CN113023603B

CN113023603B - Winch control device and method and underground continuous wall construction equipment

Info

Publication number: CN113023603B
Application number: CN202110572271.4A
Authority: CN
Inventors: 董梅; 顾波; 苏伟; 张宗阳; 王兵; 张伟; 黄国争; 王选卓; 郜星; 张�杰
Original assignee: Xuzhou XCMG Foundation Construction Machinery Co Ltd
Current assignee: Xuzhou XCMG Foundation Construction Machinery Co Ltd
Priority date: 2021-05-25
Filing date: 2021-05-25
Publication date: 2021-08-17
Anticipated expiration: 2041-05-25
Also published as: CN113023603A

Abstract

The disclosure provides a winch control device and method and underground continuous wall construction equipment. The hoisting control device has a manual control mode and comprises: the hoisting device comprises at least one hoisting roller which is in driving connection with the working device and at least one hoisting motor which is in corresponding driving connection with the at least one hoisting roller; the control valve is correspondingly connected with the at least one hoisting motor and is configured to change the rotating speed of the corresponding hoisting motor according to the change of the opening degree of the control valve; a gear control part configured to output gear information to indicate a speed gear of at least one winding motor; and a controller in signal connection with the at least one control valve and the gear control portion, configured to adjust an opening degree of the at least one control valve according to opening degree control information, the opening degree control information including gear information in the manual control mode. This openly does benefit to and reduces the potential safety hazard, promotes the efficiency of construction and reduces construction cost in the diaphragm wall work progress.

Description

Winch control device and method and underground continuous wall construction equipment

Technical Field

The disclosure relates to the field of engineering machinery, in particular to a winch control device and method and underground continuous wall construction equipment.

Background

The underground continuous wall is a continuous wall which is arranged below the ground and is constructed for intercepting water, preventing seepage, retaining soil and bearing, and has the advantages of small construction vibration, low noise, high wall rigidity, good seepage-proofing performance and the like. The hydraulic grab bucket for the diaphragm wall is used as underground diaphragm wall construction equipment, the hoisting motor drives the grab bucket body to be lifted or lowered to be the main function of the equipment, and the grab bucket body can be lowered to the bottom of the bucket to be excavated and lifted to the ground to be unloaded.

The maximum speed at which the body of a current diaphragm wall hydraulic grab is lifted or lowered is generally constant. When the underground continuous wall is subjected to groove forming construction, if the constant maximum speed exceeds the reasonable running speed during the construction of a sludge layer, the groove hole collapse can be caused, and the potential safety hazard is caused; if the depth of the groove is larger, the constant maximum speed is lower, which causes low construction efficiency and is not beneficial to reducing construction cost.

Disclosure of Invention

The invention aims to provide a winch control device and method capable of adjusting the running speed of a grab bucket body according to construction conditions and underground diaphragm wall construction equipment, so that construction potential safety hazards are reduced, construction efficiency is improved, and construction cost is reduced in the diaphragm wall construction process.

A first aspect of the present disclosure provides a hoisting control device having a manual control mode, including: the hoisting device comprises at least one hoisting roller which is in driving connection with the working device and at least one hoisting motor which is in corresponding driving connection with the at least one hoisting roller; at least one control valve correspondingly connected with the at least one hoisting motor, wherein the control valve is configured to change the rotating speed of the corresponding hoisting motor according to the change of the opening degree of the control valve; a gear control part configured to output gear information to indicate a speed gear of the at least one winding motor; and a controller in signal connection with the at least one control valve and the gear control portion, configured to adjust an opening degree of the at least one control valve according to opening degree control information, the opening degree control information including the gear information in the manual control mode.

According to some embodiments of the disclosure, the control valve is a proportional valve.

According to some embodiments of the present disclosure, the hoisting device comprises two of the hoisting motors; the winch control device comprises two control valves which are respectively and correspondingly connected with the two winch motors; the hoisting control device further comprises a single-double hoisting control part configured to output single-double hoisting action information to indicate whether two hoisting motors act simultaneously or one of the two hoisting motors acts; the controller is also in signal connection with the single-double winch control part, and the opening control information comprises single-double winch action information.

According to some embodiments of the present disclosure, the hoist control apparatus further includes a hoist selection control part configured to output hoist selection information to indicate which of the two hoist motors is operated when the single and double hoist operation information indicates that one of the two hoist motors is operated; the controller is also in signal connection with the winch selection control part, and the opening control information comprises the winch selection information.

According to some embodiments of the present disclosure, under the condition that the remaining opening degree control information other than the hoisting selection information is the same, the opening degrees of the two control valves corresponding to different hoisting selection information are different.

According to some embodiments of the present disclosure, the winding control device further includes a lifting control part configured to output lifting control information to indicate lifting, lowering, and stopping of the working device, the controller is further in signal connection with the lifting control part, and the opening degree control information further includes the lifting control information.

According to some embodiments of the present disclosure, the opening degree of the same control valve is different under the condition that the opening degree control information other than the lift control information is the same and the lift control information is different.

According to some embodiments of the present disclosure, the hoisting control device further includes a detection device configured to output working device depth information of the working device, the controller is further in signal connection with the detection device, and the opening degree control information further includes the working device depth information.

According to some embodiments of the present disclosure, the detection device includes a rotational speed detection device configured to detect a rotational speed of the at least one hoisting drum, and the working device depth information includes the rotational speed of the at least one hoisting drum.

According to some embodiments of the present disclosure, the rotation speed detecting device includes at least one encoder, and the at least one encoder is correspondingly disposed on the at least one winding drum.

According to some embodiments of the present disclosure, the controller is configured to determine a depth interval in which the working device is located according to the working device depth information, and under a condition that the remaining opening degree control information other than the working device depth information is the same and the working device depth information is different, if the depth intervals corresponding to different working device depth information are different, the opening degree of the same control valve is different.

According to some embodiments of the disclosure, the controller is configured to adjust the opening degree of the at least one control valve to gradually change from the opening degree corresponding to the depth interval before the change to the opening degree corresponding to the depth interval after the change when it is determined that the depth interval of the working device changes according to the working device depth information.

According to some embodiments of the present disclosure, the hoist control device further has an automatic control mode, and includes a control mode selection part configured to output control mode information to indicate whether the hoist control device is in the manual control mode or the automatic control mode, the controller being in signal connection with the control mode selection part, the opening degree control information including the control mode information, wherein in the manual control mode, the opening degree control information does not include the working device depth information, and in the automatic control mode, the opening degree control information includes the working device depth information.

According to some embodiments of the present disclosure, in the automatic control mode, the opening degree control information does not include the gear position information.

According to some embodiments of the present disclosure, in the automatic control mode, the opening degree control information includes the gear position information.

According to some embodiments of the present disclosure, the winding control device further comprises a display in signal connection with the controller, configured to display the opening degree control information and the opening degree information of the at least one control valve.

A second aspect of the present disclosure provides an underground diaphragm wall construction apparatus including: a hoisting control device according to a first aspect of the present disclosure; and the working device is in driving connection with the winding roller.

According to some embodiments of the present disclosure, the underground continuous wall construction equipment is a continuous wall hydraulic grab, and the working device includes a grab body.

A third aspect of the present disclosure provides a hoisting control method, including: providing opening control information of at least one control valve of a hoisting control device, wherein the hoisting control device is provided with a manual control mode, and in the manual control mode, the opening control information of the at least one control valve comprises gear information which indicates the speed gear of at least one hoisting motor of the hoisting control device; and adjusting the opening of the at least one control valve according to the opening control information, wherein the at least one control valve is correspondingly connected with the at least one hoisting motor, and the control valve is configured to change the rotating speed of the corresponding hoisting motor according to the change of the opening.

According to some embodiments of the present disclosure, the hoisting control device includes two hoisting motors and two control valves, the two control valves are respectively connected to the two hoisting motors, and the providing the opening degree control information of the at least one control valve includes: and providing single and double hoisting action information indicating whether the two hoisting motors act simultaneously or one of the two hoisting motors acts.

According to some embodiments of the disclosure, providing the opening control information of the at least one control valve comprises: and when the single-double hoisting action information indicates that one of the two hoisting motors acts, providing hoisting selection information indicating which one of the two hoisting motors acts, wherein under the condition that the rest opening control information except the hoisting selection information is the same, the opening of the two control valves corresponding to different hoisting selection information is different.

According to some embodiments of the disclosure, providing the opening control information of the at least one control valve comprises: and providing lifting control information for indicating the rising, falling and stopping of a working device in driving connection with the winch control device, wherein the opening degree of the same control valve is different under the condition that the opening degree control information except the lifting control information is the same and the lifting control information is different.

According to some embodiments of the present disclosure, the winding control device further has an automatic control mode, and the providing the opening degree control information of the at least one control valve includes: providing control mode information indicating whether the hoisting control device is in the manual control mode or the automatic control mode; in the automatic control mode, providing the opening degree control information of the at least one control valve includes: providing working device depth information of a working device in driving connection with the winch control device, and determining a depth interval where the working device is located according to the working device depth information, wherein under the condition that the rest opening degree control information except the working device depth information is the same and the working device depth information is different, if the depth intervals corresponding to the different working device depth information are different, the opening degree of the same control valve is different; in the manual control mode, providing the opening degree control information of the at least one control valve does not include providing the working device depth information.

According to some embodiments of the disclosure, when it is determined that the depth section of the working device is changed according to the working device depth information, the opening degree of the at least one control valve is adjusted to gradually change from the opening degree corresponding to the depth section before the change to the opening degree corresponding to the depth section after the change.

According to some embodiments of the present disclosure, in the automatic control mode, providing the opening degree control information of the at least one control valve does not include providing the gear information.

According to some embodiments of the disclosure, in the automatic control mode, providing the opening degree control information of the at least one control valve includes providing the gear information.

Based on the winch control device and method and the continuous wall construction equipment provided by the embodiment of the disclosure, in the continuous wall construction process, an operator can set and output gear information through the gear control part according to the requirements of construction conditions, such as the requirements of stratum conditions, and adjust the opening of at least one control valve as opening control information, so that the corresponding winch motor acts at the set speed gear, the potential safety hazards of groove hole collapse and the like caused by overhigh construction speed of a silt layer are favorably improved, the service lives of components such as a steel wire rope and the like in the winch device are prolonged, and the construction efficiency and the construction cost are favorably improved and reduced when the groove forming depth is larger.

Other features of the present disclosure and advantages thereof will become apparent from the following detailed description of exemplary embodiments thereof, which proceeds with reference to the accompanying drawings.

Drawings

The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the disclosure and together with the description serve to explain the disclosure and not to limit the disclosure.

Fig. 1 is a schematic view of a continuous wall construction apparatus according to some embodiments of the present disclosure.

Fig. 2 is a schematic view illustrating an operation principle of a winch control device according to some embodiments of the present disclosure in a manual control mode.

Fig. 3 is a schematic diagram illustrating an operation principle of a winch control device according to some embodiments of the present disclosure in an automatic control mode.

In fig. 1 to 3, each reference numeral represents: 1. a lifting control part; 2. a single-double hoisting control part; 3. a first encoder; 4. a second encoder; 5. a first control valve; 6. a second control valve; 7. a controller; 8. a display; 9. a hoisting selection control unit; 10. a grab bucket body; 11. a first hoist motor; 12. a second hoist motor; 13. a gear control unit; 14. and a control mode selection unit.

Detailed Description

The technical solutions in the embodiments of the present disclosure will be clearly and completely described below with reference to the drawings in the embodiments of the present disclosure, and it is obvious that the described embodiments are only a part of the embodiments of the present disclosure, and not all of the embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the disclosure, its application, or uses. All other embodiments, which can be derived by a person skilled in the art from the embodiments disclosed herein without making any creative effort, shall fall within the protection scope of the present disclosure.

The relative arrangement of the components and steps, the numerical expressions, and numerical values set forth in these embodiments do not limit the scope of the present disclosure unless specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail, but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.

In the description of the present disclosure, it should be understood that the terms "first", "second", etc. are used to define the components, and are used only for convenience of distinguishing the corresponding components, and if not otherwise stated, the terms have no special meaning, and thus, should not be construed as limiting the scope of the present disclosure.

In the description of the present disclosure, it is to be understood that the orientation or positional relationship indicated by the directional terms such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal" and "top, bottom", etc., are generally based on the orientation or positional relationship shown in the drawings, and are presented only for the convenience of describing and simplifying the disclosure, and in the absence of a contrary indication, these directional terms are not intended to indicate and imply that the device or element being referred to must have a particular orientation or be constructed and operated in a particular orientation, and therefore, should not be taken as limiting the scope of the disclosure; the terms "inner and outer" refer to the inner and outer relative to the profile of the respective component itself.

The embodiment of the disclosure provides a winch control device and method and underground continuous wall construction equipment.

As shown in fig. 1 to 3, some embodiments of the present disclosure provide a winding control device having a manual control mode, including a winding device, at least one control valve, a gear position control part 13, and a controller 7.

The hoisting device comprises at least one hoisting roller which is in driving connection with the working device and at least one hoisting motor which is in corresponding driving connection with the at least one hoisting roller. At least one hoisting motor can drive the working device to descend or ascend at a certain speed, descend to the bottom of the groove and excavate or lift to the ground to discharge soil.

For the underground diaphragm wall construction equipment, the working device can be a grab bucket body 10 of a hydraulic grab bucket of the diaphragm wall as shown in fig. 1, or a milling cutter frame of a diaphragm wall slot milling machine and the like. The working device can also be a hoisting sling of a hoisting machine and the like.

The control valve is correspondingly connected with the at least one hoisting motor and is configured to change the rotating speed of the corresponding hoisting motor according to the change of the opening degree of the control valve, so that the ascending or descending speed of the working device is changed.

The gear position control portion 13 is configured to output gear position information to indicate a speed gear position of at least one winding motor.

The controller 7 is in signal connection with at least one control valve and the gear control. The controller 7 is configured to adjust the opening of the at least one control valve in accordance with the opening control information. In the manual control mode, the opening degree control information includes gear position information.

The underground continuous wall construction equipment provided by the embodiment of the disclosure comprises the winch control device and the working device provided by the embodiment of the disclosure. The working device is in driving connection with the winding roller.

In some embodiments, the underground continuous wall construction equipment is a continuous wall hydraulic grab, and the working device comprises a grab body 10. Based on hoist controlling means and underground continuous wall construction equipment that this disclosed embodiment provided, in the continuous wall work progress, the operator can be according to the needs of construction operating mode, for example the needs of stratum condition, set up and output gear information through gear control portion, adjust the aperture of at least one control valve as aperture control information, make the corresponding hoist motor move with the speed gear that sets up, be favorable to improving because of the potential safety hazards such as slotted hole collapse that silt layer construction speed leads to at the excessive speed and promote the life of parts such as wire rope among the hoist device, also be favorable to promoting the efficiency of construction and reducing construction cost when the grooving degree of depth is great.

In some embodiments, the control valve is a proportional valve, and the controller 7 controls the opening of the proportional valve by outputting a current control signal to change the rotation speed of the corresponding hoist motor. The proportional valve can realize the stepless speed regulation of the hoisting motor.

In some embodiments, the hoist includes two hoist motors. The hoisting control device comprises two control valves which are respectively and correspondingly connected with the two hoisting motors. As shown in fig. 1, the winding device includes a first winding motor 11 and a second winding motor 12, at least one control valve includes a first control valve 5 and a second control valve 6, and the first control valve 5 and the second control valve 6 are respectively connected to the first winding motor 11 and the second winding motor 12, and are respectively used for controlling the rotation speed of the first winding motor 11 and the rotation speed of the second winding motor 12. The first hoisting motor 11 and the second hoisting motor 12 are respectively in driving connection with the first hoisting drum and the second hoisting drum to respectively drive the first hoisting drum and the second hoisting drum to rotate. The first hoisting roller and the second hoisting roller are in driving connection with the working device through a steel wire rope so as to control the working device to act.

In some embodiments, in order to facilitate the operator to switch the two hoisting motors to operate simultaneously or one of the two hoisting motors to operate, the hoisting control device further comprises a single-double hoisting control part 2. The single-double winding control section 2 is configured to output single-double winding operation information to indicate whether two winding motors operate simultaneously or one of the two winding motors operates. The controller 7 is also in signal connection with the single-double winding control part 2, and the opening control information comprises single-double winding action information.

In some embodiments, in the case where one of the two hoisting motors is operated, in order to facilitate the operator to switch which of the two hoisting motors is operated, the hoisting control device further includes a hoisting selection control part 9. When the single-double winding motion information indicates that one of the two winding motors is operated, the winding selection control part 9 is configured to output the winding selection information to indicate which of the two winding motors is operated. The controller 7 is also in signal connection with a hoisting selection control part 9, and the opening degree control information includes hoisting selection information.

When one of the two hoisting motors acts, the hoisting motors can be set to act independently at the same or different rotating speeds, and the opening degrees of the two control valves can be the same or different. In some embodiments, the opening degree of the two control valves corresponding to different hoisting selection information is different under the condition that the remaining opening degree control information other than the hoisting selection information is the same.

In some embodiments, in order to facilitate the operator to switch the motion state of the working device, the winding control device further includes a lifting control portion 1. The elevation control section 1 is configured to output elevation control information to instruct elevation, descent, and stop of the working device. The controller 7 is also in signal connection with the elevation control part 1, and the opening degree control information also comprises elevation control information. The lifting control part 1 and the gear control part 13 can be arranged on a control handle adopting an electric control or hydraulic control mode.

When the working device ascends or descends, the ascending speed and the descending speed can be set to be the same or different, and the opening degree of the same control valve can be the same or different. In some embodiments, the opening degree of the same control valve is different under the condition that the opening degree control information other than the lift control information is the same and the lift control information is different.

In some embodiments, the hoisting control device further comprises a detection device configured to output working device depth information of the working device. The working device depth information may be a depth at which the working device is located, or may be a physical quantity related to the depth of the working device, such as a speed of the working device, a rotational speed of the at least one winding drum, and the like. The controller 7 is also in signal connection with the detection device, and the opening control information also comprises depth information of the working device.

In other embodiments, the detection device is configured to output other types of position information, depending on the application of the hoist control device, in order to better control the speed of the hoist motor based on the position of the working device. For example, for a lifting machine, the position information may be work implement height information.

In some embodiments, the detection means comprises a rotational speed detection means configured to detect the rotational speed of the at least one hoisting drum. The working device depth information includes a rotational speed of the at least one hoisting drum.

In some embodiments, the rotation speed detection device includes at least one encoder, and the at least one encoder is correspondingly disposed on the at least one winding drum. As shown in fig. 1, the rotation speed detecting device includes a first encoder 3 and a second encoder 4, which are respectively used for detecting the rotation speeds of a first hoisting drum in driving connection with a first hoisting motor 11 and a second hoisting drum in driving connection with a second hoisting motor 12. According to the position data of the first encoder 3 and the second encoder 4 and the sizes of the first hoisting roller and the second hoisting roller, the rotating speeds of the first hoisting roller and the second hoisting roller can be obtained, the ascending or descending speed of the working device is further obtained, and the stroke and the depth of the working device are further obtained.

When the working device is at different depths, different speeds can be set, and the opening degree of the same control valve can be different, so that the safety risk is reduced, and the construction efficiency is improved. To achieve the above object, a plurality of depth intervals may be divided according to the grooving depth of the continuous wall, and different speeds may be set for the working device at different depth intervals.

In some embodiments, the controller 7 is configured to determine a depth interval in which the working device is located according to the working device depth information, and under the condition that the remaining opening degree control information other than the working device depth information is the same and the working device depth information is different, if the depth intervals corresponding to different working device depth information are different, the opening degree of the same control valve is different.

In some embodiments, the controller 7 is configured to adjust the opening degree of the at least one control valve to gradually change from the opening degree corresponding to the depth interval before the change to the opening degree corresponding to the depth interval after the change when it is determined that the depth interval of the working device changes according to the working device depth information. The arrangement ensures that the opening degree of the control valve is gradually changed rather than suddenly changed when the working device is started or stopped or runs from one depth interval to another adjacent depth interval, thereby being beneficial to improving the motion stability of the working device.

In order to reduce the complexity of operating the hoisting control device, in some embodiments, the hoisting control device also has an automatic control mode and includes a control mode selection portion 14. The control mode selecting part 14 is configured to output control mode information indicating whether the winding control device is in the manual control mode or the automatic control mode, and the controller 7 is in signal connection with the control mode selecting part 14, and the opening degree control information includes the control mode information. Wherein, in the manual control mode, the opening degree control information does not include the depth information of the working device, and in the automatic control mode, the opening degree control information includes the depth information of the working device.

In some embodiments, the opening degree control information does not include gear position information in the automatic control mode. At the moment, the opening of the control valve is completely automatically controlled without human intervention.

In some other embodiments, the opening degree control information may also include gear position information in the automatic control mode. At this time, the gear information may be used as a parameter for setting the maximum opening of each control valve in the automatic control mode, thereby facilitating improvement of safety in the automatic control mode.

The gear control unit 13, the single/double winding control unit 2, the winding selection control unit 9, the lifting control unit 1, and the control mode selection unit 14 may be in the form of a push switch. Specifically, the single-double winding control portion 2, the winding selection control portion 9, and the control mode selection portion 14 may employ a hold type button switch, and the shift position control portion 13 may employ a self-reset type button switch.

In some embodiments, the hoisting control device further comprises a display 8, the display 8 being in signal connection with the controller 7 and configured to display the opening degree control information and the opening degree information of the at least one control valve. The display screen of the display 8 may be a touch screen, and the gear control portion 13, the single-double winding control portion 2, the winding selection control portion 9, and the control mode selection portion 14 may be disposed on the touch screen in the form of touch keys, so as to reduce the risk of line faults and further simplify the operation mode of the operator.

The embodiment of the disclosure also provides a winch control method. The winch control method comprises the following steps: providing opening control information of at least one control valve of a winch control device, wherein the winch control device is provided with a manual control mode, and in the manual control mode, the opening control information of the at least one control valve comprises gear information which indicates the speed gear of at least one winch motor of the winch control device; and adjusting the opening of at least one control valve according to the opening control information, wherein the at least one control valve is correspondingly connected with at least one hoisting motor, and the control valve is configured to change the rotating speed of the corresponding hoisting motor according to the change of the opening of the control valve.

In some embodiments, the hoisting control device includes two hoisting motors and two control valves, the two control valves are respectively connected to the two hoisting motors, and the providing the opening degree control information of at least one control valve includes: the single and double winding motion information indicating whether the two winding motors are simultaneously operated or one of the two winding motors is operated is provided.

In some embodiments, providing opening control information for the at least one control valve comprises: and when the single-double hoisting action information indicates that one of the two hoisting motors acts, providing hoisting selection information indicating which of the two hoisting motors acts, wherein the opening degrees of the two control valves corresponding to different hoisting selection information are different under the condition that the rest opening degree control information except the hoisting selection information is the same.

In some embodiments, providing opening control information for the at least one control valve comprises: and providing lifting control information for indicating the lifting, the descending and the stopping of a working device which is in driving connection with the winch control device, wherein the opening of the same control valve is different under the condition that the opening control information except the lifting control information is the same and the lifting control information is different.

In some embodiments, the hoisting control device further has an automatic control mode, and the providing of the opening degree control information of the at least one control valve includes: control mode information indicating whether the hoisting control device is in a manual control mode or an automatic control mode is provided. In the automatic control mode, providing opening control information of at least one control valve includes: and providing working device depth information of a working device in driving connection with the winch control device, and determining a depth interval where the working device is located according to the working device depth information, wherein under the condition that the rest opening degree control information except the working device depth information is the same and the working device depth information is different, if the depth intervals corresponding to different working device depth information are different, the opening degree of the same control valve is different. In the manual control mode, providing opening control information for the at least one control valve does not include providing work implement depth information.

In some embodiments, when it is determined that the depth section of the working device is changed according to the working device depth information, the opening degree of the at least one control valve is adjusted to gradually change from the opening degree corresponding to the depth section before the change to the opening degree corresponding to the depth section after the change.

In some embodiments, providing opening control information for the at least one control valve does not include providing gear information in the automatic control mode.

In some embodiments, providing opening control information for the at least one control valve includes providing gear information in the automatic control mode.

The winch control device mentioned in the winch control method can be the winch control device provided by the embodiment of the disclosure, so that the winch control method has the advantages of the winch control device. In the above-described hoisting control method, the type and the role of the opening degree control information involved in adjusting the opening degree of the at least one control valve may refer to the description related to the hoisting control apparatus provided in the embodiments of the present disclosure.

The following further describes a hoisting control method according to some embodiments of the present disclosure with reference to fig. 2 and 3.

As shown in fig. 2, in the manual control mode, the opening degree control information includes gear position information, single and double winding operation information, winding selection information, and elevation control information, and the operator outputs the gear position information, the single and double winding operation information, the winding selection information, and the elevation control information to the controller 7 through the gear position control part 13, the single and double winding control part 2, the winding selection control part 9, and the elevation control part 1, respectively, to manually adjust the speed of the working device.

The controller 7 collects the single and double hoisting operation information outputted from the single and double hoisting control part 2, and determines whether one of the first hoisting motor 11 and the second hoisting motor 12 is operated or the first hoisting motor 11 and the second hoisting motor 12 are simultaneously operated.

If the controller 7 judges one of the first hoisting motor 11 and the second hoisting motor 12 to operate according to the single and double hoisting operation information, the controller 7 collects the hoisting selection information output by the hoisting selection control part 9, and judges whether the first hoisting motor 11 operates or the second hoisting motor 12 operates alone. If the controller 7 judges that the first hoist motor 11 and the second hoist motor 12 operate simultaneously according to the single and double hoist operation information, the hoist selection information does not work for the controller 7 to adjust the opening degrees of the first control valve 5 and the second control valve 6.

The controller 7 collects the gear information output by the gear control part 13, judges the rotating speed gears of the first hoisting motor 11 and the second hoisting motor 12, and sends the gear information to the display 8 for display.

The controller 7 collects the lifting control information output from the lifting control unit 1, and determines whether the grapple body is lifted, lowered, or stopped.

The controller 7 outputs a current control signal to at least one of the first control valve 5 and the second control valve 6 according to the opening degree control information, adjusts the opening degree of at least one of the first control valve 5 and the second control valve 6, and operates at least one of the first hoist motor 11 and the second hoist motor 12 at a corresponding rotational speed.

As shown in fig. 3, in the automatic control mode, the first hoist motor 11 and the second hoist motor 12 are normally operated at the same time, the opening control information includes elevation control information and work implement depth information, the work implement depth information outputted from the detection device to the controller 7, the operator outputs the elevation control information to the controller 7 through the elevation control part 1, and the speed of the work implement is automatically adjusted according to the depth of the work implement.

The controller 7 collects position data of the first encoder 3 and position data of the second encoder 4, obtains the rotating speed of the first hoisting roller and the rotating speed of the second hoisting roller as depth information of the working device according to the size of the first hoisting roller and the size of the second hoisting roller, and judges the depth interval where the working device is located.

The controller 7 outputs current control signals to the first control valve 5 and the second control valve 6 according to the opening degree control information, adjusts the opening degrees of the first control valve 5 and the second control valve 6, and operates the first hoisting motor 11 and the second hoisting motor 12 at corresponding rotational speeds.

Under two control modes of a manual control mode and an automatic control mode, the controller 7 can also collect position data of the first encoder 3 and the second encoder 4, calculate the speed of the working device according to the sizes of the first hoisting roller and the second hoisting roller, and send the speed of the working device to the display 8 for displaying.

In some embodiments, the Controller described above may be implemented as a general purpose Processor, a Programmable Logic Controller (PLC), a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable Logic device, discrete Gate or transistor Logic, discrete hardware components, or any suitable combination thereof for performing the functions described in this disclosure.

Finally, it should be noted that: the above examples are intended only to illustrate the technical solutions of the present disclosure and not to limit them; although the present disclosure has been described in detail with reference to preferred embodiments, those of ordinary skill in the art will understand that: modifications to the embodiments of the disclosure or equivalent replacements of parts of the technical features may be made, which are all covered by the technical solution claimed by the disclosure.

Claims

1. A hoisting control device having a manual control mode, comprising:

the hoisting device comprises at least one hoisting roller which is in driving connection with the working device and at least one hoisting motor which is in corresponding driving connection with the at least one hoisting roller;

at least one control valve correspondingly connected with the at least one hoisting motor, wherein the control valve is configured to change the rotating speed of the corresponding hoisting motor according to the change of the opening degree of the control valve;

a gear position control part (13) configured to output gear position information to indicate a speed gear position of the at least one winding motor;

a lifting control section (1) configured to output lifting control information to instruct lifting, lowering, and stopping of the working device; and

the controller (7) is in signal connection with the at least one control valve and the gear control portion (13), the controller (7) is further in signal connection with the lifting control portion (1) and configured to adjust the opening degree of the at least one control valve according to opening degree control information, the opening degree control information comprises the lifting control information, wherein the opening degree of the same control valve is different under the condition that the rest opening degree control information except the lifting control information is the same and the lifting control information is different, and the opening degree control information further comprises the gear information under the manual control mode.

2. The hoisting control device of claim 1 wherein the control valve is a proportional valve.

3. The hoisting control apparatus of claim 1, wherein,

the hoisting device comprises two hoisting motors;

the winch control device comprises two control valves which are respectively and correspondingly connected with the two winch motors;

the hoisting control device further comprises a single-double hoisting control part (2), wherein the single-double hoisting control part (2) is configured to output single-double hoisting action information to indicate that two hoisting motors act simultaneously or one of the two hoisting motors acts;

the controller (7) is also in signal connection with the single-double winch control part (2), and the opening degree control information comprises single-double winch action information.

4. The hoisting control apparatus of claim 3, wherein,

the hoisting control device further comprises a hoisting selection control part (9), and when the single-double hoisting action information indicates that one of the two hoisting motors acts, the hoisting selection control part (9) is configured to output hoisting selection information to indicate which of the two hoisting motors acts;

the controller (7) is also in signal connection with the winch selection control part (9), and the opening degree control information comprises the winch selection information.

5. The hoisting control apparatus according to claim 4, wherein the two control valves corresponding to different hoisting selection information have different opening degrees on the condition that the opening degree control information other than the hoisting selection information is the same.

6. The hoisting control device according to any one of claims 1 to 5, further comprising a detection device configured to output working device depth information of the working device, wherein the controller (7) is further in signal connection with the detection device, and wherein the opening degree control information further comprises the working device depth information.

7. The hoisting control device of claim 6 wherein the detection means comprises a rotational speed detection means configured to detect a rotational speed of the at least one hoisting drum, and the work device depth information comprises the rotational speed of the at least one hoisting drum.

8. The hoisting control device according to claim 7, wherein the rotation speed detecting means comprises at least one encoder, and the at least one encoder is correspondingly disposed on the at least one hoisting drum.

9. The hoisting control device according to claim 6, wherein the controller (7) is configured to determine a depth zone in which the working device is located according to the working device depth information, and if the depth zones corresponding to different pieces of working device depth information are different under the condition that the remaining pieces of opening degree control information other than the working device depth information are the same and the working device depth information is different, the opening degree of the same control valve is different.

10. The hoisting control device according to claim 9, wherein the controller (7) is configured to adjust the opening degree of the at least one control valve to gradually change from the opening degree corresponding to the depth section before the change to the opening degree corresponding to the depth section after the change when it is determined that the depth section of the working device changes according to the working device depth information.

11. The hoisting control device according to claim 6, further having an automatic control mode, and comprising a control mode selection part (14), the control mode selection part (14) being configured to output control mode information to indicate whether the hoisting control device is in the manual control mode or the automatic control mode, the controller (7) being in signal connection with the control mode selection part (14), the opening degree control information comprising the control mode information, wherein in the manual control mode, the opening degree control information does not comprise the working device depth information, and in the automatic control mode, the opening degree control information comprises the working device depth information.

12. The hoisting control apparatus according to claim 11, wherein in the automatic control mode, the opening degree control information does not include the gear position information.

13. The hoisting control apparatus according to claim 11, wherein in the automatic control mode, the opening degree control information includes the gear position information.

14. The hoisting control device according to any one of claims 1 to 5, further comprising a display (8), wherein the display (8) is in signal connection with the controller (7) and is configured to display the opening degree control information and the opening degree information of the at least one control valve.

15. An underground diaphragm wall construction apparatus, comprising:

the hoisting control device according to any one of claims 1 to 14; and

and the working device is in driving connection with the winding roller.

16. An underground continuous wall construction equipment according to claim 15, wherein the underground continuous wall construction equipment is a continuous wall hydraulic grab and the working device comprises a grab body (10).

17. A hoisting control method, comprising:

providing opening control information of at least one control valve of a hoisting control device, the providing of the opening control information of the at least one control valve comprising: providing lifting control information indicating the rising, falling and stopping of a working device in driving connection with the hoisting control device, wherein under the condition that the rest opening degree control information except the lifting control information is the same and the lifting control information is different, the opening degree of the same control valve is different, the hoisting control device has a manual control mode, and under the manual control mode, the opening degree control information of at least one control valve is provided and comprises gear position information indicating the speed gear position of at least one hoisting motor of the hoisting control device;

and adjusting the opening of the at least one control valve according to the opening control information, wherein the at least one control valve is correspondingly connected with the at least one hoisting motor, and the control valve is configured to change the rotating speed of the corresponding hoisting motor according to the change of the opening.

18. The hoisting control method according to claim 17, wherein the hoisting control device comprises two hoisting motors and two control valves, the two control valves are respectively connected to the two hoisting motors, and the providing the opening degree control information of the at least one control valve comprises: and providing single and double hoisting action information indicating whether the two hoisting motors act simultaneously or one of the two hoisting motors acts.

19. The hoisting control method of claim 18, wherein providing the opening control information of the at least one control valve comprises: and when the single-double hoisting action information indicates that one of the two hoisting motors acts, providing hoisting selection information indicating which one of the two hoisting motors acts, wherein under the condition that the rest opening control information except the hoisting selection information is the same, the opening of the two control valves corresponding to different hoisting selection information is different.

20. The hoisting control method according to any one of claims 17 to 19, wherein,

the hoisting control device further has an automatic control mode, and the providing of the opening degree control information of the at least one control valve includes: providing control mode information indicating whether the hoisting control device is in the manual control mode or the automatic control mode;

in the automatic control mode, providing the opening degree control information of the at least one control valve includes: providing working device depth information of a working device in driving connection with the winch control device, and determining a depth interval where the working device is located according to the working device depth information, wherein under the condition that the rest opening degree control information except the working device depth information is the same and the working device depth information is different, if the depth intervals corresponding to the different working device depth information are different, the opening degree of the same control valve is different;

in the manual control mode, providing the opening degree control information of the at least one control valve does not include providing the working device depth information.

21. The hoisting control method according to claim 20, wherein when it is determined that the depth section of the working device is changed according to the working device depth information, the opening degree of the at least one control valve is adjusted to gradually change from the opening degree corresponding to the depth section before the change to the opening degree corresponding to the depth section after the change.

22. The winding control method according to claim 20, wherein in the automatic control mode, providing the opening degree control information of the at least one control valve does not include providing the gear position information.

23. The winding control method according to claim 20, wherein in the automatic control mode, providing the opening degree control information of the at least one control valve includes providing the gear position information.