Hoist synchronization control system and hoist synchronization control method

Abstract

The application discloses a hoist synchronous control system and a hoist synchronous control method. The hoist synchronous control system comprises a main pump, a first reversing valve, a second reversing valve, a first main oil path, a second main oil path, a third main oil path, a fourth main oil path, a first regulating valve, a second regulating valve, a third regulating valve, a fourth regulating valve, a first motor and a second motor. The first, second, third and fourth regulating valves are arranged on the first, second, third and fourth main oil paths to regulate the flow of each main oil path into the corresponding motor. In the hoist synchronous control system and the hoist synchronous control method, when two hoists are out of synchronization, the position of the regulating valve can be controlled to control the flow on the corresponding main oil path, so that the action speed of the first motor and the second motor is adjusted, and the hoist synchronization can be ensured.

Description

Technical Field

[0001] This application relates to the field of engineering machinery technology, and in particular to a hoisting synchronous control system and a hoisting synchronous control method. Background Technology

[0002] When the coal grabber uses main and auxiliary winches to lift objects, the main pump supplies oil to the main winch motor and the auxiliary winch motor respectively, thereby driving the main and auxiliary winches to rotate and lift the object together. At this time, the main and auxiliary winches need to be synchronized, otherwise it will affect the lifting.

[0003] Please refer to Figure 1 In a hoisting synchronization control system, a synchronization valve 91 is provided. When the main and auxiliary hoists are working simultaneously for hoisting, if the oil flow rate of one of the main hoisting motors 93 and the auxiliary hoisting motor 94 is higher than that of the other motor, resulting in asynchrony, the synchronization valve 91 connects the working oil circuits of the main hoisting motor 93 and the auxiliary hoisting motor 94. The oil in the working oil circuit with the larger flow rate will flow to the working oil circuit with the smaller flow rate, thereby achieving the purpose of synchronizing the main and auxiliary hoists.

[0004] While the aforementioned hoist synchronization control system resolves the asynchrony issue caused by the different flow rates in the working oil circuits of the main and auxiliary hoists, the main and auxiliary hoists still suffer from several problems. These include differences in leakage leading to different speeds, and manufacturing errors in structural components causing different rope release amounts even when the main and auxiliary hoists rotate at the same angle. These issues can all lead to asynchrony between the main and auxiliary hoists, affecting hoisting operations. Summary of the Invention

[0005] In view of this, the purpose of this application is to provide a hoisting synchronization control system and a hoisting synchronization control method that enable the main and auxiliary hoists to maintain synchronization.

[0006] To achieve the above objectives, this application provides a hoisting synchronization control system, including a main pump, a first reversing valve, a second reversing valve, a first main oil circuit, a second main oil circuit, a third main oil circuit, a fourth main oil circuit, a first regulating valve, a second regulating valve, a third regulating valve, a fourth regulating valve, a first motor, and a second motor. The main pump is used to supply oil to the first motor through the first main oil circuit or the second main oil circuit. The main pump is also used to supply oil through the third main oil circuit or the fourth main oil circuit. The first reversing valve and the second reversing valve are connected to the main pump. The first reversing valve is connected to both the first main oil circuit and the second main oil circuit to control whether the main pump supplies oil through the first main oil circuit or the second main oil circuit. The main pump supplies oil to the first motor via a main oil circuit. The second directional valve is connected to the third and fourth main oil circuits to control whether the main pump supplies oil to the second motor via the third or fourth main oil circuit. The first regulating valve is located on the first main oil circuit to regulate the flow rate of the oil flowing into the first motor. The second regulating valve is located on the second main oil circuit to regulate the flow rate of the oil flowing into the first motor. The third regulating valve is located on the third main oil circuit to regulate the flow rate of the oil flowing into the second motor. The fourth regulating valve is located on the fourth main oil circuit to regulate the flow rate of the oil flowing into the second motor.

[0007] Optionally, the hoisting synchronization control system further includes a fifth regulating valve and a sixth regulating valve. The fifth regulating valve is connected between the oil tank and the first main oil circuit to connect the first main oil circuit and the oil tank via a check valve or a throttle valve. The sixth regulating valve is connected between the oil tank and the third main oil circuit to connect the third main oil circuit and the oil tank via a check valve or a throttle valve.

[0008] Optionally, the hoisting synchronization control system further includes a first switching valve and a second switching valve. The first switching valve is connected between the first main oil circuit and the third main oil circuit to connect or disconnect the first main oil circuit and the third main oil circuit. The second switching valve is connected between the second main oil circuit and the fourth main oil circuit to connect or disconnect the second main oil circuit and the fourth main oil circuit.

[0009] Optionally, the first regulating valve is directly connected to or connected to the first main oil circuit via a throttle valve, the second regulating valve is directly connected to or connected to the second main oil circuit via a throttle valve, the third regulating valve is directly connected to or connected to the third main oil circuit via a throttle valve, and the fourth regulating valve is directly connected to or connected to the fourth main oil circuit via a throttle valve.

[0010] Optionally, when the first regulating valve, the second regulating valve, the third regulating valve, and the fourth regulating valve are connected to the oil circuit through the throttle valve, the size of the throttle orifice of the throttle valve is adjustable.

[0011] Optionally, the hoisting synchronization control system further includes a main pressure oil circuit and a return oil circuit. One end of the main pressure oil circuit is connected to the main pump, and the other end is connected to the first reversing valve and the second reversing valve. One end of the return oil circuit is connected to the oil tank, and the other end is connected to the first reversing valve and the second reversing valve respectively.

[0012] The first motor includes a first end and a second end, the second motor includes a third end and a fourth end, one end of the first main oil circuit is connected to the first end, the other end of the first main oil circuit is connected to the first reversing valve, one end of the second main oil circuit is connected to the second end, the other end of the second main oil circuit is connected to the first reversing valve, one end of the third main oil circuit is connected to the third end, the other end of the third main oil circuit is connected to the second reversing valve, one end of the fourth main oil circuit is connected to the fourth end, and the other end of the fourth main oil circuit is connected to the second reversing valve;

[0013] The first directional valve includes a first port, a second port, a third port, and a fourth port. The first port is connected to the main pump via the main pressure oil circuit, the second port is connected to the return oil circuit, the third port is connected to the first main oil circuit, and the fourth port is connected to the second main oil circuit. The first directional valve includes a first position, a second position, and a third position. In the first position, the first port, the second port, the third port, and the fourth port are disconnected from each other. In the second position, the first port and the fourth port are connected, and the second port and the third port are connected. In the third position, the first port and the third port are connected, and the second port and the fourth port are connected.

[0014] The second directional valve includes a fifth port, a sixth port, a seventh port, and an eighth port. The fifth port is connected to the main pump via the main pressure oil circuit, the sixth port is connected to the return oil circuit, the seventh port is connected to the third main oil circuit, and the eighth port is connected to the fourth main oil circuit. The second directional valve includes a fourth position, a fifth position, and a sixth position. In the fourth position, the fifth, sixth, seventh, and eighth ports are disconnected from each other. In the fifth position, the fifth and eighth ports are connected, and the sixth and seventh ports are connected. In the sixth position, the fifth port and the... The seventh oil port is connected, and the sixth oil port and the eighth oil port are connected; the first regulating valve is used to directly connect the first end and the third oil port, or to connect the first end and the third oil port through a throttle valve; the second regulating valve is used to directly connect the second end and the fourth oil port, or to connect the second end and the fourth oil port through a throttle valve; the third regulating valve is used to directly connect the third end and the seventh oil port, or to connect the third end and the seventh oil port through a throttle valve; the fourth regulating valve is used to directly connect the fourth end and the eighth oil port, or to connect the fourth end and the eighth oil port through a throttle valve.

[0015] Optionally, the first regulating valve includes a first regulating port and a second regulating port, the first regulating port being connected to the third port and the second regulating port being connected to the first end. The first regulating valve includes a first reversing position and a second reversing position. In the first reversing position, the first regulating port and the second regulating port are directly connected; in the second reversing position, the first regulating port and the second regulating port are connected through a throttle valve. The second regulating valve includes a third regulating port and a fourth regulating port, the third regulating port being connected to the fourth port and the fourth regulating port being connected to the second end. The second regulating valve includes a third reversing position and a fourth reversing position. In the third reversing position, the third regulating port and the fourth regulating port are directly connected; in the fourth reversing position, the third regulating port and the fourth regulating port are connected through a throttle valve. The third regulating valve includes a fifth regulating port and a sixth regulating port. The fifth regulating port is connected to the seventh port, and the sixth regulating port is connected to the third end. The third regulating valve includes a fifth reversing position and a sixth reversing position. In the fifth reversing position, the fifth regulating port and the sixth regulating port are directly connected. In the sixth reversing position, the fifth regulating port and the sixth regulating port are connected through a throttle valve. The fourth regulating valve includes a seventh regulating port and an eighth regulating port. The seventh regulating port is connected to the eighth port, and the eighth regulating port is connected to the fourth end. The fourth regulating valve includes a seventh reversing position and an eighth reversing position. In the seventh reversing position, the seventh regulating port and the eighth regulating port are directly connected. In the eighth reversing position, the seventh regulating port and the eighth regulating port are connected through a throttle valve.

[0016] This application also provides a hoisting synchronization control method for controlling construction machinery, the construction machinery including a first hoist, a second hoist, a lifting device, and a hoisting synchronization control system as described above, wherein a first motor and a second motor are respectively used to drive the first hoist and the second hoist, and the hoisting synchronization control method includes:

[0017] Receive synchronization instructions for the first and second winches;

[0018] Receive commands from the control handle;

[0019] Obtain the tilt angle of the lifting device;

[0020] During the lifting process, the state of the first or third regulating valve is controlled according to the tilt angle of the lifting device to synchronize the first and second winches; during the lowering process, the state of the second or fourth regulating valve is controlled according to the tilt angle of the lifting device to synchronize the first and second winches; when no lifting or lowering command is received, the state of the fifth or sixth regulating valve is controlled according to the tilt angle of the lifting device to make the first and second winches at the same height as the lifting point of the lifting device.

[0021] Optionally, during the lifting process, the first switching valve is controlled to be in a state connecting the first main oil circuit and the third main oil circuit. When the tilt angle of the lifting device is less than a first preset value and greater than a negative value of the first preset value, the first regulating valve, the second regulating valve, the third regulating valve, and the fourth regulating valve are all controlled to be in a state directly connected to each main oil circuit. When the tilt angle of the lifting device is greater than a second preset value, the third regulating valve is controlled to be in a state connected to the third main oil circuit through a throttle valve. When the tilt angle of the lifting device is less than a negative value of the second preset value, the first regulating valve is controlled to be in a state connected to the first main oil circuit through a throttle valve. When the tilt angle of the lifting device is greater than or equal to the first preset value and less than or equal to the second preset value, or greater than or equal to a negative value of the second preset value and less than or equal to a negative value of the first preset value, the states of the first regulating valve, the second regulating valve, the third regulating valve, and the fourth regulating valve remain unchanged.

[0022] During the lowering process, the second switching valve is controlled to be in a state connecting the second main oil circuit and the fourth main oil circuit. When the tilt angle of the hoist is less than a first preset value and greater than the negative value of the first preset value, the first regulating valve, the second regulating valve, the third regulating valve and the fourth regulating valve are all controlled to be in a state directly connected to each main oil circuit. When the tilt angle of the hoist is greater than a second preset value, the fourth regulating valve is controlled to be in a state connected to the fourth main oil circuit through a throttle valve. When the tilt angle of the hoist is less than the negative value of the second preset value, the second regulating valve is controlled to be in a state connected to the second main oil circuit through a throttle valve. When the tilt angle of the hoist is greater than or equal to the first preset value and less than or equal to the second preset value, or greater than or equal to the negative value of the second preset value and less than or equal to the negative value of the first preset value, the states of the first regulating valve, the second regulating valve, the third regulating valve and the fourth regulating valve remain unchanged.

[0023] When no lifting or lowering command is received, if the tilt angle of the lifting device is less than a first preset value and greater than a negative value of the first preset value, the fifth and sixth regulating valves are both controlled to be connected through a one-way valve. If the tilt angle of the lifting device is greater than a second preset value, the sixth regulating valve is controlled to be connected through a throttle valve. If the tilt angle of the lifting device is less than a negative value of the second preset value, the fifth regulating valve is controlled to be connected through a throttle valve. If the tilt angle of the lifting device is greater than or equal to the first preset value and less than or equal to the second preset value, or greater than or equal to a negative value of the second preset value and less than or equal to a negative value of the first preset value, the fifth and sixth regulating valves are both controlled to be connected through a one-way valve. The second preset value is greater than the first preset value.

[0024] When the first regulating valve, the second regulating valve, the third regulating valve, or the fourth regulating valve is switched to the throttle valve connected state, the reversing displacement of the first regulating valve, the second regulating valve, the third regulating valve, or the fourth regulating valve is proportional to the absolute value of the tilt angle θ of the lifting device.

[0025] Optionally, the steps of controlling the state of the first or third regulating valve according to the tilt angle of the lifting device during the lifting process to synchronize the first and second winches; controlling the state of the second or fourth regulating valve according to the tilt angle of the lifting device during the lowering process to synchronize the first and second winches; and controlling the state of the fifth or sixth regulating valve according to the tilt angle of the lifting device to make the first and second winches at the same height as the lifting point of the lifting device when no lifting or lowering command is received specifically include:

[0026] S19, determine whether the operating handle is lifted. If yes, proceed to step S21; otherwise, proceed to step S36.

[0027] S21, control the first switching valve to connect the first main oil circuit and the third main oil circuit, and control the second switching valve to disconnect the second main oil circuit and the fourth main oil circuit;

[0028] S23, determine whether the tilt angle of the lifting device is less than a first preset value and greater than a negative value of the first preset value; if yes, proceed to step S24, if no, proceed to step S26, wherein the first preset value is greater than 0;

[0029] S24, control the first regulating valve, the second regulating valve, the third regulating valve and the fourth regulating valve to be in a state of direct connection to each main oil circuit;

[0030] S26, determine whether the tilt angle of the lifting device is greater than the second preset value. If yes, proceed to step S27; if no, proceed to step S29, wherein the second preset value is greater than the first preset value.

[0031] S27, control the third regulating valve to be in a state of being connected to the third main oil circuit through the throttle valve, and the first regulating valve, the second regulating valve and the fourth regulating valve are all in a state of being directly connected to each oil circuit;

[0032] S29, determine whether the tilt angle of the lifting device is less than the negative value of the second preset value. If yes, proceed to step S30; if no, proceed to step S32.

[0033] S30, control the first regulating valve to be in the state of being connected to the first main oil circuit through the throttle valve, and control the second regulating valve, the third regulating valve and the fourth regulating valve to be in the state of being directly connected to each oil circuit;

[0034] S32, keep the states of the first regulating valve, the second regulating valve, the third regulating valve and the fourth regulating valve unchanged;

[0035] S34, determine whether the operating handle is in the lifted state. If yes, proceed to step S23; otherwise, proceed to step S36.

[0036] S36, Determine whether the operating handle has been lowered. If yes, proceed to step S38; otherwise, proceed to step S52.

[0037] S38, control the second switching valve to connect the second main oil circuit and the fourth main oil circuit, and the first switching valve to disconnect the first main oil circuit and the third main oil circuit;

[0038] S39, determine whether the tilt angle of the lifting device is less than the first preset value and greater than the negative value of the first preset value. If yes, proceed to step S40; otherwise, proceed to step S42.

[0039] S40, control the first regulating valve, the second regulating valve, the third regulating valve and the fourth regulating valve to be in a state of direct connection to each main oil circuit;

[0040] S42, determine whether the tilt angle of the lifting device is greater than the second preset value. If yes, proceed to step S43; if no, proceed to step S45.

[0041] S43, control the fourth regulating valve to be in a state of being connected to the fourth main oil circuit through the throttle valve, and the first regulating valve, the second regulating valve and the third regulating valve are all in a state of being directly connected to each oil circuit;

[0042] S45, determine whether the tilt angle of the lifting device is less than the negative value of the second preset value. If yes, proceed to step S46; if no, proceed to step S48.

[0043] S46, control the second regulating valve to be in the state of being connected to the second main oil circuit through the throttle valve, and the first regulating valve, the third regulating valve and the fourth regulating valve are all in the state of being directly connected to each oil circuit;

[0044] S48, keep the states of the first regulating valve, the second regulating valve, the third regulating valve and the fourth regulating valve unchanged;

[0045] S50, determine whether the operating handle is in the lowered state. If yes, proceed to step S39; otherwise, proceed to step S52.

[0046] S52, determine whether the tilt angle of the lifting device is less than the first preset value and greater than the negative value of the first preset value. If yes, proceed to step S53; if no, proceed to step S55.

[0047] S53, control the first regulating valve, the second regulating valve, the third regulating valve and the fourth regulating valve to be in a state of direct connection to each oil circuit, and control the fifth regulating valve and the sixth regulating valve to be in a state of connection through a check valve;

[0048] S55, determine whether the tilt angle of the lifting device is greater than the second preset value. If yes, proceed to step S56; if no, proceed to step S58.

[0049] S56, control the sixth regulating valve to be in a state connected through the throttle valve;

[0050] S58, determine whether the tilt angle of the lifting device is greater than the negative value of the second preset value. If yes, proceed to step S59; if no, proceed to step S53.

[0051] S59, control the fifth regulating valve to be in a state of being connected through the throttle valve.

[0052] As described above, in the hoisting synchronization control system and hoisting synchronization control method of this application, by setting regulating valves on each main oil line, when the two hoists are not synchronized, the flow rate on the corresponding main oil line can be controlled by controlling the position of the regulating valve, thereby adjusting the operating speed of the first motor and the second motor, and ensuring hoisting synchronization. Attached Figure Description

[0053] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0054] Figure 1 This is a schematic diagram of a hoist synchronous control system.

[0055] Figure 2 This is a schematic diagram of the lifting device and hook of an engineering machine.

[0056] Figure 3 This is a schematic diagram of the structure of a hoisting synchronization control system provided in an embodiment of this application.

[0057] Figure 4 This is a schematic flowchart of a hoist synchronization control method provided in an embodiment of this application. Detailed Implementation

[0058] The specific embodiments of this application will now be described in detail with reference to the accompanying drawings. Obviously, the described embodiments are merely some, not all, of the embodiments of this application. Based on the description of this application, all other embodiments obtained by those skilled in the art without inventive effort are within the scope of protection of this application.

[0059] In the description of this application, unless otherwise expressly specified and limited, the terms "set," "install," "connect," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms based on the specific circumstances.

[0060] The terms “first,” “second,” “third,” etc., are used merely to distinguish numerical values ​​or elements with similar properties, rather than to indicate or imply relative importance or a specific order.

[0061] The terms “include,” “comprising,” or any other variation thereof are intended to cover non-exclusive inclusion, which includes not only the elements listed but also other elements not expressly listed.

[0062] This invention provides a winch synchronization control system for controlling the synchronization of the first and second winches of a coal grabber. Please refer to [reference needed]. Figure 2The hook 81 of the coal grabber is mounted on the hoist 83, and two wire ropes 85 are respectively hung on both sides of the hoist 83. The two wire ropes 85 are pulled by the first winch and the second winch, respectively, thereby raising or lowering the hook 81. When the hoist 83 tilts, it indicates that the first winch and the second winch are out of sync.

[0063] Figure 3 This is a schematic diagram of the structure of a hoisting synchronization control system provided in an embodiment of this application. Figure 3 As shown, a hoisting synchronization control system of one embodiment includes a main pump 11, a first reversing valve 13, a second reversing valve 15, a first main oil circuit 17, a second main oil circuit 19, a third main oil circuit 21, a fourth main oil circuit 23, a first regulating valve 25, a second regulating valve 27, a third regulating valve 29, a fourth regulating valve 31, a first motor 33, and a second motor 35. The main pump 11 is used to supply oil to the first motor 33 through the first main oil circuit 17 or the second main oil circuit 19 to make the first motor 33 rotate forward or reverse. The main pump 11 is also used to supply oil through the third main oil circuit 21 or the fourth main oil circuit 23 to make the second motor 35 rotate forward or reverse. The first reversing valve 13 and the second reversing valve 15 are connected to the main pump 11. The first reversing valve 13 is connected to the first main oil passage 17 and the second main oil passage 19 to control whether the main pump 11 supplies oil to the first motor 33 through the first main oil passage 17 or the second main oil passage 19. The second reversing valve 15 is connected to the third main oil passage 21 and the fourth main oil passage 23 to control whether the main pump 11 supplies oil to the second motor 35 through the third main oil passage 21 or the fourth main oil passage 23. The first regulating valve 25 is located on the first main oil passage 17 to regulate the flow rate of the first motor 33 flowing from the first main oil passage 17. The second regulating valve 27 is located on the second main oil passage 19 to regulate the flow rate of the first motor 33 flowing from the second main oil passage 19. The third regulating valve 29 is located on the third main oil passage 21 to regulate the flow rate of the second motor 35 flowing from the third main oil passage 21. The fourth regulating valve 31 is located on the fourth main oil passage 23 to regulate the flow rate of the second motor 35 flowing from the fourth main oil passage 23.

[0064] In the hoisting synchronization control system of this embodiment, by setting regulating valves on each main oil line, when the two hoists are out of sync, the flow rate on the corresponding main oil line can be controlled by controlling the position of the regulating valve, thereby adjusting the operating speed of the first motor and the second motor, and ensuring hoisting synchronization.

[0065] In this embodiment, the first motor 33 includes a first end 332 and a second end 334, and the second motor 35 includes a third end 352 and a fourth end 354. One end of the first main oil passage 17 is connected to the first end 332 of the first motor 33, and the other end of the first main oil passage 17 is connected to the first directional valve 13. One end of the second main oil passage 19 is connected to the second end 334 of the first motor 33, and the other end of the second main oil passage 19 is connected to the first directional valve 13. One end of the third main oil passage 21 is connected to the third end 352 of the second motor 35, and the other end of the third main oil passage 21 is connected to the second directional valve 15. One end of the fourth main oil passage 23 is connected to the fourth end 354 of the second motor 35, and the other end of the fourth main oil passage 23 is connected to the second directional valve 15. When the first winch is raised, the pressurized oil supplied by the main pump 11 passes through the first reversing valve 13, then through the first main oil passage 17 to the first end 332, and then through the first motor 33 to the second end 334. The oil at the second end 334 flows back to the oil tank 37 through the second main oil passage 19 and the first reversing valve 13. At this time, the first motor 33 rotates forward. When the first winch is lowered, the pressurized oil supplied by the main pump 11 passes through the first reversing valve 13, then through the second main oil passage 19 to the second end 334, and then through the first motor 33 to the first end 332. At this time, the first motor 33 rotates in reverse. The oil at the first end 332 flows back to the oil tank 37 through the first main oil passage 17 and the first reversing valve 13. The working process of the second motor 35 is similar to that of the first motor 33, and will not be described in detail here.

[0066] In this embodiment, the hoist synchronization control system further includes a main pressure oil circuit 38 and a return oil circuit 39. One end of the main pressure oil circuit 38 is connected to the main pump 11, and the other end is connected to the first reversing valve 13 and the second reversing valve 15. One end of each of the two return oil circuits 39 is connected to the oil tank 37, and the other end is connected to the first reversing valve 13 and the second reversing valve 15, respectively.

[0067] Specifically, both the first directional valve 13 and the second directional valve 15 are three-position four-way directional valves. The first directional valve 13 includes a first port 132, a second port 133, a third port 134, and a fourth port 135. The first port 132 is connected to the main pump 11 via the main pressure oil circuit 38, the second port 133 is connected to the return oil circuit 39, the third port 134 is connected to the first main oil circuit 17, and the fourth port 135 is connected to the second main oil circuit 19. The first directional valve 13 includes a first position, a second position, and a third position. The first position (i.e....) Figure 3 When the first oil port 132, the second oil port 133, the third oil port 134, and the fourth oil port 135 are disconnected from each other (i.e., in the middle position); Figure 3When the first oil port 132 and the fourth oil port 135 are connected, and the second oil port 133 and the third oil port 134 are connected, the pressure oil provided by the main pump 11 flows into the second end 334 of the first motor 33 through the main pressure oil circuit 38, the first oil port 132, the fourth oil port 135, and the second main oil circuit 19, and the first motor 33 reverses; the third position (i.e. Figure 3 When the first oil port 132 and the third oil port 134 are connected, the second oil port 133 and the fourth oil port 135 are connected, and the pressure oil provided by the main pump 11 flows into the first end 332 of the first motor 33 through the main pressure oil circuit 38, the first oil port 132, the third oil port 134 and the first main oil circuit 17, and the first motor 33 rotates in the forward direction.

[0068] Specifically, the second directional valve 15 includes a fifth port 152, a sixth port 153, a seventh port 154, and an eighth port 155. The fifth port 152 is connected to the main pump 11 via the main pressure oil circuit 38; the sixth port 153 is connected to the return oil circuit 39; the seventh port 154 is connected to the third main oil circuit 21; and the eighth port 155 is connected to the fourth main oil circuit 23. The second directional valve 15 includes a fourth position, a fifth position, and a sixth position. The fourth position (i.e....) Figure 3 When the middle position is reached, the fifth oil port 152, the sixth oil port 153, the seventh oil port 154, and the eighth oil port 155 are disconnected from each other; the fifth position (i.e. Figure 3 When the fifth oil port 152 and the eighth oil port 155 are connected, and the sixth oil port 153 and the seventh oil port 154 are connected, the pressure oil provided by the main pump 11 flows into the fourth terminal 354 of the second motor 35 through the main pressure oil circuit 38, the fifth oil port 152, the eighth oil port 155, and the fourth main oil circuit 23, and the second motor 35 reverses; the sixth position (i.e. Figure 3 When the fifth oil port 152 and the seventh oil port 154 are connected, the sixth oil port 153 and the eighth oil port 155 are connected. The pressure oil provided by the main pump 11 flows into the third end 352 of the second motor 35 through the main pressure oil circuit 38, the fifth oil port 152, the seventh oil port 154 and the third main oil circuit 21, and the second motor 35 rotates in the forward direction.

[0069] Specifically, the first directional valve 13 and the second directional valve 15 can be integrated into the same multi-way valve, or they can be separate independent valves.

[0070] In this embodiment, the hoist synchronization control system also includes a pilot oil circuit, which can control the switching of the first directional valve 13 and the second directional valve 15. Specifically, the pilot oil circuit includes a pilot pump 41 and a pilot handle 42. By lifting or pressing the pilot handle 42, the pilot oil flowing to the control ports of the first directional valve 13 and the second directional valve 15 is controlled, thereby controlling the switching of the first directional valve 13 and the second directional valve 15. Typically, pressing down the pilot handle indicates that the hoist is lowered, and lifting the pilot handle indicates that the hoist is raised. It can be understood that in other embodiments, the first directional valve 13 and the second directional valve 15 can also be solenoid valves. The switching of the first directional valve 13 and the second directional valve 15 is controlled by controlling the gain and loss of the electromagnets of the first directional valve 13 and the second directional valve 15. In this case, the pilot handle is replaced by other electrically controlled operating handles.

[0071] In this embodiment, the first regulating valve 25 is used to directly connect the first end 332 of the first motor 33 and the third oil port 134 of the first directional valve 13, or to connect the first end 332 of the first motor 33 and the third oil port 134 of the first directional valve 13 through a throttle valve; that is, the first regulating valve 25 is directly connected to or connected to the first main oil circuit 17 through a throttle valve. The second regulating valve 27 is used to directly connect the second end 334 of the first motor 33 and the fourth oil port 135 of the first directional valve 13, or to connect the second end 334 of the first motor 33 and the fourth oil port 135 of the first directional valve 13 through a throttle valve; that is, the second regulating valve 27 is directly connected to or connected to the second main oil circuit 19 through a throttle valve. The third regulating valve 29 is used to directly connect to the third terminal 352 of the second motor 35 and the seventh oil port 154 of the second directional valve 15, or to connect to the third terminal 352 of the second motor 35 and the seventh oil port 154 of the second directional valve 15 via a throttle valve; that is, the third regulating valve 29 is directly connected to or connected to the third main oil circuit 21 via a throttle valve. The fourth regulating valve 31 is used to directly connect to the fourth terminal 354 of the second motor 35 and the eighth oil port 155 of the second directional valve 15, or to connect to the fourth terminal 354 of the second motor 35 and the eighth oil port 155 of the second directional valve 15 via a throttle valve; that is, the fourth regulating valve 31 is directly connected to or connected to the fourth main oil circuit 23 via a throttle valve.

[0072] Specifically, the first regulating valve 25, the second regulating valve 27, the third regulating valve 29, and the fourth regulating valve 31 can all be proportional regulating valves, meaning that the size of the throttle orifice of the throttle valve is adjustable when the oil circuit is connected through the throttle valve. Specifically, when switching to the state where the oil circuit is connected through the throttle valve, the larger the switching displacement, the larger the opening area of ​​the throttle orifice, and the smaller the throttling effect.

[0073] Specifically, the first regulating valve 25, the second regulating valve 27, the third regulating valve 29, and the fourth regulating valve 31 can all be two-position three-way valves. The first regulating valve 25 includes a first regulating port 252 and a second regulating port 253. The first regulating port 252 is connected to the third port 134 of the first reversing valve 13, and the second regulating port 253 is connected to the first end 332 of the first motor 33. The first regulating valve 25 includes a first reversing position (i.e., Figure 3 The right position in the middle) and the second reversal position (i.e. Figure 3 In the first reversing position (left position), the first regulating port 252 and the second regulating port 253 are directly connected; in the second reversing position, the first regulating port 252 and the second regulating port 253 are connected through a throttle valve. The second regulating valve 27 includes a third regulating port 272 and a fourth regulating port 273. The third regulating port 272 is connected to the fourth port 135 of the first reversing valve 13, and the fourth regulating port 273 is connected to the second end 334 of the first motor 33. The second regulating valve 27 includes a third reversing position (i.e., left position). Figure 3 The right position in the middle) and the fourth reversal position (i.e. Figure 3 In the left position of the second directional valve 15, the third regulating port 272 and the fourth regulating port 273 are directly connected in the third reversing position; in the fourth reversing position, the third regulating port 272 and the fourth regulating port 273 are connected through a throttle valve. The third regulating valve 29 includes a fifth regulating port 292 and a sixth regulating port 293. The fifth regulating port 292 is connected to the seventh port 154 of the second directional valve 15, and the sixth regulating port 293 is connected to the third end 352 of the second motor 35. The third regulating valve 29 includes a fifth reversing position (i.e., the left position of the second directional valve 15). Figure 3 The right position in the middle) and the sixth position (i.e. Figure 3 In the left position of the second directional valve 15, the fifth regulating port 292 and the sixth regulating port 293 are directly connected; in the sixth directional valve position, the fifth regulating port 292 and the sixth regulating port 293 are connected through a throttle valve. The fourth regulating valve 31 includes a seventh regulating port 312 and an eighth regulating port 313. The seventh regulating port 312 is connected to the eighth port 155 of the second directional valve 15, and the eighth regulating port 313 is connected to the fourth end 354 of the second motor 35. The fourth regulating valve 31 includes a seventh directional valve position (i.e., the left position of the second directional valve 15). Figure 3 The right position in the middle) and the eighth position (i.e. Figure 3 In the left position, when the seventh reversing position is reached, the seventh regulating oil port 312 and the eighth regulating oil port 313 are directly connected; when the eighth reversing position is reached, the seventh regulating oil port 312 and the eighth regulating oil port 313 are connected through a throttle valve.

[0074] Specifically, the first regulating valve 25, the second regulating valve 27, the third regulating valve 29, and the fourth regulating valve 31 can all be solenoid valves. When the electromagnets of the first regulating valve 25, the second regulating valve 27, the third regulating valve 29, and the fourth regulating valve 31 are not energized, the first regulating valve 25, the second regulating valve 27, the third regulating valve 29, and the fourth regulating valve 31 are in the right position. When the electromagnets of the first regulating valve 25, the second regulating valve 27, the third regulating valve 29, and the fourth regulating valve 31 are energized, the first regulating valve 25, the second regulating valve 27, the third regulating valve 29, and the fourth regulating valve 31 are in the left position.

[0075] In this embodiment, the hoist synchronization control system further includes a first switching valve 45 and a second switching valve 47. The first switching valve 45 is connected between the first main oil circuit 17 and the third main oil circuit 21 to connect or disconnect the first main oil circuit 17 and the third main oil circuit 21. The second switching valve 47 is connected between the second main oil circuit 19 and the fourth main oil circuit 23 to connect or disconnect the second main oil circuit 19 and the fourth main oil circuit 23. Specifically, the first switching valve 45 and the second switching valve 47 can be two-position two-way directional valves. Both the first switching valve 45 and the second switching valve 47 can be solenoid valves, and their switching is controlled by energizing or de-energizing them. Thus, when the first switch valve 45 is energized and in the upper position, if the first winch and the second winch are out of sync and the flow on one of the main oil lines decreases, a portion of the flow in the first main oil line 13 can be diverted to the third main oil line 17, or a portion of the flow in the third main oil line 17 can be diverted to the first main oil line 13. Similarly, when the second switch valve 47 is energized and in the left position, a portion of the flow can be adjusted between the second main oil line 21 and the fourth main oil line 23.

[0076] In this embodiment, the hoist synchronization control system further includes a fifth regulating valve 49 and a sixth regulating valve 51. The fifth regulating valve 49 is connected between the oil tank 37 and the first main oil circuit 17, connecting the first main oil circuit 17 and the oil tank 37 via a check valve or a throttle valve. The sixth regulating valve 51 is connected between the oil tank 37 and the third main oil circuit 21, connecting the third main oil circuit 21 and the oil tank 37 via a check valve or a throttle valve. Both the fifth regulating valve 49 and the sixth regulating valve 51 can be solenoid valves, and their states are switched by energizing or de-energizing them. The check valve prevents oil from flowing from the first main oil circuit 17 or the third main oil circuit 19 to the oil tank 37. When the hoisting is not controlled to lift or lower (i.e., remains in the current state), if the first and second hoists are at different heights, the oil in the first motor 33 or the second motor 35 can be returned to the oil tank 37 by switching the fifth regulating valve 49 or the sixth regulating valve 51 to the state connected through the throttle valve. This lowers the first or second hoist, bringing them to the same height. Specifically, when the fifth regulating valve 49 or the sixth regulating valve 51 is energized and switched to the state connected through the throttle valve, the first motor 33, the second motor 35, and their corresponding brakes will open (opening means releasing the brakes), and oil will be replenished to the first motor 33 and the second motor 35 through the oil replenishment circuit (not shown).

[0077] In this embodiment, the hoisting synchronization control system further includes a first balance valve 53 and a second balance valve 54. The first balance valve 53 is located on the first main oil circuit 17 and the second main oil circuit 19, and the second balance valve 54 is located on the third main oil circuit 21 and the fourth main oil circuit 23.

[0078] In the hoisting synchronization control system of this embodiment, when the hoist is lifted, if the lifting point of the first hoist is higher than that of the second hoist, resulting in a lack of synchronization, the first regulating valve 25 can be energized and positioned to the left. This reduces the flow rate into the first end 332 of the first motor 33, lowering the speed of the first motor 33, while the second motor 35 operates at a higher speed, thereby synchronizing the first and second hoists. Conversely, if the lifting point of the first hoist is lower than that of the second hoist, resulting in a lack of synchronization, the third regulating valve 29 can be energized and positioned to the left. This reduces the flow rate into the third end 352 of the second motor 35, lowering the speed of the second motor 35, while the first motor 33 operates at a higher speed, thereby synchronizing the first and second hoists. Correspondingly, when the hoist is lowered, the flow rate can also be adjusted by switching the states of the second regulating valve 27 and the fourth regulating valve 31, thereby synchronizing the first and second hoists during the lowering process.

[0079] In this embodiment, please refer again. Figure 2The hoisting synchronization control system also includes a tilt angle detection element 56 and a control module (not shown). The tilt angle detection element 56 is connected to the control module. The tilt angle detection element 56 is used to detect the tilt angle θ of the hoist 83. The control module 49 is used to determine whether the first hoist and the second hoist are synchronized based on the tilt angle θ detected by the hoist 83, and to control the states of the first regulating valve 25, the second regulating valve 27, the third regulating valve 29, the fourth regulating valve 31, the fifth regulating valve 49, and the sixth regulating valve 51 when they are not synchronized, so as to control the synchronization of the first hoist and the second hoist. Specifically, the tilt angle detection element 56 can be a tilt angle sensor.

[0080] The hoisting synchronization control system of this embodiment can be applied to coal grabbers, as well as to the motor control of other equipment. Furthermore, this embodiment uses two motors, but it can also use three or more motors.

[0081] This application also provides a hoist synchronization control method; please refer to [reference needed]. Figure 4 One embodiment of the hoist synchronization control method includes the following steps:

[0082] S11, receive the synchronization command for the first and second winches.

[0083] S13, Receive operating handle commands. Specifically, a command to lower the winch can be issued by pressing down the operating handle, and a command to raise the winch can be issued by raising the operating handle.

[0084] S15, obtain the tilt angle θ of the lifting device. Specifically, the tilt angle θ of the lifting device can be obtained by the tilt angle detection element 56 provided on the lifting device. In this embodiment, the tilt angle θ takes a negative value when the lifting device rotates counterclockwise and a positive value when it rotates clockwise.

[0085] S17, during the lifting process, the state of the first regulating valve 25 or the third regulating valve 29 is controlled according to the tilt angle θ of the hoist to synchronize the first and second winches; during the lowering process, the state of the second regulating valve 27 or the fourth regulating valve 31 is controlled according to the tilt angle θ of the hoist to synchronize the first and second winches; when no lifting or lowering command is received (i.e., when the hoist is lifted or lowered to a certain height and then held in the current state without further lifting or lowering), the state of the fifth regulating valve 49 or the sixth regulating valve 51 is controlled according to the tilt angle θ of the hoist to make the lifting points of the first and second winches at the same height as the hoist. The statement that the lifting points of the first and second winches are at the same height as the hoist does not necessarily mean that the heights of the lifting points of the first and second winches relative to the hoist are exactly the same, as long as the height difference is within an allowable range.

[0086] Specifically, in step S17, during the lifting process, the first switching valve 45 is controlled to be in a state of connecting the first main oil path 17 and the third main oil path 21. When the inclination angle θ of the elevating device is less than the first preset value a and greater than the negative value -a of the first preset value (i.e., -a < θ < a), the first regulating valve 25, the second regulating valve 27, the third regulating valve 29, and the fourth regulating valve 31 are all controlled to be in a state of directly connecting each main oil path. When the inclination angle θ of the elevating device is greater than the second preset value b (i.e., θ > b), the third regulating valve 29 is controlled to be in a state of connecting the third main oil path 21 through a throttle valve. When the inclination angle θ of the elevating device is less than the negative value -b of the second preset value (i.e., θ < -b), the first regulating valve 25 is controlled to be in a state of connecting the first main oil path 17 through a throttle valve. When the inclination angle θ of the elevating device is greater than or equal to the first preset value a and less than or equal to the second preset value b (i.e., a < θ < b), or greater than or equal to the negative value -b of the second preset value and less than or equal to the negative value -a of the first preset value (i.e., -b < θ < -a), the states of the first regulating valve 25, the second regulating valve 27, the third regulating valve 29, and the fourth regulating valve 31 remain unchanged; during the lowering process, the second switching valve 45 is controlled to be in a state of connecting the second main oil path 17 and the fourth main oil path 21. When the inclination angle θ of the elevating device is less than the first preset value a and greater than the negative value -a of the first preset value (i.e., -a < θ < a), the first regulating valve 25, the second regulating valve 27, the third regulating valve 29, and the fourth regulating valve 31 are all controlled to be in a state of directly connecting each main oil path. When the inclination angle θ of the elevating device is greater than the second preset value b (i.e., θ > b), the fourth regulating valve 31 is controlled to be in a state of connecting the fourth main oil path 23 through a throttle valve. When the inclination angle θ of the elevating device is less than the negative value -b of the second preset value (i.e., θ < -b), the second regulating valve 27 is controlled to be in a state of connecting the second main oil path 19 through a throttle valve. When the inclination angle θ of the elevating device is greater than or equal to the first preset value a and less than or equal to the second preset value b (i.e., a < θ < b), or greater than or equal to the negative value -b of the second preset value and less than or equal to the negative value -a of the first preset value (i.e., -b < θ < -a), the states of the first regulating valve 25, the second regulating valve 27, the third regulating valve 29, and the fourth regulating valve 31 remain unchanged;When no instruction to lift or lower is received, when the inclination angle θ of the elevating device is less than the first preset value a and greater than the negative value -a of the first preset value (i.e., -a < θ < a), control both the fifth regulating valve 49 and the sixth regulating valve 51 to be in a state of being connected through check valves. When the inclination angle θ of the elevating device is greater than the second preset value b (i.e., θ > b), control the sixth regulating valve 51 to be in a state of being connected through a throttle valve. When the inclination angle θ of the elevating device is less than the negative value -b of the second preset value (i.e., θ < -b), control the fifth regulating valve 49 to be in a state of being connected through a throttle valve. When the inclination angle θ of the elevating device is greater than or equal to the first preset value a and less than or equal to the second preset value b (i.e., a < θ < b), or greater than or equal to the negative value -b of the second preset value and less than or equal to the negative value -a of the first preset value (i.e., -b < θ < -a), control both the fifth regulating valve 49 and the sixth regulating valve 51 to be in a state of being connected through check valves. Here, the second preset value b is greater than the first preset value a, and the first preset value a is greater than 0.

[0087] More specifically, in step S17, when any one of the first regulating valve 25, the second regulating valve 27, the third regulating valve 29, and the fourth regulating valve 31 is switched to the throttle valve connection state, control the commutation displacement of the first regulating valve 25, the second regulating valve 27, the third regulating valve 29, or the fourth regulating valve 31 to be proportional to the absolute value of the inclination angle θ of the elevating device. That is, the greater the absolute value of the inclination angle θ, the greater the commutation displacement of the corresponding regulating valve, the smaller the opening area of the throttle port, and the more obvious the throttling effect. In this way, the error correction process can be made more stable. During the process of adjusting synchronization, as the inclination angle θ of the elevating device decreases, the commutation displacement of the corresponding regulating valve also gradually decreases. That is, during the process of the gradual decrease of the inclination angle θ of the elevating device, the valve core of the regulating valve gradually moves towards the directly connected position.

[0088] Specifically, step S17 specifically includes:

[0089] S19, determine whether the operating handle is for lifting. If so, enter step S21; if not, enter step S36.

[0090] S21, control the first switching valve 45 to be energized to connect the first main oil path 17 and the third main oil path 21, and the second switching valve 47 not to be energized to disconnect the second main oil path 19 and the fourth main oil path 23. At this time, the oil between the first main oil path 17 and the third main oil path 21 can flow to each other.

[0091] S23, determine whether the inclination angle θ of the elevating device is less than the first preset value a and greater than the negative value -a of the first preset value (i.e., whether -a < θ < a is satisfied). If so, enter step S24; if not, enter step S26, where the first preset value a is greater than 0.

[0092] S24, control the first regulating valve 25, the second regulating valve 27, the third regulating valve 29, and the fourth regulating valve 31 to be directly connected to each main oil circuit. At this time, the first regulating valve 25, the second regulating valve 27, the third regulating valve 29, and the fourth regulating valve 31 are all de-energized and in the right position. The first regulating valve 25 is directly connected to the first main oil circuit 17, the second regulating valve 27 is directly connected to the second main oil circuit 19, the third regulating valve 29 is directly connected to the third main oil circuit 21, and the fourth regulating valve 31 is directly connected to the fourth main oil circuit 23.

[0093] S26. Determine whether the tilt angle θ of the lifting device is greater than the second preset value b (i.e., whether θ>b is satisfied). If yes, proceed to step S27. If no, proceed to step S29. The second preset value b is greater than the first preset value a.

[0094] S27, the third regulating valve 29 is controlled to be in the state of being connected to the third main oil circuit 21 through the throttle valve, and the first regulating valve 25, the second regulating valve 27, and the fourth regulating valve 31 are all in the state of being directly connected to their respective oil circuits. At this time, the first throttle valve 25, the second regulating valve 27, and the fourth regulating valve 31 are all de-energized and in the right position. The first regulating valve 25 is directly connected to the first main oil circuit 17, the second regulating valve 27 is directly connected to the second main oil circuit 19, the fourth regulating valve 31 is directly connected to the fourth main oil circuit 23, and the third regulating valve 29 is energized and in the left position, and the third regulating valve 29 is connected to the third main oil circuit 21 through the throttle valve.

[0095] S29. Determine whether the tilt angle θ of the lifting device is less than the negative value of the second preset value -b (i.e., whether θ < -b is satisfied). If yes, proceed to step S30; otherwise, proceed to step S32.

[0096] S30: The first regulating valve 25 is controlled to be in the state of being connected to the first main oil circuit 17 through the throttle valve. The second regulating valve 27, the third regulating valve 29, and the fourth regulating valve 31 are all in the state of being directly connected to their respective oil circuits. At this time, the second regulating valve 27, the third regulating valve 29, and the fourth regulating valve 31 are all de-energized and in the right position. The second regulating valve 27 is directly connected to the second main oil circuit 19, the third regulating valve 29 is directly connected to the third main oil circuit 21, and the fourth regulating valve 31 is directly connected to the fourth main oil circuit 23. The first regulating valve 25 is energized and in the left position, and the first regulating valve 25 is connected to the first main oil circuit 17 through the throttle valve.

[0097] S32, keep the states of the first regulating valve 25, the second regulating valve 27, the third regulating valve 29 and the fourth regulating valve 31 unchanged.

[0098] S34. Determine whether the operating handle is in the lifted state. If yes, proceed to step S23; otherwise, proceed to step S36.

[0099] S36. Determine whether the operating handle is lowered. If so, proceed to step S38; if not, proceed to step S52.

[0100] S38. Control the second switching valve 47 to be energized to connect the second main oil path 19 and the fourth main oil path 23, and the first switching valve 45 is not energized to disconnect the first main oil path 17 and the third main oil path 21. At this time, the oil fluid between the second main oil path 19 and the fourth main oil path 23 can flow mutually.

[0101] S39. Determine whether the hoisting device inclination angle θ is less than the first preset value a and greater than the negative value -a of the first preset value (i.e., whether -a < θ < a is satisfied). If so, proceed to step S40; if not, proceed to step S42.

[0102] S40. Control the first regulating valve 25, the second regulating valve 27, the third regulating valve 29, and the fourth regulating valve 31 to be in a state of directly connecting each main oil path. At this time, the first regulating valve 25, the second regulating valve 27, the third regulating valve 29, and the fourth regulating valve 31 are not energized and are in the right position. The first regulating valve 25 directly connects the first main oil path 17, the second regulating valve 27 directly connects the second main oil path 19, the third regulating valve 29 directly connects the third main oil path 21, and the fourth regulating valve 31 directly connects the fourth main oil path 23.

[0103] S42. Determine whether the hoisting device inclination angle θ is greater than the second preset value b (i.e., whether θ > b is satisfied). If so, proceed to step S43; if not, proceed to step S45.

[0104] S43. Control the fourth regulating valve 31 to be in a state of connecting the fourth main oil path 23 through a throttle valve, and the first regulating valve 25, the second regulating valve 27, and the third regulating valve 29 are in a state of directly connecting each oil path. At this time, the first regulating valve 25, the second regulating valve 27, and the third regulating valve 29 are not energized and are in the right position. The first regulating valve 25 directly connects the first main oil path 17, the second regulating valve 27 directly connects the second main oil path 19, the third regulating valve 29 directly connects the third main oil path 21, the fourth regulating valve 31 is energized and is in the left position, and the fourth regulating valve 31 connects the fourth main oil path 23 through a throttle valve.

[0105] S45. Determine whether the hoisting device inclination angle θ is less than the negative value -b of the second preset value (i.e., whether θ < -b is satisfied). If so, proceed to step S46; if not, proceed to step S48.

[0106] In S46, control the second regulating valve 27 to be in a state of connecting to the second main oil passage 19 through a throttle valve, and the first regulating valve 25, the third regulating valve 29, and the fourth regulating valve 31 are all in a state of directly connecting to each oil passage. At this time, the first regulating valve 25, the third regulating valve 29, and the fourth regulating valve 31 are all de-energized and in the right position. The first regulating valve 25 directly connects to the first main oil passage 17, the third regulating valve 29 directly connects to the third main oil passage 21, the fourth regulating valve 31 directly connects to the fourth main oil passage 23, and the first regulating valve 25 is energized and in the left position. The second regulating valve 27 connects to the second main oil passage 19 through a throttle valve.

[0107] In S48, control the states of the first regulating valve 25, the second regulating valve 27, the third regulating valve 29, and the fourth regulating valve 31 to remain unchanged.

[0108] In S50, determine whether the operating handle is in the lowering state. If so, enter step S39; if not, enter step S52.

[0109] In S52, determine whether the hoisting device inclination angle θ is less than the first preset value a and greater than the negative value -a of the first preset value (i.e., whether -a < θ < a is satisfied). If so, enter step S53; if not, enter step S55.

[0110] In S53, control the first regulating valve 25, the second regulating valve 27, the third regulating valve 29, and the fourth regulating valve 31 to be all in a state of directly connecting to each oil passage, and control the fifth regulating valve 49 and the sixth regulating valve 51 to be all in a state of connecting through a check valve.

[0111] In S55, determine whether the hoisting device inclination angle θ is greater than the second preset value b. If so, enter step S56; if not, enter step S58.

[0112] In S56, control the sixth regulating valve 51 to be in a state of connecting through a throttle valve. At this time, the sixth regulating valve 51 is energized and in the lower position, and the fifth regulating valve 49 is de-energized and in the upper position.

[0113] In S58, determine whether the hoisting device inclination angle θ is greater than the negative value -b of the second preset value. If so, enter step S59; if not, enter step S53.

[0114] In S59, control the fifth regulating valve 49 to be in a state of connecting through a throttle valve. At this time, the sixth regulating valve 51 is de-energized and in the upper position, and the fifth regulating valve 49 is energized and in the lower position.

[0115] In steps S23 to S32 and S39 to S48 above, the flow rate is not adjusted when the lifting device tilt angle θ is greater than -a and less than a, the flow rate is adjusted when the lifting device tilt angle θ is greater than b or less than -b, and the original state is maintained when the lifting device tilt angle θ is greater than or equal to a and less than or equal to b, or greater than or equal to -b and less than or equal to -a. Within a certain range, the first section valve 25, the second regulating valve 27, the third regulating valve 29 and the fourth regulating valve 31 can be left unoperated to avoid frequent switching of the states of the first section valve 25, the second regulating valve 27, the third regulating valve 29 and the fourth regulating valve 31.

[0116] exist Figure 4 In the illustrated embodiment, it is first determined whether the operating handle is raised, and then it is determined whether the operating handle is lowered. It can be understood that in other embodiments, it is also possible to first determine whether the operating handle is lowered, and then determine whether the operating handle is raised.

[0117] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the appended claims.

Claims

1. A hoisting synchronization control system, characterized in that, The system includes a main pump (11), a first reversing valve (13), a second reversing valve (15), a first main oil circuit (17), a second main oil circuit (19), a third main oil circuit (21), a fourth main oil circuit (23), a first regulating valve (25), a second regulating valve (27), a third regulating valve (29), a fourth regulating valve (31), a first motor (33), and a second motor (35). The main pump (11) supplies oil to the first motor (33) through the first main oil circuit (17) or the second main oil circuit (19). The main pump (11) also supplies oil through the third main oil circuit (21) or the fourth main oil circuit (23). The first reversing valve (13) and the second reversing valve (15) are connected to the main pump (11). The first reversing valve (13) is connected to the first main oil circuit (17) and the second main oil circuit (19) to control whether the main pump (11) supplies oil through the first main oil circuit (17) or the second main oil circuit (19). The first motor (33) supplies oil, and the second reversing valve (15) is connected to the third main oil circuit (21) and the fourth main oil circuit (23) to control whether the main pump (11) supplies oil to the second motor (35) through the third main oil circuit (21) or the fourth main oil circuit (23); the first regulating valve (25) is provided on the first main oil circuit (17) to regulate the flow rate of the first main oil circuit (17) into the first motor (33), the second regulating valve (27) is provided on the second main oil circuit (19) to regulate the flow rate of the second main oil circuit (19) into the first motor (33), the third regulating valve (29) is provided on the third main oil circuit (21) to regulate the flow rate of the third main oil circuit (21) into the second motor (35), and the fourth regulating valve (31) is provided on the fourth main oil circuit (23) to regulate the flow rate of the fourth main oil circuit (23) into the second motor (35); The hoisting synchronization control system further includes a fifth regulating valve (49) and a sixth regulating valve (51). The fifth regulating valve (49) is connected between the oil tank (37) and the first main oil circuit (17) to connect the first main oil circuit (17) and the oil tank (37) through a check valve or a throttle valve. The sixth regulating valve (51) is connected between the oil tank (37) and the third main oil circuit (21) to connect the third main oil circuit (21) and the oil tank (37) through a check valve or a throttle valve. The hoisting synchronization control system further includes a first switching valve (45) and a second switching valve (47). The first switching valve (45) is connected between the first main oil circuit (17) and the third main oil circuit (21) to connect or disconnect the first main oil circuit (17) and the third main oil circuit (21). The second switching valve (47) is connected between the second main oil circuit (19) and the fourth main oil circuit (23) to connect or disconnect the second main oil circuit (19) and the fourth main oil circuit (23). The first regulating valve (25) is directly connected to or connected to the first main oil circuit (17) through a throttle valve; the second regulating valve (27) is directly connected to or connected to the second main oil circuit (19) through a throttle valve; the third regulating valve (29) is directly connected to or connected to the third main oil circuit (21) through a throttle valve; and the fourth regulating valve (31) is directly connected to or connected to the fourth main oil circuit (23) through a throttle valve. When the first regulating valve (25), the second regulating valve (27), the third regulating valve (29), and the fourth regulating valve (31) are connected to the oil circuit through the throttle valve, the size of the throttle orifice of the throttle valve is adjustable.

2. The hoisting synchronization control system as described in claim 1, characterized in that, The hoisting synchronous control system further includes a main pressure oil circuit (38) and a return oil circuit (39). One end of the main pressure oil circuit (38) is connected to the main pump (11), and the other end is connected to the first reversing valve (13) and the second reversing valve (15). One end of the return oil circuit (39) is connected to the oil tank (37), and the other end is connected to the first reversing valve (13) and the second reversing valve (15) respectively. The first motor (33) includes a first end (332) and a second end (334), the second motor (35) includes a third end (352) and a fourth end (354), one end of the first main oil circuit (17) is connected to the first end (332), the other end of the first main oil circuit (17) is connected to the first directional valve (13), one end of the second main oil circuit (19) is connected to the second end (334), the other end of the second main oil circuit (19) is connected to the first directional valve (13), one end of the third main oil circuit (21) is connected to the third end (352), the other end of the third main oil circuit (21) is connected to the second directional valve (15), one end of the fourth main oil circuit (23) is connected to the fourth end (354), and the other end of the fourth main oil circuit (23) is connected to the second directional valve (15); The first directional valve (13) includes a first port (132), a second port (133), a third port (134), and a fourth port (135). The first port (132) is connected to the main pump (11) through the main pressure oil circuit (38), the second port (133) is connected to the return oil circuit (39), the third port (134) is connected to the first main oil circuit (17), and the fourth port (135) is connected to the second main oil circuit (19). The first directional valve (13) includes a first... In the first position, the first oil port (132), the second oil port (133), the third oil port (134), and the fourth oil port (135) are disconnected from each other; in the second position, the first oil port (132) and the fourth oil port (135) are connected, and the second oil port (133) and the third oil port (134) are connected; in the third position, the first oil port (132) and the third oil port (134) are connected, and the second oil port (133) and the fourth oil port (135) are connected. The second directional valve (15) includes a fifth port (152), a sixth port (153), a seventh port (154), and an eighth port (155). The fifth port (152) is connected to the main pump (11) through the main pressure oil circuit (38), the sixth port (153) is connected to the return oil circuit (39), the seventh port (154) is connected to the third main oil circuit (21), and the eighth port (155) is connected to the fourth main oil circuit (23). The second directional valve (15) includes a fourth position. The fifth and sixth positions are as follows: when the fourth position is used, the fifth oil port (152), the sixth oil port (153), the seventh oil port (154), and the eighth oil port (155) are disconnected from each other; when the fifth position is used, the fifth oil port (152) and the eighth oil port (155) are connected, and the sixth oil port (153) and the seventh oil port (154) are connected; when the sixth position is used, the fifth oil port (152) and the seventh oil port (154) are connected, and the sixth oil port (153) and the eighth oil port (155) are connected. The first regulating valve (25) is used to directly connect the first end (332) and the third oil port (134), or to connect the first end (332) and the third oil port (134) through a throttle valve; the second regulating valve (27) is used to directly connect the second end (334) and the fourth oil port (135), or to connect the second end (334) and the fourth oil port (135) through a throttle valve; the third regulating valve (29) is used to directly connect the third end (352) and the seventh oil port (154), or to connect the third end (352) and the seventh oil port (154) through a throttle valve; the fourth regulating valve (31) is used to directly connect the fourth end (354) and the eighth oil port (155), or to connect the fourth end (354) and the eighth oil port (155) through a throttle valve.

3. The hoisting synchronization control system as described in claim 2, characterized in that, The first regulating valve (25) includes a first regulating port (252) and a second regulating port (253). The first regulating port (252) is connected to the third port (134), and the second regulating port (253) is connected to the first end (332). The first regulating valve (25) includes a first reversing position and a second reversing position. In the first reversing position, the first regulating port (252) and the second regulating port (253) are directly connected. In the second reversing position, the first regulating port (252) and the second regulating port (253) are connected through a throttle valve. The second regulating valve (27) includes a third regulating port (272) and a fourth regulating port (273). The third regulating port (272) is connected to the fourth regulating port (135), and the fourth regulating port (273) is connected to the second end (334). The second regulating valve (27) includes a third reversing position and a fourth reversing position. In the third reversing position, the third regulating port (272) and the fourth regulating port (273) are directly connected. In the fourth reversing position, the third regulating port (272) and the fourth regulating port (273) are connected through a throttle valve. The third regulating valve (29) includes a fifth regulating port (292) and a sixth regulating port (293). The fifth regulating port (292) is connected to the seventh port (154), and the sixth regulating port (293) is connected to the third end (352). The third regulating valve (29) includes a fifth reversing position and a sixth reversing position. In the fifth reversing position, the fifth regulating port (292) and the sixth regulating port (293) are directly connected. In the sixth reversing position, the fifth regulating port (292) and the sixth regulating port (293) are connected through a throttle valve. The fourth regulating valve (31) includes a seventh regulating port (312) and an eighth regulating port (313). The seventh regulating port (312) is connected to the eighth port (155), and the eighth regulating port (313) is connected to the fourth end (354). The fourth regulating valve (31) includes a seventh reversing position and an eighth reversing position. In the seventh reversing position, the seventh regulating port (312) and the eighth regulating port (313) are directly connected. In the eighth reversing position, the seventh regulating port (312) and the eighth regulating port (313) are connected through a throttle valve.

4. A hoisting synchronization control method for controlling construction machinery, the construction machinery including a first hoist, a second hoist, a lifting device, and a hoisting synchronization control system as described in any one of claims 1-3, wherein a first motor (33) and a second motor (35) are respectively used to drive the first hoist and the second hoist, characterized in that, The hoisting synchronization control method includes: Receive synchronization instructions for the first and second winches; Receive commands from the control handle; Obtain the tilt angle (θ) of the lifting device; During the lifting process, the state of the first regulating valve (25) or the third regulating valve (29) is controlled according to the tilt angle (θ) of the lifting device to synchronize the first winch and the second winch; during the lowering process, the state of the second regulating valve (27) or the fourth regulating valve (31) is controlled according to the tilt angle (θ) of the lifting device to synchronize the first winch and the second winch; when no lifting or lowering command is received, the state of the fifth regulating valve (49) or the sixth regulating valve (51) is controlled according to the tilt angle (θ) of the lifting device to make the first winch and the second winch at the same height as the lifting point of the lifting device.

5. The hoisting synchronization control method as described in claim 4, characterized in that, During the lifting process, the first switching valve (45) is controlled to be in a state connecting the first main oil circuit (17) and the third main oil circuit (21). When the tilt angle (θ) of the lifting device is less than the first preset value (a) and greater than the negative value (-a) of the first preset value, the first regulating valve (25), the second regulating valve (27), the third regulating valve (29) and the fourth regulating valve (31) are all controlled to be in a state directly connected to each main oil circuit. When the tilt angle (θ) of the lifting device is greater than the second preset value (b), the third regulating valve (29) is controlled to be connected through the throttle valve. The state of the third main oil circuit (21) is such that when the tilt angle (θ) of the lifting device is less than the negative value (-b) of the second preset value, the first regulating valve (25) is controlled to be connected to the first main oil circuit (17) through the throttle valve; when the tilt angle (θ) of the lifting device is greater than or equal to the first preset value (a) and less than or equal to the second preset value (b), or greater than or equal to the negative value (-b) of the second preset value and less than or equal to the negative value (-a) of the first preset value, the states of the first regulating valve (25), the second regulating valve (27), the third regulating valve (29) and the fourth regulating valve (31) remain unchanged. During the lowering process, the second switching valve (47) is controlled to be in a state connecting the second main oil circuit (19) and the fourth main oil circuit (23). When the tilt angle (θ) of the lifting device is less than the first preset value (a) and greater than the negative value (-a) of the first preset value, the first regulating valve (25), the second regulating valve (27), the third regulating valve (29), and the fourth regulating valve (31) are all controlled to be in a state directly connected to each main oil circuit. When the tilt angle (θ) of the lifting device is greater than the second preset value (b), the fourth regulating valve (31) is controlled to be connected to the fourth main oil circuit through a throttle valve. The state of the main oil circuit (23): When the tilt angle (θ) of the lifting device is less than the negative value (-b) of the second preset value, the second regulating valve (27) is controlled to be connected to the second main oil circuit (19) through the throttle valve. When the tilt angle (θ) of the lifting device is greater than or equal to the first preset value (a) and less than or equal to the second preset value (b), or greater than or equal to the negative value (-b) of the second preset value and less than or equal to the negative value (-a) of the first preset value, the states of the first regulating valve (25), the second regulating valve (27), the third regulating valve (29) and the fourth regulating valve (31) remain unchanged. When no lifting or lowering command is received, if the tilt angle (θ) of the lifting device is less than a first preset value (a) and greater than the negative value (-a) of the first preset value, the fifth regulating valve (49) and the sixth regulating valve (51) are both controlled to be connected through a one-way valve. If the tilt angle (θ) of the lifting device is greater than a second preset value (b), the sixth regulating valve (51) is controlled to be connected through a throttle valve. If the tilt angle (θ) of the lifting device is less than the negative value (-b) of the second preset value, the control... When the fifth regulating valve (49) is in a state connected through a throttle valve, and the tilt angle (θ) of the lifting device is greater than or equal to a first preset value (a) and less than or equal to a second preset value (b), or is greater than or equal to a negative value (-b) of the second preset value and less than or equal to a negative value (-a) of the first preset value, the fifth regulating valve (49) and the sixth regulating valve (51) are both in a state connected through a check valve; the first preset value (a) is greater than 0, and the second preset value (b) is greater than the first preset value (a); When the first regulating valve (25), the second regulating valve (27), the third regulating valve (29) or the fourth regulating valve (31) is switched to the throttle valve connected state, the reversing displacement of the first regulating valve (25), the second regulating valve (27), the third regulating valve (29) or the fourth regulating valve (31) is proportional to the absolute value of the tilt angle (θ) of the lifting device.

6. The hoisting synchronization control method as described in claim 4, characterized in that, The steps of controlling the state of the first regulating valve (25) or the third regulating valve (29) according to the tilt angle (θ) of the lifting device during the lifting process to synchronize the first winch and the second winch; controlling the state of the second regulating valve (27) or the fourth regulating valve (31) according to the tilt angle (θ) of the lifting device during the lowering process to synchronize the first winch and the second winch; and controlling the state of the fifth regulating valve (49) or the sixth regulating valve (51) according to the tilt angle (θ) of the lifting device to make the first winch and the second winch at the same height as the lifting point of the lifting device when no lifting or lowering command is received specifically include: S19, determine whether the operating handle is lifted. If yes, proceed to step S21; otherwise, proceed to step S36. S21, control the first switching valve (45) to connect the first main oil circuit (17) and the third main oil circuit (21), and control the second switching valve (47) to disconnect the second main oil circuit (19) and the fourth main oil circuit (23). S23, determine whether the tilt angle (θ) of the lifting device is less than a first preset value (a) and greater than a negative value (-a) of the first preset value; if yes, proceed to step S24, if no, proceed to step S26, wherein the first preset value (a) is greater than 0; S24, control the first regulating valve (25), the second regulating valve (27), the third regulating valve (29) and the fourth regulating valve (31) to be in a state of direct connection to each main oil circuit; S26, determine whether the tilt angle (θ) of the lifting device is greater than the second preset value (b). If yes, proceed to step S27; if no, proceed to step S29, wherein the second preset value (b) is greater than the first preset value (a). S27, control the third regulating valve (29) to be in the state of being connected to the third main oil circuit (21) through the throttle valve, and the first regulating valve (25), the second regulating valve (27) and the fourth regulating valve (31) are all in the state of being directly connected to each oil circuit; S29, determine whether the tilt angle (θ) of the lifting device is less than the negative value (-b) of the second preset value. If yes, proceed to step S30; if no, proceed to step S32. S30, control the first regulating valve (25) to be in the state of being connected to the first main oil circuit (17) through the throttle valve, and the second regulating valve (27), the third regulating valve (29) and the fourth regulating valve (31) are all in the state of being directly connected to each oil circuit; S32, keep the states of the first regulating valve (25), the second regulating valve (27), the third regulating valve (29) and the fourth regulating valve (31) unchanged; S34, determine whether the operating handle is in the lifted state. If yes, proceed to step S23; otherwise, proceed to step S36. S36, Determine whether the operating handle has been lowered. If yes, proceed to step S38; otherwise, proceed to step S52. S38, control the second switching valve (47) to connect the second main oil circuit (19) and the fourth main oil circuit (23), and the first switching valve (45) to disconnect the first main oil circuit (17) and the third main oil circuit (21). S39, determine whether the tilt angle (θ) of the lifting device is less than the first preset value (a) and greater than the negative value (-a) of the first preset value. If yes, proceed to step S40; otherwise, proceed to step S42. S40, control the first regulating valve (25), the second regulating valve (27), the third regulating valve (29) and the fourth regulating valve (31) to be in a state of direct connection to each main oil circuit; S42, determine whether the tilt angle (θ) of the lifting device is greater than the second preset value (b). If yes, proceed to step S43; if no, proceed to step S45. S43, control the fourth regulating valve (31) to be in the state of being connected to the fourth main oil circuit (23) through the throttle valve, and the first regulating valve (25), the second regulating valve (27) and the third regulating valve (29) are all in the state of being directly connected to each oil circuit; S45, determine whether the tilt angle (θ) of the lifting device is less than the negative value (-b) of the second preset value. If yes, proceed to step S46; if no, proceed to step S48. S46, control the second regulating valve (27) to be in the state of being connected to the second main oil circuit (19) through the throttle valve, and the first regulating valve (25), the third regulating valve (29) and the fourth regulating valve (31) are all in the state of being directly connected to each oil circuit; S48, keep the states of the first regulating valve (25), the second regulating valve (27), the third regulating valve (29) and the fourth regulating valve (31) unchanged; S50, determine whether the operating handle is in the lowered state. If yes, proceed to step S39; otherwise, proceed to step S52. S52, determine whether the tilt angle (θ) of the lifting device is less than the first preset value (a) and greater than the negative value (-a) of the first preset value. If yes, proceed to step S53; if no, proceed to step S55. S53, control the first regulating valve (25), the second regulating valve (27), the third regulating valve (29) and the fourth regulating valve (31) to be in a state of direct connection to each oil circuit, and control the fifth regulating valve (49) and the sixth regulating valve (51) to be in a state of connection through a check valve; S55, determine whether the tilt angle (θ) of the lifting device is greater than the second preset value (b). If yes, proceed to step S56; if no, proceed to step S58. S56, control the sixth regulating valve (51) to be in a state of being connected through the throttle valve; S58, determine whether the tilt angle (θ) of the lifting device is greater than the negative value (-b) of the second preset value. If yes, proceed to step S59; if no, proceed to step S53. S59, control the fifth regulating valve (49) to be in a state of being connected through the throttle valve.

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