, has played the effect of time-delay.Like this; At load cavity 11 under the situation of build-up pressure; Can be again through the time-delay of second change-over valve 104, thereby guaranteed that further the brake releasing unit allows the reel rotation on correct opportunity (promptly the situation of build-up pressure under) fully, has improved the reliability of system.
In the embodiment shown in fig. 3, reductor 110 can adopt the reductor of dual input.This reductor has two kinds of reduction ratios and two motor incoming ends, and one of them motor incoming end can be used for hoisting fast and descending, and another motor incoming end can be used for hoisting at a slow speed and descending.Especially, at one time, only allow to use one of them motor, the drg of an end of the motor that is not used must braking reliability.Because therefore the function that the The whole control device possesses simultaneously at a slow speed and descends fast, can be selected to use different speed according to different working conditions, has both improved work efficiency, the stability when having guaranteed microinching again.
As shown in Figure 3, the reel of hydraulic wireline winch 40 is connected with 10 ' with two motors 10 through the reductor 110 of dual input.Compare with Fig. 2, Fig. 3 has increased the part on hydraulic wireline winch 40 right sides, with the function that realizes descending fast.Motor 10 ' comprises load cavity 11 ' and decline chamber 12 ', and motor 10 ' is connected with pressure oil-source 140 with change-over valve 130 through load balance valve 120 successively.Wherein, load balance valve 120 comprises valve 121.
When the needs load hoisted, the valve 121 of load balance valve 120 was positioned at left station, and at this moment, change-over valve 130 makes the load cavity 11 ' of the pressure oil of pressure oil-source 140 outputs through the check valve inflow motor 10 of valve 121 left stations, thus the function that realization hoists.When the needs dropping of load, the valve 121 of load balance valve 120 is positioned at right working position, and at this moment, change-over valve 130 makes the pressure oil of pressure oil-source 140 outputs get into the decline chamber 12 ' of motor 10 ', and simultaneously, the valve 121 of load balance valve 120 is operated in right working position.At this moment, valve 121 is in throttle, makes the high pressure oil from load cavity 11 ' obtain discharging.If the excessive velocities that descends so that the traffic demand of motor 10 ' have surpassed the delivery quality in decline chamber; Sky is inhaled in the chamber that descends so; So the valve 121 of load balance valve 120 becomes left station by right working position under the effect of spring; With the release rate of the high pressure oil that reduces load cavity, thereby realize descending speed and the coupling of supply flow rate and the force balance of load.
As second aspect of the present invention, a kind of construction machinery and equipment is provided, comprise hydraulic wireline winch, drilling tool and be used for the control setup of modulated pressure winch, drilling tool is connected with hydraulic wireline winch, and this control setup is above-mentioned control setup.Preferably, this project machinery can be rig or slotter etc.
Preferably, the motor 10 of control setup is connected with hydraulic wireline winch through reductor 110, and reductor 110 is single input reductors, with the function that realizes descending at a slow speed.
The motor 10 of control setup is connected with hydraulic wireline winch through reductor 110; Reductor 110 is dual input reductors; One end of dual input reductor is connected with the motor 10 of control setup, and the other end is connected with pressure oil-source 140 through another motor 10 ', load balance valve 120, change-over valve 130 successively.Like this, just, can realize function quick and that descend at a slow speed simultaneously.
The above is merely the preferred embodiments of the present invention, is not limited to the present invention, and for a person skilled in the art, the present invention can have various changes and variation.All within spirit of the present invention and principle, any modification of being done, be equal to replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (14)
1. the control setup of a hydraulic wireline winch is characterized in that, said control setup comprises motor (10), back pressure valve (20) and flow control valve (30); Said motor (10) is connected with said hydraulic wireline winch (40), and said motor (10) comprises load cavity (11) and decline chamber (12); Said load cavity (11) is connected with said back pressure valve (20), said flow control valve (30) and fuel tank (50) successively.
2. control setup according to claim 1; It is characterized in that; Said control setup also comprises the first repairing portion (60), and the said first repairing portion (60) comprises pressure source (61) and check valve (62), and said pressure source (61) is connected with said load cavity (11) through said check valve (62).
3. control setup according to claim 2 is characterized in that, said pressure source (61) is oil pump or energy storage.
4. control setup according to claim 2 is characterized in that, the said first repairing portion (60) also comprises first by pass valve (63) that is used to set oil compensation pressure.
5. according to each described control setup in the claim 1 to 4; It is characterized in that; Said control setup comprises also and the anti-suction of said decline chamber (12) bonded assembly empty feed circuit (70) that the empty feed circuit of said anti-suction (70) comprises second by pass valve (71) that is used to set the empty oil compensation pressure of anti-suction.
6. according to each described control setup in the claim 1 to 4; It is characterized in that; Said control setup also comprises controller (80), is connected with said flow control valve (30) with said back pressure valve (20), is used to control the back pressure of said back pressure valve (20) and the aperture of said flow control valve (30).
7. control setup according to claim 6; It is characterized in that; Said control setup also comprises the drg (90) that is used to control said hydraulic wireline winch (40); Said control setup also comprises the brake releasing unit that is used to control said drg (90); Said brake releasing unit comprises reducing valve (101) and first change-over valve (102), and said load cavity (11) is connected with said drg (90) with said first change-over valve (102) through said reducing valve (101) successively, and said control setup also comprises the pressure detecting element (103) of the pressure that is used to detect said load cavity (11); Said pressure detecting element (103) is connected with said controller (80), and said controller (80) is according to the switching-over of said pressure detecting element (103) said first change-over valve of detected pressure control (102).
8. control setup according to claim 7 is characterized in that, said brake releasing unit also comprises second change-over valve (104), and said reducing valve (101) is connected with said first change-over valve (102) through said second change-over valve (104).
9. according to each described control setup in the claim 1 to 4, it is characterized in that said flow control valve (30) is flow regulating valve, flow valve or load balance valve.
10. according to each described control setup in the claim 1 to 4, it is characterized in that said back pressure valve (20) is by pass valve or sequence valve.
11., it is characterized in that said back pressure valve (20) is leak by pass valve or be the internal control sequence valve that leaks of internal control according to each described control setup in the claim 1 to 4.
12. a construction machinery and equipment comprises hydraulic wireline winch, drilling tool and be used to control the control setup of said hydraulic wireline winch that said drilling tool is connected with said hydraulic wireline winch, it is characterized in that, said control setup is each described control setup in the claim 1 to 11.
13. construction machinery and equipment according to claim 12; It is characterized in that; The motor of said control setup (10) is connected with said hydraulic wireline winch through reductor (110); Said reductor (110) is the dual input reductor, and an end of said dual input reductor is connected with the motor (10) of said control setup, and the other end is connected with pressure oil-source (140) through another motor (10 '), load balance valve (120), change-over valve (130) successively.
14. construction machinery and equipment according to claim 12 is characterized in that, said construction machinery and equipment is rig or slotter.
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| CN201210322270.5A CN102815633B (en) | 2012-09-03 | 2012-09-03 | Control device for hydraulic winch and engineering machine |
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| CN201210322270.5A CN102815633B (en) | 2012-09-03 | 2012-09-03 | Control device for hydraulic winch and engineering machine |
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| CN103466482A (en) * | 2013-09-22 | 2013-12-25 | 徐州重型机械有限公司 | Crane and hydraulic winch system thereof |
| CN103527536A (en) * | 2013-10-22 | 2014-01-22 | 中联重科股份有限公司 | System and method for hydraulic motor speed regulation and hoisting device |
| CN103613030A (en) * | 2013-11-26 | 2014-03-05 | 中联重科股份有限公司 | Oil supply control method, device and system of hoisting mechanism hydraulic system and crane |
| CN104391516A (en) * | 2014-10-17 | 2015-03-04 | 华中科技大学 | Hydraulic-winch-flexible-traction-based velocity control method and system of underwater motion body |
| CN105443475A (en) * | 2015-12-30 | 2016-03-30 | 中国铁建重工集团有限公司 | Load pressure self-adaptive control hydraulic system, control method and pre-grooving machine |
| CN109231051A (en) * | 2018-09-29 | 2019-01-18 | 武汉船用机械有限责任公司 | Winch shear is self-locking and remote emergency hydraulic system and its operating method for an a kind of high position |
| CN111924739A (en) * | 2020-07-03 | 2020-11-13 | 中国船舶重工集团公司第七0四研究所 | Multifunctional lifting winch for recovery operation of manned submersible |
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| CN103613030B (en) * | 2013-11-26 | 2016-08-24 | 中联重科股份有限公司 | Repairing control method, device, system and the crane of hoisting mechanism hydraulic system |
| CN104391516A (en) * | 2014-10-17 | 2015-03-04 | 华中科技大学 | Hydraulic-winch-flexible-traction-based velocity control method and system of underwater motion body |
| CN104391516B (en) * | 2014-10-17 | 2017-06-20 | 华中科技大学 | The method for control speed and system of the underwater moving body of hydraulic wireline winch flexible drawing |
| CN105443475A (en) * | 2015-12-30 | 2016-03-30 | 中国铁建重工集团有限公司 | Load pressure self-adaptive control hydraulic system, control method and pre-grooving machine |
| CN105443475B (en) * | 2015-12-30 | 2017-10-27 | 中国铁建重工集团有限公司 | Load pressure Self Adaptive Control hydraulic system, control method and pre-cut scouring machine |
| CN109231051A (en) * | 2018-09-29 | 2019-01-18 | 武汉船用机械有限责任公司 | Winch shear is self-locking and remote emergency hydraulic system and its operating method for an a kind of high position |
| CN109231051B (en) * | 2018-09-29 | 2020-06-05 | 武汉船用机械有限责任公司 | Safety self-locking and remote emergency hydraulic system for high-position winch and operation method of safety self-locking and remote emergency hydraulic system |
| CN111924739A (en) * | 2020-07-03 | 2020-11-13 | 中国船舶重工集团公司第七0四研究所 | Multifunctional lifting winch for recovery operation of manned submersible |
| CN111924739B (en) * | 2020-07-03 | 2022-05-27 | 中国船舶重工集团公司第七0四研究所 | Multifunctional lifting winch for recovery operation of manned submersible |
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