Double-winch control system and method of continuous wall grab bucket and engineering machinery

Abstract

The invention relates to the technical field of engineering machinery, and discloses a double-winch control system and method of a continuous wall grab bucket and the engineering machine.The system comprises a master command handle, a main winch system, an auxiliary winch system, a controller, a main braking system and an auxiliary braking system, and a control command signal is generated and transmitted to the main winch system and the auxiliary winch system through the master command handle; the main winch system and the auxiliary winch system are instructed to execute lifting control operation aiming at the grab bucket; when the grab bucket ascends and descends, the controller generates and transmits a speed compensation signal to the main winch system and the auxiliary winch system according to the torque change value and a PID calculation formula so as to optimize the control operation of the grab bucket; and when the grab bucket ascends and descends and any braking system detects that the target voltage meets the voltage protection condition, electric energy consumption operation is executed. Therefore, the consumption control accuracy of the recovered energy in the operation process can be improved while the double-winch control accuracy in the continuous wall grab bucket machinery is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of engineering machinery, and in particular to a double-winch control system and method for a continuous wall grab, and engineering machinery. Background Art

[0002] Large-tonnage continuous wall grab pile-driving machinery usually uses a double winch system to control the lifting of the grab. In order to comply with the development trend of electrification of construction machinery, the double winch system has gradually been changed from a hydraulic system to an electric system for driving.

[0003] The existing double winch electric system architecture of the continuous wall grab may include: main (auxiliary) winch motor controller, main (auxiliary) winch motor, reducer, main (auxiliary) winch brake, main (auxiliary) drum, main (auxiliary) wire rope and hydraulic grab, wherein the existing double winch electric system architecture can be as follows Figure 1 Based on the dual-winch electric system described above, the hydraulic grab can be controlled in the following manner: after outputting a speed command by controlling the opening of the main command handle, the speed command is transmitted to the main (auxiliary) winch motor controller. The main (auxiliary) winch motor, reducer, main (auxiliary) winch brake, main (auxiliary) drum, and main (auxiliary) wire rope are then used to control the hydraulic grab's raising and lowering. Furthermore, during the grab's lowering process, gravitational potential energy is converted into electrical energy and the resulting electrical energy is recovered, thereby improving the energy utilization rate of the construction machinery.

[0004] However, practice has found that since the above-mentioned control method controls the main (auxiliary) wire ropes separately through the main (auxiliary) winch motors, if the speeds of the main (auxiliary) winch motors are inconsistent, there will be a length difference between the main (auxiliary) wire ropes and uneven force, which will increase the risk of wire rope breakage, deformation or even fracture, and easily lead to sudden breakage of the wire rope or loss of control of the grab, posing a safety hazard in construction; when the battery system used to recover the above-mentioned electrical energy overflows or fails to store electrical energy, the electrical energy generated by the lowering of the grab cannot be consumed, and other components may be damaged due to excessive voltage.

[0005] Therefore, it is particularly important to propose a technical solution that can improve the accuracy of dual winch control in continuous wall grab machinery while improving the accuracy of consumption control of energy recovered during operation, thereby improving the operating efficiency and safety of continuous wall grab machinery. Summary of the Invention

[0006] The present invention provides a dual-winch control system, method and engineering machinery for a continuous wall grab, which can improve the accuracy of dual-winch control in the continuous wall grab machinery while improving the accuracy of consumption control of energy recovered during operation, thereby improving the operating efficiency and safety of the continuous wall grab machinery.

[0007] In order to solve the above technical problems, the first aspect of the present invention discloses a dual-winch control system for a diaphragm wall grab, wherein the dual-winch control system includes a master handle, a main winch system, an auxiliary winch system, a controller, a main brake system corresponding to the main winch system, and an auxiliary brake system corresponding to the auxiliary winch system, wherein: The main command handle is electrically connected to the first end of the main hoisting system and the first end of the auxiliary hoisting system respectively; the second end of the main hoisting system is electrically connected to the main brake system; the second end of the auxiliary hoisting system is electrically connected to the auxiliary brake system; the third end of the main hoisting system and the third end of the auxiliary hoisting system are respectively used to connect to the hydraulic grab; The master handle is used to generate a control command signal and transmit the control command signal to the main hoisting system and the auxiliary hoisting system respectively; the control command signal is used to instruct the main hoisting system and the auxiliary hoisting system to perform a lifting control operation for the hydraulic grab; the control command signal includes at least a speed command signal; The controller is configured to generate a speed compensation signal based on a preset PID calculation formula according to the received torque change value during the lifting and lowering process of the hydraulic grab, and transmit the speed compensation signal to the main hoisting system and the auxiliary hoisting system to optimize the control operation of the main hoisting system and the auxiliary hoisting system on the hydraulic grab; the torque change value includes a first torque change value fed back by the main hoisting system and / or a second torque change value fed back by the auxiliary hoisting system; and the speed compensation signal includes a first compensation signal and / or a second compensation signal; Any braking system is used to perform an energy consumption operation when it is detected that the target voltage to be monitored meets a preset voltage protection condition during the lifting and lowering process of the hydraulic grab; wherein, any of the braking systems is the main braking system or the auxiliary braking system.

[0008] As an optional embodiment, in the first aspect of the present invention, the main hoisting system includes a main hoisting motor controller, a main hoisting motor, a first reducer, a main hoisting brake, a main drum and a main wire rope, wherein: The first end of the main hoisting motor controller is electrically connected to the main command handle, the second end of the main hoisting motor controller is electrically connected to the main hoisting motor, and the third end of the main hoisting motor controller is electrically connected to the main brake system, and the main hoisting motor, the first reducer, the main hoisting brake and the main drum are connected in sequence, and the main drum is wound with the main steel wire rope, and the main steel wire rope is used to connect to the hydraulic grab; The main hoisting motor controller is configured to receive a control command signal transmitted by the master command handle and control the main hoisting motor, the first reducer, the main hoisting brake, the main drum, and the main wire rope according to the control command signal to perform a first lifting control operation for the hydraulic grab; The main hoisting motor is configured to convert first load change information fed back by the hydraulic grab into a first torque change value during the lifting and lowering process of the hydraulic grab, and transmit the first torque change value to the controller; The main hoisting motor controller is further configured to receive the first compensation signal transmitted by the controller, and optimize the first lifting control operation for the hydraulic grab bucket according to the first compensation signal.

[0009] As an optional embodiment, in the first aspect of the present invention, the auxiliary winch system includes an auxiliary winch motor controller, an auxiliary winch motor, a second reducer, an auxiliary winch brake, an auxiliary drum and an auxiliary wire rope, wherein: The first end of the auxiliary winch motor controller is electrically connected to the master handle, the second end of the auxiliary winch motor controller is electrically connected to the auxiliary winch motor, the third end of the auxiliary winch motor controller is electrically connected to the auxiliary brake system, and the auxiliary winch motor, the second reducer, the auxiliary winch brake and the auxiliary drum are connected in sequence, and the auxiliary drum is wound with the auxiliary steel wire rope, and the auxiliary steel wire rope is used to connect to the hydraulic grab bucket; The auxiliary winch motor controller is configured to receive a control command signal transmitted by the master handle and control the auxiliary winch motor, the second reducer, the auxiliary winch brake, the auxiliary drum, and the auxiliary wire rope according to the control command signal to perform a second lifting control operation for the hydraulic grab; The auxiliary hoisting motor is configured to convert the second load change information fed back by the hydraulic grab into a second torque change value during the lifting and lowering process of the hydraulic grab, and transmit the second torque change value to the controller; The auxiliary hoisting motor controller is further configured to receive the second compensation signal transmitted by the controller, and optimize the second lifting control operation for the hydraulic grab bucket according to the second compensation signal.

[0010] As an optional embodiment, in the first aspect of the present invention, the main brake system includes a main brake unit and a main brake resistor, and the auxiliary brake system includes an auxiliary brake unit and an auxiliary brake resistor; wherein: the first end of the main brake unit is electrically connected to the third end of the main hoisting motor controller; the first end of the auxiliary brake unit is electrically connected to the third end of the auxiliary hoisting motor controller; Wherein, during the lifting process of the hydraulic grab bucket, when any of the braking systems detects that the target voltage to be monitored meets a preset voltage protection condition, the specific manner in which the power consumption operation is executed includes: During the lifting and lowering process of the hydraulic grab, when the braking unit in the braking system detects that the target voltage of the DC bus terminal of the hoisting motor controller corresponding to the braking system is greater than or equal to the braking voltage threshold corresponding to the braking unit, the braking resistor in the braking system is electrically connected to the braking unit so that the braking resistor is connected to the high-voltage circuit of the entire machine, thereby consuming electrical energy by generating heat through the braking resistor.

[0011] As an optional embodiment, in the first aspect of the present invention, the dual winch control system of the diaphragm wall grab further includes an electric energy recovery system, wherein: The first end of the electric energy recovery system is electrically connected to the fourth end of the main hoisting motor controller and the fourth end of the auxiliary hoisting motor controller respectively; The electric energy recovery system is used to recover the first electric energy generated by the main hoisting motor and the auxiliary hoisting motor during rotation through the main hoisting motor controller and the auxiliary hoisting motor controller during the descent of the hydraulic grab; and to supply power to electrical components.

[0012] As an optional embodiment, in the first aspect of the present invention, the electric energy recovery system includes a whole-machine junction box and a battery system, wherein: The first end of the whole machine junction box is electrically connected to the fourth end of the main hoisting motor controller and the fourth end of the auxiliary hoisting motor controller respectively; the first end of the battery system is electrically connected to the second end of the whole machine junction box; The whole-machine junction box is used to transmit the first electrical energy to the battery system during the descending process of the hydraulic grab, so as to store the first electrical energy in the battery system.

[0013] As an optional embodiment, in the first aspect of the present invention, the electric energy recovery system further includes a charging system, wherein: The first end of the charging system is electrically connected to the third end of the whole device junction box; The charging system is used to provide the second electric energy to the whole machine junction box; The whole-machine junction box is used to supply power to the electrical components based on the first electrical energy and / or the second electrical energy.

[0014] As an optional embodiment, in the first aspect of the present invention, the electric energy recovery system further includes a voltage conversion module, wherein: The first end of the voltage conversion module is electrically connected to the fourth end of the whole machine junction box; The voltage conversion module is used to convert the power supply voltage of the whole machine junction box into a preset voltage to supply power to low-voltage electrical components.

[0015] A second aspect of the present invention discloses a dual-winch control method for a continuous wall grab, the method being applied to the dual-winch control system of the continuous wall grab, and the dual-winch control system of the continuous wall grab comprises a master handle, a main winch system, an auxiliary winch system, a controller, a main brake system corresponding to the main winch system, and an auxiliary brake system corresponding to the auxiliary winch system, wherein: the master handle is electrically connected to a first end of the main winch system and a first end of the auxiliary winch system, respectively; the second end of the main winch system is electrically connected to the main brake system, the second end of the auxiliary winch system is electrically connected to the auxiliary brake system; and the third end of the main winch system and the third end of the auxiliary winch system are respectively used for connecting to a hydraulic grab; And, the method comprises: The master handle generates a control command signal and transmits the control command signal to the main hoisting system and the auxiliary hoisting system respectively; the control command signal is used to instruct the main hoisting system and the auxiliary hoisting system to perform a lifting control operation for the hydraulic grab; the control command signal includes at least a speed command signal; During the lifting and lowering process of the hydraulic grab, the controller generates a speed compensation signal based on the received torque change value and a preset PID calculation formula, and transmits the speed compensation signal to the main hoisting system and the auxiliary hoisting system to optimize the control operation of the main hoisting system and the auxiliary hoisting system on the hydraulic grab; the torque change value includes a first torque change value fed back by the main hoisting system and / or a second torque change value fed back by the auxiliary hoisting system; the speed compensation signal includes a first compensation signal and / or a second compensation signal; During the lifting and lowering process of the hydraulic grab bucket, any braking system performs an energy consumption operation when it detects that the target voltage to be monitored meets a preset voltage protection condition; wherein, any braking system is the main braking system or the auxiliary braking system.

[0016] A third aspect of the present invention discloses an engineering machine, which includes a mechanical equipment body and a dual winch control system of the diaphragm wall grab as disclosed in the first aspect.

[0017] Compared with the prior art, the present invention has the following beneficial effects: By providing a dual winch control system for a continuous wall grab including a main command handle, a main winch system, an auxiliary winch system, a controller, a main braking system and an auxiliary braking system, the main command handle can generate and transmit a control command signal to the main winch system and the auxiliary winch system to instruct the main winch system and the auxiliary winch system to perform lifting control operations for the grab; when the grab is lifted, the controller generates and transmits a speed compensation signal to the main winch system and the auxiliary winch system according to the torque change value and the PID calculation formula to optimize the grab control operation, so that the main (auxiliary) winch system can optimize the grab control operation according to the actual lifting situation, thereby improving the synchronization of the dual winch systems in executing the grab lifting control operations, effectively adjusting the stress conditions in the dual winch system, reducing the wear of the dual winch system, and improving Safety and accuracy of grab bucket lifting; and, when the grab bucket is lifted or lowered, if any braking system detects that the target voltage to be monitored meets the voltage protection condition, it will execute the power consumption operation to consume the excess electric energy recovered in the circuit, thereby being able to achieve efficient consumption of the excess electric energy generated during power recovery by adding the main (auxiliary) braking system, and can reduce the possibility of components in the circuit being broken down by high voltage, thereby protecting the components in the circuit and improving the safety and reliability of the dual winch system; therefore, the system provided by the present embodiment can improve the accuracy of the dual winch control in the continuous wall grab bucket machinery while improving the accuracy of the consumption control of the energy recovered during operation, thereby improving the operating efficiency, operating safety and operating reliability of the continuous wall grab bucket machinery, and thus helping to improve construction safety and construction efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0019] Figure 1 This is a schematic diagram of the architecture of a double winch electric system for a continuous wall grab disclosed in the prior art; Figure 2 This is a structural diagram of a dual winch control system for a diaphragm wall grab disclosed in an embodiment of the present invention; Figure 3 This is a schematic structural diagram of another dual winch control system for a continuous wall grab according to an embodiment of the present invention; Figure 4 This is a structural schematic diagram of a dual winch control system for a diaphragm wall grab disclosed in an embodiment of the present invention; Figure 5This is a structural schematic diagram of a dual winch control system for a diaphragm wall grab disclosed in an embodiment of the present invention; Figure 6 This is a structural schematic diagram of a dual winch control system for a diaphragm wall grab disclosed in an embodiment of the present invention; Figure 7 This is a flow chart of a dual winch control method for a diaphragm wall grab disclosed in an embodiment of the present invention; Figure 8 It is a structural schematic diagram of an engineering machinery disclosed in an embodiment of the present invention. DETAILED DESCRIPTION

[0020] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0021] It should be noted that, unless otherwise expressly specified and limited, the term "electrical connection" in the specification and claims of the present invention and the above-mentioned drawings should be understood in a broad sense. For example, it can be a fixed electrical connection, a detachable electrical connection, or an integral electrical connection; it can be a mechanical electrical connection, an electrical electrical connection, or mutual communication; it can be directly connected, or indirectly connected through an intermediate medium, or it can be internal communication between two elements or an interaction relationship between two elements. In addition, the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, device, product or end that includes a series of steps or units is not limited to the listed steps or units, but optionally also includes steps or units that are not listed, or optionally also includes other steps or units inherent to these processes, methods, products or ends.

[0022] References herein to "embodiments" mean that a particular feature, structure, or characteristic described in connection with the embodiments may be included in at least one embodiment of the present invention. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it constitute a separate or alternative embodiment that is mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0023] Example 1 See also Figure 2 , Figure 2 This is a schematic diagram of the structure of a double winch control system for a continuous wall grab disclosed in an embodiment of the present invention. The system can be applied to engineering machinery equipped with a hydraulic grab, which is not limited in the embodiment of the present invention. Figure 2 As shown, the dual winch control system of the continuous wall grab may include a master handle 10, a main winch system 20, an auxiliary winch system 30, a controller 40, a main brake system 50 corresponding to the main winch system, and an auxiliary brake system 60 corresponding to the auxiliary winch system, wherein: The main command handle 10 is electrically connected to the first end of the main hoisting system 20 and the first end of the auxiliary hoisting system 30 respectively. The second end of the main hoisting system 20 is electrically connected to the main brake system 50, and the second end of the auxiliary hoisting system 30 is electrically connected to the auxiliary brake system 60. The third end of the main hoisting system 20 and the third end of the auxiliary hoisting system 30 are respectively used to connect to the hydraulic grab; The main command handle 10 is used to generate a control command signal and transmit the control command signal to the main hoisting system 20 and the auxiliary hoisting system 30 respectively; the control command signal is used to instruct the main hoisting system 20 and the auxiliary hoisting system 30 to perform a lifting control operation for the hydraulic grab; the control command signal includes at least a speed command signal; The controller 40 is configured to generate a speed compensation signal based on a preset PID calculation formula according to the received torque change value during the lifting and lowering process of the hydraulic grab, and transmit the speed compensation signal to the main hoisting system 20 and the auxiliary hoisting system 30 to optimize the control operation of the hydraulic grab by the main hoisting system 20 and the auxiliary hoisting system 30. The torque change value includes a first torque change value fed back by the main hoisting system 20 and / or a second torque change value fed back by the auxiliary hoisting system 30. The speed compensation signal includes a first compensation signal and / or a second compensation signal. Any braking system is used to perform an energy consumption operation during the lifting and lowering process of the hydraulic grab when it is detected that the target voltage to be monitored meets the preset voltage protection condition; wherein, any braking system is a main braking system 50 or an auxiliary braking system 60.

[0024] Optionally, the speed command signal generated by the master handle 10 may be generated by controlling the opening of the master handle 10 , which is not limited in the embodiment of the present invention.

[0025] Optionally, the PID calculation formula may be as follows:

[0026] in, is the speed compensation value (control output); is the torque change value (current error: the difference between the set value and the actual value); is the proportionality coefficient; is the integration coefficient; is the differential coefficient; is the error integral term; is the error change rate term.

[0027] It can be seen that the embodiment of the present invention provides a dual winch control system for a continuous wall grab including a main command handle, a main winch system, an auxiliary winch system, a controller, a main braking system and an auxiliary braking system. The main command handle can generate and transmit a control command signal to the main winch system and the auxiliary winch system to instruct the main winch system and the auxiliary winch system to perform a lifting control operation for the grab; when the grab is lifted, the controller generates and transmits a speed compensation signal to the main winch system and the auxiliary winch system according to the torque change value and the PID calculation formula to optimize the grab control operation, so that the main (auxiliary) winch system can optimize the grab control operation according to the actual lifting situation, thereby facilitating the improvement of the synchronization of the dual winch systems in executing the grab lifting control operation, so as to effectively adjust the force situation in the dual winch system and reduce the wear of the dual winch system. It is beneficial to improve the safety and accuracy of grab bucket lifting and lowering; and, when the grab bucket is lifting and lowering, if any braking system detects that the target voltage to be monitored meets the voltage protection condition, it will execute the power consumption operation to consume the excess electric energy recovered in the circuit, so that by increasing the main (auxiliary) braking system, the excess electric energy generated during power recovery can be efficiently consumed, and the possibility of components in the circuit being broken down by high voltage can be reduced, thereby protecting the components in the circuit and improving the safety and reliability of the dual winch system; therefore, the system provided by the present embodiment can improve the accuracy of the dual winch control in the continuous wall grab bucket machinery while improving the accuracy of the consumption control of the energy recovered during operation, thereby improving the operating efficiency, operating safety and operating reliability of the continuous wall grab bucket machinery, and thus helping to improve construction safety and construction efficiency.

[0028] In an alternative embodiment, see Figure 3 , Figure 3 This is a schematic structural diagram of a dual winch control system for a continuous wall grab disclosed in an embodiment of the present invention. Figure 3 As shown, the main hoisting system 20 may include a main hoisting motor controller 201, a main hoisting motor 202, a first reducer 203, a main hoisting brake 204, a main drum 205 and a main wire rope 206, wherein: The first end of the main hoisting motor controller 201 is electrically connected to the main command handle 10, the second end of the main hoisting motor controller 201 is electrically connected to the main hoisting motor 202, and the third end of the main hoisting motor controller 201 is electrically connected to the main brake system 50. The main hoisting motor 202, the first reducer 203, the main hoisting brake 204 and the main drum 205 are connected in sequence, and the main drum 205 is wound with a main wire rope 206, which is used to connect to the hydraulic grab bucket; The main hoisting motor controller 201 is used to receive the control command signal transmitted by the main command handle 10 and control the main hoisting motor 202, the first reducer 203, the main hoisting brake 204, the main drum 205 and the main wire rope 206 according to the control command signal to perform the first lifting control operation for the hydraulic grab; The main hoisting motor 202 is used to convert the first load change information fed back by the hydraulic grab into a first torque change value during the lifting process of the hydraulic grab, and transmit the first torque change value to the controller 40; The main hoisting motor controller 201 is further configured to receive a first compensation signal transmitted by the controller 40 and optimize a first lifting control operation of the hydraulic grab bucket according to the first compensation signal.

[0029] The main hoisting motor controller 201 can control the rotation speed of the main hoisting motor 202 according to the control command signal, thereby adjusting the force applied to the main steel wire rope 206 .

[0030] The hydraulic grab provides load feedback to the main hoisting motor 202 through the main steel wire rope 206 , the main drum 205 and the first reducer 203 as first load change information.

[0031] It can be seen that this optional embodiment sets a main winch motor controller, a main winch motor, a first reducer, a main winch brake, a main drum and a main wire rope in the main winch system, and receives a control command signal through the main winch motor controller and controls the main winch motor, the first reducer, the main winch brake, the main drum and the main wire rope according to the control command signal to control the lifting of the hydraulic grab, and converts the first load change information fed back by the hydraulic grab into a first torque change value through the main winch motor, and transmits the first torque change value to the controller. After the controller feeds back the corresponding first compensation signal to the main winch motor controller, it can optimize the corresponding hydraulic grab lifting control, further improve the control reliability and control accuracy of the main winch system for the hydraulic grab, thereby helping to further improve the synchronization of the control operations executed by the dual winch systems, and further help to further improve the safety and accuracy of the grab lifting.

[0032] In this optional embodiment, optionally, as Figure 3 As shown, the auxiliary hoisting system 30 may include an auxiliary hoisting motor controller 301, an auxiliary hoisting motor 302, a second speed reducer 303, an auxiliary hoisting brake 304, an auxiliary drum 305 and an auxiliary wire rope 306, wherein: The first end of the auxiliary winch motor controller 301 is electrically connected to the main command handle, the second end of the auxiliary winch motor controller 301 is electrically connected to the auxiliary winch motor 302, and the third end of the auxiliary winch motor controller 301 is electrically connected to the auxiliary brake system 60. The auxiliary winch motor 302, the second reducer 303, the auxiliary winch brake 304 and the auxiliary drum 305 are connected in sequence, and the auxiliary drum 305 is wound with an auxiliary wire rope 306, which is used to connect to the hydraulic grab bucket; The auxiliary hoisting motor controller 301 is used to receive the control command signal transmitted by the main command handle 10 and control the auxiliary hoisting motor 302, the second reducer 303, the second reducer 303, the auxiliary hoisting brake 304, the auxiliary drum 305 and the auxiliary wire rope 306 according to the control command signal to perform the second lifting control operation for the hydraulic grab; The auxiliary hoisting motor 302 is used to convert the second load change information fed back by the hydraulic grab into a second torque change value during the lifting and lowering process of the hydraulic grab, and transmit the second torque change value to the controller 40; The auxiliary hoisting motor controller 301 is further configured to receive a second compensation signal transmitted by the controller 40 and optimize the second lifting control operation of the hydraulic grab bucket according to the second compensation signal.

[0033] Among them, it should be noted that Figure 3 The “main / auxiliary hoisting motor” includes the above-mentioned main hoisting motor 202 and the above-mentioned auxiliary hoisting motor 302.

[0034] The auxiliary hoisting motor controller 301 can control the rotation speed of the auxiliary hoisting motor 302 according to the control command signal, thereby adjusting the force applied to the auxiliary steel wire rope 306 .

[0035] The hydraulic grab provides load feedback to the auxiliary hoisting motor 302 through the auxiliary steel wire rope 306 , the auxiliary drum 305 and the second speed reducer 303 as second load change information.

[0036] It can be seen that this optional embodiment can control the lifting of the hydraulic grab bucket by setting an auxiliary winch motor controller, an auxiliary winch motor, a first reducer, an auxiliary winch brake, an auxiliary drum and an auxiliary wire rope in the auxiliary winch system, and receiving the control command signal through the auxiliary winch motor controller and controlling the auxiliary winch motor, the second reducer, the auxiliary winch brake, the auxiliary drum and the auxiliary wire rope according to the control command signal, and converting the second load change information fed back by the hydraulic grab bucket into a second torque change value through the auxiliary winch motor, and transmitting the second torque change value to the controller. After the controller feeds back the corresponding second compensation signal to the auxiliary winch motor controller, the corresponding hydraulic grab bucket lifting control can be optimized, and the control reliability and control accuracy of the auxiliary winch system for the hydraulic grab bucket can be further improved, which is conducive to further improving the synchronization of the control operations executed by the dual winch system, and further conducive to further improving the safety and accuracy of the grab bucket lifting.

[0037] In this optional embodiment, optionally, as Figure 3 As shown, the main brake system 50 includes a main brake unit 501 and a main brake resistor 502, and the auxiliary brake system 60 includes an auxiliary brake unit 601 and an auxiliary brake resistor 602; wherein: the first end of the main brake unit 501 is electrically connected to the third end of the main hoisting motor controller 201; the first end of the auxiliary brake unit 601 is electrically connected to the third end of the auxiliary hoisting motor controller 301; Among them, when any braking system detects that the target voltage to be monitored meets the preset voltage protection condition during the lifting and lowering process of the hydraulic grab, the specific manner of executing the power consumption operation includes: During the lifting and lowering process of the hydraulic grab, when the braking unit in the braking system detects that the target voltage at the DC bus terminal of the winch motor controller corresponding to the braking system is greater than or equal to the braking voltage threshold corresponding to the braking unit, the braking resistor in the braking system is electrically connected to the braking unit so that the braking resistor is connected to the high-voltage circuit of the entire machine, thereby consuming electrical energy by heating the braking resistor.

[0038] Specifically, during the lifting and lowering process of the hydraulic grab, when the main braking unit 501 detects that the voltage at the DC bus terminal of the main hoisting motor controller 201 (which can be used as the first target voltage) is greater than or equal to the braking voltage threshold corresponding to the main braking unit 501, the main braking resistor 502 is electrically connected to the second terminal of the main braking unit 501, so that the main braking resistor 502 is connected to the high-voltage circuit of the entire machine, thereby consuming electric energy by generating heat through the main braking resistor 502; When the auxiliary braking unit 601 detects that the voltage at the DC bus terminal of the auxiliary winch motor controller 301 (which can be used as the second target voltage) is greater than or equal to the braking voltage threshold corresponding to the auxiliary braking unit 601, the auxiliary braking resistor 602 is electrically connected to the second end of the auxiliary braking unit 601, so that the auxiliary braking resistor 602 is connected to the high-voltage circuit of the whole machine, thereby consuming electric energy by generating heat through the auxiliary braking resistor 602.

[0039] For example, the braking voltage threshold may be 700V, or other voltage values, which is not limited in the embodiment of the present invention.

[0040] Among them, during the descent process of the hydraulic grab bucket, it can rely on the weight of the load of the hydraulic grab bucket to lower itself, and drive the main hoisting motor 202 and the auxiliary hoisting motor 302 to rotate. At this time, the main hoisting motor 202 and the auxiliary hoisting motor 302 can act as generators, thereby converting the gravitational potential energy during the descent process of the hydraulic grab bucket into electrical energy, and using the converted electrical energy as the first electrical energy; if the generated first electrical energy is not consumed in time in the entire machine circuit (for example: the rate of generating the first electrical energy is higher than the rate of consuming the first electrical energy), the voltage at the DC bus terminal of the main (auxiliary) hoisting motor controller will increase.

[0041] After the power consumption operation is completed, the target voltage is reduced to below the braking voltage threshold, so that the voltage of the entire circuit is within the safe voltage range, thereby protecting the components in the circuit from damage due to excessive voltage.

[0042] It can be seen that by setting the main (auxiliary) braking unit and the main (auxiliary) braking resistor in the main (auxiliary) braking system, during the lifting process of the hydraulic grab, when the braking unit detects that the voltage at the DC bus terminal of the winch motor controller is greater than or equal to the braking voltage threshold corresponding to the braking unit, the braking resistor is electrically connected to the braking unit, so that the braking resistor is involved in the high-voltage circuit of the whole machine, thereby consuming electric energy by heating the braking resistor, which can improve the access control accuracy of the braking resistor, thereby facilitating the improvement of the consumption efficiency and timeliness of the excess electric energy generated during electric energy recovery, and reducing the possibility of components in the circuit being broken down by high voltage, thereby effectively protecting the remaining components in the circuit and improving the safety and reliability of the dual winch system.

[0043] In this optional embodiment, optionally, see Figure 4 , Figure 4 This is a schematic structural diagram of a dual winch control system for a continuous wall grab disclosed in an embodiment of the present invention. Figure 4 As shown, the dual hoisting control system of the diaphragm wall grab can also include an electric energy recovery system 70, wherein: The first terminal of the electric energy recovery system 70 is electrically connected to the fourth terminal of the main hoisting motor controller 201 and the fourth terminal of the auxiliary hoisting motor controller 301 respectively; The power recovery system 70 is used to recover the first electric energy generated by the main hoisting motor 202 and the auxiliary hoisting motor 302 during the rotation through the main hoisting motor controller 201 and the auxiliary hoisting motor controller 301 during the descent of the hydraulic grab; and to supply power to electrical components.

[0044] Optionally, the electrical components may include high-voltage electrical components and / or low-voltage electrical components, which is not limited in the embodiment of the present invention.

[0045] It can be seen that this optional embodiment can, by setting up an energy recovery system in the system, recover the electric energy converted by the lowering of the hydraulic grab under normal circumstances, and at the same time supply power to other electrical components, thereby improving the energy recovery efficiency of the dual winch system and the energy utilization rate of the continuous wall grab machinery.

[0046] In this optional embodiment, optionally, see Figure 5 , Figure 5 This is a schematic structural diagram of a dual winch control system for a continuous wall grab disclosed in an embodiment of the present invention. Figure 5 As shown, the electric energy recovery system 70 may include a whole machine junction box 701 and a battery system 702, wherein: The first end of the whole machine junction box 701 is electrically connected to the fourth end of the main hoisting motor controller 201 and the fourth end of the auxiliary hoisting motor controller 301 respectively; the first end of the battery system 702 is electrically connected to the second end of the whole machine junction box 701; The whole machine junction box 701 is used to transmit the first electric energy to the battery system 702 during the lowering process of the hydraulic grab, so as to store the first electric energy in the battery system 702.

[0047] The whole machine junction box 701 is used to control the power distribution of the whole machine circuit.

[0048] Optionally, during the descent of the hydraulic grab, when the storage capacity of the battery system 702 has not overflowed, the battery system 702 has not been disconnected, and the battery system 702 has not failed, the first electrical energy is transmitted to the battery system 702 to store the first electrical energy in the battery system 702 .

[0049] It can be seen that by setting up a complete machine distribution box and battery system in the electric energy recovery system, the electric energy generated when the grab is lowered can be efficiently distributed to store the electric energy in the battery system, which can improve the processing efficiency of the recovered electric energy, thereby helping to improve the storage efficiency and reliability of the recovered electric energy, and then helping to redistribute the recovered energy, so as to further improve the energy utilization rate of the continuous wall grab machinery.

[0050] In this optional embodiment, optionally, as Figure 5 As shown, the electric energy recovery system 70 may further include a charging system 703, wherein: The first end of the charging system 703 is electrically connected to the third end of the whole device junction box 701; The charging system 703 is used to provide a second electric energy to the whole machine junction box 701; The whole-machine junction box 701 is used to supply power to electrical components based on the first electrical energy and / or the second electrical energy.

[0051] Among them, optionally, the charging system 703 can provide the second electric energy to the whole machine distribution box 701 when the first electric energy cannot be generated through the lowering process of the hydraulic grab / the generated first electric energy is less than the required electric energy of the whole machine circuit, and the embodiment of the present invention does not limit this.

[0052] It can be seen that by setting up a charging system in the power recovery system, stable power can be provided to the whole machine distribution box, so that the whole machine distribution box can stably distribute the required power to other power-consuming components, which is beneficial to improving the operating reliability of the continuous wall grab machinery.

[0053] In this optional embodiment, the electric energy recovery system 70 may further include a voltage conversion module 704, wherein: The first end of the voltage conversion module 704 is electrically connected to the fourth end of the whole machine junction box 701; The voltage conversion module 704 is used to convert the power supply voltage of the whole machine junction box 701 into a preset voltage to supply power to low-voltage electrical components.

[0054] Among them, optional, such as Figure 5 As shown, the voltage conversion module 704 can be a DC-DC (direct current-to-direct current converter); further optionally, the supply voltage can be greater than the preset voltage, thereby achieving a step-down function, which is not limited in the embodiment of the present invention; wherein, for example, the preset voltage can be 24V, or it can be a voltage of other values, which is not limited in the embodiment of the present invention.

[0055] Among them, exemplary, Figure 4 As shown, the low-voltage electrical components may include a 24V battery, and may also include an electronic fan and other 24V devices powered by the 24V battery, which is not limited in the embodiment of the present invention.

[0056] It can be seen that by setting up a voltage conversion module in the electric energy recovery system to convert the voltage into low voltage, it is possible to more flexibly supply power to the low-voltage electrical components in the circuit, thereby improving the power supply flexibility and adaptability in the circuit, which is conducive to further improving the operating reliability of the continuous wall grab machinery.

[0057] The working principle of the dual winch control system of the diaphragm wall grab in the embodiment of the present invention is as follows: When the structure of the double winch control system of the continuous wall grab is as follows Figure 5 When shown, first the speed command is output according to the opening of the main command handle, and then the speed command is transmitted to the main (auxiliary) hoisting motor controller. Then, the main (auxiliary) hoisting motor, reducer, main (auxiliary) hoisting brake, main (auxiliary) drum and main (auxiliary) wire rope are used to control the lifting and lowering of the hydraulic grab. During the lifting and lowering process of the hydraulic grab, the hydraulic grab provides load feedback to the main (auxiliary) hoisting motor through the main (auxiliary) wire rope, main (auxiliary) drum and reducer. At the same time, the main (auxiliary) hoisting motor will feedback the corresponding torque change value to the controller. After PID calculation, the controller outputs a speed compensation signal to the main (auxiliary) hoisting motor controller, so that the main (auxiliary) hoisting motor controller optimizes the main (auxiliary) hoisting motor speed, thereby adjusting the force on the main (auxiliary) wire rope.

[0058] During the lowering process of the grab bucket, it can be lowered by relying on the weight of the load of the hydraulic grab bucket, and drive the main hoisting motor and the auxiliary hoisting motor to rotate. At this time, the main hoisting motor and the auxiliary hoisting motor can act as generators, thereby converting the gravitational potential energy of the grab bucket's lowering process into electrical energy. During this process, the main (auxiliary) reel brake unit monitors the DC bus terminal voltage of the main (auxiliary) hoisting motor controller: when the battery system electrically connected to the whole machine junction box is normal, the electric energy generated by the lowering of the grab bucket can be transmitted to the battery system through the whole machine junction box for storage, and supply power to other high-voltage components in the whole machine circuit. At this time, the main (auxiliary) reel brake unit detects that the DC bus terminal voltage of the main (auxiliary) hoisting motor controller is lower than the braking voltage threshold of the main (auxiliary) reel brake unit, and the main (auxiliary) reel brake resistor will not intervene; when the battery system storage overflows or fails, for example: due to some reasons (the battery system controller and the whole machine controller are connected), The battery system is accidentally disconnected from the high-voltage circuit of the whole machine (due to the loss of communication signal of the device, loose high-voltage plug-in, low insulation resistance, etc.). At this time, the electric energy recovered by the grab during the lowering process cannot be stored in the battery system and cannot be completely consumed by other high-voltage components. That is, the generation rate of energy recovery electric energy is greater than the consumption rate. At this time, the recovered electric energy will continue to accumulate, and the DC bus terminal voltage of the main (auxiliary) hoisting motor controller will increase. When the voltage is greater than the braking voltage threshold of the main (auxiliary) winder brake unit, the main (auxiliary) brake unit controls the main (auxiliary) winder brake resistor to intervene in the high-voltage circuit, consume excess electric energy, and control the system voltage within a safe range.

[0059] in, Figure 5The arrow direction in the dual winch control system of the diaphragm wall grab shown in the figure represents the energy flow when energy can be recovered during the lowering of the grab. Optionally, the dotted arrow will only take effect when the target voltage at the DC bus terminal of the main (auxiliary) winch motor controller is greater than or equal to the braking voltage threshold corresponding to the main (auxiliary) braking unit, which is not limited in this embodiment of the present invention. Figure 6 The arrow direction in the double winch control system of the continuous wall grab shown is the energy flow direction when there is no energy to be recovered, wherein, Figure 6 The invention discloses a double winch control system for a continuous wall grab according to an embodiment of the invention.

[0060] Furthermore, the division of the mechanical energy and electrical energy in the dual winch control system of the continuous wall grab can be as follows: Figure 6 As shown; Exemplarily, the high-voltage components corresponding to the dual hoisting control system of the continuous wall grab may include Figure 6 The all-in-one controller, pump motor, compressor, heater (air conditioner), heater (battery) and DC-DC shown in the embodiment of the present invention are not limited.

[0061] Example 2 See also Figure 7 , Figure 7 This is a flow chart of a dual winch control method for a continuous wall grab disclosed in an embodiment of the present invention. Figure 7 The described dual winch control method of the continuous wall grab can be applied to the dual winch control system of the continuous wall grab, and the dual winch control system of the continuous wall grab may include a main command handle, a main winch system, an auxiliary winch system, a controller, a main brake system corresponding to the main winch system, and an auxiliary brake system corresponding to the auxiliary winch system, wherein: the main command handle is electrically connected to the first end of the main winch system and the first end of the auxiliary winch system respectively, the second end of the main winch system is electrically connected to the main brake system, the second end of the auxiliary winch system is electrically connected to the auxiliary brake system, the third end of the main winch system and the third end of the auxiliary winch system are respectively used to connect to the hydraulic grab, and the embodiment of the present invention does not limit this. Figure 7 As shown, the dual winch control method of the diaphragm wall grab may include the following operations: 801. The main command handle generates a control command signal and transmits the control command signal to the main winch system and the auxiliary winch system respectively.

[0062] In the embodiment of the present invention, the control command signal is used to instruct the main hoisting system and the auxiliary hoisting system to perform a lifting control operation on the hydraulic grab; the control command signal at least includes a speed command signal.

[0063] 802. During the lifting and lowering process of the hydraulic grab, the controller generates a speed compensation signal based on the received torque change value and the pre-set PID calculation formula, and transmits the speed compensation signal to the main hoisting system and the auxiliary hoisting system to optimize the control operation of the main hoisting system and the auxiliary hoisting system for the hydraulic grab.

[0064] In an embodiment of the present invention, the torque change value includes a first torque change value fed back by the main hoisting system and / or a second torque change value fed back by the auxiliary hoisting system; the speed compensation signal includes a first compensation signal and / or a second compensation signal.

[0065] 803. During the lifting and lowering process of the hydraulic grab, any braking system performs an energy consumption operation when it detects that the target voltage to be monitored meets the preset voltage protection condition.

[0066] In the embodiment of the present invention, any braking system is a primary braking system or an auxiliary braking system.

[0067] It can be seen that the method described in the embodiment of the present invention can be implemented through a dual winch control system of a continuous wall grab including a main command handle, a main winch system, an auxiliary winch system, a controller, a main braking system and an auxiliary braking system. The main command handle can generate and transmit control command signals to the main winch system and the auxiliary winch system to instruct the main winch system and the auxiliary winch system to perform lifting control operations for the grab; when the grab is lifted, the controller generates and transmits speed compensation signals to the main winch system and the auxiliary winch system according to the torque change value and the PID calculation formula to optimize the grab control operation, so that the main (auxiliary) winch system can optimize the grab control operation according to the actual lifting situation, thereby helping to improve the synchronization of the dual winch systems in executing the grab lifting control operations, so as to effectively adjust the force conditions in the dual winch system and reduce the wear of the dual winch system. The degree of loss is beneficial to improving the safety and accuracy of grab bucket lifting; and, when the grab bucket is lifting, if any braking system detects that the target voltage to be monitored meets the voltage protection condition, the power consumption operation is executed to consume the excess electric energy recovered in the circuit, thereby achieving efficient consumption of the excess electric energy generated during electric energy recovery by increasing the main (auxiliary) braking system, reducing the possibility of components in the circuit being broken down by high voltage, thereby protecting the components in the circuit and improving the safety and reliability of the dual winch system; therefore, the system provided by the present embodiment can improve the accuracy of the dual winch control in the continuous wall grab bucket machinery while improving the accuracy of the consumption control of the energy recovered during operation, thereby improving the operating efficiency, operating safety and operating reliability of the continuous wall grab bucket machinery, and thus helping to improve construction safety and construction efficiency.

[0068] In an optional embodiment, the main hoisting system may include a main hoisting motor controller, a main hoisting motor, a first reducer, a main hoisting brake, a main drum and a main wire rope, wherein: a first end of the main hoisting motor controller is electrically connected to a main command handle, a second end of the main hoisting motor controller is electrically connected to the main hoisting motor, a third end of the main hoisting motor controller is electrically connected to a main braking system, and the main hoisting motor, the first reducer, the main hoisting brake and the main drum are connected in sequence, and the main drum is wound with a main wire rope, and the main wire rope is used to connect to the hydraulic grab; The method may further include the following operations: The main hoisting motor controller receives the control command signal transmitted by the main command handle, and controls the main hoisting motor, the first reducer, the main hoisting brake, the main drum and the main wire rope according to the control command signal to perform the first lifting control operation for the hydraulic grab bucket; During the lifting and lowering process of the hydraulic grab, the main hoisting motor converts the first load change information fed back by the hydraulic grab into a first torque change value, and transmits the first torque change value to the controller; The main hoisting motor controller receives the first compensation signal transmitted by the controller, and optimizes the first lifting control operation for the hydraulic grab bucket according to the first compensation signal.

[0069] It can be seen that this optional embodiment can receive the control command signal through the main winch motor controller and control the main winch motor, the first reducer, the main winch brake, the main drum and the main wire rope according to the control command signal to control the lifting of the hydraulic grab, and convert the first load change information fed back by the hydraulic grab into a first torque change value through the main winch motor, and transmit the first torque change value to the controller. After the controller feeds back the corresponding first compensation signal to the main winch motor controller, it can optimize the corresponding hydraulic grab lifting control, and further improve the control reliability and control accuracy of the main winch system for the hydraulic grab, which is conducive to further improving the synchronization of the dual winch system in executing control operations, and further conducive to further improving the safety and accuracy of the grab lifting.

[0070] In this optional embodiment, optionally, the auxiliary winch system may include an auxiliary winch motor controller, an auxiliary winch motor, a second reducer, an auxiliary winch brake, an auxiliary drum and an auxiliary wire rope, wherein: a first end of the auxiliary winch motor controller is electrically connected to the main command handle, a second end of the auxiliary winch motor controller is electrically connected to the auxiliary winch motor, a third end of the auxiliary winch motor controller is electrically connected to the auxiliary brake system, and the auxiliary winch motor, the second reducer, the auxiliary winch brake and the auxiliary drum are connected in sequence, and the auxiliary drum is wound with an auxiliary wire rope, and the auxiliary wire rope is used to connect to the hydraulic grab; The method may further include the following operations: The auxiliary winch motor controller receives the control command signal transmitted by the main command handle, and controls the auxiliary winch motor, the second reducer, the second reducer, the auxiliary winch brake, the auxiliary drum and the auxiliary wire rope according to the control command signal to perform the second lifting control operation for the hydraulic grab; During the lifting and lowering process of the hydraulic grab, the auxiliary winch motor converts the second load change information fed back by the hydraulic grab into a second torque change value, and transmits the second torque change value to the controller; The auxiliary winch motor controller receives the second compensation signal transmitted by the controller and optimizes the second lifting control operation for the hydraulic grab bucket according to the second compensation signal.

[0071] It can be seen that this optional embodiment can also receive the control command signal through the auxiliary winch motor controller and control the auxiliary winch motor, the second reducer, the auxiliary winch brake, the auxiliary drum and the auxiliary wire rope according to the control command signal to control the lifting of the hydraulic grab, and convert the second load change information fed back by the hydraulic grab into a second torque change value through the auxiliary winch motor, and transmit the second torque change value to the controller. After the controller feeds back the corresponding second compensation signal to the auxiliary winch motor controller, it can optimize the corresponding hydraulic grab lifting control, and further improve the control reliability and control accuracy of the auxiliary winch system for the hydraulic grab, which is conducive to further improving the synchronization of the dual winch system in executing control operations, and further conducive to further improving the safety and accuracy of the grab lifting.

[0072] In this optional embodiment, optionally, the main brake system includes a main brake unit and a main brake resistor, and the auxiliary brake system includes an auxiliary brake unit and an auxiliary brake resistor; wherein: the first end of the main brake unit is electrically connected to the third end of the main hoisting motor controller; the first end of the auxiliary brake unit is electrically connected to the third end of the auxiliary hoisting motor controller; Among them, during the lifting and lowering process of the hydraulic grab, when any braking system detects that the target voltage to be monitored meets the preset voltage protection condition, it executes the power consumption operation, which may include the following operations: During the lifting and lowering process of the hydraulic grab, when the braking unit in the braking system detects that the target voltage at the DC bus terminal of the winch motor controller corresponding to the braking system is greater than or equal to the braking voltage threshold corresponding to the braking unit, the braking resistor in the braking system is electrically connected to the braking unit so that the braking resistor is connected to the high-voltage circuit of the entire machine, thereby consuming electrical energy by heating the braking resistor.

[0073] It can be seen that this optional embodiment can also electrically connect the braking resistor to the braking unit during the lifting process of the hydraulic grab, when the braking unit detects that the voltage at the DC bus terminal of the winch motor controller is greater than or equal to the braking voltage threshold corresponding to the braking unit, so that the braking resistor is involved in the high-voltage circuit of the whole machine, thereby consuming electric energy by heating the braking resistor, which can improve the access control accuracy of the braking resistor, thereby facilitating the improvement of the consumption efficiency and timeliness of the excess electric energy generated during electric energy recovery, and reducing the possibility of components in the circuit being broken down by high voltage, thereby efficiently protecting the remaining components in the circuit and improving the safety and reliability of the dual winch system.

[0074] In this optional embodiment, the dual winch control system of the diaphragm wall grab may optionally further include an electric energy recovery system, wherein: a first end of the electric energy recovery system is electrically connected to a fourth end of the main winch motor controller and a fourth end of the auxiliary winch motor controller, respectively; During the descent of the hydraulic grab, the power recovery system recovers the first electric energy generated by the main hoisting motor and the auxiliary hoisting motor during rotation through the main hoisting motor controller and the auxiliary hoisting motor controller; and supplies power to electrical components.

[0075] It can be seen that this optional embodiment can also recover the electrical energy converted by the lowering of the hydraulic grab under normal circumstances, and at the same time can supply power to other electrical components, thereby improving the energy recovery efficiency of the dual winch system and the energy utilization rate of the continuous wall grab machinery.

[0076] Example 3 See also Figure 8 , Figure 8 This is a schematic diagram of the structure of a construction machine disclosed in an embodiment of the present invention. This construction machine includes a dual-winch control system for a diaphragm wall grab, as described in any of the first embodiments. The functions implemented by this construction machine include, but are not limited to, precise control of the dual winches while consuming excess electrical energy in emergency situations. It should be noted that for a detailed description of the dual-winch control system for the diaphragm wall grab, please refer to the detailed description of the relevant content in the first embodiment and will not be repeated in this embodiment.

[0077] It can be seen that implementation Figure 8The described engineering machinery can be equipped with a dual winch control system for a continuous wall grab bucket, which includes a main command handle, a main winch system, an auxiliary winch system, a controller, a main braking system, and an auxiliary braking system. The main command handle can generate and transmit a control command signal to the main winch system and the auxiliary winch system to instruct the main winch system and the auxiliary winch system to perform a lifting control operation for the grab bucket. When the grab bucket is lifted or lowered, the controller generates and transmits a speed compensation signal to the main winch system and the auxiliary winch system according to the torque change value and the PID calculation formula to optimize the grab bucket control operation, thereby optimizing and adjusting the main (auxiliary) winch system's control command for the grab bucket according to the actual lifting situation, thereby facilitating improving the synchronization of the dual winch systems in executing the grab bucket lifting control operation, effectively adjusting the force situation in the dual winch system, and reducing the wear of the dual winch system. It is beneficial to improve the safety and accuracy of grab bucket lifting and lowering; and, when the grab bucket is lifting and lowering, if any braking system detects that the target voltage to be monitored meets the voltage protection condition, it will execute the power consumption operation to consume the excess electric energy recovered in the circuit, so that by increasing the main (auxiliary) braking system, the excess electric energy generated during power recovery can be efficiently consumed, and the possibility of components in the circuit being broken down by high voltage can be reduced, thereby protecting the components in the circuit and improving the safety and reliability of the dual winch system; therefore, the system provided by the present embodiment can improve the accuracy of the dual winch control in the continuous wall grab bucket machinery while improving the accuracy of the consumption control of the energy recovered during operation, thereby improving the operating efficiency, operating safety and operating reliability of the continuous wall grab bucket machinery, and thus helping to improve construction safety and construction efficiency.

[0078] Finally, it should be noted that the dual winch control system, method and engineering machinery of a continuous wall grab disclosed in the embodiments of the present invention are only preferred embodiments of the present invention, which are only used to illustrate the technical solutions of the present invention, rather than to limit them. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments can still be modified, or some of the technical features therein can be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A double winch control system for a continuous wall grab, characterized in that: The dual winch control system of the diaphragm wall grab includes a main command handle, a main winch system, an auxiliary winch system, a controller, a main brake system corresponding to the main winch system, and an auxiliary brake system corresponding to the auxiliary winch system, wherein: The main command handle is electrically connected to the first end of the main hoisting system and the first end of the auxiliary hoisting system respectively; the second end of the main hoisting system is electrically connected to the main brake system; the second end of the auxiliary hoisting system is electrically connected to the auxiliary brake system; the third end of the main hoisting system and the third end of the auxiliary hoisting system are respectively used to connect to the hydraulic grab; The master handle is used to generate a control command signal and transmit the control command signal to the main hoisting system and the auxiliary hoisting system respectively; the control command signal is used to instruct the main hoisting system and the auxiliary hoisting system to perform a lifting control operation for the hydraulic grab; the control command signal includes at least a speed command signal; The controller is configured to generate a speed compensation signal based on a preset PID calculation formula according to the received torque change value during the lifting and lowering process of the hydraulic grab, and transmit the speed compensation signal to the main hoisting system and the auxiliary hoisting system to optimize the control operation of the main hoisting system and the auxiliary hoisting system on the hydraulic grab; the torque change value includes a first torque change value fed back by the main hoisting system and / or a second torque change value fed back by the auxiliary hoisting system; and the speed compensation signal includes a first compensation signal and / or a second compensation signal; Any braking system is used to perform an energy consumption operation when it is detected that the target voltage to be monitored meets a preset voltage protection condition during the lifting and lowering process of the hydraulic grab; wherein, any of the braking systems is the main braking system or the auxiliary braking system.

2. The dual winch control system of the diaphragm wall grab according to claim 1, characterized in that: The main hoisting system includes a main hoisting motor controller, a main hoisting motor, a first reducer, a main hoisting brake, a main drum and a main wire rope, wherein: The first end of the main hoisting motor controller is electrically connected to the main command handle, the second end of the main hoisting motor controller is electrically connected to the main hoisting motor, and the third end of the main hoisting motor controller is electrically connected to the main brake system, and the main hoisting motor, the first reducer, the main hoisting brake and the main drum are connected in sequence, and the main drum is wound with the main steel wire rope, and the main steel wire rope is used to connect to the hydraulic grab; The main hoisting motor controller is configured to receive a control command signal transmitted by the master command handle and control the main hoisting motor, the first reducer, the main hoisting brake, the main drum, and the main wire rope according to the control command signal to perform a first lifting control operation for the hydraulic grab; The main hoisting motor is configured to convert first load change information fed back by the hydraulic grab into a first torque change value during the lifting and lowering process of the hydraulic grab, and transmit the first torque change value to the controller; The main hoisting motor controller is further configured to receive the first compensation signal transmitted by the controller, and optimize the first lifting control operation for the hydraulic grab bucket according to the first compensation signal.

3. The dual winch control system of the diaphragm wall grab according to claim 2, characterized in that: The auxiliary winch system includes an auxiliary winch motor controller, an auxiliary winch motor, a second reducer, an auxiliary winch brake, an auxiliary drum and an auxiliary wire rope, wherein: The first end of the auxiliary winch motor controller is electrically connected to the master handle, the second end of the auxiliary winch motor controller is electrically connected to the auxiliary winch motor, the third end of the auxiliary winch motor controller is electrically connected to the auxiliary brake system, and the auxiliary winch motor, the second reducer, the auxiliary winch brake and the auxiliary drum are connected in sequence, and the auxiliary drum is wound with the auxiliary steel wire rope, and the auxiliary steel wire rope is used to connect to the hydraulic grab bucket; The auxiliary winch motor controller is configured to receive a control command signal transmitted by the master handle and control the auxiliary winch motor, the second reducer, the auxiliary winch brake, the auxiliary drum, and the auxiliary wire rope according to the control command signal to perform a second lifting control operation for the hydraulic grab; The auxiliary hoisting motor is configured to convert the second load change information fed back by the hydraulic grab into a second torque change value during the lifting and lowering process of the hydraulic grab, and transmit the second torque change value to the controller; The auxiliary hoisting motor controller is further configured to receive the second compensation signal transmitted by the controller, and optimize the second lifting control operation for the hydraulic grab bucket according to the second compensation signal.

4. The dual winch control system of the diaphragm wall grab according to claim 3, characterized in that: The main brake system includes a main brake unit and a main brake resistor, and the auxiliary brake system includes an auxiliary brake unit and an auxiliary brake resistor; wherein: the first end of the main brake unit is electrically connected to the third end of the main hoisting motor controller; the first end of the auxiliary brake unit is electrically connected to the third end of the auxiliary hoisting motor controller; Wherein, during the lifting process of the hydraulic grab bucket, when any of the braking systems detects that the target voltage to be monitored meets a preset voltage protection condition, the specific manner in which the power consumption operation is executed includes: During the lifting and lowering process of the hydraulic grab, when the braking unit in the braking system detects that the target voltage of the DC bus terminal of the hoisting motor controller corresponding to the braking system is greater than or equal to the braking voltage threshold corresponding to the braking unit, the braking resistor in the braking system is electrically connected to the braking unit so that the braking resistor is connected to the high-voltage circuit of the entire machine, thereby consuming electrical energy by generating heat through the braking resistor.

5. The dual winch control system of the diaphragm wall grab according to claim 3 or 4, characterized in that: The dual winch control system of the diaphragm wall grab also includes an electric energy recovery system, wherein: The first end of the electric energy recovery system is electrically connected to the fourth end of the main hoisting motor controller and the fourth end of the auxiliary hoisting motor controller respectively; The electric energy recovery system is used to recover the first electric energy generated by the main hoisting motor and the auxiliary hoisting motor during rotation through the main hoisting motor controller and the auxiliary hoisting motor controller during the descent of the hydraulic grab; and to supply power to electrical components.

6. The dual winch control system of the diaphragm wall grab according to claim 5, characterized in that: The electric energy recovery system includes a whole machine junction box and a battery system, wherein: The first end of the whole machine junction box is electrically connected to the fourth end of the main hoisting motor controller and the fourth end of the auxiliary hoisting motor controller respectively; the first end of the battery system is electrically connected to the second end of the whole machine junction box; The whole-machine junction box is used to transmit the first electrical energy to the battery system during the descending process of the hydraulic grab, so as to store the first electrical energy in the battery system.

7. The dual winch control system of the diaphragm wall grab according to claim 6, characterized in that: The electric energy recovery system further includes a charging system, wherein: The first end of the charging system is electrically connected to the third end of the whole device junction box; The charging system is used to provide the second electric energy to the whole machine junction box; The whole-machine junction box is used to supply power to the electrical components based on the first electrical energy and / or the second electrical energy.

8. The dual winch control system of the diaphragm wall grab according to claim 6, characterized in that: The electric energy recovery system further includes a voltage conversion module, wherein: The first end of the voltage conversion module is electrically connected to the fourth end of the whole machine junction box; The voltage conversion module is used to convert the power supply voltage of the whole machine junction box into a preset voltage to supply power to low-voltage electrical components.

9. A double winch control method for a continuous wall grab, characterized in that: The method is applied to a dual-hoisting control system of a continuous wall grab, and the dual-hoisting control system of the continuous wall grab includes a master handle, a main hoisting system, an auxiliary hoisting system, a controller, a main brake system corresponding to the main hoisting system, and an auxiliary brake system corresponding to the auxiliary hoisting system, wherein: the master handle is electrically connected to a first end of the main hoisting system and a first end of the auxiliary hoisting system, respectively; the second end of the main hoisting system is electrically connected to the main brake system, the second end of the auxiliary hoisting system is electrically connected to the auxiliary brake system; and the third end of the main hoisting system and the third end of the auxiliary hoisting system are respectively used to connect to a hydraulic grab; And, the method comprises: The master handle generates a control command signal and transmits the control command signal to the main hoisting system and the auxiliary hoisting system respectively; the control command signal is used to instruct the main hoisting system and the auxiliary hoisting system to perform a lifting control operation for the hydraulic grab; the control command signal includes at least a speed command signal; During the lifting and lowering process of the hydraulic grab, the controller generates a speed compensation signal based on the received torque change value and a preset PID calculation formula, and transmits the speed compensation signal to the main hoisting system and the auxiliary hoisting system to optimize the control operation of the main hoisting system and the auxiliary hoisting system on the hydraulic grab; the torque change value includes a first torque change value fed back by the main hoisting system and / or a second torque change value fed back by the auxiliary hoisting system; the speed compensation signal includes a first compensation signal and / or a second compensation signal; During the lifting and lowering process of the hydraulic grab bucket, any braking system performs an energy consumption operation when it detects that the target voltage to be monitored meets a preset voltage protection condition; wherein, any braking system is the main braking system or the auxiliary braking system.

10. An engineering machine, characterized in that: The engineering machinery includes a mechanical equipment body and a dual winch control system of a diaphragm wall grab as described in any one of claims 1-8.

Images