CN113753783A - Winch follow-up control method and device and double-wheel slot milling machine - Google Patents
Winch follow-up control method and device and double-wheel slot milling machine Download PDFInfo
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- CN113753783A CN113753783A CN202111060970.7A CN202111060970A CN113753783A CN 113753783 A CN113753783 A CN 113753783A CN 202111060970 A CN202111060970 A CN 202111060970A CN 113753783 A CN113753783 A CN 113753783A
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- winch
- follow
- tension
- unlocking
- pipe
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
- B66D1/28—Other constructional details
- B66D1/40—Control devices
- B66D1/48—Control devices automatic
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
- B66D1/28—Other constructional details
- B66D1/40—Control devices
- B66D1/48—Control devices automatic
- B66D1/50—Control devices automatic for maintaining predetermined rope, cable, or chain tension, e.g. in ropes or cables for towing craft, in chains for anchors; Warping or mooring winch-cable tension control
Abstract
The invention relates to the technical field of engineering machinery, in particular to a winch follow-up control method, a winch follow-up control device and a double-wheel slot milling machine. The winch follow-up control method comprises the steps of unlocking a winch to obtain the base current of a backpressure overflow valve on the winch; measuring a pulling force value of a pipeline assembly connected with the winch; thirdly, obtaining the compensation current of the backpressure overflow valve according to the tension value and the preset tension of the winch; step four, acquiring a sum of the basic current and the compensation current, and applying the sum to the backpressure overflow valve; and step five, circularly executing the step two to the step five to adjust the working tension of the winch in real time according to the real-time tension value of the pipeline assembly. According to the winch follow-up control method provided by the invention, the pulling force value can be directly measured and obtained, calculation is not required to be carried out by combining various parameters, the steps are simple, and the follow-up control precision is higher.
Description
Technical Field
The invention relates to the technical field of engineering machinery, in particular to a winch follow-up control method, a winch follow-up control device and a double-wheel slot milling machine.
Background
The double-wheel slot milling machine is special equipment for underground diaphragm wall construction, and has the advantages of high slot forming construction efficiency, high slot forming precision, regular hole shape, safety, environmental protection, wide range of stratum geology adaptation and the like.
The existing double-wheel slot milling machine generally comprises a slurry pipe winch, a slurry pipe, an oil pipe winch, an oil pipe, a cutter frame, a slurry pipe winch speed reducer and an oil pipe winch speed reducer, wherein two ends of the slurry pipe are respectively connected with the slurry pipe winch and the cutter frame, and two ends of the oil pipe are respectively connected with the oil pipe winch and the cutter frame. In the follow-up control process of the double-wheel slot milling machine, the pulling force values of the output ends of the mud pipe winch speed reducer and the oil pipe winch speed reducer are generally collected, and the pulling force values are calculated and converted into follow-up control pulling force of the double-wheel slot milling machine by combining the speed ratio of the speed reducer, the speed ratio of the gear ring, the winch radius corresponding to the current number of layers of the mud pipe on the winch, the winch radius corresponding to the current number of layers of the oil pipe on the winch, unit weight, hose buoyancy and the like. However, the tension value of the output end of the speed reducer needs to be calculated by combining various parameters, and the error of the calculation result is large, so that the follow-up control precision of the double-wheel slot milling machine is low.
Disclosure of Invention
Therefore, the technical problem to be solved by the invention is to overcome the defect of low follow-up control precision in the prior art, and provide a winch follow-up control method, a control device and a double-wheel slot milling machine with high follow-up control precision.
In order to solve the problems, the invention provides a winch follow-up control method which comprises the steps of unlocking a winch to obtain the basic current of a backpressure overflow valve on the winch; measuring a pulling force value of a pipeline assembly connected with the winch; thirdly, obtaining the compensation current of the backpressure overflow valve according to the tension value and the preset tension of the winch; step four, acquiring a sum of the basic current and the compensation current, and applying the sum to the backpressure overflow valve; and step five, circularly executing the step two to the step five to adjust the working tension of the winch in real time according to the real-time tension value of the pipeline assembly.
According to the winch follow-up control method provided by the invention, one end of the pipeline assembly is connected with the winch, the other end of the pipeline assembly is connected with the tool rest, and the basic current is obtained according to the current depth information of the tool on the tool rest.
The winch follow-up control method provided by the invention comprises a mud pipe winch and an oil pipe winch, wherein a pipeline assembly comprises a mud pipe and an oil pipe, two ends of the mud pipe are respectively connected with the mud pipe winch and one side of a tool rest, and two ends of the oil pipe are respectively connected with the oil pipe winch and the other side of the tool rest; the pulling force value of the mud pipe is the same as that of the oil pipe.
According to the winch follow-up control method, the step of obtaining the compensation current of the backpressure overflow valve comprises the steps of obtaining a difference value between a preset tension force and a tension force value; and calculating the compensation current according to the difference value and a PID (proportion integration differentiation) regulation algorithm.
The winch follow-up control method provided by the invention comprises the following steps of: an unlocking electromagnetic valve of the winch is powered on to be opened, and a push rod of the unlocking oil cylinder is separated from the winch.
The invention also provides a winch follow-up control device, which comprises a winch, a backpressure overflow valve, a pipeline assembly, a tension sensor and a controller, wherein the backpressure overflow valve is connected with a motor of the winch in parallel; the tension sensor is arranged on the pipeline assembly; the controller is in communication connection with the winch, the backpressure overflow valve and the tension sensor respectively, and the controller is used for executing a winch follow-up control method.
The winch follow-up control device further comprises a tool rest, wherein a cutter is arranged on the tool rest, one end, far away from the winch, of the pipeline assembly is connected with the tool rest, and the tension sensor is arranged at the connecting position of the pipeline assembly and the tool rest.
The invention provides a winch follow-up control device, wherein a winch comprises a mud pipe winch and an oil pipe winch; the back pressure overflow valve comprises a first back pressure overflow valve connected with a motor of the mud pipe winch in parallel and a second back pressure overflow valve connected with the motor of the oil pipe winch in parallel; the pipeline assembly comprises a mud pipe and an oil pipe, and two ends of the mud pipe are respectively connected with one side of the mud pipe winch and one side of the tool rest; two ends of the oil pipe are respectively connected with the oil pipe winch and the other side of the tool rest; the tension sensor comprises a first sensor arranged at the joint of the mud pipe and the tool rest and at least one second sensor arranged at the joint of the oil pipe and the tool rest.
The winch follow-up control device further comprises an unlocking oil cylinder and an unlocking electromagnetic valve; the unlocking oil cylinder comprises a cylinder body and a push rod, one end of the push rod is arranged in the cylinder body, the other end of the push rod extends out of the cylinder body, and the push rod is provided with a closing position abutted against the winch and an unlocking position separated from the winch; the unlocking electromagnetic valve is communicated with the unlocking oil cylinder and is suitable for controlling the push rod to move.
The invention also provides a double-wheel slot milling machine which comprises the winch follow-up control device.
The invention has the following advantages:
1. the winch follow-up control method provided by the invention comprises the steps of unlocking a winch to obtain the basic current of a backpressure overflow valve on the winch; measuring a pulling force value of a pipeline assembly connected with the winch; thirdly, obtaining the compensation current of the backpressure overflow valve according to the tension value and the preset tension of the winch; step four, acquiring a sum of the basic current and the compensation current, and applying the sum to the backpressure overflow valve;
and step five, circularly executing the step two to the step five to adjust the working tension of the winch in real time according to the real-time tension value of the pipeline assembly.
The pull force value can directly represent the real-time tensile force received by the pipeline assembly, the compensation current is obtained in real time through the comparison between the pull force value obtained in real time and the preset tensile force, the sum of the basic current and the compensation current acts on the backpressure overflow valve, the working tensile force of the winch is adjusted in real time through the backpressure overflow valve, so that the error between the working tensile force of the winch and the preset tensile force is kept in a constant range in real time, the winch is enabled to reach and keep in a follow-up state, the pipeline assembly is not damaged by excessive tensile force, and the pipeline assembly can be pulled up by the tensile force provided by the winch. The tension value can be directly measured and obtained, calculation is not needed by combining various parameters, the steps are simple, and the follow-up control precision is high.
2. According to the winch follow-up control method provided by the invention, one end of the pipeline assembly is connected with the winch, the other end of the pipeline assembly is connected with the tool rest, and the basic current is obtained according to the current depth information of the tool on the tool rest.
The current depth information of the cutter is the depth of the cutter penetrating into the slurry when the cutter is started to work, buoyancy information, gravity information and the like borne by the winch can be obtained according to the depth information, the basic current obtained according to the information is more suitable for the previous actual information, and the method is suitable for winch follow-up control when the cutter is restarted in the slurry.
3. The winch follow-up control method provided by the invention comprises a mud pipe winch and an oil pipe winch, wherein a pipeline assembly comprises a mud pipe and an oil pipe, two ends of the mud pipe are respectively connected with the mud pipe winch and one side of a tool rest, and two ends of the oil pipe are respectively connected with the oil pipe winch and the other side of the tool rest; the pulling force value of the mud pipe is the same as that of the oil pipe. The tension on the two sides of the knife rest is balanced, the knife rest is prevented from inclining, and the knife rest is prevented from being stressed unevenly.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 shows a flow chart of a winch follow-up control method of the present invention;
FIG. 2 shows a partial schematic view of the winch follower control of the present invention;
FIG. 3 shows a schematic diagram of the electrical hardware connections of the winch follower control of the present invention;
FIG. 4 shows a hydraulic control schematic of the mud tube winch of the present invention;
FIG. 5 shows a hydraulic control schematic of the tubing winch of the present invention.
Description of reference numerals:
1. a mud pipe; 2. a first sensor; 3. an oil pipe; 4. a second sensor; 5. a tool holder; 6. a controller; 7. a first back pressure relief valve; 8. a second back pressure relief valve; 9. a mud pipe winch; 10. an oil pipe winch; 11. a motor; 12. a first unlocking solenoid valve; 13. a second unlocking solenoid valve; 14. a follow-up switch; 15. a first unlocking cylinder; 16. and the second unlocking oil cylinder.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In addition, the technical features involved in the different embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
As shown in fig. 1 to 5, the present embodiment provides a winch servo control device, which includes a winch, a back pressure relief valve, a pipeline assembly, a tension sensor and a controller 6, wherein the back pressure relief valve is connected in parallel with a motor 11 of the winch; the tension sensor is arranged on the pipeline assembly; the controller 6 is in communication connection with the winch, the backpressure overflow valve and the tension sensor respectively, and the controller 6 is used for executing a winch follow-up control method.
The tension sensor is arranged on the pipeline assembly, the tension of the pipeline assembly is directly measured, the measurement result does not need to be calculated with other parameters, and the measurement result is accurate. As shown in fig. 4 and 5, the back pressure relief valve is connected in parallel with the motor 11 of the winch, the voltage of the back pressure relief valve is the same as that of the motor 11, the working current of the back pressure relief valve is changed, and therefore the working voltage of the back pressure relief valve and the motor 11 is changed, and the change of the working voltage of the motor 11 can change the torque of the motor 11, and therefore the working tension of the winch. The communication connection in this embodiment includes wired connection through conductive structures such as wires, and wireless connection through networks such as 2G, 3G, 4G, and WIFI.
As shown in fig. 3, in this embodiment, the winch follow-up control device further includes a follow-up switch 14, the controller 6 is connected to the follow-up switch 14 in a communication manner, and the controller 6 starts to execute the winch follow-up control method after receiving an on signal of the follow-up switch 14.
At present, in the servo control process of the existing double-wheel slot milling machine, the pulling force values of the output ends of a mud pipe winch 9 speed reducer and an oil pipe winch 10 speed reducer are generally collected, and the pulling force values are calculated and converted into the servo control pulling force of the double-wheel slot milling machine by combining the speed ratio of the speed reducers, the speed ratio of gear rings, the corresponding radiuses of a mud pipe 1 and an oil pipe 3, the unit weight, the buoyancy of a hose and the like. However, the tension value of the output end of the speed reducer needs to be calculated by combining various parameters, and the error of the calculation result is large, so that the follow-up control precision of the double-wheel slot milling machine is low.
To this end, the present embodiment provides a winch following control method, as shown in fig. 1, including the following steps:
unlocking a winch to obtain a basic current of a backpressure overflow valve on the winch;
measuring a pulling force value of a pipeline assembly connected with the winch;
thirdly, obtaining the compensation current of the backpressure overflow valve according to the tension value and the preset tension of the winch;
step four, acquiring a sum of the basic current and the compensation current, and applying the sum to the backpressure overflow valve;
and step five, circularly executing the step two to the step five to adjust the working tension of the winch in real time according to the real-time tension value of the pipeline assembly.
The pull force value can directly represent the real-time tensile force received by the pipeline assembly, the compensation current is obtained in real time through the comparison between the pull force value obtained in real time and the preset tensile force, the sum of the basic current and the compensation current acts on the backpressure overflow valve, the working tensile force of the winch is adjusted in real time through the backpressure overflow valve, so that the error between the working tensile force of the winch and the preset tensile force is kept in a constant range in real time, the winch is enabled to reach and keep in a follow-up state, the pipeline assembly is not damaged by excessive tensile force, and the pipeline assembly can be pulled up by the tensile force provided by the winch. The tension value can be directly measured and obtained, calculation is not needed by combining various parameters, the steps are simple, and the follow-up control precision is high.
As shown in fig. 3, in the present embodiment, the winch follow-up control device further includes a follow-up switch 14, the controller 6 is connected to the follow-up switch 14 in a communication manner, and the controller 6 starts to execute step S1 after receiving an on signal of the follow-up switch 14.
According to the winch follow-up control method provided by the embodiment, one end of the pipeline assembly is connected with the winch, the other end of the pipeline assembly is connected with the tool rest 5, and the basic current is obtained according to the current depth information of the tool on the tool rest 5.
The current depth information of the cutter is the depth of the cutter penetrating into the slurry when the cutter is started to work, buoyancy information, gravity information and the like borne by the winch can be obtained according to the depth information, the basic current obtained according to the information is more suitable for the previous actual information, and the method is suitable for winch follow-up control when the cutter is restarted in the slurry.
According to the winch follow-up control method provided by the embodiment, the winch comprises a mud pipe winch 9 and an oil pipe winch 10, the pipeline assembly comprises a mud pipe 1 and an oil pipe 3, two ends of the mud pipe 1 are respectively connected with one side of the mud pipe winch 9 and one side of the tool rest 5, and two ends of the oil pipe 3 are respectively connected with the other side of the oil pipe winch 10 and the other side of the tool rest 5; the pulling force value of the mud pipe 1 is the same as that of the oil pipe 3. The tension on the two sides of the knife rest 5 is balanced, the knife rest 5 is prevented from inclining, and the uneven stress on the knife rest 5 is prevented.
In the winch follow-up control method provided by this embodiment, the step of obtaining the compensation current of the back pressure relief valve includes:
s31, acquiring a difference value between a preset tension force and a tension force value;
and S32, calculating the compensation current according to the difference value and the PID adjusting algorithm. In this step, other algorithms can be used to calculate the compensation current, which can be selected according to actual needs.
In the winch following control method provided by this embodiment, the step of unlocking the winch includes: an unlocking electromagnetic valve of the winch is powered on to be opened, a push rod of the unlocking oil cylinder is separated from the winch, the winch is not locked by the push rod, and the tensioning force can be applied to the pipeline assembly.
The winch follow-up control device provided by the embodiment further comprises a tool rest 5, a cutter is arranged on the tool rest 5, one end, far away from the winch, of the pipeline assembly is connected with the tool rest 5, and the tension sensor is arranged at the connecting position of the pipeline assembly and the tool rest 5. The pulling force that the force sensor surveyed is more accurate, can not receive the influence of other pressures.
The winch follow-up control device provided by the embodiment comprises a mud pipe winch 9 and an oil pipe winch 10; the back pressure overflow valve comprises a first back pressure overflow valve 7 connected with the motor 11 of the mud pipe winch 9 in parallel and a second back pressure overflow valve 8 connected with the motor 11 of the oil pipe winch 10 in parallel; the pipeline assembly comprises a mud pipe 1 and an oil pipe 3, and two ends of the mud pipe 1 are respectively connected with one side of a mud pipe winch 9 and one side of a tool rest 5; two ends of the oil pipe 3 are respectively connected with the oil pipe winch 10 and the other side of the tool rest 5; the tension sensor comprises a first sensor 2 arranged at the connection of the mud pipe 1 and the tool holder 5, and at least one second sensor 4 arranged at the connection of the oil pipe 3 and the tool holder 5.
The mud pipe winch 9 is connected with the mud pipe 1 and applies different tension forces to the mud pipe 1; the tubing winch 10 is connected to the tubing 3 and applies different tension to the tubing 3. The working pressure of the mud pipe winch 9 is adjusted through the first backpressure overflow valve 7, the working pressure of the oil pipe winch 10 is adjusted through the second backpressure overflow valve 8, and the mud pipe winch 9 and the oil pipe winch 10 are controlled respectively. The mud pipe 1 and the oil pipe 3 are respectively connected with two sides of the tool rest 5, and the same pulling force is applied to the tool rest 5, so that the tool rest 5 is prevented from inclining, and the tool rest 5 is prevented from being stressed unevenly. In a preferred embodiment, two second sensors 4 are provided at the connection of the oil pipe 3 and the tool rest 5, and the two second sensors 4 are symmetrically arranged.
The winch follow-up control device further comprises an unlocking oil cylinder and an unlocking electromagnetic valve, wherein the unlocking oil cylinder comprises a cylinder body and a push rod, one end of the push rod is arranged in the cylinder body, the other end of the push rod extends out of the cylinder body, and the push rod is provided with a closing position abutted against the winch and an unlocking position separated from the winch; the unlocking electromagnetic valve is communicated with the unlocking oil cylinder and is suitable for controlling the push rod to move.
The operation process of the unlocking oil cylinder and the unlocking electromagnetic valve comprises the following steps: in the unlocking process, the follow-up switch 14 is opened, the unlocking electromagnetic valve is electrified and opened, the brake oil port feeds oil to the cylinder body of the unlocking oil cylinder through the oil feeding channel of the unlocking electromagnetic valve, the unlocking push rod moves to the unlocking position under the pushing of oil, the other end of the push rod is separated from the winch, and the winch can brake under the action of the motor 11; in the locking process, the follow-up switch 14 is closed, the unlocking electromagnetic valve is closed, oil in the cylinder body returns through an oil return channel of the unlocking electromagnetic valve, the push rod moves to the closing position under the action of the elastic element in the cylinder body, the other end of the push rod is abutted to the winch, and the winch cannot brake.
In a specific embodiment, the unlocking oil cylinder comprises a first unlocking oil cylinder 15 matched with the mud pipe winch 9 and a second unlocking oil cylinder 16 matched with the oil pipe winch 10; the unlocking solenoid valves include a first unlocking solenoid valve 12 communicating with a first unlocking cylinder 15, and a second unlocking solenoid valve 13 communicating with a second unlocking cylinder 16.
The embodiment also provides a double-wheel slot milling machine which comprises the winch follow-up control device.
It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications therefrom are within the scope of the invention.
Claims (10)
1. A winch follow-up control method, comprising:
unlocking a winch to obtain a basic current of a backpressure overflow valve on the winch;
measuring a tension value of a pipeline assembly connected with the winch;
thirdly, obtaining the compensation current of the backpressure overflow valve according to the tension value and the preset tension of the winch;
step four, acquiring a sum of the basic current and the compensation current, and applying the sum to the backpressure overflow valve;
and step five, circularly executing the step two to the step five to adjust the working tension of the winch in real time according to the real-time tension value of the pipeline assembly.
2. Winch-follow control method according to claim 1, characterised in that the pipe assembly is connected to the winch at one end and to the tool holder (5) at the other end, the base current being obtained from the depth information of the tool on the tool holder (5) at the present time.
3. The winch follow-up control method according to claim 2, wherein the winch comprises a mud pipe winch (9) and an oil pipe winch (10), the pipeline assembly comprises a mud pipe (1) and an oil pipe (3), two ends of the mud pipe (1) are respectively connected with one sides of the mud pipe winch (9) and the tool rest (5), and two ends of the oil pipe (3) are respectively connected with the other sides of the oil pipe winch (10) and the tool rest (5); the pulling force value of the mud pipe (1) is the same as that of the oil pipe (3).
4. The winch servo-control method according to any one of claims 1 to 3, wherein the step of obtaining the compensation current of the back pressure relief valve comprises:
acquiring a difference value between the preset tension and the tension value;
and calculating the compensation current according to the difference value and a PID (proportion integration differentiation) regulation algorithm.
5. Winch follow-up control method according to any of claims 1 to 3, characterised in that the step of unlocking the winch comprises: an unlocking electromagnetic valve of the winch is powered on and opened, and a push rod of the unlocking oil cylinder is separated from the winch.
6. A winch-follow-up control apparatus, comprising:
a winch;
a back pressure relief valve connected in parallel with the motor (11) of the winch;
the pipeline assembly is connected with the winch at one end;
the tension sensor is arranged on the pipeline assembly;
a controller (6) in communication with the winch, the back pressure relief valve and the tension sensor, respectively, the controller (6) being configured to perform the winch follow-up control method of any of claims 1 to 5.
7. Winch follow-up control device according to claim 6, characterized in that it further comprises a tool rest (5), wherein a tool is arranged on the tool rest (5), the end of the pipeline assembly away from the winch is connected with the tool rest (5), and the tension sensor is arranged at the connection of the pipeline assembly and the tool rest (5).
8. Winch-follow control according to claim 7, characterised in that the winch comprises a mud pipe winch (9) and an oil pipe winch (10);
the back pressure overflow valve comprises a first back pressure overflow valve (7) connected with a motor (11) of the mud pipe winch (9) in parallel and a second back pressure overflow valve (8) connected with the motor (11) of the oil pipe winch (10) in parallel;
the pipeline assembly comprises a mud pipe (1) and an oil pipe (3), and two ends of the mud pipe (1) are respectively connected with one side of the mud pipe winch (9) and one side of the tool rest (5); two ends of the oil pipe (3) are respectively connected with the other sides of the oil pipe winch (10) and the tool rest (5);
the tension sensor comprises a first sensor (2) arranged at the joint of the mud pipe (1) and the tool rest (5), and at least one second sensor (4) arranged at the joint of the oil pipe (3) and the tool rest (5).
9. Winch-follow control according to claim 6 or 7, characterized in that it further comprises:
the unlocking oil cylinder comprises a cylinder body and a push rod, wherein one end of the push rod is arranged in the cylinder body, the other end of the push rod extends out of the cylinder body, and the push rod is provided with a closing position abutted against the winch and an unlocking position separated from the winch;
and the unlocking electromagnetic valve is communicated with the unlocking oil cylinder and is suitable for controlling the push rod to move.
10. A two-wheel slot milling machine comprising a winch follower control as claimed in any one of claims 6 to 9.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114408673A (en) * | 2022-03-29 | 2022-04-29 | 徐州徐工基础工程机械有限公司 | Linkage control system and linkage control method for winch and winch |
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