WO2020057254A1 - 一种卷扬钢丝绳自动涨紧控制系统及连续墙抓斗机 - Google Patents

一种卷扬钢丝绳自动涨紧控制系统及连续墙抓斗机 Download PDF

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WO2020057254A1
WO2020057254A1 PCT/CN2019/097778 CN2019097778W WO2020057254A1 WO 2020057254 A1 WO2020057254 A1 WO 2020057254A1 CN 2019097778 W CN2019097778 W CN 2019097778W WO 2020057254 A1 WO2020057254 A1 WO 2020057254A1
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port
oil
oil port
signal
signal input
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PCT/CN2019/097778
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English (en)
French (fr)
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张宗阳
王转来
顾波
董梅
张伟
王选卓
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徐州徐工基础工程机械有限公司
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Priority to SG11202102843PA priority Critical patent/SG11202102843PA/en
Publication of WO2020057254A1 publication Critical patent/WO2020057254A1/zh

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    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F5/00—Dredgers or soil-shifting machines for special purposes
    • E02F5/02—Dredgers or soil-shifting machines for special purposes for digging trenches or ditches
    • E02F5/025—Dredgers or soil-shifting machines for special purposes for digging trenches or ditches with scraper-buckets, dippers or shovels

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  • the invention belongs to the technical field of engineering machinery, and particularly relates to an automatic tension control system for a hoisting steel wire rope and a continuous wall grabber.
  • the underground continuous wall equipment is an important underground construction trenching equipment. Its main function is to rely on the telescopic movement of the main pushing oil cylinder on the working device to drive the two bucket flaps to open and close, thereby achieving the process of unloading and grasping the soil. As shown in Figure 1, during the process of grasping the soil, due to the upward thrust generated by the soil layer on the bucket, the hoisting wire rope of the hoisting working device is loosened, causing the bucket body to tilt, and the groove forming accuracy cannot be guaranteed. At present, there is no effective correction method to restore the working device to the correct position.
  • the purpose of the present invention is to overcome the shortcomings in the prior art, and to provide an automatic tension control system for a hoisting steel wire rope and a continuous wall grabber, which can determine whether the working device is inclined by collecting the current pulling force of the steel wire rope. It is judged that the working device is inclined when the preset pulling force is generated. At this time, a control signal is sent to cause the motor to reverse and lift the working device to a reasonable range, thereby realizing automatic correction of the working device.
  • an automatic tension control system for a hoisting steel wire rope including:
  • Hoisting motor control system used to control the forward and reverse rotation of the motor to realize the lowering and rewinding of the wire rope
  • the adjustment device can send an adjustment signal when the current wire rope pull force is less than a preset pull force; the hoisting motor control system can control the motor to reverse after receiving the adjustment signal.
  • the winch motor control system includes:
  • a motor having an oil port A and an oil port B;
  • a hydraulic pump I having a port P1 and a port T1;
  • Control valve I which has an oil port a, an oil port A ′, an oil port B ′, an oil port P and an oil port T;
  • Port A ′ is connected to port A, port B ′ is connected to port B, port P is connected to port P1, and port T and port T1 are connected to the fuel tank;
  • port A ′ communicates with port P
  • port B ′ communicates with port T
  • hydraulic pump I pumps oil to port A to drive the motor in reverse; port a does not have
  • port P, port B ′, port A ′ and port T are disconnected from each other.
  • the adjustment device includes:
  • Hydraulic pump II which has a port P2 and a port T2;
  • Control valve II which has signal input terminals Y1, port A ′′ and port P3;
  • the controller has a signal input terminal I1, a signal output terminal O1, and a pulling force judgment module;
  • Port A ′′ is connected to port a, port P3 is connected to port P2, and port T2 is connected to the fuel tank;
  • the signal output terminal of the tension detector is connected to the signal input terminal I1 to send the current wire rope tension signal to the controller ,
  • the signal output terminal O1 is connected to the signal input terminal Y1;
  • the pulling force judging module can send out a current signal after judging that the current pulling force of the steel wire rope is less than a preset pulling force. After the current signal is input to the signal input terminal Y1, the port A ′′ and the port P3 communicate with each other. a; When there is no signal input at the signal input terminal Y1, port A ′′ and port P3 are not connected, and there is no pressure oil output from control valve II.
  • the winch motor control system also includes:
  • Hydraulic control handle with action input portion N2, port P4 and port C2;
  • Shuttle valve II which has an oil port a ′, an oil port b ′, and an oil port c ′;
  • Port P4 is connected to port P2, port C2 is connected to port b ′, port A ′′ is connected to port a ′, port c ′ is connected to port a, and port T2 is connected to the tank;
  • port P4 communicates with port C2, and the hydraulic control handle outputs pressure oil and acts on port a.
  • the action input unit N2 is not operated, port P4 and port C2 are not connected. No hydraulic oil output from hydraulic control handle.
  • the hydraulic control handle also has an action input portion N1 and an oil port C1; the control valve I also has an oil port b;
  • control valve I When control valve I has port b, port C1 is connected to port b. After port b is under pressure, port A ′ communicates with port T, and port B ′ communicates with port P. , The hydraulic pump I pumps oil to port B to drive the motor forward;
  • port P4 communicates with port C1, and the hydraulic control handle outputs pressure oil and acts on port b.
  • the hydraulic control handle does not output pressure oil.
  • the winch motor control system also includes:
  • Shuttle valve I having port a ′′, port b ′′, and port c ′′;
  • the controller also has a signal input I2.
  • the signal input I2 is connected to the signal output of the pressure switch.
  • Port a ′′ is connected to port C2
  • port b ′′ is connected to port C1
  • port c ′′ is connected to the detection port. .
  • the winch motor control system includes:
  • a motor having an oil port A and an oil port B;
  • a hydraulic pump I having a port P1 and a port T1;
  • Control valve I which has signal input terminal I2, port A ′, port B ′, port P and port T;
  • Port A ′ is connected to port A, port B ′ is connected to port B, port P is connected to port P1, and port T and port T1 are connected to the fuel tank;
  • port A ′ communicates with port P
  • port B ′ communicates with port T
  • hydraulic pump I pumps oil to port A to drive the motor in reverse;
  • port P, port B ′, port A ′ and port T are disconnected from each other.
  • the adjustment device includes:
  • the controller has a signal input terminal I1, a signal output terminal O1, and a pulling force judgment module;
  • the signal output terminal O1 is connected to the signal input terminal I2; the signal output terminal of the tension detector is connected to the signal input terminal I1 for sending the current wire rope tension signal to the controller;
  • the pulling force judging module can send a current signal to the signal input terminal I2 after judging that the current pulling force of the steel wire rope is less than a preset pulling force.
  • the controller also has a signal output terminal O2; the control valve I also has a signal input terminal I3, the signal output terminal O2 is connected to the signal input terminal I3; after the signal input terminal I3 inputs the forward signal sent by the controller, the oil port A ′ and the oil Port T communicates, and port B ′ communicates with port P. Hydraulic pump I pumps oil to port B to drive the motor to rotate forward.
  • the controller also includes a safety condition judgment module.
  • the safety condition judgment module can collect the current working conditions and send a control signal to make the tension judgment module work after the safety conditions are met.
  • the invention also discloses a continuous wall grabber, including the above-mentioned automatic tension control system for a hoisting steel wire rope.
  • the present invention has the beneficial effect that it can determine whether the working device is inclined by collecting the current pulling force of the steel wire rope. When the current pulling force is less than the preset pulling force, it is determined that the working device is inclined. At this time, a control signal is issued to make the motor reverse to lift the working device until it is reasonable Within the range, the automatic deviation correction of the working device is realized, and the groove forming accuracy is effectively guaranteed.
  • the correction process can be completed through manual control or automatic control, which improves the reliability of the system, reduces labor intensity, and reduces skills requirements.
  • Figure 1 is a construction state diagram of the present invention
  • FIG. 3 is a control system diagram of a second embodiment of the present invention.
  • FIG. 4 is a control system diagram of a third embodiment of the present invention.
  • FIG. 6 is a graph showing the relationship between the control current of the signal input terminal Y1 and the tension difference of the steel wire rope in the present invention.
  • a continuous wall grabber mainly includes a hoist and a grab working device.
  • the hoist is connected to the grab working device through a wire rope.
  • the hoist is driven by a motor 1 to realize the lowering and lifting of the grab working device.
  • the grab working device descends to the designated position.
  • the main push cylinder works to close the bucket flap. This process will cause the bucket to tilt, which will cause the rope tension to change.
  • the present invention specifically adopts a coil
  • the automatic tension control system of the lifting wire rope realizes the correction of the tilt of the bucket body, and finally guarantees the groove forming accuracy.
  • the control system includes a hoisting motor control system for controlling the forward and reverse rotation of the motor to realize the lowering and rewinding of the wire rope.
  • the adjusting device can send an adjusting signal when the current wire rope pulling force is less than a preset pulling force; the hoisting motor control system can control the motor to reverse after receiving the adjusting signal.
  • the hoisting motor control system includes: motor 1, hydraulic pump I4, and control valve I2; the adjusting device includes: hydraulic pump II9, control valve II8, tension detector 11 and controller 10.
  • Motor 1 has port A and port B; hydraulic pump I4 has port P1 and port T1; control valve I2 has port a, port A ′, port B ′, port P, and port T; hydraulic pressure Pump II9 has port P2 and port T2; control valve II8 has signal input terminal Y1, port A ′′ and port P3; tension detector 11 is used to collect the current wire rope tension; controller 10 has signal input I1, signal Output O1, pulling force judgment module and safety condition judgment module.
  • the safety condition judgment module can collect the pressure value of the main push cylinder, the construction status signal, the hoisting upgrade pilot signal, the safety handle opening signal, etc., and then perform logical processing according to the collected data.
  • a control signal is sent to the pulling force judging module to make it work.
  • the pulling force judging module judges the current wire rope pulling force and the preset value of the pulling force value, and sends a control signal to the signal input terminal Y1 according to the judgment result.
  • Port A ′ is connected to port A, port B ′ is connected to port B, port P is connected to port P1, port T and port T1 are connected to the fuel tank; port A ′′ is connected to port a
  • the oil port P3 is connected to the oil port P2, and the oil port T2 is connected to the fuel tank; the collector 11 is connected to the signal input terminal I1, and the signal output terminal O1 is connected to the signal input terminal Y1.
  • Control valve I2 has a first position and a second position. When control valve I2 is in the first position, port A ′ communicates with port P and port B ′ communicates with port T. Control valve I2 is in the second position. At this time, port P, port B ', port A' and port T are not connected to each other.
  • the safety condition judgment module in the controller 10 determines whether the current equipment meets the safety conditions. If it is not satisfied, the program stops and no adjustment is made.
  • the device 11 collects the current pulling force F X of the wire rope, and the pulling force judging module in the controller 10 calculates the pulling force difference ⁇ F between the current preset pressure F 0 and the current pulling force F X. If ⁇ F ⁇ 0, the program terminates; Then, the controller 10 outputs a control current to the signal input terminal Y1, and the control valve II8 is opened at this time.
  • the pressure oil pumped by the hydraulic pump II9 passes through the control valve II8 to the port a of the control valve I2 so that the control valve I2 is in the first position.
  • the port A ′ and the port P are connected, and the port B ′ It communicates with port T.
  • the pressure oil pumped by the hydraulic pump I4 enters the oil port A of the motor 1 through the control valve I2, and then returns to the oil tank through the oil port B. This process makes the motor 1 work to drive the bucket to rise. Until the tension of the wire rope increases to ⁇ F ⁇ 0, the control valve I2 returns to the second position. This process is continuously circulated to achieve automatic correction of the bucket body.
  • the safety conditions include: whether the grabber is in the construction mode, whether the bucket flap is closing, whether the hoisting system has a lifting pilot signal, and whether the safety handle is turned on; the above information is collected through different collection ports, and is controlled by the controller 10.
  • the safety condition judgment module makes a judgment. Only when the equipment is in construction mode, bucket flaps are closing, no hoisting pilot signal for hoisting, safety handle is open, etc., the safety conditions are met, otherwise the safety conditions are not met.
  • control valve I2 also has a signal input terminal I3, the controller 10 has a signal output terminal O2, the signal output terminal O2 is electrically connected to the signal input terminal I3, and the signal output terminal O2 sends a signal to make the signal input terminal I3 is energized to control the control valve I2 in the third position.
  • the oil port A ′ is in communication with the oil port T, and the oil port B ′ is in communication with the oil port P.
  • the motor 1 is rotating forward.
  • control method of the control valve I2 is electro-hydraulic mixing control
  • control signal is the pressure of the pressure oil pumped by the hydraulic pump II9 and the electric signal sent by the controller 10.
  • the control valve II8 is a proportional valve, and it also has an oil port T3, which is connected to the oil tank for oil return. As shown in FIG. 6, the proportional valve can control the size of the pressure oil according to the current.
  • the control current I X is proportional to the tension difference ⁇ F. The larger the tension difference ⁇ F, the larger the proportional valve control current I X.
  • the winch motor control system also includes a hydraulic control handle 5 and a shuttle valve II3.
  • the hydraulic control handle 5 has an action input portion N2, an oil port P4, and an oil port C2; the shuttle valve II3 has an oil port a ′, an oil port b ′, and an oil port c ′.
  • Port P4 is connected to port P2
  • port C2 is connected to port b ′
  • port A ′′ is connected to port a ′
  • port c ′ is connected to port a
  • port T2 is connected to the fuel tank.
  • the oil port P4 communicates with the oil port C2, and the control valve I2 is in the first position; when the action input part N2 is not operated, the oil port P4 is not connected with the oil port C2, and the control valve I2 is in the first position.
  • Two positions When the signal input terminal Y1 inputs a signal, the port A ′′ and port P3 are connected, and the control valve I2 is in the first position; when the signal input terminal Y1 is de-energized, the port A ′′ and port P3 are not connected, and the control valve I2 is at Second position.
  • control method in this embodiment is the same as that in the first embodiment, so it is not described in detail.
  • the hydraulic control handle 5 is used as a pilot oil source, and therefore also has an oil port T4, and the oil port T4 is connected to the oil tank to realize oil return.
  • the hydraulic control handle 5 also has an action input portion N1 and an oil port C1; the control valve I2 also has an oil port b; the oil port C1 is connected to the oil port b; the control valve I2 also has a third position When it is in the third position, the oil port A ′ is in communication with the oil port T, and the oil port B ′ is in communication with the oil port P.
  • the action input section N1 is operated, the port P4 is connected to the port C1, and the control valve I2 is in the third position.
  • the action input section N2 is not operated, the port P4 is not connected to the port C2, and the control valve I2 is in the third position. Two positions. Through the above control, the manual control of the two processes of ascent and descent of the bucket body can be completely realized.
  • the hoisting motor control system further includes a shuttle valve I7 and a pressure switch 7.
  • the shuttle valve I7 has an oil port a ′′, an oil port b ′′, and an oil port c ′′; the pressure switch 7 has a detection port.
  • the controller 10 also has a signal input terminal I2.
  • the signal input terminal I2 is connected to the signal output terminal of the pressure switch 7.
  • Port a ′′ is connected to port C2, port b ′′ is connected to port C1, and port c ′′ is connected to the detection. Mouth connected.
  • the pilot pressure is detected by the pressure switch 7 so as to realize the collection and judgment of whether the hoisting system has a lift pilot signal in a safe condition.
  • the hydraulic control handle 5 is a hydraulic control handle controller, and the action input portion N1 and the action input portion N2 are different operation handles.
  • control mode of the control valve I2 is still hydraulic.
  • the hoisting motor control system includes a motor 1, a hydraulic pump I4, and a control valve I2; the adjusting device includes a tension detector 11 and a controller 10.
  • Motor 1 has port A and port B; hydraulic pump I4 has port P1 and port T1; control valve I2 has signal input terminal I2, port A ′, port B ′, port P, and port T;
  • the pulling force detector 11 is used to collect the pulling force of the steel wire rope;
  • the controller 10 has a signal input terminal I1, a signal output terminal O1, a pulling force judging module and a safety condition judging module.
  • Port A ′ is connected to port A
  • port B ′ is connected to port B
  • port P is connected to port P1
  • port T and port T1 are connected to the fuel tank.
  • Control valve I2 has a first position and a second position. When control valve I2 is in the first position, port A ′ communicates with port P and port B ′ communicates with port T. Control valve I2 is in the second position. At this time, port P, port B ', port A' and port T are not connected to each other.
  • the signal output terminal O1 is connected to the signal input terminal I2; the tension detector 11 is connected to the signal input terminal I1; after the signal input terminal I1 inputs a tension signal, the tension judgment module in the controller 10 judges the current tension and the preset tension, and When the current pulling force is less than the preset pulling force, the signal output terminal O1 sends a control signal to the signal input terminal I2, and the control valve I2 is in the first position; otherwise, the signal input terminal I2 has no signal input, and the control valve I2 is in the second position.
  • the control valve I2 is an electric control valve, which performs the direction change directly by an electric signal to realize the lifting control of the bucket body.
  • the controller 10 also has a signal output terminal O2; the control valve I2 also has a signal input terminal I3, and the signal output terminal O2 is connected to the signal input terminal I3; the control valve I2 also has a third position, which In the third position, port A ′ communicates with port T, and port B ′ communicates with port P. After the positive input signal is input to the signal input terminal I1, the control valve I2 is in the third position. At this time, the motor 1 Forward rotation lowers the working device.
  • control method of the control valve I2 is electric control
  • control signal is an electric signal from the controller 10.

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Abstract

一种卷扬钢丝绳自动涨紧控制系统及连续墙抓斗机，控制系统包括：马达（1），其具有油口A和油口B；液压泵Ⅰ（4），其具有油口P1和油口T1；及控制阀Ⅰ（2），其具有油口A'、油口B'、油口a、信号输入端I3、油口P和油口T；液压泵Ⅱ（9），其具有油口P2和油口T2；控制阀Ⅱ（8），其具有信号输入端Y1、油口A"、油口P3；采集器，用于采集主机工作状态数据；及控制器（10），具有信号输入端I1和信号输出端O1；控制阀Ⅰ（2）还具有油口a。该卷扬钢丝绳自动涨紧控制系统及连续墙抓斗机，两个斗瓣在抓土过程中，卷扬系统能够及时自动地纠正斗体，将斗体的倾斜度控制在合理的范围内，有效地保证了成槽精度。纠正过程既可以通过手动控制完成，也可以通过自动控制完成，提高了系统可靠性，减少了劳动强度，降低了技能要求。

Description

一种卷扬钢丝绳自动涨紧控制系统及连续墙抓斗机 技术领域
本发明属于工程机械技术领域，具体涉及一种卷扬钢丝绳自动涨紧控制系统及连续墙抓斗机。
背景技术
地下连续墙设备是一种重要的地下施工成槽设备，其主要职能是依靠工作装置上主推油缸的伸缩运动带动两个斗瓣进行开闭运动，从而实现卸土、抓土的过程。如图1所示，在抓土过程中由于土层对斗掰所产生的向上推力，提升工作装置的卷扬钢丝绳松弛，导致斗体倾斜，进而造成成槽精度无法保证。目前，还尚未有有效的纠偏手段使工作装置恢复到正确的位置。
发明内容
本发明的目的在于克服现有技术中的不足，提供一种卷扬钢丝绳自动涨紧控制系统及连续墙抓斗机，能够通过采集钢丝绳的当前拉力来判断工作装置是否发生倾斜，当当前拉力小于预设拉力时判断工作装置发生倾斜，此时发出控制信号使马达反转提升工作装置直到合理的范围内，从而实现工作装置的自动纠偏。
为解决现有技术问题，本发明公开了一种卷扬钢丝绳自动涨紧控制系统，包括：
卷扬马达控制系统，用于控制马达正反转实现钢丝绳的下方和收卷；
调节装置；
调节装置能够在当前钢丝绳拉力小于预设拉力时发出调节信号；卷扬马达控制系统能够在接收调节信号后控制马达反转。
作为优选方案，
卷扬马达控制系统包括：
马达，其具有油口A和油口B；
液压泵Ⅰ，其具有油口P1和油口T1；及
控制阀Ⅰ，其具有油口a、油口A′、油口B′、油口P和油口T；
油口A′与油口A相连，油口B′和油口B相连，油口P和油口P1相连，油口T和油口T1均与油箱相连；
油口a有压力油作用后，油口A′与油口P相连通，油口B′与油口T相连通，液压泵Ⅰ向油口A泵油以驱动马达反转；油口a无压力油作用时，油口P、油口B′、油口A′与油口T之间互不连通；
调节装置包括：
液压泵Ⅱ，其具有油口P2和油口T2；
控制阀Ⅱ，其具有信号输入端Y1、油口A″和油口P3；
拉力检测器；及
控制器，具有信号输入端I1、信号输出端O1和拉力判断模块；
油口A″与油口a相连，油口P3与油口P2相连，油口T2与油箱相连；拉力检测器的信号输出端与信号输入端I1相连用于将当前钢丝绳拉力信号发送至控制器，信号输出端O1与信号输入端Y1相连；
拉力判断模块能够在判断当前钢丝绳拉力小于预设拉力后发出电流信号，信号输入端Y1输入电流信号后，油口A″和油口P3相连通，控制阀Ⅱ有压力油输出并作用于油口a；信号输入端Y1无信号输入时，油口A″和油口P3不连通，控制阀Ⅱ无压力油输出。
作为优选方案，
卷扬马达控制系统还包括：
液控手柄，其具有动作输入部N2、油口P4和油口C2；及
梭阀Ⅱ，其具有油口a′、油口b′和油口c′；
油口P4与油口P2相连，油口C2与油口b′相连，油口A″与油口a′相连，油口c′与油口a相连，油口T2与油箱相连；
动作输入部N2输入动作后，油口P4与油口C2相连通，液控手柄有压力油输出并作用于油口a；动作输入部N2未被操作时，油口P4与油口C2不连通，液控手柄无压力油输出。
作为优选方案，
液控手柄还具有动作输入部N1和油口C1；控制阀Ⅰ还具有油口b；
当控制阀Ⅰ具有油口b时，油口C1与油口b相连；当油口b受到压力油作用后，油口A′与油口T相连通，油口B′与油口P相连通，液压泵Ⅰ向油口B泵油以驱动马达正转；
动作输入部N1输入动作后，油口P4与油口C1相连通，液控手柄有压力油输出并作用于油口b；动作输入部N2未被操作时，液控手柄无压力油输出。
作为优选方案，
卷扬马达控制系统还包括：
梭阀Ⅰ，其具有油口a″、油口b″和油口c″；及
压力开关，其具有检测口；
控制器还具有信号输入端I2，信号输入端I2与压力开关的信号输出端相连，油口a″与油口C2相连，油口b″与油口C1相连，油口c″与检测口相连。
作为优选方案，
卷扬马达控制系统包括：
马达，其具有油口A和油口B；
液压泵Ⅰ，其具有油口P1和油口T1；及
控制阀Ⅰ，其具有信号输入端I2、油口A′、油口B′、油口P和油口T；
油口A′与油口A相连，油口B′和油口B相连，油口P和油口P1相连，油口T和油口T1均与油箱相连；
信号输入端I2有信号输入后，油口A′与油口P相连通，油口B′与油口T相连通，液压泵Ⅰ向油口A泵油以驱动马达反转；信号输入端I2无信号输时，油口P、油口B′、油口A′与油口T之间互不连通；
调节装置包括：
拉力检测器；及
控制器，具有信号输入端I1、信号输出端O1和拉力判断模块；
信号输出端O1与信号输入端I2相连；拉力检测器的信号输出端与信号输入端I1相连用于将当前钢丝绳拉力信号发送至控制器；
拉力判断模块能够在判断当前钢丝绳拉力小于预设拉力后发出电流信号至信号输入端I2。
作为优选方案，
控制器还具有信号输出端O2；控制阀Ⅰ还具有信号输入端I3，信号输出端O2与信号输入端I3相连；信号输入端I3输入控制器发出的正转信号后，油口A′与油口T相连通，油口B′与油口P相连通；液压泵Ⅰ向油口B泵油以驱动马达正转。
作为优选方案，
控制器还包括安全条件判断模块，安全条件判断模块能够采集当前工况并在具备安全条件后发出控制信号使拉力判断模块工作。
本发明还公开了一种连续墙抓斗机，包括：上述一种卷扬钢丝绳自动涨紧控制系统。
本发明具有的有益效果：能够通过采集钢丝绳的当前拉力来判断工作装置是否发生倾斜，当当前拉力小于预设拉力时判断工作装置发生倾斜，此时发出控制信号使马达反转提升工作装置直到合理的范围内，从而实现工作装置的自动纠偏，有效地保证了成槽精度。纠正过程既可以通过手动控制完成，也可以通过自动控制完成，提高了系统可靠性，减少了劳动强度，降低了技能要求。
附图说明
图1为本发明的施工状态图；
图2为本发明第一个实施例的控制系统图；
图3为本发明第二个实施例的控制系统图；
图4为本发明第三个实施例的控制系统图；
图5为本发明的系统流程图；
图6为本发明中信号输入端Y1的控制电流与钢丝绳拉力差的关系曲线图。
附图标记：
1马达；2控制阀Ⅰ；3梭阀Ⅱ；4液压泵Ⅰ；5液控手柄；6压力开关；7梭阀Ⅰ；8控制阀Ⅱ；9液压泵Ⅱ；10控制器；11拉力检测器。
具体实施方式
下面结合附图对本发明作进一步描述。以下实施例仅用于更加清楚地说明本发明的技术方案，而不能以此来限制本发明的保护范围。
如图1所示，一种连续墙抓斗机，主要包括卷扬机和抓斗工作装置，卷扬机通过钢丝绳连接抓斗工作装置，卷扬机由马达1驱动实现抓斗工作装置的下降和提升。当进行抓土时，抓斗工作装置下降到达指定位置，此时主推油缸工作令斗瓣闭合，此过程会造成斗体倾斜，因而造成钢丝绳拉力发生变化，基于此，本发明具体通过一种卷扬钢丝绳自动涨紧控制系统实现斗体倾斜的纠正，最终保证成槽精度。
实施例一
如图2所述，本实施例主要通过自动控制的方式来实现斗体倾斜的纠正，该控制系统包括卷扬马达控制系统，用于控制马达正反转实现钢丝绳的下方和收卷；以及调节装置；调节装置能够在当前钢丝绳拉力小于预设拉力时发出调节信号；卷扬马达控制系统能够在接收调节信号后控制马达反转。卷扬马达控制系统包括：马达1、液压泵Ⅰ4和控制阀Ⅰ2；调节装置包括：液压泵Ⅱ9、控制阀Ⅱ8、拉力检测器11和控制器10。
马达1具有油口A和油口B；液压泵Ⅰ4具有油口P1和油口T1；控制阀Ⅰ2具有油口a、油口A′、油口B′、油口P和油口T；液压泵Ⅱ9具有油口P2和油口T2；控制阀Ⅱ8具有信号输入端Y1、油口A″和油口P3；拉力检测器11用于采集当前钢丝绳拉力；控制器10具有信号输入端I1、信号输出端O1、拉力判断模块和安全条件判断模块。安全条件判断模块可以分别采集主推油缸的压力值、施工状态信号、卷扬升级先导信号、安全手柄开启信号等，然后根据采集数据进行逻辑处理最终发出控制信号给拉力判断模块使其工作，拉力判断模块判断当前钢丝绳拉力和预设拉力值的大小，并根据判断结果发出控制信号到信号输入端Y1。
油口A′与油口A相连，油口B′和油口B相连，油口P和油口P1相连，油口T和油口T1均与油箱相连；油口A″与油口a相连，油口P3与油口P2相连，油口T2与油箱相连；采集器11与信号输入端I1相连，信号输出端O1与信号输入端Y1相连。
控制阀Ⅰ2具有第一位置和第二位置，控制阀Ⅰ2处于第一位置时，油口A′与油口P相连通，油口B′与油口T相连通；控制阀Ⅰ2处于第二位置时，油口P、油口B′、油口A′与油口T之间互不连通。
信号输入端Y1输入信号时，油口A″和油口P3相连通，控制阀Ⅰ2处于第一位置；信号输入端Y1失电时，油口A″和油口P3不连通，控制阀Ⅰ2处于第二位置。
上述控制系统的工作原理及过程如下：
如图5所示，当抓斗抓土时，控制器10中的安全条件判断模块判断当前设备是否满足安全条件，若不满足则程序停止，不予调整；若满足则进一步，此时拉力检测器11采集当前钢丝绳的拉力F X，控制器10中的拉力判断模块计算当前钢丝绳的预设压力F 0与当前拉力F X的拉力差ΔF，若ΔF≤0，则程序终止；若ΔF＞0，则控制器10输出控制电流给信号输入端Y1，此时控制阀Ⅱ8开启工作。液压泵Ⅱ9泵出的压力油经过控制阀Ⅱ8来到控制阀Ⅰ2的油口a中使控制阀Ⅰ2处于第一位置，此时油口油口A′与油口P相连通，油口B′与油口T相连通。液压泵Ⅰ4泵出的压力油经过控制阀Ⅰ2进入马达1的油口A，然后经过油口B回到油箱，这过程使得马达1工作带动斗体上升。直到钢丝绳拉力增大到ΔF≤0时，控制阀Ⅰ2恢复到第二位置。该过程不断循环实现斗体的自动纠正。
安全条件包括：抓斗机是否处于施工模式，斗瓣是否正在闭合，卷扬系统是否有升降先导信号，安全手柄是否开启；上述信息均通过不同的采集端口完成数据采集，并由控制器10中的安全条件判断模块作出判断。只有当设备处于施工模式、斗瓣正在闭合、卷扬无升降先导信号、安全手柄开启等状态同时具备时，安全条件才是具备的，否则安全条件不具备。
作为实施例一的一个补充例，控制阀Ⅰ2还具有信号输入端I3，控制器10具有信号输出端O2，信号输出端O2与信号输入端I3电联接，信号输出端O2发出信号使信号输入端I3得电从而控制控制阀Ⅰ2处于第三位置，此时的油口A′与油口T相连通，油口B′与油口P相连通，此时马达1正转。
本实施例中，控制阀Ⅰ2的控制方式为电液混控，控制信号为液压泵Ⅱ9泵出的压力油的压力和控制器10发出的电信号。控制阀Ⅱ8为比例阀，其还具有油口T3，油口T3与油箱相连进行回油。如图6所示，比例阀可根据电流大小来控制压力油大小，控制电流I X与拉力差ΔF成正比关系，拉力差ΔF越大，比例阀控制电流I X越大。
实施例二
如图3所示，与实施例一不同之处在于，该实施例中，马达1的正反转还可以通过手动控制完成。卷扬马达控制系统还包括液控手柄5和梭阀Ⅱ3。
液控手柄5具有动作输入部N2、油口P4和油口C2；梭阀Ⅱ3具有油口a′、油口b′和油口c′。油口P4与油口P2相连，油口C2与油口b′相连，油口A″与油口a′相连，油口c′与油口a相连，油口T2与油箱相连。
动作输入部N2被操作时，油口P4与油口C2相连通，控制阀Ⅰ2处于第一位置；动作输入部N2未被操作时，油口P4与油口C2不连通，控制阀Ⅰ2处于第二位置。信号输入端Y1输入信号时，油口A″和油口P3相连通，控制阀Ⅰ2处于第一位置；信号输入端Y1失电时，油口A″和油口P3不连通，控制阀Ⅰ2处于第二位置。
本实施例中的控制方法与实施例一相同，故不赘述。
作为实施例二的一个优选例，液控手柄5作为先导油源，因此还具有油口T4，油口T4与油箱相连从而实现回油。
作为实施例二的一个补充例，液控手柄5还具有动作输入部N1和油口C1；控制阀Ⅰ2还具有油口b；油口C1与油口b相连；控制阀Ⅰ2还具有第三位置，其处于第三位置时，油口A′与油口T相连通，油口B′与油口P相连通。动作输入部N1被操作时，油口P4与油口C1相连通，控制阀Ⅰ2处于第三位置；动作输入部N2未被操作时，油口P4与油口C2不连通，控制阀Ⅰ2处于第二位置。通过上述控制可以完全实现对斗体的上升和下降两个过程的手动控制。
作为实施例二的一个优选例，卷扬马达控制系统还包括梭阀Ⅰ7和压力开关7，梭阀Ⅰ7具有油口a″、油口b″和油口c″；压力开关7具有检测口。控制器10还具有信号输入端I2，信号输入端I2与压力开关7的信号输出端相连，油口a″与油口C2相连，油口b″与油口C1相连，油口c″与检测口相连。通过压力开关7来检测先导压力，从而实现安全条件中卷扬系统是否有升降先导信号的采集和判断。液控手柄5为液控手柄控制器，动作输入部N1和动作输入部N2均为不同的操作手柄。
与实施例一相同的是，控制阀Ⅰ2的控制方式仍为液控。
实施例三
如图4所示，与实施例一不同之处在于，本实施例中，卷扬马达控制系统包括马达1、液压泵Ⅰ4和控制阀Ⅰ2；调节装置包括拉力检测器11和控制器10。马达1具有油口A和油口B；液压泵Ⅰ4具有油口P1和油口T1；控制阀Ⅰ2具有信号输入端I2、油口A′、油口B′、油口P和油口T；拉力检测器11用于采集钢丝绳拉力；控制器10具有信号输入端I1、信号输出端O1、拉力判断模块和安全条件判断模块。
油口A′与油口A相连，油口B′和油口B相连，油口P和油口P1相连，油口T和油口T1均与油箱相连。控制阀Ⅰ2具有第一位置和第二位置，控制阀Ⅰ2处于第一位置时，油口A′与油口P相连通，油口B′与油口T相连通；控制阀Ⅰ2处于第二位置时，油口P、油口B′、油口A′与油口T之间互不连通。
信号输出端O1与信号输入端I2相连；拉力检测器11与信号输入端I1相连；信号输入端I1输入拉力信号后，控制器10中的拉力判断模块判断当前拉力与预设拉力的大小，并在当前拉力小于预设拉力时由信号输出端O1发出控制信号到信号输入端I2，此时控制阀Ⅰ2处于第一位置；否则信号输入端I2无信号输入，控制阀Ⅰ2处于第二位置。由此可见，控制阀Ⅰ2为电控阀，其直接通过电信号来进行换向，实现斗体的提升控制。
作为实施例三的一个补充例，控制器10还具有信号输出端O2；控制阀Ⅰ2还具有信号输入端I3，信号输出端O2与信号输入端I3相连；控制阀Ⅰ2还具有第三位置，其处于第三位置时，油口A′与油口T相连通，油口B′与油口P相连通；信号输入端I1输入正转信号后，控制阀Ⅰ2处于第三位置，此时马达1正转使工作装置下降。
本实施例中，控制阀Ⅰ2的控制方式为电控，其控制信号为控制器10发出的电信号。
以上所述仅是本发明的优选实施方式，应当指出，对于本技术领域的普通技术人员来说，在不脱离本发明技术原理的前提下，还可以做出若干改进和变形，这些改进和变形也应视为本发明的保护范围。

Claims (9)

  1. 一种卷扬钢丝绳自动涨紧控制系统，包括：
    卷扬马达控制系统，用于控制马达(1)正反转实现钢丝绳的下方和收卷；
    其特征在于：还包括：
    调节装置；
    所述调节装置能够在当前钢丝绳拉力小于预设拉力时发出调节信号；所述卷扬马达控制系统能够在接收所述调节信号后控制所述马达(1)反转。
  2. 根据权利要求1所述的一种卷扬钢丝绳自动涨紧控制系统，其特征在于：
    所述卷扬马达控制系统包括：
    马达(1)，其具有油口A和油口B；
    液压泵Ⅰ(4)，其具有油口P1和油口T1；及
    控制阀Ⅰ(2)，其具有油口a、油口A′、油口B′、油口P和油口T；
    所述油口A′与所述油口A相连，所述油口B′和所述油口B相连，所述油口P和所述油口P1相连，所述油口T和所述油口T1均与油箱相连；
    所述油口a有压力油作用后，所述油口A′与所述油口P相连通，所述油口B′与所述油口T相连通，所述液压泵Ⅰ(4)向所述油口A泵油以驱动所述马达(1)反转；所述油口a无压力油作用时，所述油口P、所述油口B′、所述油口A′与所述油口T之间互不连通；
    所述调节装置包括：
    液压泵Ⅱ(9)，其具有油口P2和油口T2；
    控制阀Ⅱ(8)，其具有信号输入端Y1、油口A″和油口P3；
    拉力检测器(11)；及
    控制器(10)，具有信号输入端I1、信号输出端O1和拉力判断模块；
    所述油口A″与所述油口a相连，所述油口P3与所述油口P2相连，所述油口T2与所述油箱相连；所述拉力检测器(11)的信号输出端与所述信号输入端I1相连用于将当前钢丝绳拉力信号发送至所述控制器(10)，所述信号输出端O1与所述信号输入端Y1相连；
    所述拉力判断模块能够在判断当前钢丝绳拉力小于预设拉力后发出电流信号，所述信号输入端Y1输入所述电流信号后，所述油口A″和所述油口P3相连通，所述控制阀Ⅱ(8)有压力油输出并作用于所述油口a；所述信号输入端Y1无信号输入时，所述油口A″和所述油口P3不连通，所述控制阀Ⅱ(8)无压力油输出。
  3. 根据权利要求2所述的一种卷扬钢丝绳自动涨紧控制系统，其特征在于：
    所述卷扬马达控制系统还包括：
    液控手柄(5)，其具有动作输入部N2、油口P4和油口C2；及
    梭阀Ⅱ(3)，其具有油口a′、油口b′和油口c′；
    所述油口P4与所述油口P2相连，所述油口C2与所述油口b′相连，所述油口A″与所述油口a′相连，所述油口c′与所述油口a相连，所述油口T2与所述油箱相连；
    所述动作输入部N2输入动作后，所述油口P4与所述油口C2相连通，所述液控手柄(5)有压力油输出并作用于所述油口a；所述动作输入部N2未被操作时，所述油口P4与所述油口C2不连通，所述液控手柄(5)无压力油输出。
  4. 根据权利要求3所述的一种卷扬钢丝绳自动涨紧控制系统，其特征在于：
    所述液控手柄(5)还具有动作输入部N1和油口C1；所述控制阀Ⅰ(2)还具有油口b；
    当所述控制阀Ⅰ(2)具有油口b时，所述油口C1与所述油口b相连；当所述油口b受到压力油作用后，所述油口A′与所述油口T相连通，所述油口B′与所述油口P相连通，所述液压泵Ⅰ(4)向所述油口B泵油以驱动所述马达(1)正转；
    所述动作输入部N1输入动作后，所述油口P4与所述油口C1相连通，所述液控手柄(5)有压力油输出并作用于所述油口b；所述动作输入部N2未被操作时，所述液控手柄(5)无压力油输出。
  5. 根据权利要求4所述的一种卷扬钢丝绳自动涨紧控制系统，其特征在于：
    所述卷扬马达控制系统还包括：
    梭阀Ⅰ(7)，其具有油口a″、油口b″和油口c″；及
    压力开关(7)，其具有检测口；
    所述控制器(10)还具有信号输入端I2，所述信号输入端I2与所述压力开关(7)的信号输出端相连，所述油口a″与所述油口C2相连，所述油口b″与所述油口C1相连，所述油口c″与所述检测口相连。
  6. 根据权利要求1所述的一种卷扬钢丝绳自动涨紧控制系统，其特征在于：
    所述卷扬马达控制系统包括：
    马达(1)，其具有油口A和油口B；
    液压泵Ⅰ(4)，其具有油口P1和油口T1；及
    控制阀Ⅰ(2)，其具有信号输入端I2、油口A′、油口B′、油口P和油口T；
    所述油口A′与所述油口A相连，所述油口B′和所述油口B相连，所述油口P和所述油口P1相连，所述油口T和所述油口T1均与油箱相连；
    所述信号输入端I2有信号输入后，所述油口A′与所述油口P相连通，所述油口B′与所述油口T相连通，所述液压泵Ⅰ(4)向所述油口A泵油以驱动所述马达(1)反转；所述信号输入端I2无信号输时，所述油口P、所述油口B′、所述油口A′与所述油口T之间互不连通；
    所述调节装置包括：
    拉力检测器(11)；及
    控制器(10)，具有信号输入端I1、信号输出端O1和拉力判断模块；
    所述信号输出端O1与所述信号输入端I2相连；所述拉力检测器(11)的信号输出端与所述信号输入端I1相连用于将当前钢丝绳拉力信号发送至所述控制器(10)；
    所述拉力判断模块能够在判断当前钢丝绳拉力小于预设拉力后发出电流信号至所述信号输入端I2。
  7. 根据权利要求6所述的一种卷扬钢丝绳自动涨紧控制系统，其特征在于：
    所述控制器(10)还具有信号输出端O2；所述控制阀Ⅰ(2)还具有信号输入端I3，所述信号输出端O2与所述信号输入端I3相连；所述信号输入端I3输入所述控制器(10)发出的正转信号后，所述油口A′与所述油口T相连通，所述油口B′与所述油口P相连通；所述液压泵Ⅰ(4)向所述油口B泵油以驱动所述马达(1)正转。
  8. 根据权利要求2至7任一所述的一种卷扬钢丝绳自动涨紧控制系统，其特征在于：
    所述控制器(10)还包括安全条件判断模块，所述安全条件判断模块能够采集当前工况并在具备安全条件后发出控制信号使所述拉力判断模块工作。
  9. 一种连续墙抓斗机，其特征在于：
    包括根据权利要求1所述的一种卷扬钢丝绳自动涨紧控制系统。
PCT/CN2019/097778 2018-09-20 2019-07-25 一种卷扬钢丝绳自动涨紧控制系统及连续墙抓斗机 WO2020057254A1 (zh)

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