A continuous wall hydraulic grab bucket deviation correction control method and device

Abstract

The present invention discloses a continuous wall hydraulic grab correction control method, comprising the following steps: in response to receiving an instruction from a keypad, controlling the correction cylinder group to perform an extension action; receiving grab depth information from a depth detection unit, and in response to the grab depth reaching a preset depth value, controlling the correction cylinder group to perform a recovery action. A continuous wall hydraulic grab correction control device is also disclosed, comprising a correction enabling solenoid valve, a front correction extension solenoid valve, a front correction retraction solenoid valve, a front correction cylinder group, a first check valve, a second check valve, and a two-way hydraulically controlled check valve; if the correction enabling solenoid valve loses power, the front correction cylinder group is automatically fully recovered; if the correction enabling solenoid valve is energized, the oil inlet is cut off by the second check valve, and if the front correction extension solenoid valve is enabled to be energized, the front correction cylinder group is extended; if the front correction retraction solenoid valve is enabled to be energized, the front correction cylinder group is retracted. The present invention solves the problems of untimely and inconvenient recovery of correction cylinders in the prior art.

Description

Technical Field

[0001] The invention relates to a deviation correction control method and a device for a continuous wall hydraulic grab bucket, belonging to the technical field of engineering machinery. Background Art

[0002] The underground continuous wall is a continuous wall set below the ground for water interception, soil retention and load bearing. It has the advantages of small construction vibration, low noise, high wall rigidity and good anti-seepage performance. As a kind of underground continuous wall construction equipment, the two buckets of the continuous wall hydraulic grab bucket may deviate during the grabbing process due to the different hardness of the stratum and the proficiency of the operator, which needs to be corrected in time.

[0003] At present, the oil circuit of the correction cylinder of the hydraulic grab of the continuous wall is connected with the oil circuit of the main push cylinder of the grab, so the operation of the correction cylinder needs to operate the grab to open or close the handle, and operate the correction command at the same time. Such an operating device is not conducive to construction; in addition, the correction cylinder will extend during the grabbing construction, but it needs to be manually retracted when the grab body is lifted. If it is not retracted in time, it will cause destructive scratches on the completed groove wall or the grab body may be stuck by the groove wall. Summary of the invention

[0004] In order to solve the deficiencies of the prior art, the purpose of the present invention is to provide a continuous wall hydraulic grab correction control method and device, which solves the problems of untimely and inconvenient recovery of the correction cylinder in the prior art.

[0005] In order to achieve the above object, the present invention adopts the following technical solution:

[0006] A continuous wall hydraulic grab correction control method comprises the following steps: in response to receiving an instruction from a keypad, controlling a correction cylinder group to perform an extension action; receiving grab depth information from a depth detection unit, and in response to the grab depth reaching a preset depth value, controlling the correction cylinder group to perform a full recovery action.

[0007] Preferably, the specific operations of controlling the correction cylinder group to perform the extension action in response to receiving the instruction from the keypad are as follows: receiving the power-on or power-off instruction of the correction enable button on the keypad, and controlling the power-on or power-off of the correction enable solenoid valve; receiving the power-on or power-off instruction of the front correction button, the rear correction button, the left correction button, and the right correction button on the keypad, and controlling the power-on or power-off of the pilot solenoid valve and the corresponding extension solenoid valve, and executing the corresponding correction cylinder group to extend or stop extending.

[0008] Preferably, the above receives input instructions of the front correction button, the rear correction button, the left correction button and the right correction button only when the correction enable button input is valid and the correction enable solenoid valve is energized.

[0009] Preferably, the specific operation of receiving the grab bucket depth information from the depth detection unit and controlling the deviation correction cylinder group to perform all recovery actions in response to the grab bucket depth reaching a preset depth value is as follows:

[0010] Receive the grab depth information transmitted by the depth detection unit. The grab depth information is the depth of the grab position from the bottom of the groove. If the grab depth information reaches the preset depth value, the front correction and retraction solenoid valve, the rear correction and retraction solenoid valve, the left correction and retraction solenoid valve, the right correction and retraction solenoid valve and the pilot solenoid valve are energized, and the correction cylinder group performs all recovery actions.

[0011] Preferably, the aforementioned method also includes receiving stroke status information of the correction cylinder from the stroke detection unit, and controlling the correction cylinder to perform an action. The stroke status information of the correction cylinder refers to whether the correction cylinder is in an extended or retracted state: if the grab bucket depth information reaches a preset depth value and the correction cylinder stroke is in an extended state, the corresponding correction retraction solenoid valve and the pilot solenoid valve are controlled to be energized, and the corresponding correction cylinder performs a recovery action; if the correction cylinder stroke is in a retracted state, the correction retraction solenoid valve and the pilot solenoid valve are controlled to lose power, and the correction cylinder terminates the recovery action.

[0012] Preferably, the aforementioned method further comprises the following steps: receiving a power-off instruction of the correction enabling button on the keypad, controlling the correction enabling solenoid valve to lose power, and controlling the correction cylinder group to perform full recovery.

[0013] A continuous wall hydraulic grab bucket deviation correction control device, comprising a deviation correction enabling solenoid valve, a front deviation correction extension solenoid valve, a front deviation correction retraction solenoid valve, a front deviation correction oil cylinder group, a first check valve, a second check valve, and a two-way hydraulically controlled check valve;

[0014] When the correction enabling solenoid valve loses power, the oil inlet is connected to the rod chamber of the front correction oil cylinder group through the first one-way valve, and the oil outlet is connected to the rodless chamber of the front correction oil cylinder group through the second one-way valve, and the front correction oil cylinder group is completely recovered;

[0015] When the deviation correction enabling solenoid valve is energized, the oil inlet is cut off by the second one-way valve, and the oil outlet is cut off by the first one-way valve; if the front deviation correction extension solenoid valve is energized, the two-way hydraulically controlled one-way valve connects the oil inlet and outlet circuits, and the front deviation correction cylinder group extends; if the front deviation correction retraction solenoid valve is energized, the two-way hydraulically controlled one-way valve connects the oil inlet and outlet circuits, and the front deviation correction cylinder group retracts; if both the front deviation correction extension solenoid valve and the front deviation correction retraction solenoid valve lose power, the two-way hydraulically controlled one-way valve locks the oil inlet and return circuits of the front deviation correction cylinder group, and the front deviation correction cylinder group stabilizes the pressure to keep the telescopic stroke state unchanged.

[0016] Preferably, the aforementioned device also includes a correction enable button and a front correction button. The correction enable button outputs a hold signal and gives a command to control the correction enable solenoid valve to gain or lose power. The front correction button outputs a reset signal and gives a command to control the front correction extension solenoid valve to gain or lose power.

[0017] Preferably, the aforementioned device further comprises a controller, and the controller implements a deviation correction control method of any one of the aforementioned methods.

[0018] A continuous wall hydraulic grab comprises any one of the deviation correction control devices mentioned above.

[0019] The beneficial effects achieved by the present invention are:

[0020] 1. Through the setting of depth detection unit, stroke detection unit and controller, the deviation correction cylinder group can be automatically recovered during the operation of the grab, thus improving the construction efficiency.

[0021] 2. By setting the correction enable button input as a necessary prerequisite for the input of the front correction button, rear correction button, left correction button, and right correction button, incorrect operation of the correction buttons can be avoided and the safety of construction can be improved.

[0022] 3. When the deviation correction enabling solenoid valve loses power, the deviation correction cylinder group can be manually recovered with one button. The hydraulic system execution paths for manual recovery and automatic recovery are different, which improves the fault tolerance rate during the construction process. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic diagram of the principle of the grab bucket deviation correction control device of the present invention;

[0024] Figure 2 It is a schematic diagram of the keypad of the present invention;

[0025] Figure 3 Schematic diagram of the deviation correction solenoid valve assembly of the present invention;

[0026] Figure 4 It is a working principle diagram of the front deviation correction function of the present invention.

[0027] The meanings of the reference numerals in the figure are as follows: 1-keyboard; 2-correction solenoid valve group; 3-pilot solenoid valve; 4-controller; 5-correction cylinder group; 6-depth detection unit; 7-display unit; 8-stroke detection unit; 11-front correction button; 12-rear correction button; 13-left correction button; 14-right correction button; 15-correction enable button; 21-front correction extension solenoid valve; 22-front correction retraction solenoid valve; 23-rear correction extension solenoid valve; 24-rear correction retraction solenoid valve; 25-left correction extension solenoid valve; 26-left correction retraction solenoid valve; 27-right correction extension solenoid valve; 28-right correction retraction solenoid valve; 29-correction enable solenoid valve; 51-front correction cylinder group; 81-first one-way valve; 82-second one-way valve; 83-bidirectional hydraulically controlled one-way valve. DETAILED DESCRIPTION

[0028] The present invention will be further described below in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and cannot be used to limit the protection scope of the present invention.

[0029] like Figures 1 to 3 As shown, this embodiment discloses a continuous wall hydraulic grab correction control device, including: a key board 1, a correction solenoid valve group 2, a correction cylinder group 5, a controller 4, a depth detection unit 6, a display unit 7, a stroke detection unit 8, and a pilot solenoid valve 3 for supplying oil to the correction cylinder group 5. The key board 1, the correction solenoid valve group 2, the pilot solenoid valve 3, the depth detection unit 6, the display unit 7, and the stroke detection unit 8 are respectively connected to the controller 4 by signal.

[0030] Depend on Figure 2 It can be seen that the keypad 1 includes a correction enable button 15, a front correction button 11, a rear correction button 12, a left correction button 13, and a right correction button 14. The keypad 1 has multiple implementations, including an independent CAN integrated module, a common switch, a handle, a dial button on the handle, and the function can be made into a display. In some embodiments, after pressing a button, the function is activated and indicated by an indicator light, and each button can be individually configured as a hold or reset type.

[0031] Reference Figure 3 The correction solenoid valve group 2 includes a correction enabling solenoid valve 29, an extension solenoid valve group, and a retraction solenoid valve group, wherein the extension solenoid valve group includes a front correction extension solenoid valve 21, a rear correction extension solenoid valve 23, a left correction extension solenoid valve 25, and a right correction extension solenoid valve 27; the retraction solenoid valve group includes a front correction retraction solenoid valve 22, a rear correction retraction solenoid valve 24, a left correction retraction solenoid valve 26, and a right correction retraction solenoid valve 28; the correction cylinder group 5 includes a front correction cylinder group 51, a rear correction cylinder group, a left correction cylinder group, and a right correction cylinder group. The correcting cylinder group 5 is connected to the correcting solenoid valve group 2, and the corresponding cylinder group in the correcting cylinder group 5 is controlled to perform extension or retraction by gaining or losing power to each solenoid valve in the correcting solenoid valve group 2, wherein the front correcting extension solenoid valve 21 and the front correcting retraction solenoid valve 22 respectively control the extension and retraction of the front correcting cylinder group 51, the rear correcting extension solenoid valve 23 and the rear correcting retraction solenoid valve 24 respectively control the extension and retraction of the rear correcting cylinder group, the left correcting extension solenoid valve 25 and the left correcting retraction solenoid valve 26 respectively control the extension and retraction of the left correcting cylinder group, and the right correcting extension solenoid valve 27 and the right correcting retraction solenoid valve 28 respectively control the extension and retraction of the right correcting cylinder group.

[0032] Figure 4The figure shows the working principle diagram of the front deviation correction function in this embodiment. The outlet of the first one-way valve 81 is connected to the rod chamber of the front deviation correction oil cylinder group 51, and the inlet of the first one-way valve 81 is connected to the B2 port of the deviation correction enabling solenoid valve 29; the inlet of the second one-way valve 82 is connected to the rodless chamber of the front deviation correction oil cylinder group 51, and the outlet of the second one-way valve 82 is connected to the A2 port of the deviation correction enabling solenoid valve 29; the front deviation correction extension solenoid valve 21 and the front deviation correction retraction solenoid valve 22 are connected to the front deviation correction oil cylinder group 51 through the two-way hydraulic control one-way valve 83.

[0033] When the deviation correction enabling solenoid valve 29 loses power, the incoming oil passes through the deviation correction enabling solenoid valve 29 and the first one-way valve 81 to enter the rod chamber of the front deviation correction cylinder group 51. The oil returns from the rodless chamber of the front deviation correction cylinder group 51, passes through the second one-way valve 82, and then returns to the oil tank through the deviation correction enabling solenoid valve 29. That is, when the deviation correction enabling solenoid valve 29 loses power, the front deviation correction cylinder group 51 is constantly recovered. The deviation correction enabling solenoid valve 29 is energized, and the oil inlet passes through the deviation correction enabling valve 29 and is cut off by the second one-way valve 82. If the front deviation correction extension solenoid valve 21 is energized at this time, oil is inlet and return through the two-way hydraulically controlled one-way valve 83, and oil enters the rodless chamber of the front deviation correction cylinder group 51, and oil returns to the rod chamber, that is, the front deviation correction cylinder group 51 is extended; if the front deviation correction retraction solenoid valve 22 is energized, oil is still inlet and return through the two-way hydraulically controlled one-way valve 83, and oil enters the rod chamber of the front deviation correction cylinder group 51, and oil returns to the rodless chamber, that is, the front deviation correction cylinder group 51 is retracted; if both the front deviation correction extension solenoid valve 21 and the front deviation correction retraction solenoid valve 22 are de-energized at this time, the oil inlet and return oil circuits of the front deviation correction cylinder group 51 are locked by the two-way hydraulically controlled one-way valve 83, that is, the front deviation correction cylinder group 51 is voltage-stabilized, keeping the previous telescopic stroke state unchanged. The oil outlet of the correction enabling solenoid valve 29 is also connected to the rear correction, left correction, and right correction respectively. The control principle of the rear correction, left correction, and right correction is the same as that of the front correction, and will not be repeated. That is, when the correction cylinder group 5 is extended, it is only necessary to cancel the correction enabling button 15, the correction enabling solenoid valve 29 loses power, and the correction cylinder group 5 performs one-button manual full recovery.

[0034] In this embodiment, the correction enable button 15 is a hold switch, the front correction button 11 is a reset switch, the rear correction button 12 is a reset switch, the left correction button 13 is a reset switch, and the right correction button 14 is a reset switch. The hold switch outputs a hold signal, and the reset switch outputs a reset signal. When the correction enable button 15 input is valid, that is, the solenoid valve 29 is energized, the front correction button 11, the rear correction button 12, the left correction button 13, and the right correction button 14 are operated before the subsequent actions can be performed.

[0035] The controller 4 controls the deviation correction solenoid valve group 2 and the pilot solenoid valve 3 according to the key input of the keypad 1. The deviation correction enable key 15 input effectively controls the deviation correction enable solenoid valve 29 to be energized; under the condition that the enable solenoid valve 29 is energized, the front deviation correction key 11 input effectively controls the front deviation correction extension solenoid valve 21 and the pilot solenoid valve 3 to be energized, so as to extend the front deviation correction cylinder group 51; the rear deviation correction key input 12 input effectively controls the rear deviation correction extension solenoid valve 23 and the pilot solenoid valve 3 to be energized, so as to extend the rear deviation correction cylinder group; the left deviation correction key 13 input effectively controls the left deviation correction extension solenoid valve 25 and the pilot solenoid valve 3 to be energized, so as to extend the left deviation correction cylinder group; the right deviation correction key 14 input effectively controls the right deviation correction extension solenoid valve 27 and the pilot solenoid valve 3 to be energized, so as to control the extension of the right deviation correction cylinder group. That is, the correction enable button 15 is a hold type button. When the correction enable button 15 is valid, you only need to press and hold the corresponding front correction button 11, rear correction button 12, left correction button 13, and right correction button 14 to extend the correction cylinder. Releasing the button will stop the correction cylinder from extending, and the correction cylinder group 5 can be extended with one button to perform correction.

[0036] Combination Figure 1 The controller 4 is connected with the depth detection unit 6, the display unit 7, and the stroke detection unit 8 by signal. The depth detection unit 6 controls the depth information of the grab bucket position from the bottom of the groove. The controller 4 collects and processes the data of the depth detection unit 6. When the depth information meets the depth information set by the controller and the input of the deviation correction enable button 15 is valid, the controller 4 outputs instructions to energize the front deviation correction and retraction solenoid valve 22, the rear deviation correction and retraction solenoid valve 24, the left deviation correction and retraction solenoid valve 26, and the right deviation correction and retraction solenoid valve 28 respectively, and executes automatic recovery of all deviation correction cylinders. The reminder information of automatic recovery of all deviation correction cylinders is displayed on the display unit 7, thereby realizing the automatic recovery function of this embodiment. A stroke detection unit 8 is also provided to detect whether the correction cylinder is retracted. The two ends of the stroke detection unit 8 are respectively connected to the controller 4 and the correction cylinder group 5. The stroke detection unit 8 collects the state information of the extension or retraction of the correction cylinder. If the depth information meets the depth information set by the controller and the correction enable button 15 is input effectively, and there is a correction cylinder in the extended state, the controller 4 energizes its corresponding correction retraction solenoid valve and pilot solenoid valve 3. When the stroke detection unit 8 detects that all the correction cylinders are in the retracted state, the control retraction solenoid valve group and the pilot solenoid valve 3 are de-energized, thereby terminating the recovery action of the correction cylinder.

[0037] Based on the continuous wall hydraulic grab provided by the embodiment of the present disclosure, during the continuous wall construction process, the operator can realize one-button manual deviation correction and fully automatic recovery of the deviation correction cylinder according to the vertical state of the groove, which is beneficial to improving the construction efficiency during the continuous wall construction process; the extended cylinder is automatically recovered when the grab body is lifted, which is also beneficial to reducing safety hazards.

[0038] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A continuous wall hydraulic grab bucket deviation correction control device, characterized in that: It comprises a deviation correction solenoid valve group (2), a deviation correction oil cylinder group (5), a first one-way valve (81), a second one-way valve (82), and a two-way hydraulically controlled one-way valve (83); The deviation correction solenoid valve group (2) comprises a deviation correction enabling solenoid valve (29), an extension solenoid valve group, and a retraction solenoid valve group, wherein the extension solenoid valve group comprises a front deviation correction extension solenoid valve (21), a rear deviation correction extension solenoid valve (23), a left deviation correction extension solenoid valve (25), and a right deviation correction extension solenoid valve (27); and the retraction solenoid valve group comprises a front deviation correction retraction solenoid valve (22), a rear deviation correction retraction solenoid valve (24), a left deviation correction retraction solenoid valve (26), and a right deviation correction retraction solenoid valve (28); The deflection correction cylinder group (5) comprises a front deflection correction cylinder group (51), a rear deflection correction cylinder group, a left deflection correction cylinder group, and a right deflection correction cylinder group; The deflection correction oil cylinder group (5) is connected to the deflection correction solenoid valve group (2), and the corresponding oil cylinder group in the deflection correction oil cylinder group (5) is controlled to perform the extension or retraction action by energizing or de-energizing each solenoid valve in the deflection correction solenoid valve group (2), wherein the front deflection correction extension solenoid valve (21) and the front deflection correction retraction solenoid valve (22) respectively control the extension and retraction of the front deflection correction oil cylinder group (51), the rear deflection correction extension solenoid valve (23) and the rear deflection correction retraction solenoid valve (24) respectively control the extension and retraction of the rear deflection correction oil cylinder group, the left deflection correction extension solenoid valve (25) and the left deflection correction retraction solenoid valve (26) respectively control the extension and retraction of the left deflection correction oil cylinder group, and the right deflection correction extension solenoid valve (27) and the right deflection correction retraction solenoid valve (28) respectively control the extension and retraction of the right deflection correction oil cylinder group; When the deviation correction enabling solenoid valve (29) loses power, the oil flows through the deviation correction enabling solenoid valve (29), passes through the first non-return valve (81), and enters the rod chamber of the front deviation correction oil cylinder group (51). The oil returns from the rodless chamber of the front deviation correction oil cylinder group (51), passes through the second non-return valve (82), and then returns to the oil tank through the deviation correction enabling solenoid valve (29); that is, when the deviation correction enabling solenoid valve (29) loses power, the front deviation correction oil cylinder group (51) is constantly recovered; The deviation correction enabling solenoid valve (29) is energized, and the oil inlet passes through the deviation correction enabling solenoid valve (29) and is cut off through the second one-way valve (82). If the front deviation correction extension solenoid valve (21) is energized at this time, the oil inlet and return are through the two-way hydraulic control one-way valve (83), and the oil inlet to the rodless chamber of the front deviation correction oil cylinder group (51) and the oil return to the rod chamber, that is, the front deviation correction oil cylinder group (51) is extended; if the front deviation correction retraction solenoid valve (22) is energized, the oil inlet and return are still through the two-way hydraulic control one-way valve (83), and the oil inlet to the rod chamber of the front deviation correction oil cylinder group (51) , oil returns to the rod chamber, that is, the front correction cylinder group (51) is retracted; if at this time the front correction extension solenoid valve (21) and the front correction retraction solenoid valve (22) are both de-energized, the inlet and return oil circuits of the front correction cylinder group (51) are locked by the two-way hydraulically controlled one-way valve (83), that is, the pressure of the front correction cylinder group (51) is stabilized, and the previous extension and retraction stroke state is maintained unchanged; the oil circuit outlet of the correction enabling solenoid valve (29) is also connected to the rear correction, left correction, and right correction, respectively, and the control principle of the rear correction, left correction, and right correction extension and retraction is the same as that of the front correction.

2. A continuous wall hydraulic grab, characterized in that: It comprises the deviation correction control device as claimed in claim 1.

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